AR module binocular image combination adjustment method and system

Abstract

The invention provides an AR module binocular image combination adjustment method and system. The method comprises the following steps: calibrating relative positions of a first shooting unit and a second shooting unit for simulating two eyes of a person; fixing and starting an AR waveguide binocular module, wherein the AR waveguide binocular module displays a first virtual image and a second virtual image in a starting state; a first shooting unit is adopted to shoot the first virtual image to correspondingly obtain a first shot image, and a second shooting unit is adopted to shoot the second virtual image to correspondingly obtain a second shot image; performing calculation processing on the first shot image and the second shot image by adopting a first processing unit to obtain a deviation value between the first shot image and the second shot image; and adjusting the AR waveguide binocular module through a position adjusting mechanism based on the deviation value, so that the AR waveguide binocular module meets the binocular image combination requirement, the comfort and the overall immersion of the user wearing the AR waveguide glasses are improved, and the visual fatigue of the user is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of binocular imaging, and in particular relates to an AR module binocular imaging adjustment method and system. Background Art

[0002] Augmented reality (AR) and virtual reality (VR) technologies have developed rapidly in recent years, providing users with an immersive experience by superimposing virtual information in their field of vision or building a fully virtual environment. AR glasses, as a typical AR device, enable users to perceive virtual objects in the real world at the same time by superimposing virtual information in real scenes, thereby enhancing the reality experience. However, in order to achieve this experience, the accuracy of binocular image combination is crucial.

[0003] Binocular integration refers to the process of combining the virtual images seen by the left and right eyes into one virtual image. The accuracy of binocular integration directly affects the user's comfort, visual fatigue, and overall immersion. Accurate binocular integration can reduce visual fatigue and discomfort, improve user comfort, and make virtual objects look more real.

[0004] In AR glasses, the realization of binocular alignment requires accurate binocular alignment of virtual images. Accurate binocular alignment of virtual images is achieved by adjusting the position and angle of the virtual images seen by the left and right eyes so that they are perfectly integrated in the user's field of view. The accuracy of virtual image binocular alignment directly affects the quality of binocular alignment. Therefore, developing an AR module binocular alignment adjustment technology is of great significance for improving the user experience of AR glasses. Summary of the invention

[0005] In order to meet the needs of the prior art, the present invention provides an AR module binocular image adjustment method and system.

[0006] The present invention is achieved through the following technical solutions:

[0007] The present invention provides an AR module binocular image adjustment method, comprising the following steps:

[0008] S1: using a calibration mechanism to calibrate the relative positions of the first shooting unit and the second shooting unit, wherein the first shooting unit and the second shooting unit are used to simulate human eyes;

[0009] S2 fixes the AR waveguide binocular module, wherein the longitudinal spacing distance between the AR waveguide binocular module and the first shooting unit and / or the second shooting unit is equal to the exit pupil distance of the AR waveguide binocular module;

[0010] S3 starts the AR waveguide binocular module, and the AR waveguide binocular module displays the first virtual image and the second virtual image;

[0011] S4 uses the first shooting unit to shoot the first virtual image to obtain a first shot image, and uses the second shooting unit to shoot the second virtual image to obtain a second shot image;

[0012] S5: using a first processing unit to perform calculation processing on the first captured image and the second captured image to obtain a deviation value between the first captured image and the second captured image;

[0013] S6 adjusts the AR waveguide binocular module through a position adjustment mechanism based on the deviation value, so that the AR waveguide binocular module meets the binocular image combination requirement.

[0014] Further, the calibration mechanism includes: a lifting adjustment structure, a support plate, a first pitch rotation platform, a second pitch rotation platform, a calibration plate and a second processing unit;

[0015] The top end of the lifting and adjusting structure is connected to the supporting plate;

[0016] The first position of the support plate is fixed with a first pitch rotation platform, and the second position of the support plate is fixed with a second pitch rotation platform; wherein the first position and the second position are in the same horizontal plane and the horizontal spacing distance corresponds to the pupil distance;

[0017] A first shooting unit is arranged on the first pitch-rotating platform, and a second shooting unit is arranged on the second pitch-rotating platform;

[0018] The second processing unit is connected to the first shooting unit and the second shooting unit;

[0019] The third position of the support plate is used to set a calibration plate with a calibration pattern, the calibration pattern includes a first cross and a second cross, wherein the intersection of the first cross and the intersection of the second cross are in the same horizontal plane and the horizontal spacing distance corresponds to the pupil distance, and the third position is located in front of the shooting lens of the first shooting unit and / or the second shooting unit.

[0020] Furthermore, the step of using a calibration mechanism to calibrate the relative position of the first photographing unit and the second photographing unit comprises the following steps:

[0021] The first pitch rotating platform on the support plate connected by the lifting adjustment mechanism drives the first shooting unit to shoot the calibration pattern of the calibration plate located at the third position of the support plate from multiple positions to obtain a first calibration image, and the second pitch rotating platform on the support plate connected by the lifting adjustment mechanism drives the second shooting unit to shoot the calibration pattern of the calibration plate located at the third position of the support plate from multiple positions to obtain a second calibration image;

[0022] The first photographing unit sends the first calibration image to the second processing unit, and the second photographing unit sends the second calibration image to the second processing unit;

[0023] The second processing unit receives the first calibration image and the second calibration image, processes the first calibration image and the second calibration image by using a calibration algorithm, and displays a first shooting state parameter of the first shooting unit and a second shooting state parameter of the second shooting unit;

[0024] The first tilt and rotation stage is adjusted based on the first shooting state parameter so that the cross intersection in the first calibration image is located at the set position of the coordinate system of the first shooting unit, and the second tilt and rotation stage is adjusted based on the second shooting state parameter so that the cross intersection in the second calibration image is located at the set position of the coordinate system of the second shooting unit.

[0025] Furthermore, the AR waveguide binocular module includes: a module bracket, a first waveguide plate, a second waveguide plate, a first optomechanical module and a second optomechanical module;

[0026] The first optical-mechanical module comprises a first module bracket, a first optical-mechanical unit and a first prism;

[0027] The second optical-mechanical module comprises a second module bracket, a second optical-mechanical unit and a second prism;

[0028] The first waveguide plate and the second waveguide plate are respectively fixed on one side of the module bracket, and the first module bracket and the second module bracket are respectively placed on the opposite side of the one side of the module bracket, the first module bracket is provided with a first optical machine and a first prism, and the second module bracket is provided with a second optical machine and a second prism;

[0029] The first module bracket is provided with a first glue injection hole, the second module bracket is provided with a second glue injection hole, the module bracket is provided with a third glue injection hole connected with the first glue injection hole at the position of the first glue injection hole, and the module bracket is provided with a fourth glue injection hole connected with the second glue injection hole at the position of the second glue injection hole;

[0030] The first module bracket is provided with a first transfer hole, and the second module bracket is provided with a second transfer hole.

[0031] Furthermore, the fixed AR waveguide binocular module includes:

[0032] removing the calibration plate from the third position of the support plate;

[0033] The module bracket of the AR waveguide binocular module is arranged at the fourth position of the support plate; wherein the fourth position is located in front of the shooting lens of the first shooting unit and / or the second shooting unit;

[0034] The starting AR waveguide binocular module comprises:

[0035] The first optical machine is started, and the first optical machine couples the image light source to the first waveguide plate, and the image light source is transmitted through total reflection from the first waveguide plate and coupled out to display the first virtual image; the second optical machine is started, and the second optical machine couples the image light source to the second waveguide plate, and the image light source is transmitted through total reflection from the second waveguide plate and coupled out to display the second virtual image.

[0036] Furthermore, before the first processing unit is used to perform calculation processing on the first captured image and the second captured image to obtain the deviation value between the first captured image and the second captured image, the method further includes:

[0037] The first processing unit performs an image preprocessing operation on the first captured image and the second captured image to obtain a first preprocessed image and a second preprocessed image respectively;

[0038] The image preprocessing operation includes image denoising, image contrast enhancement and image edge detection.

[0039] Furthermore, using a first processing unit to perform calculation processing on the first captured image and the second captured image to obtain a deviation value between the first captured image and the second captured image includes the following steps:

[0040] The first processing unit extracts feature points in the same area of ​​the first preprocessed image and the second preprocessed image using a feature point extraction algorithm, the feature points extracted from the first preprocessed image and the feature points extracted from the second preprocessed image are represented by different marking graphics, and the pixel coordinates of the feature points are recorded;

[0041] The first processing unit uses a matching algorithm to match feature points in the same area of ​​the first pre-processed image and the second pre-processed image;

[0042] The first processing unit performs matrix operations based on the pixel coordinates of the matching corresponding feature points to obtain deviation values ​​of feature points in the same area of ​​the first preprocessed image and the second preprocessed image, wherein the deviation values ​​include position deviation values ​​and angle deviation values.

[0043] Further, the position adjustment mechanism includes a first position adjustment structure and a second position adjustment structure;

[0044] The first position adjustment mechanism includes a first turntable, a first Z-axis lifting platform, a first Y-axis angular positioner, a first X-axis angular positioner, a first Y-axis slide rail provided with a first slider, and a first X-axis slide rail provided with a first slider, which are connected in sequence from bottom to top; the first slider of the first X-axis slide rail is connected to the first adapter hole through a first adapter assembly;

[0045] The second position adjustment mechanism includes a second turntable, a second Z-axis lifting platform, a second Y-axis goniometer, a second X-axis goniometer, a second Y-axis slide rail with a second slider, and a second X-axis slide rail with a second slider, which are connected in sequence from bottom to top; the second slider of the second X-axis slide rail is connected to the second adapter hole through a second adapter assembly.

[0046] Further, based on the deviation value, the AR waveguide binocular module is adjusted by a position adjustment mechanism so that the AR waveguide binocular module meets the binocular image combination requirement, including the following steps:

[0047] The deviation value is compared with the set threshold of the AR waveguide binocular module. If the deviation value exceeds the design threshold, the first module bracket of the first optical-mechanical module is moved by the first position adjustment mechanism and / or the second module bracket of the second optical-mechanical module is moved by the second position adjustment mechanism, and steps S4-S6 are repeated until the deviation value is within the set threshold range of the AR waveguide binocular module.

[0048] Corresponding to the above-mentioned AR module binocular image adjustment system, the present invention also provides an AR module binocular image adjustment system, including a base, a calibration mechanism, a first shooting unit, a second shooting unit, an AR waveguide binocular module, a first processing unit and a position adjustment mechanism; wherein the first shooting unit and the second shooting unit simulate human eyes;

[0049] The base is used to set a calibration mechanism, an AR waveguide binocular module and a position adjustment mechanism; a first shooting unit and a second shooting unit are set on the calibration mechanism; the first shooting unit and the second shooting unit are connected to the first processing unit; the position adjustment mechanism is connected to the AR waveguide binocular module;

[0050] The calibration mechanism is used to calibrate the relative position of the first shooting unit and the second shooting unit;

[0051] The longitudinal spacing distance between the AR waveguide binocular module provided on the base and the first shooting unit and / or the second shooting unit is equal to the exit pupil distance of the AR waveguide binocular module; the AR waveguide binocular module displays the first virtual image and the second virtual image in the startup state;

[0052] a. the first shooting unit is used to shoot a first virtual image to obtain a first shot image, and send the first shot image to the first processing unit; the second shooting unit is used to shoot a second virtual image to obtain a second shot image, and send the second shot image to the first processing unit;

[0053] b. the first processing unit receives the first photographed image and the second photographed image for calculation and processing to obtain a deviation value between the first photographed image and the second photographed image;

[0054] c Based on the deviation value, the AR waveguide binocular module is adjusted through a position adjustment mechanism so that the AR waveguide binocular module meets the binocular image combination requirement.

[0055] Further, the calibration mechanism includes a lifting adjustment structure, a support plate, a first pitch rotation platform, a second pitch rotation platform, a calibration plate and a second processing unit;

[0056] The bottom end of the lifting and adjusting structure is connected to the base, and the top end of the lifting and adjusting structure is connected to the support plate;

[0057] The first position of the support plate is fixed with a first pitch rotation platform, and the second position of the support plate is fixed with a second pitch rotation platform; wherein the first position and the second position are in the same horizontal plane and the horizontal spacing distance corresponds to the pupil distance;

[0058] A first shooting unit is arranged on the first pitch-rotating platform, and a second shooting unit is arranged on the second pitch-rotating platform;

[0059] The second processing unit is connected to the first shooting unit and the second shooting unit;

[0060] The third position of the support plate is used to set a calibration plate with a calibration pattern, the calibration pattern includes a first cross and a second cross, wherein the intersection of the first cross and the intersection of the second cross are in the same horizontal plane and the horizontal spacing distance corresponds to the pupil distance, and the third position is located in front of the shooting lens of the first shooting unit and / or the second shooting unit.

[0061] Further, when the calibration plate is set at the third position of the support plate,

[0062] The first pitch rotating platform on the support plate connected by the lifting adjustment mechanism drives the first shooting unit to shoot the calibration pattern of the calibration plate from multiple positions to obtain a first calibration image, and the second pitch rotating platform on the support plate connected by the lifting adjustment mechanism drives the second shooting unit to shoot the calibration pattern of the calibration plate from multiple positions to obtain a second calibration image;

[0063] The first photographing unit sends the first calibration image to the second processing unit, and the second photographing unit sends the second calibration image to the second processing unit;

[0064] The second processing unit receives the first calibration image and the second calibration image, processes the first calibration image and the second calibration image by using a calibration algorithm, and displays a first shooting state parameter of the first shooting unit and a second shooting state parameter of the second shooting unit;

[0065] The first tilt and rotation stage is adjusted based on the first shooting state parameter so that the cross intersection in the first calibration image is located at the set position of the coordinate system of the first shooting unit, and the second tilt and rotation stage is adjusted based on the second shooting state parameter so that the cross intersection in the second calibration image is located at the set position of the coordinate system of the second shooting unit.

[0066] Furthermore, the AR waveguide binocular module includes: a module bracket, a first waveguide plate, a second waveguide plate, a first optomechanical module and a second optomechanical module;

[0067] The first optical-mechanical module comprises a first module bracket, a first optical-mechanical unit and a first prism;

[0068] The second optical-mechanical module comprises a second module bracket, a second optical-mechanical unit and a second prism;

[0069] The first waveguide plate and the second waveguide plate are respectively fixed on one side of the module bracket, and the first module bracket and the second module bracket are respectively placed on the opposite side of the one side of the module bracket, the first module bracket is provided with a first optical machine and a first prism, and the second module bracket is provided with a second optical machine and a second prism;

[0070] The first module bracket is provided with a first glue injection hole, the second module bracket is provided with a second glue injection hole, the module bracket is provided with a third glue injection hole connected with the first glue injection hole at the position of the first glue injection hole, and the module bracket is provided with a fourth glue injection hole connected with the second glue injection hole at the position of the second glue injection hole;

[0071] The first module bracket is provided with a first transfer hole, and the second module bracket is provided with a second transfer hole.

[0072] Further, when the calibration plate is removed from the third position of the support plate,

[0073] The module bracket of the AR waveguide binocular module is arranged at the fourth position of the support plate; wherein the fourth position is located in front of the shooting lens of the first shooting unit and / or the second shooting unit;

[0074] The first optical machine is started, and the first optical machine couples the image light source to the first waveguide plate, and the image light source is transmitted through total reflection from the first waveguide plate and coupled out to display the first virtual image; the second optical machine is started, and the second optical machine couples the image light source to the second waveguide plate, and the image light source is transmitted through total reflection from the second waveguide plate and coupled out to display the second virtual image.

[0075] Furthermore, before the first processing unit receives the first captured image and the second captured image for calculation and processing and obtains the deviation value between the first captured image and the second captured image, it also includes:

[0076] The first processing unit performs an image preprocessing operation on the first captured image and the second captured image to obtain a first preprocessed image and a second preprocessed image respectively;

[0077] The image preprocessing operation includes image denoising, image contrast enhancement and image edge detection.

[0078] Furthermore, the first processing unit receives the first captured image and the second captured image for calculation processing to obtain a deviation value between the first captured image and the second captured image, including the following steps:

[0079] The first processing unit extracts feature points in the same area of ​​the first preprocessed image and the second preprocessed image using a feature point extraction algorithm, the feature points extracted from the first preprocessed image and the feature points extracted from the second preprocessed image are represented by different marking graphics, and the pixel coordinates of the feature points are recorded;

[0080] The first processing unit uses a matching algorithm to match feature points in the same area of ​​the first pre-processed image and the second pre-processed image;

[0081] The first processing unit performs matrix operations based on the pixel coordinates of the matching corresponding feature points to obtain deviation values ​​of feature points in the same area of ​​the first preprocessed image and the second preprocessed image, wherein the deviation values ​​include position deviation values ​​and angle deviation values.

[0082] Further, the position adjustment structure includes a first position adjustment mechanism and a second position adjustment mechanism;

[0083] The first position adjustment mechanism includes a first turntable, a first Z-axis lifting platform, a first Y-axis angular positioner, a first X-axis angular positioner, a first Y-axis slide rail provided with a first slider, and a first X-axis slide rail provided with a first slider, which are connected in sequence from bottom to top; the first turntable is connected to the base, and the first slider of the first X-axis slide rail is connected to the first adapter hole through a first adapter component;

[0084] The second position adjustment mechanism includes a second turntable, a second Z-axis lifting platform, a second Y-axis goniometer, a second X-axis goniometer, a second Y-axis slide rail with a second slider, and a second X-axis slide rail with a second slider, which are connected in sequence from bottom to top; the first turntable is connected to the base, and the second slider of the second X-axis slide rail is connected to the second adapter hole through a second adapter assembly.

[0085] Furthermore, the deviation value is compared with a set threshold value of the AR waveguide binocular module. If the deviation value exceeds the design threshold value, the first module bracket of the first optical-mechanical module is moved by the first position adjustment mechanism and / or the second module bracket of the second optical-mechanical module is moved by the second position adjustment mechanism, and steps ac are repeated until the deviation value is within the set threshold value range of the AR waveguide binocular module.

[0086] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0087] The present invention provides an AR module binocular image adjustment method, first, calibrate the relative position of a first shooting unit and a second shooting unit, wherein the first shooting unit and the second shooting unit are used to simulate human eyes; then, fix and start the AR waveguide binocular module, wherein the longitudinal spacing distance between the AR waveguide binocular module and the first shooting unit and / or the second shooting unit is equal to the exit pupil distance of the AR waveguide binocular module, and the AR waveguide binocular module displays a first virtual image and a second virtual image in the startup state; then, the first shooting unit is used to shoot the first virtual image to obtain a first shot image, and the second shooting unit is used to shoot the second virtual image to obtain a second shot image; then, the first processing unit is used to calculate and process the first shot image and the second shot image to obtain a deviation value between the first shot image and the second shot image; finally, the AR waveguide binocular module is adjusted by a position adjustment mechanism based on the deviation value, so that the AR waveguide binocular module meets the binocular image requirement. Improve the comfort and overall immersion of users wearing AR waveguide glasses, and reduce the visual fatigue of users. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0089] Figure 1 It is a schematic diagram of the overall structure of a first example of the AR module binocular image adjustment system of the present invention;

[0090] Figure 2 It is a schematic diagram of the overall structure of a second example of the AR module binocular image adjustment system of the present invention;

[0091] Figure 3 A schematic diagram of the overall structure of a third example of the AR module binocular image adjustment system of the present invention;

[0092] Figure 4A schematic diagram of a partial structure of an exemplary calibration structure;

[0093] Figure 5 A schematic diagram of the structure of a calibration plate of an exemplary calibration structure;

[0094] Figure 6 A schematic diagram of the connection between an exemplary AR waveguide binocular module and a first adapter component and a second adapter component at a first angle;

[0095] Figure 7 A schematic diagram of the connection between an exemplary AR waveguide binocular module and a first adapter component and a second adapter component at a second angle;

[0096] Figure 8 is a schematic structural diagram of an exemplary first position adjustment mechanism;

[0097] Fig. 9 Schematic diagram of the structure of the second position adjustment mechanism as an example.

[0098] Among them, 1-base, 2-calibration mechanism, 2-1-lifting adjustment structure, 2-2-support plate, 2-3-calibration plate, 2-4-first pitch rotation table, 2-5-second pitch rotation table, 3-AR waveguide binocular module, 3-1-module bracket, 3-2-first waveguide plate, 3-3-second waveguide plate, 3-4-first module bracket, 3-5-first optical machine, 3-6-first prism, 3-7-second module bracket, 3-8-second optical machine, 3-9-second prism, 3-10-first glue injection hole, 3-11-second glue injection hole, 4-1-first position adjustment mechanism, 4-1-1-first turntable, 4-1-2-first Z-axis lifting platform, 4 -1-3-first Y-axis angle adjuster, 4-1-4-first X-axis angle adjuster, 4-1-5-first Y-axis slide rail, 4-1-6-first X-axis slide rail, 4-1-7-first slider, 4-2-second position adjustment mechanism, 4-2-1-second turntable, 4-2-2-second Z-axis lifting table, 4-2-3-second Y-axis angle adjuster, 4-2-4-second X-axis angle adjuster, 4-2-5-second Y-axis slide rail, 4-2-6-second X-axis slide rail, 4-2-7-second slider, 5-first shooting unit, 6-second shooting unit, 7-1-first adapter plate, 7-2-first threaded rod, 8-1-second adapter plate, 8-2-second threaded rod. DETAILED DESCRIPTION

[0099] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0100] In this article, the terms "first", "second" and other similar words are not intended to imply any order, quantity and importance, but are only used to distinguish different elements. In this article, the terms "one", "an" and other similar words are not intended to indicate that there is only one of the things described, but rather indicate that the relevant description is only for one of the things described, and the things described may have one or more. In this article, the terms "comprise", "include" and other similar words are intended to indicate logical mutual relationships, and cannot be regarded as indicating spatial structural relationships. For example, "A includes B" is intended to indicate that B belongs to A logically, but does not indicate that B is located inside A spatially. In addition, the meanings of the terms "comprise", "include" and other similar words should be regarded as open, rather than closed. For example, "A includes B" is intended to indicate that B belongs to A, but B does not necessarily constitute the whole of A, and A may also include other elements such as C, D, and E.

[0101] In this document, the terms "embodiment", "present embodiment", "preferred embodiment", and "one embodiment" do not mean that the relevant description is only applicable to a specific embodiment, but rather that the description may also be applicable to one or more other embodiments. Those skilled in the art should understand that in this document, any description of a certain embodiment can be replaced, combined, or combined in other ways with the relevant description in one or more other embodiments, and the new embodiment generated by the replacement, combination, or combination in other ways is easily conceivable by those skilled in the art and falls within the scope of protection of the present invention.

[0102] In the description herein, “plurality” means at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0103] like Figure 1-Figure 3 As shown, the present invention provides an AR module binocular image adjustment system, including a base 1, a calibration mechanism 2, an AR waveguide binocular module 3, a position adjustment mechanism, a first shooting unit 5, a second shooting unit 6 and a first processing unit.

[0104] The base 1 is used to set the calibration mechanism 2, the AR waveguide binocular module 3 and the position adjustment mechanism.

[0105] The calibration mechanism 2 is fixedly arranged on the base 1, and a first photographing unit 5 and a second photographing unit 6 are arranged on the calibration mechanism 2. The calibration mechanism 1 is used to calibrate the relative position of the first photographing unit and the second photographing unit.

[0106] The AR waveguide binocular module 3 is detachably arranged on the base. The longitudinal spacing distance between the AR waveguide binocular module 3 arranged on the base 1 and the first shooting unit 5 and / or the second shooting unit 6 is equal to the exit pupil distance of the AR waveguide binocular module. The AR waveguide binocular module 3 displays the first virtual image and the second virtual image in the startup state.

[0107] The bottom end of the position adjustment mechanism is fixedly arranged on the base, and the position adjustment mechanism is connected to the AR waveguide binocular module arranged on the base.

[0108] The first shooting unit and the second shooting unit are connected to the first processing unit. The first shooting unit and the second shooting unit simulate human eyes. The first shooting unit is used to shoot a first virtual image to obtain a first shot image, and send the first shot image to the first processing unit. The second shooting unit is used to shoot a second virtual image to obtain a second shot image, and send the second shot image to the first processing unit.

[0109] The first processing unit receives the first captured image and the second captured image for calculation and processing, and obtains a deviation value between the first captured image and the second captured image.

[0110] The AR waveguide binocular module is adjusted through a position adjustment mechanism based on the deviation value, so that the AR waveguide binocular module meets the binocular image combination requirement.

[0111] Exemplarily, the first photographing unit and the second photographing unit may adopt existing CCD cameras.

[0112] The first processing unit may be an existing computer.

[0113] For example, Figure 4 as well as Figure 5 As shown, the calibration mechanism 2 may include a lifting adjustment structure 2-1, a support plate 2-2, a calibration plate 2-3, a first pitch rotation platform 2-4, a second pitch rotation platform 2-5, and a second processing unit. The lifting adjustment structure, the support plate, the calibration plate, the first pitch rotation platform, the second pitch rotation platform, and the second processing unit may be existing components. It should be noted that the second processing unit and the first processing unit may use the same computer or different computers.

[0114] The bottom end of the lifting and adjusting structure 2-1 is connected to the base 1, and the top end of the lifting and adjusting structure 2-1 is connected to the support plate 2-2.

[0115] The first position of the support plate 2-2 is fixed with the first pitch rotating platform 2-4, and the second position of the support plate 2-2 is fixed with the second pitch rotating platform 2-5. The first position and the second position are in the same horizontal plane and the horizontal interval distance corresponds to the pupil distance.

[0116] A first photographing unit 5 is disposed on the first tilt-rotating platform 2 - 4 , and a second photographing unit 6 is disposed on the second tilt-rotating platform 2 - 5 .

[0117] The second processing unit is connected to the first photographing unit and the second photographing unit.

[0118] The third position of the support plate 2-2 is used to set a calibration plate 2-3 having a calibration pattern, and the calibration plate 2-3 is detachably connected to the third position of the support plate 2-2. Figure 5 As shown, the calibration pattern of the calibration plate 2-3 includes a first cross and a second cross, wherein the intersection of the first cross and the intersection of the second cross are in the same horizontal plane and the horizontal spacing distance corresponds to the pupil distance, and the third position is located in front of the shooting lens of the first shooting unit and / or the second shooting unit.

[0119] For example, Figure 6 as well as Figure 7 As shown, the above-mentioned AR waveguide binocular module includes: a module bracket 3-1, a first waveguide plate 3-2, a second waveguide plate 3-3, a first optomechanical module and a second optomechanical module.

[0120] The first optical-mechanical module includes a first module bracket 3 - 4 , a first optical-mechanical unit 3 - 5 and a first prism 3 - 6 .

[0121] The second optical-mechanical module includes a second module bracket 3-7, a second optical-mechanical unit 3-8 and a second prism 3-9.

[0122] The first waveguide plate 3-2 and the second waveguide plate 3-3 are fixed on one side of the module bracket 3-1, and the first module bracket 3-4 and the second module bracket 3-7 are placed on the opposite side of one side of the module bracket 3-1. The first optical machine 3-5 and the first prism 3-6 are arranged in the first module bracket 3-4, and the second optical machine 3-8 and the second prism 3-9 are arranged in the second module bracket 3-7.

[0123] A first glue injection hole 3-10 is set on the first module bracket 3-4, a second glue injection hole 3-11 is set on the second module bracket 3-7, a third glue injection hole connected to the first glue injection hole is set at the position of the first glue injection hole on the module bracket 3-1, and a fourth glue injection hole connected to the second glue injection hole is set at the position of the second glue injection hole on the module bracket.

[0124] The first module bracket is provided with a first transfer hole, and the second module bracket is provided with a second transfer hole.

[0125] The module bracket of the AR waveguide binocular module is detachably connected to the fourth position of the support plate; wherein the fourth position is located in front of the shooting lens of the first shooting unit and / or the second shooting unit.

[0126] For example, the position adjustment structure may include a first position adjustment mechanism 4-1 and a second position adjustment mechanism 4-2 (eg Figure 1-Figure 3 shown).

[0127] Among them, Figure 8 As shown, the first position adjustment mechanism 4-1 includes a first turntable 4-1-1, a first Z-axis lifting platform 4-1-2, a first Y-axis angle adjuster 4-1-3, a first X-axis angle adjuster 4-1-4, a first Y-axis slide rail 4-1-5 on which a first slider 4-1-7 is provided, and a first X-axis slide rail 4-1-6 on which the first slider 4-1-7 is provided, which are connected in sequence from bottom to top; the first turntable 4-1-1 is connected to the base, and the first slider 4-1-7 of the first X-axis slide rail 4-1-6 is connected to the first adapter hole through a first adapter assembly.

[0128] like Fig. 9 As shown, the second position adjustment mechanism 4-2 includes a second turntable 4-2-1, a second Z-axis lifting platform 4-2-2, a second Y-axis angle adjuster 4-2-3, a second X-axis angle adjuster 4-2-4, a second Y-axis slide rail 4-2-5 with a second slider 4-2-7, and a second X-axis slide rail 4-2-6 with a second slider 4-2-7, which are connected in sequence from bottom to top; the second turntable 4-2-1 is connected to the base, and the second slider 4-2-7 of the second X-axis slide rail 4-2-6 is connected to the second adapter hole through a second adapter assembly.

[0129] For example, Figure 6 As shown, the first adapter assembly may include a first adapter plate 7-1 and a first threaded rod 7-2, and the second adapter assembly may include a second adapter plate 8-1 and a second threaded rod 8-2.

[0130] One end of the first adapter plate 7-1 is connected to the first slider 4-1-7 of the first X-axis slide rail 4-1-6, one end of the first threaded rod 7-2 is connected to the first adapter hole in the AR waveguide binocular module, and the other end of the first adapter plate 7-1 is connected to the other end of the first threaded rod 7-2.

[0131] One end of the second adapter plate 8-1 is connected to the second slider 4-2-7 of the second X-axis slide rail 4-2-6, one end of the second threaded rod 8-2 is connected to the second adapter hole in the AR waveguide binocular module, and the other end of the second adapter plate 8-1 is connected to the other end of the second threaded rod 8-2.

[0132] Exemplarily, the above-mentioned AR module binocular image adjustment system is used to perform an AR module binocular image adjustment method, which includes the following steps:

[0133] S1 uses a calibration mechanism to calibrate the relative positions of the first shooting unit and the second shooting unit, wherein the first shooting unit and the second shooting unit are used to simulate human eyes.

[0134] Exemplarily, the method specifically includes the following steps:

[0135] S1-1 sets the calibration plate at the corresponding position of the support plate.

[0136] S1-2 The first pitch rotating table on the support plate connected by the lifting and adjusting mechanism drives the first shooting unit to shoot the calibration pattern of the calibration plate from multiple positions to obtain a first calibration image, and the second pitch rotating table on the support plate connected by the lifting and adjusting mechanism drives the second shooting unit to shoot the calibration pattern of the calibration plate from multiple positions to obtain a second calibration image.

[0137] S1-3 The first photographing unit sends the first calibration image to the second processing unit, and the second photographing unit sends the second calibration image to the second processing unit.

[0138] S1-4: The second processing unit receives the first calibration image and the second calibration image, processes the first calibration image and the second calibration image by using a calibration algorithm, and displays a first shooting state parameter of the first shooting unit and a second shooting state parameter of the second shooting unit.

[0139] The calibration algorithm mentioned here can use an existing algorithm, such as Zhang Zhengyou calibration algorithm.

[0140] The first shooting state parameters here include internal parameters of the first shooting unit and external parameters of the first shooting unit. Examples of the internal parameters of the first shooting unit here include focal length, principal point coordinates, and distortion coefficients. Examples of the external parameters of the first shooting unit here include pitch rotation angles and horizontal rotation angles.

[0141] The second shooting state parameters here include internal parameters of the second shooting unit and external parameters of the second shooting unit. Examples of the internal parameters of the second shooting unit here include focal length, principal point coordinates, and distortion coefficients. Examples of the external parameters of the second shooting unit here include pitch rotation angles and horizontal rotation angles.

[0142] S1-5 adjusts the first pitch rotation table based on the first shooting state parameter so that the cross intersection in the first calibration image is located at the set position of the coordinate system of the first shooting unit, and adjusts the second pitch rotation table based on the second shooting state parameter so that the cross intersection in the second calibration image is located at the set position of the coordinate system of the second shooting unit.

[0143] Here, the coordinate system settings of the first shooting unit and the second shooting unit are the same. The setting position of the coordinate system of the first shooting unit / the second shooting unit is related to the combined image distance of the AR waveguide binocular module. For example, when the combined image distance of the AR waveguide binocular module is at infinity, the setting position of the coordinate system of the first shooting unit and the setting position of the coordinate system of the second shooting unit can be located at the center position of the coordinate system, and the optical axes of the first shooting unit and the second shooting unit are set in parallel.

[0144] S2 fixes the AR waveguide binocular module, wherein a longitudinal spacing distance between the AR waveguide binocular module and the first shooting unit and / or the second shooting unit is equal to an exit pupil distance of the AR waveguide binocular module.

[0145] For example,

[0146] Remove the calibration plate from the support plate.

[0147] Set the module bracket of the AR waveguide binocular module at the corresponding position of the support plate.

[0148] S3 starts the AR waveguide binocular module, and the AR waveguide binocular module displays the first virtual image and the second virtual image.

[0149] For example,

[0150] The first optical machine is started, and the first optical machine couples the image light source to the first waveguide plate, and the image light source is transmitted through total reflection from the first waveguide plate and coupled out to display the first virtual image; the second optical machine is started, and the second optical machine couples the image light source to the second waveguide plate, and the image light source is transmitted through total reflection from the second waveguide plate and coupled out to display the second virtual image.

[0151] S4: using the first shooting unit to shoot the first virtual image to obtain a first shot image, and using the second shooting unit to shoot the second virtual image to obtain a second shot image.

[0152] For example,

[0153] The first virtual image is photographed by the first CCD camera to obtain a first photographed image, and the second virtual image is photographed by the second CCD camera to obtain a second photographed image.

[0154] S5: The first processing unit performs an image preprocessing operation on the first captured image and the second captured image to obtain a first preprocessed image and a second preprocessed image respectively. The image preprocessing operation includes image denoising, image contrast enhancement and image edge detection.

[0155] Exemplarily, image denoising may be performed by using a Gaussian filter operation, image contrast enhancement may be performed by using a histogram equalization process, and image edge detection may be performed by using a Canny algorithm.

[0156] The first processing unit is used to perform calculation processing on the first captured image and the second captured image to obtain a deviation value between the first captured image and the second captured image.

[0157] For example,

[0158] The first processing unit uses a feature point extraction algorithm to extract feature points in the same area of ​​the first preprocessed image and the second preprocessed image. The feature points extracted from the first preprocessed image and the feature points extracted from the second preprocessed image are represented by different marking graphics, and the pixel coordinates of the feature points are recorded.

[0159] The first processing unit uses a matching algorithm to match feature points in the same area of ​​the first preprocessed image and the second preprocessed image.

[0160] The first processing unit performs matrix operation based on the pixel coordinates of the matching corresponding feature points to obtain deviation values ​​of the feature points in the same area of ​​the first preprocessed image and the second preprocessed image, wherein the deviation values ​​include position deviation values ​​and angle deviation values.

[0161] Exemplarily, the feature point extraction algorithm may adopt a SIFT algorithm or a SURF algorithm.

[0162] The above matching algorithm may adopt SIFT algorithm or SURF algorithm.

[0163] The above matrix operation examples include the following operations:

[0164] 1. The pixel coordinates of the corresponding feature points are expressed using homogeneous coordinates. The first feature point in the corresponding feature points is expressed as (x, y, 1), and the second feature point in the corresponding feature points is expressed as (x', y', 1). The following matrix operations are performed:

[0165]

[0166] get:

[0167] x′=x+t x , y′=y+t y (2)

[0168] t x Indicates the x-direction offset value, t y Indicates the y-direction offset value.

[0169] 2. The pixel coordinates of the first feature point in the matching feature points are expressed as (x, y), and the pixel coordinates of the second feature point in the matching feature points are expressed as (x', y'). The following matrix operations are performed:

[0170]

[0171] get:

[0172] x′=x cos(θ)-y sin(θ), y′=x sin(θ)+y cos(θ) (4)

[0173] The rotation angle offset value θ is calculated by formula (4).

[0174] S6 adjusts the AR waveguide binocular module through a position adjustment mechanism based on the deviation value, so that the AR waveguide binocular module meets the binocular image combination requirement.

[0175] For example,

[0176] The deviation value is compared with the set threshold of the AR waveguide binocular module. If the deviation value is within the design threshold of the AR waveguide binocular module, the relative position of the first module bracket and the module bracket is fixed by dispensing glue at the first glue injection hole and the third glue injection hole, and the relative position of the second module bracket and the module bracket is fixed by dispensing glue at the second glue injection hole and the fourth glue injection hole.

[0177] If the deviation value exceeds the design threshold of the AR waveguide binocular module, the first module bracket of the first optical-mechanical module is moved by the first position adjustment mechanism and / or the second module bracket of the second optical-mechanical module is moved by the second position adjustment mechanism, and the above steps S4-S6 are repeated until the deviation value is within the set threshold range of the AR waveguide binocular module.

[0178] The setting threshold of the AR waveguide binocular module here can be set based on user needs.

[0179] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art can still modify or make equivalent substitutions to the specific implementations of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention are within the scope of protection of the claims of the present invention to be approved.

Claims

1. A method for adjusting binocular image of an AR module, characterized in that: The steps include: S1: using a calibration mechanism to calibrate the relative positions of the first shooting unit and the second shooting unit, wherein the first shooting unit and the second shooting unit are used to simulate human eyes; S2 fixes the AR waveguide binocular module, wherein the longitudinal spacing distance between the AR waveguide binocular module and the first shooting unit and / or the second shooting unit is equal to the exit pupil distance of the AR waveguide binocular module; S3 starts the AR waveguide binocular module, and the AR waveguide binocular module displays the first virtual image and the second virtual image; S4 uses the first shooting unit to shoot the first virtual image to obtain a first shot image, and uses the second shooting unit to shoot the second virtual image to obtain a second shot image; S5: using a first processing unit to perform calculation processing on the first captured image and the second captured image to obtain a deviation value between the first captured image and the second captured image; S6 adjusts the AR waveguide binocular module through a position adjustment mechanism based on the deviation value, so that the AR waveguide binocular module meets the binocular image combination requirement.

2. The AR module binocular image adjustment method according to claim 1, characterized in that: The calibration mechanism comprises: a lifting adjustment structure, a support plate, a first pitch rotation platform, a second pitch rotation platform, a calibration plate and a second processing unit; The top end of the lifting and adjusting structure is connected to the supporting plate; The first position of the support plate is fixed with a first pitch rotation platform, and the second position of the support plate is fixed with a second pitch rotation platform; wherein the first position and the second position are in the same horizontal plane and the horizontal spacing distance corresponds to the pupil distance; A first shooting unit is arranged on the first pitch-rotating platform, and a second shooting unit is arranged on the second pitch-rotating platform; The second processing unit is connected to the first shooting unit and the second shooting unit; The third position of the support plate is used to set a calibration plate with a calibration pattern, the calibration pattern includes a first cross and a second cross, wherein the intersection of the first cross and the intersection of the second cross are in the same horizontal plane and the horizontal spacing distance corresponds to the pupil distance, and the third position is located in front of the shooting lens of the first shooting unit and / or the second shooting unit.

3. The AR module binocular image adjustment method according to claim 2, characterized in that: The method of using a calibration mechanism to calibrate the relative position of the first photographing unit and the second photographing unit comprises the following steps: The first pitch rotating platform on the support plate connected by the lifting adjustment mechanism drives the first shooting unit to shoot the calibration pattern of the calibration plate located at the third position of the support plate from multiple positions to obtain a first calibration image, and the second pitch rotating platform on the support plate connected by the lifting adjustment mechanism drives the second shooting unit to shoot the calibration pattern of the calibration plate located at the third position of the support plate from multiple positions to obtain a second calibration image; The first photographing unit sends the first calibration image to the second processing unit, and the second photographing unit sends the second calibration image to the second processing unit; The second processing unit receives the first calibration image and the second calibration image, processes the first calibration image and the second calibration image by using a calibration algorithm, and displays a first shooting state parameter of the first shooting unit and a second shooting state parameter of the second shooting unit; The first tilt and rotation stage is adjusted based on the first shooting state parameter so that the cross intersection in the first calibration image is located at the set position of the coordinate system of the first shooting unit, and the second tilt and rotation stage is adjusted based on the second shooting state parameter so that the cross intersection in the second calibration image is located at the set position of the coordinate system of the second shooting unit.

4. The method for adjusting binocular image of an AR module according to claim 2, characterized in that: The AR waveguide binocular module comprises: a module bracket, a first waveguide plate, a second waveguide plate, a first optical-mechanical module and a second optical-mechanical module; The first optical-mechanical module comprises a first module bracket, a first optical-mechanical unit and a first prism; The second optical-mechanical module comprises a second module bracket, a second optical-mechanical unit and a second prism; The first waveguide plate and the second waveguide plate are respectively fixed on one side of the module bracket, and the first module bracket and the second module bracket are respectively placed on the opposite side of the one side of the module bracket, the first module bracket is provided with a first optical machine and a first prism, and the second module bracket is provided with a second optical machine and a second prism; The first module bracket is provided with a first glue injection hole, the second module bracket is provided with a second glue injection hole, the module bracket is provided with a third glue injection hole connected with the first glue injection hole at the position of the first glue injection hole, and the module bracket is provided with a fourth glue injection hole connected with the second glue injection hole at the position of the second glue injection hole; The first module bracket is provided with a first transfer hole, and the second module bracket is provided with a second transfer hole.

5. The method for adjusting the binocular image of an AR module according to claim 4, characterized in that: The fixed AR waveguide binocular module comprises: removing the calibration plate from the third position of the support plate; The module bracket of the AR waveguide binocular module is arranged at the fourth position of the support plate; wherein the fourth position is located in front of the shooting lens of the first shooting unit and / or the second shooting unit; The starting AR waveguide binocular module comprises: The first optical machine is started, and the first optical machine couples the image light source to the first waveguide plate, and the image light source is transmitted through total reflection from the first waveguide plate and coupled out to display the first virtual image; the second optical machine is started, and the second optical machine couples the image light source to the second waveguide plate, and the image light source is transmitted through total reflection from the second waveguide plate and coupled out to display the second virtual image.

6. The AR module binocular image adjustment method according to claim 1, characterized in that: Before the first processing unit is used to perform calculation processing on the first captured image and the second captured image to obtain the deviation value between the first captured image and the second captured image, the method further includes: The first processing unit performs an image preprocessing operation on the first captured image and the second captured image to obtain a first preprocessed image and a second preprocessed image respectively; The image preprocessing operation includes image denoising, image contrast enhancement and image edge detection.

7. The AR module binocular image adjustment method according to claim 6, characterized in that: Using a first processing unit to perform calculation processing on the first captured image and the second captured image to obtain a deviation value between the first captured image and the second captured image includes the following steps: The first processing unit extracts feature points in the same area of ​​the first preprocessed image and the second preprocessed image using a feature point extraction algorithm, the feature points extracted from the first preprocessed image and the feature points extracted from the second preprocessed image are represented by different marking graphics, and the pixel coordinates of the feature points are recorded; The first processing unit uses a matching algorithm to match feature points in the same area of ​​the first pre-processed image and the second pre-processed image; The first processing unit performs matrix operations based on the pixel coordinates of the matching corresponding feature points to obtain deviation values ​​of feature points in the same area of ​​the first preprocessed image and the second preprocessed image, wherein the deviation values ​​include position deviation values ​​and angle deviation values.

8. The AR module binocular image adjustment method according to claim 4, characterized in that: The position adjustment mechanism includes a first position adjustment structure and a second position adjustment structure; The first position adjustment mechanism includes a first turntable, a first Z-axis lifting platform, a first Y-axis angular positioner, a first X-axis angular positioner, a first Y-axis slide rail provided with a first slider, and a first X-axis slide rail provided with a first slider, which are connected in sequence from bottom to top; the first slider of the first X-axis slide rail is connected to the first adapter hole through a first adapter assembly; The second position adjustment mechanism includes a second turntable, a second Z-axis lifting platform, a second Y-axis goniometer, a second X-axis goniometer, a second Y-axis slide rail with a second slider, and a second X-axis slide rail with a second slider, which are connected in sequence from bottom to top; the second slider of the second X-axis slide rail is connected to the second adapter hole through a second adapter assembly.

9. The AR module binocular image adjustment method according to claim 8, characterized in that: The method comprises the following steps: adjusting the AR waveguide binocular module through a position adjustment mechanism based on the deviation value so that the AR waveguide binocular module meets the binocular image combination requirement. The deviation value is compared with the set threshold of the AR waveguide binocular module. If the deviation value exceeds the design threshold, the first module bracket of the first optical-mechanical module is moved by the first position adjustment mechanism and / or the second module bracket of the second optical-mechanical module is moved by the second position adjustment mechanism, and steps S4-S6 are repeated until the deviation value is within the set threshold range of the AR waveguide binocular module.

10. An AR module binocular image adjustment system, characterized in that: It includes a base, a calibration mechanism, a first shooting unit, a second shooting unit, an AR waveguide binocular module, a first processing unit and a position adjustment mechanism; wherein the first shooting unit and the second shooting unit simulate human eyes; The base is used to set a calibration mechanism, an AR waveguide binocular module and a position adjustment mechanism; a first shooting unit and a second shooting unit are set on the calibration mechanism; the first shooting unit and the second shooting unit are connected to the first processing unit; the position adjustment mechanism is connected to the AR waveguide binocular module; The calibration mechanism is used to calibrate the relative position of the first shooting unit and the second shooting unit; The longitudinal spacing distance between the AR waveguide binocular module provided on the base and the first shooting unit and / or the second shooting unit is equal to the exit pupil distance of the AR waveguide binocular module; the AR waveguide binocular module displays the first virtual image and the second virtual image in the startup state; a. the first shooting unit is used to shoot a first virtual image to obtain a first shot image, and send the first shot image to the first processing unit; the second shooting unit is used to shoot a second virtual image to obtain a second shot image, and send the second shot image to the first processing unit; b. the first processing unit receives the first photographed image and the second photographed image for calculation and processing to obtain a deviation value between the first photographed image and the second photographed image; c Based on the deviation value, the AR waveguide binocular module is adjusted through a position adjustment mechanism so that the AR waveguide binocular module meets the binocular image combination requirement.

11. The AR module binocular image adjustment system according to claim 10, characterized in that: The calibration mechanism includes a lifting adjustment structure, a support plate, a first pitch rotation platform, a second pitch rotation platform, a calibration plate and a second processing unit; The bottom end of the lifting and adjusting structure is connected to the base, and the top end of the lifting and adjusting structure is connected to the support plate; The first position of the support plate is fixed with a first pitch rotation platform, and the second position of the support plate is fixed with a second pitch rotation platform; wherein the first position and the second position are in the same horizontal plane and the horizontal spacing distance corresponds to the pupil distance; A first shooting unit is arranged on the first pitch-rotating platform, and a second shooting unit is arranged on the second pitch-rotating platform; The second processing unit is connected to the first shooting unit and the second shooting unit; The third position of the support plate is used to set a calibration plate with a calibration pattern, the calibration pattern includes a first cross and a second cross, wherein the intersection of the first cross and the intersection of the second cross are in the same horizontal plane and the horizontal spacing distance corresponds to the pupil distance, and the third position is located in front of the shooting lens of the first shooting unit and / or the second shooting unit.

12. The AR module binocular image adjustment system according to claim 11, characterized in that: When the calibration plate is set at the third position of the support plate, The first pitch rotating platform on the support plate connected by the lifting adjustment mechanism drives the first shooting unit to shoot the calibration pattern of the calibration plate from multiple positions to obtain a first calibration image, and the second pitch rotating platform on the support plate connected by the lifting adjustment mechanism drives the second shooting unit to shoot the calibration pattern of the calibration plate from multiple positions to obtain a second calibration image; The first photographing unit sends the first calibration image to the second processing unit, and the second photographing unit sends the second calibration image to the second processing unit; The second processing unit receives the first calibration image and the second calibration image, processes the first calibration image and the second calibration image by using a calibration algorithm, and displays a first shooting state parameter of the first shooting unit and a second shooting state parameter of the second shooting unit; The first tilt and rotation stage is adjusted based on the first shooting state parameter so that the cross intersection in the first calibration image is located at the set position of the coordinate system of the first shooting unit, and the second tilt and rotation stage is adjusted based on the second shooting state parameter so that the cross intersection in the second calibration image is located at the set position of the coordinate system of the second shooting unit.

13. The AR module binocular image adjustment system according to claim 11, characterized in that: The AR waveguide binocular module comprises: a module bracket, a first waveguide plate, a second waveguide plate, a first optical-mechanical module and a second optical-mechanical module; The first optical-mechanical module comprises a first module bracket, a first optical-mechanical unit and a first prism; The second optical-mechanical module comprises a second module bracket, a second optical-mechanical unit and a second prism; The first waveguide plate and the second waveguide plate are respectively fixed on one side of the module bracket, and the first module bracket and the second module bracket are respectively placed on the opposite side of the one side of the module bracket, the first module bracket is provided with a first optical machine and a first prism, and the second module bracket is provided with a second optical machine and a second prism; The first module bracket is provided with a first glue injection hole, the second module bracket is provided with a second glue injection hole, the module bracket is provided with a third glue injection hole connected with the first glue injection hole at the position of the first glue injection hole, and the module bracket is provided with a fourth glue injection hole connected with the second glue injection hole at the position of the second glue injection hole; The first module bracket is provided with a first transfer hole, and the second module bracket is provided with a second transfer hole.

14. The AR module binocular image adjustment system according to claim 13, characterized in that: When the calibration plate is removed from the third position of the support plate, The module bracket of the AR waveguide binocular module is arranged at the fourth position of the support plate; wherein the fourth position is located in front of the shooting lens of the first shooting unit and / or the second shooting unit; The first optical machine is started, and the first optical machine couples the image light source to the first waveguide plate, and the image light source is transmitted through total reflection from the first waveguide plate and coupled out to display the first virtual image; the second optical machine is started, and the second optical machine couples the image light source to the second waveguide plate, and the image light source is transmitted through total reflection from the second waveguide plate and coupled out to display the second virtual image.

15. The AR module binocular image adjustment system according to claim 10, characterized in that: The first processing unit receives the first captured image and the second captured image for calculation processing, and before obtaining the deviation value between the first captured image and the second captured image, further includes: The first processing unit performs an image preprocessing operation on the first captured image and the second captured image to obtain a first preprocessed image and a second preprocessed image respectively; The image preprocessing operation includes image denoising, image contrast enhancement and image edge detection.

16. The AR module binocular image adjustment system according to claim 15, characterized in that: The first processing unit receives the first captured image and the second captured image for calculation processing to obtain a deviation value between the first captured image and the second captured image, including the following steps: The first processing unit extracts feature points in the same area of ​​the first preprocessed image and the second preprocessed image using a feature point extraction algorithm, the feature points extracted from the first preprocessed image and the feature points extracted from the second preprocessed image are represented by different marking graphics, and the pixel coordinates of the feature points are recorded; The first processing unit uses a matching algorithm to match feature points in the same area of ​​the first pre-processed image and the second pre-processed image; The first processing unit performs matrix operations based on the pixel coordinates of the matching corresponding feature points to obtain deviation values ​​of feature points in the same area of ​​the first preprocessed image and the second preprocessed image, wherein the deviation values ​​include position deviation values ​​and angle deviation values.

17. The AR module binocular image adjustment system according to claim 13, characterized in that: The position adjustment structure includes a first position adjustment mechanism and a second position adjustment mechanism; The first position adjustment mechanism includes a first turntable, a first Z-axis lifting platform, a first Y-axis angular positioner, a first X-axis angular positioner, a first Y-axis slide rail provided with a first slider, and a first X-axis slide rail provided with a first slider, which are connected in sequence from bottom to top; the first turntable is connected to the base, and the first slider of the first X-axis slide rail is connected to the first adapter hole through a first adapter component; The second position adjustment mechanism includes a second turntable, a second Z-axis lifting platform, a second Y-axis goniometer, a second X-axis goniometer, a second Y-axis slide rail with a second slider, and a second X-axis slide rail with a second slider, which are connected in sequence from bottom to top; the first turntable is connected to the base, and the second slider of the second X-axis slide rail is connected to the second adapter hole through a second adapter assembly.

18. The AR module binocular image adjustment system according to claim 17, characterized in that: The deviation value is compared with a set threshold value of the AR waveguide binocular module. If the deviation value exceeds the design threshold value, the first module bracket of the first optical-mechanical module is moved by the first position adjustment mechanism and / or the second module bracket of the second optical-mechanical module is moved by the second position adjustment mechanism, and then steps ac are repeated until the deviation value is within the set threshold range of the AR waveguide binocular module.

Images