Eye movement tracking system and wearable device

Abstract

The embodiment of the invention discloses an eye movement tracking system and wearable equipment. The eye movement tracking system comprises a light source module, a first waveguide, a second waveguide and an image acquisition module. Wherein the light source module emits light towards the first eye part and the second eye part, reflected light of the first eye part enters the first waveguide through the first coupling-in structure and enters the image acquisition module through the first coupling-out structure, and reflected light of the second eye part enters the second waveguide through the second coupling-in structure and enters the image acquisition module through the second coupling-out structure. Therefore, the eye movement tracking system can acquire the image information of the first eye part and the second eye part through the single image acquisition module so as to determine the fixation point information, thereby being beneficial to reducing the production complexity and cost, improving the yield, and improving the aesthetic property and the use experience of a user.

Description

Technical Field

[0001] The present invention relates to the field of eye tracking technology, and in particular to an eye tracking system and a wearable device. Background Art

[0002] Currently, eye tracking technology in wearable devices generally uses a dual-camera solution, with a separate camera for each eye. This approach has significant limitations. For one thing, the large number of cameras increases hardware costs and requires additional circuit board space and power management modules. Furthermore, the dual-camera system requires complex synchronization and calibration processes (such as timestamp alignment and view angle calibration), increasing production complexity and yield risks. Furthermore, in smart glasses, for example, traditional dual cameras need to be mounted on the bottom edge of the frame to ensure close proximity to the user's eyes and avoid obstruction. This layout results in partially thickened frames, affecting the overall aesthetics and potentially causing discomfort. Summary of the Invention

[0003] In view of this, an object of the present invention is to provide an eye tracking system and a wearable device, which couple light to the same image acquisition device through two coupling structures.

[0004] In a first aspect, an embodiment of the present invention provides an eye tracking system, comprising: a light source module, which emits light toward a first eye and a second eye; a first waveguide, wherein the first waveguide is provided with a first coupling structure and a first coupling structure, and the reflected light of the first eye is injected into the first waveguide by the first coupling structure and emitted toward a predetermined position through the first coupling structure; a second waveguide, wherein the second waveguide is provided with a second coupling structure and a second coupling structure, and the reflected light of the second eye is injected into the second waveguide by the second coupling structure and emitted toward the predetermined position through the second coupling structure; and an image acquisition module, wherein the image acquisition module is provided at the predetermined position and receives the reflected light of the first eye and the second eye to obtain image information of the first eye and the second eye.

[0005] In some embodiments, the first coupling structure and the second coupling structure are configured as coupling gratings.

[0006] In some embodiments, the first out-coupling structure and the second out-coupling structure are configured as geometrical optical out-coupling structures, and a parameter angle of the geometrical optical out-coupling structure is related to a diffraction angle of the in-coupling grating.

[0007] In some embodiments, the field of view angle of the image acquisition module is not less than the sum of the angle of the image of the human eye equivalent to the angle in the air and twice the parameter angle; wherein the parameter angle and the diffraction angle are complementary to each other, and the product of the angle of the image of the human eye equivalent to the angle in the air and the refractive index of air is equal to the product of the angle of the image of the human eye and the refractive index of the first waveguide or the second waveguide.

[0008] In some embodiments, the first waveguide and the second waveguide are tilted at a predetermined angle, and the sum of the field of view angle of the image acquisition module and the predetermined angle is not less than the sum of the angle of the image of the human eye equivalent to the angle in the air and twice the parameter angle; wherein the parameter angle and the diffraction angle are complementary to each other, and the product of the angle of the image of the human eye equivalent to the angle in the air and the refractive index of air is equal to the product of the angle of the image of the human eye and the refractive index of the first waveguide or the second waveguide.

[0009] In some embodiments, the first outcoupling mechanism and the second outcoupling structure are configured as outcoupling gratings.

[0010] In some embodiments, the light source module includes: a first infrared lamp, which emits light toward the first eye; and a second infrared lamp, which emits light toward the second eye.

[0011] In some embodiments, the light source module includes: a third infrared lamp, which emits light in a predetermined direction; and a spectroscopic structure, which directs the light emitted by the third infrared lamp toward the first eye and the second eye.

[0012] In a second aspect, an embodiment of the present invention further provides a wearable device, comprising: the eye tracking system as described in the second aspect; and an optical display system, wherein the optical display system multiplexes the first waveguide and the second waveguide.

[0013] In some embodiments, the optical display system includes: a first optical-mechanical module, wherein the image generated by the first optical-mechanical module is transmitted to the first eye through the first waveguide; and a second optical-mechanical module, wherein the image generated by the second optical-mechanical module is transmitted to the second eye through the second waveguide.

[0014] In some embodiments, the first waveguide is further provided with a third coupling-in structure and a third coupling-out structure, and the image generated by the first optical module is incident on the first waveguide through the third coupling-in structure and emitted to the first eye through the third coupling-out structure; the second waveguide is further provided with a fourth coupling-in structure and a fourth coupling-out structure, and the image generated by the second optical module is incident on the second waveguide through the fourth coupling-in structure and emitted to the second eye through the fourth coupling-out structure.

[0015] An embodiment of the present invention provides an eye-tracking system and wearable device, the eye-tracking system comprising a light source module, a first waveguide, a second waveguide, and an image acquisition module. The light source module emits light toward a first eye and a second eye. Light reflected from the first eye enters the first waveguide via a first coupling structure and is emitted toward the image acquisition module via a first coupling structure. Light reflected from the second eye enters the second waveguide via a second coupling structure and is emitted toward the image acquisition module via a second coupling structure. Thus, the eye-tracking system can obtain image information from the first and second eyes using a single image acquisition module to determine gaze point information, helping to reduce production complexity and cost, improve product yield, and enhance aesthetics and user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0017] Figure 1 is a schematic diagram of an eye tracking system provided by an embodiment of the present invention;

[0018] Figure 2 is a schematic block diagram of the structure of an eye tracking system provided by an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of another perspective of an eye tracking system provided by an embodiment of the present invention;

[0020] Figure 4 is a schematic diagram of an eye image captured by an image acquisition module provided by an embodiment of the present invention;

[0021] Figure 5 is a schematic diagram of another eye tracking system provided by an embodiment of the present invention;

[0022] Figure 6 is a schematic diagram of another eye tracking system provided by an embodiment of the present invention;

[0023] Figure 7 is a schematic diagram of another eye tracking system provided by an embodiment of the present invention from another perspective;

[0024] Figure 8 is a schematic diagram of another eye tracking system provided by an embodiment of the present invention;

[0025] Figure 9 is a schematic diagram of a wearable device provided by an embodiment of the present invention;

[0026] Figure 10 is a schematic diagram of a wearable device provided by an embodiment of the present invention from another perspective;

[0027] Figure 11 This is a schematic block diagram of the structure of a wearable device provided by an embodiment of the present invention.

[0028] Description of reference numerals:

[0029] 1-light source module; 11-first infrared lamp; 12-second infrared lamp; 13-third infrared lamp; 14-spectrometric structure; 2-first waveguide; 31-first coupling structure; 32-second coupling structure; 33-third coupling structure; 34-fourth coupling structure; 41-first coupling-out structure; 42-second coupling-out structure; 43-third coupling-out structure; 44-fourth coupling-out structure; 5-second waveguide; 6-image acquisition module; 71-first optical machine module; 72-second optical machine module; 8-control module; A-first eye; B-second eye. DETAILED DESCRIPTION

[0030] The present application is described below based on the following embodiments, but the present application is not limited to these embodiments. In the detailed description of the present application below, certain specific details are described in detail. Those skilled in the art can fully understand the present application without the description of these details. To avoid obscuring the essence of the present application, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0031] Furthermore, persons of ordinary skill in the art will appreciate that the figures provided herein are for illustration purposes only and are not necessarily drawn to scale.

[0032] Unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," and the like should be interpreted broadly. For example, they may refer to fixed or detachable connections, or integration; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0033] For ease of explanation, spatially relative terms such as "in," "out," "under," "below," "lower," "above," "upper," and the like are used herein to describe the relationship of one element or feature illustrated in the figures to another element or feature. It will be understood that spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, an element described as being "under" or "beneath" another element or feature would then be positioned "above" the other element or feature. Thus, the example term "under" can encompass both above and below orientations. The device may be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0034] Unless the context clearly requires otherwise, words like “include”, “comprising” and the like throughout this application should be interpreted as including rather than exclusive or exhaustive; that is, as meaning “including but not limited to”.

[0035] In the description of this application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood to indicate or imply relative importance. In addition, in the description of this application, unless otherwise specified, "plurality" means two or more.

[0036] Where the solutions described in this specification and in the examples involve the processing of personal information, such processing will be conducted with a legitimate basis (e.g., with the consent of the personal information subject or as necessary for the performance of a contract) and only within the prescribed or agreed scope. A user's refusal to process personal information other than that required for basic functions will not affect the user's use of these basic functions.

[0037] Figure 1 is a schematic diagram of an eye tracking system provided by an embodiment of the present invention, such as Figure 1As shown, the eye tracking system includes a light source module 1, a first waveguide 2, a second waveguide 5 and an image acquisition module 6. It should be noted that the size specifications of the eye tracking system correspond to the size of the user's head. Specifically, the light source module 1 is used to emit light to the first eye A and the second eye B. Furthermore, the first waveguide 2 is provided with a first coupling structure 31 and a first coupling structure 41, and the reflected light of the first eye A is injected into the first waveguide 2 by the first coupling structure 31 and emitted toward a predetermined position through the first coupling structure 41. Correspondingly, the second waveguide 5 is provided with a second coupling structure 32 and a second coupling structure 42, and the reflected light of the second eye B is injected into the second waveguide 5 by the second coupling structure 32 and emitted toward a predetermined position through the second coupling structure 42. Optionally, the first waveguide 2 and the second waveguide 5 can be made of transparent glass, resin or other materials. It should be noted that the first waveguide 2 and the second waveguide 5 are symmetrically arranged, with the first waveguide 2 facing the first eye A and the second waveguide 5 facing the second eye B. The predetermined position is equidistant from the first eye A and the second eye B, and is also equidistant from the first outcoupling structure 41 and the second outcoupling structure 42. Furthermore, an image acquisition module 6 is disposed at the predetermined position to receive reflected light from the first eye A and the second eye B to obtain image information of the first eye A and the second eye B. Figure 2 FIG. 1 is a schematic block diagram of the structure of an eye tracking system provided by an embodiment of the present invention. Figure 2 As shown, the control module 8 is electrically connected to the light source module 1 and the image acquisition module 6. It should be noted that the control module 8 is configured to control the switch of the light source module 1, and to determine the user's gaze point information based on the image information obtained by the image acquisition module 6 to achieve eye tracking of the user. As a result, the eye tracking system directs light to the same image acquisition module 6 through the first coupling structure 41 and the second coupling structure 42, so that a single image acquisition module 6 can obtain image information of the first eye A and the second eye B in order to determine the gaze point information, which helps to reduce production complexity and cost, improve yield rate, and enhance aesthetics and user experience.

[0038] Figure 3 is a schematic diagram of another perspective of an eye tracking system provided by an embodiment of the present invention, combined with Figure 1 and Figure 3As shown, the image acquisition module 6 is located on the side of the first waveguide 2 and the second waveguide 5 away from the first eye A and the second eye B. Furthermore, the first coupling structure 31 is located directly in front of the first eye A and is used to collimate the reflected light from the first eye A and then inject it into the first waveguide 2. In other words, the reflected light from the eyeball and pupil at different angles is collimated and then injected into the first waveguide 2. After multiple reflections, the light is emitted from the first coupling structure 41 to the image acquisition module 6. Correspondingly, the second coupling structure 32 is located directly in front of the second eye B and is used to collimate the reflected light from the second eye B and then inject it into the second waveguide 5. In other words, the reflected light from the eyeball and pupil at different angles is collimated and then injected into the second waveguide 5. After multiple reflections, the light is emitted from the second coupling structure 42 to the image acquisition module 6. Figure 4 is a schematic diagram of an eye image captured by the image acquisition module provided in an embodiment of the present invention, such as Figure 4 As shown, the eye tracking system can capture images of both eyes through the first coupling structure 41 and the second coupling structure 42 in conjunction with an image acquisition module 6.

[0039] In one embodiment, the first coupling structure 31 and the second coupling structure 32 are configured as mutually symmetrical coupling gratings, which helps improve system integration and meet the requirements of a lightweight structure and a wide field of view. As an alternative embodiment, the first coupling structure 31 and the second coupling structure 32 can also be configured as a metalens or other coupling structures.

[0040] like Figure 1 As shown, in one embodiment, the first outcoupling structure 41 and the second outcoupling structure 42 are configured as mutually symmetrical geometric optical outcoupling structures. Specifically, the first outcoupling structure 41 and the second outcoupling structure 42 are respectively formed with inclined surfaces facing the image acquisition module 6, and the reflected light of the first eye A and the second eye B is emitted to the image acquisition module 6 via the corresponding inclined surfaces. It should be noted that, corresponding to the first coupling-in structure 31 and the second coupling-in structure 32 being coupling-in gratings, the parameter angle of the geometric optical outcoupling structure formed by the first outcoupling structure 41 and the second outcoupling structure 42 is related to the diffraction angle of the coupling-in grating, wherein the specific values ​​of the parameter angle of the geometric optical outcoupling structure and the diffraction angle of the coupling-in grating can be specifically applied to the optical path design of the eye tracking system.

[0041] In one embodiment, the parameter angle of the geometric optical outcoupling structure is denoted as θ p , the diffraction angle of the coupled grating is denoted as θ r , the field of view of the image acquisition module 6 is recorded as FOV CCM The angle of the image of the human eye (that is, the angle between the light irradiating the human eye and the reflected light from the human eye area after being imaged by the optical element) is recorded as FOV WG , the angle FOV of the image of the human eye WGThe angle equivalent to the air is recorded as FOV EYE The refractive index of air is recorded as n0, and the refractive index of the first waveguide 2 and the second waveguide 5 is uniformly recorded as n WG ,The optical path design of the eye tracking system needs to meet the following conditions:

[0042] Field of view FOV of image acquisition module 6 CCM Not less than the FOV of the image of the human eye WG Equivalent to the FOV angle in the air EYE With twice the parameter angle θ p The sum of the two, also known as FOV CCM ≥2θ p +FOV EYE ; Among them, the parameter angle θ p and the diffraction angle θ r Mutually complementary, or θ p +θ r =90°; at the same time, the angle FOV of the image of the human eye WG Equivalent to the FOV angle in the air EYE The product of the refractive index of air n0 is equal to the angle FOV of the image of the human eye WG and the refractive index n of the waveguide WG The product of FOV EYE n0 = FOV WG ·n WG It should be noted that the above design conditions are based on the premise that the first waveguide 2 and the second waveguide 5 are arranged along the same vertical plane, and the vertical plane is facing the first eye A and the second eye B.

[0043] Figure 5 is a schematic diagram of another eye tracking system provided by an embodiment of the present invention, such as Figure 5 As shown, the first waveguide 2 and the second waveguide 5 are arranged with respect to each other at an angle. Specifically, the first waveguide 2 and the second waveguide 5 are each inclined at a predetermined angle, that is, the angle between the first waveguide 2 and the second waveguide 5 and the vertical plane described above is the predetermined angle. Furthermore, let the predetermined angle be γ. The conditions to be met in the optical path design of the eye tracking system are adjusted as follows:

[0044] Field of view FOV of image acquisition module 6 CCM The sum of the angle γ and the image angle FOV is not less than the human eye WG Equivalent to the FOV angle in the air EYE With twice the parameter angle θ p The sum of the two, also known as FOV CCM ≥2θ p +FOV EYE -γ; where the parameter angle θ p and the diffraction angle θ r Mutually complementary, that is, θp +θ r =90°; at the same time, the angle FOV of the image of the human eye WG Equivalent to the FOV angle in the air EYE The product of the refractive index of air n0 is equal to the angle FOV of the image of the human eye WG and the refractive index n of the waveguide WG The product of FOV EYE n0 = FOV WG ·n WG .

[0045] Figure 6 is a schematic diagram of another eye tracking system provided by an embodiment of the present invention, such as Figure 6 As shown, in one embodiment, the first outcoupling structure 41 and the second outcoupling structure 42 are configured as outcoupling gratings, which helps to improve the integration of the system to meet the requirements of a light and thin structure and a large field of view. Figure 7 This is a schematic diagram of another eye tracking system provided by an embodiment of the present invention from another perspective, combined with Figure 6 and Figure 7 As shown, the first outcoupling structure 41 is located on a side of the first waveguide 2 close to the second waveguide 5, and the second outcoupling structure 42 is located on a side of the second waveguide 5 close to the first waveguide 2. It should be noted that, corresponding to the first outcoupling structure 41 and the second outcoupling structure 42 being configured as outcoupling gratings, the first waveguide 2 and the second waveguide 5 can also be configured tilted.

[0046] Combine Figure 1 、 Figure 3 and Figures 5 to 7 As shown, in one embodiment, the light source module 1 includes a first infrared lamp 11 and a second infrared lamp 12. Specifically, the first infrared lamp 11 emits infrared light toward the first eye A. Correspondingly, the second infrared lamp 12 emits infrared light toward the second eye B. It should be noted that the divergence and energy of the first infrared lamp 11 and the second infrared lamp 12 are designed to maintain a safe range for the user's eyes, that is, the infrared radiation needs to be below a specific power threshold. Furthermore, the image acquisition module 6 includes an infrared camera.

[0047] Figure 8 is a schematic diagram of another eye tracking system provided by an embodiment of the present invention, such as Figure 8As shown, in one embodiment, the light source module 1 includes a third infrared lamp 13 and a spectroscopic structure 14. Specifically, the third infrared lamp 13 emits infrared light in a predetermined direction, that is, emits infrared light toward the spectroscopic structure 14. Further, the spectroscopic structure 14 is used to direct the infrared light emitted by the third infrared lamp 13 to the first eye A and the second eye B, respectively. Optionally, the spectroscopic structure 14 is configured as a beam splitter, or other structures such as a birefringent prism. It should be noted that the divergence and energy of the third infrared lamp 13 are designed to remain within a safe range for the user's eyes, that is, the infrared radiation needs to be below a specific power threshold. Furthermore, the image acquisition module 6 includes an infrared camera.

[0048] Figure 9 is a schematic diagram of a wearable device provided by an embodiment of the present invention, such as Figure 9 As shown, an embodiment of the present invention further provides a wearable device comprising an eye tracking system and an optical display system. Optionally, the wearable device is an AR / VR headset or smart glasses. The structure of the eye tracking system is as described above and will not be repeated here. Furthermore, the optical display system reuses the first waveguide 2 and the second waveguide 5. It is easy to understand that the optical display system is used to display AR or VR images.

[0049] Figure 10 is a schematic diagram of another perspective of the wearable device provided by an embodiment of the present invention, combined with Figure 9 and Figure 10 As shown, in one embodiment, the optical display system includes a first optical engine module 71 and a second optical engine module 72. Furthermore, the image generated by the first optical engine module 71 is transmitted to the first eye A via the first waveguide 2. Correspondingly, the image generated by the second optical engine module 72 is transmitted to the second eye B via the second waveguide 5. It should be noted that the first optical engine module 71 and the second optical engine module 72 each include at least one optical engine, which serves as the light source for displaying the virtual image. Optionally, the optical engine is a micro-display full-color optical engine. Figure 11 is a schematic block diagram of the structure of a wearable device provided by an embodiment of the present invention, such as Figure 11 As shown, the control module 8 is also electrically connected to the first optical-mechanical module 71 and the second optical-mechanical module 72. It should be further explained that the control module 8 can be used to control the first optical-mechanical module 71 and the second optical-mechanical module 72 to display images.

[0050] Combine Figure 9 and Figure 10As shown, in one embodiment, the first waveguide 2 is provided with a third coupling-in structure 33 and a third coupling-out structure 43. The image generated by the first optical-mechanical module 71 is incident on the first waveguide 2 through the third coupling-in structure 33 and is emitted to the first eye A through the third coupling-out structure 43. Correspondingly, the second waveguide 5 is further provided with a fourth coupling-in structure 34 and a fourth coupling-out structure 44. The image generated by the second optical-mechanical module 72 is incident on the second waveguide 5 through the fourth coupling-in structure 34 and is emitted to the second eye B through the fourth coupling-out structure 44. Thus, the optical display system can display virtual images.

[0051] Combine Figure 9 and Figure 10 As shown, in one embodiment, the third outcoupling structure 43 is located above the first incoupling structure 31, the fourth outcoupling structure 44 is located above the second incoupling structure 32, the third incoupling structure 33 is located on the side of the third outcoupling structure 43 away from the fourth outcoupling structure 44, and the fourth incoupling structure 34 is located on the side of the fourth outcoupling structure 44 away from the third outcoupling structure 43. Furthermore, the first optical module 71 faces the third incoupling structure 33, the second optical module 72 faces the fourth incoupling structure 34, the first infrared lamp 11 and the second infrared lamp 12 are located at the bottom of the inward side of the frame, and the image acquisition module 6 is located at the junction of the left and right frames without encroaching on the space at the bottom edge of the frame.

[0052] It should be noted that Figure 9 and Figure 10 Only a schematic diagram of the combination of one of the above-mentioned eye tracking systems and the optical display system is shown. For other eye tracking systems, the optical display system can also be combined by multiplexing the first waveguide 2 and the second waveguide 5.

[0053] In one embodiment, the control module 8 includes a processor for controlling the overall operation of the wearable device, and may include one or more processing units. For example, the processor may include at least one of a central processing unit (CPU), an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a video processing unit (VPU), a video codec, a digital signal processor (DSP), a baseband processor, and a neural-network processing unit (NPU). Among them, different processing units can be independent devices or integrated into one or more processors. The controller can generate an operation control signal based on the instruction opcode and the timing signal to complete the control of obtaining and executing instructions. The processor can also be provided with a memory for storing instructions and data. The processor executes various functional applications and data processing of the wearable device by running the instructions stored in the memory. In some embodiments, the memory is a cache memory.

[0054] An embodiment of the present invention provides an eye-tracking system and wearable device, the eye-tracking system comprising a light source module, a first waveguide, a second waveguide, and an image acquisition module. The light source module emits light toward a first eye and a second eye. Light reflected from the first eye enters the first waveguide via a first coupling structure and is emitted toward the image acquisition module via a first coupling structure. Light reflected from the second eye enters the second waveguide via a second coupling structure and is emitted toward the image acquisition module via a second coupling structure. Thus, the eye-tracking system can obtain image information from the first and second eyes using a single image acquisition module to determine gaze point information, helping to reduce production complexity and cost, improve product yield, and enhance aesthetics and user experience.

[0055] The foregoing is merely a preferred embodiment of the present application and is not intended to limit the present application. Persons skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application are intended to be within the scope of protection of the present application.

Claims

1. An eye tracking system, characterized in that: The eye tracking system comprises: A light source module (1), the light source module (1) emitting light toward the first eye portion (A) and the second eye portion (B); A first waveguide (2), wherein the first waveguide (2) is provided with a first coupling structure (31) and a first coupling structure (41), wherein the reflected light of the first eye (A) is injected into the first waveguide (2) by the first coupling structure (31) and is emitted toward a predetermined position through the first coupling structure (41); a second waveguide (5), wherein the second waveguide (5) is provided with a second coupling structure (32) and a second coupling structure (42), and the reflected light of the second eye (B) is injected into the second waveguide (5) by the second coupling structure (32) and emitted toward the predetermined position through the second coupling structure (42); and An image acquisition module (6) is provided at the predetermined position and receives reflected light from the first eye (A) and the second eye (B) to obtain image information of the first eye (A) and the second eye (B).

2. The eye tracking system according to claim 1, wherein: The first coupling-in structure (31) and the second coupling-in structure (32) are configured as coupling-in gratings.

3. The eye tracking system according to claim 2, wherein: The first outcoupling structure (41) and the second outcoupling structure (42) are configured as geometrical optical outcoupling structures, wherein the parameter angles of the geometrical optical outcoupling structures are related to the diffraction angle of the incoupling grating.

4. The eye tracking system according to claim 3, wherein: The field of view angle of the image acquisition module (6) is not less than the sum of the angle of the image of the human eye equivalent to the angle in the air and twice the parameter angle; The parameter angle and the diffraction angle are complementary to each other, and the product of the angle of the image of the human eye equivalent to the angle in air and the refractive index of air is equal to the product of the angle of the image of the human eye and the refractive index of the first waveguide (2) or the second waveguide (5).

5. The eye tracking system according to claim 3, wherein: The first waveguide (2) and the second waveguide (5) are tilted at a predetermined angle, and the sum of the field angle of the image acquisition module (6) and the predetermined angle is not less than the sum of the angle of the image of the human eye equivalent to the angle in the air and twice the parameter angle; The parameter angle and the diffraction angle are complementary to each other, and the product of the angle of the image of the human eye equivalent to the angle in air and the refractive index of air is equal to the product of the angle of the image of the human eye and the refractive index of the first waveguide (2) or the second waveguide (5).

6. The eye tracking system according to claim 1, wherein: The first outcoupling structure (41) and the second outcoupling structure (42) are configured as outcoupling gratings.

7. The eye tracking system according to claim 1, wherein: The light source module (1) comprises: a first infrared lamp (11), the first infrared lamp (11) emitting light toward the first eye (A); and A second infrared lamp (12), wherein the second infrared lamp (12) emits light toward the second eye (B).

8. The eye tracking system according to claim 1, wherein: The light source module (1) comprises: a third infrared lamp (13), the third infrared lamp (13) emitting light in a predetermined direction; and A light splitting structure (14) is provided, wherein the light splitting structure (14) directs the light emitted by the third infrared lamp (13) to the first eye (A) and the second eye (B).

9. A wearable device, characterized in that: The wearable device includes: The eye tracking system according to any one of claims 1 to 8; and An optical display system multiplexes the first waveguide (2) and the second waveguide (5).

10. The wearable device according to claim 9, wherein: The optical display system comprises: A first optical machine module (71), wherein an image generated by the first optical machine module (71) is transmitted to the first eye (A) through the first waveguide (2); and A second optical machine module (72), wherein the image generated by the second optical machine module (72) is transmitted to the second eye (B) through the second waveguide (5).

11. The wearable device according to claim 10, wherein: The first waveguide (2) is further provided with a third coupling-in structure (33) and a third coupling-out structure (43); the image generated by the first optical module (71) is incident on the first waveguide (2) through the third coupling-in structure (33) and emitted to the first eye (A) through the third coupling-out structure (43); The second waveguide (5) is further provided with a fourth coupling-in structure (34) and a fourth coupling-out structure (44); the image generated by the second optical module (72) is incident on the second waveguide (5) through the fourth coupling-in structure (34) and is emitted to the second eye (B) through the fourth coupling-out structure (44).

Images