Method and system for ar light waveguide pose detection and multi-machine station collaborative pose compensation

Abstract

The application provides an AR optical waveguide pose detection and multi-machine station collaborative pose compensation method and system, and belongs to the technical field of intelligent detection. The method comprises the following steps: using an AR optical waveguide standard lens sample to calibrate the test origin points of a pose detection machine station and an optical performance detection machine station, and using the pose detection machine station to obtain a reference image of the standard sample; establishing a displacement axis homogeneous transformation relationship between the pose detection machine station and the optical performance detection machine station; fixing a to-be-detected AR optical waveguide sample at the test origin point of the pose detection machine station, and sequentially detecting and compensating the normal pose and the horizontal pose to complete six-degree-of-freedom pose detection and compensation; synchronizing the six-degree-of-freedom pose compensation information obtained by the pose detection machine station to the optical performance detection machine station, calculating the displacement axis compensation amount of the optical performance detection machine station based on the homogeneous transformation relationship, and realizing collaborative calibration of the pose. The application significantly improves the debugging and detection efficiency of AR optical waveguide performance detection, and ensures the reliability of the detection result.

Description

Technical Field

[0001] This invention relates to the field of intelligent detection technology, and in particular to an AR optical waveguide pose detection and multi-machine collaborative pose compensation method and system. Background Technology

[0002] Augmented Reality (AR) technology, as the core of next-generation human-computer interaction and information display, is at a critical stage of transitioning from technology verification to consumer-grade applications. Near-eye display systems, a key component of AR devices, are gradually gaining a larger market share in the next generation of consumer electronics due to their advantages such as thinness, high transmittance, and large field of view (FOV). AR waveguide glasses, as an optical system composed of an optical engine and waveguides, rely on the combined effect of waveguide manufacturing quality and the coupling accuracy of the input and output optical axes for their optical transmission efficiency. Therefore, developing efficient and high-precision pose detection and calibration technologies is crucial for improving waveguide manufacturing yield, ensuring product performance, and reducing overall costs, in order to provide reliable product quality feedback to the production line.

[0003] An AR waveguide optical performance testing system typically consists of a pose detection module, a projection module, an AR waveguide stage, and an optical performance testing module. Because repeatability errors occur when the waveguide sample is fixed on the stage or fixture during testing, the pose detection module needs to obtain pose (position + angle) compensation information for each sample. This ensures that the test pattern projection enters the optical coupling region of the AR waveguide along the optimal coupling angle and position. An imaging testing instrument then captures the image quality after transmission through the waveguide to complete the testing of the AR waveguide's optical performance. Under the same testing conditions, the accuracy and repeatability of measurement results for the same sample depend on the consistency of the coupling between the testing equipment and the waveguide's optical axis. Furthermore, the coupling sensitivity of different products' optical axis positions and angles can sometimes reach the micrometer and micro-arc levels, placing extremely high demands on the positioning accuracy and repeatability of the sample within the testing device.

[0004] In existing optical waveguide performance testing systems, most rely on human observation or the addition of camera monitoring devices to adjust the relative projection angles and positions between the coupled-in and coupled-out rays and the AR lens. Human observation involves repeated iterations and adjustments, resulting in low overall system testing efficiency and a high risk of millimeter-level positioning errors due to misjudgments. While camera positioning accuracy can reach the micrometer level, multiple camera positions are typically required to achieve pose monitoring of multiple devices and multiple degrees of freedom, increasing the risk of structural interference between devices, system complexity, and assembly / adjustment difficulty. Summary of the Invention

[0005] This invention provides an AR optical waveguide pose detection and multi-machine collaborative pose compensation method and system, which solves the problem of optical axis alignment accuracy between the detection equipment and the optical waveguide during the optical detection process of optical waveguides. Without increasing the risk of structural interference of the detection equipment, the method enables the sample to automatically complete pose compensation and enter the optical detection process after being installed on the detection machine, thereby significantly improving the debugging and detection efficiency of AR optical waveguide performance detection and ensuring the reliability of the detection results.

[0006] In a first aspect, the present invention provides an AR waveguide pose detection and multi-stage collaborative pose compensation method, comprising: using an AR waveguide standard lens sample to mark the test origin of a pose detection stage and an optical performance testing stage, and using the pose detection stage to acquire a reference image of the standard sample; establishing a homogeneous transformation relationship of the displacement axes between the pose detection stage and the optical performance testing stage; fixing the AR waveguide sample to be tested at the test origin of the pose detection stage, and sequentially performing normal pose and horizontal pose detection and compensation to complete six-degree-of-freedom pose detection and compensation; synchronizing the six-degree-of-freedom pose compensation information obtained by the pose detection stage to the optical performance testing stage, and calculating the displacement axis compensation amount of the optical performance testing stage based on the homogeneous transformation relationship to achieve pose collaborative calibration.

[0007] According to the present invention, an AR optical waveguide pose detection and multi-machine collaborative pose compensation method is provided. The method for detecting and compensating the normal pose includes: using a pose detection machine to collect the height information of the waveguide layer of an AR optical waveguide sample at three test points; based on the height information, determining the pitch angle and roll angle of the AR optical waveguide sample relative to the horizontal plane; based on the pitch angle and roll angle, determining the pose compensation information of the AR optical waveguide sample in the Rx and Ry directions; based on the height information, determining the pose compensation information in the Z-axis direction; and performing pose compensation on the AR optical waveguide sample.

[0008] According to the present invention, an AR optical waveguide pose detection and multi-machine collaborative pose compensation method is provided, which includes a method for detecting and compensating horizontal pose, comprising: imaging the coupling-in and coupling-out regions of an AR optical waveguide sample using a pose detection machine; comparing the center points of the coupling-in and coupling-out regions in the current image with a reference image, and calculating the pose compensation information of the sample in the X, Y, and Rz directions.

[0009] According to the present invention, an AR waveguide pose detection and multi-machine collaborative pose compensation method is provided, which establishes a homogeneous transformation relationship of the displacement axes between the pose detection machine and the optical performance detection machine, including:

[0010] Step 1: Place the calibration reference piece at the origin of the pose detection machine and the optical performance detection machine respectively; the calibration reference piece is a wedge-shaped block, the upper surface and the lower surface of which form an angle, and the upper surface has a laser-etched marking pattern, which includes a main mark located at the theoretical center and multiple secondary marks distributed in random directions and random positions.

[0011] Step 2: Adjust the pose of the pose detection machine and the optical performance detection machine in the Rx, Ry and Z axis directions so that the main mark on the upper surface of the calibration reference part reaches the preset imaging state in the detection camera, and record the adjustment amount △Rx, △Ry and △Z corresponding to the machine reaching the preset imaging state respectively.

[0012] Step 3: Adjust the pose of the pose detection machine and the optical performance detection machine in the X, Y and Rz axis directions so that any mark on the upper surface of the calibration reference part coincides with the initial center and direction of the main mark. Record the adjustment amounts ΔX, ΔY and ΔRz corresponding to the two machines reaching the coincidence state respectively.

[0013] Step 4: Based on the multiple sets of six-degree-of-freedom adjustment values ​​obtained in Steps 2 and 3, calculate the homogeneous transformation relationship between the spatial coordinate points of the pose detection machine and the optical performance detection machine relative to the detection origin in the coordinate system, and then deduce the homogeneous transformation relationship of the displacement axes between the two displacement detection machines and the optical performance detection machine.

[0014] The present invention provides an AR optical waveguide pose detection and multi-machine collaborative pose compensation method. The pose compensation of the AR optical waveguide sample includes: achieving pose compensation through dynamic motion control of a displacement module, wherein the displacement module can achieve six-degree-of-freedom displacement adjustment.

[0015] According to the AR optical waveguide pose detection and multi-machine collaborative pose compensation method provided by the present invention, the main marker is the main crosshair marker line, and the secondary marker is the crosshair marker point.

[0016] Secondly, the present invention provides an AR optical waveguide pose detection system for realizing the AR optical waveguide pose detection and multi-machine collaborative pose compensation method as described above, including: a pose detection module, an AR optical waveguide fixture and a six-axis displacement stage;

[0017] The pose detection module is used to acquire the six-degree-of-freedom pose of the AR optical waveguide sample.

[0018] The AR waveguide fixture is used to fix the AR waveguide sample.

[0019] The six-axis displacement stage is configured to fix the AR optical waveguide magnetic suction fixture by magnetic attraction, which is used to control the displacement of the AR optical waveguide sample in six degrees of freedom to achieve pose adjustment.

[0020] According to the AR waveguide pose detection system provided by the present invention, the pose detection module includes a normal pose detection module and a horizontal pose detection module; the normal pose detection module is used to collect the height information of the waveguide layer of the AR waveguide sample to calculate the pose compensation amount in the Rx, Ry and Z axis directions; the horizontal pose detection module is used to collect and image the coupling-in and coupling-out regions of the AR waveguide sample.

[0021] According to the AR waveguide pose detection system provided by the present invention, the horizontal pose detection module includes a camera and a ring light source. The ring light source is configured to provide uniform illumination, so that the coupling-in and coupling-out regions of the AR waveguide sample form a brightness difference with the background in the image of the camera.

[0022] According to the AR waveguide pose detection system provided by the present invention, the six-axis displacement stage includes an X-axis displacement module, a Y-axis displacement module, a Z-axis displacement module, an Rz rotary slide, an Ry angle measuring slide, and an Rx angle measuring slide to achieve six degrees of freedom pose adjustment.

[0023] The AR optical waveguide pose detection and multi-machine collaborative pose compensation method and system provided by this invention have the following advantages compared with the prior art:

[0024] (1) Solve the problem of AR optical waveguide test positioning accuracy: By detecting the six degrees of freedom pose of AR optical waveguide, the optical axis of the testing equipment can be aligned with the optical waveguide coupling in and coupling out optical axis at the best coupling angle and position during the optical performance testing process, thereby improving the consistency and reliability of the optical waveguide test results.

[0025] (2) Reduce the risk of structural interference in the test system: Separating the pose detection system as an independent machine and the optical performance detection system reduces the size of the AR waveguide optical performance detection system and reduces the risk of structural interference between the equipment.

[0026] (3) Improve testing efficiency and equipment utilization efficiency: During the optical performance testing of a single AR waveguide, the pose detection system can simultaneously perform pose detection on multiple samples, so that when the waveguide is placed on the optical performance testing machine, there is no need to perform pose detection, and it can directly enter the optical testing process, which improves testing efficiency and the utilization rate of pose detection-related equipment. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 This is a flowchart illustrating the AR optical waveguide pose detection and multi-machine collaborative pose compensation method provided by the present invention.

[0029] Figure 2 This is a schematic diagram of the AR optical waveguide pose detection system provided by the present invention;

[0030] Figure 3 This is a schematic diagram of the pose detection module provided by the present invention;

[0031] Figure 4 This is a schematic diagram of the normal pose detection module provided by the present invention;

[0032] Figure 5 This is a schematic diagram of the horizontal pose detection module provided by the present invention;

[0033] Figure 6 This is a schematic diagram of the structure of the six-axis displacement stage provided by the present invention;

[0034] Figure 7 This is a schematic diagram of the structure of the magnetic suction platform provided by the present invention;

[0035] Figure 8 This is a schematic diagram of the structure of the AR optical waveguide magnetically absorbing fixture provided by the present invention;

[0036] Figure 9 This is a schematic diagram of the calibration reference component provided by the present invention. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0038] It should be noted that in the description of the embodiments of the present invention, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The terms "upper," "lower," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0039] The following is combined with Figures 1-9 This invention describes the AR optical waveguide pose detection and multi-machine collaborative pose compensation method and system provided by embodiments of the present invention.

[0040] Figure 1 This is a flowchart illustrating the AR optical waveguide pose detection and multi-machine collaborative pose compensation method provided by the present invention, as shown below. Figure 1 As shown, including but not limited to the following steps:

[0041] Step 101: Use the AR optical waveguide standard lens sample to mark the test origin of the pose detection machine and the optical performance detection machine, and use the pose detection machine to obtain a reference image of the standard sample.

[0042] Using an AR waveguide standard lens sample as a reference, the test origins of the orientation detection machine and the optical performance testing machine were precisely determined. The orientation detection machine's normal and horizontal orientation detection modules were used to acquire precise orientation data of the standard sample and obtain reference images of its optical feature regions. This step established a unified reference coordinate system and visual reference standard for both machines.

[0043] Step 102: Establish the homogeneous transformation relationship of the displacement axes between the pose detection machine and the optical performance detection machine.

[0044] A specially designed calibration reference component is used to achieve coordinate unification between the two machine tools. This reference component can be a wedge-shaped structure with precisely etched marking patterns on its surface. The reference component is placed sequentially at the detection origin of the two machine tools, and the marking features are adjusted to achieve the preset imaging state by adjusting each displacement axis. The adjustment amount of each axis is recorded. Based on multiple sets of six-degree-of-freedom adjustment data, the displacement axis transformation relationship between the pose detection machine tool and the optical performance detection machine tool is established using the homogeneous transformation matrix calculation method.

[0045] Step 103: Fix the AR waveguide sample to be tested at the test origin of the pose detection machine, and perform normal pose and horizontal pose detection and compensation in sequence to complete the six-degree-of-freedom pose detection and compensation.

[0046] A step-by-step detection strategy is adopted. First, the pose of the AR optical waveguide sample in the Rx, Ry and Z axis directions is detected and compensated. Then, the pose of the AR optical waveguide sample in the X, Y and Rz axis directions is detected and compensated.

[0047] It is understood that the six degrees of freedom in this invention include: the X-axis is the horizontal translation axis in the left and right direction, the Y-axis is the horizontal translation axis in the forward and backward direction, the Z-axis is the vertical translation axis in the height direction, the Rx-axis is the rotation angle (pitch angle) around the X-axis, the Ry-axis is the rotation angle (roll angle) around the Y-axis, and the Rz-axis is the rotation angle (yaw angle) around the Z-axis.

[0048] As an optional embodiment, the method for detecting and compensating normal pose of the present invention includes: determining pose compensation information of AR optical waveguide sample in the Rx and Ry directions based on pitch and roll angles, determining pose compensation information in the Z-axis direction based on the height information, and performing pose compensation on AR optical waveguide sample.

[0049] This invention can obtain the spatial angle between the planes containing the waveguide layer based on the spatial coordinates of three test points, and then calculate the pitch and roll angles. When calculating the pose compensation information in the Z-axis direction, it can be calculated based on the average value of the height information. The reference for calculating the compensation can be preset, such as the horizontal plane, which can be used as the reference for calculating the pose compensation in the Rx and Ry directions. The specific process will not be elaborated here.

[0050] As an optional embodiment, the method for detecting and compensating horizontal pose of the present invention includes: imaging the coupling-in and coupling-out regions of an AR optical waveguide sample using a pose detection machine; comparing the center points of the coupling-in and coupling-out regions in the current image with a reference image to calculate the pose compensation information of the sample in the X, Y, and Rz directions.

[0051] The pose compensation information in the X / Y directions is calculated based on the positional differences of the center points of the feature regions. When the feature center point shifts relative to the reference position, this invention can automatically calculate the translation compensation amounts in the X and Y axes to perform pose compensation. The rotational deviation in the Rz direction can be calculated by analyzing the overall rotation angle of the feature region or the directional changes of the lines connecting the feature points. This will not be elaborated further.

[0052] Optionally, the present invention can achieve pose compensation through dynamic motion control of a displacement module on a pose detection machine, wherein the displacement module can move in six degrees of freedom.

[0053] Step 104: Synchronize the six-degree-of-freedom pose compensation information obtained by the pose detection machine to the optical performance testing machine, calculate the displacement axis compensation amount of the optical performance testing machine based on the homogeneous transformation relationship, and realize pose collaborative calibration.

[0054] The six-degree-of-freedom compensation information obtained from the pose detection machine is converted into displacement commands in the coordinate system of the optical performance testing machine through the homogeneous transformation relationship established in step 102. Based on the converted commands, the optical performance testing machine pre-adjusts its displacement axis position, so that when the sample is transferred to the machine, it can be directly in the optimal detection pose, achieving cross-machine pose collaborative calibration.

[0055] Based on the above embodiments, as an optional embodiment, the AR waveguide pose detection and multi-machine collaborative pose compensation method provided by the present invention establishes a homogeneous transformation relationship of the displacement axes between the pose detection machine and the optical performance testing machine, including:

[0056] Step 1: Place the calibration reference piece at the origin of the pose detection machine and the optical performance detection machine respectively; the calibration reference piece is a wedge-shaped block, the upper surface and the lower surface of which form an angle, and the upper surface has a laser-etched marking pattern, which includes a main mark located at the theoretical center and multiple secondary marks distributed in random directions and random positions.

[0057] The wedge-shaped calibration reference piece is precisely placed at the origin of the pose detection machine and the optical performance detection machine, respectively. This step ensures that the two machines have a unified coordinate reference starting point, laying the foundation for subsequent accurate calibration.

[0058] Optionally, the main marker is a main crosshair line, and the secondary marker is a crosshair point.

[0059] Step 2: Adjust the pose of the pose detection machine and the optical performance detection machine in the Rx, Ry and Z axis directions so that the main mark on the upper surface of the calibration reference part reaches the preset imaging state in the detection camera, and record the adjustment amount △Rx, △Ry and △Z corresponding to the machine reaching the preset imaging state respectively.

[0060] By precisely adjusting the pose of each machine tool in the Rx (pitch angle), Ry (roll angle), and Z-axis (height) directions, the main mark on the upper surface of the reference part is made to achieve a preset ideal imaging state in the inspection camera. During this process, the present invention records the ΔRx (Rx-axis adjustment), ΔRy (Ry-axis adjustment), and ΔZ (Z-axis adjustment) required by each machine tool to achieve this state. These data reflect the deviation of the machine tool in the normal direction.

[0061] Step 3: Adjust the pose of the pose detection machine and the optical performance detection machine in the X, Y and Rz axis directions so that any mark on the upper surface of the calibration reference part coincides with the initial center and direction of the main mark. Record the adjustment amounts ΔX, ΔY and ΔRz corresponding to the two machines reaching the coincidence state.

[0062] After completing the normal calibration, the poses of each machine tool in the X and Y translation and Rz rotation directions are further adjusted so that the initial center and direction of any marker are completely coincident with the initial center and direction of the master marker. This invention records the ΔX (X-axis adjustment), ΔY (Y-axis adjustment), and ΔRz (Rz-axis adjustment) of each machine tool when the coincidence state is achieved. These data characterize the pose deviation of the machine tool in the horizontal plane.

[0063] Step 4: Based on the multiple sets of six-degree-of-freedom adjustment values ​​obtained in Steps 2 and 3, calculate the homogeneous transformation relationship between the spatial coordinate points of the pose detection machine and the optical performance detection machine relative to the detection origin in the coordinate system, and then deduce the homogeneous transformation relationship of the displacement axes between the two displacement detection machines and the optical performance detection machine.

[0064] In another aspect, the present invention also provides an AR optical waveguide pose detection system (which can be used as a pose detection machine), comprising: a pose detection module, an AR optical waveguide fixture, and a six-axis displacement stage.

[0065] The pose detection module is used to acquire the six-degree-of-freedom pose of the AR optical waveguide sample.

[0066] Optionally, the pose detection module includes a normal pose detection module and a horizontal pose detection module: the normal pose detection module is used to collect the height information of the waveguide layer of the AR optical waveguide sample to calculate the pose compensation amount in the Rx, Ry and Z axis directions; the horizontal pose detection module is used to collect and image the coupling-in and coupling-out regions of the AR optical waveguide sample.

[0067] The horizontal pose detection module includes a camera and a ring light source. The ring light source is configured to provide uniform illumination, so that the coupling-in and coupling-out regions of the AR waveguide sample form a brightness difference with the background in the image of the camera.

[0068] The AR waveguide fixture is used to fix the AR waveguide sample.

[0069] The six-axis displacement stage is configured to fix the AR optical waveguide magnetic suction fixture by magnetic attraction, which is used to control the displacement of the AR optical waveguide sample in six degrees of freedom to achieve pose adjustment.

[0070] Optionally, the six-axis displacement stage includes an X-axis displacement module, a Y-axis displacement module, a Z-axis displacement module, an Rz rotary slide, an Ry angle measuring slide, and an Rx angle measuring slide to achieve six degrees of freedom pose adjustment.

[0071] Furthermore, in order to provide a clearer explanation of the technical solution of the present invention, another complete embodiment will be described below.

[0072] This invention proposes an AR optical waveguide pose detection and multi-stage collaborative pose compensation scheme. The AR optical waveguide pose detection system (pose detection stage) includes a pose detection module 1 for acquiring the deviation between the six-DOF pose of a sample and a reference pose, a six-axis displacement stage 2 for realizing sample pose adjustment and motion control, and an AR optical waveguide magnetically pleasing fixture 3 for holding the test sample. Figure 2 As shown, Figure 2 This is a schematic diagram of the AR optical waveguide pose detection system provided by the present invention.

[0073] Figure 3 This is a schematic diagram of the pose detection module provided by the present invention, as shown below. Figure 3 As shown, the pose detection module 1 mainly includes: 11-normal pose detection module, 12-horizontal pose detection module, and 13-pose detection equipment mounting backplate.

[0074] Figure 4 This is a schematic diagram of the normal pose detection module provided by the present invention, as shown below. Figure 4 As shown, the normal pose detection module 11 used to collect Rx, Ry and Z axis pose compensation information mainly includes: 111-spectral confocal sensor, 112-sensor fixing bracket.

[0075] Figure 5 This is a schematic diagram of the horizontal pose detection module provided by the present invention, as shown below. Figure 5As shown, the horizontal pose detection module 12 used to collect pose compensation information of the X, Y and Rz axes mainly includes: 121-CMOS camera, 122-fixed focus lens, 123-camera mounting bracket, 124-camera pitch angle adjustment module, 125-camera roll angle adjustment module, 126-camera mounting base plate, 127-ring light source, and 128-light source fixing plate.

[0076] Figure 6 This is a schematic diagram of the structure of the six-axis displacement stage provided by the present invention, as shown below. Figure 6 As shown, the six-axis displacement stage 2 used for installing and adjusting the optical waveguide pose mainly includes: 21-optical waveguide stage X-axis displacement module, 22-optical waveguide stage Y-axis displacement module, 23-optical waveguide stage Z-axis displacement module, 24-optical waveguide stage Rz rotary slide, 25-optical waveguide stage Ry angle measuring slide, 26-optical waveguide stage Rx angle measuring slide, 27-magnetic stage adapter plate, and 28-magnetic stage.

[0077] Figure 7 This is a schematic diagram of the magnetic suction stage provided by the present invention, as shown below. Figure 7 As shown, the magnetic stage 28 used to fix the stage and the optical waveguide fixture mainly includes: 281-magnetic stage base plate, 282-magnetic stage electromagnet, and 283-magnetic stage L-shaped positioning block.

[0078] Figure 8 This is a schematic diagram of the AR optical waveguide magnetically absorbing fixture provided by the present invention, as shown below. Figure 8 As shown, the AR optical waveguide magnetic clamping fixture 3 used for installing and clamping optical waveguides mainly includes: 31-magnetic clamping pad, 32-optical waveguide mounting base plate, 33-AR optical waveguide lens, 34-optical waveguide rotating flexible clamping mechanism, and 35-optical waveguide opposing flexible clamping mechanism.

[0079] During waveguide pose detection, the relative position of the AR waveguide lens 33 and the fixture is first fixed by the waveguide rotating flexible clamping mechanism 34 and the waveguide opposing flexible clamping mechanism 35. After this operation, the fixture is installed on the magnetic stage 28, and lateral pressure is applied to make the adjacent sides of the magnetic chuck 31 fit tightly against the L-shaped positioning block 283 of the magnetic stage. At this time, the stage electromagnet 282 is energized to make it attract to the fixture magnet, so that the bottom contact surface of the fixture fits tightly against the upper surface of the stage, and the two do not have relative displacement during the test. This method can ensure that after the sample is installed on the test stage, the repeatability error is limited to the fixture machining tolerance and the relative position deviation when the sample is fixed to the stage. The repeatability error caused by repeated disassembly and assembly between the fixture and the stage is negligible.

[0080] In AR waveguide pose detection equipment and multi-machine collaborative calibration schemes, compensation is achieved using a stage displacement module or a pose fine-tuning fixture to align the test sample with the test origin calibrated by the standard sample. Taking the displacement module compensation scheme as an example, the relative pose offset of the waveguide test sample in the performance testing system's reference coordinate system is obtained from the homogeneous transformation relationship of the displacement axes between the pose detection equipment and the machine. If the pose fine-tuning fixture is used to manually adjust the test sample to coincide with the test origin calibrated by the standard sample, no further displacement compensation is needed after the fixture is transferred to other machine machines, and the testing process can proceed directly.

[0081] Whether using a displacement module on the system stage or a fixture for pose compensation, the underlying principle is the same. The only difference is that the displacement module achieves real-time compensation through the system's dynamic motion control, while the pose fine-tuning fixture adjusts the relative position of the sample and the stage through structural adjustment so that the sample always maintains the same spatial pose when mounted on the machine.

[0082] After the fixture is fixed, the pose detection process can begin: When the system is at the test origin, the height information of the optical waveguide layer at the current position is recorded by the spectral confocal sensor 111 in the normal pose detection module 11. The X and Y displacement modules control the sample to move to the second and third test positions according to a preset program and record the height information of the waveguide layer at the corresponding positions. Based on the XYZ coordinate information of the three test positions, the pitch and roll angles of the current sample relative to the horizontal plane can be calculated and compensated by the Rx and Ry displacement modules. After the optical waveguide layer is adjusted to be horizontal, the position compensation of the sample in the Z direction can be further completed based on the data collected by the displacement sensor in the current state. This invention uses a spectral confocal displacement sensor to obtain the height information of the waveguide processing layer and calculate the normal direction of the layer, solving the problem of out-of-plane pose detection of the waveguide layer when the surface of the AR optical waveguide lens is non-planar.

[0083] Furthermore, the ring light source 127 below the camera in the horizontal pose detection module 12 is activated to eliminate shadows in the detection area and provide uniform illumination. This also creates a significant brightness difference between the waveguide insertion and extraction regions and the substrate background in the image acquired by the CMOS camera, facilitating accurate identification of feature regions. By comparing the center points of the insertion and extraction regions in the current image with a preset image, the pose compensation information of the sample in the X, Y, and Rz directions can be calculated. The positioning accuracy is determined by the camera resolution.

[0084] To ensure that AR waveguide samples are transferred between two independent equipment sets for pose detection and optical performance testing, the six-DOF pose compensation information obtained from the pose detection equipment can be transferred to the optical performance testing equipment. This ensures that different samples have a consistent spatial state during optical performance testing, achieving cross-equipment pose collaborative calibration. The specific implementation plan is as follows: the same AR waveguide standard lens sample is used to calibrate the detection origin of each equipment set and the relative pose relationship between each system device and the standard sample. This ensures that the standard lens sample is in the optimal coupling angle and position in the optical performance testing equipment, while the pose detection equipment captures reference images.

[0085] Furthermore, Figure 9 This is a schematic diagram of the calibration reference component provided by the present invention. The spatial transformation relationship between the coordinate systems of the two machines can be achieved through... Figure 9 The calibration reference parts shown are obtained, such as Figure 9 As shown, the upper and lower surfaces of the reference component form an angle θ. The upper surface has laser-etched markings, including a main crosshair C1 at the theoretical center and multiple crosshair points C2 distributed at random directions and positions. The reference component is placed at the origin of the two testing platforms. The Rx, Ry, and Z-axis displacement modules are adjusted to ensure the main crosshair has a consistent and clear image in the testing camera, and the corresponding ΔRx, ΔRy, and ΔZ adjustments for both platforms at this position are recorded. Further, the X, Y, and Rz-axis displacement modules are adjusted so that any crosshair point C2 coincides with the initial center and direction of the main crosshair C1, and the corresponding ΔX, ΔY, and ΔRz adjustments for both platforms at this position are recorded. Based on the multiple sets of six-degree-of-freedom adjustments measured by the two platforms, the homogeneous transformation relationship between the spatial coordinate points in their respective coordinate systems and the reference origin can be calculated, thus allowing the deduction of the homogeneous transformation relationship between the pose detection platform and the optical performance detection platform.

[0086] The six-degree-of-freedom compensation information obtained from the pose detection machine is converted into displacement commands for the optical performance testing machine through an established homogeneous transformation relationship. The optical performance testing machine can be pre-adjusted to its position, enabling real-time collaborative calibration of the machine and the testing machine after sample transfer.

[0087] The AR optical waveguide pose detection and multi-machine collaborative pose compensation method and system provided by this invention have the following advantages compared with the prior art:

[0088] (1) Solve the problem of AR optical waveguide test positioning accuracy: By detecting the six degrees of freedom pose of AR optical waveguide, the optical axis of the testing equipment can be aligned with the optical waveguide coupling in and coupling out optical axis at the best coupling angle and position during the optical performance testing process, thereby improving the consistency and reliability of the optical waveguide test results.

[0089] (2) Reduce the risk of structural interference in the test system: Separating the pose detection system as an independent machine and the optical performance detection system reduces the size of the AR waveguide optical performance detection system and reduces the risk of structural interference between the equipment.

[0090] (3) Improve testing efficiency and equipment utilization efficiency: During the optical performance testing of a single AR waveguide, the pose detection system can simultaneously perform pose detection on multiple samples, so that when the waveguide is placed on the optical performance testing machine, there is no need to perform pose detection, and it can directly enter the optical testing process, which improves testing efficiency and the utilization rate of pose detection-related equipment.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for AR optical waveguide pose detection and multi-machine collaborative pose compensation, characterized in that, include: The AR optical waveguide standard lens sample is used to mark the test origin of the pose detection machine and the optical performance detection machine, and the pose detection machine is used to obtain the reference image of the standard sample. Establish the homogeneous transformation relationship of the displacement axes between the pose detection machine and the optical performance detection machine; The AR waveguide sample to be tested is fixed at the test origin of the pose detection machine, and the normal pose and horizontal pose are detected and compensated in sequence to complete the six-degree-of-freedom pose detection and compensation. The six-degree-of-freedom pose compensation information obtained by the pose detection machine is synchronized to the optical performance testing machine. The displacement axis compensation of the optical performance testing machine is calculated based on the homogeneous transformation relationship to achieve pose collaborative calibration.

2. The AR optical waveguide pose detection and multi-machine collaborative pose compensation method according to claim 1, characterized in that, Methods for detecting and compensating for normal pose include: Using a pose detection machine, the height information of the waveguide layer of the AR optical waveguide sample at three test points was collected; Based on the height information, the pitch and roll angles of the AR waveguide sample relative to the horizontal plane are determined. Based on the pitch and roll angles, the pose compensation information of the AR waveguide sample in the Rx and Ry directions is determined, the pose compensation information in the Z-axis direction is determined based on the height information, and the AR waveguide sample is then subjected to pose compensation.

3. The AR optical waveguide pose detection and multi-machine collaborative pose compensation method according to claim 1, characterized in that, Methods for detecting and compensating for horizontal pose include: The coupling-in and coupling-out regions of the AR optical waveguide sample were imaged using a pose detection machine. By comparing the center points of the coupling-in and coupling-out regions in the current image with the reference image, the pose compensation information of the sample in the X, Y, and Rz directions is calculated.

4. The AR optical waveguide pose detection and multi-machine collaborative pose compensation method according to claim 1, characterized in that, Establishing the homogeneous transformation relationship of the displacement axes between the pose detection machine and the optical performance detection machine includes: Step 1: Place the calibration reference piece at the origin of the pose detection machine and the optical performance detection machine respectively; the calibration reference piece is a wedge-shaped block, the upper surface and the lower surface of which form an angle, and the upper surface has a laser-etched marking pattern, which includes a main mark located at the theoretical center and multiple secondary marks distributed in random directions and random positions. Step 2: Adjust the pose of the pose detection machine and the optical performance detection machine in the Rx, Ry and Z axis directions so that the main mark on the upper surface of the calibration reference part reaches the preset imaging state in the detection camera, and record the adjustment amount △Rx, △Ry and △Z corresponding to the machine reaching the preset imaging state respectively. Step 3: Adjust the pose of the pose detection machine and the optical performance detection machine in the X, Y and Rz axis directions so that any mark on the upper surface of the calibration reference part coincides with the initial center and direction of the main mark. Record the adjustment amounts ΔX, ΔY and ΔRz corresponding to the two machines reaching the coincidence state respectively. Step 4: Based on the multiple sets of six-degree-of-freedom adjustment values ​​obtained in Steps 2 and 3, calculate the homogeneous transformation relationship between the spatial coordinate points of the pose detection machine and the optical performance detection machine relative to the detection origin in the coordinate system, and then deduce the homogeneous transformation relationship of the displacement axes between the two displacement detection machines and the optical performance detection machine.

5. The AR optical waveguide pose detection and multi-machine collaborative pose compensation method according to claim 1, characterized in that, Methods for pose compensation of AR optical waveguide samples include: Position compensation is achieved through dynamic motion control of the displacement module, which can realize six-degree-of-freedom displacement adjustment.

6. The AR optical waveguide pose detection and multi-machine collaborative pose compensation method according to claim 4, characterized in that, The main marker is the main crosshair line, and the secondary marker is the crosshair point.

7. An AR optical waveguide pose detection system, characterized in that, The method for implementing AR waveguide pose detection and multi-machine collaborative pose compensation as described in any one of claims 1 to 6 includes: a pose detection module, an AR waveguide fixture, and a six-axis displacement stage. The pose detection module is used to acquire the six-degree-of-freedom pose of the AR optical waveguide sample. The AR waveguide fixture is used to fix the AR waveguide sample. The six-axis displacement stage is configured to fix the AR optical waveguide magnetic suction fixture by magnetic attraction, which is used to control the displacement of the AR optical waveguide sample in six degrees of freedom to achieve pose adjustment.

8. The AR optical waveguide pose detection system according to claim 7, characterized in that, The pose detection module includes a normal pose detection module and a horizontal pose detection module; The normal pose detection module is used to collect the height information of the waveguide layer of the AR optical waveguide sample in order to calculate the pose compensation amount in the Rx, Ry and Z axis directions. The horizontal pose detection module is used to acquire and image the coupling-in and coupling-out regions of the AR optical waveguide sample.

9. The AR optical waveguide pose detection system according to claim 8, characterized in that, The horizontal pose detection module includes a camera and a ring light source. The ring light source is configured to provide uniform illumination, so that the coupling-in and coupling-out regions of the AR waveguide sample form a brightness difference with the background in the image of the camera.

10. The AR optical waveguide pose detection system according to claim 7, characterized in that, The six-axis displacement stage includes an X-axis displacement module, a Y-axis displacement module, a Z-axis displacement module, an Rz rotary slide, an Ry angle measuring slide, and an Rx angle measuring slide to achieve six degrees of freedom pose adjustment.

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