Method for realizing near-object display and AR display device

Abstract

The application provides a method and an AR display device for realizing near-object display, belongs to the technical field of AR (Augmented Reality) and is characterized in that a designer sets a target position of a virtual image T rendering according to the width of an optical-mechanical eyebox, when the eyes are fixed on the virtual image T, the left and right optical-mechanical eyebox surrounding rotation angles are calculated according to the target position, the current left and right pupil center positions and the left and right optical-mechanical eyebox center positions are calculated, the left and right optical-mechanical eyeboxes are designed at positions parallel to the X axis according to the left and right optical-mechanical eyebox center positions, then the left optical-mechanical eyebox is rotated clockwise and the right optical-mechanical eyebox is rotated counterclockwise, so that the eyeball rotation center, the pupil center, the optical-mechanical eyebox center and the virtual image T are located on the same straight line, and the left and right optical-mechanical eyeboxes with the physical parallax adjusted are fixed, and the application can meet the requirement of the user for displaying a virtual screen at a close distance in a display device with a small field of view only by physical parallax adjustment.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of AR augmented reality technology, and particularly relates to a method for realizing near-object display and an AR display device. BACKGROUND

[0002] Augmented reality (AR) glasses or see-through optical see-through (OST) glasses have two major categories of optical lenses: (1) freeform surface and bird bath (BB), collectively known as reflective optics; and (2) arrayed waveguide and diffractive waveguide, collectively known as waveguide optics. The glasses architecture based on reflective optics, as shown in FIG. 1, places a projector / display screen on the upper side of the lens to project and reflect to a focused display surface, which has an eyebox area of about 10 mm wide and high for the user's eyeball to view. The glasses architecture based on waveguide optics, as shown in FIG. 2, places a projector on the side of the lens and couples the image into the lens, which propagates to a refractive structure area after total internal reflection in the lens, and produces an eyebox area of about 10 mm wide and high for the user's eyeball to view through the refractive structure. Figure 1 Figure 2 There is also a glasses architecture based on hybrid waveguide, which makes the reflective optics thinner or the waveguide optics have a larger field of view angle through the principle of layered refraction of the optical waveguide.

[0003] If the interpupillary distance (IPD) between the two eyes is fixed, the larger the FOV field of view angle, the larger the intersection area, and the larger the range of objects that can be brought closer and displayed. The field of view angle of existing AR glasses is very small, and the virtual screen cannot be displayed with a left-right parallax effect, so the virtual screen cannot be brought closer, and only a 100-inch virtual screen can be displayed at a distance of 7 meters.

[0004] Because the AR glasses have a small eyebox (small field of view angle), if the eyebox does not move, the image seen by the user from the eyebox will only become smaller and disappear as the image is gradually brought closer during the process of gradually reducing the parallax. In order to meet the user's demand for different virtual image positions and distances, and to realize the function of focusing on near objects in a near-object display device with a small field of view angle, Huawei (CN116009253A) and Oppo (CN119045192A) respectively proposed a method for changing the virtual image position by changing the image projection angle for the optical waveguide glasses, which has the following problems:

[0005] ​(1) Ignoring the eyebox: Mistaking the entire optical waveguide lens as a plane that can display images, ignoring the fact that only the light guide array at a specific location of the lens can vertically export images according to the set angle, and the focusing area of the light guide (eyebox area) is very small, and can only be clearly seen when the user's eyes are vertically aligned within a range of about 10 mm. If the coupling-in angle of the projection light machine is changed, the coupling-out position of the image with the same refractive index will also change if it can only be coupled out from the originally designed eyebox area, then the coupled-out image will be distorted, and the eye will see a distorted image.

[0006] (2) Confusing pupil distance and parallax: The two patents also mention that if the image is not aligned with the user's eyeball, the image direction can be changed to align with the user's eyes by changing the angle of the light machine. This concept is wrong. Not to mention that the image cannot be exported outside the eyebox, even if the image can be exported outside the eyebox, as shown in Figure 3 , the coupling-out angle of the image is also oblique, and cannot be projected vertically to the pupil. This oblique image cannot be focused on the macular region in the eyeball, and the user still cannot see the image.

[0007] Optical particles (CN115561911A) disclose an AR display device and an AR head-mounted device, a waveguide lens is connected to a device body through a connecting seat; the waveguide lens and the connecting seat are connected through a rotating shaft; the rotating shaft is connected with a driving assembly; the driving assembly is used for driving the waveguide lens to swing left and right with the vertical direction axis as the rotating shaft, and the near and far of the combined image picture can be changed by the left and right flipping of the waveguide lens. By inverting the optical lens upward and downward and rotating the lens center as the central axis left and right (as shown in Figure 4 ), (1) aligning the eyeball (pupil distance problem) and (2) changing the parallax (image distance) can be achieved. Since the lens does not rotate around the center of the eyeball, but the center of the light machine / display module, and the direction of the light coupled out of the eyebox is perpendicular to the direction of the lens, when the angle of the lens is changed, the projected image will also change angle, cannot enter the user's eyeball vertically, and cannot be correctly focused on the macular center area in the eye, so there is the same problem as Huawei and Oppo. SUMMARY

[0008] The purpose of the present application is to provide a method and an AR display device for realizing near-object display, and a designer calculates the left and right light machine eyebox rotation angle, and adjusts the physical parallax by rotating the light machine eyebox, to display a virtual object at a target position.

[0009] The present application provides a method for achieving near-object display, which is applicable to scenarios where an optical machine eye box is fixed in position. The optical machine includes a projector and an optical lens having a display focus area. The display focus area of ​​the optical lens or the spatial range in which the human eye can see a focused image is defined as the optical machine eye box. The angle by which the optical machine eye box rotates around the rotation center of the eyeball to achieve physical adjustment of parallax is defined as the optical machine eye box rotation angle, wherein:

[0010] The XY coordinate system is established with the midpoint of the line connecting the left and right eyeball rotation centers as the origin O(0,0). The line connecting the left and right eyeball rotation centers is set as the X axis. The positions of the left and right eyeball rotation centers are , The pupil distance IPD is the distance between the left and right eyeball rotation centers, and the preset optical machine eye box width K, field of view angle FOV, the distance IPD between the left and right eyeball rotation centers, the distance r between the eyeball rotation center and the pupil center, and the optical machine eye box center (X eb ,Y eb ) and the distance from the pupil center, set and The rotation angle of the left and right optical machine eye boxes;

[0011] The designer sets the target position (0, D) for rendering the virtual image T according to the width K of the optical machine eye box. D is the vertical distance between the target position and the X axis. When the eyes look forward to infinity, the pupil center is directly above the eyeball rotation center when viewed from a bird's-eye view. That is, the initial position of the pupil center is , When the binoculars are looking at the virtual image T, the left and right optical eye box rotation angles are calculated based on the target position (0, D) and ;

[0012] Calculate the current left and right pupil center positions and the left and right optical eye box center positions;

[0013] According to the center position of the left and right optical eye boxes, first design the optical eye box in a position parallel to the X axis, and then rotate the left optical eye box clockwise Rotate the right optical machine eye box counterclockwise ;

[0014] The positions of the left and right pupil centers, the left and right eyeball rotation centers, the left and right optomechanical eyebox centers, and the virtual image T are known, so that the eyeball rotation center, pupil center, optomechanical eyebox center, and virtual image T are located on the same straight line, and the left and right optomechanical eyeboxes with physically adjusted parallax are fixed.

[0015] The left and right optical eye box rotation angles are calculated based on the target position (0, D) and :

[0016] If the virtual image T is a single pixel, the left and right optical eye box rotation angles can be calculated using formula (1): or :

[0017] (1).

[0018] If the virtual image is not a single pixel point and is a regular object, when calculating the left optical machine eye box rotation angle and the right optical machine rotation angle Before, calculate the center pixel of the virtual image and set it as the virtual image T;

[0019] If the virtual image is not a single pixel and is an irregular object, when calculating the left optical machine eye box rotation angle, and the right optical machine rotation angle Before, the weighted average position is calculated based on the weight of the three-dimensional position of each pixel's XY and distance Z, and is set as the virtual image T;

[0020] If the virtual image is a virtual screen, and the display screen covers the entire optical eye box, the leftmost pixel and the rightmost pixel position of the virtual screen are known, and the left optical eye box rotation angle is calculated. And the right optical machine rotation angle Before the image is taken, the mean of the left and right end pixel positions is calculated and set as the virtual image T.

[0021] The left and right optical eye box rotation angles are calculated based on the target position (0, D) and :

[0022] If the virtual image is a virtual screen, and the pixels of the display screen cover the entire optical eye box, the leftmost pixel of the virtual screen is known to be and the rightmost pixel Position, leftmost pixel and the rightmost pixel The distance value, that is, the width of the virtual screen, is set to the leftmost pixel The distance from the normal to the center of the left eyeball is and the leftmost pixel The rotation angle of the left optical machine eye box for the virtual image is , the leftmost pixel The distance from the normal line of the right eyeball center is and the leftmost pixel The rotation angle of the right optical machine eye box for the virtual image is , , the rightmost pixel The distance from the normal to the center of the right eyeball is and the rightmost pixel The rotation angle of the right optical machine eye box for the virtual image is , the rightmost pixel The distance from the normal to the center of the left eyeball is and the rightmost pixel The rotation angle of the left optical machine eye box for the virtual image is , , calculate the rotation angles of the four optical eye boxes 、 、 and :

[0023] By pupil distance IPD and rightmost pixel Position, get the rightmost pixel Distance from the normal to the center of the right eyeball , then the right optical machine eye box rotation angle ;

[0024] By pupil distance IPD and leftmost pixel Position, calculate the leftmost pixel Distance from the normal to the center of the right eyeball , then the right optical machine eye box rotation angle ;

[0025] By pupil distance IPD and leftmost pixel Position, calculate the leftmost pixel Distance from the normal of the left eyeball center , then the left optical machine eye box rotation angle ;

[0026] By pupil distance IPD and rightmost pixel Position, calculate the rightmost pixel Distance from the normal of the left eyeball center , then the left optical machine eye box rotation angle ;

[0027] Rotate the right optical machine eye box around the angle and Calculate the average value to get the rotation angle of the right optical machine eye box , rotate the left optical machine eye box around the angle and Calculate the average value to get the rotation angle of the left optical machine eye box :

[0028] and .

[0029] Calculate the current left and right pupil center positions and the left and right optical eye box center positions:

[0030] The left pupil center position is calculated according to formula (2): and right pupil center position :

[0031] (2);

[0032] According to the distance r between the eyeball rotation center and the pupil center and the distance between the light-mechanical eyebox center (X eb ,Y eb ) and the pupil center, the distance r eb between the light-mechanical eyebox center position (X eb ,Y eb ) and the eyeball rotation center is calculated , then the left light-mechanical eyebox center position (X Leb ,Y Leb ) and the right light-mechanical eyebox center position (X Reb ,Y Reb ) are calculated by formula (2).

[0033] If the virtual image is a virtual screen, after fixing the left and right light-mechanical eyeboxes with physical adjusted parallax, let the display screen cover the entire light-mechanical eyebox respectively:

[0034] The right light-mechanical eyebox center position (X Reb ,Y Reb ) and the left light-mechanical eyebox center position (X Leb ,Y Leb ) are calculated, and the two endpoints passing through the right light-mechanical eyebox center position are defined as the right eyebox ear position (X RE ,Y RE ) and the right eyebox nose position (X RB ,Y RB ), and the distance between the two endpoints is the light-mechanical eyebox width. The two endpoints passing through the left light-mechanical eyebox center position are defined as the left eyebox ear position (X LE ,Y LE ) and the left eyebox nose position (X LN ,Y LN ), and the distance between the two endpoints is the light-mechanical eyebox width. Let w = light-mechanical eyebox width / 2, the right light-mechanical eyebox slope , and the left light-mechanical eyebox slope ;

[0035] The right eyebox ear position (X RE ,Y RE ) and the right eyebox nose position (X RB ,Y RB ) are calculated:

[0036] (4)

[0037] The left eyebox ear position (X LE ,YLE ) and the left eye box nose side position (X LN ,Y LN ):

[0038] (5);

[0039] Adjust the display screen of the light machine eye box to make the ear side and the nose side end points of the display screen respectively cover the entire light machine eye box.

[0040] Align the left light machine eye box nose side end point, replace the left light machine eye box with a width of K that has realized physical parallax adjustment with a light machine eye box with a width of F L , and rotate the left light machine eye box around the left light machine eye box nose side end point by an angle , , which is the left light machine eye box rotation angle, and the rotated left light machine eye box is parallel to the X axis:

[0041] (7);

[0042] Similarly, the same processing is performed on the right light machine eye box.

[0043] The present application provides another method for realizing near object display, which is suitable for the scene that the light machine eye box rotates around the pupil center position based on eye tracking, the light machine includes a projector and an optical lens provided with a display focusing area, the display focusing area of the optical lens or the space range in which the focused image can be seen by the human eye is the light machine eye box, and the angle of physical parallax adjustment realized by rotating the light machine eye box around the eyeball rotation center is the light machine eye box rotation angle, wherein:

[0044] An XY coordinate system is established with the middle point of the left and right eyeball rotation center connection line as the origin O(0,0) seen from the top view, the left and right eyeball rotation center connection line is set as the X axis, the left and right eyeball rotation center positions are , , IPD is the distance between the left and right eyeball rotation centers, the preset light machine eye box width K, the field of view FOV, the distance between the left and right eyeball rotation centers IPD, the distance r between the eyeball rotation center and the pupil center, and the distance between the light machine eye box center (X eb ,Y eb ) and the pupil center are set, and and are the left and right light machine eye box rotation angles; the target position (0, D) of the virtual image T rendering is set according to the light machine eye box width, D is the vertical distance between the target position and the X axis, when the binoculars look forward to infinity, the pupil center is seen from the top view directly above the eyeball rotation center, that is, the initial position of the pupil center is , ;

[0045] When the binoculars fixate on the virtual image T, the right eye movement tracking sensor position facing the right eye is known to be (X C ,Y C ), the angle between the right pupil and the X-axis vertical line is collected by the right eye movement tracking sensor , and the right light machine eye box rotation angle is calculated by triangulation :

[0046] (6);

[0047] Where t= ;

[0048] Similarly, the left eye movement tracking sensor position facing the left eye is (X C ,Y C ), X C takes a negative value on the left side of the origin, and the same formula is used to calculate the left light machine eye box rotation angle ;

[0049] Calculate the current left and right pupil center positions and the left and right light machine eye box center positions.

[0050] According to the left and right light machine eye box center positions, the light machine eye box is designed in a position parallel to the X-axis.

[0051] After the control device calculates the left and right light machine eye box rotation angles and , it drives the left and right light machine eye boxes through the light machine eye box driving assembly to rotate the left and right light machine eye boxes by angles and , respectively, and given the left and right pupil center positions, left and right eyeball rotation center positions, left and right light machine eye box center positions, and virtual image T positions, the eyeball rotation center, pupil center, light machine eye box center, and virtual image T are located on the same straight line.

[0052] The display screen in each light machine eye box corresponds to all or part of the virtual screen, and the content of the display screens in the left and right light machine eye boxes corresponds to all or part of the virtual screen after splicing.

[0053] The application provides an AR display device, which comprises a device body, the device body comprising a connected light machine, the light machine comprising a projector and an optical lens with a display focusing area, the display focusing area of the optical lens or the space range in which the focused image can be seen by the human eye is a light machine eye box, and the light machine eye box is designed by any one of the above-mentioned methods for displaying near objects.

[0054] The technical solution of the application can realize near-field display of a virtual object by adjusting physical parallax without special optical design or sacrificing a field of view. The application can meet the needs of users for different virtual image positions and distances, realize the function of focusing on a near object in a display device with a small field of view, and especially meet the needs of users for displaying a virtual screen at a close distance. BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 A schematic diagram of an optical path of a glasses architecture based on reflective optics;

[0056] Figure 2 A schematic diagram of an optical path of a glasses architecture based on diffractive optics;

[0057] Figure 3 A schematic diagram in which an image coupled out of an eyebox range by changing the angle of a projection light engine cannot be vertically projected to a pupil;

[0058] Figure 4 A schematic diagram in which a light particle case is rotated left and right around a lens center to change the distance of a combined image;

[0059] Figure 5 A schematic diagram of the structure of a right eyeball of a human eye;

[0060] Figure 6 A top view in which a virtual image T is a single pixel point and located in a vertical center direction of a human eye in the application;

[0061] Figure 7 A top view in which multiple pixel points of a virtual screen are aligned in parallax in the application;

[0062] Figure 8 A top view in which an eye movement tracking sensor is used to calculate the angle of rotation of an eyebox of a left light engine and an eyebox of a right light engine in the application;

[0063] Figure 9 A control principle diagram of an AR display device based on an eye movement tracking sensor in the application;

[0064] Figure 10 A top view in which an eyebox of a left light engine and an eyebox of a right light engine follow the position of a pupil center in rotation in the application. The left diagram is a top view in which both eyes see the middle part of a screen, and the right diagram is a top view in which both eyes look at the rightmost part of the screen;

[0065] Figure 11 A top view in which light rays corresponding to an equidistant grid of a virtual screen are distributed unequidistantly in a screen displayed by an eyebox of a light engine in rotation;

[0066] Figure 12 A Figure 11 An enlarged view of a region A;

[0067] Figure 13This is a top view of the optical machine eye box F set horizontally to simulate the optical machine eye box K rotating around to achieve physical adjustment of the parallax effect;

[0068] Figure 14 for Figure 13 The enlarged image of the equidistant distribution of light rays corresponding to the equidistant grid of the virtual screen on the screen displayed by the horizontally set optical eye box F;

[0069] Figure 15 for Figure 13 A magnified image of the uneven distribution of light rays on the screen displayed by the rotating optical machine eye box K;

[0070] Figure 16 This is a functional block diagram of the AR head display device of Example 3 of this application. DETAILED DESCRIPTION

[0071] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0072] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0073] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or solution described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or solutions. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0074] The principle of this application is as follows:

[0075] (1) Definition of professional terms mentioned in the article:

[0076] Optical machine = display module = display module: refers to the device that combines a projector and an optical lens with a display focus area. The projector generates the projection content, which is guided by the optical lens and then coupled out of the display focus area before entering the human eye.

[0077] Eyebox: The spatial range within which the human eye can see a focused image. This refers to the spatial range within which the image, refracted from the projector to the optical lens, can be clearly seen. Assuming the distance between the optical lens and the human eye remains constant, manufacturers generally only need to specify the eyebox width. This application uses the common eyebox width of 10mm as an example.

[0078] In order to illustrate the technical solution more clearly, the complex structure of components such as the projector and optical lenses is omitted in the drawings given in this application, and the optical eye box is used. To indicate the position where the human eye can see the focused image projected by the projector, the optical eye box surface is perpendicular to the central axis of the eyeball.

[0079] like Figure 5 As shown, the content seen by the user's eyes, or ambient light, passes through the cornea, through the pupil between the iris, and then through the lens, where it is refracted into the eye's lens. Ambient light is reflected in the center of the eye and projected onto the retina, centered at the macula. Retinal cells detect the ambient light's grayscale (rods) and color (cones), and then transmit it to the brain via the optic nerve. The eyeball can rotate up, down, left, right, and diagonally via six extraocular muscles. During rotation, the center of the eyeball is not at the back, but at the center of the lens, the center point where the ambient light image crosses and inverts. This application refers to the center of the eyeball as the eye's rotation center. As shown in the figure, the distance from the cornea to the lens is 3 mm, and the diameter from the front of the lens to the center of the macula is 20 mm. The radius from the eyeball's rotation center to the cornea is 10 mm + 3 mm = 13 mm. This radius is used as the distance from the eyeball's rotation center to the pupil center for parallax calculations.

[0080] Eyebox rotation angle: This application refers to the display focal area of ​​the optical lens or the spatial range in which the human eye can see the focused image as the eyebox. The eyebox rotation angle refers to the angle through which the eyebox is rotated around the eye's rotation center to physically adjust the parallax.

[0081] (2) Methods for realizing near-object display:

[0082] The calculation of this application assumes that the pupil distance has been adjusted for the optical machine eye box.

[0083] The XY coordinate system is established with the midpoint of the line connecting the left and right eyeball rotation centers as the origin O(0,0). The line connecting the left and right eyeball rotation centers is set as the X axis. The positions of the left and right eyeball rotation centers are , , IPD is the distance between the left and right eyeball rotation centers, the preset distance r between the eyeball rotation center and the pupil center (set to 13mm), the optical machine eye box center (X eb ,Y eb ) and the distance between the pupil center (set to 2mm), then the optical eye box center (X eb ,Y eb ) to the eyeball rotation center is 15mm; preset the field of view angle FOV (for example, 50°), the distance between the left and right eyeball rotation centers (equivalent to the pupil distance IPD, set to 70mm) and the optical machine eye box width K (for example, 10mm), set and The left and right eyebox rotation angles are also the angles that the left and right eyeballs need to rotate to align the pupils with the eyebox. , at this time there is no parallax, and the virtual image is rendered at an infinite distance.

[0084] If the designer wants the virtual image T to be rendered at the target position (0, D), where D is the vertical distance between the target position and the X-axis, the left and right optical eye box rotation angles are calculated based on the target position (0, D). and , then calculate the current left and right pupil center positions and the left and right optical eye box center positions. According to the left and right optical eye box center positions, first design the optical eye box in a position parallel to the X axis, and then rotate the left optical eye box clockwise Rotate the right optical machine eye box counterclockwise Given the positions of the left and right pupil centers, the left and right eyeball rotation centers, the left and right optical eyebox centers, and the virtual image T, make the eyeball rotation centers, pupil centers, optical eyebox centers, and virtual image T lie on the same straight line. Fix the left and right optical eyeboxes with physically adjusted parallax, and give the following specific steps according to different usage scenarios:

[0085] A. Single pixel method:

[0086] Step 1 (Calculate the rotation angle of the optical machine eye box): When the eyes look forward to infinity, the pupil center is directly above the eyeball rotation center from a bird's-eye view, which is the initial position of the pupil center. for , ,When binocularly looking at the virtual image T, if the virtual image T is a single pixel, such as Figure 6 As shown, the left and right optical eye box rotation angles are calculated by formula (1) or :

[0087] (1);

[0088] Substituting the target position (0, D) of the virtual image T, we can get the angle of rotation of the left and right optical machine eye boxes. ;

[0089] Step 2 (calculate the current pupil center position and the optical eye box center position): Calculate the left pupil center position according to formula (2) and the center of the right pupil :

[0090] (2)

[0091] If the angle of the left and right optical machine eye box is and If they are the same, then formula (2) can be simplified to:

[0092] (3)

[0093] According to the distance r between the eyeball rotation center and the pupil center and the center of the optical machine eye box (X eb ,Y eb ) and the distance from the pupil center, and calculate the center position of the optical machine eye box (X eb ,Y eb ) and the distance r from the center of eye rotation eb ,set up , then use formula (2) or formula (3) to calculate the center position of the left optical machine eye box (X Leb ,Y Leb ) and the center position of the right optical machine eye box (X Reb ,Y Reb );

[0094] Continue from the previous For example, assuming that the left and right eye boxes have the same rotation angle , the distance from the eyeball rotation center to the pupil center r = 13mm, X Rp =35-13*sin(4º)=34.09mm, Y Rp =13*cos(4º)=12.97mm, then the center position of the right pupil (X Rp ,Y Rp ) is (34.09,12.97); Since the left pupil is the same angle to the left of the origin, the center position of the left pupil (X Lp ,Y Lp )=(-34.09mm,12.97mm), and assuming that the distance r between the center of the optical machine eye box and the center of eye rotation is eb = 25mm, the center position of the right optical machine eye box (X Reb ,Y Reb )=(33.25,24.94), the center position of the left optical machine eye box (XLeb ,Y Leb )=(-33.25,24.94).

[0095] Step 3 (Fix the optical eye box that has achieved physical parallax adjustment): According to the center position of the left and right optical eye boxes, first design the optical eye box to be parallel to the X-axis, and then rotate the left optical eye box clockwise Rotate the right optical machine eye box counterclockwise , the left and right pupil center positions, the left and right eyeball rotation center positions, the left and right optomechanical eye box center positions and the virtual image T position are known, so that the eyeball rotation center, pupil center, optomechanical eye box center and virtual image T are located on the same straight line.

[0096] B. Method where the virtual image is multiple pixels:

[0097] If the virtual image is not a single pixel point and is a regular object, then the center pixel point of the virtual image is set as the virtual image T, and the left optical machine eye box rotation angle is calculated according to the single pixel method. And the right optical machine rotation angle ;

[0098] If the virtual image is not a single pixel and is an irregular object, then the weighted average position of all pixels is set as the virtual image T, and the left optical machine eye box rotation angle is calculated according to the single pixel method. And the right optical machine rotation angle The weighted average position of all pixels refers to the pixel position obtained by averaging the weights of the three-dimensional position of each pixel based on its XY and distance Z.

[0099] If the virtual image is a virtual screen, and the pixels of the virtual screen cover the entire optical eye box, the target position of the preset virtual screen is parallel to the X axis and the vertical distance from the X axis is D, the leftmost pixel of the virtual screen is known to be and the rightmost pixel Position, the average of the left and right end pixel positions is taken as the pixel position, and it is set as the virtual image T. The angle of the left optical machine eye box rotation is calculated according to the single pixel method The angle around the right optical machine eye box .

[0100] Another method is given below using the virtual image as a virtual screen as an example.

[0101] Step 1 (calculate the rotation angle of the optical machine eye box):

[0102] Figure 7 This is a top view of the parallax alignment of multiple pixels on the virtual screen, showing that the pixels of the screen cover the entire optical eye box. The target position of the virtual screen is parallel to the X-axis and the vertical distance from the X-axis is D. It is known that the leftmost pixel of the virtual screen and the rightmost pixel Position (screen pixel coordinates), leftmost pixel and the rightmost pixel The distance value (the width of the virtual screen) is set to the leftmost pixel The distance from the normal to the center of the left eyeball is and the leftmost pixel The rotation angle of the left optical machine eye box for the virtual image is , the leftmost pixel The distance from the normal to the center of the right eyeball is and the leftmost pixel The rotation angle of the right optical machine eye box for the virtual image is , , the rightmost pixel The distance from the normal to the center of the right eyeball is and the rightmost pixel The rotation angle of the right optical machine eye box for the virtual image is , the rightmost pixel The distance from the normal to the center of the left eyeball is and the rightmost pixel The rotation angle of the left optical machine eye box for the virtual image is , , calculate the rotation angles of the four optical eye boxes 、 、 and :

[0103] By pupil distance IPD and rightmost pixel Position, get the rightmost pixel Distance from the normal to the center of the right eyeball , then the right optical machine eye box rotation angle ;

[0104] By pupil distance IPD and leftmost pixel Position, calculate the leftmost pixel Distance from the normal to the center of the right eyeball , then the right optical machine eye box rotation angle ;

[0105] By pupil distance IPD and leftmost pixel Position, calculate the leftmost pixel Distance from the normal of the left eyeball center , then the left optical machine eye box rotation angle ;

[0106] By pupil distance IPD and rightmost pixel Position, calculate the rightmost pixel Distance from the normal of the left eyeball center , then the left optical machine eye box rotation angle ;

[0107] Rotate the right optical machine eye box around the angle and Calculate the average value to get the rotation angle of the right optical machine eye box , rotate the left optical machine eye box around the angle and Calculate the average value to get the rotation angle of the left optical machine eye box :

[0108] and .

[0109] Steps 2 and 3 are the same as for single pixel.

[0110] Step 4 (Adjust the position of the display screen on the ear side and nose side in the left and right optical eye boxes so that the display screen covers the entire optical eye box): Figure 6 As shown in step 2, the center position of the right optical machine eye box (X Reb ,Y Reb ) and the center position of the left optical machine eye box (X Leb ,Y Leb ), set the two end points of the right optical machine eye box center position as the right eye box ear position (X RE ,Y RE ) and the right eye box nose position (X RB ,Y RB ), the distance between the two end points is the width K of the optical eye box, and the two end points passing through the center of the left optical eye box are the left eye box ear positions (X LE ,Y LE ) and the left eye box nose position (X LN ,Y LN ), the distance between the two end points is also the width of the optical eye box; let w = optical eye box width / 2, the optical eye box slope , then the right optical machine eye box inclination , left optical machine eye box slope , calculate the right eye box position close to the ear (X RE ,Y RE ), right eye box near the nose (X RB ,Y RB ), the left eye box near the ear (X LE ,Y LE ) and the left eye box nose position (X LN ,Y LN );

[0111] The formula for calculating the positions of the two endpoints of the center position of the right optical machine eye box is:

[0112] (4)

[0113] The formula for calculating the positions of the two endpoints of the left optical machine eye box center position is:

[0114] (5).

[0115] Continuing the previous example, i=35mm, r eb =25mm, X Reb =33.25mm, Y Reb =24.94mm, then: (X RE ,Y RE )=(38.24,25.29),(X RN ,Y RN )=(28.27,24.59);

[0116] X Leb =-33.25mm, Y Leb =24.94mm, then:

[0117] (X LE ,Y LE )=(-38.24,25.29),(X LN ,Y LN )=(-28.27,24.59).

[0118] During the design process, the designer (1) presets the target position (0, D) of the virtual screen according to the eye box width; (2) uses the center point of the virtual screen as the virtual image T and uses the single pixel method to calculate the angle of rotation of the left optical machine eye box at a fixed distance D. The angle around the right optical machine eye box ; (3) Adapt the projected video stream pixels to the glasses' optical machine pixels according to the adaptation ratio, where the adaptation ratio = glasses' optical machine pixels / projected video stream pixels. For example, if the glasses' optical machine screen width is 2000 pixels and the eye box width is 10mm, it means that when the center of the pupil is aligned with the center of the optical machine eye box, 2000 pixels can be seen within a width of 10mm. Assuming that the projected video stream pixels are 4000, the projected video stream pixels should be divided by 2 to adapt to the glasses' optical machine pixels. Similarly, if the projected video stream pixels are 1000, the projected video stream pixels should be multiplied by 2 to adapt to the glasses' optical machine pixels; (4) Set the distance r between the center of the optical machine eye box and the center of eyeball rotation. eb = 25mm, the center position of the right optical machine eye box (X Reb ,Y Reb ) = (33.26,24.94), the center position of the left optical machine eye box (XLeb ,Y Leb )=(-33.26,24.94); (5) Design the left and right optical eye boxes at this position and parallel to the X-axis, and rotate the right optical eye box 4° counterclockwise and the left optical eye box 4° clockwise to achieve physical parallax adjustment, and move the screen from infinity to the target position; (6) Adjust the positions of the two end points of the display screen of the optical eye box on the ear side and the nose side so that the display screen covers the entire optical eye box.

[0119] C. Method for calculating the rotation angle of the left and right optical machine eye boxes using the eye tracking sensor:

[0120] Step 1. Figure 8 As shown, let r be the distance from the eyeball rotation center to the pupil center. When the eyes look forward to infinity, the pupil center is directly above the eyeball rotation center. The initial positions of the left and right pupil centers are for , ,When binocularly looking at the virtual image T, the position of the right eye tracking sensor facing the right eye is (X C ,Y C ), the right eye tracking sensor is used to collect the angle between the right pupil and the vertical line of the X axis , the right optical machine eye box rotation angle is obtained through triangulation calculation :

[0121] (6);

[0122] in, ;

[0123] The left eye tracking sensor position facing the left eye is (X C ,Y C ), because X C It is on the left side of the origin, so it will be a negative value. The same formula can be used to calculate the rotation angle of the left optical machine eye box ;

[0124] Steps 2 and 3 are the same as the single pixel method.

[0125] The above is a design scheme in which the optical machine eye box is fixed after physically adjusting the parallax.

[0126] According to the principle of method C, eye tracking can allow the optical eye box to adjust the rotation angle according to the changes in the pupil center position, such as Figure 10 As shown, each optical eye box only needs to display part of the virtual screen, and the virtual screens displayed by the left and right optical eye boxes will be larger than the width of a single optical eye box after being spliced. Figure 10In the left picture, the two eyes do not see the entire screen, but only the middle part. Through eye tracking, the left and right optical eye boxes rotate according to the position of the pupil center, so that the center of the eyeball, the center of the pupil, and the center of the optical eye box are always on the same line. In this way, the two eyes can look to the left or right of the larger screen, and the correct video can be displayed according to the viewing angle of the eyeball. Figure 10 In the right image, you can see both eyes looking toward the far right of the screen. The left and right eyeboxes display different screen areas. The right eye sees a smaller, more vertical area than the left eye. The black area in the image represents the area seen by both eyes. Because the left eye is viewing at a more oblique angle, it also sees a gray portion of the screen. Because the eyeboxes are tilted, the screen ratio also adjusts based on distance.

[0127] Since there is a distance between the virtual object and the eyeball, the farther away the pixel is from the eyeball's rotation center, the smaller it should be, and vice versa. Figure 11 As shown in the figure, the virtual screen is divided into several equidistant grids. From the figure, we can see that the light corresponding to the equidistant grids of the virtual screen is unevenly distributed on the screen of the optical machine eye box. Figure 12 From the enlarged image, we can see that the grids are larger when the distance is close, and the grids are narrower when the distance is farther. The display pixels of the optical eye box need to correct the image distortion according to the distance.

[0128] When rendering virtual objects, the pixels displayed on the screen should be based on the position and distance between the eyeball's rotation center and the virtual object. If the eye and the optomechanical eyebox are facing the center of the screen, the virtual object displayed close to the eye will be too large, possibly exceeding the visible range of the eyebox. Conversely, screen pixels farther away will be scaled down, resulting in wasted optomechanical screen pixels on the right side of the screen. Therefore, when the optomechanical eyebox is aimed at a virtual object, we should consider that the closer the pixel, the more important it is. The weighted average position should be calculated based on the weights of the XY and Z three-dimensional position of each pixel of the virtual object. The optomechanical automatic rotation of the glasses should guide the user to view the weighted average position of the three-dimensional pixels of the virtual object.

[0129] D. Method for achieving physical parallax adjustment effect by simulating the rotation of an optomechanical eye box set parallel to the X-axis:

[0130] The AR optical lens technology will get better and better in the future. When the field of view of the optical eye box becomes larger and larger, Figures 13 to 15 It can be seen that there is no need to rotate the optical eye box, but the optical eye box F set parallel to the X axis can directly simulate the rotation of the optical eye box K to achieve the effect of physical adjustment of parallax. The advantage of this is that the display pixels on the optical eye box F set parallel to the X axis do not need to be like Figure 11The central rotating optical eye box is used to correct distortion at near and far distances.

[0131] like Figure 13 As shown in the figure, it is known that the width of the optical eye box K = 10mm after the rotation to achieve physical adjustment of parallax, and the rotation angle of the optical eye box , then rotate the optical machine eye box with the end point on the ear side as the center of the circle , so that the optical machine eye box is set parallel to the X-axis. How large does the width F of the optical machine eye box set parallel to the X-axis need to be to simulate the projection effect of the rotating optical machine eye box?

[0132] (7)

[0133] F=10*(0.785+0.707*0.707)=14, that is to say, if the optical machine eye box rotates at an angle of 45 degrees, as long as the width F of the optical machine eye box set parallel to the X axis can reach 14 mm, it can simulate the virtual image displayed by the optical machine eye box with a width K of 10 mm after physically adjusting the parallax by rotating 45 degrees.

[0134] Example 1

[0135] The first embodiment of the present application provides a method for realizing near object display. An XY coordinate system is established with the midpoint of the line connecting the left and right eyeball rotation centers as the origin O(0,0). The line connecting the left and right eyeball rotation centers is set as the X axis. The positions of the left and right eyeball rotation centers are , , IPD is the distance between the left and right eyeball rotation centers, preset the optical machine eye box width K, field of view angle FOV, the distance IPD between the left and right eyeball rotation centers, the distance r between the eyeball rotation center and the pupil center, and the optical machine eye box center (X eb ,Y eb ) and the distance from the pupil center, set and The rotation angle of the left and right optical machine eye boxes;

[0136] The designer sets the target position (0, D) for virtual image T rendering according to the width of the optical machine eye box. D is the vertical distance between the target position and the X axis. When the eyes look forward to infinity, the pupil center is directly above the eyeball rotation center when viewed from a top-down perspective. That is, the initial position of the pupil center is , , the left and right optical eye box rotation angles calculated based on the target position (0, D) and ; Calculate the left and right pupil center positions and the left and right optical eye box center positions; Based on the left and right optical eye box center positions, first design the optical eye box in a position parallel to the X-axis, and then rotate the left optical eye box clockwise Rotate the right optical machine eye box counterclockwise Given the positions of the left and right pupil centers, the left and right eyeball rotation centers, the left and right optomechanical eyebox centers, and the virtual image T, make the eyeball rotation centers, pupil centers, optomechanical eyebox centers, and virtual image T lie on the same straight line. Fix the left and right optomechanical eyeboxes with physically adjusted parallax. Specific steps:

[0137] Step 1 (calculate the rotation angle of the optical machine eye box): If the virtual image T is a single pixel, the rotation angles of the left and right optical machine eye boxes are calculated by formula (1): or :

[0138] (1);

[0139] If the virtual image is not a single pixel point and is a regular object, then the center pixel point of the virtual image is set as the virtual image T, and the left optical machine eye box rotation angle is calculated according to the single pixel method. and the right optical machine rotation angle ;

[0140] If the virtual image is not a single pixel and is an irregular object, the weighted average position is calculated based on the weight of the three-dimensional position of each pixel's XY and distance Z, and is set as the virtual image T. The left optical machine eye box rotation angle is calculated according to the single pixel method. and the right optical machine rotation angle ;

[0141] If the virtual image is a virtual screen, and the display screen covers the entire optical eye box, the preset target position of the virtual screen is parallel to the X-axis and the vertical distance from the X-axis is D. The leftmost and rightmost pixel positions of the virtual screen are known. The average of the left and right pixel positions is taken as the pixel position and set as the virtual image T. The left optical eye box rotation angle is calculated according to the single pixel method. and the right optical machine eye box rotation angle ;

[0142] If the virtual image is a virtual screen, and the pixels of the display screen cover the entire optical eye box, the target position of the preset virtual screen is parallel to the X-axis and the vertical distance from the X-axis is D, such as Figure 7 As shown, the leftmost pixel of the known virtual screen and the rightmost pixel Position, leftmost pixel and the rightmost pixel The distance value, that is, the width of the virtual screen, is set to the leftmost pixel The distance from the normal to the center of the left eyeball is and the leftmost pixel The rotation angle of the left optical machine eye box for the virtual image is , the leftmost pixel The distance from the normal to the center of the right eyeball is and the leftmost pixel The rotation angle of the right optical machine eye box for the virtual image is , , the rightmost pixel The distance from the normal line of the right eyeball center is and the rightmost pixel The rotation angle of the right optical machine eye box for the virtual image is , the rightmost pixel The distance from the normal to the center of the left eyeball is and the rightmost pixel The rotation angle of the left optical machine eye box for the virtual image is , , calculate the rotation angles of the four optical eye boxes 、 、 and :

[0143] By pupil distance IPD and rightmost pixel Position, get the rightmost pixel Distance from the normal to the center of the right eyeball , then the right optical machine eye box rotation angle ;

[0144] By pupil distance IPD and leftmost pixel Position, calculate the leftmost pixel Distance from the normal to the center of the right eyeball , then the right optical machine eye box rotation angle ;

[0145] By pupil distance IPD and leftmost pixel Position, calculate the leftmost pixel Distance from the normal of the left eyeball center , then the left optical machine eye box rotation angle ;

[0146] By pupil distance IPD and rightmost pixel Position, calculate the rightmost pixel Distance from the normal of the left eyeball center , then the left optical machine eye box rotation angle ;

[0147] Rotate the right optical machine eye box around the angle and Calculate the average value to get the rotation angle of the right optical machine eye box , rotate the left optical machine eye box around the angle and Calculate the average value to get the rotation angle of the left optical machine eye box :

[0148] and .

[0149] Step 2 (Calculate the pupil center position and the optical eye box center position): Calculate the left pupil center position according to formula (2) and the center of the right pupil :

[0150] (2)

[0151] If the left and right optical machine eye boxes rotate around the angle and If they are the same, then formula (2) can be simplified to:

[0152] (3)

[0153] According to the distance r between the eyeball rotation center and the pupil center and the center of the optical machine eye box (X eb ,Y eb ) and the distance from the pupil center, and calculate the center position of the optical machine eye box (X eb ,Y eb ) and the distance r from the center of eye rotation eb ,set up , then use formula (2) or formula (3) to calculate the center position of the left optical machine eye box (X Leb ,Y Leb ) and the center position of the right optical machine eye box (X Reb ,Y Reb );

[0154] Step 3 (Fix the optical eye box that has achieved physical parallax adjustment): According to the center position of the left and right optical eye boxes, first design the optical eye box to be parallel to the X-axis, and then rotate the left optical eye box clockwise Rotate the right optical machine eye box counterclockwise , given the positions of the left and right pupil centers, the left and right eyeball rotation centers, the left and right optomechanical eyebox centers, and the virtual image T, the eyeball rotation center, pupil center, optomechanical eyebox center, and virtual image T are located on the same straight line;

[0155] If the virtual image is a virtual screen, the process also includes step 4 (adjusting the positions of the display screens on the ear side and the nose side in the left and right optical eye boxes so that the display screens cover the entire optical eye box): Figure 6 As shown in step 2, the center position of the right optical machine eye box (X Reb ,Y Reb ) and the center position of the left optical machine eye box (X Leb ,Y Leb), set the two end points of the right optical machine eye box center position as the right eye box ear position (X RE ,Y RE ) and the right eye box nose position (X RB ,Y RB ), the distance between the two end points is the width of the optical eye box, and the two end points passing through the center of the left optical eye box are the left eye box ear position (X LE ,Y LE ) and the left eye box nose position (X LN ,Y LN ), the distance between the two end points is also the width of the optical eye box; let w = optical eye box width / 2, then the slope of the right optical eye box is , left optical machine eye box slope , calculate the right eye box position close to the ear (X RE ,Y RE ), right eye box near the nose position (X RB ,Y RB ), the left eye box near the ear position (X LE ,Y LE ) and the left eye box nose position (X LN ,Y LN );

[0156] The two endpoints of the center position of the right optical machine eye box, i.e. the ear position of the right eye box (X RE ,Y RE ) and the right eye box nose position (X RB ,Y RB ) is:

[0157] (4)

[0158] The two endpoints of the center position of the left optical machine eye box, i.e. the left eye box ear position (X LE ,Y LE ) and the left eye box nose position (X LN ,Y LN ) is:

[0159] (5).

[0160] The virtual image is a virtual screen. The method of fixing the position of the optomechanical eye box is as follows: the designer presets the target position of the virtual screen (0, D) and the distance r between the center of the optomechanical eye box and the center of eyeball rotation according to the width of the eye box. eb ; Take the center point of the virtual screen as the virtual image T, and use the single pixel method to calculate the left optical machine eye box rotation angle at a fixed distance D and the right optical machine eye box rotation angle ; the video stream pixel of the screen projection is adapted to the pixel of the glasses light machine according to an adaptation ratio, wherein the adaptation ratio = pixel of the glasses light machine / pixel of the video stream of the screen projection; the right light machine eye box center position (X Reb ,Y Reb ) and the left light machine eye box center position (X Leb ,Y Leb ) are calculated through formula (3); the right light machine eye box and the left light machine eye box are designed at the positions and are parallel to the X axis, the right light machine eye box is counterclockwise rotated by , and the left light machine eye box is clockwise rotated by to realize the physical parallax adjustment; after the virtual screen is pulled from the infinite distance to the target position, the light machine eye box is fixed; the end point positions of the display screen on the ear side and the nose side of the light machine eye box are adjusted, so that the display screen is respectively spread on the whole light machine eye box.

[0161] The end point of the left light machine eye box on the nose side is aligned, the left light machine eye box with the physical parallax adjustment and the width K is replaced by the light machine eye box with the width F L , and the left light machine eye box on the nose side is rotated by an angle as the center, the rotated left light machine eye box is parallel to the X axis:

[0162] (7)

[0163] Similarly, the right light machine eye box is processed in the same way.

[0164] Embodiment two

[0165] Another method for realizing the near object display is provided in the embodiment two of the application, which is suitable for the scene that the light machine eye box of the eye movement tracking light machine follows the change of the pupil center position and rotates, the light machine includes a projector and an optical lens provided with a display focusing area, the display focusing area of the optical lens or the space range in which the focusing image can be seen by the human eye is the light machine eye box, and the angle of the physical parallax adjustment realized by the rotation of the light machine eye box around the rotation center of the eyeball is the light machine eye box rotation angle:

[0166] An XY coordinate system is established with the middle point of the connection line of the left and right eyeball rotation centers as the origin O(0,0) seen from the top view, the connection line of the left and right eyeball rotation centers is set as the X axis, the positions of the left and right eyeball rotation centers are , , the IPD is the distance between the left and right eyeball rotation centers, the light machine eye box width K, the field of view FOV, the distance between the left and right eyeball rotation centers IPD, the distance r between the eyeball rotation center and the pupil center, and the distance between the light machine eye box center (X eb ,Y eb ) and the pupil center are preset, and and​ The right and left light machine eye box rotation angles are calculated; the target position (0, D) of the virtual image T rendering is set according to the light machine eye box width, D is the vertical distance between the target position and the X axis, when the binoculars look forward to infinity, the pupil center is seen from the top view to be directly above the eye rotation center, that is, the initial position of the pupil center is , ;

[0167] When the binoculars gaze at the virtual image T, the right eye movement tracking sensor position facing the right eye is (X C ,Y C ), the included angle between the right eye pupil and the X axis vertical line is collected by the right eye movement tracking sensor , and the right light machine eye box rotation angle is calculated by triangle :

[0168] (6);

[0169] Wherein, ;

[0170] Similarly, the left eye movement tracking sensor position facing the left eye is (X C ,Y C ), X C takes a negative value on the left side of the origin, and the same formula is used to calculate the left light machine eye box rotation angle ;

[0171] The current left and right pupil center positions and the left and right light machine eye box center positions are calculated;

[0172] According to the left and right light machine eye box center positions, the light machine eye box is designed at a position parallel to the X axis;

[0173] After the control device calculates the left and right light machine eye box rotation angles and , the left and right light machine eye box rotation angles and are driven by the light machine eye box driving assembly, respectively, and the left and right pupil center positions, the left and right eye rotation center positions, the left and right light machine eye box center positions and the virtual image T position are known, so that the eye rotation center, the pupil center, the light machine eye box center and the virtual image T are located on the same straight line.

[0174] The display screen in each light machine eye box corresponds to all or part of the virtual screen, and the contents of the display screens in the left and right light machine eye boxes correspond to all or part of the virtual screen after splicing.

[0175] Embodiment three

[0176] Embodiment three of the application provides an AR display device, such as Figure 16As shown, it comprises a device body 100, which comprises a light engine 200 connected thereto, the light engine 200 comprising a projector 201 and an optical lens 202 having a display focusing area 203, the display focusing area 203 of the optical lens 202 or the spatial range in which the human eye can see the focused image is a light engine eyebox, which is designed by the method of embodiment one or two.

[0177] The above detailed description is further detailed for the purpose of the present application, technical solutions and beneficial effects. It should be understood that the above detailed description is only a specific embodiment of the present application and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for achieving near-object display, applicable to scenarios where the position of an optical machine eye box is fixed. The optical machine includes a projector and an optical lens with a display focus area. The spatial range in which the human eye can see the focused image is defined as the optical machine eye box. The angle by which the optical machine eye box rotates around the eye's rotation center to achieve physical adjustment of parallax is defined as the optical machine eye box rotation angle. The method is characterized by: The XY coordinate system is established with the midpoint of the line connecting the left and right eyeball rotation centers as the origin O(0,0). The line connecting the left and right eyeball rotation centers is set as the X axis. The positions of the left and right eyeball rotation centers are , The pupil distance IPD is the distance between the left and right eyeball rotation centers, and the preset optical machine eye box width K, field of view angle FOV, the distance IPD between the left and right eyeball rotation centers, the distance r between the eyeball rotation center and the pupil center, and the optical machine eye box center (X eb ,Y eb ) and the distance from the pupil center, set and The rotation angle of the left and right optical machine eye boxes; The designer sets the target position (0, D) for rendering the virtual image T according to the width K of the optical machine eye box. D is the vertical distance between the target position and the X axis. When the eyes look forward to infinity, the pupil center is directly above the eyeball rotation center when viewed from a bird's-eye view. That is, the initial position of the pupil center is , When the binoculars are looking at the virtual image T, the left and right optical eye box rotation angles are calculated based on the target position (0, D) and ; Calculate the current left and right pupil center positions and the left and right optical eye box center positions; According to the center position of the left and right optical eye boxes, first design the optical eye box in a position parallel to the X axis, and then rotate the left optical eye box clockwise Rotate the right optical machine eye box counterclockwise ; The positions of the left and right pupil centers, the left and right eyeball rotation centers, the left and right optomechanical eyebox centers, and the virtual image T are known, so that the eyeball rotation center, pupil center, optomechanical eyebox center, and virtual image T are located on the same straight line, and the left and right optomechanical eyeboxes with physically adjusted parallax are fixed.

2. The method for realizing near-object display according to claim 1, characterized in that: The left and right optical eye box rotation angles are calculated based on the target position (0, D) and : If the virtual image T is a single pixel, the rotation angle of the left and right optical eye boxes can be calculated by formula (1): or : （1）。 3. The method for realizing near-object display according to claim 2, characterized in that: If the virtual image is not a single pixel point and is a regular object, when calculating the left optical machine eye box rotation angle And the right optical machine rotation angle Before, calculate the center pixel of the virtual image and set it as the virtual image T; If the virtual image is not a single pixel and is an irregular object, when calculating the left optical machine eye box rotation angle, And the right optical machine rotation angle Before, the weighted average position is calculated based on the weight of the three-dimensional position of each pixel's XY and distance Z, and is set as the virtual image T; If the virtual image is a virtual screen, and the display screen covers the entire optical eye box, the leftmost pixel and the rightmost pixel position of the virtual screen are known, and the left optical eye box rotation angle is calculated. And the right optical machine rotation angle Before the image is taken, the mean of the left and right end pixel positions is calculated and set as the virtual image T.

4. The method for realizing near-object display according to claim 1, characterized in that: The left and right optical eye box rotation angles are calculated based on the target position (0, D) and : If the virtual image is a virtual screen, and the pixels of the display screen cover the entire optical eye box, the leftmost pixel of the virtual screen is known to be and the rightmost pixel Position, leftmost pixel and the rightmost pixel The distance value, that is, the width of the virtual screen, is set to the leftmost pixel The distance from the normal to the center of the left eyeball is and the leftmost pixel The rotation angle of the left optical machine eye box for the virtual image is , the leftmost pixel The distance from the normal to the center of the right eyeball is and the leftmost pixel The rotation angle of the right optical machine eye box for the virtual image is , , the rightmost pixel The distance from the normal line of the right eyeball center is and the rightmost pixel The rotation angle of the right optical machine eye box for the virtual image is , the rightmost pixel The distance from the normal to the center of the left eyeball is and the rightmost pixel The rotation angle of the left optical machine eye box for the virtual image is , , calculate the rotation angles of the four optical eye boxes 、 、 and : By pupil distance IPD and rightmost pixel Position, get the rightmost pixel Distance from the normal to the center of the right eyeball , then the right optical machine eye box rotation angle ; By pupil distance IPD and leftmost pixel Position, calculate the leftmost pixel Distance from the normal to the center of the right eyeball , then the right optical machine eye box rotation angle ; By pupil distance IPD and leftmost pixel Position, calculate the leftmost pixel Distance from the normal of the left eyeball center , then the left optical machine eye box rotation angle ; By pupil distance IPD and rightmost pixel Position, calculate the rightmost pixel Distance from the normal of the left eyeball center , then the left optical machine eye box rotation angle ; Rotate the right optical machine eye box around the angle and Calculate the average value to get the rotation angle of the right optical machine eye box , rotate the left optical machine eye box around the angle and Calculate the average value to get the rotation angle of the left optical machine eye box : and .

5. The method for realizing near object display according to claim 1, characterized in that: Calculate the current left and right pupil center positions and the left and right optical eye box center positions: The left pupil center position is calculated according to formula (2): and the center of the right pupil : （2）； According to the distance r between the eyeball rotation center and the pupil center and the center of the optical machine eye box (X eb ,Y eb ) and the distance from the pupil center, and calculate the center position of the optical machine eye box (X eb ,Y eb ) and the distance r from the center of eye rotation eb ,set up , then use formula (2) to calculate the center position of the left optical machine eye box (X Leb ,Y Leb ) and the center position of the right optical machine eye box (X Reb ,Y Reb ).

6. The method for realizing near object display according to claim 1, characterized in that: If the virtual image is a virtual screen, after fixing the left and right optical eye boxes with physically adjusted parallax, let the display screen fill the entire optical eye box: Calculate the center position of the right optical machine eye box (X Reb ,Y Reb ) and the center position of the left optical machine eye box (X Leb ,Y Leb ), set the two end points of the right optical machine eye box center position as the right eye box ear position (X RE ,Y RE ) and the right eye box nose position (X RB ,Y RB ), the distance between the two end points is the width of the optical eye box, and the two end points passing through the center of the left optical eye box are the left eye box ear position (X LE ,Y LE ) and the left eye box nose position (X LN ,Y LN ), the distance between the two end points is the width of the optical eye box; let w = optical eye box width / 2, the slope of the right optical eye box , left optical machine eye box slope ; Calculate the right eye box position close to the ear (X RE ,Y RE ) and the right eye box nose position (X RB ,Y RB ): （4） Calculate the left eye box position close to the ear (X LE ,Y LE ) and the left eye box nose position (X LN ,Y LN ): （5）； Adjust the positions of the two end points of the display screen of the optical eye box, which are close to the ear side and the nose side, so that the display screen covers the entire optical eye box.

7. The method for realizing near object display according to claim 1, characterized in that: Align the endpoint of the left optical machine eye box on the nose side, and replace the left optical machine eye box with a width of K that has achieved physical parallax adjustment with a width of F L The optical eye box, and the left optical eye box is rotated with the end point on the nose side as the center. , The left optical machine eye box rotation angle, the left optical machine eye box after rotation Parallel to the X axis: （7）； Similarly, do the same process for the right optical machine eye box.

8. A method for achieving near-object display, applicable to scenarios where an eye-tracking optical machine eye box rotates to follow changes in pupil center position. The optical machine includes a projector and an optical lens with a display focus area. The display focus area of ​​the optical lens, or the spatial range in which the human eye can see a focused image, is defined as the optical machine eye box. The angle by which the optical machine eye box rotates around the eye's rotation center to achieve physical adjustment of parallax is defined as the optical machine eye box rotation angle. The method is characterized by: The XY coordinate system is established with the midpoint of the line connecting the left and right eyeball rotation centers as the origin O(0,0). The line connecting the left and right eyeball rotation centers is set as the X axis. The positions of the left and right eyeball rotation centers are , , IPD is the distance between the left and right eyeball rotation centers, preset the optical machine eye box width K, field of view angle FOV, the distance IPD between the left and right eyeball rotation centers, the distance r between the eyeball rotation center and the pupil center, and the optical machine eye box center (X eb ,Y eb ) and the distance from the pupil center, set and is the rotation angle of the left and right eye boxes; the target position (0, D) of the virtual image T rendering is set according to the width of the eye box, and D is the vertical distance between the target position and the X axis. When the eyes look forward to infinity, the pupil center is seen from the top view directly above the eye rotation center, that is, the initial position of the pupil center is , ; When binocularly looking at the virtual image T, the position of the right eye tracking sensor facing the right eye is (X C ,Y C ), the right eye tracking sensor is used to collect the angle between the right pupil and the vertical line of the X axis , the right optical machine eye box rotation angle is obtained through triangulation calculation : （6）； Where t= ; Similarly, the position of the left eye tracking sensor facing the left eye is (X C ,Y C ), X C Take the negative value on the left side of the origin and use the same formula to calculate the rotation angle of the left optical machine eye box. ; Calculate the current left and right pupil center positions and the left and right optical eye box center positions; According to the center position of the left and right optical eye boxes, first design the optical eye boxes to be parallel to the X-axis; The control device calculates the rotation angle of the left and right optical machine eye boxes and Then, the left and right optical eye boxes are rotated by the optical eye box drive components. and , the left and right pupil center positions, the left and right eyeball rotation center positions, the left and right optomechanical eye box center positions and the virtual image T position are known, so that the eyeball rotation center, pupil center, optomechanical eye box center and virtual image T are located on the same straight line.

9. The method for realizing near-object display according to claim 8, characterized in that: The display screen in each optical machine eye box corresponds to all or part of the virtual screen, and the contents of the display screens in the left and right optical machine eye boxes correspond to all or part of the virtual screen after being spliced.

10. An AR display device, comprising a device body, the device body comprising a connected optical engine, the optical engine comprising a projector and an optical lens having a display focus area, characterized in that: The display focus area of ​​the optical lens or the spatial range in which the human eye can see the focused image is the optical machine eye box, and the optical machine eye box is designed by the method for realizing near-object display according to any one of claims 1 to 9.

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