Display device, diopter adjusting method and master console

Abstract

The invention provides a display device, a diopter adjusting method and a master manipulator console, and relates to the technical field of surgical robotics.The display device comprises two display modules; the light path assembly is arranged between the display module and the eyepiece and is used for receiving an image picture and outputting the image picture to the eyepiece; the imaging module is arranged towards the eyepiece and is used for acquiring interpupillary distance information and an eye watching direction of eyes of an operator at the eyepiece position; the diopter acquisition module is used for acquiring diopter information input by an operator according to the clearness of the diopter detection picture on the display module watched by the operator; the diopter adjusting module comprises a lens module, a driving mechanism and a control unit; wherein the control unit is used for receiving the pupil distance information, adjusting the distance between the two lens modules through the driving mechanism, and adjusting the focal length of the lens modules according to the diopter information. By adopting the display device, the matching degree with an operator can be improved, and the operator can see a picture clearly without wearing a near-sight mirror and a far-sight mirror.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a display device, a diopter adjustment method and a main hand control console. Background Art

[0003] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

[0004] In minimally invasive surgery, surgical robots play an increasingly important role, replacing doctors to perform more delicate and flexible operations while reducing patient trauma. The video images captured by the 3D endoscopic imaging system can be transmitted to the observation cabin of the main operating table in real time for display, providing the operator with an immersive and real three-dimensional spatial experience.

[0005] In actual operation, due to different vision of different surgical operators, the images displayed in the observation chamber of the main operating table will be blurred to varying degrees. When the surgical operator wears myopia glasses or hyperopia glasses to watch, the image can be clearer, but when wearing glasses close to the observation chamber, it will often squeeze the eyes or nose bridge, which will cause discomfort to the operator for a long time. Summary of the invention

[0007] The purpose of the present application is to provide a display device, a diopter adjustment method and a main hand control console, so that the image on the display module will not be blurred. Since the operator does not need to wear myopia glasses or hyperopia glasses to watch, squeezing of the eyes or nose bridge is avoided, thereby improving the operator's sense of use and comfort.

[0008] In a first aspect, an embodiment of the present application provides a display device, including: The display modules are arranged in two groups, the two groups of display modules are symmetrically arranged and the images displayed by the two groups have horizontal parallax; An optical path component is disposed between the display module and the eyepiece, and is used to receive the image and output it to the eyepiece; An imaging module is arranged toward the eyepiece, and is used to obtain pupil distance information and eye viewing direction of the operator's eyes at the position of the eyepiece, and to issue a reminder to the operator according to the eye viewing direction; A diopter acquisition module, used for acquiring diopter information input by an operator according to the clarity of the diopter detection screen viewed by the operator on the display module; A diopter adjustment module, comprising a lens module, a driving mechanism and a control unit, wherein the lens modules are divided into two groups and are correspondingly arranged at the rear side of the eyepiece, the lens module is transmission-connected to the driving mechanism, and the driving mechanism is electrically connected to the control unit; The control unit is used to receive the pupil distance information, and adjust the distance between the two groups of lens modules through the driving mechanism, and adjust the focal length of the lens module according to the refractive power information.

[0009] Furthermore, the lens module includes two lenses, which are stacked and have an adjustable overlapping area, so that the combined focal length of the two lenses can be continuously changed within a positive and negative range.

[0010] Furthermore, the two lenses have the same structure, and the two opposite surfaces of each lens have one flat surface and the other curved surface, and the curved surface includes a convex surface segment and a concave surface segment that are continuously arranged; The two lenses are arranged back to back at their plane positions, and when the combined focal length is zero, the convex surface segments and the concave surface segments in the two lenses are arranged in alignment.

[0011] Furthermore, at the adjacent ends of the two groups of lens modules, the lens of one is configured as a concave segment, and the lens of the other corresponding position is configured as a convex segment.

[0012] Furthermore, at the adjacent ends of the two groups of lens modules, the concave-convex surface segments of the two lenses of one group are arranged opposite to the concave-convex surface segments of the two lenses of the other group.

[0013] Furthermore, the lens module includes a plurality of lenses, which are stacked and arranged, and at least one of the lenses is movable so that the combined focal length of the plurality of lenses can continuously change within a positive and negative range.

[0014] In a second aspect, an embodiment of the present application provides a display device, including: The display modules are arranged in two groups, the two groups of display modules are symmetrically arranged and the images displayed by the two groups have horizontal parallax; An optical path component is disposed between the display module and the eyepiece, and is used to receive the image and output it to the eyepiece; An imaging module is arranged toward the eyepiece, and is used to obtain pupil distance information and eye viewing direction of the operator's eyes at the position of the eyepiece, and to issue a reminder to the operator according to the eye viewing direction; A diopter acquisition module, used for acquiring diopter information input by an operator according to the clarity of the diopter detection screen viewed by the operator on the display module; A diopter adjustment module, comprising a lens module, a driving mechanism and a control unit, wherein the lens modules are divided into two groups and are correspondingly arranged at the rear side of the eyepiece, the lens module is transmission-connected to the driving mechanism, and the driving mechanism is electrically connected to the control unit; The control unit is used to receive the pupil distance information and adjust the distance between the two groups of lens modules through the driving mechanism. At the same time, according to the refractive power information, the focal length of the lens module is adjusted in a manner such that the combined focal length of the lens module continuously changes within a positive and negative range.

[0015] In a third aspect, an embodiment of the present application provides a diopter adjustment method, which is applied to a display device, wherein the display device includes a display module, an optical path component and a lens module, wherein the display module is configured as two groups, the two groups of display modules are symmetrically arranged and the images displayed respectively have lateral parallax, the optical path component is used to receive the image and output it to the eyepiece, and the lens module is configured as two groups and is correspondingly arranged on the rear side of the eyepiece; the method includes: In response to the diopter correction signal, controlling any one of the two groups of display modules to display a diopter detection screen; Obtaining the operator's pupil distance information and eye viewing direction, adjusting the distance between the two groups of lens modules according to the pupil distance information, and issuing a reminder to the operator according to the eye viewing direction to make the operator's eye viewing direction face forward; Obtaining the diopter information input by the operator according to the clarity of the diopter detection screen viewed by the operator on the corresponding display module; The focal length of the lens module is adjusted according to the diopter information.

[0016] Furthermore, the step of controlling any one of the two groups of display modules to display a diopter detection screen includes: Open one of the display modules; The diopter detection image is input into the display module to display the diopter detection screen.

[0017] Furthermore, the step of obtaining the pupil distance information of the operator and adjusting the distance between the two groups of lens modules according to the pupil distance information includes: The left and right pupils of the operator are photographed and imaged simultaneously by an imaging module to obtain the left and right pupil data; Inputting the left and right pupil data into a central processing unit, and determining the left and right pupil positions and the pupil distance through the left and right pupil data; The central processor adjusts the distance between the two groups of lens modules according to the size of the pupil distance.

[0018] Furthermore, the step of obtaining the viewing direction of the operator's eyes and issuing a reminder to the operator according to the viewing direction of the eyes so that the viewing direction of the operator faces forward includes: The imaging module simultaneously captures the operator's left and right eyes to obtain imaging data; inputting the imaging data into a central processing unit; The central processing unit analyzes the imaging data and determines the positions of the pupils and eye sockets of the left and right eyes based on an image processing algorithm; Calculate the positions of the pupils of the left and right eyes in the eye sockets to obtain the viewing directions of the left and right eyes; When the left and right eyes are looking straight ahead, no reminder is set; When the viewing direction of the left and right eyes is not facing straight ahead, the central processing unit outputs a reminder to look straight ahead and displays the reminder information on the diopter detection screen.

[0019] Furthermore, the step of obtaining the diopter information input by the operator according to the clarity of the diopter detection picture viewed by the operator on the corresponding display module includes: A diopter detection plate is selected, which is provided with a plurality of detection units numbered from 1 to N, each detection unit corresponding to a different diopter; Inputting the image of the diopter detection plate into any one of the display modules for display; When the operator can identify the highest level detection unit that he can see clearly, the serial number corresponding to the highest level detection unit is input into the central processing unit; The central processing unit obtains the diopter information input by the operator and outputs the degree of refractive error.

[0020] Furthermore, the step of obtaining the diopter information input by the operator according to the clarity of the diopter detection picture viewed by the operator on the corresponding display module includes: A diopter detection plate is selected, which is provided with a plurality of detection units having serial numbers from 1 to 15, each detection unit corresponds to a different diopter, and the plurality of detection units are arranged in sequence in a matrix according to the serial numbers; Inputting the image of the diopter detection plate into any one of the display modules for display; When the operator can identify the highest level detection unit that he can see clearly, the serial number corresponding to the highest level detection unit is input into the central processing unit; The central processing unit obtains the diopter information input by the operator and outputs the degree of refractive error.

[0021] Furthermore, when the operator can identify the highest level detection unit that he can see clearly, the steps include: Each of the detection units contains four groups of line pairs in different directions. The highest level detection unit is identified based on the standard that the operator can clearly see the four groups of line pairs of the same detection unit at the same time.

[0022] Furthermore, the step of adjusting the focal length of the lens module according to the diopter information includes: receiving the diopter information by a control unit; Based on the refractive power information, at least one of the two lenses stacked in the lens module is controlled to move, and the combined focal length of the two lenses can be continuously changed within a positive and negative range by changing the overlapping area of ​​the two lenses.

[0023] In a fourth aspect, an embodiment of the present application provides a diopter adjustment method, which is applied to a display device, wherein the display device includes a display module, an optical path component, and a lens module, wherein the display module is configured as two groups, the two groups of display modules are symmetrically arranged, and the images displayed respectively have lateral parallax, the optical path component is used to receive the image and output it to the eyepiece, and the lens module is configured as two groups and is correspondingly arranged on the rear side of the eyepiece; the method includes: In response to the diopter correction signal, controlling any one of the two groups of display modules to display a diopter detection screen; Obtaining the operator's pupil distance information and eye viewing direction, adjusting the distance between the two groups of lens modules according to the pupil distance information, and issuing a reminder to the operator according to the eye viewing direction to make the operator's eye viewing direction face forward; Obtaining the diopter information input by the operator according to the clarity of the diopter detection screen viewed by the operator on the corresponding display module; According to the refractive power information, at least one lens in the lens module is controlled to move, and the combined focal length of the lens module is adjusted in a manner that changes continuously within a positive and negative range by changing the overlapping area of ​​multiple lenses.

[0024] In a fifth aspect, an embodiment of the present application provides a diopter adjustment method, which is applied to a display device, wherein the display device includes a display module, an optical path component and a lens module, wherein the display module is configured as two groups, the two groups of display modules are symmetrically arranged and the images displayed respectively have lateral parallax, the optical path component receives the image and outputs the image to the eyepiece, and the lens module is configured as two groups and is correspondingly arranged on the rear side of the eyepiece; the method includes: Controlling any one of the two groups of display modules to display a diopter detection screen; The operator's left and right eyes are imaged simultaneously through the imaging module to obtain left and right pupil data, and the positions of the left and right pupils and eye sockets are determined based on the image processing algorithm; Based on the left and right eye pupil data, determine the left and right eye pupil positions and the pupil distance; Based on the positions of the left and right pupils and eye sockets, the positions of the left and right pupils in the eye sockets are calculated to obtain the viewing directions of the left and right eyes; Adjust the distance between the two groups of lens modules according to the size of the pupil distance; According to the left and right eye viewing directions, a reminder is issued to the operator, and a reminder message is displayed on a diopter detection screen; Obtaining the diopter information input by the operator according to the clarity of the diopter detection screen viewed by the operator on the corresponding display module; The focal length of the lens module is adjusted according to the diopter information.

[0025] In a sixth aspect, an embodiment of the present application provides a master hand control console, comprising the aforementioned display device.

[0026] The display device, diopter adjustment method and main hand control console provided by the embodiments of the present application have at least the following beneficial effects: The display device provided in this embodiment has two display modules arranged in groups. The two groups of display modules are symmetrically arranged and the images displayed respectively have lateral parallax. The optical path component is arranged between the display module and the eyepiece to receive the image and output it to the eyepiece. When in use, the operator's eyes are aligned with the eyepiece to view the image on the display module. Such an arrangement makes it easy to watch, and the two groups of image overlap and are fused by the human eye to form a three-dimensional effect.

[0027] During specific use, the pupil distance information and the viewing direction of the operator's eyes at the eyepiece position can be obtained through the imaging module arranged toward the eyepiece. On the one hand, the control unit can receive the pupil distance information and adjust the distance between the two groups of lens modules through the driving mechanism to match the distance between the two groups of lens modules with the pupil distance of the operator, thereby reducing the dizziness and discomfort caused by the mismatch of pupil distances; on the other hand, based on the viewing direction of the eye, a reminder can be issued to the operator to remind the operator to watch the display module (that is, the refractive power detection screen on the display module) in a relatively appropriate direction. Under this premise, the operator watches the display module. The clarity of the refractive detection picture is used to obtain the refractive information input by the operator. With this arrangement, the operator's eyes can look at the display module relatively without deviation to ensure the accuracy of the operator's refractive detection. Based on the relatively accurate refractive information, the focal length of the lens module can be adjusted by the control unit, thereby realizing automatic adjustment of the refractive power to match operators with different vision. Therefore, there will be no blurring when viewing the image on the display module. Since the operator does not need to wear myopia glasses or hyperopia glasses for viewing, squeezing of the eyes or nose bridge is avoided, thereby improving the operator's sense of use and comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 A schematic diagram of the structure of a display device provided in an embodiment of the present application; Figure 2 is a structural schematic diagram of a lens module; Figure 3 Schematic diagram of the lens module in three different states; Figure 4 One of the schematic diagrams of the lens module being adjusted from an initial state to a positive focal length; Figure 5 One of the schematic diagrams of the lens module being adjusted from an initial state to a negative focal length; Figure 6 The second schematic diagram is a diagram of the lens module being adjusted from an initial state to a positive focal length; Figure 7 The second schematic diagram is a diagram of the lens module being adjusted from an initial state to a negative focal length; Figure 8 The third schematic diagram is a diagram of the lens module being adjusted from an initial state to a positive focal length; Fig. 9 The third schematic diagram is a diagram of the lens module being adjusted from an initial state to a negative focal length; Fig.10 A flowchart of a diopter adjustment method provided in an embodiment of the present application; Fig.11 A schematic diagram of a diopter detection plate or a diopter detection image; Fig.12 Another flowchart of the diopter adjustment method provided in the embodiment of the present application; Fig.13 Another flowchart of the diopter adjustment method provided in the embodiment of the present application.

[0031] icon: 100-display module; 200-optical path components; 300-imaging module; 400-lens module; 410-lens; 411-convex segment; 412-concave segment; 500-driving mechanism; 600-Control Unit 700 - Eyepiece. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0036] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0037] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0038] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0040] In some technologies, a surgical robot includes a master hand console and a surgical platform. The master hand console is communicatively connected with the surgical platform. The master hand console serves as a master end for realizing master-slave remote operation, and the surgical platform serves as a slave end for realizing master-slave remote operation. The master hand console includes one or more hand input control devices used by an operator, and the operation control of surgical instruments on the surgical platform can be realized by manipulating the hand input control devices.

[0041] In this embodiment, the main hand console also includes a display device for the operator to view images, wherein the display device can be fixedly installed relative to the main hand console, and can also be movably installed in multiple degrees of freedom. The former cannot adjust the posture of the display device, and the latter can adjust the posture of the display device to adapt to the viewing angles of the same operator at different angles, as well as to the viewing requirements of different operators.

[0042] Generally, a set of eyepieces 700 are arranged in front of the display device, and the image displayed on the internal display screen can be viewed through the eyepieces 700. In actual work, the operator can sit on a chair or other support in front of the main hand console, and the operator's eyes are aligned with the eyepieces 700 in front of the display device. Among them, two observation windows are opened in the front of the display device, and plane lenses are installed at the observation windows to form the aforementioned eyepieces 700.

[0043] To facilitate understanding of this embodiment, a display device disclosed in an embodiment of the present application is first introduced in detail.

[0044] In this embodiment, refer to Figure 1The display device includes a display module 100, which is arranged in two groups. The two groups of display modules 100 are symmetrically arranged and the images displayed respectively have lateral parallax; an optical path component 200 is arranged between the display module 100 and the eyepiece 700, and is used to receive the image and output it to the eyepiece 700; an imaging module 300 is arranged toward the eyepiece 700, and is used to obtain the pupil distance information and the eye viewing direction of the operator's eyes at the position of the eyepiece 700, and to issue a reminder to the operator according to the eye viewing direction; a diopter acquisition module is used to obtain the information of the operator's eyes viewing the display module 100 according to the operator's eyes viewing the display module 100. The clarity of the diopter detection image is used to obtain the diopter information input by the operator; the diopter adjustment module includes a lens module 400, a driving mechanism 500 and a control unit 600, the lens module 400 is divided into two groups and is correspondingly arranged on the rear side of the eyepiece 700, the lens module 400 is transmission-connected to the driving mechanism 500, and the driving mechanism 500 is electrically connected to the control unit 600; wherein the control unit 600 is used to receive pupil distance information, and adjust the distance between the two groups of lens modules 400 through the driving mechanism 500, and at the same time adjust the focal length of the lens module 400 according to the diopter information.

[0045] In the display device provided in this embodiment, the display modules 100 are arranged in two groups. The two groups of display modules 100 are symmetrically arranged and the images displayed respectively have lateral parallax. The optical path component 200 is arranged between the display module 100 and the eyepiece 700, and is used to receive the image and output it to the eyepiece 700. When in use, the operator's eyes are aligned with the eyepiece 700 to view the image on the display module 100. Such a setting can facilitate the operator's viewing. At the same time, the two groups of image overlap and are fused by the human eye to form a three-dimensional effect.

[0046] During specific use, the pupil distance information and the viewing direction of the operator's eyes at the position of the eyepiece 700 can be obtained through the imaging module 300 arranged toward the eyepiece 700. On the one hand, the control unit 600 can receive the pupil distance information and adjust the distance between the two groups of lens modules 400 through the driving mechanism 500 so that the distance between the two groups of lens modules 400 matches the pupil distance of the operator, thereby reducing the dizziness and discomfort caused by the mismatch of pupil distances; on the other hand, based on the viewing direction of the eye, a reminder can be issued to the operator to remind the operator to watch the display module 100 (that is, the diopter detection screen on the display module 100) in a relatively appropriate direction. Under this premise, the operator can watch the display module 100 in a relatively appropriate direction. The clarity of the diopter detection screen on the display module 100 is used to obtain the diopter information input by the operator. This arrangement allows the operator's eyes to look at the display module 100 relatively without deviation to ensure the accuracy of the operator's diopter detection. Based on the relatively accurate diopter information, the control unit 600 can adjust the focal length of the lens module 400, thereby achieving automatic adjustment of the diopter to match operators with different vision. Therefore, when viewing the image on the display module 100, there will be no blurring. Since the operator does not need to wear myopia glasses or hyperopia glasses to watch, squeezing of the eyes or the bridge of the nose is avoided, thereby improving the operator's sense of use and comfort. In this embodiment, the optical path component 200 includes two groups of reflectors, and the two groups of reflectors are arranged one-to-one with the two groups of display modules 100. Specifically, after the left display module 100 displays the image, it is reflected by the left reflector and reaches the left side of the eyepiece 700 through the left lens module 400. At the same time, after the right display module 100 displays the image, it is reflected by the right reflector and reaches the right side of the eyepiece 700 through the right lens module 400, and finally forms a fused image at the eyepiece 700. In a specific embodiment, the display module can use a 2D display screen. After the two groups of 2D display screens display the image screens respectively, they are reflected by the reflector once and then reach the eyepiece 700 through the lens module 400.

[0047] In other embodiments, the reflector can be set to two groups, that is, after the two groups of 2D display screens display the image, they are reflected twice by the two groups of reflectors and then reach the eyepiece 700 through the lens module 400. In this embodiment, the position of the display module 100 relative to Figure 1 The position of the display module 100 is adjusted, and a suitable position is selected for fixed installation according to specific needs. The imaging module 300 in this embodiment adopts a combination of a lens and an image sensor to take a picture of the human eye at the position of the eyepiece 700 to obtain image information of the human eye. Among them, the image sensor can be a CMOS sensor, and the lens can be a lens in the prior art, which will not be described in detail here.

[0048] It should be noted that the refractive index acquisition module is used for the operator to input operations after confirming the clarity of the refractive index detection image on the viewing display module 100. Optionally, the operator can input through a touch panel or a touch screen. The touch panel or the touch screen can be set on the display device or integrated with a touch panel or a touch screen for other functions.

[0049] Reference Figure 2 The lens module 400 includes two lenses 410, which are stacked and have the same structure. The two opposite surfaces of each lens 410 are one plane and the other curved, and the curved surface includes a convex segment 411 and a concave segment 412 that are continuously arranged. The two lenses 410 are arranged back to back at the plane positions of the two lenses, and when the combined focal length is zero, the convex segment 411 and the concave segment 412 of the two lenses 410 are aligned. In this way, different combined focal lengths can be achieved in different regions through the combination of the two lenses 410, wherein the focal length of the plano-convex region is positive and the focal length of the plano-concave region is negative. Figure 2 As shown, the convex segment 411 and the concave segment 412 of the two lenses 410 are aligned, that is, the combined focal length is zero.

[0050] In other embodiments, the number of lenses 410 in the lens module 400 can also be three, four, or more than four. The required number of lenses 410 can be reasonably selected according to specific needs. The following will describe in detail the form of two lenses 410, and the settings of other numbers of lenses 410 can be used as reference. Among them, the combination and movement of multiple lenses 410 can be implemented by those skilled in the art based on the disclosure of this embodiment.

[0051] In this embodiment, the overlapping area between the two lenses 410 is adjustable so that the combined focal length of the two lenses 410 can continuously change within a positive and negative range. This arrangement can increase the adjustment range of the focal length to more widely accommodate operators with different diopters.

[0052] Reference Figure 3 , when the lens module 400 changes from the middle position to the left position, it exhibits the function of a negative lens; when the lens module 400 changes from the middle position to the right position, it exhibits the function of a positive lens; wherein the leftmost position and the rightmost position correspond to the myopia glasses and the hyperopia glasses with the maximum diopter, respectively. When the lens module 400 is in the middle position, the overlapping area of ​​the two lenses 410 is the largest. When the lens module 400 changes from the middle position to the left or right position, the overlapping area of ​​the two lenses 410 will change continuously, and the overlapping area will gradually decrease from the maximum.

[0053] From the foregoing, it can be seen that the lens module 400 of this embodiment can play the role of myopia glasses, hyperopia glasses and flat glasses, and in the process of adjusting to myopia glasses and hyperopia glasses, by continuously changing the combined focal length within the positive and negative range, it can adapt to a wider range of myopia and hyperopia degrees, thereby effectively improving the adaptability of the device.

[0054] Combination Figure 1 and Figure 2 , at the ends of the two groups of lens modules 400 that are close to each other, the lens 410 of one of them is set as a concave surface segment 412, and the lens 410 at the corresponding position of the other is set as a convex surface segment 411. In other words, at the ends of the two groups of lens modules 400 that are close to each other, the concave and convex surface segments 411 of the two lenses 410 of one of them are set opposite to the concave and convex surface segments 411 of the two lenses 410 of the other.

[0055] The advantage of the above arrangement is that when the lenses 410 in the two groups of lens modules 400 need to be moved, the two lenses 410 in different groups located on the same side will not interfere with each other during movement. This arrangement can save lateral layout space and at the same time, the lens module 400 can be arranged within the pupil distance range of the human eye (about 60 mm).

[0056] Reference Figures 4 to 9 The lens module 400 can have multiple initial states. In different initial states, the movement trajectory of the lens 410 in the lens module 400 will be different. Figures 4 to 9 The distance between the two vertical dotted lines shown in is the distance between the two observation windows corresponding to the eyepiece.

[0057] Reference Figure 4 When the lens module 400 changes from the upper state to the lower state, the two lenses 410 of the same lens module 400 can move simultaneously, such as the two lenses 410 of the same lens module 400 move toward each other to adjust the combined focal length of the two lenses 410 to a positive focal length.

[0058] Reference Figure 5 When the lens module 400 changes from the upper state to the lower state, the two lenses 410 of the same lens module 400 can move simultaneously, such as the two lenses 410 of the same lens module 400 move back to back, so as to adjust the combined focal length of the two lenses 410 to a negative focal length.

[0059] Reference Figure 6 When the lens module 400 is changed from the upper state to the lower state, any one of the two lenses 410 in the same lens module 400 is moved, such as the lens 410 located at the rear side of the two lens modules 400, or Figure 6The upper lens 410 is shown moved to the right to adjust the combined focal length of the two lenses 410 to a positive focal length.

[0060] Reference Figure 7 When the lens module 400 is changed from the upper state to the lower state, any one of the two lenses 410 in the same lens module 400 is moved, such as the lens 410 located at the front side of the two lens modules 400, or Figure 7 As shown, the lower lens 410 is moved to the right to adjust the combined focal length of the two lenses 410 to a negative focal length.

[0061] Reference Figure 8 When the lens module 400 is changed from the upper state to the lower state, any one of the two lenses 410 in the same lens module 400 is moved, such as the lens 410 located at the front side of the two lens modules 400, or Figure 8 The lower lens 410 is shown moved to the left to adjust the combined focal length of the two lenses 410 to a positive focal length.

[0062] Reference Fig. 9 When the lens module 400 is changed from the upper state to the lower state, any one of the two lenses 410 in the same lens module 400 is moved, such as the lens 410 located at the rear side of the two lens modules 400, or Fig. 9 As shown, the upper lens 410 is moved to the left to adjust the combined focal length of the two lenses 410 to a negative focal length.

[0063] It should be noted that when the moving directions of the two lenses 410 in the same lens module 400 are the same, the same driving mechanism 500 can be used to drive them, which can not only simplify the structure but also reduce costs; when the moving directions of the two lenses 410 in the same lens module 400 are opposite, different driving mechanisms 500 can be used to drive them respectively.

[0064] Reference Fig.10 This embodiment also provides a diopter adjustment method, the method comprising: S11, in response to the diopter correction signal, controlling any one of the two display modules 100 to display a diopter detection screen; S12, obtaining the operator's pupil distance information and eye viewing direction, adjusting the distance between the two sets of lens modules 400 according to the pupil distance information, and issuing a reminder to the operator according to the eye viewing direction so that the operator's eye viewing direction faces straight ahead; S13, obtaining the diopter information input by the operator according to the clarity of the diopter detection screen viewed by the operator on the corresponding display module 100; S14, adjusting the focal length of the lens module 400 according to the diopter information.

[0065] Specifically, in step S11, the step of controlling any one of the two display modules 100 to display a diopter detection screen includes: One set of display modules 100 is turned on, and the other set of display modules 100 is turned off. When the left eye is detected first, the display module 100 corresponding to the left eye needs to be turned on, and the display module 100 corresponding to the right eye needs to be turned off; similarly, when the right eye is detected, the display module 100 corresponding to the right eye needs to be turned on, and the display module 100 corresponding to the left eye needs to be turned off; The diopter detection image is input to the display module 100 to display the diopter detection screen. Specifically, the display module 100 can be controlled by the central processing unit, that is, the display module 100 is controlled to display the image screen or the diopter detection screen.

[0066] In step S12, the step of obtaining the pupil distance information of the operator and adjusting the distance between the two groups of lens modules 400 according to the pupil distance information includes: The left and right pupils of the operator are photographed and imaged simultaneously by the imaging module 300 to obtain the left and right pupil data; Input the left and right eye pupil data into the central processing unit, and determine the left and right eye pupil positions and the pupil distance through the left and right eye pupil data; The central processing unit adjusts the distance between the two lens modules 400 according to the pupil distance.

[0067] In this step, by simultaneously photographing the left and right pupils of the operator, the positions of the left and right pupils can be determined by the central processing unit, and then the size of the operator's pupil distance can be calculated.

[0068] In step S12, the step of obtaining the viewing direction of the operator's eyes and issuing a reminder to the operator according to the viewing direction of the eyes so that the viewing direction of the operator faces forward includes: The imaging module 300 simultaneously captures the left and right eyes of the operator to obtain imaging data; The imaging data is input to the central processing unit, which analyzes the imaging data and determines the positions of the pupils and eye sockets of the left and right eyes based on the image processing algorithm; Calculate the position of the left and right pupils in the eye sockets to obtain the viewing direction of the left and right eyes; When the left and right eyes are looking straight ahead, no reminder is set; When the left and right eyes are not looking straight ahead, the central processing unit outputs a reminder to look straight ahead and displays the reminder message on the diopter detection screen.

[0069] In other embodiments, in addition to displaying the reminder information on the diopter detection screen, the reminder can also be given through speech.

[0070] In step S13, the step of obtaining the diopter information input by the operator according to the clarity of the diopter detection screen viewed by the operator on the corresponding display module 100 includes: A diopter detection plate is selected, which is provided with a plurality of detection units numbered from 1 to N, each detection unit corresponding to a different diopter; Input the image of the diopter detection plate to any display module 100 for display; When the operator can identify the highest level detection unit that he can see clearly, the serial number corresponding to the highest level detection unit is input into the central processing unit; The central processing unit obtains the refractive information input by the operator and outputs the degree of refractive error.

[0071] Simply put, when the operator is able to identify multiple detection units, the detection unit with the highest level that the operator can see clearly shall prevail. The operator only needs to input the serial number corresponding to the detection unit. The central processing unit receives the serial number and can output the corresponding refractive error degree. The control unit 600 receives the refractive error degree to control the action of the lens module 400.

[0072] In this embodiment, refer to Fig.11 , a refractive power detection board with multiple detection units numbered from 1 to 15 is selected, each detection unit corresponds to a different diopter, and the multiple detection units are arranged in a matrix in sequence according to the serial numbers. When the operator can clearly see the multiple detection units numbered from 1 to 10 at the same time, the highest level detection unit is 10. At this time, the operator needs to send input information of serial number 10 to the control unit.

[0073] Furthermore, when the operator can identify the highest level detection unit that he can see clearly, the steps include: Each detection unit contains four sets of line pairs in different directions. The highest level detection unit is identified based on the standard that the operator can clearly see the four sets of line pairs of the same detection unit at the same time.

[0074] In step S14, the step of adjusting the focal length of the lens module 400 according to the diopter information includes: Receiving diopter information via control unit 600; Based on the refractive power information, at least one of the two lenses 410 stacked in the lens module 400 is controlled to move, and the overlapping area of ​​the two lenses 410 is changed so that the combined focal length of the two lenses 410 can be continuously changed within the positive and negative range; or, the lenses 410 at corresponding positions in the two groups of lens modules 400 are controlled to move in the same direction, and the overlapping area of ​​the two lenses 410 is changed so that the combined focal length of the two lenses 410 can be continuously changed within the positive and negative range; or, the two lenses 410 stacked in the lens module 400 are controlled to move toward or away from each other, and the overlapping area of ​​the two lenses 410 is changed so that the combined focal length of the two lenses 410 can be continuously changed within the positive and negative range.

[0075] Reference Fig.12 This embodiment also provides a diopter adjustment method, the method comprising: S21, in response to the diopter correction signal, controlling any one of the two display modules 100 to display a diopter detection screen; S22, obtaining the operator's pupil distance information and eye viewing direction, adjusting the distance between the two sets of lens modules 400 according to the pupil distance information, and issuing a reminder to the operator according to the eye viewing direction so that the operator's eye viewing direction faces straight ahead; S23, obtaining the diopter information input by the operator according to the clarity of the diopter detection screen viewed by the operator on the corresponding display module 100; S24, controlling at least one lens 410 in the lens module 400 to move according to the diopter information, and adjusting the combined focal length of the lens module 400 to continuously change within a positive and negative range by changing the overlapping area of ​​the multiple lenses 410.

[0076] Reference Fig.13 This embodiment also provides a diopter adjustment method, the method comprising: S31, controlling any one of the two display modules 100 to display a diopter detection screen; S32, imaging the operator's left and right eyes simultaneously through the imaging module 300, obtaining pupil data of the left and right eyes, and determining the positions of the left and right pupils and eye sockets based on an image processing algorithm; S33, determining the left and right pupil positions and the pupil distance based on the left and right pupil data; S34, based on the positions of the left and right pupils and eye sockets, calculating the positions of the left and right pupils in the eye sockets to obtain the viewing directions of the left and right eyes; S35, adjusting the distance between the two groups of lens modules 400 according to the pupil distance; S36, issuing a reminder to the operator according to the viewing directions of the left and right eyes, and displaying the reminder information on the diopter detection screen; S37, obtaining the diopter information input by the operator according to the clarity of the diopter detection screen viewed by the operator on the corresponding display module 100; S38, adjusting the focal length of the lens module 400 according to the diopter information.

[0077] In summary, the display device and the diopter adjustment method of this embodiment have the following advantages: 1. The distance between the two lens modules 400 is adjustable, and can match the operator's pupil distance, thereby reducing the dizziness and discomfort caused by the mismatch of pupil distance; 2. The viewing direction of the operator can be tracked and the operator can be reminded; the operator inputs the diopter information according to the clarity of the diopter detection screen on the display module 100, and the detection accuracy of the diopter information can be improved under the premise that the viewing direction of the eye will not deviate; 3. The structural design of the lens module 400 can make the combined focal length of the lens module 400 continuously change within a positive and negative range, which can better match operators with different vision and has wider adaptability; 4. The entire process of diopter adjustment can be completed by the operator himself, which saves manpower and has strong operability.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A display device, characterized in that: include: The display modules are arranged in two groups, the two groups of display modules are symmetrically arranged and the images displayed by the two groups have horizontal parallax; An optical path component is disposed between the display module and the eyepiece, and is used to receive the image and output it to the eyepiece; An imaging module is arranged toward the eyepiece, and is used to obtain pupil distance information and eye viewing direction of the operator's eyes at the position of the eyepiece, and to issue a reminder to the operator according to the eye viewing direction; A diopter acquisition module, used for acquiring diopter information input by an operator according to the clarity of the diopter detection screen viewed by the operator on the display module; A diopter adjustment module, comprising a lens module, a driving mechanism and a control unit, wherein the lens modules are divided into two groups and are correspondingly arranged at the rear side of the eyepiece, the lens module is transmission-connected to the driving mechanism, and the driving mechanism is electrically connected to the control unit; The control unit is used to receive the pupil distance information, and adjust the distance between the two groups of lens modules through the driving mechanism, and adjust the focal length of the lens module according to the refractive power information.

2. The display device according to claim 1, characterized in that The lens module comprises two lenses, which are stacked and have an adjustable overlapping area, so that the combined focal length of the two lenses can be continuously changed within a positive and negative range.

3. The display device according to claim 2, characterized in that: The two lenses have the same structure, and the two opposite surfaces of each lens have one flat surface and the other curved surface, wherein the curved surface includes a convex surface segment and a concave surface segment that are continuously arranged; The two lenses are arranged back to back at their plane positions, and when the combined focal length is zero, the convex surface segments and the concave surface segments in the two lenses are arranged in alignment.

4. The display device according to claim 3, characterized in that: At the adjacent ends of the two groups of lens modules, the lens of one is set as a concave segment, and the lens at the corresponding position of the other is set as a convex segment.

5. The display device according to claim 3, characterized in that: At the adjacent ends of the two groups of lens modules, the concave-convex surface sections of the two lenses of one group are arranged in the opposite direction to the concave-convex surface sections of the two lenses of the other group.

6. The display device according to claim 1, characterized in that: The lens module comprises a plurality of lenses, which are stacked and arranged, and at least one of the lenses is movable so that the combined focal length of the plurality of lenses can be changed continuously within a positive and negative range.

7. A display device, characterized in that: include: The display modules are arranged in two groups, the two groups of display modules are symmetrically arranged and the images displayed by the two groups have horizontal parallax; An optical path component is disposed between the display module and the eyepiece, and is used to receive the image and output it to the eyepiece; An imaging module is arranged toward the eyepiece, and is used to obtain pupil distance information and eye viewing direction of the operator's eyes at the position of the eyepiece, and to issue a reminder to the operator according to the eye viewing direction; A diopter acquisition module, used for acquiring diopter information input by an operator according to the clarity of the diopter detection screen viewed by the operator on the display module; A diopter adjustment module, comprising a lens module, a driving mechanism and a control unit, wherein the lens modules are divided into two groups and are correspondingly arranged at the rear side of the eyepiece, the lens module is transmission-connected to the driving mechanism, and the driving mechanism is electrically connected to the control unit; The control unit is used to receive the pupil distance information and adjust the distance between the two groups of lens modules through the driving mechanism. At the same time, according to the refractive power information, the focal length of the lens module is adjusted in a manner such that the combined focal length of the lens module continuously changes within a positive and negative range.

8. A diopter adjustment method, characterized in that: The method is applied to a display device, which includes a display module, an optical path component and a lens module. The display module is arranged in two groups, the two groups of display modules are symmetrically arranged and the images displayed respectively have lateral parallax, the optical path component is used to receive the image and output it to an eyepiece, and the lens module is in two groups and is correspondingly arranged at the rear side of the eyepiece; the method includes: In response to the diopter correction signal, controlling any one of the two groups of display modules to display a diopter detection screen; Obtaining the operator's pupil distance information and eye viewing direction, adjusting the distance between the two groups of lens modules according to the pupil distance information, and issuing a reminder to the operator according to the eye viewing direction to make the operator's eye viewing direction face forward; Obtaining the diopter information input by the operator according to the clarity of the diopter detection screen viewed by the operator on the corresponding display module; The focal length of the lens module is adjusted according to the diopter information.

9. The diopter adjustment method according to claim 8, characterized in that: The step of controlling any one of the two groups of display modules to display a diopter detection screen includes: Open one of the display modules; The diopter detection image is input into the display module to display the diopter detection screen.

10. The diopter adjustment method according to claim 8, characterized in that: The steps of obtaining the pupil distance information of the operator and adjusting the distance between the two groups of lens modules according to the pupil distance information include: The left and right pupils of the operator are photographed and imaged simultaneously by an imaging module to obtain the left and right pupil data; Inputting the left and right pupil data into a central processing unit, and determining the left and right pupil positions and the pupil distance through the left and right pupil data; The central processor adjusts the distance between the two groups of lens modules according to the size of the pupil distance.

11. The diopter adjustment method according to claim 8, characterized in that: The steps of obtaining the viewing direction of the operator's eyes and issuing a reminder to the operator according to the viewing direction of the eyes so that the viewing direction of the operator's eyes faces forward include: The imaging module simultaneously captures the operator's left and right eyes to obtain imaging data; inputting the imaging data into a central processing unit; The central processing unit analyzes the imaging data and determines the positions of the pupils and eye sockets of the left and right eyes based on an image processing algorithm; Calculate the positions of the pupils of the left and right eyes in the eye sockets to obtain the viewing directions of the left and right eyes; When the left and right eyes are looking straight ahead, no reminder is set; When the viewing direction of the left and right eyes is not facing straight ahead, the central processing unit outputs a reminder to look straight ahead and displays the reminder information on the diopter detection screen.

12. The diopter adjustment method according to claim 8, characterized in that: The step of obtaining the diopter information input by the operator according to the clarity of the diopter detection screen viewed by the operator on the display module comprises: A diopter detection plate is selected, which is provided with a plurality of detection units numbered from 1 to N, each detection unit corresponding to a different diopter; Inputting the image of the diopter detection plate into any one of the display modules for display; When the operator can identify the highest level detection unit that he can see clearly, the serial number corresponding to the highest level detection unit is input into the central processing unit; The central processing unit obtains the diopter information input by the operator and outputs the degree of refractive error.

13. The diopter adjustment method according to claim 8, characterized in that: The step of obtaining the diopter information input by the operator according to the clarity of the diopter detection screen viewed by the operator on the display module comprises: A diopter detection plate is selected, which is provided with a plurality of detection units having serial numbers from 1 to 15, each detection unit corresponds to a different diopter, and the plurality of detection units are arranged in sequence in a matrix according to the serial numbers; Inputting the image of the diopter detection plate into any one of the display modules for display; When the operator can identify the highest level detection unit that he can see clearly, the serial number corresponding to the highest level detection unit is input into the central processing unit; The central processing unit obtains the diopter information input by the operator and outputs the degree of refractive error.

14. The diopter adjustment method according to claim 12, characterized in that: When the operator is able to identify the highest level detection unit that he can see clearly, the steps include: Each detection unit contains four groups of line pairs in different directions. The highest level detection unit is identified based on the standard that the operator can clearly see the four groups of line pairs of the same detection unit at the same time.

15. The diopter adjustment method according to claim 8, characterized in that: The step of adjusting the focal length of the lens module according to the diopter information comprises: receiving the diopter information by a control unit; Based on the refractive power information, at least one of the two lenses stacked in the lens module is controlled to move, and the combined focal length of the two lenses can be continuously changed within a positive and negative range by changing the overlapping area of ​​the two lenses.

16. A diopter adjustment method, characterized in that: The method is applied to a display device, which includes a display module, an optical path component and a lens module. The display module is arranged in two groups, the two groups of display modules are symmetrically arranged and the images displayed respectively have lateral parallax, the optical path component is used to receive the image and output it to an eyepiece, and the lens module is in two groups and is correspondingly arranged at the rear side of the eyepiece; the method includes: In response to the diopter correction signal, controlling any one of the two groups of display modules to display a diopter detection screen; Obtaining the operator's pupil distance information and eye viewing direction, adjusting the distance between the two groups of lens modules according to the pupil distance information, and issuing a reminder to the operator according to the eye viewing direction to make the operator's eye viewing direction face forward; Obtaining the diopter information input by the operator according to the clarity of the diopter detection screen viewed by the operator on the corresponding display module; According to the refractive power information, at least one lens in the lens module is controlled to move, and the combined focal length of the lens module is adjusted in a manner that changes continuously within a positive and negative range by changing the overlapping area of ​​multiple lenses.

17. A diopter adjustment method, characterized in that: The method is applied to a display device, which includes a display module, an optical path component and a lens module. The display module is arranged in two groups, the two groups of display modules are symmetrically arranged and the images displayed respectively have lateral parallax, the optical path component receives the image and outputs the image to an eyepiece, and the lens module is in two groups and is correspondingly arranged at the rear side of the eyepiece; the method includes: Controlling any one of the two groups of display modules to display a diopter detection screen; The operator's left and right eyes are imaged simultaneously through the imaging module to obtain left and right pupil data, and the positions of the left and right pupils and eye sockets are determined based on the image processing algorithm; Based on the left and right eye pupil data, determine the left and right eye pupil positions and the pupil distance; Based on the positions of the left and right pupils and eye sockets, the positions of the left and right pupils in the eye sockets are calculated to obtain the viewing directions of the left and right eyes; Adjust the distance between the two groups of lens modules according to the size of the pupil distance; According to the left and right eye viewing directions, a reminder is issued to the operator, and a reminder message is displayed on a diopter detection screen; Obtaining the diopter information input by the operator according to the clarity of the diopter detection screen viewed by the operator on the corresponding display module; The focal length of the lens module is adjusted according to the diopter information.

18. A main hand control console, characterized in that: A display device comprising any one of claims 1 to 7.

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