Device and control method for simulating eye movement

Abstract

On the one hand, the present invention provides a device for simulating eye movement, which includes a fixed support mechanism, a simulated eye system, a drive system and a control system; wherein a first transmission part is arranged on the drive system; the simulated eye system includes a simulated eye, a spherical center limit assembly and a second transmission part, and a circular arc surface slide is arranged on the second transmission part; on the other hand, a control method for simulating eye movement is provided; the first transmission part is driven by a drive unit to perform a compound drive, driving the circular arc surface slide of the second transmission part to perform a compound rotational movement up and down and left and right, thereby causing the simulated eye to perform a compound rotation up and down and left and right and more complex, faster and larger amplitude movements, thereby solving the problem in the prior art that the simulated eye can only perform a simple left and right rotation, thereby achieving the effect of simulating human eye movement.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a device for simulating eye movement and a control method. Background Art

[0002] Robots themselves do not have visual perception capabilities, and they need to be given a pair of "eyes" so that they can have the capabilities of detection, judgment, and recognition like humans.

[0003] At present, in a fundus imaging system, whether it is a fundus camera, line scan imaging or point scan imaging, a simulated eye is required for functional testing before the human eye test. In previous testing methods, the material and shape of the simulated eye are generally required to conform to the characteristics of the human eye. A simple system consisting of a lens and a piece of paper is a simulated eye, but there has never been any requirement for the movement of the simulated eye.

[0004] In the confocal scanning imaging tracking system, since the optical system is designed specifically for the human eye, the previous simulated eye movement can only do simple left and right translation, which is manifested in the image as the simulated left and right rotation of the eyeball; with the development of society and the advancement of science and technology, products that simulate human eye movement are becoming more and more important in precise tracking tests. In terms of tracking quality, the main factor plays a role in whether the movement of the simulated eye can conform to the movement pattern of the human eye.

[0005] In reality, human eye movements are very complex and can move up and down, left and right, and rotate in multiple directions. Therefore, the inventor urgently needs to develop a device that can accurately simulate human eye movements. Summary of the invention

[0006] In view of this, the present invention provides a device for simulating eye movement and a control method. The mechanical structure of the device matches the movement pattern of the human eye, and can enable the simulated eyeball to perform up and down, left and right, compound rotations and more complex movements, thereby solving the problem in the prior art that the simulated eye movement mode can only perform simple left and right rotations, thereby achieving the effect of simulating human eye movement.

[0007] To achieve the above-mentioned objectives, on the one hand, the present invention provides a device for simulating eye movement, comprising a fixed support mechanism, a simulated eye system located at one end of the fixed support mechanism, and a drive system and a control system at the other end; a first transmission part is arranged on the drive system; the simulated eye system comprises a simulated eye, a concentric limit assembly arranged on the simulated eye, and a second transmission part, one end of the second transmission part is fixedly connected to the simulated eye, and the other end is provided with a circular arc slide, and the circular arc slide abuts against the first transmission part; the control system is connected to the drive system.

[0008] Furthermore, the first transmission part is provided with an arc surface, and the arc surface abuts against the arc surface slide.

[0009] Furthermore, the center of the arc surface slide is the center of the simulated eye.

[0010] Furthermore, the spherical center limit assembly is used to fix the simulated eye, including a simulated eye socket, a meridian fixing ring and an equatorial fixing ring; the simulated eye socket is provided with a plurality of through holes, and the intersection of the center lines of the plurality of through holes is the spherical center of the simulated eye; the meridian fixing ring is fixedly connected to the simulated eye socket, and a plurality of threaded through holes corresponding to the plurality of through holes are provided on the meridian fixing ring; the equatorial fixing ring is fixedly connected to one end of the fixed support mechanism, and the equatorial fixing ring is fixedly connected to the meridian fixing ring.

[0011] Furthermore, the meridian fixing ring is connected to the simulated eye socket via a set screw, a number of balls are respectively installed in a number of the through holes, a number of the balls abut against the spherical surface of the simulated eye, and the set screw passes through the threaded through hole and extends to the through hole, and abuts against the balls.

[0012] Furthermore, the driving system includes a first driving unit and a second driving unit, and the second driving unit drives the first driving unit to move up and down.

[0013] Further, the second drive unit includes a second motor, a second motor bracket, a transmission screw arranged on the output shaft of the second motor and a slider arranged on the transmission screw, and the second motor bracket is fixedly connected to the other end of the fixed support mechanism; the first drive unit includes a first motor, a first motor bracket and a first transmission part, the first transmission part is arranged on the output end of the first motor, and the first motor bracket is fixedly connected to the slider.

[0014] Furthermore, the control system includes a host computer software, a signal distributor module, a first control module and a second control module. The host computer software is used to collect and store human eye movement data; the signal distributor is used to receive the human eye movement data of the host computer software and send the human eye movement data to the first control module and the second control module. The first control module and the second control module respectively control the first drive unit and the second drive unit.

[0015] On the other hand, the present invention provides a control method for simulating eye movement, which adopts the above-mentioned device for simulating eye movement to control the method for simulating eye movement, the control system controls the driving system to make the first transmission part rotate and / or move up and down, and drive the second transmission part fixedly connected to the simulated eye to rotate along the arc surface of the circular arc slide, thereby driving the simulated eye to rotate in space.

[0016] Furthermore, the control system includes a signal distributor module and a control module, and includes the following specific control steps:

[0017] Step 1: Obtain the trajectory signal, and the control system generates an address command string based on the trajectory signal and sends it to the signal distributor module;

[0018] Step 2: After the signal distributor module receives the address command string, it sends it to the control module at the same time;

[0019] Step 3: The control module reads the address command string to control the speed and position of the drive system;

[0020] Step 4: The drive system executes the address command string to make the first transmission part rotate and / or move up and down, and drive the second transmission part fixedly connected to the simulation eye to rotate along the arc surface of the circular arc slide, thereby driving the simulation eye to rotate in space.

[0021] Furthermore, the host computer software in the control system generates address command characters according to the acquired trajectory signal.

[0022] Furthermore, the address command string includes a first address command string and a second address command string; the control module includes a first control module and a second control module; the first control module reads the first address command string to control the speed and position of the first drive unit; the second control module reads the second address command string to control the speed of the second drive unit.

[0023] Furthermore, the trajectory signal obtained in step 1 is a trajectory file of collected human eye movement data or historical records.

[0024] Furthermore, the trajectory file of the historical records is a record of the commands of each operation and the time interval between the commands by the host computer software, and the trajectory file is obtained after the recording is completed.

[0025] Beneficial effects of the present invention:

[0026] 1. The mechanical structure of the device of the present invention matches the movement pattern of the human eye, and its movement pattern is closer to the human eye. In the optical system designed for the human eye, more accurate tracking test results can be obtained, and the limit of the tracking algorithm can be tested more deeply. The feedback data obtained from the test can more directly reflect the success rate of the tracking algorithm.

[0027] 2. The driving system of the device and the control system that controls the driving system avoid directly moving the simulated eye by hand, and the convenience and precision control are greatly improved. Further, the driving system drives the first transmission part in a compound manner, driving the arc surface slide of the second transmission part to perform relative up and down, left and right compound rotational motion, thereby making the simulated eye perform up and down, left and right and compound rotation and more complex, faster and larger amplitude movements.

[0028] 3. The static friction transmission system formed by the arc surface slide and the first transmission part utilizes static friction. Within the rated rotation angle, any angle of spatial rotation can be selected to remain stationary. The arc surface slide is in close contact with the first transmission part, so that the rotation and the composite motion of the up and down movement of the first transmission part are converted into the spatial rotation of the arc surface slide. The purpose is to convert the complex spatial rotation into motion on the plane. The motion on the plane can also be converted into the rotation and axial motion of the column, thereby realizing the feasibility of precise control of the device.

[0029] 4. The first drive unit and the second drive unit of the device drive system form a power output mechanism. The transmission screw of the second drive unit rotates in the vertical direction, driving the slider to move up and down, and then driving the first drive unit to move up and down. The control system enables the motors (first motor, second motor) to rotate and move up and down accurately, ensuring the stability of the power output of the device and providing a strong foundation for the accuracy of simulating eye movements.

[0030] 5. The device and the spherical center limit system can fix the simulated eye firmly and will not rotate. After being combined, it can rotate at any angle in space. The equatorial fixing ring is fixedly connected to the fixed support mechanism to limit the rotation of the simulated eye around the horizontal axis, and the meridian fixing ring limits the rotation of the simulated eye around the vertical axis. The simulated eye frame is used to fix the simulated eye. When combined, the simulated eye can fully rotate with the spherical center. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The following drawings are used to provide a further understanding of the present application, constitute a part of the present application, and are only intended to provide an illustrative explanation and description of the present invention, and are not intended to limit the scope of the present invention. In the drawings:

[0032] Figure 1 This is a schematic diagram of the assembly structure of a device for simulating eye movement in Example 1 of the present application;

[0033] Figure 2It is a front view schematic diagram of the assembly structure of an eye movement simulation device in Embodiment 1 of the present application;

[0034] Figure 3 It is a schematic top view of the assembly structure of an eye movement simulation device in Embodiment 1 of the present application;

[0035] Figure 4 This is a schematic diagram of the exploded structure of the simulated eye system in Example 1 of the present application;

[0036] Figure 5 This is a flow chart of a control method for simulating eye movement in Embodiment 2 of the present application;

[0037] Figure 6 For Figure 5 A flowchart of a control method for simulating eye movement is further specified based on the present invention.

[0038] Reference numerals:

[0039] 1. Fixed support mechanism; 11. Fixed base; 12. Side plate at the other end of the fixed base; 13. Side plate at one end of the fixed base; 200. Second drive unit; 201. First drive unit; 21. Second motor; 22. Second motor bracket; 23. Transmission screw; 24. Slider; 25. First motor bracket; 26. First motor; 27. First transmission unit; 3. Simulated eye system; 31. Simulated eye; 311. Simulated eyeball; 32. Simulated eye socket; 321. Simulated eye socket pressure ring; 33. Meridian fixing ring; 34. Equatorial fixing ring; 35. Second transmission unit; 351. Arc surface slide; 3511. Arc surface of the arc surface slide. DETAILED DESCRIPTION

[0040] The present invention is mainly used in laser equipment systems to form standardized inspections and tests, which can more accurately measure the system bandwidth and understand the system performance. For example: before animal experiments are conducted on Class 3 laser equipment (for lighting), the reliability and safety of the product's automatic tracking system are inspected and tested; before animal experiments are conducted on Class 4 laser equipment (for treatment), the treatment laser is precisely struck to simulate the patient's small probability of eye movement to the restricted area during treatment, and the laser strike is tested to see whether the product can stop and skip the restricted area more intelligently and quickly to prevent the risk of blindness caused by hitting the optic disc or macula, thereby further improving safety and reliability. Furthermore, the present invention can be used in a series of ophthalmic instrument products. The optical system of the device is designed for the human eye, and can obtain more accurate tracking test results, and can more deeply test the limits of the tracking algorithm. The feedback data obtained from the test can more directly reflect the success rate of the tracking algorithm, forming a standardized inspection and test.

[0041] The following will disclose multiple implementation modes of the present application in the form of drawings to clearly and completely describe the technical solution of the present invention, which constitute a part of the specification of the present application. The drawings are used to provide a further understanding of the present invention. The schematic embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

[0042] It should be noted that unless a direction is defined separately, the directions such as up, down, left, right, horizontal, and vertical in this document are all based on the embodiments of this application. Figure 2 The directions of up, down, left, right, horizontal, vertical, etc. shown in the figure shall prevail. If the specific posture changes, the directional indication will also change accordingly. "Multiple" and "several" mean two or more. It is explained here that the use of "first", "second" and similar words does not indicate any order, quantity or importance, but is only used to distinguish different components. In addition, in various embodiments of the present disclosure, the same or similar reference numerals represent the same or similar components.

[0043] In the present invention, unless otherwise clearly defined and specified, the terms "connection", "fixation" and the like should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0045] Embodiment 1

[0046] See also Figures 1 to 4, a schematic diagram of the assembly structure of a device for simulating eye movement in this embodiment, which includes a fixed support mechanism 1, a simulated eye system 3 located at one end of the fixed support mechanism 1, a drive system located at the other end of the fixed support mechanism 1 and a control system for controlling the drive system; wherein the drive system includes a first drive unit 201 and a second drive unit 200, wherein the second drive unit 200 drives the first drive unit 201 to move up and down, and the output end of the first drive unit 201 is provided with a first transmission part 27; the simulated eye system 3 includes a simulated eye 31, a concentric limit assembly and a second transmission assembly provided on the simulated eye 31 Part 35, one end of the second transmission part 35 (the end close to the simulated eye) is fixedly connected to the simulated eye 31, and the connection method is a mutual clamping structure clamping or other methods of detachable fixed connection, and the other end is provided with an arc surface slide 351, which is made of wear-resistant rubber material, such as nitrile, and the arc surface slide 351 is tightly abutted against the first transmission part 27. When the first transmission part 27 rotates and moves up and down at the same time, the second transmission part 35 fixedly connected to the simulated eye is driven to rotate up and down and left and right along the arc surface 3511 of the arc surface slide 351, so that the simulated eyeball 311 of the simulated eye 31 shows spatial rotation. The control system includes a host computer software, a signal distributor module, a first control module and a second control module, wherein the host computer software is used to collect human eye movement data and store trajectory signal files; the signal distributor is used to receive human eye movement data or trajectory signal files from the host computer software, and send the human eye movement data or trajectory signal files to the first control module and the second control module, and the first control module and the second control module respectively control the first drive unit and the second drive unit.

[0047] It should be noted that the first driving unit 201 is driven to move up and down by the second driving unit 200, and the first driving unit 201 rotates at the same time, forming a composite drive of the first transmission part 27, driving the arc surface slide 351 of the second transmission part 35 to perform a relative up and down, left and right composite rotation movement, thereby making the simulated eye 31 perform up and down, left and right composite rotation and more complex, faster, and larger movements; the static friction transmission system formed by the arc surface slide 351 and the first transmission part 27 utilizes static friction, and within the rated rotation angle, any angle of spatial rotation can be selected to be stationary, and the arc surface slide 351 is closely abutted against the first transmission part 27, which further enables the simulated eye 31 of the device to perform up and down, left and right composite rotation and more complex spatial rotation Precise control is possible; further, the device and the ball center limit system 3 make the simulated eye firmly fixed and will not rotate, and after the composite, it can rotate at any angle in space; thereby solving the problem that the simulated eye in the prior art can only perform simple left and right rotation, and achieving the effect of simulating human eye movement.

[0048] like Figure 1As shown in FIG. 1 , as a specific implementation, the first transmission part 27 in this embodiment is provided with an arc surface, and the first transmission part 27 includes a connecting shaft fixedly connected to the first motor 26 and a wear-resistant cylindrical rubber rod provided on the connecting shaft, and the outer surface of the cylindrical rubber rod is an arc surface. Figure 2 , Figure 3 As shown, further, the center of the arc surface 3511 of the arc surface slide 351 in this embodiment is the center of the simulated eye, which has strong transmission consistency and accuracy. The static friction transmission system formed by the arc surface slide 351 and the cylindrical rubber rod can be selected to be stationary at any angle of spatial rotation within the rated rotation angle by utilizing static friction. The arc surface slide 351 is tightly in contact with the cylindrical rod, so that the movement of the cylindrical surface of the cylindrical rubber rod is converted into the rotation of the spherical surface of the arc surface slide. The purpose is to convert complex spatial rotation into motion on a plane, and the motion on a plane can also be converted into the rotation and axial motion of a cylinder, thereby realizing the feasibility of precise control of the device;

[0049] like Figure 4 As shown, as a specific implementation mode, the concentric limiting assembly 3 in this embodiment includes a simulated eye socket 32, a meridian fixing ring 33 and an equatorial fixing ring 34 arranged concentrically, and the concentricity is the center of the sphere of the simulated eye 31; further preferably, a plurality of through holes are arranged on the simulated eye socket 32 ​​for fixing the simulated eye 31, and a plurality of threaded through holes corresponding to the plurality of through holes arranged on the simulated eye socket 32 ​​are arranged on the meridian fixing ring 33. In this embodiment, the number of through holes is preferably four, but not limited to four, and can also be two, six, eight or more symmetrically arranged according to actual conditions. It is worth noting that the intersection of the center lines of the plurality of through holes is the center of the sphere of the simulated eye. This design is more conducive to the accurate implementation of the simulated eye simulating the movement of the human eye; combined with Figure 1 As shown, the meridian fixing ring 33 in this embodiment is fixedly connected to the simulated eye socket 32 ​​by a set screw connection, and a ball is placed in the through hole of the simulated eye socket 32, such as Figure 3 As shown, the first hexagon socket set screw 323 and the second hexagon socket set screw 325 in this embodiment are screwed into the threaded through hole corresponding to the meridian fixing ring 33 by using a special wrench (hexagon socket), extend to the through hole corresponding to the simulated eye socket 32, and respectively abut against the first ball 322 and the second ball 324, so that the balls are tightly abutted against the spherical surface of the simulated eye 31. Therefore, the meridian fixing ring 33 limits the simulated eye to rotate only around the vertical axis, and will not produce movement in the front and rear directions, which is beneficial to the precise stability of the device. Furthermore, the simulated eye socket pressure ring 321 is pressed into the simulated eye socket at the front end of the simulated eye 31 to increase the aesthetics and bridging properties.

[0050] Combination Figures 1 to 4As shown, as a specific implementation, the equatorial fixing ring 34 in this embodiment is fixedly connected to the arc-shaped retaining groove on the side plate 13 at one end of the fixed support mechanism 1, and the equatorial fixing ring 34 is fixedly connected to the meridian fixing ring 33 by a hexagon socket set screw. Combined with the overall mechanical structure of the device, the equatorial fixing ring fixes and restricts the simulated eye to rotate around the horizontal axis, the meridian fixing ring restricts the simulated eye to rotate around the vertical axis, and the simulated eye frame is used to fix the simulated eye. Combined, the simulated eye can fully rotate with the center of the sphere.

[0051] As a further specific implementation, the second drive unit 200 in this embodiment includes a second motor 21, a second motor bracket 22, a transmission screw 23 arranged on the output shaft of the second motor 21, and a slider 24 arranged on the transmission screw 23; wherein, a transmission screw is arranged on the transmission screw 23, and an inner screw corresponding to the transmission screw is arranged in the slider 24, and the second motor bracket 22 is fixedly connected to the other end side plate 12 of the fixed support mechanism; the second motor 21 starts to rotate and drives the transmission screw 23 to rotate, so that the slider 24 drives the first motor 26 to move up and down. Furthermore, the first drive unit 201 in the present embodiment includes a first motor 26, a first motor bracket 25 and a first transmission part 27 arranged at the output end of the first motor. The first drive unit 201 and the second drive unit 200 of the device drive system form a power output mechanism. The transmission screw 23 of the second drive unit 200 rotates in the vertical direction, driving the slider 24 to move up and down, and then driving the first motor 26 to move up and down, which can make the motors (first motor, second motor) rotate and move up and down accurately, thereby ensuring the stability of the power output of the device and providing a strong foundation for the accuracy of simulating eye movements.

[0052] Embodiment 2

[0053] like Figure 5 As shown, this embodiment provides a control method for simulating eye movement, which uses the device for simulating eye movement of the above embodiment 1 to control the method for simulating eye movement, wherein the control system includes a signal distributor module and a control module, and the specific steps are as follows:

[0054] Step 1: Obtain the trajectory signal, and the control system generates an address command string based on the trajectory signal and sends it to the signal distributor module;

[0055] Step 2: After the signal distributor module receives the address command string, it sends it to the control module at the same time;

[0056] Step 3: The control module reads the address command string to control the speed and position of the drive system;

[0057] Step 4: The drive system executes the address command string to make the first transmission part rotate and / or move up and down, and drive the second transmission part fixedly connected to the simulated eye to rotate along the arc surface of the circular arc slide, thereby driving the simulated eyeball of the simulated eye to rotate in space.

[0058] like Figure 6 As shown, as a specific implementation, the further specific control steps are:

[0059] Step S01: Collecting human eye movement data or historical records to form a trajectory signal;

[0060] Step S02: The host computer software obtains and generates a first address command string and a second address command string according to the trajectory signal and sends them to the signal distributor module;

[0061] Step S03: After receiving the first address command string and the second address command string, the signal distributor module sends them to the first control module and the second control module at the same time;

[0062] Step S04: the first control module reads the first address command string to control the speed and position of the first drive unit; the second control module reads the second address command string to control the speed of the second drive unit.

[0063] Step S05: The first drive unit and the second drive unit simultaneously execute the command strings they should execute, so that the first transmission part rotates and moves up and down, and drives the second transmission part fixedly connected to the simulation eye to rotate along the arc surface of the circular arc slide, thereby driving the simulation eye to rotate in space.

[0064] As a further specific implementation manner, the trajectory file of the historical records in this embodiment is a command of each operation and the time interval between the commands recorded by the host computer software, and the trajectory file is obtained after the recording is completed.

[0065] Embodiment 3

[0066] Based on the first and second embodiments, this embodiment further elaborates the present invention. The connection part of the eye movement simulation device is a static friction transmission. Theoretically, under normal speed, within the rated rotation angle, the user can choose any angle of spatial rotation to be stationary. Of course, the eye movement simulation device can be linked, can make compound angles, and can rotate regularly or irregularly (program control).

[0067] In addition, when the fundus tracking device is immature, the simulated eye movement device can be used to test and train the fundus tracking device to reduce the occurrence of accidents in clinical practice. After the manual test simulated eye movement meets expectations, the motor controller can be installed. Generally, the motor controller uses an STM32 (STMicroelectronics STM32) single-chip microcomputer, which can receive digital signals and output analog signals. The first motor 201 and the second motor each correspond to an STM32 single-chip microcomputer, and each single-chip microcomputer has a unique address. The software embedded in the single-chip microcomputer needs to set the speed, position, zero position, etc. of the motor, and interact with the host computer at the same time.

[0068] The signal distributor is replaced by a bus structure. Each motor controller's microcontroller receives commands for its own address and directly discards commands for other addresses. When the baud rate is 9600, a command of no more than 10 bytes only takes 1ms, and the time delay caused by the order of sending commands can be ignored.

[0069] The connection between the host computer software and the microcontroller of the motor controller is serial communication with a baud rate of 9600. The host computer software program provides basic functions such as speed setting, position setting, and returning to zero point, as well as trajectory recording, trajectory reading, and replay functions.

[0070] A specific control process is described as follows:

[0071] 1. The user opens the host computer software and chooses to open the corresponding serial port;

[0072] 2. When the user clicks the record button, the software automatically generates a timer and creates an empty file on the hard disk to record the action and time interval;

[0073] 3. The user selects the movement speed and then clicks the 2D location to move;

[0074] 4. The host computer software records this action to the hard disk, and then automatically generates two address command strings with different addresses;

[0075] 5. The host computer software sends these two address command strings to the bus through the serial port at the same time;

[0076] 6. The first motor controller MCU and the second motor controller MCU receive the address command string successively, and then the software of each MCU finds the command to be executed according to the address;

[0077] 7. Each MCU software sets the speed and position of the motor according to the received command;

[0078] 8. Under the joint action of the first motor 201 and the second motor 200, the base of the simulated eye 31 rotates on the imaginary spherical surface (the arc surface 3511 of the arc surface slide 351), and the simulated eyeball 311 at the front end exhibits the effect of left-right and up-down rotation;

[0079] 9. The user continues to select the next location and repeats step 3;

[0080] 10. After the user clicks to end recording, the software generates a trajectory file and saves it to the hard disk. The software also provides a replay function. The steps are basically the same as the above steps, except that the user's actions are replaced by actions read from the trajectory file. The motion trajectory command read by the host computer can come from the historical records of this system or from other systems. The motion trajectory command is composed of a two-dimensional velocity vector and a two-dimensional direction vector.

[0081] The above description shows and describes the preferred implementation of the present application, but as mentioned above, it should be understood that the present application is not limited to the form disclosed herein, and should not be regarded as excluding other implementations, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the object concept of this article through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present application, and should be within the scope of protection of the claims attached to the present application.

Claims

1. A device for simulating eye movement, comprising a fixed support mechanism, a simulated eye system at one end of the fixed support mechanism, and a drive system and a control system at the other end; characterized in that: The driving system is provided with a first transmission part; The simulated eye system includes a simulated eye, a spherical center limit assembly arranged on the simulated eye, and a second transmission part, one end of the second transmission part is fixedly connected to the simulated eye, and the other end is provided with an arc surface slide, the spherical center of the arc surface slide is the spherical center of the simulated eye, and the arc surface slide abuts against the first transmission part, so that the composite motion of the rotation and up and down movement of the first transmission part is converted into the spatial rotation of the arc surface slide, and then the simulated eye exhibits spatial rotation through the second transmission part; The control system is connected to the drive system; The first transmission part is provided with an arc surface, and the arc surface abuts against the arc surface slide.

2. A device for simulating eye movement as claimed in claim 1, characterized in that: The spherical center limiting assembly is used to fix the simulated eye, and includes a simulated eye socket, a meridian fixing ring and an equatorial fixing ring; The simulated eye socket is provided with a plurality of through holes, and the intersection of the center lines of the plurality of through holes is the center of the simulated eye; The meridian fixing ring is fixedly connected to the simulated eye socket, and the meridian fixing ring is provided with a plurality of threaded through holes corresponding to the plurality of through holes; The equatorial fixing ring is fixedly connected to one end of the fixing support mechanism, and the equatorial fixing ring is fixedly connected to the meridian fixing ring.

3. A device for simulating eye movement as claimed in claim 2, characterized in that The meridian fixing ring is connected to the simulated eye socket through a fixing screw, and a plurality of balls are respectively installed in the plurality of through holes, and the plurality of balls abut against the spherical surface of the simulated eye. The fixing screw passes through the threaded through hole and extends to the through hole, and abuts against the ball.

4. A device for simulating eye movement as claimed in claim 1, characterized in that: The driving system includes a first driving unit and a second driving unit, and the second driving unit drives the first driving unit to move up and down.

5. A device for simulating eye movement as claimed in claim 4, characterized in that: The second drive unit includes a second motor, a second motor bracket, a transmission screw arranged on the output shaft of the second motor and a slider arranged on the transmission screw, and the second motor bracket is fixedly connected to the other end of the fixed support mechanism; the first drive unit includes a first motor, a first motor bracket and a first transmission part, the first transmission part is arranged on the output end of the first motor, and the first motor bracket is fixedly connected to the slider.

6. A device for simulating eye movement as claimed in claim 4, characterized in that: The control system includes a host computer software, a signal distributor module, a first control module and a second control module. The host computer software is used to collect and store human eye movement data; the signal distributor is used to receive the human eye movement data of the host computer software and send the human eye movement data to the first control module and the second control module. The first control module and the second control module respectively control the first drive unit and the second drive unit.

7. A control method for simulating eye movement, characterized in that: A method for controlling simulated eye movement using the device for simulating eye movement described in claim 1, wherein the control system controls the drive system so that the composite movement of the first transmission part rotating and / or moving up and down is converted into the spatial rotation of the arc surface slide, and drives the second transmission part fixedly connected to the simulated eye to rotate along the arc surface of the arc surface slide, thereby driving the simulated eye to rotate in space, and the center of the arc surface slide is the center of the simulated eye.

8. A control method for simulating eye movement as claimed in claim 7, characterized in that: The control system includes a signal distributor module and a control module, The specific control steps are as follows: Step 1: Obtain the trajectory signal, and the control system generates an address command string based on the trajectory signal and sends it to the signal distributor module; Step 2: After the signal distributor module receives the address command string, it sends it to the control module at the same time; Step 3: The control module reads the address command string to control the speed and position of the drive system; Step 4: The drive system executes the address command string to make the first transmission part rotate and / or move up and down, and drive the second transmission part fixedly connected to the simulation eye to rotate along the arc surface of the circular arc slide, thereby driving the simulation eye to rotate in space.

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