Binocular combined image alignment device and method for near-eye display

Abstract

The invention provides a binocular image combination alignment device for a near-to-eye display, which comprises a first regulator, a second regulator and a third regulator, the first light source supports a first light engine of the near-eye display and is configured to adjust a first top view angle alpha 1, a first side view angle beta 1 and a first rotation angle theta 1 of an optical axis of the first light engine relative to a normal line of a first waveguide of the near-eye display, and a first distance d1 of the first light engine relative to the first waveguide; a second adjuster supporting a second light engine of the near-eye display and configured to adjust a second plan view angle [alpha] 2 and a second side view angle [beta] 2 and a second rotation angle [theta] 2 of an optical axis of the second light engine with respect to a normal of a second waveguide of the near-eye display, and a second distance d2 of the second light engine with respect to the second waveguide; a third adjuster supporting the first and second lens waveguides of the near-eye display and configured to adjust an inclination angle [gamma] of the first and second lens waveguides and a third distance d3 relative to the first and second light engines; and an optical instrument configured to provide a reference binocular combined image to the first lens waveguide and the second lens waveguide. The invention also provides a binocular combined image alignment method. According to the invention, accurate binocular image combination and alignment can be realized when leaving a factory, so that better user experience is provided.

Description

Technical Field

[0001] The present invention generally relates to the field of near-eye displays, and more specifically to a binocular image alignment device for near-eye displays. In addition, the present invention also relates to a binocular image alignment method. Background Art

[0002] A near-eye display is a new type of display located near the human eye that is magnified by an optical system to form a large field of view. A near-eye display is mainly composed of two parts: a microdisplay device and an optical device. The microdisplay device is responsible for generating images and is the source of the display content. For example, a microdisplay may include LCD, LCoS, Micro-LED, etc. The optical device is used to process and transmit the images generated by the microdisplay device, such as through optical elements such as lenses, prisms, and waveguides, to magnify, refract, reflect, or diffract the image and project it into the human eye, thereby forming a virtual image or an enhanced image combined with the real world in front of the human eye. Near-eye displays have been widely used in many fields such as virtual reality and augmented reality, military and aerospace, and medical due to their advantages such as strong immersion, good portability, good personalized experience, and high functional integration.

[0003] The binocular combination technology of near-eye display is one of the key technologies to achieve a good visual experience. Binocular combination refers to the precise adjustment and fusion of the images presented to the left and right eyes respectively through specific technologies and devices in the near-eye display system, so that the images seen by both eyes are combined into a complete image with a sense of three-dimensionality, depth, clarity and naturalness in the human brain, thereby providing users with a more realistic and comfortable visual effect. Binocular combination is based on the binocular parallax principle of human vision: because there is a certain distance between the human eyes, the same object seen by the left and right eyes will be slightly different in terms of perspective, position, etc. The brain will calculate the distance and depth of the object based on these differences, thereby producing a sense of three-dimensionality. The binocular combination technology of near-eye display simulates this process. By precisely controlling the display position, angle, size and other parameters of the left and right eye images, the virtual images seen by both eyes form a parallax similar to the real world on the retina, thereby achieving binocular combination. When the binocular combination is not well aligned, users may experience discomfort symptoms such as eye fatigue, dizziness, and nausea. Through the precise alignment of binocular images, image ghosting, blur and distortion can be reduced, making the image seen by both eyes more natural and comfortable, and reducing the discomfort felt by users when using near-eye displays for a long time.

[0004] However, some near-eye displays currently fail to achieve accurate binocular alignment when they leave the factory, which has a negative impact on user experience. In addition, the existing technology usually uses the relative positions of the left and right eye virtual images determined by the human eye to align the images. However, such an alignment method cannot quantify and accurately align the images, which also leads to angle differences in binocular alignment, causing users to feel dizzy when using the display. Summary of the invention

[0005] The task of the present invention is to provide a binocular image alignment device and a binocular image alignment method for a near-eye display. Through the device and / or the device, accurate binocular image alignment can be achieved at the factory, thereby providing a better user experience.

[0006] In a first aspect of the present invention, the aforementioned task is solved by a binocular image alignment device for a near-eye display, the device comprising:

[0007] A first adjuster supporting a first light engine of the near-eye display and configured to adjust a first top angle α1, a first side angle β1, and a first rotation angle θ1 of an optical axis of the first light engine relative to a normal of a first waveguide of the near-eye display, and a first distance d1 of the first light engine relative to the first waveguide;

[0008] a second adjuster supporting a second light engine of the near-eye display and configured to adjust a second top angle α2, a second side angle β2, and a second rotation angle θ2 of an optical axis of the second light engine relative to a normal of a second waveguide of the near-eye display, and a second distance d2 of the second light engine relative to the second waveguide;

[0009] A third adjuster supporting the first lens waveguide and the second lens waveguide of the near eye display and configured to adjust the tilt angles of the first lens waveguide and the second lens waveguide and a third distance d3 relative to the first and second light engines; and

[0010] An optical instrument is configured to provide a reference binocular combined image to a first lens waveguide and a second lens waveguide.

[0011] In one embodiment of the present invention, the first regulator comprises:

[0012] A first slide rail, which is arranged transverse to a first plane where the first lens waveguide is located;

[0013] A first sliding adjustment platform, which is arranged on the first slide rail and can slide along the first slide rail; and

[0014] The first movable bearing portion is arranged on the first sliding adjustment platform and is configured to carry the first light engine in a rotatable manner.

[0015] In another embodiment of the present invention, the second regulator comprises:

[0016] A second slide rail is arranged transversely to a second plane where the second lens waveguide is located;

[0017] A second sliding adjustment platform, which is arranged on the second slide rail and can slide along the second slide rail; and

[0018] The second movable bearing part is arranged on the second sliding adjustment platform and is configured to carry the second light engine in a rotatable manner.

[0019] In another embodiment of the present invention, the third regulator comprises:

[0020] A third slide rail, which is arranged transverse to the first plane where the first lens waveguide is located and / or the second plane where the second lens waveguide is located;

[0021] A third sliding adjustment platform, which is arranged on the third slide rail and can slide along the third slide rail; and

[0022] The third movable bearing part is arranged on the third sliding adjustment platform and is configured to carry the first lens waveguide and the second lens waveguide in a rotatable manner.

[0023] In another embodiment of the present invention, the binocular image alignment device further includes a fourth regulator, which includes:

[0024] a fourth slide rail arranged transversely to the third slide rail;

[0025] a fourth sliding adjustment platform, which is arranged on the fourth slide rail and can slide along the fourth slide rail; and

[0026] The fourth movable bearing part is arranged on the fourth sliding adjustment platform and is configured to carry the optical instrument in a rotatable manner.

[0027] In another embodiment of the present invention, one or more of the first to fourth movable bearing parts has a six-axis fine-tuning platform, and the six-axis fine-tuning platform is configured to perform the following actions:

[0028] Translation along the x-axis;

[0029] Translation along the y-axis;

[0030] Translation along the z-axis;

[0031] Rotation along the x-axis;

[0032] rotation along the y-axis; and

[0033] Rotation along the z-axis, where the x, y, and z axes are the coordinate axes of the spatial rectangular coordinate system.

[0034] In another embodiment of the present invention, it is provided that:

[0035] The first lens waveguide and the second lens waveguide form angles γ1 and γ2 with a plane perpendicular to the midline of the near-eye display, respectively.

[0036] In another embodiment of the present invention, the first light engine and the second light engine are respectively arranged at ends of the first lens waveguide and the second lens waveguide that are opposite to each other.

[0037] In another embodiment of the present invention, it is provided that:

[0038] The first top angle and the first side angle are respectively equal to the top angle and the side angle between the optical axis of the virtual image in the first lens waveguide and the normal to the first lens waveguide; and / or

[0039] The second top angle and the second side angle are respectively equal to the top angle and the side angle between the optical axis of the virtual image in the second lens waveguide and the normal line of the second lens waveguide.

[0040] In another embodiment of the present invention, the binocular image alignment device further includes an actuator configured to perform the following actions:

[0041] adjusting the third adjuster so that the midline vertical plane of the near-eye display is parallel to the reference plane and the normals of the first lens waveguide and the second lens waveguide are parallel to the optical axis of the optical instrument;

[0042] Adjust the optical instrument and / or the first and / or second and / or third adjuster so that γ1=α1 and γ2=α2, and the combined image between the first image of the first lens and the second image of the second lens coincides with the reference binocular combined image of the optical instrument; and

[0043] Adjust the first and / or second regulator and / or the third regulator so that γ1=α1 and γ2=α2, and α1=α1d, α2=α2d, β1=β1d, β2=β2d, θ1=θ1d, θ2=θ2d, wherein α1d and α2d are target top-down angles, β1d and β2d are target side angles, and θ1d and θ2d are target rotation angles.

[0044] In another embodiment of the present invention, the reference plane is one of the following:

[0045] Horizontal planes, vertical planes, and inclined planes.

[0046] In another embodiment of the present invention, the near-eye display includes one of the following: a virtual reality display, an augmented display display, and smart glasses.

[0047] In another embodiment of the present invention, the actuator comprises:

[0048] A slide actuator configured to perform the following actions:

[0049] sliding the first light engine relative to the first waveguide; and / or

[0050] sliding the second light engine relative to the second waveguide; and / or

[0051] Sliding the first lens waveguide and the second lens waveguide relative to the optical instrument; and

[0052] Rotary actuators configured to perform the following actions:

[0053] rotating the first light engine relative to the first waveguide; and / or

[0054] rotating the second light engine relative to the second waveguide; and / or

[0055] The first lens waveguide and the second lens waveguide are rotated relative to the optical instrument.

[0056] In another embodiment of the present invention, the binocular image alignment device further comprises:

[0057] A controller configured to perform the following actions:

[0058] Determine the pixel deviation between the center position of the virtual combined image of the first lens waveguide and the second lens waveguide and the reference binocular combined image;

[0059] Calculate current α1, β1 and α2, β2, θ1 and θ2 according to the angular resolution of the optical instrument and the pixel deviation; and

[0060] An execution control signal is sent to the actuator so that α1 and β1, α2 and β2, θ1 and θ2 are α1d and α2d, α2d and β2d, θ1d and θ2d, respectively.

[0061] In another embodiment of the present invention, the binocular image alignment device further comprises:

[0062] The glue dispensing device is configured to dispense glue to the first light engine and the second light engine after the adjustment is completed so as to fix them on the near-eye display.

[0063] In another embodiment of the present invention, the near-eye display includes a micro light emitting diode chip.

[0064] In another embodiment of the present invention, it is provided that:

[0065] The first waveguide and the first lens waveguide are the same waveguide, wherein the first waveguide is a light coupling-in region of the waveguide, and the first lens waveguide is a light coupling-out region of the same waveguide; and

[0066] The second waveguide and the second mirror waveguide are the same waveguide, wherein the second waveguide is the light coupling input region of the waveguide, and the first mirror waveguide is the light coupling output region of the same waveguide

[0067] In a second aspect of the present invention, the aforementioned task is solved by a binocular image alignment method based on the binocular image alignment device according to the present invention, wherein the method comprises the following steps:

[0068] adjusting the third adjuster so that the midline vertical plane of the near-eye display coincides with or is parallel to the reference plane and the normals of the first lens waveguide and the second lens waveguide are parallel to the optical axis of the optical instrument;

[0069] Adjust the optical instrument and / or the first and / or second and / or third adjuster so that γ1=α1 and γ2=α2 and the binocular combined image between the first image of the first lens and the second image of the second lens coincides with the reference binocular combined image of the optical instrument; and

[0070] Adjust the first and / or second regulator and / or the third regulator so that γ1=α1 and γ2=α2, α1=α1d, α2=α2d, β1=β1d, β2=β2d, θ1=θ1d, θ2=θ2d, wherein α1d and α2d are target top-down angles, β1d and β2d are target side angles, and θ1d and θ2d are target rotation angles.

[0071] In one embodiment of the present invention, adjusting the optical instrument and / or the first and / or second and / or third adjuster so that γ1=α1 and γ2=α2 and the binocular combined image between the first image of the first lens and the second image of the second lens coincides with the reference binocular combined image of the optical instrument comprises the following steps:

[0072] Adjust the first regulator so that α1, β1 and θ1 are all 0;

[0073] Adjust the second regulator so that α2, β2 and θ2 are all 0; and

[0074] The third regulator is adjusted so that γ1=α1 and γ2=α2.

[0075] In another embodiment of the present invention, adjusting the first regulator includes:

[0076] sliding the first light engine relative to the first waveguide; and

[0077] The first light engine is rotated relative to the first waveguide.

[0078] In another embodiment of the present invention, adjusting the second regulator includes:

[0079] sliding the second light engine relative to the second waveguide; and

[0080] The second light engine is rotated relative to the second waveguide.

[0081] In another embodiment of the present invention, adjusting the third regulator includes:

[0082] Rotating the first lens waveguide and the second lens waveguide; and

[0083] The first lens waveguide and the second lens waveguide are slid relative to the optical instrument.

[0084] In another embodiment of the present invention, the method further comprises the steps of:

[0085] Determine the pixel deviation between the center position of the virtual combined image of the first lens waveguide and the second lens waveguide and the reference binocular combined image;

[0086] Calculate the current values ​​of α1, β1 and α2, β2 based on the angular resolution of the optical instrument and the pixel deviation; and

[0087] α1, β1, θ1 and α2, β2, θ2 are adjusted to target values, respectively.

[0088] In another embodiment of the present invention, the method further comprises the steps of:

[0089] Determine the adjustment step sizes of α1, β1 and α2, β2;

[0090] Determine the number of adjustment steps required to adjust them to the target value according to the adjustment step length and the current values ​​and target values ​​of α1, β1 and α2, β2; and

[0091] Execute the adjustment steps.

[0092] In another embodiment of the present invention, the adjusting steps include:

[0093] The number of times the first and / or second and / or third and / or fourth slide rails are to slide; and

[0094] The number of times the first and / or second and / or third and / or fourth movable bearing parts are to rotate.

[0095] In another embodiment of the present invention, the reference binocular combined image is a part of the binocular combined image and / or partially overlaps with the binocular combined image.

[0096] In another embodiment of the present invention, it is provided that:

[0097] The angle range of α1d and α2d is: 0° to 10°; and / or

[0098] The angle range of β1d, β2d is: 0° to 10° and / or

[0099] The angle range of θ1d and θ2d is: 0° to 15°.

[0100] In another embodiment of the present invention, it is provided that:

[0101] α1d=α2d;and / or

[0102] β1d=β2d; and / or

[0103] θ1d=θ2d。

[0104] (1) Unlike the prior art, which simply aligns the left and right eye virtual images determined by the human eye, the present invention aligns according to the coupling angle designed by the wave plate (i.e., the angle of the optical axis of the light engine relative to the waveguide), which avoids the angle difference in binocular images and avoids the user's dizziness when using it. In addition, the coupling angle alignment method of the present invention can also reduce light efficiency loss and improve the brightness of the near-eye display. This is because, through research, the present invention has found that the coupling-in angle of the light engine (i.e., the angle of the optical axis of the light engine relative to the waveguide normal) and the coupling-out angle of the virtual image (i.e., the angle of the optical axis of the virtual image relative to the lens waveguide normal) are mirror-symmetrical, i.e., the openings are opposite and equal in size, and the coupling-out angle of the virtual image just corresponds to the angle between the line of sight of the human eye and the lens waveguide normal (assuming that the human eye is looking at the virtual image in the lens waveguide). Therefore, by adjusting the coupling-in angle of the light engine, the coupling-out angle of the virtual image can be accurately adjusted, and then the angle between the line of sight of the human eye and the lens waveguide normal can be adjusted, thereby achieving accurate binocular image alignment of the virtual image seen by the human eye (i.e., aligning the lens binocular image with the reference binocular image). In addition, in this way, the optical coupling between the light engine and the waveguide is better, which is beneficial to reducing light loss and improving light efficiency.

[0105] (2) The binocular image alignment device of the present invention can adjust the position of the light engine relative to the waveguide of the near-eye display in multiple dimensions, such as the top view, the side view, and the distance, and can perform the coupling angle alignment more accurately, thereby facilitating accurate binocular image alignment.

[0106] (3) The present invention ensures that the near-eye display can provide a good user experience throughout its entire life cycle by accurately performing binocular imaging and fixing it with glue before the near-eye display leaves the factory. BRIEF DESCRIPTION OF THE DRAWINGS

[0107] The present invention will be further described below in conjunction with specific embodiments with reference to the accompanying drawings.

[0108] Figure 1A and 1B The schematic diagram of the binocular image alignment solution according to the present invention is shown;

[0109] Figure 2 A schematic diagram of a binocular image alignment device for a near-eye display 101 according to the present invention is shown;

[0110] Figures 3A to 3C A schematic diagram showing a binocular image alignment process according to the present invention; and

[0111] Figure 4 A pictorial diagram of a regulator according to the invention is shown. DETAILED DESCRIPTION

[0112] In the following description, the present invention is described with reference to various embodiments. However, those skilled in the art will recognize that the various embodiments may be implemented without one or more specific details or with other alternative and / or additional methods, materials or components. In other cases, well-known structures, materials or operations are not shown or described in detail to avoid obscuring the inventive point of the present invention. Similarly, for the purpose of explanation, specific quantities, materials and configurations are set forth to provide a comprehensive understanding of the embodiments of the present invention. However, the present invention is not limited to these specific details.

[0113] It should be noted that the components in the figures may be shown exaggeratedly for the sake of illustration and are not necessarily true to scale. In the figures, identical or functionally identical components are provided with the same reference numerals.

[0114] In the present invention, unless otherwise specified, "arranged on...", "arranged above..." and "arranged above..." do not exclude the existence of an intermediate between the two. In addition, "arranged on or above..." merely indicates the relative positional relationship between two components, and in certain cases, such as after reversing the product direction, it can also be converted into "arranged below or below...", and vice versa.

[0115] In the present invention, each embodiment is only intended to illustrate the aspects of the present invention and should not be construed as limiting.

[0116] In the present invention, unless otherwise specified, the quantifiers "a", "an" and "an" do not exclude the presence of a plurality of elements.

[0117] In the present invention, the term “connected” may refer to both being directly connected or being indirectly connected via an intermediate element.

[0118] In the present application, the term "configuration" refers to the setting of the shape, structure, material and / or function of the target object to achieve the desired technical effect, wherein "configuration" includes a variety of alternative technical means for achieving the technical effect, which become obvious under the teaching of the present application.

[0119] In this specification, references to "one embodiment" or "the embodiment" mean that a particular feature, structure, or characteristic described in conjunction with the embodiment is included in at least one embodiment of the present invention. The phrase "in one embodiment" appearing in various places in this specification does not necessarily all refer to the same embodiment.

[0120] It should be noted that the embodiments of the present invention describe the process steps in a specific order, but this is only for the purpose of illustrating the specific embodiment, rather than limiting the order of the steps. On the contrary, in different embodiments of the present invention, the order of the steps can be adjusted according to the adjustment of the process.

[0121] In the present invention, the term "top angle" refers to the angle between the two related parties when looking down (i.e., observing from directly above) the near-eye display, and the term "side angle" refers to the angle between the two related parties when looking from the side (i.e., observing from the front side) the near-eye display, and the term "rotation angle" refers to the angle between the projection line of the optical axis of the first or second light engine on the first or second waveguide and the reference plane (such as the horizontal plane or the vertical plane) when observing in the direction of the optical axis of the first or second waveguide. It should be pointed out that in the present invention, the viewing angle, side angle and rotation angle are only for the convenience of describing the spatial posture of the light engine relative to the waveguide, so their meanings are equivalent to the roll angle, pitch angle and yaw angle that describe the spatial posture, and can be used interchangeably, wherein the x, y, and z axes correspond to three mutually perpendicular coordinate axes passing through the midpoint of the first or second waveguide, such as the waveguide normal, and two other lines perpendicular to the waveguide normal, such as the horizontal line and the vertical line. In addition, in the context of the present invention, the terms "waveguide" and "optical waveguide" have the same meaning and can be used interchangeably.

[0122] The following first explains the principle on which the binocular image alignment solution according to the present invention is based.

[0123] like Figure 1A and 1BAs shown, the near-eye display 101 has two light engines (a first light engine and a second light engine) for the left and right eyes respectively, two waveguides (a first waveguide and a second waveguide) and two lens waveguides (a first lens waveguide and a second lens waveguide). Here, the first waveguide and the first lens waveguide may belong to the same waveguide, that is, the first waveguide is the light coupling input region of the same waveguide, and the first lens waveguide is the light coupling output region of the same waveguide. Similarly, the second waveguide and the second lens waveguide may also belong to the same waveguide, that is, the second waveguide is the light coupling input region of the same waveguide, and the second lens waveguide is the light coupling output region of the same waveguide. In other embodiments, the first waveguide and the first lens waveguide may be different waveguides connected to each other by an optical conductor, and similarly, the second waveguide and the second lens waveguide may also be different waveguides connected to each other by an optical conductor. Both cases fall within the protection scope of the present invention. Here, for simplicity, only the first light engine 104, the first waveguide 208, and the first lens waveguide 204 for the right eye are shown. The principles and structures of the second light engine, the second waveguide, and the second lens waveguide for the left eye are the same as those of the first light engine 104, the first waveguide 208, and the first lens waveguide 204 for the right eye, and are not repeated here. The near-eye display 101 can be, for example, a near-eye display device such as a virtual reality (VR) display, an augmented display (AR) display, and smart glasses. The first light engine 104 is used to input light into the first waveguide 208, and the first waveguide 208 receives the light and transmits it to the first lens waveguide 204. The human eye 206 can observe an image, here a virtual image, from the first lens waveguide 204. The virtual image observed by the left and right eyes forms a binocular image, that is, the images seen by both eyes are synthesized in the human brain into a complete image with a sense of three-dimensionality, a sense of depth, and clear and natural, thereby providing a more realistic and comfortable visual effect for the user.

[0124] The first light engine 104 forms a certain angle with the normal of the first waveguide 208, i.e., the first waveguide normal 202, which is α1 when looking down at the near-eye display 101 (i.e., observing the near-eye display 101 from the top of the near-eye display 101 downward), β1 when looking at the side display 100 (i.e., observing the near-eye display 101 from the side of the near-eye display 101), and θ1 when observing in the optical axis direction of the first waveguide. That is, the angle formed by the first light engine 104 and the first waveguide normal 202 can be described by three angles, i.e., α1, β1, and θ1. However, it should be noted that it is also conceivable to describe the angle formed by the first light engine 104 and the first waveguide normal 202 from other different directions, such as the roll angle, the pitch angle, and the yaw angle.

[0125] Similarly, the angle between the optical axis of the virtual image in the first waveguide lens 204, i.e., the virtual image optical axis 205, and the normal of the first lens waveguide 204, i.e., the second waveguide normal 203, can also be described by three angles, i.e., the angle is α1′ in the case of looking down at the near-eye display 101 (i.e., observing the near-eye display 101 from the top of the near-eye display 101 downward) and β1′ in the case of looking at the side display 100 (i.e., observing the near-eye display 101 from the side of the near-eye display 101) and θ1′ (not shown) in the case of facing the near-eye display 101 (i.e., observing in the normal direction of the lens waveguide). That is, the angle between the virtual image optical axis 205 and the second waveguide normal 203 can be described by three angles, i.e., α1′, β1′, and θ1′. However, it should be noted that it is also conceivable to describe the angle between the virtual image optical axis 205 and the second waveguide normal 203 from other different directions, such as the roll angle, the pitch angle, and the yaw angle.

[0126] The inventors have found through research that in a near-eye display, taking the right eye of the near-eye display as an example (the left eye has the same principle), when the angle γ1=α1 formed between the first lens waveguide and the vertical plane of the midline of the near-eye display, α1 and α1' are mirror-symmetrical, β1 and β1' are mirror-symmetrical, and θ1 and θ1' are mirror-symmetrical. In other words, by adjusting the top-down angle α1, the side angle β1 and the rotation angle θ1 of the first light engine 104 relative to the normal of the first waveguide 208, the top-down angle α2, the side angle β1' and the rotation angle θ1 of the virtual image optical axis 205 relative to the normal of the second lens waveguide 204 can be adjusted. If the human eye 208 is looking at the virtual image at this time, the angle between the human eye's sight line and the lens waveguide 204 can be adjusted at this time, thereby adjusting the intersection position of the binocular sight lines, that is, the position of the virtual image formed by the binocular combined image. To achieve this, an optical instrument is used to calibrate α1, β1 and θ1, that is, the optical instrument provides a reference binocular image at the exact center of the near-eye display 101, and adjusts α1, β1 and θ1 to 0, so that the binocular image generated by the light engine coincides with the reference binocular image, and then adjusts α1, β1 and θ1 to target values ​​α1d, β1d and θ1d, wherein during the adjustment process, γ1 is always equal to α1. The left eye is also adjusted in the same way. At this point, binocular alignment is completed. After the light engine is fixed by glue, the near-eye display 101 will always have accurate binocular images throughout its service life. Here, the target values ​​α1d, β1d and θ1d of α, β and θ are the angles required to achieve the best visual effect determined by the eyewear manufacturer. The same applies to α2d, β2d and θ2d. For example, the target values ​​of α, β and θ are the designed coupling angles of the optical waveguide or the coupling angles to be achieved for process definition, which can be any angle values. The subsequent operation is how to assemble at a specified angle. The first waveguide is the coupling region of the monolithic optical waveguide, and the first lens waveguide is the coupling region of the monolithic optical waveguide. γ1 and γ2 are the angles between a single side of the eyeglass frame and a reference direction, such as the horizontal direction. Generally, γ1=α1 and γ2=α2. The purpose is that if the light engine and the waveguide are assembled at a relative coupling angle α, the virtual image will be directly projected into the human eye. Therefore, in the assembly process, the relative coupling angles α, β and θ of the target assembly need to be known in advance to design the eyeglass frame, so that the angles between a single side and the horizontal direction γ1=α1 and γ2=α2 are made, and the eyeglass frame is assembled according to this method. For example, α1=α2=α can be made, and when α1 and α2 are adjusted at the same time, γ1 and γ2 are adjusted to always be equal to α.

[0127] Figure 2 A schematic diagram of a binocular image alignment device 100 for a near-eye display 101 according to the present invention is shown.

[0128] The binocular image alignment device 100 for the near-eye display 101 according to the present invention comprises the following components: a first adjuster 101, a second adjuster 102, a third adjuster 103, a fourth adjuster 106 and an optical instrument 107, wherein one or more of these components are optional. Here, the first adjuster 101 is used to adjust the distance and angle of the first light engine 104 of the right eye relative to the first waveguide, the second adjuster 102 is used to adjust the distance and angle of the second light engine 105 relative to the second waveguide, the third adjuster 103 is used to adjust the distance and angle of the near-eye display body relative to the first and second waveguides and the optical instrument, and the fourth adjuster 106 is used to adjust the position of the optical instrument 107 relative to the lens waveguide. Each component is described in detail below (the corresponding component is marked with "·").

[0129] · First regulator 101

[0130] The first adjuster 101 supports the first light engine 104 of the near-eye display and is configured to adjust the first top angle α1 and the first side angle β1 (see Figure 1A and 1B ), a first rotation angle θ1, and a first distance d1 of the first light engine 104 relative to the first waveguide.

[0131] In one embodiment, the first adjuster 101 may include a first slide rail 101A, a first sliding adjustment platform 101B, and a first movable bearing portion 101C. The first slide rail 101A is arranged to be transverse to, especially perpendicular to, the first plane where the first lens waveguide is located. Here, "transverse to" means inclined to, approximately perpendicular to, or perpendicular to. The first slide rail 101A may, for example, include a slideway and a slider that can slide on the slideway, and the first sliding adjustment platform 101B may be installed on the slider. The first sliding adjustment platform 101B is arranged on the first slide rail 101A and can slide along the first slide rail 101A. For example, the first sliding adjustment platform 101B may be provided with an interface or a mating portion for mounting the first movable bearing portion 101C and the first sliding adjustment platform 101B may be equipped with a six-axis fine-tuning platform. The six-axis fine-tuning platform can be configured to perform the following actions: translation along the x-axis; translation along the y-axis; translation along the z-axis; rotation along the x-axis; rotation along the y-axis; and rotation along the z-axis, wherein the x, y, and z axes are coordinate axes of a spatial rectangular coordinate system. The six-axis fine-tuning platform can be, for example, a six-axis robotic arm. Figure 4. The first movable bearing part 101C is arranged on the first sliding adjustment platform 101B and is configured to carry the first light engine 104 in a rotatable manner. The first movable bearing part 101C can be, for example, a support rod clamp for clamping the first light engine 104. The first movable bearing part 101C can also be implemented as a universal joint, for example, to achieve the rotation of the first light engine 104 at any angle. In addition, the first adjuster 101 can be equipped with a motor and a transmission device to achieve the automatic adjustment of the distance d1 of the first light engine 104. The motor is, for example, a stepping motor, a servo motor, etc., and the transmission device is, for example, a belt, a transmission rod, etc. The automatic angle adjustment of the first light engine 104 can be achieved by setting one or more motors (such as a DC motor, an AC motor, a hydraulic motor, etc.) to drive the first movable bearing part 101C to rotate along multiple axes in steps, for example, first rotating along the first axis to the corresponding angle plane, then rotating along the second axis to adjust the corresponding angle, then rotating along the third axis to adjust the corresponding angle, and finally completing the adjustment of the required angle amount of rotation. .

[0132] · The second regulator 102

[0133] The second adjuster 102 supports the second light engine 105 of the near-eye display and is configured to adjust the second top angle α2 and the second side angle β2 (see Figure 1A and 1B ), a second rotation angle θ2, and a second distance d2 of the second light engine relative to the second waveguide.

[0134] In one embodiment, the second adjuster 102 may include a second slide rail 102A, a second sliding adjustment platform 102B, and a second movable bearing portion 102C. The second slide rail 102A is arranged to be transverse to, especially perpendicular to, the second plane where the second lens waveguide is located. Here, "transverse to" means inclined to, approximately perpendicular to, or perpendicular to. The second slide rail 102A may, for example, include a slideway and a slider that can slide on the slideway, and the second sliding adjustment platform 102B may be installed on the slider. The second sliding adjustment platform 102B is arranged on the second slide rail 102A and can slide along the second slide rail 102A. For example, the second sliding adjustment platform 102B may be provided with an interface or a mating portion for mounting the second movable bearing portion 102C and the second sliding adjustment platform 102B may be equipped with a six-axis fine-tuning platform. The six-axis fine-tuning platform can be configured to perform the following actions: translation along the x-axis; translation along the y-axis; translation along the z-axis; rotation along the x-axis; rotation along the y-axis; and rotation along the z-axis, wherein the x, y, and z axes are coordinate axes of a spatial rectangular coordinate system. The six-axis fine-tuning platform can be, for example, a six-axis robotic arm. Figure 4The second movable bearing part 102C is arranged on the second sliding adjustment platform 102B and is configured to carry the second light engine 105 in a rotatable manner. The second movable bearing part 102C can be, for example, a support rod clamp for clamping the second light engine 105. The second movable bearing part 102C can also be implemented as a universal joint, for example, to achieve the rotation of the second light engine 105 at any angle. In addition, the second adjuster 102 can be equipped with a motor and a transmission device to achieve the automatic adjustment of the distance d2 of the second light engine 105. The motor is, for example, a stepping motor, a servo motor, etc., and the transmission device is, for example, a belt, a transmission rod, etc. The automatic angle adjustment of the second light engine 105 can be achieved by setting one or more motors (such as a DC motor, an AC motor, a hydraulic motor, etc.) to drive the second movable bearing part 102C to rotate along multiple axes in steps, for example, first rotating along the first axis to the corresponding angle plane, then rotating along the second axis to adjust the corresponding angle, then rotating along the third axis to adjust the corresponding angle, and finally completing the adjustment of the required angle amount of rotation. Figure 4 A physical diagram of the regulator is shown. Figure 4 It can be seen that the adjuster has the functions of rotation and sliding, and can better adjust the distance d1 to d3 and the corresponding rotation angle.

[0135] · The third regulator 103

[0136] The third adjuster 103 supports the first lens waveguide and the second lens waveguide of the near-eye display and is configured to adjust the deflection angles of the first lens waveguide and the second lens waveguide (see Figure 1A and 1B ) and a third distance d3 relative to the first and second optical engines. The deflection angles include, for example: angles γ1 and γ2 formed by the first lens waveguide and the second lens waveguide respectively relative to the vertical plane of the glasses midline; angles formed by the first lens waveguide and the second lens waveguide respectively relative to the optical instrument. Of course, this angle can also be adjusted by the optical instrument itself.

[0137] In one embodiment, the third adjuster 103 may include a third slide rail 103A, a third sliding adjustment platform 103B, and a third movable bearing portion 103C. The third slide rail 103A is arranged to be transverse to, especially perpendicular to, the first plane where the first lens waveguide is located and / or the second plane where the second lens waveguide is located. Generally speaking, the first lens waveguide and the second lens waveguide are in the same plane. When the two are not in the same plane, take the plane of one of the two lens waveguides or take the plane that is at the same angle as the two lens waveguides. Here, "transverse to" means inclined to, approximately perpendicular to, or perpendicular to. The third slide rail 103A may include, for example, a slideway and a slider that can slide on the slideway, and the third sliding adjustment platform 103B may be installed on the slider. The third sliding adjustment platform 103B is arranged on the third slide rail 103A and can slide along the third slide rail 103A. For example, the third sliding adjustment platform 103B may be provided with an interface or a matching portion for installing the third movable bearing portion 103C. The third movable bearing part 103C is arranged on the third sliding adjustment platform 103B and is configured to carry the first lens waveguide and the second lens waveguide in a rotatable manner. The third movable bearing part 103C is, for example, a six-axis fine-tuning platform, and adjusting the angle will cause the eyeglass frame to move with the waveguide. The six-axis fine-tuning platform can be configured to perform the following actions: translation along the x-axis; translation along the y-axis; translation along the z-axis; rotation along the x-axis; rotation along the y-axis; and rotation along the z-axis, wherein the x, y, and z axes are the coordinate axes of the spatial rectangular coordinate system. The six-axis fine-tuning platform can be, for example, a six-axis robotic arm. The third movable bearing part 103C can also be implemented as a universal joint, for example, to realize the rotation of the first lens waveguide and the second lens waveguide at any angle. In addition, the third adjuster 103 can be equipped with a motor and a transmission device to realize the automatic adjustment of the distance d3 between the first lens waveguide and the second lens waveguide. The motor is, for example, a stepping motor, a servo motor, etc., and the transmission device is, for example, a belt, a transmission rod, etc. The automated angle adjustment of the first lens waveguide and the second lens waveguide can be achieved by providing one or more motors (such as DC motors, AC motors, hydraulic motors, etc.) to drive the third movable supporting part 103C to rotate along multiple axes in steps. For example, first rotate along the first axis to the corresponding angle plane, then rotate along the second axis to adjust the corresponding angle, then rotate along the third axis to adjust the corresponding angle, and finally complete the adjustment of the required angle.

[0138] · Optical instruments

[0139] The optical instrument 107 is configured to provide a reference binocular combined image to the first lens waveguide and the second lens waveguide. The optical instrument 107 can be, for example, a camera equipped with a near-eye lens. The optical instrument 107 has a high resolution and field of view, and provides combined images with different lateral positions and depths of field by providing corresponding images to both eyes. When the combined image is located at the correct position and the correct depth of field of the binocular combined image of the near-eye display, it can serve as a reference binocular combined image for the near-eye display. The reference binocular combined image can be positioned in the middle of the near-eye display or other suitable positions by moving the optical instrument 107. The reference binocular combined image can be any image that is easy to calibrate, such as a circular, elliptical, cross-shaped, polygonal, or irregularly shaped graphic. In order to form a reference binocular combined image, a reference picture card can be provided in the left and right eye windows of the optical instrument respectively, and the reference picture cards of both eyes are combined to form a reference binocular combined image. Examples of reference picture cards and combined images of reference picture cards of both eyes can be seen in Figure 3B and 3C .exist Figure 3B and 3C In the figure, the reference picture card is a solid cross, and after the images are combined, a reference binocular combined image 302 of a solid cross with higher brightness or thicker lines is formed.

[0140] The calibration process using an optical instrument is as follows: first, make the optical axis of the right eyepiece of the optical instrument parallel to the normal of the right lens waveguide, and then align the optical axis of the light engine with the normal of the light waveguide. Then make the optical axis of the left eyepiece of the optical instrument parallel to the normal of the left lens waveguide, and then align the optical axis of the light engine with the normal of the light waveguide. After alignment, the reference binocular combined image will overlap with the binocular combined image displayed by the near-eye display. At this time, keep γ = α to maintain the above overlap. Then, continue to adjust α, β and θ until they are the target values. After confirming that the images overlap, the adjustment is completed, and then glue is applied to fix them.

[0141] The calculation method of α and β angles is as follows: If the instrument angular resolution and field of view are known, the angle value corresponding to each pixel of the image of the optical instrument can be obtained; according to the adjusted Figure 3A Center position from original Figure 3C The number of pixels offset from the center position can be used to calculate the current α and β angles.

[0142] · Fourth regulator 106

[0143] The fourth adjuster 106 is configured to adjust the lateral position and angle of the optical instrument 107 relative to the first lens waveguide and the second lens waveguide. For example, the fourth adjuster 106 is configured to slide laterally to capture the virtual images from the left and right eye waveguides respectively. Angle adjustment is optional, that is, the fourth movable support portion may not be provided.

[0144] In one embodiment, the fourth adjuster 106 may include a fourth slide rail 106A, a fourth sliding adjustment platform 106B, and a fourth movable bearing portion 106C. The fourth slide rail 106A is arranged to be transverse to, especially perpendicular to, the third slide rail 103A, that is, the fourth slide rail 106A is arranged to be parallel to the first and / or second lens waveguide (i.e., the plane where the lens waveguide is located), so that the optical instrument 107 can move parallel to the first and / or second lens waveguide. Here, "transverse to" means inclined to, approximately perpendicular to, or perpendicular to. The fourth slide rail 106A may, for example, include a slideway and a slider that can slide on the slideway, and the fourth sliding adjustment platform 106B may be installed on the slider. The fourth sliding adjustment platform 106B is arranged on the fourth slide rail 106A and can slide along the fourth slide rail 106A. For example, the fourth sliding adjustment platform 106B may be provided with an interface or a mating portion for installing the fourth movable bearing portion 106C. The fourth movable bearing part 106C is arranged on the fourth sliding adjustment platform 104B and is configured to carry the optical instrument 107 in a rotatable manner. The fourth movable bearing part 106C is optional, that is, in some scenarios, the fourth movable bearing part 106C may not be equipped. The six-axis fine-tuning platform can be configured to perform the following actions: translation along the x-axis; translation along the y-axis; translation along the z-axis; rotation along the x-axis; rotation along the y-axis; and rotation along the z-axis, wherein the x, y, and z axes are the coordinate axes of the spatial rectangular coordinate system. The six-axis fine-tuning platform can be, for example, a six-axis robotic arm. The fourth movable bearing part 106C can also be implemented as a universal joint, for example, to realize the rotation of the optical instrument 107 at any angle. In addition, the fourth adjuster 106 can be equipped with a motor and a transmission device to realize the automatic lateral position adjustment of the optical instrument 107. The motor is, for example, a stepping motor, a servo motor, etc., and the transmission device is, for example, a belt, a transmission rod, etc. The automated angle adjustment of the optical instrument 107 can be achieved by setting one or more motors (such as a DC motor, an AC motor, a hydraulic motor, etc.) to drive the optical instrument 107 to rotate step by step along multiple axes. For example, first rotate along the first axis to the corresponding angle plane, then rotate along the second axis to adjust the corresponding angle, then rotate along the third axis to adjust the corresponding angle, and finally complete the adjustment of the rotation angle.

[0145] Combine the following Figures 3A to 3C The binocular image alignment method of the binocular image alignment device according to the present invention is described below. It should be noted that some of the following steps are optional.

[0146] First, in step S1, the third adjuster is adjusted so that the midline vertical plane of the near-eye display coincides with or is parallel to the reference plane, and the normals of the first lens waveguide and the second lens waveguide are also parallel to the optical axis of the optical instrument. Here, the reference plane is, for example, a horizontal plane. However, other reference planes are also conceivable, such as a vertical plane.

[0147] Here, the above adjustment can be performed manually or by an actuator, for example. The above adjustment method includes the following steps: first, the near-eye display is rotated manually or by an actuator until the vertical plane of the center line of the near-eye display coincides with or is parallel to the reference plane, and the reference plane is a horizontal plane. Then, the first lens waveguide and the second lens waveguide are slid relative to the optical instrument manually or by an actuator until the normals of the first lens waveguide and the second lens waveguide are parallel to the optical axis of the optical instrument. Preferably, the optical axis of the optical instrument is at the midpoint between the first lens waveguide and the second lens waveguide.

[0148] In step S2, the first and second and / or third adjusters are adjusted so that the first distance d1 of the first light engine relative to the first waveguide, the second distance d2 of the second light engine relative to the second waveguide, and the third distance d3 of the first lens waveguide and the second lens waveguide relative to the first and second light engines are in a suitable range. This can be achieved, for example, by sliding along the slide rail. After the adjustment is completed, the slide rails of the first, second and third adjusters can be locked.

[0149] In step S3, the first and second adjusters and the third adjuster are adjusted so that γ1=α1 and γ2=α2 and the combined image between the first image of the first lens and the second image of the second lens coincides with the reference binocular combined image of the optical instrument.

[0150] In step S4, the first and / or second regulator and / or the third regulator are adjusted so that γ1=α1 and γ2=α2, α1=α1d, α2=α2d, β1=β1d, β2=β2d, θ1=θ1d, θ2=θ2d, wherein α1d and α2d are target top-down angles, β1d and β2d are target side angles, and θ1d and θ2d are target rotation angles. Preferably, in the process of adjusting α, β and θ, the third regulator is always adjusted so that γ1=α1 and γ2=α2.

[0151] Combine the following Figures 3A to 3C Describe the adjustment process.

[0152] First, the first light engine and the second light engine transmit the first and second images to the first and second light waveguides respectively and form a binocular combined image 301 in the observation window (for example, including the left and right eye observation windows) of the optical instrument. Figure 3A Here, the first and second images and the binocular combined image are both in the shape of a dotted cross, but the binocular combined image 301 of the first and second images has a higher brightness.

[0153] Then, the optical instrument provides a reference binocular combined image 302. The reference binocular combined image 302 can be provided by displaying a reference chart in the left and right eye observation windows of the optical instrument. Figure 3B . Here, both the left and right eye reference cards are solid crosses, but here, the first and second images and the combined image are solid crosses, but the reference binocular combined image 302 formed by combining the left and right eye reference cards has higher brightness. The adjustment of α, β, and θ can be achieved by manually or by an actuator adjusting the top view angle α1, the side view angle β1, and the rotation angle θ1 of the first light engine relative to the first waveguide normal, and manually or by an actuator adjusting the top view angle α2, the side view angle β2, and the rotation angle θ2 of the second light engine relative to the second waveguide normal, when the top view angle α1, the side view angle β1, and the rotation angle θ1, and the top view angle α2, the side view angle β2, and the rotation angle θ2 are all 0°, that is, when the light engine completely overlaps with the waveguide normal, the combined image 301 and the reference binocular combined image 302 overlap with each other.

[0154] from Figure 3A It can be seen from FIG. 1 that by adjusting α, β and θ=0°, the binocular combined image 301 and the reference binocular combined image 302 can be adjusted to overlap. Figure 3A This is the image after the adjustment of the relative position of the single-side lens waveguide and the optical instrument, that is, first make the optical axis of the optical instrument parallel to the normal of the lens waveguide on the right side, and then align the optical axis of the light engine with the normal of the optical waveguide. After the adjustment of the double-sided lenses is completed, the overlapped image can be seen in Figure 3C .from Figure 3C It can be seen that the binocular combined image 301 and the reference binocular combined image 302 completely overlap with each other. Here, the reference binocular combined image 302 is slightly smaller than the binocular combined image 301, so that when the two overlap, the position of the binocular combined image 301 can still be determined to avoid losing it in the field of view and causing misadjustment.

[0155] At this time, as long as the third adjuster is adjusted to ensure that γ1=α1 and γ2=α2, the binocular combined image 301 and the reference binocular combined image 302 will remain completely overlapped.

[0156] Then, continue to adjust α, β and θ to the target angle, and the adjustment is completed. After the adjustment is completed, it can be confirmed whether the binocular combined image 301 and the reference binocular combined image 302 are completely overlapped. If so, the adjustment is completed, and then glue can be applied to fix it. Both sides are adjusted according to the above steps until the virtual images on both sides are at the angle position set by the process, and the combined image is completed.

[0157] In one embodiment, the current angle values ​​of α1, β1, θ1 and α2, β2, θ1 can also be determined and calculated, and then α1, β1 and α2, β2 are reversely adjusted until they are all 0. This process is described below. First, the pixel deviation between the center position of the virtual image of the first lens waveguide and the second lens waveguide and the reference binocular image is determined. Then, the current α1, β1, θ1 and α2, β2, θ1 are calculated according to the angular resolution of the optical instrument and the pixel deviation. Finally, α1, β1 and α2, β2 are adjusted to the target value. During this process, α1, β1 and α2, β2 can be determined multiple times until they are the target values. In addition, when the adjustment step length is known, the number of adjustment steps can be determined according to the current values ​​of α1, β1 and α2, β2, and then the number of adjustment steps is executed. The process is as follows, for example. First, the adjustment step length of α1, β1 and α2, β2 is determined. For example, the adjustment step length can be determined according to experiments or machine parameter settings. Then, the number of adjustment steps required to adjust to the target value is determined according to the adjustment step length and the current values ​​of α1, β1, θ1 and α2, β2, θ1, i.e., the target value. The number of adjustment steps, for example, includes the number of times the first and / or second and / or third and / or fourth slide rails are to slide, and the number of times the first and / or second and / or third and / or fourth movable bearing parts are to rotate. Then, the adjustment steps are executed. After the execution is completed, an optical instrument can be used to check whether the images overlap. If not, the above-mentioned adjustment operation within the field of view is performed again.

[0158] At this point, the adjustment process is complete. The first to fourth adjusters can all be locked to prevent misoperation or angle and distance changes.

[0159] In step S4, after the adjustment, the first light engine and the second light engine are glued by a glue dispensing device to fix them on the near-eye display. The adhesive used can be, for example, thermoplastic or thermosetting plastic (such as epoxy resin, polyimide), silicone, etc.

[0160] After the adhesive is fixed, the factory calibration of the near-eye display is completed. By accurately performing binocular alignment and fixing it with glue before the near-eye display leaves the factory, it is ensured that the near-eye display can provide a good user experience throughout its life cycle.

[0161] Although some embodiments of the present invention have been described in this application document, it will be appreciated by those skilled in the art that these embodiments are merely shown as examples. Those skilled in the art may conceive of numerous variations, alternatives, and improvements under the teachings of the present invention without departing from the scope of the present invention. The appended claims are intended to define the scope of the present invention and thus cover methods and structures within the scope of these claims themselves and their equivalents.

Claims

1. A binocular image alignment device for a near-eye display, comprising: A first adjuster supporting a first light engine of the near-eye display and configured to adjust a first top angle α1, a first side angle β1, and a first rotation angle θ1 of an optical axis of the first light engine relative to a normal of a first waveguide of the near-eye display, and a first distance d1 of the first light engine relative to the first waveguide; a second adjuster supporting a second light engine of the near-eye display and configured to adjust a second top angle α2, a second side angle β2, and a second rotation angle θ2 of an optical axis of the second light engine relative to a normal of a second waveguide of the near-eye display, and a second distance d2 of the second light engine relative to the second waveguide; A third adjuster supporting the first lens waveguide and the second lens waveguide of the near eye display and configured to adjust the tilt angles of the first lens waveguide and the second lens waveguide and a third distance d3 relative to the first and second light engines; and An optical instrument is configured to provide a reference binocular combined image to a first lens waveguide and a second lens waveguide.

2. The binocular image alignment device according to claim 1, wherein the first regulator comprises: A first slide rail, which is arranged transverse to a first plane where the first lens waveguide is located; A first sliding adjustment platform, which is arranged on the first slide rail and can slide along the first slide rail; as well as The first movable bearing portion is arranged on the first sliding adjustment platform and is configured to carry the first light engine in a rotatable manner.

3. The binocular image alignment device according to claim 1, wherein the second regulator comprises: A second slide rail is arranged transversely to a second plane where the second lens waveguide is located; A second sliding adjustment platform, which is arranged on the second slide rail and can slide along the second slide rail; as well as The second movable bearing part is arranged on the second sliding adjustment platform and is configured to carry the second light engine in a rotatable manner.

4. The binocular image alignment device according to claim 1, wherein the third regulator comprises: A third slide rail, which is arranged transverse to the first plane where the first lens waveguide is located and / or the second plane where the second lens waveguide is located; A third sliding adjustment platform, which is arranged on a third slide rail and can slide along the third slide rail; as well as The third movable bearing part is arranged on the third sliding adjustment platform and is configured to carry the first lens waveguide and the second lens waveguide in a rotatable manner.

5. The binocular image alignment device according to claim 4, further comprising a fourth regulator, comprising: a fourth slide rail arranged transversely to the third slide rail; a fourth sliding adjustment platform, which is arranged on the fourth slide rail and can slide along the fourth slide rail; as well as The fourth movable bearing part is arranged on the fourth sliding adjustment platform and is configured to carry the optical instrument in a rotatable manner.

6. The binocular alignment device according to any one of claims 1 to 5, wherein one or more of the first to fourth movable bearing parts has a six-axis fine-tuning platform, and the six-axis fine-tuning platform is configured to perform the following actions: Translation along the x-axis; Translation along the y-axis; Translation along the z-axis; Rotation along the x-axis; rotation along the y-axis; and Rotation along the z-axis, where the x, y, and z axes are the coordinate axes of the spatial rectangular coordinate system.

7. The binocular image alignment device according to any one of claims 1 to 6, wherein: The first lens waveguide and the second lens waveguide form angles γ1 and γ2 with a plane perpendicular to the midline of the near-eye display, respectively.

8. The binocular combination alignment device according to claim 1, wherein the first light engine and the second light engine are respectively arranged at opposite ends of the first lens waveguide and the second lens waveguide.

9. The binocular image alignment device according to claim 1, wherein: The first top angle and the first side angle are respectively equal to the top angle and the side angle between the optical axis of the virtual image in the first lens waveguide and the normal to the first lens waveguide; and / or The second top angle and the second side angle are respectively equal to the top angle and the side angle between the optical axis of the virtual image in the second lens waveguide and the normal line of the second lens waveguide.

10. The binocular image alignment device according to claim 1, further comprising an actuator configured to perform the following actions: adjusting the third adjuster so that the midline vertical plane of the near-eye display is parallel to the reference plane and the normals of the first lens waveguide and the second lens waveguide are parallel to the optical axis of the optical instrument; Adjust the optical instrument and / or the first and / or second and / or third adjuster so that γ1=α1 and γ2=α2, and the combined image between the first image of the first lens and the second image of the second lens coincides with the reference binocular combined image of the optical instrument; and Adjust the first and / or second regulator and / or the third regulator so that γ1=α1 and γ2=α2, and α1=α1d, α2=α2d, β1=β1d, β2=β2d, θ1=θ1d, θ2=θ2d, wherein α1d and α2d are target top-down angles, β1d and β2d are target side angles, and θ1d and θ2d are target rotation angles.

11. The binocular alignment device according to claim 1, wherein the reference plane is one of the following: Horizontal planes, vertical planes, and inclined planes.

12. The binocular alignment device according to claim 11, wherein the near-eye display comprises one of the following: a virtual reality display, an augmented display display, and smart glasses.

13. The binocular image alignment device according to claim 11, wherein the actuator comprises: A slide actuator configured to perform the following actions: sliding the first light engine relative to the first waveguide; and / or sliding the second light engine relative to the second waveguide; and / or Sliding the first lens waveguide and the second lens waveguide relative to the optical instrument; and rotating the actuator, which is configured to perform the following actions: rotating the first light engine relative to the first waveguide; and / or rotating the second light engine relative to the second waveguide; and / or The first lens waveguide and the second lens waveguide are rotated relative to the optical instrument.

14. The binocular image alignment device according to claim 13, further comprising: A controller configured to perform the following actions: Determine the pixel deviation between the center position of the virtual combined image of the first lens waveguide and the second lens waveguide and the reference binocular combined image; Calculate current α1, β1 and α2, β2, θ1 and θ2 according to the angular resolution of the optical instrument and the pixel deviation; as well as An execution control signal is sent to the actuator so that α1 and β1, α2 and β2, θ1 and θ2 are α1d and α2d, α2d and β2d, θ1d and θ2d, respectively.

15. The binocular image alignment device according to claim 11, further comprising: The glue dispensing device is configured to dispense glue to the first light engine and the second light engine after the adjustment is completed so as to fix them on the near-eye display.

16. The binocular alignment device according to claim 11, wherein the near-eye display comprises a micro light emitting diode chip.

17. The binocular image alignment device according to claim 11, wherein: The first waveguide and the first lens waveguide are the same waveguide, wherein the first waveguide is a light coupling-in region of the waveguide, and the first lens waveguide is a light coupling-out region of the same waveguide; and The second waveguide and the second mirror waveguide are the same waveguide, wherein the second waveguide is a light coupling-in region of the waveguide, and the first mirror waveguide is a light coupling-out region of the same waveguide.

18. A binocular image alignment method based on the binocular image alignment device according to any one of claims 1 to 17, wherein the method comprises the following steps: adjusting the third adjuster so that the midline vertical plane of the near-eye display coincides with or is parallel to the reference plane and the normals of the first lens waveguide and the second lens waveguide are parallel to the optical axis of the optical instrument; Adjust the optical instrument and / or the first and / or second and / or third adjuster so that γ1=α1 and γ2=α2 and the binocular combined image between the first image of the first lens and the second image of the second lens coincides with the reference binocular combined image of the optical instrument; and Adjust the first and / or second regulator and / or the third regulator so that γ1=α1 and γ2=α2, α1=α1d, α2=α2d, β1=β1d, β2=β2d, θ1=θ1d, θ2=θ2d, wherein α1d and α2d are target top-down angles, β1d and β2d are target side angles, and θ1d and θ2d are target rotation angles.

19. The method according to claim 18, wherein adjusting the optical instrument and / or the first and / or second and / or third adjuster so that γ1=α1 and γ2=α2 and the binocular combined image between the first image of the first lens and the second image of the second lens coincides with the reference binocular combined image of the optical instrument comprises the following steps: Adjust the first regulator so that α1, β1 and θ1 are all 0; Adjust the second regulator so that α2, β2 and θ2 are all 0; and The third regulator is adjusted so that γ1=α1 and γ2=α2.

20. The method of claim 18, wherein adjusting the first regulator comprises: sliding the first light engine relative to the first waveguide; as well as The first light engine is rotated relative to the first waveguide.

21. The method of claim 18, wherein adjusting the second regulator comprises: sliding the second light engine relative to the second waveguide; as well as The second light engine is rotated relative to the second waveguide.

22. The method of claim 18, wherein adjusting the third regulator comprises: Rotating the first lens waveguide and the second lens waveguide; and The first lens waveguide and the second lens waveguide are slid relative to the optical instrument.

23. The method according to claim 18, further comprising the steps of: Determine the pixel deviation between the center position of the virtual combined image of the first lens waveguide and the second lens waveguide and the reference binocular combined image; Calculate the current values ​​of α1, β1 and α2, β2 based on the angular resolution of the optical instrument and the pixel deviation; and α1, β1, θ1 and α2, β2, θ2 are adjusted to target values, respectively.

24. The method according to claim 23, further comprising the steps of: Determine the adjustment step sizes of α1, β1 and α2, β2; Determine the number of adjustment steps required to adjust them to the target value according to the adjustment step length and the current values ​​and target values ​​of α1, β1 and α2, β2; and Execute the adjustment steps.

25. The method according to claim 24, wherein the adjusting step number comprises: the number of times the first and / or second and / or third and / or fourth slide rail is to slide; as well as The number of times the first and / or second and / or third and / or fourth movable bearing parts are to rotate.

26. The method according to claim 24, wherein the reference binocular combined image is a part of the binocular combined image and / or partially overlaps with the binocular combined image.

27. The method of claim 18, wherein: The angle range of α1d and α2d is: 0° to 10°; and / or The angle range of β1d, β2d is: 0° to 10° and / or The angle range of θ1d and θ2d is: 0° to 15°.

28. The method of claim 18, wherein: α1d=α2d;and / or β1d=β2d; and / or θ1d=θ2d。

Images