Dual-motor control apparatus, control method and related device

Abstract

The present application relates to the technical field of terminals, and in particular to a dual-motor control apparatus, a control method and a related device. A motor driving chip in the apparatus is separately coupled with a control chip and a first motor, and is coupled with a second motor by means of a first channel and a second channel of a signal selector; the control chip is coupled with the signal selector; the control chip is used for sending a control signal to the motor driving chip and sending a selection signal to the signal selector; the motor driving chip is used for receiving and responding to the control signal to send a first driving signal to the first motor and the signal selector; the signal selector is used for receiving the selection signal and the first driving signal, and sending a second driving signal to the second motor by means of a target channel; and the first motor is configured to rotate along the direction driven by the first driving signal; and the second motor is configured to rotate along the direction driven by the second driving signal. Embodiments of the present application can reduce costs and improve the interpupillary distance adjusting effect.

Description

A dual-motor control device, control method and related equipment

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on February 7, 2024, with application number 202410175882.9 and application name “A dual-motor control device, control method and related equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of terminal technology, and in particular to a dual-motor control device, a control method, and related equipment. Background Art

[0003] Head-mounted display devices (HMDs) can be worn on the user's head to provide a visual environment. With the development of display technologies such as augmented reality (AR), virtual reality (VR), and mixed reality (MR), HMDs can provide users with a near-real-life experience and are gaining popularity.

[0004] When wearing a head-mounted display device, in order to achieve the clearest display effect, the user needs to ensure that the center of the pupil, the center of the lens, and the center of the screen are in a straight line. Because different people's interpupillary distance (IPD) is usually different, the distance between the pupil and the head-mounted display device screen is different. In other words, the interpupillary distance of the head-mounted display device and the user's interpupillary distance are often mismatched. Therefore, the device needs to be adjusted for interpupillary distance to achieve a clear visual effect. If the interpupillary distance is not adjusted, the parallax is too large, the image is not clear, and the image is not integrated, causing players to experience symptoms such as dizziness and nausea during the experience.

[0005] To meet the interpupillary distance requirements of different users, head-mounted display devices provide an interpupillary distance adjustment (IPD adjustment) function. In the past, products mainly achieved interpupillary distance adjustment of the device by manually or mechanically adjusting the lens barrel. The user's operation was relatively complicated and the adjustment effect was poor. Later, the motor-driven assisted interpupillary distance adjustment solution introduced by various manufacturers gradually became the mainstream. Compared with the previous manual and mechanical interpupillary distance adjustment solutions, it has greatly improved, but there are still some problems. For example, the interpupillary distance adjustment solution in which a single motor driver chip drives a single motor has poor adjustment effect and cannot be perfectly matched for some users; the interpupillary distance adjustment solution in which a dual-motor driver chip independently drives dual motors has the problem of occupying a large number of input / output (IO) ports and a large printed circuit board (PCB) area, and is costly. The above-mentioned IPD adjustment solutions have invisibly increased the cost of users experiencing head-mounted display devices, discouraging a large number of potential users.

[0006] Therefore, how to provide a low-cost device that can improve the effect of pupil distance adjustment is an urgent problem to be solved. Summary of the Invention

[0007] The embodiments of the present application provide a dual-motor control device, a control method, and related equipment, which, when applied to a head-mounted display device, can reduce costs and improve the effect of pupil distance adjustment.

[0008] The present application is introduced below from different aspects. It should be understood that the implementation methods and beneficial effects of the following different aspects can be referenced to each other.

[0009] In a first aspect, the present application provides a dual-motor control device, comprising a control chip, a motor driver chip, a signal selector, a first motor, and a second motor; the motor driver chip is coupled to the control chip and the first motor, respectively, and is coupled to the second motor via a first channel and a second channel of the signal selector; the control chip is coupled to the signal selector;

[0010] The control chip is used to send a control signal to the motor drive chip and send a selection signal to the signal selector;

[0011] The motor driving chip is configured to receive and send a first driving signal to the first motor and the signal selector in response to the control signal;

[0012] the signal selector being configured to receive the selection signal and the first drive signal and send a second drive signal to the second motor; the second drive signal being the first drive signal sent via a target channel indicated by the selection signal; the target channel being either the first channel or the second channel; and when the first drive signal drives the second motor via the first channel and the second channel respectively, the second motor rotates in different directions;

[0013] The first motor is configured to receive the first drive signal and rotate in a direction driven by the first drive signal;

[0014] The second motor is used to receive the second driving signal and rotate in the direction driven by the second driving signal.

[0015] Different from the prior art where a single motor driver chip drives a single motor, which has a poor interpupillary distance adjustment effect, and the solution where a dual motor driver chip independently drives two motors, which has the problem of occupying more IO ports and more PCB area, the present invention uses a signal selector to realize different connection modes between the two motors and the single motor driver chip. This allows the dual motor control device to drive the two motors to rotate through a single motor driver chip, and control the two motors to rotate in the same direction or in opposite directions through the signal selector, so that the two motors can rotate simultaneously to reach the target position. The control chip controls the signal selector through a set of control lines, which takes up less IO resources of the control chip, and the signal selector is smaller in size, which also takes up less PCB area. When the dual motor control device needs to be used for interpupillary distance adjustment, the two motors can be connected to the lens barrel respectively, and the rotation of the motor can drive the lens barrel to move, thereby adjusting the interpupillary distance. Ultimately, both lens barrels can reach the target position, so that the device interpupillary distance matches the user's interpupillary distance, and the interpupillary distance adjustment effect is better.

[0016] In one possible implementation, when the target channel is the first channel, the rotation direction of the second motor is the same as the rotation direction of the first motor; when the target channel is the second channel, the rotation direction of the second motor is opposite to the rotation direction of the first motor.

[0017] In the embodiment of the present application, if the control chip requires the two motors to rotate in the same direction, the control chip can transmit the drive signal from the motor driver chip to the second motor through the first channel by selecting a signal to instruct the signal selector. Correspondingly, if the control chip requires the two motors to rotate in opposite directions, the control chip can transmit the drive signal from the motor driver chip to the second motor through the second channel by selecting a signal to instruct the signal selector. The control chip can accurately control the dual motors to rotate in the same direction or opposite directions by indicating the target channel.

[0018] In a possible implementation, the device further includes a first optical display module and a second optical display module, wherein the first optical display module moves by following the rotation of the first motor via a transmission device, and the second optical display module moves by following the rotation of the second motor via a transmission device.

[0019] In an embodiment of the present application, the dual-motor control device may further include two optical display modules, which may be coupled to two motors through a transmission device, respectively. At this time, the dual-motor control device may be used as a head-mounted display device (such as AR, VR, MR glasses products, etc.), and the optical display module may be driven to move by controlling the rotation of the two motors, thereby completing the pupil distance adjustment.

[0020] In a possible implementation, the signal selector includes an analog switch. When the analog switch is in a first state, the target channel is the first channel; when the analog switch is in a second state, the target channel is the second channel.

[0021] In an embodiment of the present application, the signal selector can select the target channel through an analog switch. The analog switch has the characteristics of low power consumption, small size and long life, which can further reduce the power consumption of the dual-motor control device when controlling the motor and further reduce the PCB area occupied.

[0022] In one possible implementation, the control chip is further configured to:

[0023] determining a motor rotation strategy, the motor rotation strategy including a rotation direction of the first motor and the second motor, and a rotation distance of the first motor and the second motor;

[0024] The control signal and the selection signal are generated based on the motor rotation strategy.

[0025] In an embodiment of the present application, the control chip can first determine the rotation strategies of the two motors, including the rotation direction and rotation distance, and then generate corresponding control signals and selection signals based on the rotation strategies to ensure the accuracy of motor control.

[0026] In one possible implementation, the control chip is specifically configured to:

[0027] Obtaining a starting position and a target position of the first motor, and a starting position and a target position of the second motor;

[0028] determining a rotation direction and a distance to be rotated of the first motor based on a starting position and a target position of the first motor;

[0029] determining a rotation direction and a distance to be rotated of the second motor based on a starting position and a target position of the second motor;

[0030] The rotation distances of the first motor and the second motor are determined based on the to-be-rotated distance of the first motor and the to-be-rotated distance of the second motor.

[0031] In an embodiment of the present application, the control chip can determine the rotation strategy based on the current position and target position of the two motors, thereby ensuring the accuracy of motor control.

[0032] In one possible implementation, the rotation distance of the first motor is equal to the maximum value of the distance to be rotated of the first motor and the distance to be rotated of the second motor, and the rotation distance of the second motor is equal to the maximum value of the distance to be rotated of the first motor and the distance to be rotated of the second motor.

[0033] In the embodiment of the present application, the dual-motor control device controls the two motors to rotate the same distance, and the distance of the two motors rotating is the shortest, thereby improving control efficiency. When the dual-motor control device is used for interpupillary distance adjustment, it can reduce the time the user waits for interpupillary distance adjustment, thereby optimizing the user experience.

[0034] In a second aspect, the present application provides a control method that can be applied to a control chip in a dual-motor control device, the device also including a motor driver chip, a signal selector, a first motor, and a second motor; the motor driver chip is coupled to the control chip and the first motor, respectively, and is coupled to the second motor via a first channel and a second channel of the signal selector; the control chip is coupled to the signal selector; the method comprising:

[0035] A control signal is sent to the motor driver chip, and a selection signal is sent to the signal selector; the control signal is used to control the motor driver chip to send a first drive signal to the first motor and the signal selector; the selection signal is used to instruct the signal selector to send a second drive signal to the second motor through a target channel; the target channel is any one of the first channel and the second channel; the second drive signal is the first drive signal sent through the target channel indicated by the selection signal; the first drive signal and the second drive signal are used to drive the first motor and the second motor to rotate respectively; when the first drive signal drives the second motor through the first channel and the second channel respectively, the rotation direction of the second motor is different.

[0036] In one possible implementation, when the target channel is the first channel, the rotation direction of the second motor is the same as the rotation direction of the first motor; when the target channel is the second channel, the rotation direction of the second motor is opposite to the rotation direction of the first motor.

[0037] In a possible implementation, the device further includes a first optical display module and a second optical display module, wherein the first optical display module moves by following the rotation of the first motor via a transmission device, and the second optical display module moves by following the rotation of the second motor via a transmission device.

[0038] In a possible implementation, the signal selector includes an analog switch. When the analog switch is in a first state, the target channel is the first channel; when the analog switch is in a second state, the target channel is the second channel.

[0039] In a possible implementation, the method further includes:

[0040] determining a motor rotation strategy, the motor rotation strategy including a rotation direction of the first motor and the second motor, and a rotation distance of the first motor and the second motor;

[0041] The control signal and the selection signal are generated based on the motor rotation strategy.

[0042] In one possible implementation, determining the motor rotation strategy includes:

[0043] Obtaining a starting position and a target position of the first motor, and a starting position and a target position of the second motor;

[0044] determining a rotation direction and a distance to be rotated of the first motor based on a starting position and a target position of the first motor;

[0045] determining a rotation direction and a distance to be rotated of the second motor based on a starting position and a target position of the second motor;

[0046] The rotation distances of the first motor and the second motor are determined based on the to-be-rotated distance of the first motor and the to-be-rotated distance of the second motor.

[0047] In one possible implementation, the rotation distance of the first motor is equal to the maximum value of the distance to be rotated of the first motor and the distance to be rotated of the second motor, and the rotation distance of the second motor is equal to the maximum value of the distance to be rotated of the first motor and the distance to be rotated of the second motor.

[0048] In a third aspect, the present application provides a head-mounted display device, which includes a dual-motor control device and a memory provided by any one of the possible implementation methods of the first aspect above, and the memory is used to store the necessary program instructions and data of the dual-motor control device.

[0049] In a fourth aspect, the present application provides a semiconductor chip, which includes a dual-motor control device provided by any one of the possible implementations of the first aspect.

[0050] In a fifth aspect, the present application provides a computer-readable storage medium having program instructions stored thereon, which, when executed, enables the method described in any possible implementation of the second aspect to be executed.

[0051] In a sixth aspect, the present application provides a program product comprising program instructions, which, when executed, enables the method described in any possible implementation of the second aspect to be executed.

[0052] In the seventh aspect, the present application provides an electronic device, which includes a dual-motor control device provided by any one of the possible implementation methods of the first aspect mentioned above; the electronic device also includes a memory, which is used to store the program instructions and data necessary for the operation of the above-mentioned dual-motor control device; the electronic device may also include a communication interface for the electronic device to communicate with other devices or communication networks.

[0053] In an eighth aspect, the present application provides an electronic device having the function of implementing any one of the control methods described in the second aspect. This function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-mentioned functions.

[0054] In a ninth aspect, the present application provides a chip system comprising the dual-motor control device provided by any one of the possible implementations of the first aspect. In one possible design, the chip system further comprises a memory configured to store program instructions and data necessary or relevant for the dual-motor control device. The chip system may consist of a chip alone or may include a chip and other discrete components.

[0055] The technical effects achieved in the above-mentioned aspects can be referred to each other or to the beneficial effects in the method embodiments shown below, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0057] FIG1 is a schematic structural diagram of a head-mounted display device in the prior art.

[0058] FIG2 is a schematic structural diagram of another head-mounted display device in the prior art.

[0059] FIG3 is a schematic structural diagram of a VR glasses provided in an embodiment of the present application.

[0060] FIG4 is a schematic structural diagram of a dual-motor control device provided in an embodiment of the present application.

[0061] FIG5 is another structural schematic diagram of the dual-motor control device provided in an embodiment of the present application.

[0062] FIG6 is a timing diagram of the lens barrel position for pupil distance adjustment provided in an embodiment of the present application.

[0063] FIG7 is a timing diagram of another lens barrel position for adjusting pupil distance provided in an embodiment of the present application.

[0064] FIG8 is a flow chart of a control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0066] In the description of this application, words such as "first" and "second" are only used to distinguish different objects and do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily mean different. For example, the first message and the second message are only used to distinguish different information and do not limit their order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0067] In the description of this application, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "And / or" in this article is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, "at least one (item)", "the following one (item) or more (items)" or similar expressions refer to any combination of these items, including any combination of single or plural items (items). For example, at least one item (item) of a, b, or c can mean: a, b, c; a and b; a and c; b and c; or a, b, and c. Among them, a, b, and c can be single or multiple.

[0068] In the description of this application, words such as "exemplary," "exemplarily," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary," "for example," or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0069] It can be understood that in the description of this application, "when", "if" and "if" all mean that the device will perform corresponding processing under certain objective circumstances, and do not limit the time. It does not require that the device must perform a judgment action when it is implemented, nor does it mean that there are other limitations.

[0070] The term "simultaneously" in this application may be understood as at the same time point, within a period of time, or within the same cycle, and may be understood in conjunction with the context.

[0071] Elements used in the singular herein are intended to mean "one or more" rather than "one and only one" unless specifically stated otherwise.

[0072] It is understood that in each embodiment of the present application, "A and B correspond" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B based solely on A, and B can also be determined based on A and / or other information.

[0073] It is understood that in the embodiments of the present application, "used to indicate" and "indicate" can include direct indications and indirect indications, and can also include explicit indications and implicit indications. When describing "a certain indication information is used to indicate A" or "indication information of A", it can include the indication information directly indicating A or indirectly indicating A, and does not necessarily mean that the indication information carries A. The information indicated by a certain information is called the information to be indicated. During the specific implementation, there are many ways to indicate the information to be indicated. For example, but not limited to, the information to be indicated can be directly indicated, such as the information to be indicated itself or an index of the information to be indicated. The information to be indicated can also be indirectly indicated by indicating other information, where the other information is associated with the information to be indicated. It is also possible to indicate only a portion of the information to be indicated, while the other portions of the information to be indicated are known or agreed upon in advance. For example, it is also possible to indicate specific information by using a pre-agreed (e.g., protocol-specified) order of arrangement of various information, thereby reducing indication overhead to a certain extent. At the same time, it is also possible to identify common parts of various information and indicate them uniformly to reduce the indication overhead caused by indicating the same information separately. In addition, the specific indication method can also be various existing indication methods, such as, but not limited to, the indication methods described above and various combinations thereof. The specific details of various indication methods can refer to the existing technology and will not be described in detail herein. As can be seen from the above, for example, when it is necessary to indicate multiple information of the same type, different indication methods may be used for different information. In the specific implementation process, the required indication method can be selected according to specific needs. The embodiment of the present application does not limit the selected indication method. In this way, the indication method involved in the embodiment of the present application should be understood to cover various methods that can enable the party to be indicated to know the information to be indicated. The information to be indicated can be sent together as a whole, or it can be divided into multiple sub-information and sent separately, and the sending period and / or sending time of these sub-information can be the same or different. The specific sending method is not limited in this application.

[0074] In order to better understand the technical solutions of the embodiments of the present application, several terms or nouns related to the present application are briefly introduced below to facilitate understanding by those skilled in the art.

[0075] 1. Augmented Reality (AR), Virtual Reality (VR), and Mixed Reality (MR)

[0076] AR technology overlays digital information on real-world scenes, allowing users to see a mixture of the real world and digital information. AR doesn't create a completely virtual environment, but rather overlays digital information on top of the real world. AR can be used on a variety of devices, including smartphone apps, headsets, and smart glasses.

[0077] VR technology can create a completely virtual environment and immerse users in it through head-mounted display devices or other devices. Users can explore and interact with objects and scenes in the virtual environment by moving their heads or bodies.

[0078] MR technology can combine digital information with real-world scenes, allowing users to see both the real world and digital images or objects. Generally, MR technology tracks the user's movement and position and overlays digital information on the real-world scene, achieving a seamless connection between digital information and the real world.

[0079] The present application provides a dual-motor control device that can be used to adjust the interpupillary distance in various products using display technologies such as AR, VR, and MR. A single motor driver chip drives two motors to move at the same time, thereby driving the movement of the lens barrel to complete the interpupillary distance adjustment. While improving the interpupillary distance adjustment effect, it can also reduce the IO port occupation of the control chip and the PCB board area occupied, thereby reducing costs.

[0080] 2. Interpupillary distance (IPD)

[0081] Interpupillary distance refers to the distance between the center points of the pupils of the two eyes. The size of the interpupillary distance varies from person to person and is not a fixed value. Generally speaking, the interpupillary distance of a normal adult male is 61 mm, the interpupillary distance of a normal adult female is 58 mm, and the interpupillary distance of a minor is about 40 mm. Therefore, in order to meet the interpupillary distance requirements of different users, the head-mounted display device should be able to adjust the interpupillary distance, so as to bring a better user experience to the user. The present application provides a dual-motor control device that can improve the effect of interpupillary distance adjustment, reduce the IO port occupancy of the control chip and the PCB board area occupancy, and reduce costs.

[0082] 3. Motor

[0083] A motor, commonly known as a "motor," refers to an electromagnetic device that can convert or transmit electrical energy according to the law of electromagnetic induction. Unlike existing interpupillary distance adjustment solutions, which use a single motor driver chip to drive a single motor and dual motor driver chips to independently drive dual motors, this application provides a dual-motor control device, including a motor driver chip and two motors. This device can simultaneously drive both motors for interpupillary distance adjustment using a single motor driver chip, improving interpupillary distance adjustment effectiveness while reducing the IO port usage of the control chip and the PCB board area occupied, thereby lowering costs.

[0084] First, the technical problems to be solved by this application are analyzed and proposed. Currently, the existing solutions for adjusting the pupil distance of head-mounted display devices include the following solutions 1 and 2:

[0085] Solution 1: Single motor driver chip drives a single motor

[0086] Please refer to Figure 1, which is a structural schematic diagram of a head-mounted display device in the prior art. The device may include a processor (or control chip, such as a system on chip (SoC)), a motor driver chip, a motor, and two lens barrels (such as lens barrel 1 and lens barrel 2). The process of adjusting the pupil distance of the device may include: first, the processor determines the target position to which the two lens barrels need to move based on the obtained user's pupil distance information; then, the processor instructs the motor driver chip to drive the motor through a control signal, and at the same time indicates the rotation direction and rotation distance (such as the number of revolutions) of the motor. The rotation direction and rotation distance of the motor correspond to the movement direction and movement distance of lens barrel 1 and lens barrel 2; finally, the motor driver chip drives the motor to rotate a certain distance in the indicated direction through the drive signal. When the motor rotates, it can drive the two lens barrels to move through the transmission shaft, so that the two lens barrels can be moved to the target position.

[0087] Solution 1 has the following disadvantages:

[0088] The interpupillary distance adjustment effect is poor. The head-mounted display device drives the movement of two lens barrels through the rotation of a single motor. The two lens barrels can only move in a simultaneous left, right, inward, or outward movement mode. However, the distances from the user's left and right pupils to the central axis of the face are generally different. That is, the distances from the target positions of the two lens barrels to the central axis of the head-mounted display device are different. If the two lens barrels move simultaneously to the left, right, inward, or outward for the same distance, at most only one lens barrel can reach the target position, which cannot match the user's interpupillary distance, resulting in poor interpupillary distance adjustment effect.

[0089] Solution 2: Dual-motor driver chips independently drive dual motors

[0090] Please refer to Figure 2, which is a schematic diagram of the structure of another head-mounted display device in the prior art. The device may include a processor (such as an SoC), two motor driver chips (such as motor driver chips 1 and 2), two motors (such as motors 1 and 2), and two lens barrels (such as lens barrels 1 and 2). Among them, motor driver chip 1 drives motor 1 to rotate, and the rotation of motor 1 drives lens barrel 1 to move; motor driver chip 2 drives motor 2 to rotate, and the rotation of motor 2 drives lens barrel 2 to move. The process of the device for adjusting the interpupillary distance may include: first, the processor determines the target position to which the two lens barrels need to move based on the obtained user interpupillary distance information; then, the processor instructs the two motor driver chips to drive their respective corresponding motors through control signals (control signals 1 and 2), and at the same time indicates the rotation direction and rotation distance (such as the number of revolutions) of the two motors, the rotation direction and number of revolutions of motor 1 correspond to the movement direction and movement distance of lens barrel 1, and the rotation direction and number of revolutions of motor 2 correspond to the movement direction and movement distance of lens barrel 2; finally, the two motor driver chips drive their respective corresponding motors to rotate a certain distance in the indicated direction through drive signals (drive signal 1 and drive signal 2). When rotating, the two motors can respectively drive their respective corresponding lens barrels to move through the transmission shaft, so that the two lens barrels can respectively move to their respective corresponding target positions.

[0091] Solution 2 has the following disadvantages:

[0092] The two motor driver chips occupy a large number of IO ports on the processor (such as SoC), occupy a large area on the PCB board, and are costly. When the SoC instructs the motor driver chip on the rotation direction and rotation distance of its corresponding motor, at least two sets of control lines are required to indicate them: one set of control lines is used to indicate the rotation direction of the motor, and the other set of control lines is used to indicate the rotation distance of the motor. Therefore, the dual-motor driver chip structure in Option 2 requires at least four sets of control lines, and the SoC needs to reserve IO resources corresponding to the four sets of control lines. At the same time, the processor and the two motor driver chips are generally supported and connected by a PCB, and the two motor driver chips require a large PCB area.

[0093] To this end, the present application proposes a dual-motor control device, control method, and related equipment. A signal selector is used to implement different wiring modes between two motors and a single motor driver chip. This allows the single motor driver chip to drive two motors to rotate. The signal selector can be used to control the two motors to rotate in the same direction or in opposite directions, ultimately reaching the target position simultaneously. The signal selector is controlled via a set of control lines, which reduces the occupancy of the control chip's IO resources. The signal selector is also smaller, requiring less PCB area. When the two motors are connected to the lens barrel, the rotation of the motors can drive the lens barrel to move, thereby adjusting the interpupillary distance. Ultimately, both lens barrels can reach the target position, matching the device's interpupillary distance with the user's, resulting in a better interpupillary distance adjustment effect.

[0094] For ease of understanding, the technical solution provided in this application will be described below with reference to more drawings.

[0095] In this application, unless otherwise specified, the same or similar parts between the various embodiments or implementation methods can refer to each other. In the various embodiments in this application, and the various implementation methods / implementation methods / implementation methods in each embodiment, if there is no special explanation and logical conflict, the terms and / or descriptions between different embodiments and the various implementation methods / implementation methods / implementation methods in each embodiment are consistent and can be referenced to each other. The technical features in different embodiments and the various implementation methods / implementation methods / implementation methods in each embodiment can be combined to form new embodiments, implementation methods, implementation methods, or implementation methods according to their inherent logical relationships. The implementation methods of this application described below do not constitute a limitation on the scope of protection of this application.

[0096] For ease of explanation, the embodiments of this application are briefly described using a head-mounted display device as an example of an application scenario of a dual-motor control device. The head-mounted display device can be AR glasses, VR glasses, or MR glasses, for example, the head-mounted display device is VR glasses. It should be noted that the dual-motor control device, control method, and related equipment provided in this application can also be applied to other fields, such as a mechanically controlled robotic arm. The dual motors of the dual-motor control device can move the robotic arm to a target position via a transmission shaft to perform a certain task, which is not specifically limited here.

[0097] For example, FIG3 is a structural diagram of a VR glasses provided by an embodiment of the present application. As shown in FIG3, VR glasses 300 include a dual motor control device 0, an optical display module 1 and an optical display module 2. Optionally, VR glasses 300 also include a bracket 3 and a support portion 4.

[0098] The bracket 3 is used to support the VR glasses 300 on the user's ears, and the support part 4 is used to support the VR glasses 300 on the user's nose bridge to ensure that the user wears the VR glasses stably. Furthermore, the optical display module 1 may include a display device 11 and an optical module 13, and the optical display module 2 includes a display device 12 and an optical module 14. The optical module 13 and the optical module 14 are symmetrical with respect to the center line of the human face or the center line L of the VR glasses 300. Optionally, the center line of the human face can be the perpendicular bisector between the inner corner of the left eye and the inner corner of the right eye. The center line of the VR glasses 300 can be the center line of the bracket 3 or the support part 4.

[0099] When a user wears a head-mounted display device, in order to obtain a good display effect and improve the user experience, it is necessary to ensure that the user's pupil distance matches the pupil distance of the head-mounted display device. The user's pupil distance is also called the user's pupil distance or the human eye's pupil distance, which refers to the distance between the pupils of a person's eyes. The pupil distance of a head-mounted display device is also called the device's pupil distance, which refers to the distance between the center lines of the two optical modules on the head-mounted display device, such as the distance between the center lines of optical module 13 and optical module 14 in Figure 3; or, it refers to the distance between the center lines of two optical display modules, such as the distance between the center lines of optical display module 1 and optical display module 2 in Figure 3. The pupil distance of different people is usually different, and users will need to adjust the device's pupil distance when wearing a head-mounted display device.

[0100] In an embodiment of the present application, the dual-motor control device 0 can adjust the device pupil distance according to the user's pupil distance, so that the user's pupil distance and the device's pupil distance match to obtain a better display effect.

[0101] The control chip in the dual-motor control device 0 may also be referred to as a processor, a system-on-chip (SoC), etc., and is typically used to control the overall operation of the VR glasses 300. It may include one or more processing units, for example: the processor may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a video processing unit (VPU) controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units may be independent devices or integrated into one or more processors.

[0102] The processor may also include a memory for storing instructions and data. In some embodiments, the memory in the processor is a cache memory. This memory can store instructions or data that the processor has just used or is reusing. If the processor needs to use the instruction or data again, it can directly call it from the memory. This avoids repeated accesses, reduces processor latency, and thus improves system efficiency.

[0103] In the embodiments of this specification, the processor can be used to control the interpupillary distance of the VR glasses 300. For example, the processor can be used to control the position of the optical display module to implement an interpupillary distance adjustment function for the VR glasses 300. For example, the processor can adjust the interpupillary distance of the optical display module by adjusting the relative positions of various optical components (such as lenses, etc.) in the optical display module, thereby adjusting the position of the corresponding virtual image plane when the optical display module forms an image for the human eye.

[0104] In some embodiments, the processor may include one or more interfaces. The interfaces may include an inter-integrated circuit (I2C) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, a serial peripheral interface (SPI) interface, etc.

[0105] The I2C interface is a bidirectional synchronous serial bus that includes a serial data line (SDA) and a serial clock line (SCL). In some embodiments, the processor may include multiple I2C buses.

[0106] A UART interface is a universal serial data bus used for asynchronous communication. This bus can be a bidirectional communication bus. It converts the data to be transmitted between serial communication and parallel communication. In some embodiments, a UART interface is typically used to connect a processor to a communication module. For example, a processor communicates with a Bluetooth module in a communication module via a UART interface to implement Bluetooth functionality.

[0107] The MIPI interface can be used to connect the processor with display devices, cameras and other peripheral devices in the optical display module.

[0108] The GPIO interface can be configured through software. The GPIO interface can be configured as a control signal or as a data signal. In some embodiments, the GPIO interface can be used to connect the processor to the motor driver chip in the dual-motor control device 0, the signal selector in the dual-motor control device 0, the camera, the display device in the optical display module, the communication module, the sensor module, the microphone, etc. The GPIO interface can also be configured as an I2C interface, an I2S interface, a UART interface, a MIPI interface, etc. In some embodiments, the camera can capture images including real objects, and the processor can fuse the images captured by the camera with virtual objects to obtain an image fused with reality through the optical display module. In some embodiments, the camera can also capture images including human eyes. The processor performs eye tracking through the image.

[0109] The USB interface is an interface that complies with USB standards and specifications, and may be a Mini USB interface, a Micro USB interface, a USB Type-C interface, or the like. The USB interface can be used to connect a charger to charge the VR glasses 300, and can also be used to transfer data between the VR glasses 300 and peripheral devices. It can also be used to connect headphones to play audio through the headphones. This interface can also be used to connect other electronic devices, such as mobile phones. The USB interface can be USB 3.0, which is compatible with high-speed display port (DP) signal transmission and can transmit high-speed video and audio data.

[0110] It should be understood that the interface connection relationship between the modules illustrated in the embodiments of this application is merely illustrative and does not constitute a structural limitation on the VR glasses 300. In other embodiments of this specification, the VR glasses 300 may also adopt different interface connection methods from the above embodiments, or a combination of multiple interface connection methods.

[0111] The optical display module 1 and the optical display module 2 are used to present images to the user. The optical display module 1 and the optical display module 2 can convert the real pixel image display into a virtual image display of near-eye projection through one or more optical devices such as a reflector, a transmission mirror or an optical waveguide, thereby realizing a virtual interactive experience, or realizing an interactive experience that combines virtual and reality. For example, when the user wears VR glasses 300, the optical display module 1 is used to display the image to the user's left eye, and the optical display module 2 is used to display the image to the user's right eye. For the optical display module 1, the optical module 13 is close to the person's left eye, and the display device 11 is away from the person's left eye. The display device 11 has a display function. When the display device 11 displays an image, the light emitted by the display device 11 passes through the optical module 13 and converges to the person's left eye. The optical module 13 is used to change the propagation direction of the light, so that the person's left eye can see the image displayed by the display device 11. Similarly, for the optical display module 2 , when the display device 12 displays an image, the light emitted by the display device 12 is converged to the right eye of the person through the optical module 14 , so that the right eye of the person can see the image displayed by the display device 12 .

[0112] The embodiment of the present application does not limit the type and quantity of display devices 11 and display devices 12. Optionally, display device 11 and display device 12 can be two independent display devices, or two display areas on the same display device. Optionally, display device 11 and display device 12 can each be a display screen, such as a liquid crystal screen, a light emitting diode (LED) display screen, or other types of display devices.

[0113] Optionally, the optical display module 1 and the optical display module 2 can each be a lens barrel, which can be a hollow cylindrical shape. The display device 11, optical module 13, display device 12, and optical module 14 are accommodated in the lens barrel. In this case, the display device and optical module are placed on the VR glasses 300 through the lens barrel. In the embodiment of the present application, the optical display module 1 and the optical display module 2 can also be referred to as a lens barrel.

[0114] Exemplarily, the VR glasses 300 may also include other modules or components such as a memory, a sensor module (for example, which can be used to obtain the user's posture, etc.), a microphone, buttons, an input and output interface, a communication module, a camera, a battery, and an eye tracking module, which are not shown in FIG3 .

[0115] Among them, the memory can be used to store computer executable program code, which includes instructions. The processor executes various functional applications and data processing of the VR glasses 300 by running the instructions stored in the memory. The memory may include a program storage area and a data storage area. Among them, the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc. The data storage area can store data created during the use of the VR glasses 300 (such as audio data, a phone book, etc.), etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a universal flash storage (UFS), etc.

[0116] The VR glasses 300 can implement audio functions through an audio module, a speaker, a microphone, a headphone jack, and an application processor. For example, music playback, recording, etc. The audio module is used to convert digital audio information into analog audio signal output, and is also used to convert analog audio input into digital audio signals. The audio module can also be used to encode and decode audio signals. In some embodiments, the audio module can be set in the processor, or some functional modules of the audio module can be set in the processor. The speaker, also known as a "speaker", is used to convert audio electrical signals into sound signals. The VR glasses 300 can listen to music or listen to hands-free calls through the speaker.

[0117] A microphone, also known as a "microphone" or "microphone," is used to convert sound signals into electrical signals. VR glasses 300 can be equipped with at least one microphone to collect sound signals, reduce noise, identify sound sources, and implement directional recording functions.

[0118] The headphone jack is used to connect wired headphones. The headphone jack can be a USB port or a 3.5 mm Open Mobile Terminal Platform (OMTP) standard port or a Cellular Telecommunications Industry Association of the USA (CTIA) standard port.

[0119] In some embodiments, the VR glasses 300 may include one or more buttons that can control the VR glasses 300 and provide the user with the function of interacting with the VR glasses 300. The buttons can be in the form of buttons, switches, dials, and touch or near-touch sensing devices (such as touch sensors). Specifically, for example, the user can turn on the optical display module of the VR glasses 300 by pressing a button. The buttons include a power button, a volume button, etc. The buttons can be mechanical buttons or touch buttons. The VR glasses 300 can receive button inputs and generate key signal inputs related to user settings and function controls of the VR glasses 300.

[0120] In some embodiments, the VR glasses 300 may include an input / output interface, which may connect other devices to the VR glasses 300 through appropriate components. The components may include audio / video jacks, data connectors, etc.

[0121] In some embodiments, the VR glasses 300 may further include an eye tracking module, which is used to track the movement of the human eye and thereby determine the gaze point of the human eye. For example, the pupil position can be located by image processing technology, the pupil center coordinates can be obtained, and then the person's gaze point can be calculated. In some embodiments, the eye tracking module can determine the user's gaze point position (or determine the user's line of sight direction) by methods such as video eye diagram method, photodiode response method, or pupil corneal reflection method, thereby achieving user eye tracking.

[0122] In addition, the VR glasses 300 may include a wireless communication function. For example, the VR glasses 300 may receive images from other electronic devices (such as a VR host) for display, or the VR glasses 300 may directly obtain data from a base station or other site. The communication module may include a wireless communication module and a mobile communication module. The wireless communication function may be implemented by an antenna (not shown), a mobile communication module (not shown), a modem processor (not shown), and a baseband processor (not shown). The antenna is used to transmit and receive electromagnetic wave signals. The VR glasses 300 may include multiple antennas, each of which may be used to cover a single or multiple communication frequency bands. Different antennas may also be reused to improve antenna utilization. For example, antenna 1 may be reused as a diversity antenna for a wireless local area network. In some other embodiments, the antenna may be used in conjunction with a tuning switch.

[0123] The mobile communication module can provide wireless communication solutions for the VR glasses 300, including second-generation (2G) networks, third-generation (3G) networks, fourth-generation (4G) networks, fifth-generation (5G) networks, and sixth-generation (6G) networks. The mobile communication module can include at least one filter, a switch, a power amplifier, a low-noise amplifier (LNA), etc. The mobile communication module can receive electromagnetic waves from the antenna, filter, amplify, and process the received electromagnetic waves, and transmit them to the modem processor for demodulation. The mobile communication module can also amplify the signal modulated by the modem processor and convert it into electromagnetic waves for radiation through the antenna. In some embodiments, at least some of the functional modules of the mobile communication module can be set in the processor. In some embodiments, at least some of the functional modules of the mobile communication module can be set in the same device as at least some of the modules of the processor.

[0124] The modem processor may include a modulator and a demodulator. The modulator is used to modulate the low-frequency baseband signal to be sent into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After being processed by the baseband processor, the low-frequency baseband signal is passed to the application processor. The application processor outputs a sound signal through an audio device (not limited to a speaker, etc.) or displays an image or video through a display device in an optical display module. In some embodiments, the modem processor may be an independent device. In other embodiments, the modem processor may be independent of the processor and be set in the same device as the mobile communication module or other functional modules.

[0125] The wireless communication module can provide wireless communication solutions including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), etc., which are applied to the VR glasses 300. The wireless communication module can be one or more devices that integrate at least one communication processing module. The wireless communication module receives electromagnetic waves via an antenna, frequency modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor. The wireless communication module can also receive the signal to be sent from the processor, frequency modulate it, amplify it, and convert it into electromagnetic waves for radiation through the antenna.

[0126] In some embodiments, the antenna of the VR glasses 300 is coupled to the mobile communication module, so that the VR glasses 300 can communicate with the network and other devices through wireless communication technology. The wireless communication technology may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long-term evolution (LTE), 5G, 6G, BT, GNSS, WLAN, NFC, FM, and / or IR technology. GNSS may include the Global Positioning System (GPS), the Global Navigation Satellite System (GLONASS), the Beidou Navigation Satellite System (BDS), the Quasi-Zenith Satellite System (QZSS) and / or the Satellite Based Augmentation System (SBAS).

[0127] As for the structure of the dual motor control device provided by the present application, for example, please refer to Figure 4, which is a schematic diagram of the structure of a dual motor control device provided by an embodiment of the present application. The dual motor control device 0 may include a control chip 41, a motor driver chip 42, a signal selector 43, a first motor 44, and a second motor 45. Among them,

[0128] The motor driving chip 42 is coupled to the control chip 41 and the first motor 44 respectively, and is coupled to the second motor 45 through the first channel and the second channel of the signal selector 43. The control chip 41 is coupled to the signal selector 43;

[0129] The control chip 41 is used to send a control signal to the motor drive chip 42 and a selection signal to the signal selector 43;

[0130] The motor driving chip 42 is configured to receive and respond to the control signal to send a first driving signal to the first motor 44 and the signal selector 43;

[0131] The signal selector 43 is configured to receive the selection signal and the first drive signal and send a second drive signal to the second motor 45; the second drive signal is the first drive signal sent via a target channel indicated by the selection signal; the target channel is either the first channel or the second channel; when the first drive signal drives the second motor 45 via the first channel and the second channel respectively, the second motor 45 rotates in different directions;

[0132] The first motor 44 is configured to receive the first drive signal and rotate in a direction driven by the first drive signal;

[0133] The second motor 45 is configured to receive the second driving signal and rotate in a direction driven by the second driving signal.

[0134] In one possible implementation, when the target channel is the first channel, the rotation direction of the second motor 45 is the same as the rotation direction of the first motor 44. That is, when the first drive signal drives the second motor via the first channel, the rotation direction of the second motor is the same as the rotation direction of the first motor, i.e., they rotate in the same direction. However, when the first drive signal drives the second motor via the second channel, the rotation direction of the second motor is opposite to the rotation direction of the first motor, i.e., they rotate in opposite directions.

[0135] In one possible implementation, when the dual-motor control device 0 is deployed on the VR glasses 300, the first motor 44 and the optical display module 1 (i.e., the first optical display module) can be coupled through a transmission device, and the second motor 45 and the optical display module 2 (i.e., the second optical display module) can be coupled through a transmission device, so that the first optical display module moves by following the rotation of the first motor through the transmission device, and the second optical display module moves by following the rotation of the second motor through the transmission device. Optionally, the dual-motor control device 0 can also be deployed on other mechanically controlled equipment / devices. For example, when the dual-motor control device 0 is deployed inside a robot, the first motor 44 and the second motor 45 can be coupled to the two arms of the robot respectively, so that the first motor 44 and the second motor 45 can drive the robot arm to move to the target position by rotation. This will not be elaborated on here.

[0136] In one possible implementation, the signal selector 43 includes an analog switch. When the analog switch is in a first state, the target channel is the first channel; when the analog switch is in a second state, the target channel is the second channel. Analog switches have the characteristics of low power consumption, small size, and long life. Implementing the selector with an analog switch can further reduce the power consumption of the dual-motor control device 0 when controlling the motors and further reduce the PCB area occupied.

[0137] For example, please refer to Figure 5, which is another structural schematic diagram of the dual-motor control device provided in an embodiment of the present application. The first motor and the second motor respectively include two rotors (such as rotor 1 and rotor 2, not shown in Figure 5), and each rotor may include a pair of input ends (such as rotor 1 includes input ends A1 and A2, and rotor 2 includes input ends B1 and B2). The motor drive chip 42 can control the polarity of the rotor inside the motor by outputting 4 drive signals, so that the rotor and the stator attract or repel each other, thereby causing the motor to rotate forward (or clockwise) or reverse (or counterclockwise).

[0138] As shown in FIG5 , the signal selector 43 may include four inputs corresponding to the four outputs of the motor driver chip 42, as well as two output channels, a first channel and a second channel. The first channel and the second channel each include four output ports, such as output ports 1, 3, 5, and 7 for the first channel and output ports 2, 4, 6, and 8 for the second channel. Ports 1 and 2 have the same inputs but different output destinations. For example, port 1 outputs to input terminal A1 of rotor 1, while port 2 outputs to input terminal B1 of rotor 2. Similarly, port 3 outputs to input terminal A2 of rotor 1, port 4 outputs to input terminal B2 of rotor 2, port 5 outputs to input terminal B1 of rotor 2, port 6 outputs to input terminal A1 of rotor 1, port 7 outputs to input terminal B2 of rotor 2, and port 8 outputs to input terminal A2 of rotor 1. Therefore, when the target channel is the first channel, the rotation direction of the second motor is the same as that of the first motor, that is, when the first motor rotates forward, the second motor also rotates forward, and when the first motor rotates reversely, the second motor also rotates reversely; when the target channel is the second channel, the rotation direction of the second motor is opposite to that of the first motor, that is, when the first motor rotates forward, the second motor also rotates reversely, and when the first motor rotates reversely, the second motor also rotates forward.

[0139] Optionally, when the selection signal is at a high level, the signal selector selects the first channel as the target channel, and the four drive signals from the motor driver chip are output to the two rotors of the second motor through output ports 1, 3, 5, and 7 of the first channel, respectively, so that the first motor and the second motor rotate in the same direction. When the selection signal is at a low level, the signal selector selects the second channel as the target channel, and the four drive signals from the motor driver chip are output to the two rotors of the second motor through output ports 2, 4, 6, and 8 of the second channel, respectively, so that the first motor and the second motor rotate in opposite directions.

[0140] In one possible implementation, the control signal and selection signal sent by the control chip 41 are generated based on the motor rotation strategy. Optionally, the control chip 41 is further configured to determine the motor rotation strategy; and to generate the control signal and selection signal based on the motor rotation strategy. The motor rotation strategy may include the rotation direction of the first motor and the second motor, as well as the rotation distance of the first motor and the second motor. For example, the rotation direction of the first motor is forward or reverse, and the rotation direction of the second motor is forward or reverse. The rotation distance of the first motor may be the number of revolutions of the first motor, and the rotation distance of the second motor may be the number of revolutions of the second motor. It should be noted that the number of revolutions of the motor refers to the superposition of the number of forward revolutions and the number of reverse revolutions. For example, one forward revolution and one reverse revolution of the motor should be counted as two revolutions of the motor, not zero revolutions. In other words, the number of revolutions of the motor is calculated based on the physical distance, not the relative distance. It is understandable that the value of the distance and the value of the relative distance can be equal or different.

[0141] Optionally, the control signal sent by the control chip can be sent through at least two groups of control lines, where the control signal of one group of control lines can be used to indicate the rotation direction of the motor. For example, "0" can be used to instruct the motor driver chip to control the motor to rotate forward (or clockwise), and "1" can be used to instruct the motor driver chip to control the motor to rotate reverse (or counterclockwise); the control signal of another group of control lines can be used to indicate the rotation distance of the motor. The rotation distance can be directly indicated by the distance value or by the time value. For example, the rotation speed of the motor is constant at V1, and the control chip can instruct the motor driver chip to drive the motor to move for t1 time, so that the rotation distance of the motor is V1*t1, which is not specifically limited here.

[0142] In one possible implementation, the control chip 41 can determine the motor rotation strategy based on the starting position and target position of each of the two motors. Optionally, the control chip 41 is specifically configured to: obtain the starting position and target position of the first motor, and the starting position and target position of the second motor; determine the rotation direction and distance to be rotated of the first motor based on the starting position and target position of the first motor; determine the rotation direction and distance to be rotated of the second motor based on the starting position and target position of the second motor; and determine the rotation distance of the first motor and the second motor based on the distance to be rotated of the first motor and the distance to be rotated of the second motor.

[0143] Taking the VR glasses 300 of FIG3 as an example, the control chip 41 can directly obtain the starting position of the first motor and the second motor through various sensor modules, or indirectly determine the starting position of the first motor and the second motor based on the transmission relationship through the starting position of the first optical display module (optical display module 1, or lens barrel 1) and the second optical display module (optical display module 2, or lens barrel 2); as for the target position of the first motor and the second motor, it can be manually input by the user through a key or voice input through a microphone, or the control chip 41 can obtain the human eye pupil distance information through various sensor modules or an eye tracking module, first determine the target position of the lens barrel 1 and the lens barrel 2, and then indirectly determine the target position of the first motor and the second motor based on the transmission relationship. For ease of understanding, the following uses the movement strategy of the lens barrel 1 and the lens barrel 2 to refer to the rotation strategy of the first motor and the second motor to illustrate the motor control process of the above-mentioned dual-motor control device.

[0144] Illustratively, before performing pupil distance adjustment, the control chip 41 may first obtain the starting positions of the lens barrel 1 and the lens barrel 2; then determine the target positions of the lens barrel 1 and the lens barrel 2 based on the pupil distance information of the human eye; then, based on the respective starting positions and target positions of the lens barrel 1 and the lens barrel 2, determine the direction in which the lens barrel 1 and the lens barrel 2 need to move and the distance to be moved; and finally determine the moving direction and distance of the lens barrel 1 and the lens barrel 2.

[0145] Optionally, the rotation distance of the first motor is equal to the maximum of the distance to be rotated by the first motor and the distance to be rotated by the second motor, and the rotation distance of the second motor is equal to the maximum of the distance to be rotated by the first motor and the distance to be rotated by the second motor. In other words, the movement distance of both lens barrels 1 and 2 is equal to the maximum of their respective distances to be moved. In this case, the interpupillary distance adjustment path is the shortest, and adjustment efficiency is higher.

[0146] Please refer to FIG6 , which is a timing diagram of the lens barrel position for pupil distance adjustment provided by an embodiment of the present application, including the following process:

[0147] 1. The control chip obtains the starting position (current position) and target position of each of lens barrel 1 and lens barrel 2, and determines that the distance from lens barrel 1 to its target position is X1, and the distance from lens barrel 2 to its target position is X2, where X2 is greater than X1.

[0148] 2. Both target positions are on the right side of the lens barrel, meaning X1 and X2 are in the same direction (both rightward). The control chip uses a select signal (high) to instruct the signal selector to set the analog switch to the first state, setting the rotation directions of the first and second motors to the same direction. The control chip also uses control signals to instruct the motor driver chip to send drive signals. For example, among the four drive signals, A1 is high, A2 is high, B1 is low, and B2 is low. When the drive signals reach the first and second motors, A1, A2, B1, and B2 are high, respectively, among the four inputs of the first motor. The first motor rotates clockwise. If A1, A2, B1, and B2 are high, respectively, among the four inputs of the second motor, B1, B1, and B2 are low, the second motor also rotates clockwise, driving both lens barrels 1 and 2 to the right simultaneously by a distance of X1 + (X2 - X1) / 2. For ease of understanding, assuming that both lens barrel 1 and lens barrel 2 move at a constant speed V, the motor driver chip can continuously drive the motor for [X1+(X2-X1) / 2] / V time through the above drive signal.

[0149] 3. At this point, the distance between lens barrel 1 and the target position is (X2-X1) / 2, and the distance between lens barrel 2 and the target position is also (X2-X1) / 2, but in reverse directions. That is, the target position of lens barrel 1 is on the left side of lens barrel 1, and the target position of lens barrel 2 is still on the right side of lens barrel 2. The control chip can instruct the signal selector to place the analog switch in the second state by selecting a signal (low level), setting the rotation direction of the first motor and the second motor to reverse. The motor driver chip changes the drive signal to drive the first motor and the second motor to rotate. Among the four drive signals, A1 is low, A2 is low, B1 is high, and B2 is high. When the drive signal reaches the first and second motors, A1, A2, B1, and B2 of the first motor's four inputs are low, low, and high, respectively. The first motor rotates counterclockwise. The second motor rotates clockwise, with A1, A2, B1, and B2 high, respectively. The first motor drives lens barrel 1 to the left by a distance of (X2-X1) / 2, while the second motor drives lens barrel 2 to the right by a distance of (X2-X1) / 2. During this phase, the motor driver chip can continuously drive the motors for a duration of (X2-X1) / 2V using the aforementioned drive signal. Ultimately, both lens barrels 1 and 2 reach their respective target positions simultaneously after traveling a distance of X2.

[0150] For ease of understanding, the dual-motor control device provided by this application is described below using another interpupillary distance adjustment timing sequence. See Figure 7, which is a schematic diagram of another interpupillary distance adjustment lens barrel position timing sequence provided by an embodiment of this application, including the following process:

[0151] 1. The control chip obtains the starting position (current position) and target position of each of lens barrel 1 and lens barrel 2, and determines that the distance from lens barrel 1 to its target position is X1, and the distance from lens barrel 2 to its target position is X2, where X2 is greater than X1.

[0152] 2. Both target positions are on the right side of the lens barrel, meaning X1 and X2 are in the same direction (both rightward). The control chip uses a select signal (high) to instruct the signal selector to set the analog switch to the first state, setting the rotation directions of the first and second motors to the same direction. The control chip then uses the control signal to instruct the motor driver chip to send a drive signal. For example, if A1, A2, B1, and B2 are high, of the four drive signals, when the drive signals reach the first and second motors, A1, A2, B1, and B2 are high, respectively, of the first motor's four inputs. The first motor rotates clockwise. If A1, A2, B1, and B2 are high, respectively, of the second motor's four inputs, B1, B1, and B2 are low, the second motor also rotates clockwise, moving both lens barrels 1 and 2 to the right by a distance X2. For ease of understanding, assume that both lens barrels 1 and 2 are moving at a constant speed V. The motor driver chip can use the above drive signals to continuously drive the motors for a time X2 / V.

[0153] 3. At this point, the distance between lens barrel 1 and the target position is X2-X1. The target position is to the left of lens barrel 1, and lens barrel 2 has reached the target position. The control chip still uses the select signal (high) to instruct the signal selector to set the analog switch to the first state. The rotation directions of the first and second motors remain the same. The motor driver chip changes the drive signal to drive the first and second motors. Of the four drive signals, A1 is low, A2 is low, B1 is high, and B2 is high. When the drive signal reaches the first and second motors, A1, A2, B1, and B2 are low, respectively, of the first motor's four inputs. The first motor rotates counterclockwise. The second motor rotates counterclockwise because A1, A2, B1, and B2 are low, respectively, of the second motor's four inputs. The first motor moves lens barrel 1 to the left by a distance of (X2-X1) / 2, and the second motor moves lens barrel 2 to the left by a distance of (X2-X1) / 2. During this stage, the motor driver chip can continuously drive the motor for (X2-X1) / 2V time through the above driving signal.

[0154] 4. At this point, the distance between lens barrel 1 and the target position is (X2-X1) / 2, and the distance between lens barrel 2 and the target position is also (X2-X1) / 2, but in reverse, that is, the target position of lens barrel 1 is on the left side of lens barrel 1, and the target position of lens barrel 2 is on the right side of lens barrel 2. The control chip can instruct the signal selector to place the analog switch in the second state by selecting the signal (low level), setting the rotation direction of the first motor and the second motor to the opposite direction; the motor driver chip continues to use the same drive signal as in 3 to drive the first motor and the second motor to rotate. Among the four drive signals, A1 is low, A2 is low, B1 is high, and B2 is high. When the drive signal reaches the first and second motors, A1, A2, B1, and B2 of the first motor's four inputs are low, low, and high, respectively. The first motor rotates counterclockwise. The second motor rotates clockwise, with A1, A2, B1, and B2 high, respectively. The first motor drives lens barrel 1 to the left by a distance of (X2-X1) / 2, while the second motor drives lens barrel 2 to the right by a distance of (X2-X1) / 2. During this phase, the motor driver chip can continuously drive the motors for a duration of (X2-X1) / 2V using the aforementioned drive signal. Ultimately, both lens barrels 1 and 2 reach their respective target positions simultaneously after traveling a distance of 2X2-X1.

[0155] The structure of the dual-motor control device provided in the embodiment of the present application has been exemplarily described above. For ease of understanding, the control method provided in the embodiment of the present application will be described below in conjunction with the dual-motor control device shown in FIG. 3 .

[0156] See FIG8 , which is a flow chart of a control method provided by an embodiment of the present application. Taking the method applied to the control chip in the dual-motor control device shown in FIG3 as an example, the method includes but is not limited to the following steps:

[0157] S800: Sending a control signal to the motor driver chip and a selection signal to the signal selector.

[0158] The dual-motor control device includes a control chip, a motor driver chip, a signal selector, a first motor, and a second motor; the motor driver chip is coupled to the control chip and the first motor, respectively, and is coupled to the second motor through the first channel and the second channel of the signal selector, and the control chip is coupled to the signal selector. The control signal is used to control the motor driver chip to send a first drive signal to the first motor and the signal selector; the selection signal is used to instruct the signal selector to send a second drive signal to the second motor through a target channel; the target channel is any one of the first channel and the second channel; the second drive signal is the first drive signal sent through the target channel indicated by the selection signal; the first drive signal and the second drive signal are used to drive the first motor and the second motor to rotate, respectively; when the first drive signal drives the second motor through the first channel and the second channel, respectively, the second motor rotates in different directions.

[0159] In a possible implementation, when the target channel is the first channel, the rotation direction of the second motor is the same as the rotation direction of the first motor.

[0160] In one possible implementation, a dual-motor control device can be deployed on the VR glasses 300, and the first motor and the optical display module 1 (i.e., the first optical display module) can be coupled through a transmission device, and the second motor and the optical display module 2 (i.e., the second optical display module) can be coupled through a transmission device, so that the first optical display module moves by following the rotation of the first motor through the transmission device, and the second optical display module moves by following the rotation of the second motor through the transmission device.

[0161] In a possible implementation, the signal selector includes an analog switch. When the analog switch is in a first state, the target channel is the first channel; when the analog switch is in a second state, the target channel is the second channel.

[0162] In a possible implementation, the method may further include the following steps:

[0163] S801: Determine a motor rotation strategy, where the motor rotation strategy includes a rotation direction of the first motor and the second motor, and a rotation distance of the first motor and the second motor;

[0164] S802: Generate the control signal and the selection signal based on the motor rotation strategy.

[0165] In one possible implementation, determining the motor rotation strategy includes:

[0166] Obtaining a starting position and a target position of the first motor, and a starting position and a target position of the second motor;

[0167] determining a rotation direction and a distance to be rotated of the first motor based on a starting position and a target position of the first motor;

[0168] determining a rotation direction and a distance to be rotated of the second motor based on a starting position and a target position of the second motor;

[0169] The rotation distances of the first motor and the second motor are determined based on the to-be-rotated distance of the first motor and the to-be-rotated distance of the second motor.

[0170] In one possible implementation, the rotation distance of the first motor is equal to the maximum value of the distance to be rotated of the first motor and the distance to be rotated of the second motor, and the rotation distance of the second motor is equal to the maximum value of the distance to be rotated of the first motor and the distance to be rotated of the second motor.

[0171] It can be understood that the specific functions or execution steps of the control chip, motor driver chip, signal selector, first motor and second motor in the embodiment corresponding to Figure 7 above can refer to the description of any embodiment in Figures 4 to 7 above and will not be described in detail here.

[0172] The present application also provides a semiconductor chip including the dual-motor control device provided in all of the above embodiments of the present application. It is understood that the functions and effects of each component of the dual-motor control device can be referenced to the specific implementations of the embodiments shown in Figures 4 to 7 above, and will not be further described here.

[0173] The present application also provides an electronic device comprising the dual-motor control device provided in all of the above embodiments of the present application. It is understood that the functions and effects of each component of the dual-motor control device can be referred to in the specific implementations of the embodiments in Figures 4 to 7 above, and will not be further described here. Optionally, the electronic device may further include a communication interface for communicating with other devices or a communication network.

[0174] The present application also provides an electronic device that implements any of the aforementioned control methods for a dual-motor control device. This function can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the aforementioned functions.

[0175] The present application provides a computer storage medium, which stores a computer program. When the computer program is executed, the dual-motor control device can perform the functions involved in the control method process.

[0176] The present application provides a computer program, which includes instructions. When the computer program is executed, the dual-motor control device can perform the functions involved in the control method process.

[0177] The present application provides a chip system comprising any of the aforementioned dual-motor control devices. In one possible design, the chip system further comprises a memory for storing program instructions and data necessary or relevant for the dual-motor control device. The chip system may consist of a single chip or may include a chip and other discrete components.

[0178] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0179] It should be noted that, for the sake of simplicity, the aforementioned method embodiments are described as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0180] In several embodiments provided in this application, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices or units, or may be an electrical, mechanical or other form of connection.

[0181] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A dual-motor control device, characterized in that: The device includes a control chip, a motor driver chip, a signal selector, a first motor, and a second motor; the motor driver chip is coupled to the control chip and the first motor respectively, and is coupled to the second motor through the first channel and the second channel of the signal selector; the control chip is coupled to the signal selector; The control chip is used to send a control signal to the motor drive chip and send a selection signal to the signal selector; The motor driving chip is configured to receive and send a first driving signal to the first motor and the signal selector in response to the control signal; The signal selector is configured to receive the selection signal and the first drive signal, and send a second drive signal to the second motor; The second driving signal is the first driving signal sent through the target channel indicated by the selection signal; The target channel is any one of the first channel and the second channel; When the first driving signal drives the second motor through the first channel and the second channel respectively, the rotation directions of the second motor are different; The first motor is configured to receive the first drive signal and rotate in a direction driven by the first drive signal; The second motor is used to receive the second driving signal and rotate in the direction driven by the second driving signal.

2. The device according to claim 1, wherein When the target channel is the first channel, the rotation direction of the second motor is the same as the rotation direction of the first motor; when the target channel is the second channel, the rotation direction of the second motor is opposite to the rotation direction of the first motor.

3. The device according to any one of claims 1 to 2, characterized in that The device further includes a first optical display module and a second optical display module. The first optical display module moves by following the rotation of the first motor through a transmission device, and the second optical display module moves by following the rotation of the second motor through a transmission device.

4. The device according to any one of claims 1 to 3, characterized in that The signal selector includes an analog switch. When the analog switch is in a first state, the target channel is the first channel; when the analog switch is in a second state, the target channel is the second channel.

5. The device according to any one of claims 1 to 4, characterized in that The control chip is also used for: determining a motor rotation strategy, the motor rotation strategy including a rotation direction of the first motor and the second motor, and a rotation distance of the first motor and the second motor; The control signal and the selection signal are generated based on the motor rotation strategy.

6. The device according to claim 5, characterized in that The control chip is specifically used for: Obtaining a starting position and a target position of the first motor, and a starting position and a target position of the second motor; determining a rotation direction and a distance to be rotated of the first motor based on a starting position and a target position of the first motor; determining a rotation direction and a distance to be rotated of the second motor based on a starting position and a target position of the second motor; The rotation distances of the first motor and the second motor are determined based on the to-be-rotated distance of the first motor and the to-be-rotated distance of the second motor.

7. The device according to any one of claims 1 to 6, characterized in that The rotation distance of the first motor is equal to the maximum of the distance to be rotated of the first motor and the distance to be rotated of the second motor, and the rotation distance of the second motor is equal to the maximum of the distance to be rotated of the first motor and the distance to be rotated of the second motor.

8. A control method, characterized in that: A control chip applicable to a dual-motor control device, the device further comprising a motor driver chip, a signal selector, a first motor, and a second motor; the motor driver chip is coupled to the control chip and the first motor, respectively, and is coupled to the second motor via a first channel and a second channel of the signal selector; the control chip is coupled to the signal selector; the method comprising: A control signal is sent to the motor driver chip, and a selection signal is sent to the signal selector; the control signal is used to control the motor driver chip to send a first drive signal to the first motor and the signal selector; the selection signal is used to instruct the signal selector to send a second drive signal to the second motor through a target channel; the target channel is any one of the first channel and the second channel; the second drive signal is the first drive signal sent through the target channel indicated by the selection signal; the first drive signal and the second drive signal are used to drive the first motor and the second motor to rotate respectively; when the first drive signal drives the second motor through the first channel and the second channel respectively, the rotation direction of the second motor is different.

9. The method according to claim 8, wherein When the target channel is the first channel, the rotation direction of the second motor is the same as the rotation direction of the first motor; when the target channel is the second channel, the rotation direction of the second motor is opposite to the rotation direction of the first motor.

10. The method according to any one of claims 8 to 9, wherein The device further includes a first optical display module and a second optical display module. The first optical display module moves by following the rotation of the first motor through a transmission device, and the second optical display module moves by following the rotation of the second motor through a transmission device.

11. The method according to any one of claims 8 to 10, wherein: The signal selector includes an analog switch. When the analog switch is in a first state, the target channel is the first channel; when the analog switch is in a second state, the target channel is the second channel.

12. The method according to any one of claims 8 to 11, wherein The method further comprises: determining a motor rotation strategy, the motor rotation strategy including a rotation direction of the first motor and the second motor, and a rotation distance of the first motor and the second motor; The control signal and the selection signal are generated based on the motor rotation strategy.

13. The method according to claim 12, wherein: Determining the motor rotation strategy includes: Obtaining a starting position and a target position of the first motor, and a starting position and a target position of the second motor; determining a rotation direction and a distance to be rotated of the first motor based on a starting position and a target position of the first motor; determining a rotation direction and a distance to be rotated of the second motor based on a starting position and a target position of the second motor; The rotation distances of the first motor and the second motor are determined based on the to-be-rotated distance of the first motor and the to-be-rotated distance of the second motor.

14. The method according to any one of claims 8 to 13, wherein The rotation distance of the first motor is equal to the maximum of the distance to be rotated of the first motor and the distance to be rotated of the second motor, and the rotation distance of the second motor is equal to the maximum of the distance to be rotated of the first motor and the distance to be rotated of the second motor.

15. A head-mounted display device, comprising the dual-motor control device according to any one of claims 1 to 7; the head-mounted display device further comprising a memory, the memory being used to store necessary program instructions and data for the dual-motor control device.

16. A computer-readable storage medium, characterized in that The storage medium stores a computer program or instruction, and when the computer program or instruction is executed, the method according to any one of claims 8 to 15 is implemented.

17. A computer program, characterized in that The computer program comprises instructions, and when the computer program is executed, the method according to any one of claims 8 to 15 is implemented.

18. An electronic device, characterized in that: The dual-motor control device comprises the dual-motor control device according to any one of claims 1 to 7.

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