Alignment device of VR lens module

Abstract

The utility model relates to an alignment device of a VR lens module. The alignment device of the VR lens module comprises a plurality of detection systems used for shooting pictures of the position where the VR lens module is located and provided with a first detection system; the control system is used for controlling the first manipulator to grab the screen to move below the first detection system, controlling the first manipulator to move along an X-axis and a Y-axis so as to coincide the optical axis of the screen with the optical axis of the first detection system, and controlling the first manipulator to rotate the screen around a Z-axis so as to enable the plane of the screen to be perpendicular to the optical axis of the first detection system; the control system is further used for controlling the second manipulator to grab the lens module to move to the position above the screen and below the first detection system, and controlling the second manipulator to move along the X-axis and the Y-axis so that the optical axis of the lens module can coincide with the optical axis of the first detection system. Controlling the second manipulator to rotate the lens module around the Z axis to enable the optical axis of the lens module to be perpendicular to the plane where the first coordinate axis and the second coordinate axis are located; and controlling the second manipulator to move the lens module along the Z axis until the virtual image of the identifier on the screen identified by the lens module is clearest, so as to modulate the virtual image distance of the VR lens module to be a preset value.

Description

Technical Field

[0001] The present application relates to the technical field of VR lens module assembly, and in particular to an alignment device for a VR lens module. Background Art

[0002] The optical principle of virtual reality technology (VR) is to place an optical lens in front of the display screen, so that the display screen forms an enlarged virtual image at a certain distance in front of the human eye (for example, 2-5 meters), with a field of view of about 100 degrees, and an immersive 3D effect when viewed by both eyes. Ideally, the position and distance of the virtual image seen by both eyes should be consistent. If they are inconsistent, it is difficult to achieve image overlap of the virtual images seen by both eyes, which will cause discomfort.

[0003] However, the existing alignment method between the lens (lens) and the display screen of VR products is mainly to align the lens module with the display screen by setting a detection lens, such as the method described in the patent CN201811463056.5, in which the first method uses a short-focus lens as the detection lens. This lens has a wide field of view FOV and can detect whether the optical axis is perpendicular to the screen, but the short-focus lens has a large depth of field and is insensitive to the virtual image distance, and cannot meet the virtual image distance setting of the VR product at a preset position; the second method is to set multiple detection lenses, wherein the multiple detection lenses can simultaneously detect whether the optical axis is perpendicular to the screen and set the virtual image distance of the VR product at a preset position, but cannot detect whether the optical axis of the screen and the lens is located in the center, and the use of multiple detection lenses is complex in structure and costly. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present application provides an alignment device for a VR lens module. The alignment device and equipment for the VR lens module can simultaneously meet the three technical indicators that the optical axis of the VR lens module is located in the center, the optical axis is perpendicular to the horizontal plane, and the virtual image distance is located at a preset position.

[0005] The present application provides an alignment device for a VR lens module, which includes: multiple detection systems, a VR lens module, a first manipulator, a second manipulator and a control system; the VR lens module includes a lens module and a screen; wherein the multiple detection systems include a first detection system, a second detection system and a third detection system, and the first detection system is located between the second detection system and the third system; the multiple detection systems are located at the top, and are used to take a picture of the location of the VR lens module to identify the position of a logo on the picture; the control system is used to control the first manipulator to grab the screen and move it to the bottom of the first detection system, and control the first manipulator to adjust the relative position of the screen and the first detection system along the first coordinate axis and the second coordinate axis to make the optical axis of the screen coincide with the optical axis of the first detection system; and Control the first manipulator to rotate the screen around the third coordinate axis so that the plane of the screen is perpendicular to the optical axis of the first detection system; the control system is also used to control the second manipulator to grab the lens module and move it above the screen, and the lens module is located below the first detection system, control the second manipulator to adjust the relative position of the lens module and the first detection system along the first coordinate axis and the second coordinate axis so that the optical axis of the lens module coincides with the optical axis of the first detection system, control the second manipulator to rotate the lens module around the third coordinate axis so that the optical axis of the lens module is perpendicular to the plane where the first coordinate axis and the second coordinate axis are located; and control the second manipulator to move the lens module along the third coordinate axis until the virtual image of the logo on the screen recognized through the lens module is clearest, thereby modulating the virtual image distance of the VR lens module to a preset value.

[0006] Preferably, the first detection system includes a spectroscope, a first sensor and a second sensor, the first sensor is located on a first optical path of the spectroscope, the second sensor is located on a second optical path of the spectroscope, and the first optical path and the second optical path are perpendicular to each other.

[0007] Preferably, the first manipulator is a six-axis manipulator, the second manipulator is a six-axis manipulator, and a mark is provided on the screen, and the mark is a cross mark or a cross mark displayed on the screen.

[0008] Preferably, it further includes a leveling system, which includes a light emitter, a third sensor and a calibration plate, the light emitter is located between the third sensor and the calibration plate, the third sensor is located on one side of the first detection system, and the calibration plate is located on the other side of the first detection system.

[0009] Preferably, it further includes: the first sensor is used to take a picture of the current position of the screen; the first sensor is also used to identify a first displacement deviation between the position of the logo on the picture and the position of the reference logo, so as to analyze and obtain a second displacement deviation of the logo of the screen relative to the reference logo; the control system is used to control the first manipulator to adjust the relative position of the screen and the first detection system according to the second displacement deviation, so as to make the logo of the screen coincide with the reference logo.

[0010] Preferably, it further includes: the third sensor is used to take a picture of the current position of the screen; the control system is used to control the light emitter to emit light to illuminate the screen; the third sensor is also used to receive the image of the calibration plate reflected by the screen; the third sensor is also used to analyze and obtain the deflection angle of the marker on the screen relative to the calibration plate by identifying the third displacement deviation between the position of the marker on the position picture and the position of the image of the calibration plate; the control system is used to control the first manipulator to rotate the screen around the third coordinate axis according to the deflection angle to adjust the angular deviation between the screen and the first detection system.

[0011] Preferably, it further includes: the second sensor is used to take a picture of the current position of the lens module; the second sensor is also used to identify the fourth displacement deviation between the position of the logo on the picture and the position of the reference logo, so as to analyze and obtain the fifth displacement deviation of the image of the logo on the screen formed again through the lens module relative to the reference logo; the control system is used to control the second manipulator to adjust the relative position of the lens module and the first detection system according to the fifth displacement deviation, so as to make the image of the logo on the screen formed again through the lens module coincide with the reference logo.

[0012] Preferably, it further includes: the second sensor is also used to analyze the deflection angle of the image of the screen mark formed again by the lens module relative to the reference mark according to the fourth displacement deviation; the control system is used to control the second manipulator to rotate the lens module around the third coordinate axis according to the deflection angle to adjust the angle deviation between the lens module and the first detection system.

[0013] Preferably, it further includes: the control system is also used to control the second robot to fix the lens module, control the third robot to apply glue on the upper surface of the screen, and control the first robot to move to fix the screen and the lens module.

[0014] Preferably, it further comprises: a mobile base, and the first manipulator and the second manipulator are both fixed on the mobile base.

[0015] The technical solution provided by the present application may include the following beneficial effects: a spectroscope, a first sensor and a second sensor are set through a first detection system, the first sensor is located on the first optical path, the second sensor is located on the second optical path, and the first optical path and the second optical path are perpendicular to each other, so that the first sensor is used to receive a picture of the position of the screen and the second sensor is used to receive a picture of the position of the lens module, so that the lens module and the screen are rotated or translated on the first coordinate axis, the second coordinate axis and the third coordinate axis, so that the screen and the lens module can be automatically aligned with the first detection system respectively, so as to simultaneously meet the requirements that the optical axis of the VR lens module is located in the center, the optical axis is perpendicular to the horizontal plane, and the virtual image distance is located at a preset position, thereby reducing the assembly tolerance when assembling the screen and the lens module, improving the assembly accuracy of the screen and the lens module, and reducing the difference in the position and distance of the virtual image seen by both eyes from the lens.

[0016] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0018] Figure 1 is a structural schematic diagram of a VR lens module active alignment device shown in an embodiment of the present application;

[0019] Figure 2 is a structural schematic diagram of a leveling system shown in an embodiment of the present application;

[0020] Figure 3 is a system schematic diagram of a VR lens module active alignment device shown in an embodiment of the present application;

[0021] Figure 4 This is a flow chart of an alignment device for a VR lens module shown in one embodiment of the present application. DETAILED DESCRIPTION

[0022] The preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0023] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0024] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0025] In response to the above problems, an embodiment of the present application provides an alignment device for a VR lens module, which can simultaneously satisfy that the optical axis of the VR lens module is located at the center, the optical axis is perpendicular to the horizontal plane, and the virtual image distance is located at a preset position, thereby solving the problems in the background technology.

[0026] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0027] Figure 1 It is a structural schematic diagram of a VR lens module active alignment device shown in one embodiment of the present application. Figure 2 It is a structural schematic diagram of a leveling system shown in an embodiment of the present application. Figure 3 It is a system schematic diagram of a VR lens module active alignment device shown in one embodiment of the present application.

[0028] See also Figure 1 as well as Figure 3 , an active alignment device for a VR lens module, comprising: multiple detection systems, a VR lens module, a first manipulator, and a second manipulator.

[0029] In one embodiment, the multiple detection systems include a first detection system 1, a second detection system 2, and a third detection system 2, and the second detection system 2 and the third detection system 2 are symmetrically arranged on both sides of the first detection system 1. In other embodiments, multiple offset field detection systems can be symmetrically arranged on both sides of the first detection system 1.

[0030] The VR lens module includes a lens module 4 and a screen 3 , and a logo is provided on the screen 3 , and the logo is a cross logo or a cross logo displayed on the screen 3 .

[0031] The multiple detection systems are located at the top, and are used to take pictures of the location of the VR lens module to identify the location of the logo on the picture. The first detection system 1 includes a spectroscope 11, a first sensor 12 and a second sensor 13. The first sensor 12 is located on the first optical path of the spectroscope 11, and the second sensor 13 is located on the second optical path of the spectroscope 11. The first optical path and the second optical path are perpendicular to each other. The first sensor 12 is used to take pictures of the location of the screen 3, and the second sensor 13 is used to take pictures of the location of the lens module 4. The first manipulator is a six-axis manipulator, and the first manipulator is used to grab the screen 3; the second manipulator is a six-axis manipulator, and the second manipulator is used to grab the lens module 4.

[0032] In one of the embodiments, an active alignment device for a VR lens module further includes: a control system, wherein the control system is used to control the first manipulator to grab the screen and move it to under the first detection system, control the first manipulator to adjust the relative position of the screen 3 and the first detection system 1 along the first coordinate axis and the second coordinate axis to make the optical axis of the screen 3 coincide with the optical axis of the first detection system 1; and control the first manipulator to rotate the screen 3 around the third coordinate axis so that the plane of the screen 3 is perpendicular to the optical axis of the first detection system 1. The control system is also used to control the second manipulator to grab the lens module 4 and move it above the screen 3, and the lens module 4 is located below the first detection system 1, control the second manipulator to adjust the relative position of the lens module 4 and the first detection system 1 along the first coordinate axis and the second coordinate axis, so that the optical axis of the lens module 4 coincides with the optical axis of the first detection system 1, control the second manipulator to rotate the lens module 4 around the third coordinate axis, so that the optical axis of the lens module 4 is perpendicular to the plane where the first coordinate axis and the second coordinate axis are located; and control the second manipulator to move the lens module 4 along the third coordinate axis until the virtual image of the logo on the screen 3 recognized through the lens module 4 is the clearest, thereby modulating the virtual image distance of the VR lens module to a preset value. The control system is also used to control the second manipulator to fix the lens module 4, control the third manipulator to apply glue to the upper surface of the screen 3, and control the first manipulator to move to fix the screen 3 and the lens module 4.

[0033] See also Figures 1 to 3The active alignment device of the VR lens module also includes a leveling system, a mobile base and an analysis system. The first manipulator and the second manipulator are both fixed on the mobile base, the control system is used to control the movement of the mobile base so that the six-axis manipulator is aligned with the VR lens module, and then the gripper of the six-axis manipulator is controlled to grab the VR lens module, and the analysis system is used to analyze the image information captured by the detection system to obtain adjustment data, and according to the adjustment data, the movement of the mobile base and the six-axis manipulator is controlled to adjust the relative position and relative angle between the first detection system 1 and the VR lens module to adjust the optical axis center, virtual image distance and focal plane.

[0034] Specifically, the control system is used to control the movement of the movable base so that the second manipulator is aligned with the lens module 4 , and then control the gripper of the second manipulator to grab the lens module 4 .

[0035] The analysis system is used to analyze the image information captured by the detection system to obtain adjustment data, and control the movement of the mobile base and the second manipulator according to the adjustment data to adjust the relative position and relative angle between the first detection system 1 and the lens module 4 to adjust the optical axis center, virtual image distance and focal plane.

[0036] Specifically, according to the picture of the position of the lens module 4 taken by the second sensor 13, the adjustment data is obtained by identifying the displacement deviation between the position of the mark on the picture and the position of the reference mark, wherein the adjustment data is the displacement deviation and deflection angle of the image formed by the mark on the screen 3 again through the lens module 4 relative to the reference mark. According to the displacement deviation and the deflection angle, the control system controls the second manipulator to adjust the relative position and relative angle of the lens module 4 and the first detection system 1, so as to adjust the optical axis center, virtual image distance and focal plane of the lens module 4.

[0037] Specifically, the second sensor 13 is used to take a picture of the current position of the lens module 4 to identify the fourth displacement deviation between the position of the mark on the picture and the position of the reference mark, so as to analyze and obtain the fifth displacement deviation of the image of the mark on the screen 3 formed again by the lens module 4 relative to the reference mark. The control system is used to control the second manipulator to adjust the relative position of the lens module 4 and the first detection system 1 according to the fifth displacement deviation, so as to make the image of the mark on the screen 3 formed again by the lens module 4 coincide with the reference mark.

[0038] Specifically, the second sensor 13 is further used to analyze and obtain the deflection angle of the image of the mark on the screen 3 formed again by the lens module 4 relative to the reference mark according to the fourth displacement deviation. The control system is used to control the second manipulator to rotate the lens module 4 around the third coordinate axis according to the deflection angle to adjust the angle deviation between the lens module 4 and the first detection system 1.

[0039] In one embodiment, the control system is further used to control the movement of the mobile base so that after the first manipulator is aligned with the screen 3, the first manipulator's gripper is controlled to grab the screen 3. The analysis system is also used to analyze the image information captured by the detection system to obtain adjustment data, and control the movement of the mobile base and the first manipulator according to the adjustment data to adjust the relative position of the first detection system 1 and the screen 3 to adjust the optical axis center and virtual image distance of the VR lens module.

[0040] Specifically, according to the picture of the position of the screen 3 taken by the detection system, the adjustment data is obtained by identifying the displacement deviation between the position of the mark on the picture and the position of the reference mark, wherein the adjustment data is the displacement deviation of the mark on the screen 3 relative to the reference mark. According to the displacement deviation, the control system controls the first manipulator to adjust the relative position of the screen 3 and the first detection system 1, so as to adjust the optical axis center and virtual image distance of the VR lens module.

[0041] The leveling system includes a light emitter 51, a third sensor 52 and a calibration plate 53, wherein the light emitter 51 is located between the third sensor 52 and the calibration plate 53, the third sensor 52 is located on one side of the first detection system 1, and the calibration plate 53 is located on the other side of the first detection system 1. The third sensor 52 is used to take a picture of the current position of the screen 3, the light emitter 51 is used to emit light to illuminate the screen 3, and the third sensor 52 is also used to receive the image of the calibration plate 53 reflected by the screen 3, so as to obtain adjustment data, and the adjustment data is the angle deviation of the mark of the screen 3 relative to the picture of the calibration plate 53. The leveling system is also used to adjust the relative deflection angle between the screen 3 and the first detection system 1 according to the adjustment data, so as to adjust the focal plane of the VR lens module to be perpendicular to the optical axis of the first detection system 1.

[0042] Specifically, the first sensor 12 is used to take a picture of the current position of the screen 3, so as to identify a first displacement deviation between the position of the mark on the picture and the position of the reference mark, so as to analyze and obtain a second displacement deviation of the mark on the screen 3 relative to the reference mark. The control system is used to control the first manipulator to adjust the relative position of the screen 3 and the first detection system 1 according to the second displacement deviation, so as to make the mark on the screen 3 coincide with the reference mark.

[0043] Specifically, the third sensor 52 is used to take a picture of the current position of the screen 3, and the control system is used to control the light emitter to emit light to illuminate the screen 3. The third sensor 52 is also used to receive the image of the calibration plate reflected by the screen 3, and the third sensor 52 is also used to analyze and obtain the deflection angle of the mark on the screen 3 relative to the calibration plate by identifying the third displacement deviation between the position of the mark on the position picture and the position of the image of the calibration plate. The control system is used to control the first manipulator to rotate the screen 3 around the third coordinate axis according to the deflection angle to adjust the angle deviation between the screen 3 and the first detection system 1.

[0044] In this embodiment, a spectroscope 11, a first sensor 12 and a second sensor 13 are set through the first detection system 1. The first sensor 12 is located on the first optical path, and the second sensor 13 is located on the second optical path. The first optical path and the second optical path are perpendicular to each other, so that the first sensor 12 is used to receive a position image of the screen 3 and the second sensor 13 is used to receive a position image of the lens module 4, so that the lens module 4 and the screen 3 are rotated or translated on the first coordinate axis, the second coordinate axis and the third coordinate axis, so that the screen 3 and the lens module 4 can be automatically aligned with the first detection system 1 respectively, so as to simultaneously meet the requirements that the optical axis of the VR lens module is located at the center, the optical axis is perpendicular to the horizontal plane, and the virtual image distance is located at a preset position, thereby reducing the assembly tolerance when the screen 3 and the lens module 4 are assembled, improving the assembly accuracy of the screen 3 and the lens module 4, and reducing the difference in the position and distance of the virtual image seen by both eyes from the lens.

[0045] Figure 4 This is a flow chart of an alignment device for a VR lens module shown in one embodiment of the present application.

[0046] See also Figures 1 to 4 , an alignment device for a VR lens module, comprising:

[0047] S1, controlling the first manipulator to grab the screen 3 and move it to below the first detection system 1;

[0048] S2. Control the first manipulator to adjust the relative position of the screen 3 and the first detection system 1 along the first coordinate axis and the second coordinate axis so that the optical axis of the screen 3 coincides with the optical axis of the first detection system 1 .

[0049] In one embodiment, the controlling the first manipulator to adjust the relative position of the screen 3 and the first detection system 1 along the first coordinate axis and the second coordinate axis so that the optical axis of the screen 3 coincides with the optical axis of the first detection system 1 further includes:

[0050] Controlling the first sensor 12 to take a picture of the current position of the screen 3;

[0051] By identifying the displacement deviation between the position of the mark on the image and the position of the reference mark, the displacement deviation of the mark on the screen 3 relative to the reference mark is identified;

[0052] According to the displacement deviation, the first manipulator is controlled to adjust the relative position of the screen 3 and the first detection system 1 so that the mark on the screen 3 coincides with the reference mark. That is, according to the displacement deviation, the first manipulator is controlled to move on the first coordinate axis and the second coordinate axis so that the optical axis of the screen 3 is located at the center.

[0053] S3 . Control the first manipulator to rotate the screen 3 around the third coordinate axis so that the plane of the screen 3 is perpendicular to the optical axis of the first detection system 1 .

[0054] In one embodiment, controlling the first manipulator to rotate the screen 3 around the third coordinate axis so that the plane of the screen 3 is perpendicular to the optical axis of the first detection system 1 further includes:

[0055] The third sensor 52 takes a picture of the current position of the screen 3;

[0056] Control the light emitter 51 to emit light to illuminate the screen 3;

[0057] The third sensor 52 receives the image of the calibration plate 53 reflected by the screen 3;

[0058] By identifying the displacement deviation between the position of the mark on the position picture and the position of the image of the calibration plate 53, the deflection angle of the mark on the screen 3 relative to the image of the calibration plate 53 is identified;

[0059] According to the deflection angle, the first manipulator is controlled to rotate the screen 3 around the third coordinate axis to adjust the angle deviation between the screen 3 and the detection system, so as to adjust the focal plane of the VR lens module to be perpendicular to the optical axis of the first detection system 1. That is, according to the deflection angle, the screen 3 is rotated by the first manipulator to make the plane of the screen 3 perpendicular to the optical axis of the first detection system 1, or to make the plane of the screen 3 perpendicular to the optical axis of the VR lens module.

[0060] In this embodiment, the first coordinate axis, the second coordinate axis, and the third coordinate axis are perpendicular to each other, wherein the first coordinate axis is the X axis, the second coordinate axis is the Y axis, and the third coordinate axis is the Z axis. The first detection system 1 is a central field of view detection system, which takes a picture of the position of the VR lens module together with a plurality of offset field of view detection systems, thereby receiving a picture of the position of the screen 3 through the first sensor 12, and then analyzing the displacement deviation between the mark of the picture where the screen 3 is located and the reference mark or the angle deviation between the mark of the picture where the screen 3 is located and the picture of the calibration plate 53, thereby adjusting the relative displacement and relative deflection angle between the screen 3 and the central field of view detection system, so that the optical axis of the screen 3 is located in the center, and the plane of the screen 3 is perpendicular to the optical axis of the central field of view detection system.

[0061] In this embodiment, step S2 and step S3 can be interchanged, that is, the optical axis of the screen 3 module is aligned and overlapped with the optical axis of the first detection system 1, and the two steps of adjusting whether the optical axis of the screen 3 is perpendicular to the horizontal plane can be interchanged without affecting the alignment of the screen 3 and the first detection system 1.

[0062] S4, control the second manipulator to grab the lens module 4 and move it to the top of the screen 3, and the lens module 4 is located below the first detection system. In this embodiment, step S4 must be after S3 and cannot be replaced, that is, in this embodiment, the alignment step of the lens module 4 can only be performed after the alignment of the screen 3 and the first detection system 1 is completed.

[0063] S5 , controlling the second manipulator to adjust the relative position of the lens module 4 and the first detection system 1 along the first coordinate axis and the second coordinate axis, so that the optical axis of the lens module 4 coincides with the optical axis of the first detection system 1 .

[0064] In one embodiment, the controlling the second manipulator to adjust the relative position of the lens module 4 and the first detection system 1 along the first coordinate axis and the second coordinate axis so that the optical axis of the lens module 4 coincides with the optical axis of the first detection system 1 further comprises:

[0065] Controlling the second sensor 13 to take a picture of the current position of the lens module 4;

[0066] By identifying the displacement deviation between the position of the mark on the image and the position of the reference mark, the displacement deviation of the image formed by the mark on the screen 3 through the lens module 4 with respect to the reference mark can be identified;

[0067] According to the displacement deviation, the second manipulator is controlled to adjust the relative position of the lens module 4 and the first detection system 1, so that the image of the mark on the screen 3 formed again by the lens module 4 coincides with the reference mark. That is, according to the displacement deviation, the second manipulator is moved on the first coordinate axis and the second coordinate axis to locate the optical axis of the lens module 4 at the center.

[0068] S6, controlling the second manipulator to rotate the lens module 4 around the third coordinate axis so that the optical axis of the lens module 4 is perpendicular to the plane where the first coordinate axis and the second coordinate axis are located.

[0069] In one embodiment, the controlling the second manipulator to rotate the lens module 4 around the third coordinate axis so that the optical axis of the lens module 4 is perpendicular to the plane where the first coordinate axis and the second coordinate axis are located further comprises:

[0070] Controlling the second sensor 13 to take a picture of the current position of the lens module 4;

[0071] By identifying the displacement deviation between the position of the mark on the image and the position of the reference mark, the deflection angle of the image formed by the mark on the screen 3 through the lens module 4 with respect to the reference mark can be identified;

[0072] According to the deflection angle, the second manipulator is controlled to rotate the lens module 4 around the third coordinate axis to adjust the angle deviation between the lens module 4 and the first detection system 1. That is, according to the deflection angle, the lens module 4 is rotated by the second manipulator to make the optical axis of the lens module 4 perpendicular to the horizontal plane.

[0073] In this embodiment, the detection system is fixed at the top, and the screen 3 is fixed at the bottom. An alignment space is formed between the detection system and the screen 3. The second manipulator grabs the lens module 4 located in the alignment space to align the lens module 4 with the first detection system 1.

[0074] In this embodiment, step S5 and step S6 can be interchanged, that is, the optical axis of the lens module 4 is aligned and overlapped with the optical axis of the detection system, and the two steps of adjusting whether the optical axis of the lens module 4 is perpendicular to the horizontal plane can be interchanged without affecting the alignment of the lens module 4.

[0075] S7, control the second manipulator to move the lens module 4 along the third coordinate axis until the virtual image of the logo on the screen 3 is clearest through the lens module 4, thereby adjusting the virtual image distance of the VR lens module to a preset value. That is, the second manipulator adjusts the movement of the lens module 4 in the Z-axis direction to meet the virtual image distance of the VR lens module at the preset position.

[0076] S8, controlling the second manipulator to fix the lens module 4.

[0077] In one embodiment, after step S8, the method further includes:

[0078] Controlling the third manipulator to apply glue to the upper surface of the screen 3;

[0079] The first robot is controlled to move to fix the screen 3 and the lens module 4 .

[0080] In this embodiment, a spectroscope 11, a first sensor 12 and a second sensor 13 are set through the first detection system 1. The first sensor 12 is located on the first optical path, and the second sensor 13 is located on the second optical path. The first optical path and the second optical path are perpendicular to each other, so that the first sensor 12 is used to receive a position image of the screen 3 and the second sensor 13 is used to receive a position image of the lens module 4, so that the lens module 4 and the screen 3 are rotated or translated on the first coordinate axis, the second coordinate axis and the third coordinate axis, so that the screen 3 and the lens module 4 can be automatically aligned with the first detection system 1 respectively, so as to simultaneously meet the requirements that the optical axis of the VR lens module is located at the center, the optical axis is perpendicular to the horizontal plane, and the virtual image distance is located at a preset position, thereby reducing the assembly tolerance when the screen 3 and the lens module 4 are assembled, improving the assembly accuracy of the screen 3 and the lens module 4, and reducing the difference in the position and distance of the virtual image seen by both eyes from the lens.

[0081] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An alignment device for a VR lens module, characterized in that: include: Multiple detection systems, VR lens module, first manipulator, second manipulator and control system; The VR lens module includes a lens module and a screen; Wherein, the multiple detection systems include a first detection system, a second detection system and a third detection system, and the first detection system is located between the second detection system and the third system; The plurality of detection systems are located at the top and are used to take a picture of the location of the VR lens module to identify the location of the logo on the picture; The control system is used to control the first manipulator to grab the screen and move it to the bottom of the first detection system, control the first manipulator to adjust the relative position of the screen and the first detection system along the first coordinate axis and the second coordinate axis so that the optical axis of the screen coincides with the optical axis of the first detection system; and control the first manipulator to rotate the screen around the third coordinate axis so that the plane of the screen is perpendicular to the optical axis of the first detection system; The control system is also used to control the second manipulator to grab the lens module and move it above the screen, and the lens module is located below the first detection system, control the second manipulator to adjust the relative position of the lens module and the first detection system along the first coordinate axis and the second coordinate axis, so that the optical axis of the lens module coincides with the optical axis of the first detection system, control the second manipulator to rotate the lens module around the third coordinate axis, so that the optical axis of the lens module is perpendicular to the plane where the first coordinate axis and the second coordinate axis are located; and control the second manipulator to move the lens module along the third coordinate axis until the virtual image of the logo on the screen recognized through the lens module is clearest, thereby modulating the virtual image distance of the VR lens module to a preset value.

2. The alignment device for a VR lens module according to claim 1, characterized in that: The first detection system includes a spectroscope, a first sensor and a second sensor. The first sensor is located on a first optical path of the spectroscope, and the second sensor is located on a second optical path of the spectroscope. The first optical path and the second optical path are perpendicular to each other.

3. The alignment device of the VR lens module according to claim 2, characterized in that: The first manipulator is a six-axis manipulator, the second manipulator is a six-axis manipulator, and a mark is provided on the screen, and the mark is a cross mark or a cross mark displayed on the screen.

4. The alignment device of the VR lens module according to claim 3, characterized in that: It further includes a leveling system, which includes a light emitter, a third sensor and a calibration plate, wherein the light emitter is located between the third sensor and the calibration plate, the third sensor is located on one side of the first detection system, and the calibration plate is located on the other side of the first detection system.

5. The alignment device of the VR lens module according to claim 4, characterized in that: Further including: The first sensor is used to take a picture of the current position of the screen; The first sensor is also used to identify a first displacement deviation between the position of the mark on the image and the position of the reference mark, so as to analyze and obtain a second displacement deviation of the mark on the screen relative to the reference mark; The control system is used to control the first manipulator to adjust the relative position of the screen and the first detection system according to the second displacement deviation, so as to make the mark on the screen coincide with the reference mark.

6. The alignment device of the VR lens module according to claim 5, characterized in that: Further including: The third sensor is used to take a picture of the current position of the screen; The control system is used to control the light emitter to emit light to illuminate the screen; The third sensor is also used to receive the image of the calibration plate reflected by the screen; The third sensor is further used to analyze and obtain a deflection angle of the mark on the screen relative to the calibration plate by identifying a third displacement deviation between the position of the mark on the position picture and the position of the image of the calibration plate; The control system is used to control the first manipulator to rotate the screen around the third coordinate axis according to the deflection angle, so as to adjust the angle deviation between the screen and the first detection system.

7. The alignment device of the VR lens module according to claim 6, characterized in that: Further including: The second sensor is used to take a picture of the current position of the lens module; The second sensor is further used to identify a fourth displacement deviation between the position of the mark on the image and the position of the reference mark, so as to analyze and obtain a fifth displacement deviation of the image formed by the mark on the screen again through the lens module relative to the reference mark; The control system is used to control the second manipulator to adjust the relative position of the lens module and the first detection system according to the fifth displacement deviation, so that the image of the mark on the screen formed again by the lens module coincides with the reference mark.

8. The alignment device of the VR lens module according to claim 7, characterized in that: Further including: The second sensor is further used to analyze and obtain, according to the fourth displacement deviation, a deflection angle of the image formed again by the mark on the screen through the lens module relative to the reference mark; The control system is used to control the second manipulator to rotate the lens module around the third coordinate axis according to the deflection angle, so as to adjust the angle deviation between the lens module and the first detection system.

9. The alignment device of the VR lens module according to claim 8, characterized in that: Further including: The control system is also used to control the second manipulator to fix the lens module, control the third manipulator to apply glue on the upper surface of the screen, and control the first manipulator to move to fix the screen and the lens module.

10. The alignment device of the VR lens module according to claim 1, characterized in that: Further including: A mobile base, the first manipulator and the second manipulator are both fixed on the mobile base.

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