Kappa angle acquisition method, calibration method, compensation method, device, system and medium

Abstract

The invention discloses a Kappa angle acquisition method, a Kappa angle calibration method, a Kappa angle compensation method, a Kappa angle calibration device, a Kappa angle compensation device, a Kappa angle compensation system and a medium and belongs to the technical field of human eye simulation equipment. The Kappa angle acquisition method comprises the following steps: calibrating a laser transmitter of a calibration system to enable a laser light path transmitted by the laser transmitter to coincide with an optical axis of human eye simulation equipment; controlling the human eye simulation equipment to shoot the laser emitting hole to obtain a first calibration image; detecting the first calibration image, and determining a first center of a circle corresponding to the laser emitting hole in the first calibration image; controlling the human eye simulation equipment to move according to the position of the first circle center, and determining a first motion coefficient of the human eye simulation equipment; and determining an initial Kappa angle of the human eye simulation equipment based on the first motion coefficient. Therefore, the initial Kappa angle of the human eye simulation equipment can be accurately determined.

Description

Technical Field

[0001] The present application relates to the technical field of human eye simulation equipment, and in particular to a Kappa angle acquisition method, an acquisition device, an acquisition system, a Kappa angle calibration method, a calibration device, a calibration system, a Kappa angle compensation method, a compensation device, a compensation system and a computer-readable storage medium. Background Art

[0002] The optical axis of the human eye does not completely coincide with the visual axis, and the angle between them is the kappa angle. The kappa angle is very important for the training of eye movement algorithms. At present, human eye simulation devices are often used to train eye movement algorithms; however, due to assembly reasons, the optical axis of the camera (simulating the visual axis of the human eye) and the optical axis of the simulated eyeball do not completely coincide, that is, there is a kappa angle, and the kappa angle of each device is different. Therefore, how to determine the kappa angle of the human eye simulation device is a problem that needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide a Kappa angle acquisition method, an acquisition device, an acquisition system, a Kappa angle calibration method, a calibration device, a calibration system, a Kappa angle compensation method, a compensation device, a compensation system and a computer-readable storage medium to solve at least one of the above-mentioned technical problems.

[0004] The Kappa angle acquisition method of the embodiment of the present application is applied to a human eye simulation device, and the Kappa angle acquisition method includes: Calibrate the laser transmitter of the calibration system so that the laser light path emitted by the laser transmitter coincides with the optical axis of the human eye simulation device; Controlling the human eye simulation device to photograph the laser exit hole to obtain a first calibration image; Detecting the first calibration image to determine a first center of a circle corresponding to the laser exit hole in the first calibration image; Controlling the movement of the human eye simulation device according to the position of the first circle center, and determining a first movement coefficient of the human eye simulation device; An initial Kappa angle of the human eye simulation device is determined based on the first motion coefficient.

[0005] In some embodiments, the calibration system includes a calibration plate, which is fixedly connected to the laser emitter and located between the laser emitter and the human eye simulation device; The laser exit hole is arranged at a position of the calibration plate corresponding to the laser emission hole of the laser emitter, and the radius of the laser exit hole is smaller than the radius of the laser emission hole.

[0006] In some embodiments, the calibration system includes a translation stage, the laser emitter is disposed on the translation stage, and the laser emitter of the calibration system is calibrated so that the laser light path emitted by the laser emitter coincides with the optical axis of the human eye simulation device, including: Controlling the displacement stage to drive the laser emitter to move along a first direction to determine a first displacement and a second displacement; Controlling the displacement stage to drive the laser emitter to move along the second direction to determine a third displacement and a fourth displacement; determining a calibration stroke of the translation stage according to the first displacement, the second displacement, the third displacement, and the fourth displacement; Controlling the translation stage to move according to the calibration stroke so that the laser light path emitted by the laser transmitter coincides with the optical axis of the human eye simulation device; The first direction is perpendicular to the second direction.

[0007] In some embodiments, the calibration system includes a first photoelectric sensor, a second photoelectric sensor, a third photoelectric sensor, and a fourth photoelectric sensor, wherein the first photoelectric sensor, the second photoelectric sensor, the third photoelectric sensor, and the fourth photoelectric sensor are all arranged on a side of the calibration plate close to the human eye simulation device, the first photoelectric sensor and the second photoelectric sensor are arranged on two opposite sides of the laser exit hole along the first direction, and the third photoelectric sensor and the fourth photoelectric sensor are arranged on two opposite sides of the laser exit hole along the second direction, and the control of the displacement stage to drive the laser emitter to move along the first direction to determine the first displacement and the second displacement includes: Controlling the translation stage to drive the laser transmitter to move a predetermined number of times along the first direction, and during each movement, recording the light intensity received by the first photoelectric sensor and the second photoelectric sensor to determine a corresponding first light intensity curve; Determine a corresponding plurality of first displacements and a corresponding plurality of second displacements according to a plurality of first light intensity curves; The step of controlling the displacement stage to drive the laser emitter to move along the second direction to determine the third displacement and the fourth displacement includes: Controlling the translation stage to drive the laser transmitter to move a predetermined number of times along the second direction, and during each movement, recording the light intensity received by the third photoelectric sensor and the fourth photoelectric sensor to determine a corresponding second light intensity curve; Determine a corresponding plurality of the third displacements and a corresponding plurality of the fourth displacements according to a plurality of the second light intensity curves; The step of determining the calibration stroke of the translation stage according to the first displacement, the second displacement, the third displacement, and the fourth displacement comprises: A calibration stroke of the translation stage is determined according to the plurality of first displacements, the plurality of second displacements, the plurality of third displacements, and the plurality of fourth displacements.

[0008] In some embodiments, the calibration stroke includes a first calibration stroke and a second calibration stroke, and determining the calibration stroke of the translation stage according to the plurality of first displacements, the plurality of second displacements, the plurality of third displacements, and the plurality of fourth displacements comprises: When the plurality of first displacements, the plurality of second displacements, the plurality of third displacements, and the plurality of fourth displacements all meet a preset condition, determining the first calibration stroke of the translation stage according to the plurality of first displacements and the plurality of second displacements, and determining the second calibration stroke of the translation stage according to the plurality of third displacements and the plurality of fourth displacements; When the plurality of first displacements, the plurality of second displacements, the plurality of third displacements or the plurality of fourth displacements do not satisfy the preset condition, the plurality of first displacements, the plurality of second displacements, the plurality of third displacements and the plurality of fourth displacements are saved, and the step of controlling the displacement stage to drive the laser emitter to move along the first direction to determine the first displacement and the second displacement is returned; The step of controlling the translation stage to move according to the calibration stroke so that the laser light path emitted by the laser transmitter coincides with the optical axis of the human eye simulation device comprises: Controlling the translation stage to move according to the first calibration stroke and the second calibration stroke so that the laser light path emitted by the laser transmitter coincides with the optical axis of the human eye simulation device; The preset condition is that at least a predetermined proportion of the displacements among the multiple displacements are equal.

[0009] In some embodiments, the Kappa angle acquisition method detects the first calibration image based on an edge detection algorithm and a circle detection algorithm; The step of controlling the movement of the human eye simulation device according to the position of the first circle center and determining a first movement coefficient of the human eye simulation device includes: determining a vector from a center point of the first calibration image to a center point of the first circle; According to the modulus of the vector, the movement of the human eye simulation device is controlled, and the movement coefficient of the human eye simulation device is recorded to determine the first movement coefficient.

[0010] In some embodiments, controlling the movement of the human eye simulation device according to the modulus of the vector and recording the movement coefficient of the human eye simulation device to determine the first movement coefficient includes: When the modulus of the vector is greater than or equal to the first preset modulus, controlling the human eye simulation device to move along the direction of the vector at a first preset speed, and returning to the step of controlling the human eye simulation device to photograph the laser exit hole to obtain a first calibration image; When the modulus of the vector is greater than or equal to the second preset modulus and less than the first preset modulus, controlling the human eye simulation device to move along the direction of the vector at a second preset speed, and returning to the step of controlling the human eye simulation device to photograph the laser exit hole to obtain a first calibration image; When the modulus of the vector is less than the second preset modulus, recording the current motion coefficient of the human eye simulation device as the first motion coefficient; Wherein, the first preset speed is greater than the second preset speed.

[0011] The Kappa angle acquisition device of the embodiment of the present application is applied to a human eye simulation device, and the Kappa angle acquisition device includes: A laser calibration module, used to calibrate a laser transmitter of a calibration system so that the laser light path emitted by the laser transmitter coincides with the optical axis of the human eye simulation device; A first control module, used for controlling the human eye simulation device to photograph the laser exit hole to obtain a first calibration image; An image detection module, configured to detect the first calibration image and determine a first center of a circle corresponding to the laser exit hole in the first calibration image; A second control module, used for controlling the movement of the human eye simulation device according to the position of the first circle center, and determining a first movement coefficient of the human eye simulation device; An angle determination module is used to determine an initial Kappa angle of the human eye simulation device based on the first motion coefficient.

[0012] The Kappa angle acquisition system of the implementation mode of the present application includes one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the Kappa angle acquisition method of any of the above implementation modes is implemented.

[0013] The computer-readable storage medium of the embodiment of the present application stores a computer program thereon, and when the program is executed by a processor, the Kappa angle acquisition method of any of the above embodiments is implemented.

[0014] The Kappa angle calibration method of the embodiment of the present application is applied to a human eye simulation device, wherein the human eye simulation device includes a camera. The Kappa angle calibration method determines a first motion coefficient and an initial Kappa angle by using the Kappa angle acquisition method of any of the above embodiments. The Kappa angle calibration method includes: Set the laser point position; Controlling the human eye simulation device to photograph the laser point to obtain a second calibration image; Controlling the movement of the human eye simulation device based on the position of the laser point in the second calibration image so that the center point of the camera coincides with the second center of the laser point; The movement of the human eye simulation device is controlled based on the first movement coefficient to calibrate the initial Kappa angle of the human eye simulation device.

[0015] The Kappa angle calibration device of the embodiment of the present application is applied to a human eye simulation device, wherein the human eye simulation device includes a camera. The Kappa angle calibration device determines a first motion coefficient and an initial Kappa angle by using the Kappa angle acquisition method of any of the above embodiments. The Kappa angle calibration device includes: Point setting module, used to set the laser point; A third control module, used for controlling the human eye simulation device to photograph the laser point to obtain a second calibration image; a fourth control module, configured to control the movement of the human eye simulation device based on the position of the laser point in the second calibration image, so that the center point of the camera coincides with the second center of the laser point; An angle calibration module is used to control the movement of the human eye simulation device based on the first motion coefficient to calibrate the initial Kappa angle of the human eye simulation device.

[0016] The Kappa angle calibration system of the implementation mode of the present application comprises one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the Kappa angle calibration method of any of the above implementation modes is implemented.

[0017] The computer-readable storage medium of the embodiment of the present application stores a computer program thereon, and when the program is executed by a processor, the Kappa angle calibration method of any of the above embodiments is implemented.

[0018] The Kappa angle compensation method of the embodiment of the present application is applied to a human eye simulation device. The Kappa angle compensation method determines a first motion coefficient and an initial Kappa angle by using the Kappa angle acquisition method of any of the above embodiments. The Kappa angle compensation method includes: Setting a plurality of gaze points, and obtaining binocular Kappa angle measurement information of a plurality of human eyes at the plurality of gaze points; A Kappa angle dynamic compensation model is obtained based on the multiple binocular Kappa angle measurement information and artificial neural network training; Determine the mechanism model of the human eye; Determine the anthropomorphic Kappa angle of the human eye simulation device based on the Kappa angle dynamic compensation model and / or the human eye mechanism model; Determine a corresponding second motion coefficient according to the anthropomorphic Kappa angle; The initial Kappa angle and the anthropomorphic Kappa angle are compensated for the human eye simulation device based on the first motion coefficient and the second motion coefficient.

[0019] In certain embodiments, when determining the anthropomorphic Kappa angle of the human eye simulation device based on the Kappa angle dynamic compensation model and / or the human eye mechanism model is determining the anthropomorphic Kappa angle of the human eye simulation device based on the Kappa angle dynamic compensation model, determining the anthropomorphic Kappa angle of the human eye simulation device based on the Kappa angle dynamic compensation model includes: Obtaining a current azimuth angle and a current polarity angle corresponding to a current gaze point of the human eye simulation device; Determine at least one gaze point position closest to the current gaze point from the plurality of gaze points according to the current azimuth angle, the current polar angle and the Kappa angle dynamic compensation model; The anthropomorphic Kappa angle corresponding to the current gaze point is determined according to at least one of the gaze points.

[0020] The Kappa angle compensation device of the embodiment of the present application is applied to a human eye simulation device. The Kappa angle compensation device determines the first motion coefficient and the initial Kappa angle by the Kappa angle acquisition method of any of the above embodiments. The Kappa angle compensation device includes: An information acquisition module, used to set a plurality of gaze points and acquire binocular Kappa angle measurement information of a plurality of human eyes at the plurality of gaze points; A model training module, used for obtaining a Kappa angle dynamic compensation model based on the multiple binocular Kappa angle measurement information and artificial neural network training; A model determination module, used to determine the human eye mechanism model; An angle estimation module, used to determine the anthropomorphic Kappa angle of the human eye simulation device based on the Kappa angle dynamic compensation model and / or the human eye mechanism model; A coefficient determination module, used to determine a corresponding second motion coefficient according to the anthropomorphic Kappa angle; An angle compensation module is used to compensate the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device based on the first motion coefficient and the second motion coefficient.

[0021] The Kappa angle compensation system of the implementation mode of the present application includes one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the Kappa angle compensation method of any of the above implementation modes is implemented.

[0022] The computer-readable storage medium of the embodiment of the present application stores a computer program thereon, and when the program is executed by a processor, the Kappa angle compensation method of any of the above embodiments is implemented.

[0023] In the Kappa angle acquisition method, acquisition device, acquisition system, Kappa angle calibration method, calibration device, calibration system, Kappa angle compensation method, compensation device, compensation system and computer-readable storage medium of the embodiments of the present application, the initial Kappa angle of the human eye simulation device is determined based on the calibration system, the laser light path emitted by the laser emitter is calibrated to coincide with the optical axis of the human eye simulation device, the human eye simulation device is controlled to shoot the laser exit hole to obtain a first calibration image, and then the human eye simulation device is controlled to move based on the position of the laser exit hole in the first calibration image, and the first motion coefficient of the human eye simulation device is determined to determine the initial Kappa angle of the human eye simulation device. In this way, the initial Kappa angle of the human eye simulation device can be accurately determined.

[0024] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a schematic diagram of the Kappa angle of a real human eye in certain embodiments of the present application; Figure 2 is a schematic diagram of an initial Kappa angle of a human eye simulation device according to certain embodiments of the present application; Figure 3is a flow chart of a method for obtaining a Kappa angle in certain embodiments of the present application; Figure 4 is a schematic diagram showing a laser transmitter positioned to the left in certain embodiments of the present application; Figure 5 is a schematic diagram showing the laser transmitter position on the right side in certain embodiments of the present application; Figure 6 is a schematic diagram of a first calibration image of certain embodiments of the present application; Figure 7 is a motion schematic diagram of a human eye simulation device according to certain embodiments of the present application; Figure 8 is a schematic diagram of the structure of a calibration system of certain embodiments of the present application; Fig. 9 is a schematic diagram of a structure in which a first photoelectric sensor, a second photoelectric sensor, a third photoelectric sensor and a fourth photoelectric sensor are arranged on a calibration board in certain embodiments of the present application; Fig.10 is a flow chart of a method for obtaining a Kappa angle in certain embodiments of the present application; Fig.11 is a flow chart of a method for obtaining a Kappa angle in certain embodiments of the present application; Fig.12 is a schematic diagram of a process for calibrating a laser transmitter in certain embodiments of the present application; Fig.13 is a schematic diagram of a first light intensity curve of certain embodiments of the present application; Fig.14 is a flow chart of a method for obtaining a Kappa angle in certain embodiments of the present application; Fig.15 is a flow chart of a method for obtaining a Kappa angle in certain embodiments of the present application; Fig.16 is a schematic diagram of a process of performing initial Kappa angle calibration on a human eye simulation device according to certain embodiments of the present application; Fig.17 is a flow chart of a method for obtaining a Kappa angle in certain embodiments of the present application; Fig.18 is a schematic flow chart of a Kappa angle calibration method according to certain embodiments of the present application; Fig.19 is a schematic flow chart of a Kappa angle compensation method in certain embodiments of the present application; Fig. 20 It is a schematic diagram of a process of performing initial Kappa angle and anthropomorphic Kappa angle compensation on a human eye simulation device in certain embodiments of the present application; Fig.21It is a schematic diagram of a process of performing initial Kappa angle and anthropomorphic Kappa angle compensation on a human eye simulation device in certain embodiments of the present application; Fig. 22 is a schematic diagram of a real human eye gazing at a laser point in certain embodiments of the present application; Fig.23 is a schematic diagram of the distribution of laser points in certain embodiments of the present application; Fig.24 is a schematic flow chart of a Kappa angle compensation method in certain embodiments of the present application; Fig.25 is a schematic diagram of a module of a Kappa angle acquisition device in certain embodiments of the present application; Fig.26 is a module schematic diagram of a Kappa angle acquisition system of certain embodiments of the present application; Fig. 27 is a schematic diagram of the connection state between a computer-readable storage medium and a processor in certain embodiments of the present application; Fig.28 is a schematic diagram of a module of a Kappa angle calibration device according to certain embodiments of the present application; Fig.29 is a schematic diagram of a module of a Kappa angle calibration system according to certain embodiments of the present application; Fig.30 is a schematic diagram of the connection state between a computer-readable storage medium and a processor in certain embodiments of the present application; Fig.31 is a schematic diagram of a module of a Kappa angle compensation device of certain embodiments of the present application; Fig.32 is a schematic diagram of a module of a Kappa angle compensation system of certain embodiments of the present application; Fig.33 It is a schematic diagram of the connection status between a computer-readable storage medium and a processor in certain embodiments of the present application. DETAILED DESCRIPTION

[0026] The following is a further description of the embodiments of the present application in conjunction with the accompanying drawings. The same or similar reference numerals in the accompanying drawings represent the same or similar elements or elements with the same or similar functions from beginning to end. In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the present application.

[0027] like Figure 1 As shown in the figure, the Kappa angle is the angle between the optical axis and the visual axis of the human eye. It plays a very important role in the training and testing of eye movement algorithms. The Kappa angle will affect the eye movement algorithm's judgment of the real gaze area of ​​the human eye.

[0028] like Figure 2 As shown, the human eye simulation device 101 includes a simulated eyeball 1011 and a camera 1012. In the human eye simulation device 101, the central axis of the simulated eyeball 1011 is the optical axis, and the simulated eyeball 1011 can be approximated as a completely symmetrical double-ball model. The optical axis of the camera 1012 inside the human eye simulation device 101 is the visual axis. Due to assembly reasons, the optical axis of the camera 1012 of the human eye simulation device 101 does not completely coincide with the central axis of the simulated eyeball 1011, and there is also a kappa angle, and the kappa angle of each device is different. Therefore, when the human eye simulation device 101 leaves the factory, the kappa angle of each human eye simulation device 101 needs to be determined.

[0029] See also Figure 3 and Figure 4 The present application embodiment provides a Kappa angle acquisition method, which is applied to the human eye simulation device 101. The Kappa angle acquisition method includes: 010: Calibrate the laser transmitter 10 of the calibration system 100 so that the laser light path emitted by the laser transmitter 10 coincides with the optical axis of the human eye simulation device 101; 020: Control the human eye simulation device 101 to photograph the laser exit hole 21 to obtain a first calibration image; 030: Detect the first calibration image to determine a first center of a circle corresponding to the laser exit hole 21 in the first calibration image; 040: controlling the movement of the human eye simulation device 101 according to the position of the first circle center, and determining a first movement coefficient of the human eye simulation device 101; 050: Determine an initial Kappa angle of the human eye simulation device 101 based on the first motion coefficient.

[0030] In the Kappa angle acquisition method of the embodiment of the present application, the initial Kappa angle of the human eye simulation device 101 is determined based on the calibration system 100, the laser light path emitted by the laser emitter 10 is calibrated to coincide with the optical axis of the human eye simulation device 101, the human eye simulation device 101 is controlled to shoot the laser exit hole 21 to obtain a first calibration image, and then the human eye simulation device 101 is controlled to move based on the position of the laser exit hole 21 in the first calibration image, and the first motion coefficient of the human eye simulation device 101 is determined to determine the initial Kappa angle of the human eye simulation device 101. In this way, the initial Kappa angle of the human eye simulation device 101 can be accurately determined.

[0031] Specifically, the calibration system 100 can be used to respectively determine the initial Kappa angle of each human eye simulation device 101. The calibration system 100 includes an optical platform and a laser emitter 10. The laser emitter 10 and the human eye simulation device 101 are both arranged on the optical platform. The laser emitter 10 is arranged toward the human eye simulation device 101. The laser emitted by the laser emitter 10 can be reflected by the human eye simulation device 101.

[0032] In order to ensure the accuracy of the determined initial Kappa angle, the laser emitter 10 may be calibrated first so that the laser light path emitted by the laser emitter 10 coincides with the optical axis of the human eye simulation device 101. The coincidence of the laser light path emitted by the laser emitter 10 with the optical axis of the human eye simulation device 101 means that the laser light path reflected by the human eye simulation device 101 coincides with the laser light path emitted by the laser emitter 10. The position of the laser emitter 10 may be adjusted according to the offset of the laser light path reflected by the human eye simulation device 101 to calibrate the laser emitter 10.

[0033] like Figure 4 As shown, the laser emitted by the laser emitter 10 is reflected by the human eye simulation device 101, but the reflected light path is biased to the left, indicating that the position of the laser emitter 10 is biased to the left, and the laser emitter 10 needs to be translated to the right for a distance. Figure 5 As shown, the laser emitted by the laser emitter 10 is reflected by the human eye simulation device 101, but the reflected light path is biased to the right, indicating that the position of the laser emitter 10 is biased to the right, and the laser emitter 10 needs to be translated to the left for a distance.

[0034] Similarly, when the reflected light path is upward, it means that the position of the laser emitter 10 is upward, and the laser emitter 10 needs to be translated downward for a distance. When the reflected light path is downward, it means that the position of the laser emitter 10 is downward, and the laser emitter 10 needs to be translated upward for a distance.

[0035] After calibrating the laser emitter 10, the camera 1012 of the human eye simulation device 101 is controlled to shoot the laser exit hole 21 to obtain a first calibration image. It can be understood that the laser light path emitted by the laser emitter 10 coincides with the optical axis of the human eye simulation device 101, that is, the laser emitter 10 is aligned with the simulated eyeball 1011, and there is an initial Kappa angle between the optical axis of the simulated eyeball 1011 and the optical axis of the camera 1012. Therefore, Figure 6 As shown, the position corresponding to the laser exit hole 21 in the first calibration image captured by the camera 1012 deviates from the center position of the image.

[0036] The first calibration image is detected to identify the circle corresponding to the laser exit hole 21 in the first calibration image, and the center of the circle is determined, which is marked as the first center of the circle in the first calibration image. The deviation between the first center of the circle and the image center in the first calibration image can represent the deviation between the optical axis and the visual axis of the human eye simulation device 101, and the initial Kappa angle of the human eye simulation device 101 can be determined according to the deviation position of the first center of the circle in the first calibration image.

[0037] The human eye simulation device 101 further includes a motor, which is used to control the movement of the human eye simulation device 101. Based on the position of the laser exit hole 21 in the first calibration image, the human eye simulation device 101 can be controlled to move by the motor to calibrate the deviation of the laser exit hole 21 relative to the image center in the first calibration image, that is, to calibrate the deviation between the optical axis and the visual axis of the human eye simulation device 101.

[0038] In the related art, the initial Kappa angle is defined in only positive and negative directions. The initial Kappa angle is the angle in the nasal and temporal directions, that is, the horizontal angle, which can be compensated by rotating the horizontal axis.

[0039] The human eye simulation device 101 in the embodiment of the present application supports the definition and simulation of the initial Kappa angle in three-dimensional space. The initial Kappa angle in three-dimensional space increases the angle in the pitch direction, which can be compensated by the rotation of the horizontal axis and the pitch axis. Then the movement of the human eye simulation device 101 includes the horizontal axis (such as Figure 7 The rotational motion of the axis O1) and the pitch axis (such as Figure 7 Rotational motion about the axis O2).

[0040] The rotational motion of the horizontal axis refers to the rotational motion of the horizontal axis in the horizontal direction, that is, in the XY plane (such as Figure 7 The pitch axis rotation refers to the vertical rotation of the pitch axis, that is, the rotation of the pitch axis in the YZ plane (as shown). Figure 7 rotational movement as shown).

[0041] When the movement is finished, the movement coefficient of the human eye simulation device 101 is recorded as the first movement coefficient. The first movement coefficient includes the rotation angle of the horizontal axis and the rotation angle of the pitch axis. Based on the first movement coefficient, the initial Kappa angle of the human eye simulation device 101 can be calculated, and the calculation process is as follows: The initial Kappa angle of the human eye simulation device 101 can be expressed by the following formula:

[0042] in, is the optical axis vector of the human eye simulation device 101, is the visual axis vector of the human eye simulation device 101, Can be characterized from The unit vector to The direction and distance of the unit vector.

[0043] The first motion coefficient can be expressed as:

[0044] in, is the first motion coefficient. is the rotation angle of the horizontal axis of the human eye simulation device 101. is the rotation angle of the pitch axis of the human eye simulation device 101. The rotation vector can be obtained by converting the first motion coefficient into three-dimensional space:

[0045] in, is a rotation vector, that is, a rotation vector between the optical axis and the visual axis of the human eye simulation device 101 . . Then we can get:

[0046] It should be noted that the process of determining the first motion coefficient can be performed before the human eye simulation device 101 leaves the factory. After determining the first motion coefficient, the first motion coefficient can be written into the control firmware of the human eye simulation device 101, so as to perform an initial Kappa angle calibration of the human eye simulation device 101 based on the first motion coefficient in actual applications.

[0047] In the implementation mode of the present application, the initial Kappa angle of each human eye simulation device 101 is determined based on the calibration system 100, and after the laser emitter 10 is calibrated, the human eye simulation device 101 is controlled to shoot the laser exit hole 21 to obtain a first calibration image, and then the human eye simulation device 101 is controlled to move based on the position of the laser exit hole 21 in the first calibration image, and the first motion coefficient of the human eye simulation device 101 is determined, and the initial Kappa angle of the human eye simulation device 101 is determined based on the first motion coefficient. In this way, the initial Kappa angle of the human eye simulation device 101 can be accurately determined.

[0048] See also Figure 4 , Figure 8 and Fig. 9 In some embodiments, the calibration system 100 includes a calibration plate 20. The calibration plate 20 is fixedly connected to the laser emitter 10 and is located between the laser emitter 10 and the human eye simulation device 101. The laser exit hole 21 is arranged at a position corresponding to the laser emission hole 11 of the laser emitter 10 on the calibration plate 20, and the radius of the laser exit hole 21 is smaller than the radius of the laser emission hole 11.

[0049] Specifically, the calibration system 100 includes a calibration board 20. In one example, the calibration board 20 uses a calibration blackboard. The calibration board 20 is fixedly connected to the laser emitter 10. The calibration board 20 is located between the laser emitter 10 and the human eye simulation device. The laser emitter 10 is provided with a laser emission hole 11, and the laser emitter 10 emits laser from the laser emission hole 11. The laser exit hole 21 is provided at a position corresponding to the laser emission hole 11 on the calibration board 20. The laser emitted from the laser emission hole 11 is emitted to the human eye simulation device 101 through the laser exit hole 21, and then reflected by the human eye simulation device 101 to the calibration board 20.

[0050] The radius of the laser exit hole 21 is smaller than the radius of the laser emission hole 11. In this way, the laser light is more concentrated after passing through the laser exit hole 21, which can ensure that the laser light emitted through the laser exit hole 21 is a single beam of laser light, reduce the interference of stray light, and improve the accuracy of the calibration of the laser emitter 10. In one example, the radius of the laser exit hole 21 is half the radius of the laser emission hole 11.

[0051] The process of calibrating the laser transmitter 10 is described in detail below.

[0052] See also Figure 4 and Fig.10 In some embodiments, the calibration system 100 includes a translation stage 30. The laser emitter 10 is disposed on the translation stage 30. The laser emitter 10 of the calibration system 100 is calibrated so that the laser light path emitted by the laser emitter 10 coincides with the optical axis of the human eye simulation device 101 (i.e., 010), including: 011: Control the displacement stage 30 to drive the laser emitter 10 to move along the first direction to determine the first displacement and the second displacement; 012: Control the displacement stage 30 to drive the laser emitter 10 to move along the second direction to determine the third displacement and the fourth displacement; 013: Determine a calibration stroke of the translation stage 30 according to the first displacement, the second displacement, the third displacement and the fourth displacement; 014: Control the translation stage 30 to move according to the calibration stroke so that the laser light path emitted by the laser transmitter 10 coincides with the optical axis of the human eye simulation device 101; The first direction is perpendicular to the second direction.

[0053] Specifically, the calibration system 100 includes a translation stage 30. In one example, Figure 8 As shown, the translation stage 30 is a six-axis translation stage, and the laser emitter 10 is fixedly arranged on the six-axis translation stage. The six-axis translation stage can drive the laser emitter 10 to move along the X-axis, Y-axis, and Z-axis directions.

[0054] The control stage 30 drives the laser emitter 10 to move in the first direction and in the second direction. It can be understood that when the stage 30 drives the laser to move, the calibration board 20 also moves accordingly. The laser always exits from the laser exit hole 21, but it will exit to different positions of the human eye simulation device 101, and thus be reflected by the human eye simulation device 101 to different positions of the calibration board 20.

[0055] Therefore, the first displacement and the second displacement of the translation stage 30 in the first direction can be determined according to the reflection of the laser on the calibration plate 20, and the third displacement and the fourth displacement of the translation stage 30 in the second direction can be determined. The first direction and the second direction are perpendicular to each other, and the specific directions are set according to the actual application. In an example, the first direction is Fig.10 The Y-axis direction in the second direction is Fig.10 The Z-axis direction.

[0056] The calibration stroke of the translation stage 30 can be determined according to the first displacement, the second displacement, the third displacement, and the fourth displacement. The translation stage 30 is controlled to move according to the calibration stroke of the translation stage 30, and the final position of the translation stage 30 is the calibration position. At the calibration position, the laser light path emitted by the laser emitter 10 can coincide with the optical axis of the human eye simulation device 101, and the laser reflected by the human eye simulation device 101 can return to the laser exit hole 21.

[0057] See also Figure 4 , Fig. 9 and Fig.11 In some embodiments, the calibration system 100 includes a first photoelectric sensor 41, a second photoelectric sensor 42, a third photoelectric sensor 43, and a fourth photoelectric sensor 44. The first photoelectric sensor 41, the second photoelectric sensor 42, the third photoelectric sensor 43, and the fourth photoelectric sensor 44 are all arranged on the side of the calibration plate 20 close to the human eye simulation device 101. The first photoelectric sensor 41 and the second photoelectric sensor 42 are arranged on two opposite sides of the laser exit hole 21 along the first direction, and the third photoelectric sensor 43 and the fourth photoelectric sensor 44 are arranged on two opposite sides of the laser exit hole 21 along the second direction. Controlling the displacement stage 30 to drive the laser emitter 10 to move along the first direction to determine the first displacement and the second displacement (i.e., 011) includes: 0111: Control the translation stage 30 to drive the laser emitter 10 to move a predetermined number of times along the first direction, and during each movement, record the light intensity received by the first photoelectric sensor 41 and the second photoelectric sensor 42 to determine the corresponding first light intensity curve; 0112: determining a corresponding plurality of first displacements and a plurality of second displacements according to a plurality of first light intensity curves; At this time, controlling the displacement stage 30 to drive the laser emitter 10 to move along the second direction to determine the third displacement and the fourth displacement (ie, 012) includes: 0121: Control the translation stage 30 to drive the laser emitter 10 to move a predetermined number of times along the second direction, and during each movement, record the light intensity received by the third photoelectric sensor 43 and the fourth photoelectric sensor 44 to determine the corresponding second light intensity curve; 0122: Determine a corresponding plurality of third displacements and a plurality of fourth displacements according to a plurality of second light intensity curves; At this time, the calibration stroke (ie, 013) of the translation stage 30 is determined according to the first displacement, the second displacement, the third displacement, and the fourth displacement, including: 0131: Determine a calibration stroke of the translation stage 30 according to the plurality of first displacements, the plurality of second displacements, the plurality of third displacements and the plurality of fourth displacements.

[0058] Specifically, the calibration system 100 includes a first photoelectric sensor 41, a second photoelectric sensor 42, a third photoelectric sensor 43 and a fourth photoelectric sensor 44. The first photoelectric sensor 41, the second photoelectric sensor 42, the third photoelectric sensor 43 and the fourth photoelectric sensor 44 are all arranged on a side of the calibration board 20 close to the human eye simulation device 101, and are used to detect the light intensity of the laser reflected by the human eye simulation device 101 to the calibration board 20.

[0059] like Fig. 9 As shown, the first photoelectric sensor 41 and the second photoelectric sensor 42 are symmetrically arranged on opposite sides of the laser exit hole 21 along the first direction. The distance between the first photoelectric sensor 41 and the laser exit hole 21 is x1, and the distance between the second photoelectric sensor 42 and the laser exit hole 21 is x2, x1=x2.

[0060] The third photoelectric sensor 43 and the fourth photoelectric sensor 44 are symmetrically arranged on opposite sides of the laser exit hole 21 along the second direction. The distance between the third photoelectric sensor 43 and the laser exit hole 21 is y1, and the distance between the fourth photoelectric sensor 44 and the laser exit hole 21 is y2, y1=y2.

[0061] The control stage 30 drives the laser emitter 10 to move a predetermined number of times in the first direction, and each movement completes the entire travel of the stage 30 in the first direction. During each movement, the light intensity received by the first photoelectric sensor 41 and the second photoelectric sensor 42 is recorded, and a corresponding first light intensity curve is obtained based on the light intensity and the corresponding travel of the stage 30. The first light intensity curve includes a curve of the light intensity received by the first photoelectric sensor 41 changing with the travel of the stage 30, and a curve of the light intensity received by the second photoelectric sensor 42 changing with the travel of the stage 30. Fig.13Each time the movement is performed, a corresponding first light intensity curve can be obtained.

[0062] The first light intensity curve can reflect the position deviation of the laser emitter 10. Figure 4 , Fig. 9 and Fig.13 When the laser emitter 10 is positioned to the left, the reflected light path is biased to the left, the light intensity received by the second photoelectric sensor 42 is relatively large, and the light intensity received by the first photoelectric sensor 41 is close to zero.

[0063] Combination Figure 4 , Fig. 9 and Fig.13 When the laser emitter 10 is positioned to the right, the reflected light path is biased to the right, the light intensity received by the first photoelectric sensor 41 is relatively large, and the light intensity received by the second photoelectric sensor 42 is close to zero.

[0064] It can be understood that when the laser light path emitted by the laser emitter 10 coincides with the optical axis of the human eye simulation device 101 , the light intensities received by the first photoelectric sensor 41 and the second photoelectric sensor 42 should both be minimum or zero.

[0065] The predetermined number of times can be determined according to actual application conditions, for example, the predetermined number of times can be set to 2, 3, 4 or more times. In one example, the translation stage 30 can be controlled to drive the laser to move 6 times along the first direction, so that 6 corresponding first light intensity curves can be obtained.

[0066] A corresponding plurality of first displacements and a plurality of second displacements may be determined based on the plurality of first light intensity curves. Fig.13 As shown, the stage 30 moves a complete stroke in the first direction, and the curve of the light intensity received by the first photoelectric sensor 41 changing with the stroke is a parabola. The peak light intensity of the parabola is the light intensity when the laser reflected by the human eye simulation device 101 directly hits the first photoelectric sensor 41, and the horizontal coordinate corresponding to the peak light intensity is taken as the first displacement, that is, Ymax1.

[0067] The curve of the light intensity received by the second photoelectric sensor 42 changing with the stroke is also a parabola. The peak light intensity of the parabola is the light intensity when the laser reflected by the human eye simulation device 101 directly hits the second photoelectric sensor 42, and the horizontal coordinate corresponding to the peak light intensity is taken as the second displacement, that is, Ymax2.

[0068] Afterwards, the control stage 30 drives the laser emitter 10 to move a predetermined number of times in the second direction, and each movement completes the entire travel of the stage 30 in the second direction. During each movement, the light intensity received by the third photoelectric sensor 43 and the fourth photoelectric sensor 44 is recorded, and a corresponding second light intensity curve is obtained based on the light intensity and the corresponding travel of the stage 30. The second light intensity curve includes a curve of the light intensity received by the third photoelectric sensor 43 changing with the travel of the stage 30, and a curve of the light intensity received by the fourth photoelectric sensor 44 changing with the travel of the stage 30. Fig.13 Each time the light moves, a corresponding second light intensity curve can be obtained.

[0069] The second light intensity curve can reflect the position deviation of the laser emitter 10. When the laser emitter 10 is positioned upward, the reflected light path is upward, the light intensity received by the third photoelectric sensor 43 is relatively large, and the light intensity received by the fourth photoelectric sensor 44 is close to zero.

[0070] When the laser emitter 10 is positioned downward, the reflected light path is downward, the light intensity received by the fourth photoelectric sensor 44 is relatively large, and the light intensity received by the third photoelectric sensor 43 is close to zero.

[0071] It can be understood that when the laser light path emitted by the laser emitter 10 coincides with the optical axis of the human eye simulation device 101 , the light intensities received by the third photoelectric sensor 43 and the fourth photoelectric sensor 44 should both be minimum or zero.

[0072] The corresponding multiple third displacements and multiple fourth displacements can be determined according to the multiple second light intensity curves. The displacement stage 30 moves a complete stroke along the second direction, and the curve of the light intensity received by the third photoelectric sensor 43 changing with the stroke is a parabola. The peak light intensity of the parabola is the light intensity when the laser reflected by the human eye simulation device 101 directly hits the third photoelectric sensor 43. The horizontal coordinate corresponding to the peak light intensity is the third displacement, that is, Zmax1.

[0073] The curve of the light intensity received by the fourth photoelectric sensor 44 changing with the stroke is also a parabola. The peak light intensity of the parabola is the light intensity when the laser reflected by the human eye simulation device 101 directly hits the fourth photoelectric sensor 44. The horizontal coordinate corresponding to the peak light intensity is the fourth displacement, that is, Zmax2.

[0074] The calibration stroke of the translation stage 30 is determined according to the plurality of first displacements, the plurality of second displacements, the plurality of third displacements and the plurality of fourth displacements. The specific process of determining the calibration stroke of the translation stage 30 is described in detail below.

[0075] See also Figure 4 , Fig.12 and Fig.14In some embodiments, the calibration stroke includes a first calibration stroke and a second calibration stroke. Determining the calibration stroke (ie, 0131) of the translation stage 30 according to the plurality of first displacements, the plurality of second displacements, the plurality of third displacements, and the plurality of fourth displacements includes: 01311: When the plurality of first displacements, the plurality of second displacements, the plurality of third displacements and the plurality of fourth displacements all meet the preset conditions, a first calibration stroke of the translation stage 30 is determined according to the plurality of first displacements and the plurality of second displacements, and a second calibration stroke of the translation stage 30 is determined according to the plurality of third displacements and the plurality of fourth displacements; 01312: When the plurality of first displacements, the plurality of second displacements, the plurality of third displacements or the plurality of fourth displacements do not meet the preset condition, the plurality of first displacements, the plurality of second displacements, the plurality of third displacements and the plurality of fourth displacements are saved, and the step of returning to control the displacement stage 30 to drive the laser emitter 10 to move along the first direction to determine the first displacement and the second displacement; At this time, controlling the translation stage 30 to move according to the calibration stroke so that the laser light path emitted by the laser emitter 10 coincides with the optical axis of the human eye simulation device 101 (ie, 014), includes: 0141: Control the translation stage 30 to move according to the first calibration stroke and the second calibration stroke so that the laser light path emitted by the laser emitter 10 coincides with the optical axis of the human eye simulation device 101.

[0076] The preset condition is that at least a predetermined proportion of the displacements among the multiple displacements are equal.

[0077] Specifically, after determining multiple first displacements, multiple second displacements, multiple third displacements and multiple fourth displacements, it is determined whether the multiple first displacements meet the preset conditions, whether the multiple second displacements meet the preset conditions, whether the multiple third displacements meet the preset conditions and whether the multiple fourth displacements meet the preset conditions.

[0078] Among them, the preset condition is that at least a predetermined proportion of the displacements among multiple displacements are equal, that is, at least a predetermined proportion of the first displacements among multiple first displacements are equal to meet the preset condition; at least a predetermined proportion of the second displacements among multiple second displacements are equal to meet the preset condition; at least a predetermined proportion of the third displacements among multiple third displacements are equal to meet the preset condition; at least a predetermined proportion of the fourth displacements among multiple fourth displacements are equal to meet the preset condition.

[0079] The predetermined ratio can be set according to actual conditions, for example, the predetermined ratio can be set to 2 / 3, 3 / 4, 3 / 5, 4 / 5 or any other ratio. The larger the predetermined ratio is set, the more accurate the determined calibration stroke can be. In one example, the number of movements is 6 times, and the predetermined ratio is set to 2 / 3.

[0080] That is to say, if at least 4 of the 6 first displacements are equal, the preset condition is met; if at least 4 of the 6 second displacements are equal, the preset condition is met; if at least 4 of the 6 third displacements are equal, the preset condition is met; if at least 4 of the 6 fourth displacements are equal, the preset condition is met.

[0081] When the plurality of first displacements, the plurality of second displacements, the plurality of third displacements and the plurality of fourth displacements all meet the preset conditions, the calibration stroke can be calculated according to the plurality of first displacements, the plurality of second displacements, the plurality of third displacements and the plurality of fourth displacements. The calibration stroke includes a first calibration stroke and a second calibration stroke. The first calibration stroke is a calibration stroke of the displacement stage 30 along the first direction, and the second calibration stroke is a calibration stroke of the displacement stage 30 along the second direction.

[0082] It can be understood that in the first direction, when the translation stage 30 is at the first displacement, the laser reflected by the human eye simulation device 101 directly hits the first photoelectric sensor 41, and when the translation stage 30 is at the second displacement, the laser reflected by the human eye simulation device 101 directly hits the second photoelectric sensor 42. Similarly, in the second direction, when the translation stage 30 is at the third displacement, the laser reflected by the human eye simulation device 101 directly hits the third photoelectric sensor 43, and when the translation stage 30 is at the fourth displacement, the laser reflected by the human eye simulation device 101 directly hits the fourth photoelectric sensor 44.

[0083] The first photoelectric sensor 41 and the second photoelectric sensor 42 are equidistant from the laser exit hole 21 in the first direction, and the third photoelectric sensor 43 and the fourth photoelectric sensor 44 are equidistant from the laser exit hole 21 in the second direction. When the translation stage 30 is located at the midpoint between the first displacement and the second displacement, and at the midpoint between the third displacement and the fourth displacement, the laser reflected by the human eye simulation device 101 can return to the laser exit hole 21.

[0084] Therefore, the first calibration stroke can be calculated according to the multiple first displacements and the multiple second displacements, and specifically, the first calibration stroke can be calculated according to the multiple equal first displacements and the multiple equal second displacements. The values ​​of the multiple equal first displacements are recorded as the first calibration displacement, the values ​​of the multiple equal second displacements are recorded as the second calibration displacement, and the average value of the first calibration displacement and the second calibration displacement is calculated to obtain the first calibration stroke.

[0085] The first calibration stroke can be calculated according to the plurality of third displacements and the plurality of fourth displacements, and specifically the second calibration stroke can be calculated according to the plurality of equal third displacements and the plurality of equal fourth displacements. The values ​​of the plurality of equal third displacements are recorded as the third calibration displacement, the values ​​of the plurality of equal fourth displacements are recorded as the fourth calibration displacement, and the average value of the third calibration displacement and the fourth calibration displacement is calculated to obtain the second calibration stroke.

[0086] When the multiple first displacements, the multiple second displacements, the multiple third displacements or the multiple fourth displacements do not meet the preset conditions, that is, when any multiple of the multiple first displacements, the multiple second displacements, the multiple third displacements and the multiple fourth displacements do not meet the preset conditions, it means that the values ​​of the multiple first displacements, the multiple second displacements, the multiple third displacements and the multiple fourth displacements currently obtained are unstable, and more first displacements, second displacements, third displacements and fourth displacements need to be obtained to more accurately determine the calibration stroke.

[0087] At this time, the currently obtained multiple first displacements, multiple second displacements, multiple third displacements and multiple fourth displacements can be saved, and the control displacement stage 30 is returned to drive the laser emitter 10 to move along the first direction to determine the first displacement and the second displacement, and the above process of obtaining the first displacement, the second displacement, the third displacement and the fourth displacement is repeated.

[0088] It should be noted that when obtaining the first displacement, the second displacement, the third displacement and the fourth displacement again, the translation stage 30 may be controlled to move any number of times along the first direction and the second direction, for example, only once, or a predetermined number of times, or any other number of times. In other words, any number of first displacements, second displacements, third displacements and fourth displacements may be obtained.

[0089] The first displacement, second displacement, third displacement and fourth displacement acquired again are combined with the saved multiple first displacements, multiple second displacements, multiple third displacements and multiple fourth displacements, and the calibration stroke of the translation stage 30 is determined according to the combined multiple first displacements, multiple second displacements, multiple third displacements and multiple fourth displacements.

[0090] After the first calibration stroke and the second calibration stroke are calculated, the translation stage 30 can be controlled to move according to the first calibration stroke and the second calibration stroke, and the final position of the translation stage 30 is the calibration position. It can be understood that the accurate first calibration stroke and the second calibration stroke can be obtained through the above steps, and then at the calibration position, the laser light path emitted by the laser transmitter 10 can coincide with the optical axis of the human eye simulation device 101, and the laser reflected by the human eye simulation device 101 can return to the laser exit hole 21.

[0091] When the translation stage 30 moves to the calibration position, the camera 1012 of the human eye simulation device 101 can be controlled to photograph the laser exit hole 21 to obtain a first calibration image. Then, the first motion coefficient of the human eye simulation device 101 is determined based on the first calibration image.

[0092] See also Figure 4 , Fig. 9 , Fig.15 and Fig.16In some embodiments, the Kappa angle acquisition method detects the first calibration image based on an edge detection algorithm and a circle detection algorithm. The human eye simulation device 101 is controlled to move according to the position of the first circle center, and a first motion coefficient (ie, 040) of the human eye simulation device 101 is determined, including: 041: Determine a vector from the center point of the first calibration image to the center of the first circle; 042: According to the modulus of the vector, the movement of the human eye simulation device 101 is controlled, and the movement coefficient of the human eye simulation device 101 is recorded to determine a first movement coefficient.

[0093] Specifically, the first calibration image is detected based on the edge detection algorithm and the circle detection algorithm, the circle corresponding to the laser exit hole 21 in the first calibration image is identified, and the center of the circle is determined and marked as the first center of the circle in the first calibration image.

[0094] Any edge detection algorithm and circle detection algorithm may be used to detect the first corrected image. For example, the edge detection algorithm may use the Canny edge detection algorithm, and the circle detection algorithm may use the Hough circle gradient detection algorithm. Both the edge detection algorithm and the circle detection algorithm may use methods and logics conventionally known to those skilled in the art, so they are not repeated here.

[0095] After determining the center of the first circle, find the center point of the first corrected image to determine the vector from the center point of the first corrected image to the center of the first circle .vector The direction of is the direction from the center point of the first calibration image to the center of the first circle. The center point of the first calibration image represents the center point of the camera 1012.

[0096] Calculating vectors The modulus of the vector The model length controls the movement of the human eye simulation device 101. During the movement, the motion coefficient of the human eye simulation device 101 is recorded to determine the first motion coefficient. The model length controls the specific process of the movement of the human eye simulation device 101.

[0097] See also Figure 4 , Fig. 9 , Fig.16 and Fig.17 In some embodiments, according to the modulus of the vector, the human eye simulation device 101 is controlled to move, and the motion coefficient of the human eye simulation device 101 is recorded to determine the first motion coefficient (ie, 042), including: 0421: When the modulus of the vector is greater than or equal to the first preset modulus, the human eye simulation device 101 is controlled to move at a first preset speed along the direction of the vector, and the process returns to the step of controlling the human eye simulation device 101 to photograph the laser exit hole 21 to obtain a first calibration image; 0422: When the modulus of the vector is greater than or equal to the second preset modulus and less than the first preset modulus, the human eye simulation device 101 is controlled to move at a second preset speed along the direction of the vector, and the process returns to the step of controlling the human eye simulation device 101 to photograph the laser exit hole 21 to obtain a first calibration image; 0423: When the modulus of the vector is less than the second preset modulus, the current motion coefficient of the human eye simulation device 101 is recorded as the first motion coefficient; The first preset speed is greater than the second preset speed.

[0098] Specifically, according to the vector The relationship between the modulus length and the first preset modulus length and the second preset modulus length determines the movement speed of the human eye simulation device 101. The first preset modulus length and the second preset modulus length are determined according to actual application conditions. The first preset modulus length is greater than the second preset modulus length. The second preset modulus length can be set to a value close to zero. In an example, the first preset modulus length is 5 mm, and the second preset modulus length is 0.5 mm.

[0099] The movement target of the human eye simulation device 101 is to make the first circle center in the captured first calibration image substantially coincide with the center point, that is, to make the visual axis of the human eye simulation device 101 coincide with the laser optical path of the laser transmitter 10. When the modulus length is greater than or equal to the first preset modulus length, it indicates that the human eye simulation device 101 is far away from the target position, and the human eye simulation device 101 can be controlled to move along the vector The target position can be quickly approached by moving at a first preset speed in the direction of the target.

[0100] During the movement of the human eye simulation device 101, the step of controlling the human eye simulation device 101 to photograph the laser exit hole 21 to obtain the first calibration image can be returned to re-photograph the first calibration image to obtain the latest vector , based on the latest vector The module length controls the movement of the human eye simulation device 101.

[0101] The first preset speed is determined according to the actual application. In one example, the first preset speed is .in, The standard speed is preset. Different human eye simulation devices 101 may set different standard speeds, for example, It can be set to 60° / s. A is the current vector The mold length. is the initial vector The mold length.

[0102] It can be seen that the first preset speed is consistent with the current vector In this way, it can quickly approach the target position, but also slow down when approaching to avoid overshoot.

[0103] In vector When the modulus of is greater than or equal to the second preset modulus and less than the first preset modulus, it indicates that the human eye simulation device 101 is about to move to the target position. The robot moves at a second preset speed in the direction of the target, that is, at a lower speed. In this way, the target position can be approached more accurately to avoid overshoot or inaccurate positioning caused by excessive speed.

[0104] During the movement of the human eye simulation device 101, the step of controlling the human eye simulation device 101 to photograph the laser exit hole 21 to obtain the first calibration image can be returned to re-photograph the first calibration image to obtain the latest vector , based on the latest vector The module length controls the movement of the human eye simulation device 101.

[0105] The second preset speed is determined according to actual application conditions, and the second preset speed is less than the first preset speed. For example, the second preset speed can be set to 1° / s.

[0106] In vector When the modulus length is less than the second preset modulus length, it indicates that the human eye simulation device 101 has moved to the target position, that is, the first circle center in the first calibration image substantially coincides with the center point. At this time, the current motion coefficient of the human eye simulation device 101 can be recorded as the first motion coefficient.

[0107] It can be understood that before the human eye simulation device 101 starts to move, the laser optical path of the laser emitter 10 coincides with the optical axis of the human eye simulation device 101. The movement target of the human eye simulation device 101 is to make the first center of the circle in the captured first calibration image substantially coincide with the center point, that is, to make the visual axis of the human eye simulation device 101 coincide with the laser optical path of the laser emitter 10. Through the movement, the optical axis and the visual axis of the human eye simulation device 101 move simultaneously, and the visual axis is adjusted to a position that coincides with the laser optical path, that is, the position where the optical axis was originally located, and the initial Kappa angle can be obtained according to the recorded first motion coefficient.

[0108] It should be noted that the process of determining the first motion coefficient can be implemented based on multi-threading technology. One thread is used to perform edge detection and circle detection on the first calibration image and mark the first circle center. Another thread is used to determine the vector according to the first circle center. , and based on the vector Control the movement of the human eye simulation device 101. Through such a multi-threaded processing method, image processing and device motion control tasks can be performed in parallel, thereby improving the overall processing efficiency and response speed. At the same time, this also ensures the real-time performance of device motion control.

[0109] After determining the first motion coefficient, the human eye simulation device 101 can also be initially calibrated for the Kappa angle based on the first motion coefficient. In practical applications, the human eye simulation device 101 can be used for dynamic tracking and static positioning. When performing dynamic tracking, the human eye simulation device 101 performs dynamic movement and performs tracking based on the camera 1012, but the simulated eyeball 1011 cannot be aligned with the tracking point. When performing static positioning, the human eye simulation device 101 performs static movement, the camera 1012 does not participate in the movement, and the simulated eyeball 1011 can be aligned with the positioning point.

[0110] When the human eye simulation device 101 is used for dynamic tracking, it is necessary to perform an initial Kappa angle calibration on the human eye simulation device 101 to calibrate the deviation caused by the initial Kappa angle of the human eye simulation device 101 to improve the tracking accuracy. When the human eye simulation device 101 is used for static positioning, it is not necessary to perform an initial Kappa angle calibration. The specific process of performing the initial Kappa angle calibration is described in detail below.

[0111] See also Figure 2 and Fig.18 The embodiment of the present application also provides a Kappa angle calibration method. The Kappa angle calibration method is applied to the human eye simulation device 101, and the human eye simulation device 101 includes a camera 1012. The Kappa angle calibration method determines the first motion coefficient and the initial Kappa angle by the above-mentioned Kappa angle acquisition method. The Kappa angle calibration method includes: 060: Set laser point position; 070: Control the human eye simulation device 101 to shoot the laser point to obtain a second calibration image; 080: Control the movement of the human eye simulation device 101 based on the position of the laser point in the second calibration image, so that the center point of the camera 1012 coincides with the second center of the laser point; 090 : Controlling the movement of the human eye simulation device 101 based on the first movement coefficient to perform an initial Kappa angle calibration on the human eye simulation device 101 .

[0112] In the Kappa angle calibration method of the embodiment of the present application, the first motion coefficient and the initial Kappa angle of the human eye simulation device 101 are determined based on the calibration system 100, and the initial Kappa angle of the human eye simulation device 101 is calibrated based on the first motion coefficient. In this way, the initial Kappa angle of the human eye simulation device 101 can be accurately determined, and then the initial Kappa angle of the human eye simulation device 101 can be accurately calibrated.

[0113] Specifically, a laser point can be set in front of the human eye simulation device 101, and the human eye simulation device 101 is controlled to perform dynamic tracking. The laser point can be set within the field of view of the human eye simulation device 101. The human eye simulation device 101 is controlled to shoot the laser point to obtain a second calibration image.

[0114] In some embodiments, the center point of the second calibration image may represent the center point of the camera 1012, and the movement of the human eye simulation device 101 is controlled based on the position of the laser point in the second calibration image so that the center point of the camera 1012 coincides with the second center of the laser point (i.e., 080), including: 081: Detect the second calibration image based on the edge detection algorithm and the circle detection algorithm to determine the second center of the circle corresponding to the laser point in the second calibration image: 082: Determine a vector from the center point of the second calibration image to the center of the second circle; 083: Control the movement of the human eye simulation device 101 according to the modulus of the vector.

[0115] It should be pointed out that the explanations of the aforementioned implementation method for "detecting the first calibration image to determine the first center of the circle corresponding to the laser exit hole 21 in the first calibration image", "determining the vector from the center point of the first calibration image to the first center of the circle" in 041, and "controlling the movement of the human eye simulation device 101 according to the modulus of the vector" in 042 are also applicable to the corresponding schemes in 081, 082, and 083 of the implementation method of the present application, and will not be repeated here.

[0116] When the center point of the camera 1012 coincides with the second center of the laser point, that is, when the dynamic tracking is completed, the initial Kappa angle calibration of the human eye simulation device 101 is performed. The movement of the human eye simulation device 101 can be controlled based on the first motion coefficient. It should be noted that the first motion coefficient is , and the motion coefficient of the human eye simulation device 101 is That is, the movement of the human eye simulation device 101 is controlled based on the inverse number of the first motion coefficient. In this way, the initial Kappa angle error of the human eye simulation device 101 can be eliminated.

[0117] The human eye simulation device 101 can also be used for eye movement algorithm training. In some training, the human eye simulation device 101 is required to simulate the Kappa angles of different human eyes to enrich the data set and improve the robustness of the eye movement algorithm. When the human eye simulation device 101 simulates the Kappa angles of different human eyes, it is necessary to obtain the anthropomorphic Kappa angles of the human eye simulation device 101 when simulating different human eyes through motion control inverse angle decomposition, and compensate the initial Kappa angle of the human eye simulation device 101 and the anthropomorphic Kappa angle together.

[0118] See also Figure 2 , Figures 19 to 21 The embodiment of the present application also provides a Kappa angle compensation method. The Kappa angle compensation method is applied to the human eye simulation device 101. The Kappa angle compensation method determines the first motion coefficient and the initial Kappa angle by the above-mentioned Kappa angle acquisition method. The Kappa angle compensation method includes: 0100: Set multiple gaze points and obtain binocular Kappa angle measurement information of multiple eyes at multiple gaze points; 0110: A Kappa angle dynamic compensation model is obtained based on multiple binocular Kappa angle measurement information and artificial neural network training; 0120: Determine the mechanism model of the human eye; 0130: Determine an anthropomorphic Kappa angle of the human eye simulation device 101 based on a Kappa angle dynamic compensation model and / or a human eye mechanism model; 0140: Determine the corresponding second motion coefficient according to the anthropomorphic Kappa angle; 0150: Compensate the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 based on the first motion coefficient and the second motion coefficient.

[0119] In the Kappa angle compensation method of the embodiment of the present application, the first motion coefficient and the initial Kappa angle of the human eye simulation device 101 are determined based on the calibration system 100, and then the anthropomorphic Kappa angle and the second motion coefficient of the human eye simulation device 101 are determined based on the Kappa angle dynamic compensation model and / or the human eye mechanism model, so that the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 are compensated based on the first motion coefficient and the second motion coefficient. In this way, the initial Kappa angle of the human eye simulation device 101 can be accurately determined, and then the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 can be accurately compensated.

[0120] Specifically, considering that the kappa angle of the human eye may be different in different gaze directions, a kappa angle dynamic compensation model based on the gaze point of the human eye is trained to determine the anthropomorphic kappa angle of the human eye simulation device 101 .

[0121] Set multiple gaze points. The specific number can be set according to the actual application situation and is not limited here. In an example, Fig. 22 and Fig.23 As shown, three concentric circles are set in a plane, and the polar angles of the three concentric circles (such as Fig. 22 Middle Angle ) are 10 degrees, 20 degrees and 30 degrees respectively. Each concentric circle is 30 degrees apart (such as Fig. 22 Middle Angle ) Set a fixation point, and set 12 fixation points for each concentric circle. There is also a fixation point at the center of the concentric circle, for a total of 37 fixation points.

[0122] A plurality of real human eyes respectively gaze at a plurality of gaze points, and the Kappa angles of the left eye and the right eye of each real human eye when gazing at each gaze point are respectively measured to obtain binocular Kappa angle measurement information of each real human eye at each gaze point. The binocular Kappa angle measurement information includes left eye Kappa angle measurement information and right eye Kappa angle measurement information.

[0123] The Kappa angle dynamic compensation model can be obtained by inputting the Kappa angle measurement information of multiple binocular eyes into an artificial neural network (ANN) for training. The artificial neural network can adopt a lightweight artificial neural network with fewer parameters and low complexity. The Kappa angle dynamic compensation model obtained by training is a lightweight model.

[0124] The lightweight Kappa angle dynamic compensation model has the advantages of fast reasoning speed and low resource consumption, and can reduce the delay of Kappa angle dynamic compensation; and because the lightweight model has a small size and low complexity, it is easy to deploy and integrate on various platforms. Therefore, when the lightweight Kappa angle dynamic compensation model is applied to the human eye simulation device 101, it can be deployed in the control box at the bottom of the human eye simulation device 101.

[0125] In addition, a human eye mechanism model can also be constructed based on the medical three-dimensional eyeball model. The medical three-dimensional eyeball model is constructed based on basic eyeball parameters such as diopter, polarization, pupil position, corneal position, etc., and can simulate the Kappa angle of any human eye. The human eye mechanism model can be configured on the software side of the human eye simulation device 101.

[0126] When the eye movement algorithm is trained, the human eye simulation device 101 can be controlled to simulate any Kappa angle, that is, the anthropomorphic Kappa angle; and since the human eye simulation device 101 has an initial Kappa angle, the Kappa angle that the human eye simulation device 101 needs to compensate for is composed of the initial Kappa angle and the anthropomorphic Kappa angle. Therefore, it is necessary to compensate for the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 at the same time.

[0127] When the eye movement algorithm is trained based on the human eye simulation device 101, the human eye simulation device 101 is used for dynamic tracking. During the dynamic movement of the human eye simulation device 101, the first motion coefficient written in the control firmware is obtained, and the anthropomorphic Kappa angle can be determined based on the Kappa angle dynamic compensation model and / or the human eye mechanism model. The anthropomorphic Kappa angle can be determined based only on the Kappa angle dynamic compensation model; or, the anthropomorphic Kappa angle can be determined based only on the human eye mechanism model; or, the anthropomorphic Kappa angle can be determined based on the Kappa angle dynamic compensation model and the human eye mechanism model. The Kappa angle dynamic compensation model and / or the human eye mechanism model Kappa angle dynamic compensation model can also directly output the corresponding second motion coefficient according to the anthropomorphic Kappa angle.

[0128] See also Figure 2 and Fig.24 In some embodiments, when the anthropomorphic Kappa angle of the human eye simulation device 101 is determined based on the Kappa angle dynamic compensation model and / or the human eye mechanism model, the anthropomorphic Kappa angle of the human eye simulation device 101 is determined based on the Kappa angle dynamic compensation model (i.e., 0130), including: 0131: Obtain the current azimuth angle and the current polarity angle corresponding to the current gaze point of the human eye simulation device 101; 0132: determining at least one gaze point position closest to the current gaze point from multiple gaze points according to the current azimuth angle, the current polar angle and the Kappa angle dynamic compensation model; 0133: Determine the anthropomorphic Kappa angle corresponding to the current gaze point according to at least one gaze point.

[0129] Specifically, when determining the second motion coefficient based only on the Kappa angle dynamic compensation model, the current azimuth and the current polarity angle corresponding to the current gaze point of the human eye simulation device 101 are obtained. The current azimuth and the current polarity angle are input into the Kappa angle dynamic compensation model. The Kappa angle dynamic compensation model can determine at least one gaze point position closest to the current gaze point from multiple gaze point positions according to the current azimuth and the current polarity angle, and determine the anthropomorphic Kappa angle corresponding to the current gaze point according to the at least one gaze point position.

[0130] The at least one gaze point may be one or more. For example, the Kappa angle dynamic compensation model may determine two gaze points closest to the current gaze point from multiple gaze points according to the current azimuth angle and the current polar angle, and perform interpolation processing according to the two gaze points to calculate the anthropomorphic Kappa angle corresponding to the current gaze point. The Kappa angle dynamic compensation model may also directly output the corresponding second motion coefficient according to the anthropomorphic Kappa angle.

[0131] After determining the second motion coefficient, the human eye simulation device 101 can be compensated for the initial Kappa angle and the anthropomorphic Kappa angle based on the first motion coefficient and the second motion coefficient. , the second motion coefficient is , is the rotation angle of the horizontal axis of the human eye simulation device 101, is the rotation angle of the pitch axis of the human eye simulation device 101. The third motion coefficient can be determined according to the first motion coefficient and the second motion coefficient, which is expressed as .

[0132] After determining the third motion coefficient, the motor controls the human eye simulation device 101 to move according to the third motion coefficient to achieve compensation of the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101. It should be noted that the third motion coefficient is , and the motion coefficient of the human eye simulation device 101 is That is, the movement of the human eye simulation device 101 is controlled based on the inverse number of the third motion coefficient. During the movement, it is determined whether the dynamic movement of the human eye simulation device 101 is completed. If the dynamic movement of the human eye simulation device 101 is completed, the compensation of the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 is terminated.

[0133] If the dynamic movement of the human eye simulation device 101 has not been completed, the step of obtaining the current azimuth angle and the current polar angle corresponding to the current gaze point of the human eye simulation device 101 is returned to re-determine the second motion coefficient, and the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 are compensated. In this way, the dynamic compensation of the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 is achieved, and the accuracy of the human eye simulation device 101 during dynamic movement is improved.

[0134] See also Figure 4 and Fig.25 The embodiment of the present application also provides a Kappa angle acquisition device 200, which is applied to the human eye simulation device 101. The Kappa angle acquisition device 200 includes a laser calibration module 210, a first control module 220, an image detection module 230, a second control module 240 and an angle determination module 250. The laser calibration module 210 is used to calibrate the laser emitter 10 of the calibration system 100 so that the laser light path emitted by the laser emitter 10 coincides with the optical axis of the human eye simulation device 101. The first control module 220 is used to control the human eye simulation device 101 to shoot the laser exit hole 21 to obtain a first calibration image. The image detection module 230 is used to detect the first calibration image and determine the first center of the circle corresponding to the laser exit hole 21 in the first calibration image. The second control module 240 is used to control the movement of the human eye simulation device 101 according to the position of the first center of the circle and determine the first motion coefficient of the human eye simulation device 101. The angle determination module 250 is used to determine the initial Kappa angle of the human eye simulation device 101 based on the first motion coefficient.

[0135] In some embodiments, the calibration system 100 includes a calibration plate 20. The calibration plate 20 is fixedly connected to the laser emitter 10 and is located between the laser emitter 10 and the human eye simulation device 101. The laser exit hole 21 is arranged at a position corresponding to the laser emission hole 11 of the laser emitter 10 on the calibration plate 20, and the radius of the laser exit hole 21 is smaller than the radius of the laser emission hole 11.

[0136] In some embodiments, the calibration system 100 includes a translation stage 30, and the laser emitter 10 is disposed on the translation stage 30. The laser calibration module 210 is specifically used to control the translation stage 30 to drive the laser emitter 10 to move along the first direction to determine the first displacement and the second displacement; control the translation stage 30 to drive the laser emitter 10 to move along the second direction to determine the third displacement and the fourth displacement; determine the calibration stroke of the translation stage 30 according to the first displacement, the second displacement, the third displacement and the fourth displacement; control the translation stage 30 to move according to the calibration stroke so that the laser light path emitted by the laser emitter 10 coincides with the optical axis of the human eye simulation device 101; wherein the first direction is perpendicular to the second direction.

[0137] In some embodiments, the calibration system 100 includes a first photoelectric sensor 41, a second photoelectric sensor 42, a third photoelectric sensor 43, and a fourth photoelectric sensor 44. The first photoelectric sensor 41, the second photoelectric sensor 42, the third photoelectric sensor 43, and the fourth photoelectric sensor 44 are all disposed on one side of the calibration plate 20 close to the human eye simulation device 101. The first photoelectric sensor 41 and the second photoelectric sensor 42 are disposed on opposite sides of the laser exit hole 21 along the first direction, and the third photoelectric sensor 43 and the fourth photoelectric sensor 44 are disposed on opposite sides of the laser exit hole 21 along the second direction. The laser calibration module 210 is specifically used to control the displacement stage 30 to drive the laser emitter 10 to move a predetermined number of times along the first direction, and during each movement, record the light intensity received by the first photoelectric sensor 41 and the second photoelectric sensor 42 to determine the corresponding first light intensity curve; determine the corresponding multiple first displacements and multiple second displacements according to the multiple first light intensity curves; control the displacement stage 30 to drive the laser emitter 10 to move a predetermined number of times along the second direction, and during each movement, record the light intensity received by the third photoelectric sensor 43 and the fourth photoelectric sensor 44 to determine the corresponding second light intensity curve; determine the corresponding multiple third displacements and multiple fourth displacements according to the multiple second light intensity curves; determine the calibration stroke of the displacement stage 30 according to the multiple first displacements, multiple second displacements, multiple third displacements and multiple fourth displacements.

[0138] In some embodiments, the calibration stroke includes a first calibration stroke and a second calibration stroke. The laser calibration module 210 is specifically used to determine the first calibration stroke of the displacement stage 30 according to the multiple first displacements and the multiple second displacements when the multiple first displacements, the multiple second displacements, the multiple third displacements and the multiple fourth displacements all meet the preset conditions, and determine the second calibration stroke of the displacement stage 30 according to the multiple third displacements and the multiple fourth displacements; when the multiple first displacements, the multiple second displacements, the multiple third displacements or the multiple fourth displacements do not meet the preset conditions, save the multiple first displacements, the multiple second displacements, the multiple third displacements and the multiple fourth displacements, and return to the step of controlling the displacement stage 30 to drive the laser emitter 10 to move along the first direction to determine the first displacement and the second displacement; control the displacement stage 30 to move according to the first calibration stroke and the second calibration stroke so that the laser light path emitted by the laser emitter 10 coincides with the optical axis of the human eye simulation device 101; wherein the preset condition is that the displacements of a predetermined proportion in the multiple displacements are equal.

[0139] In some embodiments, the Kappa angle acquisition device 200 detects the first calibration image based on an edge detection algorithm and a circle detection algorithm. The second control module 240 is specifically used to determine a vector from the center point of the first calibration image to the center of the first circle; according to the modulus of the vector, control the movement of the human eye simulation device 101, and record the movement coefficient of the human eye simulation device 101 to determine the first movement coefficient.

[0140] In some embodiments, the second control module 240 is specifically used to control the human eye simulation device 101 to move at a first preset speed along the direction of the vector when the modulus of the vector is greater than or equal to the first preset modulus, and return to the step of controlling the human eye simulation device 101 to photograph the laser exit hole 21 to obtain a first calibration image; when the modulus of the vector is greater than or equal to the second preset modulus and less than the first preset modulus, control the human eye simulation device 101 to move at a second preset speed along the direction of the vector, and return to the step of controlling the human eye simulation device 101 to photograph the laser exit hole 21 to obtain a first calibration image; when the modulus of the vector is less than the second preset modulus, record the current motion coefficient of the human eye simulation device 101 as the first motion coefficient; wherein the first preset speed is greater than the second preset speed.

[0141] In some embodiments, the human eye simulation device 101 includes a camera 1012. After controlling the movement of the human eye simulation device 101 according to the position of the first center of the circle and determining the first movement coefficient of the human eye simulation device 101, the angle determination module 250 is further used to set the laser point position; control the human eye simulation device 101 to shoot the laser point position to obtain a second calibration image; control the movement of the human eye simulation device 101 based on the position of the laser point position in the second calibration image, so that the center point of the camera 1012 coincides with the second center of the laser point position; control the movement of the human eye simulation device 101 based on the first movement coefficient, so as to perform an initial Kappa angle calibration on the human eye simulation device 101.

[0142] In certain embodiments, after controlling the movement of the human eye simulation device 101 according to the position of the first center of the circle and determining the first motion coefficient of the human eye simulation device 101, the angle determination module 250 is further used to set multiple gaze points and obtain binocular Kappa angle measurement information of multiple human eyes at multiple gaze points; obtain a Kappa angle dynamic compensation model based on multiple binocular Kappa angle measurement information and artificial neural network training; determine the human eye mechanism model; determine the anthropomorphic Kappa angle of the human eye simulation device 101 based on the Kappa angle dynamic compensation model and / or the human eye mechanism model; determine the corresponding second motion coefficient according to the anthropomorphic Kappa angle; and compensate the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 based on the first motion coefficient and the second motion coefficient.

[0143] In certain embodiments, when the anthropomorphic Kappa angle of the human eye simulation device 101 is determined based on the Kappa angle dynamic compensation model and / or the human eye mechanism model, the angle determination module 250 is specifically used to obtain the current azimuth angle and the current polarity angle corresponding to the current gaze point of the human eye simulation device 101; determine at least one gaze point position closest to the current gaze point from multiple gaze points according to the current azimuth angle, the current polarity angle and the Kappa angle dynamic compensation model; and determine the anthropomorphic Kappa angle corresponding to the current gaze point according to the at least one gaze point position.

[0144] It should be noted that the explanation of the Kappa angle acquisition method in the aforementioned embodiment is also applicable to the Kappa angle acquisition device 200 in the embodiment of the present application, and will not be elaborated here.

[0145] See also Figure 4 and Fig.26 The present application also provides a Kappa angle acquisition system 300. The Kappa angle acquisition system 300 includes one or more processors 310 and a memory 320. The memory 320 stores a computer program. When the computer program is executed by the processor 310, the Kappa angle acquisition method of any of the above embodiments is implemented.

[0146] For example, when the computer program is executed by the processor 310, the following Kappa angle acquisition method is implemented: 010: Calibrate the laser transmitter 10 of the calibration system 100 so that the laser light path emitted by the laser transmitter 10 coincides with the optical axis of the human eye simulation device 101; 020: Control the human eye simulation device 101 to photograph the laser exit hole 21 to obtain a first calibration image; 030: Detect the first calibration image to determine a first center of a circle corresponding to the laser exit hole 21 in the first calibration image; 040: controlling the movement of the human eye simulation device 101 according to the position of the first circle center, and determining a first movement coefficient of the human eye simulation device 101; 050: Determine an initial Kappa angle of the human eye simulation device 101 based on the first motion coefficient.

[0147] For another example, when the computer program is executed by the processor 310, the following Kappa angle acquisition method is implemented: 011: Control the displacement stage 30 to drive the laser emitter 10 to move along the first direction to determine the first displacement and the second displacement; 012: Control the displacement stage 30 to drive the laser emitter 10 to move along the second direction to determine the third displacement and the fourth displacement; 013: Determine a calibration stroke of the translation stage 30 according to the first displacement, the second displacement, the third displacement and the fourth displacement; 014: Control the translation stage 30 to move according to the calibration stroke so that the laser light path emitted by the laser transmitter 10 coincides with the optical axis of the human eye simulation device 101; The first direction is perpendicular to the second direction.

[0148] It should be noted that the explanations and descriptions of the Kappa angle acquisition method and the Kappa angle acquisition device 200 in the aforementioned embodiments are also applicable to the Kappa angle acquisition system 300 of the embodiments of the present application, and will not be further described here.

[0149] See also Figure 4 and Fig. 27 The embodiment of the present application further provides a computer-readable storage medium 400 on which a computer program 410 is stored. When the computer program 410 is executed by a processor 420, the Kappa angle acquisition method of any of the above embodiments is implemented.

[0150] For example, when the computer program 410 is executed by the processor 420, the following Kappa angle acquisition method is implemented: 010: Calibrate the laser transmitter 10 of the calibration system 100 so that the laser light path emitted by the laser transmitter 10 coincides with the optical axis of the human eye simulation device 101; 020: Control the human eye simulation device 101 to photograph the laser exit hole 21 to obtain a first calibration image; 030: Detect the first calibration image to determine a first center of a circle corresponding to the laser exit hole 21 in the first calibration image; 040: controlling the movement of the human eye simulation device 101 according to the position of the first circle center, and determining a first movement coefficient of the human eye simulation device 101; 050: Determine an initial Kappa angle of the human eye simulation device 101 based on the first motion coefficient.

[0151] For another example, when the computer program 410 is executed by the processor 420, the following Kappa angle acquisition method is implemented: 011: Control the displacement stage 30 to drive the laser emitter 10 to move along the first direction to determine the first displacement and the second displacement; 012: Control the displacement stage 30 to drive the laser emitter 10 to move along the second direction to determine the third displacement and the fourth displacement; 013: Determine a calibration stroke of the translation stage 30 according to the first displacement, the second displacement, the third displacement and the fourth displacement; 014: Control the translation stage 30 to move according to the calibration stroke so that the laser light path emitted by the laser transmitter 10 coincides with the optical axis of the human eye simulation device 101; The first direction is perpendicular to the second direction.

[0152] It should be noted that the explanations and descriptions of the Kappa angle acquisition method and the Kappa angle acquisition device 200 in the aforementioned embodiments are also applicable to the computer-readable storage medium 400 in the embodiments of the present application, and will not be elaborated here.

[0153] See also Figure 4 and Fig.28 , the embodiment of the present application also provides a Kappa angle calibration device 500. The Kappa angle calibration device 500 is applied to the human eye simulation device 101, and the human eye simulation device 101 includes a camera 1012. The Kappa angle calibration device 500 determines the first motion coefficient and the initial Kappa angle by the Kappa angle acquisition method of any of the above embodiments. The Kappa angle calibration device 500 includes a point setting module 510, a third control module 520, a fourth control module 530 and an angle calibration module 540. The point setting module 510 is used to set the laser point. The third control module 520 is used to control the human eye simulation device 101 to shoot the laser point to obtain a second calibration image. The fourth control module 530 is used to control the movement of the human eye simulation device 101 based on the position of the laser point in the second calibration image, so that the center point of the camera 1012 coincides with the second center of the laser point. The angle calibration module 540 is used to control the movement of the human eye simulation device 101 based on the first motion coefficient to calibrate the initial Kappa angle of the human eye simulation device 101.

[0154] It should be pointed out that the explanation of the Kappa angle calibration method in the aforementioned embodiment is also applicable to the Kappa angle calibration device 500 in the embodiment of the present application, and will not be elaborated here.

[0155] See also Figure 4 and Fig.29 The present application also provides a Kappa angle calibration system 600. The Kappa angle calibration system 600 includes one or more processors 610 and a memory 620. The memory 620 stores a computer program. When the computer program is executed by the processor 610, the Kappa angle calibration method of any of the above embodiments is implemented.

[0156] For example, when the computer program is executed by the processor 610, the following Kappa angle calibration method is implemented: 060: Set laser point position; 070: Control the human eye simulation device 101 to shoot the laser point to obtain a second calibration image; 080: Control the movement of the human eye simulation device 101 based on the position of the laser point in the second calibration image, so that the center point of the camera 1012 coincides with the second center of the laser point; 090 : Controlling the movement of the human eye simulation device 101 based on the first movement coefficient to perform an initial Kappa angle calibration on the human eye simulation device 101 .

[0157] It should be noted that the explanations and descriptions of the Kappa angle calibration method and the Kappa angle calibration device 500 in the aforementioned embodiments are also applicable to the Kappa angle acquisition system 600 in the embodiments of the present application, and will not be elaborated here.

[0158] See also Figure 4 and Fig.30 The embodiment of the present application further provides a computer-readable storage medium 700 on which a computer program 710 is stored. When the computer program 710 is executed by a processor 720, the Kappa angle calibration method of any of the above embodiments is implemented.

[0159] For example, when the computer program 710 is executed by the processor 720, the following Kappa angle calibration method is implemented: 060: Set laser point position; 070: Control the human eye simulation device 101 to shoot the laser point to obtain a second calibration image; 080: Control the movement of the human eye simulation device 101 based on the position of the laser point in the second calibration image, so that the center point of the camera 1012 coincides with the second center of the laser point; 090 : Controlling the movement of the human eye simulation device 101 based on the first movement coefficient to perform an initial Kappa angle calibration on the human eye simulation device 101 .

[0160] It should be noted that the explanations and descriptions of the Kappa angle calibration method and the Kappa angle calibration device 500 in the aforementioned embodiments are also applicable to the computer-readable storage medium 700 in the embodiments of the present application, and will not be further described here.

[0161] See also Figure 4 and Fig.31, the embodiment of the present application also provides a Kappa angle compensation device 800. The Kappa angle compensation device 800 is applied to the human eye simulation device 101. The Kappa angle compensation device 800 determines the first motion coefficient and the initial Kappa angle by the Kappa angle acquisition method of any of the above embodiments. The Kappa angle compensation device 800 includes an information acquisition module 810, a model training module 820, a model determination module 830, an angle estimation module 840, a coefficient determination module 850 and an angle compensation module 860. The information acquisition module 810 is used to set multiple gaze points and obtain binocular Kappa angle measurement information of multiple human eyes at multiple gaze points. The model training module 820 is used to obtain a Kappa angle dynamic compensation model based on multiple binocular Kappa angle measurement information and artificial neural network training. The model determination module 830 is used to determine the human eye mechanism model. The angle estimation module 840 is used to determine the anthropomorphic Kappa angle of the human eye simulation device 101 based on the Kappa angle dynamic compensation model and / or the human eye mechanism model. The coefficient determination module 850 is used to determine the corresponding second motion coefficient according to the anthropomorphic Kappa angle. The angle compensation module 860 is used to compensate the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 based on the first motion coefficient and the second motion coefficient.

[0162] In certain embodiments, when the anthropomorphic Kappa angle of the human eye simulation device 101 is determined based on the Kappa angle dynamic compensation model and / or the human eye mechanism model, the angle estimation module 840 is specifically used to obtain the current azimuth angle and the current polarity angle corresponding to the current gaze point of the human eye simulation device 101; determine at least one gaze point position closest to the current gaze point from multiple gaze points according to the current azimuth angle, the current polarity angle and the Kappa angle dynamic compensation model; and determine the anthropomorphic Kappa angle corresponding to the current gaze point according to the at least one gaze point position.

[0163] It should be pointed out that the explanation of the Kappa angle compensation method in the aforementioned embodiment is also applicable to the Kappa angle compensation device 800 in the embodiment of the present application, and will not be elaborated here.

[0164] See also Figure 4 and Fig.32 The present application also provides a Kappa angle compensation system 900. The Kappa angle compensation system 900 includes one or more processors 910 and a memory 920. The memory 920 stores a computer program. When the computer program is executed by the processor 910, the Kappa angle compensation method of any of the above embodiments is implemented.

[0165] For example, when the computer program is executed by the processor 910, the following Kappa angle compensation method is implemented: 0100: Set multiple gaze points and obtain binocular Kappa angle measurement information of multiple eyes at multiple gaze points; 0110: A Kappa angle dynamic compensation model is obtained based on multiple binocular Kappa angle measurement information and artificial neural network training; 0120: Determine the mechanism model of the human eye; 0130: Determine an anthropomorphic Kappa angle of the human eye simulation device 101 based on a Kappa angle dynamic compensation model and / or a human eye mechanism model; 0140: Determine the corresponding second motion coefficient according to the anthropomorphic Kappa angle; 0150: Compensate the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 based on the first motion coefficient and the second motion coefficient.

[0166] For another example, when the computer program is executed by the processor 910, the following Kappa angle compensation method is implemented: 0131: Obtain the current azimuth angle and the current polarity angle corresponding to the current gaze point of the human eye simulation device 101; 0132: determining at least one gaze point position closest to the current gaze point from multiple gaze points according to the current azimuth angle, the current polar angle and the Kappa angle dynamic compensation model; 0133: Determine the anthropomorphic Kappa angle corresponding to the current gaze point according to at least one gaze point.

[0167] It should be pointed out that the explanations of the Kappa angle compensation method and the Kappa angle compensation device 800 in the aforementioned embodiments are also applicable to the Kappa angle acquisition system 900 of the embodiments of the present application, and will not be elaborated here.

[0168] See also Figure 4 and Fig.33 The embodiment of the present application further provides a computer-readable storage medium 1000 on which a computer program 1010 is stored. When the computer program 1010 is executed by a processor 1020, the Kappa angle compensation method of any of the above embodiments is implemented.

[0169] For example, when the computer program 1010 is executed by the processor 1020, the following Kappa angle compensation method is implemented: 0100: Set multiple gaze points and obtain binocular Kappa angle measurement information of multiple eyes at multiple gaze points; 0110: A Kappa angle dynamic compensation model is obtained based on multiple binocular Kappa angle measurement information and artificial neural network training; 0120: Determine the mechanism model of the human eye; 0130: Determine an anthropomorphic Kappa angle of the human eye simulation device 101 based on a Kappa angle dynamic compensation model and / or a human eye mechanism model; 0140: Determine the corresponding second motion coefficient according to the anthropomorphic Kappa angle; 0150: Compensate the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 based on the first motion coefficient and the second motion coefficient.

[0170] For another example, when the computer program 1010 is executed by the processor 1020, the following Kappa angle compensation method is implemented: 0131: Obtain the current azimuth angle and the current polarity angle corresponding to the current gaze point of the human eye simulation device 101; 0132: determining at least one gaze point position closest to the current gaze point from multiple gaze points according to the current azimuth angle, the current polar angle and the Kappa angle dynamic compensation model; 0133: Determine the anthropomorphic Kappa angle corresponding to the current gaze point according to at least one gaze point.

[0171] It should be noted that the explanations of the Kappa angle compensation method and the Kappa angle compensation device 800 in the aforementioned embodiments are also applicable to the computer-readable storage medium 1000 of the embodiments of the present application, and will not be elaborated here.

[0172] In summary, in the Kappa angle acquisition method, acquisition device 200, acquisition system 300, computer-readable storage medium 400, Kappa angle calibration method, calibration device 500, calibration system 600, computer-readable storage medium 700, Kappa angle compensation method, compensation device 800, compensation system 900 and computer-readable storage medium 1000 of the embodiments of the present application, the initial Kappa angle of the human eye simulation device 101 is determined based on the calibration system 100, the laser light path emitted by the laser emitter 10 is calibrated to coincide with the optical axis of the human eye simulation device 101, the human eye simulation device 101 is controlled to shoot the laser exit hole 21 to obtain a first calibration image, and then the human eye simulation device 101 is controlled to move based on the position of the laser exit hole 21 in the first calibration image, and the first motion coefficient of the human eye simulation device 101 is determined to determine the initial Kappa angle of the human eye simulation device 101. In this way, the initial Kappa angle of the human eye simulation device 101 can be accurately determined.

[0173] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0174] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0175] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable storage medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, a computer-readable storage medium can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable storage media include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable storage medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0176] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0177] A person of ordinary skill in the art will appreciate that all or part of the steps carried by the method for implementing the above-mentioned embodiment can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment. In addition, each functional unit in each embodiment of the present application can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a disk or an optical disk, etc.

[0178] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A Kappa angle acquisition method, characterized in that: Applied to a human eye simulation device, the Kappa angle acquisition method includes: Calibrate the laser transmitter of the calibration system so that the laser light path emitted by the laser transmitter coincides with the optical axis of the human eye simulation device; Controlling the human eye simulation device to photograph the laser exit hole to obtain a first calibration image; Detecting the first calibration image to determine a first center of a circle corresponding to the laser exit hole in the first calibration image; Controlling the movement of the human eye simulation device according to the position of the first circle center, and determining a first movement coefficient of the human eye simulation device; An initial Kappa angle of the human eye simulation device is determined based on the first motion coefficient.

2. The Kappa angle acquisition method according to claim 1, characterized in that: The calibration system comprises a calibration plate, which is fixedly connected to the laser emitter and is located between the laser emitter and the human eye simulation device; The laser exit hole is arranged at a position of the calibration plate corresponding to the laser emission hole of the laser emitter, and the radius of the laser exit hole is smaller than the radius of the laser emission hole.

3. The Kappa angle acquisition method according to claim 2, characterized in that: The calibration system includes a displacement stage, the laser emitter is arranged on the displacement stage, and the laser emitter of the calibration system is calibrated so that the laser light path emitted by the laser emitter coincides with the optical axis of the human eye simulation device, including: Controlling the displacement stage to drive the laser emitter to move along a first direction to determine a first displacement and a second displacement; Controlling the displacement stage to drive the laser emitter to move along the second direction to determine a third displacement and a fourth displacement; determining a calibration stroke of the translation stage according to the first displacement, the second displacement, the third displacement, and the fourth displacement; Controlling the translation stage to move according to the calibration stroke so that the laser light path emitted by the laser transmitter coincides with the optical axis of the human eye simulation device; The first direction is perpendicular to the second direction.

4. The Kappa angle acquisition method according to claim 3, characterized in that: The calibration system comprises a first photoelectric sensor, a second photoelectric sensor, a third photoelectric sensor and a fourth photoelectric sensor, wherein the first photoelectric sensor, the second photoelectric sensor, the third photoelectric sensor and the fourth photoelectric sensor are all arranged on a side of the calibration plate close to the human eye simulation device, the first photoelectric sensor and the second photoelectric sensor are arranged on two opposite sides of the laser exit hole along the first direction, the third photoelectric sensor and the fourth photoelectric sensor are arranged on two opposite sides of the laser exit hole along the second direction, and the control of the displacement stage drives the laser emitter to move along the first direction to determine the first displacement and the second displacement comprises: Controlling the translation stage to drive the laser transmitter to move a predetermined number of times along the first direction, and during each movement, recording the light intensity received by the first photoelectric sensor and the second photoelectric sensor to determine a corresponding first light intensity curve; Determine a corresponding plurality of first displacements and a corresponding plurality of second displacements according to a plurality of first light intensity curves; The step of controlling the displacement stage to drive the laser emitter to move along the second direction to determine the third displacement and the fourth displacement includes: Controlling the translation stage to drive the laser transmitter to move a predetermined number of times along the second direction, and during each movement, recording the light intensity received by the third photoelectric sensor and the fourth photoelectric sensor to determine a corresponding second light intensity curve; Determine a corresponding plurality of the third displacements and a corresponding plurality of the fourth displacements according to a plurality of the second light intensity curves; Determining the calibration stroke of the translation stage according to the first displacement, the second displacement, the third displacement, and the fourth displacement comprises: A calibration stroke of the translation stage is determined according to the plurality of first displacements, the plurality of second displacements, the plurality of third displacements, and the plurality of fourth displacements.

5. The Kappa angle acquisition method according to claim 4, characterized in that: The calibration stroke includes a first calibration stroke and a second calibration stroke, and determining the calibration stroke of the translation stage according to the plurality of the first displacements, the plurality of the second displacements, the plurality of the third displacements, and the plurality of the fourth displacements comprises: When the plurality of first displacements, the plurality of second displacements, the plurality of third displacements, and the plurality of fourth displacements all meet a preset condition, determining the first calibration stroke of the translation stage according to the plurality of first displacements and the plurality of second displacements, and determining the second calibration stroke of the translation stage according to the plurality of third displacements and the plurality of fourth displacements; When the plurality of first displacements, the plurality of second displacements, the plurality of third displacements or the plurality of fourth displacements do not satisfy the preset condition, the plurality of first displacements, the plurality of second displacements, the plurality of third displacements and the plurality of fourth displacements are saved, and the step of controlling the displacement stage to drive the laser emitter to move along the first direction to determine the first displacement and the second displacement is returned; The step of controlling the translation stage to move according to the calibration stroke so that the laser light path emitted by the laser transmitter coincides with the optical axis of the human eye simulation device comprises: Controlling the translation stage to move according to the first calibration stroke and the second calibration stroke so that the laser light path emitted by the laser transmitter coincides with the optical axis of the human eye simulation device; The preset condition is that at least a predetermined proportion of the displacements among the multiple displacements are equal.

6. The Kappa angle acquisition method according to claim 1, characterized in that: The Kappa angle acquisition method detects the first calibration image based on an edge detection algorithm and a circle detection algorithm; The step of controlling the movement of the human eye simulation device according to the position of the first circle center and determining a first movement coefficient of the human eye simulation device includes: determining a vector from a center point of the first calibration image to a center point of the first circle; According to the modulus of the vector, the movement of the human eye simulation device is controlled, and the movement coefficient of the human eye simulation device is recorded to determine the first movement coefficient.

7. The Kappa angle acquisition method according to claim 6, characterized in that: The step of controlling the movement of the human eye simulation device according to the modulus of the vector and recording the movement coefficient of the human eye simulation device to determine the first movement coefficient includes: When the modulus of the vector is greater than or equal to the first preset modulus, controlling the human eye simulation device to move along the direction of the vector at a first preset speed, and returning to the step of controlling the human eye simulation device to photograph the laser exit hole to obtain a first calibration image; When the modulus of the vector is greater than or equal to the second preset modulus and less than the first preset modulus, controlling the human eye simulation device to move along the direction of the vector at a second preset speed, and returning to the step of controlling the human eye simulation device to photograph the laser exit hole to obtain a first calibration image; When the modulus of the vector is less than the second preset modulus, recording the current motion coefficient of the human eye simulation device as the first motion coefficient; Wherein, the first preset speed is greater than the second preset speed.

8. A Kappa angle acquisition device, characterized in that: Applied to a human eye simulation device, the Kappa angle acquisition device comprises: A laser calibration module, used to calibrate a laser transmitter of a calibration system so that the laser light path emitted by the laser transmitter coincides with the optical axis of the human eye simulation device; A first control module, used for controlling the human eye simulation device to photograph the laser exit hole to obtain a first calibration image; An image detection module, configured to detect the first calibration image and determine a first center of a circle corresponding to the laser exit hole in the first calibration image; A second control module, used for controlling the movement of the human eye simulation device according to the position of the first circle center, and determining a first movement coefficient of the human eye simulation device; An angle determination module is used to determine an initial Kappa angle of the human eye simulation device based on the first motion coefficient.

9. A Kappa angle acquisition system, characterized in that: The Kappa angle acquisition system includes one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the Kappa angle acquisition method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the Kappa angle acquisition method described in any one of claims 1 to 7 is implemented.

11. A Kappa angle calibration method, characterized in that: Applied to a human eye simulation device, the human eye simulation device includes a camera, the Kappa angle calibration method determines a first motion coefficient and an initial Kappa angle by the Kappa angle acquisition method according to any one of claims 1 to 7, and the Kappa angle calibration method includes: Set the laser point position; Controlling the human eye simulation device to photograph the laser point to obtain a second calibration image; Controlling the movement of the human eye simulation device based on the position of the laser point in the second calibration image so that the center point of the camera coincides with the second center of the laser point; The movement of the human eye simulation device is controlled based on the first movement coefficient to calibrate the initial Kappa angle of the human eye simulation device.

12. A Kappa angle calibration device, characterized in that: Applied to a human eye simulation device, the human eye simulation device includes a camera, the Kappa angle calibration device determines a first motion coefficient and an initial Kappa angle by the Kappa angle acquisition method according to any one of claims 1 to 7, and the Kappa angle calibration device includes: Point setting module, used to set laser points; A third control module, used for controlling the human eye simulation device to photograph the laser point to obtain a second calibration image; a fourth control module, configured to control the movement of the human eye simulation device based on the position of the laser point in the second calibration image, so that the center point of the camera coincides with the second center of the laser point; An angle calibration module is used to control the movement of the human eye simulation device based on the first motion coefficient to calibrate the initial Kappa angle of the human eye simulation device.

13. A Kappa angle calibration system, characterized in that: The Kappa angle calibration system includes one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the Kappa angle calibration method according to claim 11 is implemented.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the Kappa angle calibration method according to claim 11 is implemented.

15. A Kappa angle compensation method, characterized in that: Applied to a human eye simulation device, the Kappa angle compensation method determines a first motion coefficient and an initial Kappa angle by using the Kappa angle acquisition method according to any one of claims 1 to 7, and the Kappa angle compensation method includes: Setting a plurality of gaze points, and obtaining binocular Kappa angle measurement information of a plurality of human eyes at the plurality of gaze points; A Kappa angle dynamic compensation model is obtained based on the multiple binocular Kappa angle measurement information and artificial neural network training; Determine the mechanism model of the human eye; Determine the anthropomorphic Kappa angle of the human eye simulation device based on the Kappa angle dynamic compensation model and / or the human eye mechanism model; Determine a corresponding second motion coefficient according to the anthropomorphic Kappa angle; The initial Kappa angle and the anthropomorphic Kappa angle are compensated for the human eye simulation device based on the first motion coefficient and the second motion coefficient.

16. The Kappa angle compensation method according to claim 15, characterized in that: When the step of determining the anthropomorphic Kappa angle of the human eye simulation device based on the Kappa angle dynamic compensation model and / or the human eye mechanism model is determining the anthropomorphic Kappa angle of the human eye simulation device based on the Kappa angle dynamic compensation model, the step of determining the anthropomorphic Kappa angle of the human eye simulation device based on the Kappa angle dynamic compensation model includes: Obtaining a current azimuth angle and a current polarity angle corresponding to a current gaze point of the human eye simulation device; Determine at least one gaze point position closest to the current gaze point from the plurality of gaze points according to the current azimuth angle, the current polar angle and the Kappa angle dynamic compensation model; The anthropomorphic Kappa angle corresponding to the current gaze point is determined according to at least one of the gaze points.

17. A Kappa angle compensation device, characterized in that: Applied to a human eye simulation device, the Kappa angle compensation device determines a first motion coefficient and an initial Kappa angle by the Kappa angle acquisition method according to any one of claims 1 to 7, and the Kappa angle compensation device comprises: An information acquisition module, used to set a plurality of gaze points and acquire binocular Kappa angle measurement information of a plurality of human eyes at the plurality of gaze points; A model training module, used for obtaining a Kappa angle dynamic compensation model based on the multiple binocular Kappa angle measurement information and artificial neural network training; A model determination module, used to determine the human eye mechanism model; An angle estimation module, used to determine the anthropomorphic Kappa angle of the human eye simulation device based on the Kappa angle dynamic compensation model and / or the human eye mechanism model; A coefficient determination module, used to determine a corresponding second motion coefficient according to the anthropomorphic Kappa angle; An angle compensation module is used to compensate the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device based on the first motion coefficient and the second motion coefficient.

18. A Kappa angle compensation system, characterized in that: The Kappa angle compensation system includes one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the Kappa angle compensation method according to claim 15 or 16 is implemented.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the Kappa angle compensation method according to claim 15 or 16 is implemented.

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