Headset wear detection system

Abstract

The present disclosure relates to a head-mounted device wearing detection system, comprising a head module assembly, a lower computer, a camera module, a clamping force detection module, a pressure detection module and an upper computer, the lower computer is used to adjust the size of the head module assembly according to a preset size; the camera module is used to send the image obtained by shooting to the lower computer, and the camera module is arranged at the eye part of the head module assembly; the clamping force detection module is used to detect the clamping force received by the head module assembly and send the clamping force to the lower computer; the pressure detection module is used to detect the distribution information of the pressure received by the part of the head module assembly that is attached to the head-mounted device and send the distribution information of the pressure to the lower computer; the lower computer is used to send the image, the clamping force and the distribution information of the pressure to the upper computer; and the upper computer is used to determine the optical parameter information of the head-mounted device according to the image, and display at least one of the clamping force, the distribution information of the pressure and the optical parameter information.

Description

Technical Field

[0001] This disclosure relates to the field of head-mounted device technology, and more specifically, to a head-mounted device wearing detection system. Background Technology

[0002] Head-mounted devices are increasingly used in people's lives and work, especially smart glasses, headphones, and smart helmets.

[0003] In existing technologies, the testing of the wearing comfort of head-mounted devices basically relies on the operator's own experience. The results of the wearing comfort test are highly subjective, vary greatly, and the test results are limited in content and lack detail. Summary of the Invention

[0004] One objective of this invention is to provide a new technical solution for a head-mounted device wear detection system.

[0005] According to a first aspect of the present invention, a head-mounted device wearing detection system is provided, comprising: a head mold assembly, a lower-level computer, a camera module, a clamping force detection module, a pressure detection module, and a higher-level computer, wherein,

[0006] The lower-level machine is used to receive the preset size of the head mold assembly sent by the upper-level machine, and adjust the size of the head mold assembly according to the preset size;

[0007] When the head mold assembly has been sized and the head-mounted device is worn, the camera module is used to send the captured images to the lower-level machine, wherein the camera module is disposed at the eye area of ​​the head mold assembly;

[0008] The clamping force detection module is used to detect the clamping force on the head mold assembly and send the clamping force to the lower-level machine;

[0009] The pressure detection module is used to detect the pressure distribution information of the contact area between the head mold assembly and the head-mounted device, and send the pressure distribution information to the lower-level machine;

[0010] The lower-level machine is used to send the image, the clamping force, and the pressure distribution information to the upper-level machine;

[0011] The host computer is used to determine the optical parameter information of the head-mounted device based on the image, and to display at least one of the clamping force, the pressure distribution information, and the optical parameter information.

[0012] Optionally, the lower-level machine includes a head mold assembly size adjustment mechanism and a control module, wherein,

[0013] The control module is used to receive the preset size of the head mold assembly sent by the host computer, and control the head mold assembly size adjustment mechanism to adjust the size of the head mold assembly according to the preset size.

[0014] Optionally, the head mold assembly size adjustment mechanism includes: a base;

[0015] A first driving member and a second driving member are respectively disposed on the base, and there is an angle between the driving direction of the first driving member and the driving direction of the second driving member.

[0016] A first support member and a second support member, wherein the driving end of the first driving member is connected to the first support member in a transmission manner, and the driving end of the second driving member is connected to the second support member in a transmission manner, and the first support member and the second support member are configured to respectively cooperate with the corresponding head mold;

[0017] A first detection element and a second detection element, wherein the first detection element is configured to detect the displacement value of the first support element, and the second detection element is configured to detect the displacement value of the second support element, and the first detection element is communicatively connected to the first drive element, and the second detection element is communicatively connected to the second drive element.

[0018] Optionally, the clamping force detection module includes a pressure sensor, wherein the first support member and / or the second support member are connected to the pressure sensor.

[0019] Optionally, the pressure detection module is attached to the entire head mold assembly, or the pressure detection module is attached to the area covered by the head-mounted device worn on the head mold assembly.

[0020] Optionally, the camera module includes a first camera, wherein,

[0021] The host computer is used to determine the optical parameter information of the head-mounted device based on the first image, wherein the first image is an image obtained by the first camera capturing a setting screen displayed by the head-mounted device or an image obtained by the first camera capturing a marker line carrier, the setting screen displaying setting visual markers, and the marker line carrier displaying marker lines.

[0022] Optionally, the host computer is used to determine the four boundaries of the set screen area and the four boundaries of the set visual marker area in the first image;

[0023] Based on the length and width of the visual markers set in the virtual scene, the pixel distances between the four boundaries of the set screen area and the center point of the set visual marker area, the pixel distances between the left and right boundaries of the set visual marker area, and the pixel distances between the upper and lower boundaries of the set visual marker area, the distances between the four boundaries of the set screen area and the center point of the set visual markers in the virtual scene are determined.

[0024] The horizontal FOV value is determined based on the distance between the left edge of the set screen and the center point of the set visual marker, the distance between the right edge of the set screen and the center point of the set visual marker, the pre-stored distance value, and the radian rotation angle coefficient. The vertical FOV value is determined based on the distance between the upper edge of the set screen and the center point of the set visual marker, the distance between the lower edge of the set screen and the center point of the set visual marker, the pre-stored distance value, and the radian rotation angle coefficient. The pre-stored distance value is the distance between the set visual marker and the optical center of the first camera in the virtual scene.

[0025] Optionally, the host computer is used to determine the length of the first marker line based on the first image;

[0026] The length of the second marker line and a set distance value are obtained, wherein the length of the second marker line is determined based on the image of the marker line carrier captured by the first camera when the distance between the marker line carrier and the head mold assembly is the set distance value, and the marker line carrier and the head mold assembly are placed facing each other;

[0027] The exit pupil distance is determined based on the length of the first marker line, the length of the second marker line, and the set distance value.

[0028] Optionally, the camera module further includes a second camera, wherein,

[0029] The host computer is used to determine the wearing posture information of the head-mounted device based on the second image, wherein the second image is an image obtained by the second camera capturing the setting screen displayed by the head-mounted device, and the setting screen displays setting visual markers.

[0030] Optionally, the host computer is used to acquire a standard image, wherein the standard image displays the set visual markers without perspective distortion and without distortion;

[0031] Determine the homography matrix based on the second image and the standard image;

[0032] The rotation matrix is ​​obtained by decomposing the homography matrix.

[0033] The wearing posture angle of the head-mounted device is determined based on the rotation matrix.

[0034] Optionally, the lower-level machine further includes a head mold component identification module, wherein the head mold component identification module is used to identify the identification information of the head mold component and send the identification information of the head mold component to the upper-level machine;

[0035] The host computer is used to determine the preset size of the head mold component based on the set mapping relationship between the head mold component identifier and the preset size, and the identifier information of the head mold component.

[0036] This disclosure provides a head-mounted device wearing detection system. By setting up a head mold assembly, a lower-level computer, a camera module, a clamping force detection module, a pressure detection module, and a upper-level computer, it realizes the automated measurement of optical parameter information, clamping force, and pressure distribution information corresponding to the head-mounted device being worn. This improves the efficiency and accuracy of head-mounted device wearing detection. In addition, it also realizes the diversity of head-mounted device detection results, allowing operators to obtain multiple aspects of visualized detection results simultaneously through the display interface, improving the operator's detection experience and providing multi-dimensional data for R&D personnel.

[0037] The features and advantages of the embodiments of this specification will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of this specification and, together with their description, serve to explain the principles of these embodiments.

[0039] Figure 1 This is a schematic flowchart of a head-mounted device wearing detection system according to an embodiment of the present disclosure;

[0040] Figure 2 This is a schematic diagram of an adjustment mechanism for a head mold assembly according to an embodiment of the present disclosure;

[0041] Figure 3 This is another schematic diagram of an adjustment mechanism for a head mold assembly according to an embodiment of the present disclosure;

[0042] Figure 4 This is another schematic diagram of an adjustment mechanism for a head mold assembly according to an embodiment of the present disclosure;

[0043] Figure 5 This is a cross-sectional view of a connection of a second support member according to an embodiment of this disclosure;

[0044] Figure 6 This is a schematic diagram of a head mold assembly according to an embodiment of the present disclosure;

[0045] Figure 7 This is another schematic diagram of a head mold assembly according to an embodiment of the present disclosure;

[0046] Figure 8 This is a partial schematic diagram of a left head mold according to an embodiment of the present disclosure;

[0047] Figure 9 This is a schematic diagram of the first image of an embodiment of this disclosure;

[0048] Figure 10 This is a schematic diagram of a host computer display interface according to an embodiment of the present disclosure. Detailed Implementation

[0049] Various exemplary embodiments of this specification will now be described in detail with reference to the accompanying drawings.

[0050] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the embodiments of this specification or their application or use.

[0051] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0052] To address the aforementioned technical issues, this disclosure provides a head-mounted device wearing detection system. By setting up a head mold assembly, a lower-level computer, a camera module, a clamping force detection module, a pressure detection module, and a upper-level computer, it achieves automated measurement of optical parameters, clamping force, and pressure distribution information corresponding to the head-mounted device being worn. This improves the efficiency and accuracy of head-mounted device wearing detection. In addition, it also enables the diversity of head-mounted device detection results, allowing operators to simultaneously obtain multiple aspects of visualized detection results through a display interface, enhancing the operator's detection experience and providing multi-dimensional data for R&D personnel.

[0053] One embodiment of this disclosure provides a head-mounted device wearing detection system. The head-mounted device wearing detection system includes a head mold assembly, a lower-level computer, a camera module, a clamping force detection module, a pressure detection module, and a upper-level computer.

[0054] according to Figure 1 As shown in the figure, only the head mold assembly 1000, the lower-level machine 2000, the camera module 3000, and the pressure detection module 4000 are shown. The clamping force detection module and the upper-level machine are not shown.

[0055] The lower-level machine is used to receive the preset dimensions of the head mold assembly sent by the upper-level machine, and adjust the size of the head mold assembly according to the preset dimensions.

[0056] Once the head model assembly has been sized and the head-mounted device is in use, the camera module is used to send the captured images to the lower-level machine. The camera module is positioned at the eye area of ​​the head model assembly.

[0057] The clamping force detection module is used to detect the clamping force on the head mold assembly and send the clamping force to the lower-level machine.

[0058] The pressure detection module is used to detect the pressure distribution information of the part of the head mold assembly that is in contact with the head-mounted device, and to send the pressure distribution information to the lower-level computer.

[0059] The lower-level computer is used to send the distribution information of images, clamping force, and pressure to the upper-level computer.

[0060] The host computer is used to determine the optical parameter information of the head-mounted device based on the image, and to display at least one of the following: the distribution information of clamping force and pressure, and the optical parameter information of the head-mounted device.

[0061] The size adjustment of the head mold assembly is manifested in the adjustment of at least one of the head length, head width, and head height of the entire head mold.

[0062] The head mold assembly comprises multiple head molds. The relative positions of the multiple head molds can be adjusted to achieve size adjustment of the head mold assembly.

[0063] The head mold assembly is detachably connected to the lower-level machine. This allows for the detection of wearing different head mold assemblies using the same head-mounted device, resulting in more comprehensive and diverse wearing detection results.

[0064] In some embodiments, the lower-level computer includes a head mold component identification module. The head mold component identification module is used to identify the identification information of the head mold component and send the identification information to the upper-level computer. The upper-level computer is used to determine the preset size of the head mold component based on a set mapping relationship between the head mold component identification and a preset size, and the identification information of the head mold component.

[0065] The identification information of the head mold component can be either a barcode or a QR code. The head mold component identification recognition module can be a scanning device to identify the identification information of the head mold component.

[0066] The mapping relationship between the set head mold component identifiers and preset sizes can be a mapping table.

[0067] In some embodiments, the lower-level machine includes a head mold assembly size adjustment mechanism and a control module. The control module is used to receive a preset size of the head mold assembly sent by the upper-level machine, and to control the head mold assembly size adjustment mechanism to adjust the size of the head mold assembly according to the preset size.

[0068] In this embodiment, the size adjustment of the head mold component can be automatically achieved according to the head mold component size adjustment mechanism.

[0069] like Figures 2 to 4 As shown, the head mold assembly size adjustment mechanism provided in this embodiment includes:

[0070] Base 1;

[0071] The first driving member 2 and the second driving member 3 are respectively disposed on the base 1, and there is an angle between the driving direction of the first driving member 2 and the driving direction of the second driving member 3.

[0072] The first support member 4 and the second support member 5, the driving end of the first driving member 2 is connected to the first support member 4, the driving end of the second driving member 3 is connected to the second support member 5, and the first support member 4 and the second support member 5 are configured to cooperate with the corresponding head mold 100 respectively.

[0073] The first detection element 6 and the second detection element 7 are configured to detect the displacement value of the first support 4 and the second detection element 7 is configured to detect the displacement value of the second support 5. The first detection element 6 is communicatively connected to the first drive element 2 and the second detection element 7 is communicatively connected to the second drive element 3.

[0074] This embodiment sets an angle between the driving direction of the first driving component and the driving direction of the second driving component, that is, the driving directions of the two are not the same, so that multiple head molds can be driven and adjusted independently in two different directions, so as to meet the wearing requirements of head mold components of different sizes, and also to facilitate the measurement of clamping force of headwear products of different sizes.

[0075] Specifically, the base 1, serving as the mounting foundation for the entire adjustment mechanism, can be made of high-strength, high-rigidity metal materials, such as aluminum alloy or stainless steel. The base 1 is typically a rectangular flat plate structure with a precision-machined surface to ensure flatness, thus providing stable support and a mounting reference. Mounting holes can be provided at the four corners of the base 1 for fixing the entire adjustment mechanism to a work platform or other equipment.

[0076] The first driving component 2 and the second driving component 3 can be servo motors or cylinders, and can be fixed to corresponding positions on the base 1 by bolts. Figure 3 As shown, slots can be cut at corresponding positions on the base 1, and the first drive component 2 and the second drive component 3 can be embedded in the corresponding slots. This facilitates the assembly of the drive components and helps improve assembly accuracy. At the same time, the slots can also form a relatively independent area on the base, so that the drive components embedded therein can operate more stably.

[0077] The design incorporates an angle between the driving direction of the first driving component 2 and the driving direction of the second driving component 3, meaning their driving directions are not identical. This allows for independent driving and adjustment of multiple head models 100 in two different directions, accommodating the wearing needs of head model components of different sizes and facilitating the measurement of clamping force for headwear products of varying sizes. For example, in human head model simulation experiments, the position of the head model 100 in both the horizontal and vertical directions can be precisely adjusted according to different experimental requirements, simulating head postures in various real-world scenarios and providing more accurate data support for the experiments. In fields such as industrial design or virtual reality, the angle and position of the head model 100 can also be easily adjusted to meet different display or interactive needs.

[0078] In one embodiment, the driving direction of the first driving member 2 can be set to the horizontal X-axis direction, and the driving direction of the second driving member 3 can be set to the horizontal Y-axis direction, so that there is a 90° angle between the driving directions of the two driving members, so as to enable independent adjustment of the head mold 100 in two mutually perpendicular directions.

[0079] In one embodiment, the first drive unit 2 and the second drive unit 3 can be connected to an external control system via a controller. The control system can send control signals to the first drive unit 2 and the second drive unit 3 according to a preset program or received instructions, and control their start, stop, forward and reverse rotation, as well as their running speed and displacement, respectively.

[0080] like Figures 2 to 4 As shown, the first support member 4 and the second support member 5 can be made of a metal material with good rigidity. Rubber pads can be provided on the surfaces of the first support member 4 and the second support member 5 that contact the corresponding head mold 100. The rubber pads have a certain elasticity and friction to better fit with the head mold 100, preventing the head mold 100 from sliding during adjustment, and also serving to cushion and protect the head mold 100.

[0081] In one embodiment, the drive end of the first drive member 2 can be connected to the first support member 4 via a coupling. The coupling is an elastic pin coupling, which has a certain ability to compensate for the relative displacement of the two shafts, so as to smoothly transmit the power of the first drive member 2 to the first support member 4, reduce the impact and vibration during the transmission process, and avoid problems such as head mold 100 position deviation or adjustment loss due to unstable transmission. Similarly, the drive end of the second drive member 3 can also be connected to the second support member 5 via an elastic pin coupling, so as to smoothly transmit the power of the second drive member 3 to the second support member 5.

[0082] Since the first driving component 2 and the second driving component 3 independently drive the first support component 4 and the second support component 5 respectively, the head mold 100 can be adjusted individually in different directions during the adjustment process, without being affected by other directions. This independent adjustment method also increases the flexibility of adjustment. Operators can adjust the position of the head mold 100 in one direction first, and then adjust the position in another direction, or make fine adjustments in two directions at the same time, so as to quickly and accurately achieve the ideal posture of the head mold 100.

[0083] The first support member 4 and the second support member 5 respectively engage with their corresponding head molds 100. Specifically, the head mold 100 has grooves or slots that match the shapes of the first support member 4 and the second support member 5. The first support member 4 and the second support member 5 are inserted into the grooves or slots of the head mold 100 to achieve a stable connection. When the first drive member 2 and the second drive member 3 are activated, they respectively drive the first support member 4 and the second support member 5 to move, thereby adjusting the position of the head mold 100.

[0084] This makes the adjustment mechanism highly versatile. Head molds 100 of different specifications and shapes can be adapted to the adjustment mechanism by designing corresponding support components. For example, the first support component 4 and the second support component 5 can be customized according to different head mold sizes and shapes, enabling the adjustment mechanism to be widely used in adjusting various types of head molds 100. In the field of industrial design, the support components can also be replaced to adapt to product head molds 100 of different shapes and sizes, improving the applicability and efficiency of the adjustment mechanism.

[0085] like Figure 2 As shown, the first detection element 6 and the second detection element 7 can be selected from displacement sensors such as laser type, photoelectric type, and Hall type. These displacement sensors can accurately measure the displacement of the corresponding support and convert the displacement signal into an electrical signal and output it to the controller.

[0086] Furthermore, the first detection element 6 and the second detection element 7 are respectively connected to their corresponding driving elements via signal lines or wireless communication. During the adjustment process, the first detection element 6 can detect the displacement value of the first support element 4 in real time and convert the displacement signal into an electrical signal, which is then sent to the control circuit of the first driving element 2; the second detection element 7 can detect the displacement value of the second support element 5 in real time and send the displacement signal to the control circuit of the second driving element 3. The control circuits of the first driving element 2 and the second driving element 3 compare the received displacement signal with the preset target displacement value. If there is a deviation, the operating state of the corresponding driving element is adjusted until the displacement of the first support element 4 and the second support element 5 reaches the target value, thereby achieving precise adjustment of the head mold 100 position.

[0087] Thus, through this closed-loop feedback control system, the driving component can adjust its operating state in a timely manner based on the detected deviation between the actual displacement of the corresponding support component and the target displacement, such as changing its speed, direction, or stopping operation, thereby achieving precise control of the head mold 100 position. Compared with traditional open-loop control adjustment mechanisms, the adjustment mechanism of this invention can greatly improve the adjustment accuracy, control the displacement error within a very small range, and ensure that the head mold 100 accurately reaches the preset position.

[0088] Furthermore, the communication connection between the first detection element 6 and the first driving element 2, and between the second detection element 7 and the second driving element 3, enables the adjustment mechanism to achieve intelligent control. Operators can preset the target position parameters of the head mold 100 through an external control system. The adjustment mechanism automatically adjusts the operation of the corresponding driving elements based on the displacement information fed back by the detection elements, thus achieving automated adjustment of the head mold 100's position. This intelligent control method greatly simplifies the operation process, reduces manual intervention, and improves operational efficiency and accuracy.

[0089] Optionally, it also includes a first transmission member 8 and a second transmission member 9, the driving end of the first driving member 2 is connected to the first transmission member 8, the driving end of the second driving member 3 is connected to the second transmission member 9, and the first support member 4 is connected to the first transmission member 8 and the second support member 5 is connected to the second transmission member 9.

[0090] like Figures 2 to 4 As shown, both the first driving component 2 and the second driving component 3 are servo motors, and both the first transmission component 8 and the second transmission component 9 are sliding rods connected to the driving end of the servo motors. Under the drive of the servo motors, the sliding rods can generate precise linear motion and drive the support components on them to move to a preset position.

[0091] Optionally, the system also includes a control module 10, which is mounted on the base 1. The first detection element 6, the second detection element 7, the first drive element 2, and the second drive element 3 are respectively communicatively connected to the control module 10. The control module 10 is also communicatively connected to a host computer.

[0092] Specifically, the first detection element 6 and the second detection element 7 can detect the displacement values ​​of the first support element 4 and the second support element 5 in real time and feed this data back to the control module 10. The control module 10, i.e., the controller, compares the feedback displacement value with the preset target displacement value in real time. If a deviation is found, it will adjust the operating state of the corresponding drive element, such as changing the speed or direction, to eliminate the deviation and achieve closed-loop feedback precise control. This control method can correct errors in the adjustment process in a timely manner, keeping the displacement error of the head mold 100 within a very small range, thereby meeting the high-precision position requirements of the head mold 100 in medical, scientific research and other fields.

[0093] The adjustment of the head model 100 often involves parameters in multiple directions, such as horizontal and vertical displacement. The control module 10 can simultaneously process the displacement information in multiple directions fed back by the first detection element 6 and the second detection element 7, and precisely control the actions of the first driving element 2 and the second driving element 3 according to a preset collaborative adjustment algorithm, thereby achieving coordinated and precise adjustment of parameters in multiple directions. For example, in a virtual reality interaction scenario, in order for the head model 100 to accurately simulate the user's head movement, it is necessary to adjust the position and angle of the head model 100 in multiple directions simultaneously. The control module 10 can precisely control the corresponding driving elements according to the user's motion data, so that the movement of the head model 100 is highly consistent with the user's actual movement, thereby enhancing the realism of the virtual reality experience.

[0094] Optionally, it also includes a first reflector 11, which is connected to the first transmission member 8 or the first support member 4, and the first detection member 6 is a first laser sensor, which is disposed on the base 1 and faces the first reflector 11.

[0095] And / or, it also includes a second reflector 12, which is connected to the second transmission member 9 or the second support member 5, and the second detection member 7 is a second laser sensor, which is disposed on the base 1 and faces the second reflector 12.

[0096] like Figure 2 As shown, the first reflector 11 can be a reflector plate. The first reflector 11 is connected to the first transmission member 8 or the first support member 4, so that the first reflector 11 can move together with the first support member 4. During the movement of the first reflector 11 together with the first support member 4, the first laser sensor can emit laser light towards the first reflector 11 and receive the laser light reflected back from the first reflector 11, thereby obtaining the real-time displacement of the first support member 4, so as to adjust the driving state of the first drive member 2.

[0097] Similarly, the second reflector 12 can also be a reflector plate. The second reflector 12 is connected to the second transmission member 9 or the second support member 5, so that the second reflector 12 can move together with the second support member 5. During the movement of the second reflector 12 together with the second support member 5, the second laser sensor can emit laser light towards the second reflector 12 and receive the laser light reflected back from the second reflector 12, thereby obtaining the real-time displacement of the second support member 5, so as to adjust the driving state of the second drive member 3.

[0098] Optionally, the laser sensor and the corresponding reflector are coaxially arranged; or, the angle between the axes of the laser sensor and the corresponding reflector does not exceed 45 degrees.

[0099] In one embodiment, the first laser sensor and the first reflector 11 can be coaxial, and the second laser sensor and the second reflector 12 can be coaxial. That is, the laser sensor and the corresponding reflector are completely coaxial, so that the laser emission path and the laser reception path are completely coincident, thereby eliminating the measurement dead angle caused by the laser sensor due to the optical path offset, thereby improving the detection accuracy and real-time response capability of the laser sensor.

[0100] In one embodiment, the axes of the first laser sensor and the first reflector 11 may be set to form an angle, and the axes of the second laser sensor and the second reflector 12 may also form an angle, meaning that the laser sensors and their corresponding reflectors are not coaxial. On the one hand, this can adapt to the complex spatial layout inside the adjustment mechanism, facilitating the optimization of the internal layout of the adjustment mechanism; on the other hand, setting the angle between the axes to be less than or equal to 45 degrees can also improve the environmental adaptability of the laser sensor through a special coating process.

[0101] Optionally, it further includes a first connector 13, which is disposed on the first transmission member 8, and the first support member 4 and the first reflector 11 are respectively connected to the first connector 13; and / or, it further includes a second connector 14, which is disposed on the second transmission member 9, and the second support member 5 and the second reflector 12 are respectively connected to the second connector 14.

[0102] like Figure 3 As shown, the first connecting member 13 can be a connecting plate. After it is placed on the first transmission member 8, the first support member 4 and the first reflector 11 are placed on it. This can facilitate the installation of the first support member 4 and the first reflector 11, and also avoid friction and wear between the first support member 4 and the first reflector 11 and the first transmission member 8, which helps to ensure the normal operation of the first support member 4 and the first reflector 11.

[0103] Furthermore, the driving force transmission path formed by the first driving component 2 - first transmission component 8 - first connecting component 13 - first support component 4 and first reflector 11 can also buffer the driving force output by the first driving component 2, avoiding the risk caused by the driving force acting directly on the first support component 4 and the first reflector 11.

[0104] Similarly, the second connector 14 can also be a connecting plate, which is placed on the second transmission member 9, and then the second support member 5 and the second reflector 12 are placed on it. This can facilitate the installation of the second support member 5 and the second reflector 12, while also avoiding friction and wear between the second support member 5, the second reflector 12 and the second transmission member 9, thus helping to ensure the normal operation of the second support member 5 and the second reflector 12.

[0105] Furthermore, the driving force transmission path formed by the second driving member 3-second transmission member 9-second connecting member 14-second support member 5 and second reflector 12 can also buffer the driving force output by the second driving member 3, avoiding the risk caused by the driving force directly acting on the second support member 5 and the second reflector 12.

[0106] Optionally, the first support member 4 and the first reflector 11 are respectively connected to two adjacent sides of the first connector 13, and the extending direction of the first support member 4 is perpendicular to the driving direction of the first drive member 2.

[0107] like Figure 3 As shown, the first support member 4 and the first reflector 11 are respectively connected to two adjacent sides of the first connector 13 to make full use of the connection space of the first connector 13 and to avoid interference between the first support member 4 and the first reflector 11 during movement. The extension direction of the first support member 4 is the Z direction, and the driving direction of the first drive member 2 is the X direction, so as to use the first support member 4 to adjust the position of the mating head mold.

[0108] Optionally, the second support member 5 and the second reflector 12 are respectively connected to two adjacent sides of the second connector 14, and the extending direction of the second support member 5 is perpendicular to the driving direction of the second drive member 3.

[0109] like Figures 2 to 4 As shown, the second support member 5 and the second reflector 12 are respectively connected to the two adjacent sides of the second connector 14 to make full use of the connection space of the second connector 14 and to avoid interference between the second support member 5 and the second reflector 12 during movement. The extension direction of the second support member 5 is the Z direction, and the driving direction of the second drive member 3 is the Y direction, so as to use the second support member 5 to adjust the position of the mating left and right head molds.

[0110] Optionally, the first detection element 6 and / or the second detection element 7 are pull-wire rangefinders, which are mounted on the base 1, and the pull wire of the pull-wire rangefinder is connected to the corresponding transmission element or the corresponding support element.

[0111] In one embodiment, the first detection element 6 can be set as a first pull-wire rangefinder. The first pull-wire rangefinder is placed at the corresponding position of the base 1, and its pull rope is connected to the first support element 4 or the first transmission element 8. This allows the first pull-wire rangefinder to detect the displacement of the first support element 4 in real time as the first support element 4 moves together with the first transmission element 8, thereby facilitating the adjustment of the driving state of the first drive element 2.

[0112] Similarly, the second detection element 7 can be set as a second pull-wire rangefinder. The second pull-wire rangefinder is placed at the corresponding position of the base 1, and its pull rope is connected to the second support element 5 or the second transmission element 9. This allows the second pull-wire rangefinder to detect the displacement of the second support element 5 in real time as the second support element 5 moves together with the second transmission element 9, thereby facilitating the adjustment of the driving state of the second drive element 3.

[0113] Optionally, the first detection element 6 and / or the second detection element 7 can also be linear displacement sensors. The linear displacement sensors are placed on the corresponding transmission element or the corresponding support element so that the linear displacement sensors can accurately measure the linear displacement of the corresponding support element and convert the displacement signal into an electrical signal output to adjust the driving state of the corresponding driving element.

[0114] Optionally, the driving direction of the first driving member 2 is perpendicular to the driving direction of the second driving member 3.

[0115] Specifically, the driving directions of the first driving member 2 and the second driving member 3 can be set to the X direction and the Y direction, respectively, so as to realize the horizontal XY direction position adjustment of the head mold 100; the driving directions of the first driving member 2 and the second driving member 3 can be set to the X direction and the Z direction, respectively, so as to realize the XZ direction position adjustment of the head mold 100; the driving directions of the first driving member 2 and the second driving member 3 can be set to the Y direction and the Z direction, respectively, so as to realize the YZ direction position adjustment of the head mold 100, thereby meeting different adjustment requirements.

[0116] Furthermore, setting the driving directions of the first driving component 2 and the second driving component 3 to be perpendicular can facilitate the arrangement of related structures, thereby reducing the assembly difficulty of the adjustment mechanism.

[0117] Optionally, it also includes a third driving member 15, a third support member 16, and a third detection member 17. The third driving member 15 is disposed on the base 1, and the driving end of the third driving member 15 is connected to the third support member 16 in a transmission manner. The third support member 16 is configured to cooperate with the corresponding head mold 100. The third detection member 17 is configured to detect the displacement value of the third support member 16. The third detection member 17 is communicatively connected to the third driving member 15, and the driving directions of the first driving member 2, the second driving member 3, and the third driving member 15 are perpendicular to each other.

[0118] like Figures 2 to 4As shown, the first driving component 2 drives in the X direction, the second driving component 3 drives in the Y direction, and the third driving component 15 drives in the Z direction, facilitating multi-directional position adjustment of the head mold 100 in the X, Y, and Z directions. Specifically, a Z-direction bracket can be first installed on the base 1, and then the third driving component 15 can be mounted on this bracket, with its driving direction facing the Z direction. The third support component 16 is then connected directly or via the third transmission component 18 to the driving end of the third driving component 15, enabling the third driving component 15 to drive the third support component 16 to move along the Z direction, thereby achieving position adjustment of the upper head mold.

[0119] The third detection element 17 can be a displacement sensor such as a laser type, photoelectric type, or Hall type. These displacement sensors can accurately measure the displacement of the third support element 16 and convert the displacement signal into an electrical signal to be output to the controller so as to adjust the driving state of the third drive element 15.

[0120] like Figures 2 to 4 As shown, it also includes a third transmission component 18, a third connecting component 20, a third reflector 21, and a bracket 22. First, the bracket 22 is connected to the base 1 along the Z direction. Then, the third transmission component 18 is connected to the bracket 22. After that, the third connecting component 20 is connected to the third transmission component 18. Finally, the third support component 16 and the third reflector 21 are respectively connected to two adjacent sides of the third connecting component 20, and the third reflector 21 is oriented towards the third detection component 17 so that the third detection component 17 can detect the displacement value of the third support component 16.

[0121] Optionally, the head mold assembly includes a front head mold, a left head mold, a right head mold, and an upper head mold. The first driving member 2 drives in the X direction, the second driving member 3 drives in the Y direction, and the third driving member 15 drives in the Z direction, so that the first support member 4 can cooperate with the front head mold, the second support member 5 can cooperate with the left and right head molds, and the third support member 16 can cooperate with the upper head mold.

[0122] like Figures 2 to 4 As shown, driven by the first driving component 2, the first support component 4 can move along the X direction and adjust the position of the corresponding front head mold; driven by the second driving component 3, the second support component 5 can move along the Y direction and adjust the position of the corresponding left and right head molds; driven by the third driving component 15, the third support component 16 can move along the Z direction and adjust the position of the corresponding upper head mold. Thus, the head mold 100XYZ can be independently adjusted in multiple directions using three driving components to adapt to different wearing needs.

[0123] Furthermore, the communication connections between the first detection element 6 and the first driving element 2, the second detection element 7 and the second driving element 3, and the third detection element 17 and the third driving element 15 enable the adjustment mechanism to achieve intelligent control in multiple XYZ directions. Operators can preset the target position parameters of the head mold 100 through an external control system. The adjustment mechanism automatically adjusts the operation of the corresponding driving elements based on the displacement information fed back by the detection elements, thus achieving automated adjustment of the head mold 100's position. This intelligent control method greatly simplifies the operation process, reduces manual intervention, and improves operational efficiency and accuracy.

[0124] Optionally, it also includes a second transmission member 9, the driving end of the second driving member 3 is connected to the second transmission member 9, and the second support member 5 includes a first column 51 and a second column 52 arranged in the same row along the Y direction. The first column 51 and the second column 52 are respectively connected to the second transmission member 9. Under the drive of the second driving member 3, the second transmission member 9 can drive the first column 51 and the second column 52 to move in opposite directions.

[0125] Specifically, the second driving component 3 can be a servo motor, and the second transmission component 9 is a slide rod connected to the drive end of the servo motor. Under the drive of the servo motor, the slide rod can generate precise linear motion and drive the second support component 5 on it to move to a preset position.

[0126] like Figures 2 to 4 As shown, the second support member 5 includes a first column 51 and a second column 52 arranged at intervals along the Y direction in the same row. The first column 51 and the second column 52 are respectively connected to corresponding positions of the second transmission member 9. One of the first column 51 and the second column 52 is engaged with the left head mold, and the other of the first column 51 and the second column 52 is engaged with the right head mold, so as to facilitate the adjustment of the position of the left and right head molds.

[0127] Driven by the second driving component 3, the second transmission component 9 can drive the first column 51 and the second column 52 to move in opposite directions, that is, drive the first column 51 and the second column 52 to move closer to each other or further away from each other, thereby realizing the position adjustment of the left and right head molds.

[0128] Optionally, the second transmission component 9 has a first external thread and a second external thread, the first column 51 has a first internal thread, the second column 52 has a second internal thread, the first internal thread is threaded to the first external thread, and the second internal thread is threaded to the second external thread, and the first external thread and the second external thread are respectively threaded together, and the threads of the first external thread and the second external thread have opposite directions.

[0129] Specifically, the first external thread and the second external thread on the second transmission component 9 can be set to have the same pitch and opposite directions of rotation, so that under the drive of the second driving component 3, the first column 51 and the second column 52 can produce displacements in opposite directions, that is, generate reverse synchronous movements, so as to realize the synchronous position adjustment of the left and right head molds.

[0130] In this way, the second transmission component 9 with reverse threads can achieve bidirectional drive function without the need for additional anti-loosening nuts, locking washers and other components, which helps to reduce the production cost and assembly difficulty of the adjustment mechanism.

[0131] Optionally, the second driving component 3 includes a first sub-driving component and a second sub-driving component, and the second transmission component 9 includes a first segment and a second segment arranged at intervals. The driving end of the first sub-driving component is connected to the first segment, and the driving end of the second sub-driving component is connected to the second segment. The first column 51 is connected to the first segment, and the second column 52 is connected to the second segment. The driving direction of the first sub-driving component is opposite to that of the second sub-driving component, so that the first column 51 and the second column 52 can be driven to move closer to each other or further away from each other by the first sub-driving component and the second sub-driving component respectively, thereby also realizing the independent position adjustment of the left and right head molds.

[0132] In this way, two sub-drive components can be used to achieve independent drive of the two pillars, so that the positions of the left head mold and the right head mold can be adjusted separately to adapt to different wearing needs.

[0133] Optionally, the third support member 16 has an L-shaped structure.

[0134] like Figures 2 to 4 As shown, the cross-section of the third support member 16 along the XZ plane is L-shaped. This allows the L-shaped third support member 16 to be used in conjunction with the head mold for easy position adjustment, while also allowing the bending design of the third support member 16 to avoid the movement of the first column 51 and the second column 52, thus preventing the third support member 16 from interfering with the movement of the two columns and ensuring the reliability and safety of the adjustment mechanism.

[0135] In one embodiment, a pressure sensor 19 can also be embedded in the right-angle region of the L-shaped structure. The pressure sensor 19 can detect the pressure of the mating upper mold, i.e., the clamping force.

[0136] Optionally, the side of the first column 51 away from the second column 52 has a first sliding member 511, and the side of the second column 52 away from the first column 51 has a second sliding member 521. The first sliding member 511 is used to cooperate with the left head mold, and the second sliding member 521 is used to cooperate with the right head mold.

[0137] like Figure 4As shown, the side of the first column 51 away from the second column 52 can be partially excavated first, and then the first sliding member 511 can be connected to reliably install the first sliding member 511 onto the first column 51; similarly, the side of the second column 52 away from the first column 51 can be partially excavated first, and then the second sliding member 521 can be connected to reliably install the second sliding member 521 onto the second column 52.

[0138] Thus, the first column 51 is connected to the first sliding member 511, and the second column 52 is connected to the second sliding member 521. The first sliding member 511 and the second sliding member 521 are both located on the outside and can cooperate with the corresponding left head mold and right head mold respectively.

[0139] In one embodiment, a pressure sensor 19 can also be connected to the first column 51 and abut against the first slider 511. For example, the pressure sensor 19 can be embedded in the first column 51 and abut against the first slider 511 to form a pressure transmission path of left head mold - first slider 511 - pressure sensor 19, so that the pressure sensor 19 can detect the pressure of the mating left head mold, i.e., the clamping force.

[0140] Similarly, a pressure sensor 19 can be connected to the second column 52 and abut against the second slider 521. For example, the pressure sensor 19 can be embedded in the second column 52 and abut against the second slider 521 to form a pressure transmission path of right head mold - second slider 521 - pressure sensor 19, so that the pressure sensor 19 can detect the pressure of the mating right head mold, i.e., the clamping force.

[0141] The first sliding member 511 and the second sliding member 521 can each adopt standardized interfaces, such as dovetail grooves, quick-release buckles or threaded holes, to support the quick replacement of head molds 100 of different specifications.

[0142] like Figure 7 As shown, each head mold 100 is provided with an assembly part 1001, and the first support member 4 and the second support member 5 respectively cooperate with the corresponding assembly part 1001.

[0143] like Figure 6 and Figure 7As shown, an assembly part 1001 can be provided on the head mold 100. The assembly part 1001 can be a groove, and the support member has a protrusion that matches the corresponding groove. Alternatively, the assembly part 1001 can be a protrusion, and the support member has a groove that matches the corresponding groove, so that the support member can form a snap-fit ​​with the corresponding head mold 100. This allows for convenient and reliable assembly of the support member and the head mold 100, while also facilitating the disassembly and replacement of the head mold 100. Thus, the clamping force measuring device can be used to measure the clamping force of different head molds 100.

[0144] Optionally, the first support member 4 and / or the second support member 5 have a sliding part, and the assembly part 1001 has a slide rail, with the sliding part slidably connected to the corresponding slide rail.

[0145] like Figure 8 As shown, the assembly part 1001 of the head mold 100 can be equipped with a slide rail, and the support member has a sliding part. The sliding part is adapted to the corresponding slide rail and can slide along the slide rail to facilitate the assembly and disassembly of the support member and the head mold 100.

[0146] In some embodiments, the clamping force detection module includes a pressure sensor. The pressure sensor 19 is connected to the first support 4 and / or the second support 5.

[0147] like Figure 5 As shown, the corresponding arrangement of pressure sensors 19 on the first support member 4 and the second support member 5 enables the pressure sensors 19 to measure the supporting force of the corresponding support member in real time, that is, the pressure or clamping force of the head mold 100.

[0148] Furthermore, the pressure sensor 19 can cooperate with the corresponding detection element to achieve closed-loop control of the support force. It can not only detect the overall clamping force of the head mold 100, but also obtain the distribution of clamping force in different areas, so as to simulate the comfort of wearing a human head.

[0149] In some embodiments, the pressure detection module includes a pressure sensor. The pressure sensor is a piezoresistive flexible printed circuit board, a piezoresistive film, or a capacitive stretchable sensor.

[0150] The pressure detection module is attached to the entire head mold assembly, or the pressure detection module is attached to the area covered by the head-mounted device worn on the head mold assembly.

[0151] With the pressure detection module attached to the entire headpiece assembly, it can be used for pressure distribution detection of any head-mounted device without the need to change the pressure detection module based on different types of head-mounted devices.

[0152] When the pressure detection module is attached to the area covered by the head-mounted device on the head mold assembly, the pressure detection module is cut based on the contact area between the head-mounted device and the head mold assembly. This can save material for the pressure detection module and reduce detection costs.

[0153] In some embodiments, the camera module includes a first camera.

[0154] The host computer is used to determine the optical parameter information of the head-mounted device based on the first image. The first image is either an image obtained by the first camera capturing the setting screen displayed on the head-mounted device or an image obtained by the first camera capturing the marker line carrier, which displays marker lines.

[0155] The first camera can be placed at either the left or right eye of the head model.

[0156] When the first camera is used to capture the set screen displayed on the head-mounted device, the first camera is a wide-angle camera, such as a fisheye camera. When the first camera is used to capture the marker line carrier, the first camera is a macro camera.

[0157] The first image includes both the designated screen area and other areas. The other areas display images captured by the first camera of other components or structures of the head-mounted device. Figure 9 This is a schematic diagram of a setting screen image provided according to an embodiment of the present invention. Figure 9 As shown, the blue box area corresponds to the screen setting area, and the red box area corresponds to the visual marker setting area.

[0158] The host computer is used to determine the four boundaries of the set screen area and the four boundaries of the set visual marker area in the first image; based on the length and width of the set visual marker in the virtual scene, the pixel distance between the four boundaries of the set screen area and the center point of the set visual marker area, the pixel distance between the left boundary and the right boundary of the set visual marker area, and the pixel distance between the upper boundary and the lower boundary of the set visual marker area, the distance between the four boundaries of the set screen and the center point of the set visual marker in the virtual scene, the distance between the four boundaries of the set screen and the center point of the set visual marker, the distance between the left boundary of the set screen and the center point of the set visual marker, the distance between the right boundary of the set screen and the center point of the set visual marker, the pre-stored distance value, and the radian rotation angle coefficient, the horizontal FOV value is determined; and based on the distance between the upper boundary of the set screen and the center point of the set visual marker, the distance between the lower boundary of the set screen and the center point of the set visual marker, the pre-stored distance value, and the radian rotation angle coefficient, the vertical FOV value is determined, wherein the pre-stored distance value is the distance between the set visual marker and the optical center of the first camera in the virtual scene.

[0159] The four boundaries include the left boundary, right boundary, top boundary, and bottom boundary.

[0160] The host computer is specifically used to obtain the horizontal and vertical gradient matrices of the preset gradient algorithm; based on each pixel in the first image, it determines the horizontal gradient value according to the horizontal gradient matrix, the pixel value of the corresponding pixel, and the pixel values ​​of the adjacent pixels of the corresponding pixel; and it determines the vertical gradient value according to the vertical gradient matrix, the pixel value of the corresponding pixel, and the pixel values ​​of the adjacent pixels of the corresponding pixel; based on each pixel in the first image, it determines the gradient magnitude of the corresponding pixel according to the horizontal and vertical gradient values ​​of the corresponding pixel; based on the gradient magnitude of each pixel in the first image, it filters out pixels with gradient magnitudes greater than a preset threshold; and based on the pixels with gradient magnitudes greater than the preset threshold, it determines the four boundaries of the set screen area in the first image.

[0161] The host computer is also used to process the first image based on machine recognition algorithms to obtain the four boundaries of the set visual marker area.

[0162] Both the horizontal and vertical gradient matrices are pre-stored values ​​and can be obtained directly.

[0163] The horizontal gradient matrix Tx is as follows.

[0164] Tx = .

[0165] The vertical gradient matrix Ty is as follows.

[0166] Ty = .

[0167] Specifically, the host computer is used to multiply the pixel value of the corresponding pixel and the pixel value of the adjacent pixel with the element value of the corresponding position in the horizontal gradient matrix for each pixel in the first image, and then add them together to obtain the horizontal gradient value of the corresponding pixel. It also multiplies the pixel value of the corresponding pixel and the pixel value of the adjacent pixel with the element value of the corresponding position in the vertical gradient matrix, and then adds them together to obtain the vertical gradient value of the corresponding pixel.

[0168] The horizontal gradient value Gx of pixel (x, y) is determined based on the following formula, where (x, y) represents the position information of the pixel in the first image.

[0169]

[0170] Where Tx is the gradient matrix in the horizontal direction, f(x,y) is the pixel value of pixel (x,y), and f(x-1,y-1), f(x+1,y-1), f(x-1,y), f(x+1,y), f(x-1,y+1), f(x,y+1), and f(x+1,y+1) are all pixel values ​​of the neighboring pixels of pixel (x,y).

[0171] The vertical gradient value Gy of pixel (x, y) is determined based on the following formula, where (x, y) represents the position information of the pixel in the first image.

[0172]

[0173] Where Ty is the vertical gradient matrix, f(x,y) is the pixel value of pixel (x,y), and f(x-1,y-1), f(x+1,y-1), f(x-1,y), f(x+1,y), f(x-1,y+1), f(x,y+1), and f(x+1,y+1) are all pixel values ​​of the neighboring pixels of pixel (x,y).

[0174] The gradient magnitude of pixel (x, y) is determined based on the following formula.

[0175]

[0176] Where (x,y) represents the position information of the pixel in the first image, Gx is the horizontal gradient value of the pixel (x,y), and Gy is the vertical gradient value of the pixel (x,y).

[0177] A larger gradient magnitude for a pixel indicates a greater change in brightness, making it more likely that the pixel is located at the edge of a light-dark transition. Conversely, a smaller gradient magnitude indicates a smaller change in brightness, making it less likely that the pixel is located at the edge of a light-dark transition. Based on this principle, pixels with larger gradient magnitudes are selected using a preset threshold.

[0178] In a virtual scene, the length and width of visual markers can be set as pre-stored values ​​and obtained directly.

[0179] The location of the center point of the visual marker area can be determined based on the locations of the four corner points of the visual marker area.

[0180] Specifically, the host computer is used to determine the length ratio coefficient based on the length of the visual marker in the virtual scene and the pixel distance between the left and right boundaries of the visual marker area; to determine the distance between the left boundary of the set screen and the center point of the set visual marker in the virtual scene based on the length ratio coefficient and the pixel distance between the left boundary of the set screen area and the center point of the set visual marker area; to determine the distance between the right boundary of the set screen and the center point of the set visual marker in the virtual scene based on the length ratio coefficient and the pixel distance between the right boundary of the set screen area and the center point of the set visual marker area; to determine the width ratio coefficient based on the width of the visual marker in the virtual scene and the pixel distance between the upper and lower boundaries of the set visual marker area; to determine the distance between the upper boundary of the set screen and the center point of the set visual marker area in the virtual scene based on the width ratio coefficient and the pixel distance between the upper boundary of the set screen area and the center point of the set visual marker area; and to determine the distance between the lower boundary of the set screen and the center point of the set visual marker in the virtual scene based on the width ratio coefficient and the pixel distance between the upper boundary of the set screen area and the center point of the set visual marker area.

[0181] Specifically, the host computer determines the ratio between the length of the visual marker in the virtual scene and the pixel distance between the left and right boundaries of the visual marker area. This ratio serves as a scaling factor in the length direction. This scaling factor is then multiplied by the pixel distance between the left boundary of the screen area and the center point of the visual marker area to obtain the distance between the left boundary of the screen area and the center point of the visual marker in the virtual scene. Similarly, the scaling factor in the length direction is multiplied by the pixel distance between the right boundary of the screen area and the center point of the visual marker area to obtain the distance between the right boundary of the screen area and the center point of the visual marker in the virtual scene.

[0182] Specifically, the host computer determines the ratio between the width of the visual marker in the virtual scene and the pixel distance between the upper and lower boundaries of the visual marker area, using this ratio as a width-direction scaling factor. This width-direction scaling factor is then multiplied by the pixel distance between the upper boundary of the screen area and the center point of the visual marker area to obtain the distance between the upper boundary of the screen area and the center point of the visual marker in the virtual scene. Similarly, the width-direction scaling factor is multiplied by the pixel distance between the lower boundary of the screen area and the center point of the visual marker area to obtain the distance between the lower boundary of the screen area and the center point of the visual marker in the virtual scene.

[0183] The horizontal FOV value is determined based on the following formula.

[0184]

[0185] Among them, FOV H Here, 'L' represents the horizontal field of view (FOV), 'L' represents the distance between the left edge of the set viewpoint in the virtual scene and the center point of the set visual marker, 'R' represents the distance between the right edge of the set viewpoint in the virtual scene and the center point of the set visual marker, and 'd' represents the pre-stored distance value, 180 / This is the coefficient for radian to angle conversion.

[0186] The vertical FOV value is determined based on the following formula.

[0187]

[0188] Among them, FOV V Here, 'lengthB' represents the vertical FOV value, 'lengthT' represents the distance between the upper boundary of the set screen in the virtual scene and the center point of the set visual marker, and 'd' represents the pre-stored distance value. (180 / ) This is the coefficient for radian to angle conversion.

[0189] In some embodiments, the host computer is used to determine the length of the first marker line based on the first image; obtain the length of the second marker line and a set distance value, wherein the length of the second marker line is determined based on the image of the marker line carrier captured by the first camera when the distance between the marker line carrier and the head mold assembly is the set distance value, and the marker line carrier and the head mold assembly are placed facing each other; and determine the exit pupil distance based on the length of the first marker line, the length of the second marker line and the set distance value.

[0190] When the calibration line carrier is a calibration patch, the calibration patch displays calibration lines. The calibration patch is attached to the display screen of the head-mounted device and placed directly opposite the head model.

[0191] When the carrier of the marking line is a head-mounted device, the marking line is a specific outline of the head-mounted device.

[0192] The length of the first marker line is the length of the marker line in the marker line image.

[0193] The length of the second marker line is the length of the marker line in the image obtained by the second camera capturing the marker line carrier.

[0194] The length and set distance of the second marker line are preset values ​​that can be obtained directly.

[0195] The length of the second marker line and the set distance value were measured when the head model was not wearing a head-mounted device.

[0196] When the marker line carrier is a calibration patch, the calibration patch is placed facing the head model so that the second camera can capture the calibration patch and obtain an image including the calibration patch. The length of the second marker line is determined based on the image including the calibration patch.

[0197] When the marker line carrier is a head-mounted device, the marker line is a specific outline of the head-mounted device. The head-mounted device is placed facing the head model so that the second camera captures an image of the head-mounted device, which includes the specific outline. The length of the second marker line is determined based on the image including the specific outline.

[0198] The exit pupil distance is determined based on the following formula.

[0199]

[0200] Where D is the exit pupil distance, d is the set distance value, N is the length of the first marker line, and n is the length of the second marker line.

[0201] The derivation process involved in the formula for calculating the exit pupil distance is explained below.

[0202] Based on the principle of pinhole imaging and the similarity relationship of triangles, the following relationship exists:

[0203]

[0204]

[0205] Where f is the focal length of the second camera, k is the discount factor, n is the length of the second marker line, d is the set distance value, l is the actual physical length of the marker line on the marker line carrier, N is the length of the first marker line, and D is the exit pupil distance. Eliminating variables from the above two relationships yields the formula for calculating the exit pupil distance.

[0206] In some embodiments, the camera module further includes a second camera. The second camera may be located at the left eye area of ​​the head model or at the right eye area of ​​the head model.

[0207] The host computer is used to determine the wearing posture information of the head-mounted device based on the second image, wherein the second image is an image obtained by the second camera capturing the setting screen displayed on the head-mounted device, and the setting screen displays setting visual markers.

[0208] The visual marker can be a quadrilateral pattern, such as a QR code.

[0209] The host computer is specifically used to acquire a standard image, wherein the visual markers displayed in the standard image are free from perspective distortion and aberration; the homography matrix is ​​determined based on the second image and the standard image; the rotation matrix is ​​obtained by decomposing the homography matrix; and the wearing posture angle of the head-mounted device is determined based on the rotation matrix.

[0210] When the visual marker is set as a quadrilateral pattern, the host computer specifically determines the first homogeneous coordinate set and the second homogeneous coordinate set. The first homogeneous coordinate set includes the homogeneous coordinate information of the four corner points of the visual marker display area in the second image, and the second homogeneous coordinate set includes the homogeneous coordinate information of the four corner points of the visual marker display area in the standard image. It also obtains a first scale factor, which is a normalized parameter used to measure the scale difference between the four corner points of the visual marker display area in the second image and the four corner points of the visual marker display area in the standard image. Finally, it determines the homography matrix based on the first homogeneous coordinate set, the second homogeneous coordinate set, and the first scale factor.

[0211] The AprilTag visual detection algorithm is used to determine the positions of the four corner points of the designated visual marker display area in the second image. Specifically, all contours in the second image are identified. From these contours, the four contours corresponding to the designated visual marker are selected. Then, based on all adjacent pairs of these four contours, the four corner points of the designated visual marker display area are determined; that is, the intersection of adjacent contours is considered a corner point of the designated visual marker display area. The positions of these four corner points in the second image are then determined. Based on these positions, the homogeneous coordinate information of the four corner points of the designated visual marker display area in the second image is determined.

[0212] The homogeneous coordinates of a corner point in the visual marker display area of ​​the second image are as follows.

[0213] .

[0214] The AprilTag visual detection algorithm is used to determine the positions of the four corner points of the designated visual marker display area in a standard image. Specifically, all contours in the standard image are identified, and the four contours corresponding to the designated visual marker are selected from all contours in the standard image. Then, based on all adjacent pairs of the four contours corresponding to the designated visual marker, the four corner points of the designated visual marker display area are determined. That is, the intersection of adjacent contours is a corner point of the designated visual marker display area. This determines the positions of the four corner points of the designated visual marker display area in the standard image. Based on the positions of the four corner points of the designated visual marker display area in the standard image, the homogeneous coordinate information of the four corner points of the designated visual marker display area in the standard image is determined.

[0215] The homogeneous coordinates of a corner point in the visual marker display area of ​​the standard image are as follows.

[0216] .

[0217] It should be noted that the homogeneous coordinates of the four corner points of the visual marker display area in the standard image are information under a preset coordinate system and are known quantities.

[0218] The homography matrix is ​​a 3x3 matrix.

[0219] The homography matrix is ​​determined based on the following formula.

[0220]

[0221] Where s is the first scale factor, H is the homography matrix, ( )and( Please refer to the above explanation regarding this part. It should be noted that when using this formula to determine the homography matrix, the homogeneous coordinates of the four corner points of the visual marker display area in the second image and the homogeneous coordinates of the four corner points of the visual marker display area in the standard image are required.

[0222] The host computer is specifically used to decompose the homography matrix into a rotation matrix based on the `decomposeHomographyMat` function. The `decomposeHomographyMat` function is a function in the OpenCV library.

[0223] In this embodiment, other parameters can also be obtained from the homography matrix, such as the second scale factor, translation vector, normal vector of the plane where the head-mounted device display is located, and distance between the plane where the head-mounted device display is located and the optical center of the camera. The relationship between these parameters, the rotation matrix, and the homography matrix is ​​as follows:

[0224]

[0225] Where H is the homography matrix, R is the rotation matrix, λ is the second scale factor, t is the translation vector, n is the normal vector of the plane where the visual marker is located in the virtual scene, d is the distance between the plane where the visual marker is located in the virtual scene and the optical center of the camera, and T is the matrix transpose symbol in the calculation formula.

[0226] The host computer is specifically used to obtain the yaw angle, pitch angle, and roll angle from the rotation matrix. The rotation matrix can be decomposed into Euler angles, such as yaw angle, pitch angle, and roll angle. These three angles can be decomposed from the rotation matrix using the following formulas.

[0227]

[0228] Where R is a 3x3 rotation matrix, φ is the yaw angle, θ is the pitch angle, and α is the roll angle.

[0229] For example, the rotation matrix is ​​R = .

[0230] Use the following formula to extract the pitch angle θ.

[0231]

[0232] Where atan is the arctangent function and sqrt is the square root function. The following formulas are used to extract the pitch angle θ, yaw angle φ, and roll angle α.

[0233]

[0234]

[0235]

[0236] Where atan is the arctangent function and sqrt is the square root function.

[0237] The host computer is specifically used to display the wearing posture angle of the head-mounted device on the display interface, so that the operator can adjust the wearing posture of the head-mounted device according to the wearing posture angle until the wearing calibration of the head-mounted device is completed.

[0238] The wearing posture angle of the head-mounted device is demonstrated in conjunction with a head model; see details below. Figure 10 The yaw angle, pitch angle, and roll angle are all displayed in conjunction with the head model.

[0239] This invention can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the invention.

[0240] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example, but not limited to, electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0241] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0242] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing state information from computer-readable program instructions. These electronic circuits can execute computer-readable program instructions to implement various aspects of the present invention.

[0243] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0244] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0245] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0246] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be known to those skilled in the art that implementation in hardware, implementation in software, and implementation using a combination of software and hardware are equivalent.

[0247] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A head-mounted device wearing detection system, characterized in that, include: The components include a head mold assembly, a lower-level computer, a camera module, a clamping force detection module, a pressure detection module, and a higher-level computer. The lower-level machine is used to receive the preset size of the head mold assembly sent by the upper-level machine, and adjust the size of the head mold assembly according to the preset size; When the head mold assembly has been sized and the head-mounted device is worn, the camera module is used to send the captured images to the lower-level machine, wherein the camera module is disposed at the eye area of ​​the head mold assembly; The clamping force detection module is used to detect the clamping force on the head mold assembly and send the clamping force to the lower-level machine; The pressure detection module is used to detect the pressure distribution information of the contact area between the head mold assembly and the head-mounted device, and send the pressure distribution information to the lower-level machine; The lower-level machine is used to send the image, the clamping force, and the pressure distribution information to the upper-level machine; The host computer is used to determine the optical parameter information of the head-mounted device based on the image, and to display at least one of the clamping force, the pressure distribution information, and the optical parameter information.

2. The system according to claim 1, characterized in that, The lower-level machine includes a head mold assembly size adjustment mechanism and a control module, wherein... The control module is used to receive the preset size of the head mold assembly sent by the host computer, and control the head mold assembly size adjustment mechanism to adjust the size of the head mold assembly according to the preset size.

3. The system according to claim 2, characterized in that, The head mold assembly size adjustment mechanism includes: a base; A first driving member and a second driving member are respectively disposed on the base, and there is an angle between the driving direction of the first driving member and the driving direction of the second driving member. A first support member and a second support member, wherein the driving end of the first driving member is connected to the first support member in a transmission manner, and the driving end of the second driving member is connected to the second support member in a transmission manner, and the first support member and the second support member are configured to respectively cooperate with the corresponding head mold; A first detection element and a second detection element, wherein the first detection element is configured to detect the displacement value of the first support element, and the second detection element is configured to detect the displacement value of the second support element, and the first detection element is communicatively connected to the first drive element, and the second detection element is communicatively connected to the second drive element.

4. The system according to claim 3, characterized in that, The clamping force detection module includes a pressure sensor, wherein the first support member and / or the second support member are connected to the pressure sensor.

5. The system according to claim 1, characterized in that, The pressure detection module is attached to the entire head mold assembly, or the pressure detection module is attached to the area covered by the head-mounted device worn on the head mold assembly.

6. The system according to claim 1, characterized in that, The camera module includes a first camera, wherein... The host computer is used to determine the optical parameter information of the head-mounted device based on the first image, wherein the first image is an image obtained by the first camera capturing a setting screen displayed by the head-mounted device or an image obtained by the first camera capturing a marker line carrier, the setting screen displaying setting visual markers, and the marker line carrier displaying marker lines.

7. The system according to claim 6, characterized in that, The host computer is used to determine the four boundaries of the set screen area and the four boundaries of the set visual marker area in the first image; Based on the length and width of the visual markers set in the virtual scene, the pixel distances between the four boundaries of the set screen area and the center point of the set visual marker area, the pixel distances between the left and right boundaries of the set visual marker area, and the pixel distances between the upper and lower boundaries of the set visual marker area, the distances between the four boundaries of the set screen area and the center point of the set visual markers in the virtual scene are determined. The horizontal FOV value is determined based on the distance between the left edge of the set screen and the center point of the set visual marker, the distance between the right edge of the set screen and the center point of the set visual marker, the pre-stored distance value, and the radian rotation angle coefficient. The vertical FOV value is determined based on the distance between the upper edge of the set screen and the center point of the set visual marker, the distance between the lower edge of the set screen and the center point of the set visual marker, the pre-stored distance value, and the radian rotation angle coefficient. The pre-stored distance value is the distance between the set visual marker and the optical center of the first camera in the virtual scene.

8. The system according to claim 6, characterized in that, The host computer is used to determine the length of the first marker line based on the first image; The length of the second marker line and a set distance value are obtained, wherein the length of the second marker line is determined based on the image of the marker line carrier captured by the first camera when the distance between the marker line carrier and the head mold assembly is the set distance value, and the marker line carrier and the head mold assembly are placed facing each other; The exit pupil distance is determined based on the length of the first marker line, the length of the second marker line, and the set distance value.

9. The system according to claim 6, characterized in that, The camera module also includes a second camera, wherein... The host computer is used to determine the wearing posture information of the head-mounted device based on the second image, wherein the second image is an image obtained by the second camera capturing the setting screen displayed by the head-mounted device, and the setting screen displays setting visual markers.

10. The system according to claim 9, characterized in that, The host computer is used to acquire a standard image, wherein the set visual markers displayed in the standard image have no perspective distortion and no aberration; Determine the homography matrix based on the second image and the standard image; The rotation matrix is ​​obtained by decomposing the homography matrix. The wearing posture angle of the head-mounted device is determined based on the rotation matrix.

11. The system according to any one of claims 1-10, characterized in that, The lower-level machine also includes a head mold component identification module, wherein the head mold component identification module is used to identify the identification information of the head mold component and send the identification information of the head mold component to the upper-level machine; The host computer is used to determine the preset size of the head mold component based on the set mapping relationship between the head mold component identifier and the preset size, and the identifier information of the head mold component.

Images