Kappa Angle Acquisition Method, Calibration Method, Compensation Method, Device, System and Medium

Abstract

The present application discloses a method for obtaining a Kappa angle, a calibration method, a compensation method, a device, a system and a medium, belonging to the technical field of human eye simulation devices. The method for obtaining a Kappa angle includes: calibrating a laser emitter of a calibration system so that the laser light path emitted by the laser emitter coincides with the optical axis of the human eye simulation device; controlling the human eye simulation device to capture a first calibration image of a laser exit hole; 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 center and determining a first movement coefficient of the human eye simulation device; and determining an initial Kappa angle of the human eye simulation device based on the first movement coefficient. In this way, the initial Kappa angle of the human eye simulation device can be accurately determined.

Description

Technical Field

[0001] This application relates to the technical field of human eye simulation devices, and particularly relates to a method for obtaining kappa angle, an obtaining device, an obtaining 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 included angle therebetween is the kappa angle, which is very important for the training of eye movement algorithms. At present, human eye simulation devices are often used for the training of eye movement algorithms; due to assembly reasons, the optical axis of the camera (simulating the human eye visual axis) does not completely coincide with the optical axis of the simulated eyeball in the human eye simulation device, 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 an urgent problem to be solved at present. Summary of the Invention

[0003] Embodiments of this application provide a method for obtaining kappa angle, an obtaining device, an obtaining 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 technical problems.

[0004] The kappa angle obtaining method of the embodiments of this application is applied to a human eye simulation device, and the kappa angle obtaining method includes:

[0005] Calibrate the laser emitter of the calibration system so that the laser light path emitted by the laser emitter coincides with the optical axis of the human eye simulation device;

[0006] Control the human eye simulation device to photograph the laser exit hole to obtain a first calibration image;

[0007] Detect the first calibration image to determine the first center of the circle corresponding to the laser exit hole in the first calibration image;

[0008] Control the movement of the human eye simulation device according to the position of the first center and determine the first movement coefficient of the human eye simulation device;

[0009] Determine the initial kappa angle of the human eye simulation device based on the first movement coefficient.

[0010] In some embodiments, the calibration system includes a calibration plate, the calibration plate is fixedly connected to the laser emitter, and is located between the laser emitter and the human eye simulation device;

[0011] The laser emission hole is disposed at a position corresponding to the laser emission hole of the laser emitter on the calibration plate, and the radius of the laser emission hole is smaller than the radius of the laser emission hole of the laser emitter.

[0012] In some embodiments, the calibration system includes a displacement stage, and the laser emitter is disposed on the displacement stage. Calibrating the laser emitter of the calibration system to make the laser light path emitted by the laser emitter coincide with the optical axis of the human eye simulation device includes:

[0013] Controlling the displacement stage to drive the laser emitter to move in a first direction to determine a first displacement and a second displacement;

[0014] Controlling the displacement stage to drive the laser emitter to move in a second direction to determine a third displacement and a fourth displacement;

[0015] Determining the calibration stroke of the displacement stage according to the first displacement, the second displacement, the third displacement, and the fourth displacement;

[0016] Controlling the displacement stage to move according to the calibration stroke so that the laser light path emitted by the laser emitter coincides with the optical axis of the human eye simulation device;

[0017] Wherein, the first direction is perpendicular to the second direction.

[0018] In some embodiments, the calibration system includes a first photoelectric sensor, a second photoelectric sensor, a third photoelectric sensor, and a fourth photoelectric sensor. The first photoelectric sensor, the second photoelectric sensor, the third photoelectric sensor, and the fourth photoelectric sensor are all disposed on a side of the calibration plate close to the human eye simulation device. The first photoelectric sensor and the second photoelectric sensor are disposed on opposite sides of the laser emission hole along the first direction, and the third photoelectric sensor and the fourth photoelectric sensor are disposed on opposite sides of the laser emission hole along the second direction. The controlling the displacement stage to drive the laser emitter to move in the first direction to determine the first displacement and the second displacement includes:

[0019] Controlling the displacement stage to drive the laser emitter to move in the first direction a predetermined number of times, and during each movement, recording the light intensities received by the first photoelectric sensor and the second photoelectric sensor to determine a corresponding first light intensity curve;

[0020] Determining a plurality of the first displacements and a plurality of the second displacements corresponding to the plurality of the first light intensity curves;

[0021] The controlling the displacement stage to drive the laser emitter to move in the second direction to determine the third displacement and the fourth displacement includes:

[0022] Control the displacement stage to drive the laser emitter to move along the second direction a predetermined number of times, and record the light intensities received by the third photoelectric sensor and the fourth photoelectric sensor during each movement to determine the corresponding second light intensity curve;

[0023] Determine the corresponding multiple third displacements and multiple fourth displacements according to the multiple second light intensity curves;

[0024] The determining the calibration stroke of the displacement stage according to the first displacement, the second displacement, the third displacement and the fourth displacement includes:

[0025] Determine the calibration stroke of the displacement stage according to the multiple first displacements, multiple second displacements, multiple third displacements and multiple fourth displacements.

[0026] In some embodiments, the calibration stroke includes a first calibration stroke and a second calibration stroke. The determining the calibration stroke of the displacement stage according to the multiple first displacements, multiple second displacements, multiple third displacements and multiple fourth displacements includes:

[0027] When the multiple first displacements, multiple second displacements, multiple third displacements and multiple fourth displacements all meet the preset conditions, determine the first calibration stroke of the displacement stage according to the multiple first displacements and multiple second displacements, and determine the second calibration stroke of the displacement stage according to the multiple third displacements and multiple fourth displacements;

[0028] When the multiple first displacements, multiple second displacements, multiple third displacements or multiple fourth displacements do not meet the preset conditions, save the multiple first displacements, multiple second displacements, multiple third displacements and multiple fourth displacements, and return to 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;

[0029] The controlling the displacement stage to move according to the calibration stroke so that the laser light path emitted by the laser emitter coincides with the optical axis of the human eye simulation device includes:

[0030] Control the displacement stage to move according to the first calibration stroke and the second calibration stroke so that the laser light path emitted by the laser emitter coincides with the optical axis of the human eye simulation device;

[0031] Wherein, the preset condition is that at least a predetermined proportion of the displacements among the multiple displacements are equal.

[0032] In some embodiments, the Kappa angle acquisition method detects the first calibration image based on an edge detection algorithm and a circle detection algorithm;

[0033] Controlling the movement of the human eye simulation device according to the position of the first center of the circle and determining the first movement coefficient of the human eye simulation device includes:

[0034] Determining a vector from the center point of the first calibration image to the first center of the circle;

[0035] According to the magnitude of the vector, controlling the movement of the human eye simulation device and recording the movement coefficient of the human eye simulation device to determine the first movement coefficient.

[0036] In some embodiments, according to the magnitude of the vector, controlling the movement of the human eye simulation device and recording the movement coefficient of the human eye simulation device to determine the first movement coefficient includes:

[0037] When the magnitude of the vector is greater than or equal to a first preset magnitude, controlling the human eye simulation device to move in 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 emission hole to obtain a first calibration image;

[0038] When the magnitude of the vector is greater than or equal to a second preset magnitude and less than the first preset magnitude, controlling the human eye simulation device to move in 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 emission hole to obtain a first calibration image;

[0039] When the magnitude of the vector is less than the second preset magnitude, recording the current movement coefficient of the human eye simulation device as the first movement coefficient;

[0040] Wherein, the first preset speed is greater than the second preset speed.

[0041] The Kappa angle acquisition device according to the embodiment of the present application is applied to a human eye simulation device, and the Kappa angle acquisition device includes:

[0042] A laser calibration module for calibrating the laser emitter of the calibration system so that the laser optical path emitted by the laser emitter coincides with the optical axis of the human eye simulation device;

[0043] A first control module for controlling the human eye simulation device to photograph the laser emission hole to obtain a first calibration image;

[0044] An image detection module for detecting the first calibration image and determining a first center of a circle corresponding to the laser exit hole in the first calibration image;

[0045] A second control module for controlling the movement of the human eye simulation device according to the position of the first center and determining a first movement coefficient of the human eye simulation device;

[0046] An angle determination module for determining an initial Kappa angle of the human eye simulation device based on the first movement coefficient.

[0047] The Kappa angle acquisition system according to the embodiment of the present application, the Kappa angle acquisition system includes one or more processors and a memory, 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 embodiments is implemented.

[0048] The computer-readable storage medium according to the embodiment of the present application, on which a computer program is stored, and when the program is executed by a processor, the Kappa angle acquisition method of any of the above embodiments is implemented.

[0049] The Kappa angle calibration method according to the embodiment of the present application, applied to a human eye simulation device, the human eye simulation device includes a camera, the Kappa angle calibration method determines a first movement coefficient and an initial Kappa angle by the Kappa angle acquisition method of any of the above embodiments, and the Kappa angle calibration method includes:

[0050] Set the laser point position;

[0051] Control the human eye simulation device to take a second calibration image of the laser point position;

[0052] Control the movement of the human eye simulation device based on the position of the laser point position in the second calibration image so that the center point of the camera coincides with the second center of the laser point position;

[0053] Control the movement of the human eye simulation device based on the first movement coefficient to calibrate the initial Kappa angle of the human eye simulation device.

[0054] The Kappa angle calibration device according to the embodiment of the present application, applied to a human eye simulation device, the human eye simulation device includes a camera, the Kappa angle calibration device determines a first movement coefficient and an initial Kappa angle by the Kappa angle acquisition method of any of the above embodiments, and the Kappa angle calibration device includes:

[0055] A point position setting module for setting the laser point position;

[0056] The third control module is used to control the human eye simulation device to capture a second calibration image of the laser point position;

[0057] The fourth control module is used to control the movement of the human eye simulation device based on the position of the laser point position in the second calibration image, so that the center point of the camera coincides with the second center of the laser point position;

[0058] The 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.

[0059] The Kappa angle calibration system according to the embodiment of the present application, the Kappa angle calibration system includes one or more processors and a memory, 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 embodiments is implemented.

[0060] The computer-readable storage medium according to the embodiment of the present application, on which a computer program is stored, and when the program is executed by a processor, the Kappa angle calibration method of any of the above embodiments is implemented.

[0061] The Kappa angle compensation method according to 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 the Kappa angle acquisition method of any of the above embodiments. The Kappa angle compensation method includes:

[0062] Set multiple fixation points, and obtain binocular Kappa angle measurement information of multiple human eyes at multiple fixation points;

[0063] Train a Kappa angle dynamic compensation model based on multiple binocular Kappa angle measurement information and an artificial neural network;

[0064] Determine a human eye mechanism model;

[0065] 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;

[0066] Determine a corresponding second motion coefficient according to the anthropomorphic Kappa angle;

[0067] 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.

[0068] In some 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, and the anthropomorphic Kappa angle of the human eye simulation device determined 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:

[0069] Obtain the current azimuth angle and current polar angle corresponding to the current fixation point of the human eye simulation device;

[0070] Determine at least one fixation point closest to the current fixation point from multiple fixation points according to the current azimuth angle, the current polar angle, and the Kappa angle dynamic compensation model;

[0071] Determine the anthropomorphic Kappa angle corresponding to the current fixation point according to at least one fixation point.

[0072] The Kappa angle compensation device according to the embodiment of the present application is 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 of any of the above embodiments. The Kappa angle compensation device includes:

[0073] An information acquisition module, configured to set multiple fixation points and acquire binocular Kappa angle measurement information of multiple human eyes at the multiple fixation points;

[0074] A model training module, configured to train a Kappa angle dynamic compensation model based on the multiple binocular Kappa angle measurement information and an artificial neural network;

[0075] A model determination module, configured to determine a human eye mechanism model;

[0076] An angle estimation module, configured 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;

[0077] A coefficient determination module, configured to determine a corresponding second motion coefficient according to the anthropomorphic Kappa angle;

[0078] An angle compensation module, configured 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.

[0079] The Kappa angle compensation system according to the embodiments of the present application, the Kappa angle compensation system includes one or more processors and a memory, the memory stores a computer program, and when the computer program is executed by the processor, the Kappa angle compensation method according to any of the above embodiments is implemented.

[0080] The computer-readable storage medium according to the embodiments of the present application, on which a computer program is stored, and when the program is executed by a processor, the Kappa angle compensation method according to any of the above embodiments is implemented.

[0081] 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 according to 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 and coincided with the optical axis of the human eye simulation device, the human eye simulation device is controlled to photograph 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 to determine the first movement coefficient of the human eye simulation device, so as 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.

[0082] The additional aspects and advantages of the embodiments of the present application will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the embodiments of the present application. Description of the Drawings

[0083] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0084] Figure 1 is a schematic diagram of the Kappa angle of a real human eye in some embodiments of the present application;

[0085] Figure 2 is a schematic diagram of the initial Kappa angle of the human eye simulation device in some embodiments of the present application;

[0086] Figure 3 is a schematic flowchart of the Kappa angle acquisition method in some embodiments of the present application;

[0087] Figure 4 is a schematic diagram of the laser emitter being positioned to the left in some embodiments of the present application;

[0088] Figure 5 is a schematic diagram of the laser emitter being positioned to the right in some embodiments of the present application;

[0089] Figure 6 Schematic diagram of the first calibration image of some embodiments of the present application;

[0090] Figure 7 Schematic diagram of the movement of the human eye simulation device of some embodiments of the present application;

[0091] Figure 8 Schematic diagram of the structure of the calibration system of some embodiments of the present application;

[0092] Figure 9 Schematic diagram of the structure in which the first photoelectric sensor, the second photoelectric sensor, the third photoelectric sensor, and the fourth photoelectric sensor are arranged on the calibration plate of some embodiments of the present application;

[0093] Figure 10 Schematic diagram of the flow of the Kappa angle acquisition method of some embodiments of the present application;

[0094] Figure 11 Schematic diagram of the flow of the Kappa angle acquisition method of some embodiments of the present application;

[0095] Figure 12 Schematic diagram of the flow of calibrating the laser emitter of some embodiments of the present application;

[0096] Figure 13 Schematic diagram of the first light intensity curve of some embodiments of the present application;

[0097] Figure 14 Schematic diagram of the flow of the Kappa angle acquisition method of some embodiments of the present application;

[0098] Figure 15 Schematic diagram of the flow of the Kappa angle acquisition method of some embodiments of the present application;

[0099] Figure 16 Schematic diagram of the flow of initial Kappa angle calibration of the human eye simulation device of some embodiments of the present application;

[0100] Figure 17 Schematic diagram of the flow of the Kappa angle acquisition method of some embodiments of the present application;

[0101] Figure 18 Schematic diagram of the flow of the Kappa angle calibration method of some embodiments of the present application;

[0102] Figure 19 Schematic diagram of the flow of the Kappa angle compensation method of some embodiments of the present application;

[0103] Figure 20It is a schematic flow chart for compensating the initial Kappa angle and anthropomorphic Kappa angle of a human eye simulation device in some embodiments of the present application;

[0104] Figure 21 It is a schematic flow chart for compensating the initial Kappa angle and anthropomorphic Kappa angle of a human eye simulation device in some embodiments of the present application;

[0105] Figure 22 It is a schematic diagram of the laser point positions gazed by a real human eye in some embodiments of the present application;

[0106] Figure 23 It is a schematic diagram of the distribution of laser point positions in some embodiments of the present application;

[0107] Figure 24 It is a schematic flow chart of the Kappa angle compensation method in some embodiments of the present application;

[0108] Figure 25 It is a schematic diagram of the modules of the Kappa angle acquisition device in some embodiments of the present application;

[0109] Figure 26 It is a schematic diagram of the modules of the Kappa angle acquisition system in some embodiments of the present application;

[0110] Figure 27 It is a schematic diagram of the connection state between a computer-readable storage medium and a processor in some embodiments of the present application;

[0111] Figure 28 It is a schematic diagram of the modules of the Kappa angle calibration device in some embodiments of the present application;

[0112] Figure 29 It is a schematic diagram of the modules of the Kappa angle calibration system in some embodiments of the present application;

[0113] Figure 30 It is a schematic diagram of the connection state between a computer-readable storage medium and a processor in some embodiments of the present application;

[0114] Figure 31 It is a schematic diagram of the modules of the Kappa angle compensation device in some embodiments of the present application;

[0115] Figure 32 It is a schematic diagram of the modules of the Kappa angle compensation system in some embodiments of the present application;

[0116] Figure 33 It is a schematic diagram of the connection state between a computer-readable storage medium and a processor in some embodiments of the present application. Specific embodiments

[0117] The following further describes the embodiments of the present application in conjunction with the accompanying drawings. The same or similar reference numerals in the drawings represent the same or similar elements or elements with the same or similar functions throughout. 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 should not be construed as a limitation of the present application.

[0118] As Figure 1 shown, the Kappa angle is the angle formed by 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 judgment of the eye movement algorithm on the true fixation area of the human eye.

[0119] As Figure 2 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 symmetric double-sphere 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 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, it is necessary to determine the kappa angle of each human eye simulation device 101.

[0120] Please refer to Figure 3 and Figure 4 , the embodiments of the present application provide a method for obtaining the Kappa angle, which is applied to the human eye simulation device 101. The method for obtaining the Kappa angle includes:

[0121] 010: 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;

[0122] 020: Control the human eye simulation device 101 to photograph the laser exit hole 21 to obtain a first calibration image;

[0123] 030: 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;

[0124] 040: Control the movement of the human eye simulation device 101 according to the position of the first center and determine the first movement coefficient of the human eye simulation device 101;

[0125] 050: Determine the initial Kappa angle of the human eye simulation device 101 based on the first movement coefficient.

[0126] In the method for obtaining the Kappa angle according to 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 optical path emitted by the laser emitter 10 is calibrated and coincided with the optical axis of the human eye simulation device 101. The human eye simulation device 101 is controlled to photograph the laser exit hole 21 to obtain a first calibration image. Then, based on the position of the laser exit hole 21 in the first calibration image, the human eye simulation device 101 is controlled to move, and the first motion coefficient of the human eye simulation device 101 is determined, so as 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.

[0127] Specifically, the calibration system 100 can be used to determine the initial Kappa angle of each human eye simulation device 101 respectively. 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 facing the human eye simulation device 101, and the laser emitted by the laser emitter 10 can be reflected by the human eye simulation device 101.

[0128] In order to ensure the accuracy of the determined initial Kappa angle, the laser emitter 10 can be calibrated first so that the laser optical path emitted by the laser emitter 10 coincides with the optical axis of the human eye simulation device 101. The coincidence of the laser optical path emitted by the laser emitter 10 with the optical axis of the human eye simulation device 101 means that the laser optical path reflected by the human eye simulation device 101 coincides with the laser optical path emitted by the laser emitter 10. The position of the laser emitter 10 can be adjusted according to the deviation of the laser optical path reflected by the human eye simulation device 101 to calibrate the laser emitter 10.

[0129] As Figure 4 shown, the laser emitted by the laser emitter 10 is reflected by the human eye simulation device 101, but the reflected optical 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 by a certain distance. As Figure 5 shown, the laser emitted by the laser emitter 10 is reflected by the human eye simulation device 101, but the reflected optical 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 by a certain distance.

[0130] Similarly, when the reflected optical path is biased upward, it indicates that the position of the laser emitter 10 is biased upward, and the laser emitter 10 needs to be translated downward by a certain distance. When the reflected optical path is biased downward, it indicates that the position of the laser emitter 10 is biased downward, and the laser emitter 10 needs to be translated upward by a certain distance.

[0131] After calibrating the laser emitter 10, control the camera 1012 of the human eye simulation device 101 to capture the laser emission hole 21 to obtain a first calibration image. It can be understood that the laser optical 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, as Figure 6 shown, the position corresponding to the laser emission hole 21 in the first calibration image captured by the camera 1012 deviates from the center position of the image.

[0132] Detect the first calibration image to identify the circle corresponding to the laser emission hole 21 in the first calibration image, determine the center of the circle, and mark it as the first center in the first calibration image. The deviation between the first center and the image center in the first calibration image can characterize the deviation between the optical axis and the visual axis of the human eye simulation device 101. Then, the initial Kappa angle of the human eye simulation device 101 can be determined according to the deviation position of the first center in the first calibration image.

[0133] The human eye simulation device 101 further includes a motor for controlling the movement of the human eye simulation device 101. Based on the position of the laser emission hole 21 in the first calibration image, the movement of the human eye simulation device 101 can be controlled by the motor to calibrate the deviation of the laser emission 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.

[0134] In the related art, the definition of the initial Kappa angle only has positive and negative directions. The initial Kappa angle is the angle in the nasal and temporal directions, that is, the horizontal angle, and can be compensated by the rotation of the horizontal axis.

[0135] 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 adds the angle in the pitch direction and 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 rotational movement of the horizontal axis (such as Figure 7 the axis O1) and the rotational movement of the pitch axis (such as Figure 7 the axis O2).

[0136] Among them, the rotational movement of the horizontal axis refers to the rotational movement of the horizontal axis in the horizontal direction, that is, the rotational movement in the XY plane (such as Figure 7 shown). The rotational movement of the pitch axis refers to the rotational movement of the pitch axis in the vertical direction, that is, the rotational movement in the YZ plane (such as Figure 7 shown).

[0137] At the end of the movement, the movement coefficients of the human eye simulation device 101 are recorded as the first movement coefficients. The first movement coefficients include the rotation angle of the horizontal axis and the rotation angle of the pitch axis. Based on the first movement coefficients, the initial Kappa angle of the human eye simulation device 101 can be calculated as follows:

[0138] The initial Kappa angle of the human eye simulation device 101 can be expressed by the following formula:

[0139]

[0140] Where, 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 characterize the direction and distance from the unit vector of to the unit vector of .

[0141] The first movement coefficients can be expressed as:

[0142]

[0143] Where, is the first movement 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. Converting the first movement coefficients to three-dimensional space can obtain the rotation vector:

[0144]

[0145] Where, is the rotation vector, that is, the rotation vector between the optical axis and the visual axis of the human eye simulation device 101. . Then, it can be obtained that:

[0146]

[0147] It should be noted that the determination process of the first movement coefficients can be carried out before the human eye simulation device 101 leaves the factory. After determining the first movement coefficients, the first movement coefficients can be written into the control firmware of the human eye simulation device 101 to facilitate the initial Kappa angle calibration of the human eye simulation device 101 based on the first movement coefficients in actual applications.

[0148] In the embodiments of the present application, based on the calibration system 100, the initial Kappa angle of each eye simulation device 101 is determined respectively. After calibrating the laser emitter 10, the eye simulation device 101 is controlled to capture a first calibration image of the laser emission hole 21. Then, based on the position of the laser emission hole 21 in the first calibration image, the eye simulation device 101 is controlled to move, and the first movement coefficient of the eye simulation device 101 is determined. Based on the first movement coefficient, the initial Kappa angle of the eye simulation device 101 is determined. In this way, the initial Kappa angle of the eye simulation device 101 can be accurately determined.

[0149] Please refer to Figure 4 、 Figure 8 and Figure 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 eye simulation device 101. The laser emission hole 21 is provided at a position corresponding to the laser emission hole 11 of the calibration plate 20 and the laser emitter 10, and the radius of the laser emission hole 21 is smaller than the radius of the laser emission hole 11.

[0150] Specifically, the calibration system 100 includes a calibration plate 20. In one example, the calibration plate 20 is a calibration blackboard. The calibration plate 20 is fixedly connected to the laser emitter 10. The calibration plate 20 is located between the laser emitter 10 and the 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 emission hole 21 is provided at a position corresponding to the laser emission hole 11 on the calibration plate 20. The laser emitted from the laser emission hole 11 passes through the laser emission hole 21 and exits to the eye simulation device 101, and then is reflected by the eye simulation device 101 to the calibration plate 20.

[0151] The radius of the laser emission hole 21 is smaller than the radius of the laser emission hole 11. In this way, the laser is more concentrated after passing through the laser emission hole 21, which can ensure that the laser emitted through the laser emission hole 21 is a beam of laser, reduce the interference of stray light, and improve the calibration accuracy of the laser emitter 10. In one example, the radius of the laser emission hole 21 is one-half of the radius of the laser emission hole 11.

[0152] The process of calibrating the laser emitter 10 will be described in detail below.

[0153] Please refer to Figure 4 and Figure 10 , in some embodiments, the calibration system 100 includes a displacement stage 30. The laser emitter 10 is disposed on the displacement stage 30. Calibrating the laser emitter 10 of the calibration system 100 to make the laser light path emitted by the laser emitter 10 coincide with the optical axis of the eye simulation device 101 (i.e., 010) includes:

[0154] 011: Control the displacement stage 30 to drive the laser emitter 10 to move in the first direction to determine the first displacement and the second displacement;

[0155] 012: Control the displacement stage 30 to drive the laser emitter 10 to move in the second direction to determine the third displacement and the fourth displacement;

[0156] 013: Determine the calibration travel of the displacement stage 30 according to the first displacement, the second displacement, the third displacement, and the fourth displacement;

[0157] 014: Control the displacement stage 30 to move according to the calibration travel so that the laser optical path emitted by the laser emitter 10 coincides with the optical axis of the human eye simulation device 101;

[0158] Wherein, the first direction is perpendicular to the second direction.

[0159] Specifically, the calibration system 100 includes a displacement stage 30. In one example, as Figure 8 shown, the displacement stage 30 adopts a six-axis displacement stage, and the laser emitter 10 is fixedly arranged on the six-axis displacement stage, and the six-axis displacement stage can drive the laser emitter 10 to move in the X-axis, Y-axis, and Z-axis directions.

[0160] Control the displacement stage 30 to drive the laser emitter 10 to move in the first direction, and drive the laser emitter 10 to move in the second direction. It can be understood that during the process of the displacement stage 30 driving the laser to move, the calibration plate 20 also moves accordingly. The laser always emits from the laser exit hole 21, but will emit to different positions of the human eye simulation device 101, and thus is reflected by the human eye simulation device 101 to different positions on the calibration plate 20.

[0161] Therefore, according to the situation of the laser reflected on the calibration plate 20, the first displacement and the second displacement of the displacement stage 30 in the first direction can be determined, and the third displacement and the fourth displacement of the displacement 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 situation. In one example, the first direction is Figure 10 the Y-axis direction in Figure 10 and the second direction is the Z-axis direction in

[0162] The calibration travel of the displacement stage 30 can be determined according to the first displacement, the second displacement, the third displacement, and the fourth displacement. Control the displacement stage 30 to move according to the calibration travel of the displacement stage 30. Finally, the position where the displacement stage 30 is located is the calibration position. At the calibration position, the laser optical 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.

[0163] Please refer to Figure 4 andFigure 9 and Figure 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 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 emission hole 21 along a first direction, and the third photoelectric sensor 43 and the fourth photoelectric sensor 44 are disposed on opposite sides of the laser emission hole 21 along a second direction. Controlling the displacement stage 30 to drive the laser emitter 10 to move along the first direction to determine a first displacement and a second displacement (i.e., 011), including:

[0164] 0111: Controlling the displacement stage 30 to drive the laser emitter 10 to move along the first direction a predetermined number of times, and during each movement, recording the light intensities received by the first photoelectric sensor 41 and the second photoelectric sensor 42 to determine the corresponding first light intensity curve;

[0165] 0112: Determining the corresponding multiple first displacements and multiple second displacements according to multiple first light intensity curves;

[0166] At this time, controlling the displacement stage 30 to drive the laser emitter 10 to move along the second direction to determine a third displacement and a fourth displacement (i.e., 012), including:

[0167] 0121: Controlling the displacement stage 30 to drive the laser emitter 10 to move along the second direction a predetermined number of times, and during each movement, recording the light intensities received by the third photoelectric sensor 43 and the fourth photoelectric sensor 44 to determine the corresponding second light intensity curve;

[0168] 0122: Determining the corresponding multiple third displacements and multiple fourth displacements according to multiple second light intensity curves;

[0169] At this time, determining the calibration stroke of the displacement stage 30 according to the first displacement, the second displacement, the third displacement, and the fourth displacement (i.e., 013), including:

[0170] 0131: Determining the calibration stroke of the displacement stage 30 according to multiple first displacements, multiple second displacements, multiple third displacements, and multiple fourth displacements.

[0171] 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 disposed on one side of the calibration plate 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 plate 20.

[0172] As Figure 9 shown, the first photoelectric sensor 41 and the second photoelectric sensor 42 are symmetrically disposed on opposite sides of the laser exit hole 21 along a first direction. The distance between the first photoelectric sensor 41 and the laser exit hole 21 is x1, the distance between the second photoelectric sensor 42 and the laser exit hole 21 is x2, and x1 = x2.

[0173] The third photoelectric sensor 43 and the fourth photoelectric sensor 44 are symmetrically disposed on opposite sides of the laser exit hole 21 along a second direction. The distance between the third photoelectric sensor 43 and the laser exit hole 21 is y1, the distance between the fourth photoelectric sensor 44 and the laser exit hole 21 is y2, and y1 = y2.

[0174] Control the displacement stage 30 to drive the laser emitter 10 to move a predetermined number of times along the first direction, and each movement travels the entire stroke of the displacement stage 30 in the first direction. During each movement, record the light intensities received by the first photoelectric sensor 41 and the second photoelectric sensor 42, and draw a corresponding first light intensity curve according to the light intensities and the corresponding stroke of the displacement stage 30. The first light intensity curve includes the curve of the light intensity received by the first photoelectric sensor 41 changing with the stroke of the displacement stage 30, and the curve of the light intensity received by the second photoelectric sensor 42 changing with the stroke of the displacement stage 30. As Figure 13 shown. Each time it moves, a corresponding first light intensity curve can be obtained.

[0175] The first light intensity curve can reflect the deviation of the position of the laser emitter 10. Combining Figure 4 , Figure 9 and Figure 13 , when the position of the laser emitter 10 is biased to the left, the reflection optical 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 approaches zero.

[0176] Combining Figure 4 , Figure 9 and Figure 13 , when the position of the laser emitter 10 is biased to the right, the reflection optical 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 approaches zero.

[0177] It can be understood that when the laser optical 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 at the minimum value or zero.

[0178] The predetermined number of times can be determined according to the actual application situation. For example, the predetermined number of times can be set to 2 times, 3 times, 4 times or more. In one example, the displacement stage 30 can be controlled to drive the laser to move in the first direction 6 times, so that 6 corresponding first light intensity curves can be obtained.

[0179] Based on multiple first light intensity curves, corresponding multiple first displacements and multiple second displacements can be determined. For example Figure 13 As shown, when the displacement stage 30 moves one complete stroke in the first direction, 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 irradiates the first photoelectric sensor 41. The abscissa corresponding to the peak light intensity is taken as the first displacement, that is, Ymax1.

[0180] 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 irradiates the second photoelectric sensor 42. The abscissa corresponding to the peak light intensity is taken as the second displacement, that is, Ymax2.

[0181] After that, the displacement stage 30 is controlled to drive the laser emitter 10 to move in the second direction a predetermined number of times, and each movement completes the entire stroke of the displacement stage 30 in the second direction. During each movement, the light intensities received by the third photoelectric sensor 43 and the fourth photoelectric sensor 44 are recorded, and the corresponding second light intensity curves are plotted according to the light intensities and the corresponding stroke of the displacement stage 30. The second light intensity curves include the curve of the light intensity received by the third photoelectric sensor 43 changing with the stroke of the displacement stage 30, and the curve of the light intensity received by the fourth photoelectric sensor 44 changing with the stroke of the displacement stage 30. As Figure 13 shown. Each time it moves, a corresponding second light intensity curve can be obtained.

[0182] The second light intensity curve can reflect the deviation of the position of the laser emitter 10. When the position of the laser emitter 10 is biased upward, the reflected optical path is biased 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 approaches zero.

[0183] When the position of the laser emitter 10 is biased downward, the reflected optical path is biased 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 approaches zero.

[0184] It can be understood that when the laser optical 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 at the minimum value or zero.

[0185] Based on multiple second light intensity curves, corresponding multiple third displacements and multiple fourth displacements can be determined. When the displacement stage 30 moves one complete stroke along the second direction, 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 irradiates the third photoelectric sensor 43. The abscissa corresponding to the peak light intensity is taken as the third displacement, that is, Zmax1.

[0186] 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 irradiates the fourth photoelectric sensor 44. The abscissa corresponding to the peak light intensity is taken as the fourth displacement, that is, Zmax2.

[0187] Based on multiple first displacements, multiple second displacements, multiple third displacements and multiple fourth displacements, the calibration stroke of the displacement stage 30 is determined. The following details the specific process of determining the calibration stroke of the displacement stage 30.

[0188] Please refer to Figure 4 、 Figure 12 and Figure 14 , in some embodiments, the calibration stroke includes a first calibration stroke and a second calibration stroke. Determining the calibration stroke (i.e., 0131) of the displacement stage 30 based on multiple first displacements, multiple second displacements, multiple third displacements and multiple fourth displacements includes:

[0189] 01311: When multiple first displacements, multiple second displacements, multiple third displacements and multiple fourth displacements all meet the preset conditions, determine the first calibration stroke of the displacement stage 30 based on multiple first displacements and multiple second displacements, and determine the second calibration stroke of the displacement stage 30 based on multiple third displacements and multiple fourth displacements;

[0190] 01312: When multiple first displacements, multiple second displacements, multiple third displacements or multiple fourth displacements do not meet the preset conditions, save multiple first displacements, multiple second displacements, multiple third displacements and 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;

[0191] At this time, controlling the displacement stage 30 to move according to the calibration stroke so that the laser optical path emitted by the laser emitter 10 coincides with the optical axis of the human eye simulation device 101 (i.e., 014) includes:

[0192] 0141: 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.

[0193] Wherein, the preset condition is that at least a predetermined proportion of the displacements among the multiple displacements are equal.

[0194] Specifically, after determining the multiple first displacements, multiple second displacements, multiple third displacements and multiple fourth displacements, it is judged whether the multiple first displacements meet the preset condition, whether the multiple second displacements meet the preset condition, whether the multiple third displacements meet the preset condition, and whether the multiple fourth displacements meet the preset condition.

[0195] Wherein, the preset condition is that at least a predetermined proportion of the displacements among the multiple displacements are equal. That is to say, at least a predetermined proportion of the first displacements among the multiple first displacements being equal means meeting the preset condition; at least a predetermined proportion of the second displacements among the multiple second displacements being equal means meeting the preset condition; at least a predetermined proportion of the third displacements among the multiple third displacements being equal means meeting the preset condition; at least a predetermined proportion of the fourth displacements among the multiple fourth displacements being equal means meeting the preset condition.

[0196] The predetermined proportion can be set according to the actual situation. For example, the predetermined proportion can be set to 2 / 3, 3 / 4, 3 / 5, 4 / 5 or any other proportion. The larger the predetermined proportion is set, the more accurate the determined calibration stroke can be guaranteed. In one example, the number of movements is 6 times and the predetermined proportion is set to 2 / 3.

[0197] That is to say, at least 4 of the 6 first displacements being equal means meeting the preset condition; at least 4 of the 6 second displacements being equal means meeting the preset condition; at least 4 of the 6 third displacements being equal means meeting the preset condition; at least 4 of the 6 fourth displacements being equal means meeting the preset condition.

[0198] When the multiple first displacements, multiple second displacements, multiple third displacements and multiple fourth displacements all meet the preset condition, the calibration stroke can be calculated according to the multiple first displacements, multiple second displacements, multiple third displacements and multiple fourth displacements. The calibration stroke includes a first calibration stroke and a second calibration stroke. The first calibration stroke is the calibration stroke of the displacement stage 30 along the first direction, and the second calibration stroke is the calibration stroke of the displacement stage 30 along the second direction.

[0199] It can be understood that in the first direction, when the displacement stage 30 is at the first displacement, the laser reflected by the human eye simulation device 101 directly irradiates the first photoelectric sensor 41, and when the displacement stage 30 is at the second displacement, the laser reflected by the human eye simulation device 101 directly irradiates the second photoelectric sensor 42. Similarly, in the second direction, when the displacement stage 30 is at the third displacement, the laser reflected by the human eye simulation device 101 directly irradiates the third photoelectric sensor 43, and when the displacement stage 30 is at the fourth displacement, the laser reflected by the human eye simulation device 101 directly irradiates the fourth photoelectric sensor 44.

[0200] The first photoelectric sensor 41 and the second photoelectric sensor 42 are equidistant from the laser emission hole 21 in the first direction, and the third photoelectric sensor 43 and the fourth photoelectric sensor 44 are equidistant from the laser emission hole 21 in the second direction. Then, when the displacement stage 30 is 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 emission hole 21.

[0201] Therefore, the first calibration stroke can be calculated based on multiple first displacements and multiple second displacements. Specifically, the first calibration stroke can be calculated based on multiple equal first displacements and multiple equal second displacements. Denote the values of multiple equal first displacements as the first calibration displacement, and denote the values of multiple equal second displacements as the second calibration displacement. Calculate the average value of the first calibration displacement and the second calibration displacement to obtain the first calibration stroke.

[0202] The second calibration stroke can be calculated based on multiple third displacements and multiple fourth displacements. Specifically, the second calibration stroke can be calculated based on multiple equal third displacements and multiple equal fourth displacements. Denote the values of multiple equal third displacements as the third calibration displacement, and denote the values of multiple equal fourth displacements as the fourth calibration displacement. Calculate the average value of the third calibration displacement and the fourth calibration displacement to obtain the second calibration stroke.

[0203] When multiple first displacements, multiple second displacements, multiple third displacements, or multiple fourth displacements do not meet the preset conditions, that is, when any of the multiple first displacements, multiple second displacements, multiple third displacements, and multiple fourth displacements do not meet the preset conditions, it indicates that the values of the currently obtained multiple first displacements, multiple second displacements, multiple third displacements, and multiple fourth displacements are unstable, and more first displacements, second displacements, third displacements, and fourth displacements need to be obtained to more accurately determine the calibration stroke.

[0204] At this time, the currently obtained multiple first displacements, multiple second displacements, multiple third displacements, and multiple fourth displacements can be saved, and the step of returning to control the displacement stage 30 to drive the laser emitter 10 to move in the first direction to determine the first displacement and the second displacement can be performed, and the process of obtaining the first displacement, the second displacement, the third displacement, and the fourth displacement can be repeated.

[0205] It should be noted that when obtaining the first displacement, the second displacement, the third displacement, and the fourth displacement again, the displacement stage 30 can be controlled to move in the first direction and the second direction any number of times. For example, it can move only once, or move a predetermined number of times, or move any other number of times. That is, any number of first displacements, second displacements, third displacements, and fourth displacements can be obtained.

[0206] Merge the first displacement, the second displacement, the third displacement, and the fourth displacement obtained again with the multiple first displacements, multiple second displacements, multiple third displacements, and multiple fourth displacements saved, and determine the calibration travel of the displacement stage 30 according to the merged multiple first displacements, multiple second displacements, multiple third displacements, and multiple fourth displacements.

[0207] After calculating the first calibration travel and the second calibration travel, the displacement stage 30 can be controlled to move according to the first calibration travel and the second calibration travel, and the final position where the displacement stage 30 is located is the calibration position. It can be understood that by the foregoing steps, accurate first calibration travel and second calibration travel can be obtained. Then, 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.

[0208] When the displacement stage 30 moves to the calibration position, the camera 1012 of the human eye simulation device 101 can be controlled to take a picture of the laser exit hole 21 to obtain the first calibration image. Then, based on the first calibration image, the first motion coefficient of the human eye simulation device 101 is determined.

[0209] Please refer to Figure 4 、 Figure 9 、 Figure 15 and Figure 16 , in some embodiments, the Kappa angle acquisition method detects the first calibration image based on the edge detection algorithm and the circle detection algorithm. 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 (i.e., 040) of the human eye simulation device 101, including:

[0210] 041: Determine the vector from the center point of the first calibration image to the first center of the circle;

[0211] 042: According to the modulus of the vector, control the movement of the human eye simulation device 101 and record the motion coefficient of the human eye simulation device 101 to determine the first motion coefficient.

[0212] Specifically, detect the first calibration image based on the edge detection algorithm and the circle detection algorithm, identify the circle corresponding to the laser exit hole 21 in the first calibration image, and determine the center of the circle, which is marked as the first center of the circle in the first calibration image.

[0213] Any edge detection algorithm and circle detection algorithm can be used to detect the first corrected image. For example, the canny edge detection algorithm can be used for the edge detection algorithm, and the hough circle gradient detection algorithm can be used for the circle detection algorithm. Both the edge detection algorithm and the circle detection algorithm can adopt the methods and logics commonly known to those skilled in the art, so they will not be elaborated here.

[0214] After determining the first center of the 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 first center of the circle . Vector The direction is from the center point of the first calibration image to the first center of the circle. The center point of the first corrected image represents the center point of the camera 1012.

[0215] Calculate the modulus length of the vector , and control the movement of the human eye simulation device 101 according to the modulus length of the vector . During the movement, record the movement coefficient of the human eye simulation device 101 to determine the first movement coefficient. The following details the specific process of controlling the movement of the human eye simulation device 101 according to the modulus length of the vector .

[0216] Please refer to Figure 4 , Figure 9 , Figure 16 and Figure 17 , in some embodiments, according to the modulus length 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 (i.e., 042), including:

[0217] 0421: When the modulus length of the vector is greater than or equal to the first preset modulus length, control the human eye simulation device 101 to move in the direction of the vector at the first preset speed, and return to the step of controlling the human eye simulation device 101 to photograph the laser emission hole 21 to obtain the first calibration image;

[0218] 0422: When the modulus length of the vector is greater than or equal to the second preset modulus length and less than the first preset modulus length, control the human eye simulation device 101 to move in the direction of the vector at the second preset speed, and return to the step of controlling the human eye simulation device 101 to photograph the laser emission hole 21 to obtain the first calibration image;

[0219] 0423: When the modulus length of the vector is less than the second preset modulus length, record the current movement coefficient of the human eye simulation device 101 as the first movement coefficient;

[0220] Among them, the first preset speed is greater than the second preset speed.

[0221] Specifically, according to the vector The relationship between the modulus length of and the first preset modulus length and the second preset modulus length determines the moving speed of the human eye simulation device 101. The first preset modulus length and the second preset modulus length are determined according to the actual application situation. The first preset modulus length is greater than the second preset modulus length, and the second preset modulus length can be set to a value approaching zero. In one example, the first preset modulus length is 5 mm, and the second preset modulus length is 0.5 mm.

[0222] The moving target of the human eye simulation device 101 is to make the first center point in the first calibration image taken basically coincide with the center point, that is, to make the visual axis of the human eye simulation device 101 coincide with the laser light path of the laser emitter 10. In the vector When the modulus length of is greater than or equal to the first preset modulus length, it indicates that the human eye simulation device 101 is far from the target position. The human eye simulation device 101 can be controlled to move in the direction of the vector at the first preset speed, that is, to move at a relatively large speed. In this way, the target position can be quickly approached.

[0223] During the movement of the human eye simulation device 101, the step of controlling the human eye simulation device 101 to take a picture of the laser exit hole 21 to obtain the first calibration image can be returned, and the first calibration image can be taken again to obtain the latest vector so as to control the movement of the human eye simulation device 101 according to the modulus length of the latest vector .

[0224] The first preset speed is determined according to the actual application situation. In one example, the first preset speed is . Among them, is the preset standard speed, and different human eye simulation devices 101 can be set with different standard speeds. For example, can be set to 60° / s. A is the modulus length of the current vector . is the modulus length of the initial vector .

[0225] It can be seen that the first preset speed is proportional to the modulus length of the current vector . In this way, it can not only quickly approach the target position, but also slow down the speed when approaching to avoid overshoot.

[0226] When the modulus length of the vector is greater than or equal to the second preset modulus length and less than the first preset modulus length, it indicates that the human eye simulation device 101 is about to move to the target position. The human eye simulation device 101 is controlled to move in the direction of the vector at the second preset speed, that is, to move at a smaller speed. In this way, it can also approach the target position more accurately and avoid problems such as overshoot or inaccurate positioning caused by too fast speed.

[0227] During the movement of the human eye simulation device 101, the step of controlling the human eye simulation device 101 to capture a first calibration image of the laser emission hole 21 can be returned, and the first calibration image can be re-captured to obtain the latest vector. , so as to control the movement of the human eye simulation device 101 according to the magnitude of the latest vector.

[0228] The second preset speed is determined according to the actual application situation, and the second preset speed is less than the first preset speed. For example, the second preset speed can be set to 1° / s.

[0229] When the magnitude of the vector is less than the second preset magnitude, it indicates that the human eye simulation device 101 has moved to the target position, that is, the first center point in the first calibration image coincides with the center point basically. At this time, the current movement coefficient of the human eye simulation device 101 can be recorded as the first movement coefficient.

[0230] It can be understood that before the human eye simulation device 101 starts to move, the laser light 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 point in the captured first calibration image coincide with the center point basically, that is, to make the visual axis of the human eye simulation device 101 coincide with the laser light path of the laser emitter 10. Through movement, both the optical axis and the visual axis of the human eye simulation device 101 move, and the visual axis is adjusted to the position where it coincides with the laser light path, that is, the position where the original optical axis is located. Then, the initial Kappa angle can be obtained according to the recorded first movement coefficient.

[0231] It should be noted that the process of determining the first movement coefficient can be implemented based on multi-thread technology. One thread is used for edge detection and circle detection of the first calibration image and marking the first center point. Another thread is used to determine the vector according to the first center point, and control the movement of the human eye simulation device 101 based on the vector . Through such a multi-thread processing method, the image processing and device movement control tasks can be executed in parallel, thereby improving the overall processing efficiency and response speed. At the same time, this also ensures the real-time performance of the device movement control.

[0232] 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.

[0233] 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.

[0234] See also Figure 2 and Figure 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:

[0235] 060: Set laser point position;

[0236] 070: Control the human eye simulation device 101 to shoot the laser point to obtain a second calibration image;

[0237] 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;

[0238] 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 .

[0239] 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.

[0240] Specifically, a laser point can be set in front of the human eye simulation device 101, and the human eye simulation device 101 can be controlled to perform dynamic tracking first. The laser point can be set within the field of view of the human eye simulation device 101. Controlling the human eye simulation device 101 to photograph the laser point can obtain a second calibration image.

[0241] In some embodiments, the center point of the second calibration image can represent the center point of the camera 1012. Based on the position of the laser point in the second calibration image, controlling the movement of the human eye simulation device 101 so that the center point of the camera 1012 coincides with the second center of the circle of the laser point (i.e., 080) includes:

[0242] 081: Detect the second calibration image based on an edge detection algorithm and a circle detection algorithm to determine the second center of the circle corresponding to the laser point in the second calibration image:

[0243] 082: Determine the vector from the center point of the second calibration image to the second center of the circle;

[0244] 083: Control the movement of the human eye simulation device 101 according to the modulus of the vector.

[0245] It should be noted that the foregoing embodiments' explanations for "detecting the first calibration image to determine the first center of the circle corresponding to the laser emission hole 21 in the first calibration image" in 030, "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 also apply to the corresponding solutions in 081, 082, and 083 of the embodiments of the present application, and will not be elaborated here.

[0246] When the center point of the camera 1012 coincides with the second center of the circle 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 movement coefficient. It should be noted that the first movement coefficient is , and at this time the movement coefficient of the human eye simulation device 101 is , that is to say, the movement of the human eye simulation device 101 is controlled based on the opposite number of the first movement coefficient. In this way, the initial Kappa angle error of the human eye simulation device 101 can be eliminated.

[0247] The human eye simulation device 101 can also be applied to eye movement algorithm training. In some trainings, it is necessary for the human eye simulation device 101 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 inverse angle decomposition of motion control, and compensate the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 together.

[0248] Please refer to 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 Kappa angle acquisition method. The Kappa angle compensation method includes:

[0249] 0100: Set multiple fixation points, and obtain the binocular Kappa angle measurement information of multiple human eyes at multiple fixation points;

[0250] 0110: Train a Kappa angle dynamic compensation model based on multiple binocular Kappa angle measurement information and an artificial neural network;

[0251] 0120: Determine the human eye mechanism model;

[0252] 0130: 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;

[0253] 0140: Determine the corresponding second motion coefficient according to the anthropomorphic Kappa angle;

[0254] 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.

[0255] 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 as 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. In this way, the initial Kappa angle of the human eye simulation device 101 can be accurately determined, and then accurate compensation for the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 can be performed.

[0256] Specifically, considering that the kappa angle of the human eye varies in different fixation directions, a dynamic compensation model for the kappa angle based on the human eye fixation point is trained to determine the anthropomorphic kappa angle of the human eye simulation device 101.

[0257] Set multiple fixation points. The specific number can be set according to the actual application situation and is not limited here. In one example, as Figure 22 and Figure 23 shown, set 3 concentric circles in a plane. The polar angles of the 3 concentric circles (such as Figure 22 the angle ) are 10 degrees, 20 degrees, and 30 degrees respectively. Set a fixation point at an azimuth angle interval of 30 degrees (such as Figure 22 the angle ) on each concentric circle, and set 12 fixation points on each concentric circle. Also set 1 fixation point at the center of the concentric circles, for a total of 37 fixation points.

[0258] Multiple real human eyes fixate on multiple fixation points respectively, and measure the kappa angles of the left and right eyes of each real human eye when fixating on each fixation point to obtain the binocular kappa angle measurement information of each real human eye at each fixation point. The binocular kappa angle measurement information includes the left eye kappa angle measurement information and the right eye kappa angle measurement information.

[0259] Input the multiple binocular kappa angle measurement information into an Artificial Neural Network (ANN) for training to obtain the kappa angle dynamic compensation model. The artificial neural network can adopt a lightweight artificial neural network with fewer parameters and low complexity, and the trained kappa angle dynamic compensation model is a lightweight model.

[0260] The lightweight kappa angle dynamic compensation model has advantages such as fast inference speed and low resource consumption, which can reduce the latency of kappa angle dynamic compensation; and because the lightweight model has a small volume and low complexity, it is easy to be deployed and integrated 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 layer of the human eye simulation device 101.

[0261] In addition, a human eye mechanism model can also be constructed according to 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, and corneal position, 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.

[0262] When training the eye movement algorithm, the human eye simulation device 101 can be controlled to simulate any Kappa angle, that is, the anthropomorphic Kappa angle. 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 is composed of the initial Kappa angle and the anthropomorphic Kappa angle. Therefore, it is necessary to compensate the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 at the same time.

[0263] When training the eye movement algorithm 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 only based on the Kappa angle dynamic compensation model; or, the anthropomorphic Kappa angle can also be determined only based on the human eye mechanism model; or, the anthropomorphic Kappa angle can be determined jointly 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 can also directly output the corresponding second motion coefficient according to the anthropomorphic Kappa angle.

[0264] Please refer to Figure 2 and Figure 24 , in some embodiments, when determining 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 as the anthropomorphic Kappa angle of the human eye simulation device 101 determined based on the Kappa angle dynamic compensation model, determining the anthropomorphic Kappa angle of the human eye simulation device 101 (i.e., 0130) based on the Kappa angle dynamic compensation model includes:

[0265] 0131: Obtain the current azimuth angle and the current polar angle corresponding to the current fixation point of the human eye simulation device 101;

[0266] 0132: Determine at least one fixation point position closest to the current fixation point from multiple fixation point positions according to the current azimuth angle, the current polar angle, and the Kappa angle dynamic compensation model;

[0267] 0133: Determine the anthropomorphic Kappa angle corresponding to the current fixation point according to at least one fixation point position.

[0268] Specifically, when determining the second motion coefficient based only on the Kappa angle dynamic compensation model, the current azimuth angle and the current polar angle corresponding to the current fixation point of the human eye simulation device 101 are obtained. The current azimuth angle and the current polar angle are input into the Kappa angle dynamic compensation model. The Kappa angle dynamic compensation model can determine at least one fixation point closest to the current fixation point from multiple fixation points according to the current azimuth angle and the current polar angle, and determine the anthropomorphic Kappa angle corresponding to the current fixation point according to the at least one fixation point.

[0269] The at least one fixation point can be one or more. For example, the Kappa angle dynamic compensation model can determine two fixation points closest to the current fixation point from multiple fixation points according to the current azimuth angle and the current polar angle, and perform interpolation processing according to the two fixation points to calculate the anthropomorphic Kappa angle corresponding to the current fixation point. The Kappa angle dynamic compensation model can also directly output the corresponding second motion coefficient according to the anthropomorphic Kappa angle.

[0270] After determining the second motion coefficient, the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 can be compensated based on the first motion coefficient and the second motion coefficient. The first motion coefficient is , and 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. According to the first motion coefficient and the second motion coefficient, the third motion coefficient can be determined, expressed as .

[0271] After determining the third motion coefficient, the human eye simulation device 101 is controlled by a motor to move according to the third motion coefficient to realize the 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 at this time the motion coefficient of the human eye simulation device 101 is , that is to say, the human eye simulation device 101 is controlled to move based on the opposite number of the third motion coefficient. During the movement, it is judged whether the dynamic movement of the human eye simulation device 101 is completed. If the dynamic movement of the human eye simulation device 101 has been completed, the compensation of the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 is ended.

[0272] If the dynamic movement of the human eye simulation device 101 is not completed, return to the step of obtaining the current azimuth angle and the current polar angle corresponding to the current fixation point of the human eye simulation device 101, re-determine the second movement coefficient, and compensate the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101. In this way, the dynamic compensation of the initial Kappa angle and the anthropomorphic Kappa angle of the human eye simulation device 101 is realized, and the accuracy of the human eye simulation device 101 during dynamic movement is improved.

[0273] Please refer to Figure 4 and Figure 25 Also, an embodiment of the present application 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 capture a first calibration image of the laser exit hole 21. 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 and determine the first movement 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 movement coefficient.

[0274] 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 provided at a position corresponding to the laser emission hole 11 of the calibration plate 20 and the laser emitter 10, and the radius of the laser exit hole 21 is smaller than the radius of the laser emission hole 11.

[0275] In some embodiments, the calibration system 100 includes a displacement stage 30, and the laser emitter 10 is provided on the displacement stage 30. The laser calibration module 210 is specifically used to control the displacement stage 30 to drive the laser emitter 10 to move in a first direction to determine a first displacement and a second displacement; control the displacement stage 30 to drive the laser emitter 10 to move in a second direction to determine a third displacement and a fourth displacement; determine the calibration stroke of the displacement stage 30 according to the first displacement, the second displacement, the third displacement, and the fourth displacement; control the displacement 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.

[0276] 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 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 disposed on opposite sides of the laser emission hole 21 along a first direction, and the third photoelectric sensor 43 and the fourth photoelectric sensor 44 are disposed on opposite sides of the laser emission hole 21 along a second direction. The laser calibration module 210 is specifically configured to control the displacement stage 30 to drive the laser emitter 10 to move a predetermined number of times along the first direction, and record the light intensities received by the first photoelectric sensor 41 and the second photoelectric sensor 42 during each movement to determine the corresponding first light intensity curve; determine the corresponding plurality of first displacements and plurality of second displacements according to the plurality of 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 record the light intensities received by the third photoelectric sensor 43 and the fourth photoelectric sensor 44 during each movement to determine the corresponding second light intensity curve; determine the corresponding plurality of third displacements and plurality of fourth displacements according to the plurality of second light intensity curves; and determine the calibration stroke of the displacement stage 30 according to the plurality of first displacements, plurality of second displacements, plurality of third displacements, and plurality of fourth displacements.

[0277] In some embodiments, the calibration stroke includes a first calibration stroke and a second calibration stroke. The laser calibration module 210 is specifically configured to, when the plurality of first displacements, plurality of second displacements, plurality of third displacements, and plurality of fourth displacements all meet a preset condition, determine the first calibration stroke of the displacement stage 30 according to the plurality of first displacements and plurality of second displacements, and determine the second calibration stroke of the displacement stage 30 according to the plurality of third displacements and plurality of fourth displacements; when the plurality of first displacements, plurality of second displacements, plurality of third displacements, or plurality of fourth displacements do not meet the preset condition, save the plurality of first displacements, plurality of second displacements, plurality of third displacements, and plurality of 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 a predetermined proportion of the displacements among the plurality of displacements are equal.

[0278] 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 configured to determine the vector from the center point of the first calibration image to the first center of the circle; control the movement of the human eye simulation device 101 according to the modulus of the vector, and record the movement coefficient of the human eye simulation device 101 to determine the first movement coefficient.

[0279] In some embodiments, the second control module 240 is specifically configured to control the human eye simulation device 101 to move in the direction of the vector at a first preset speed when the magnitude of the vector is greater than or equal to a first preset magnitude, and return to the step of controlling the human eye simulation device 101 to capture a first calibration image of the laser emission hole 21; when the magnitude of the vector is greater than or equal to a second preset magnitude and less than the first preset magnitude, control the human eye simulation device 101 to move in the direction of the vector at a second preset speed, and return to the step of controlling the human eye simulation device 101 to capture a first calibration image of the laser emission hole 21; when the magnitude of the vector is less than the second preset magnitude, 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.

[0280] 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 motion coefficient of the human eye simulation device 101, the angle determination module 250 is further configured to set the laser point positions; control the human eye simulation device 101 to capture a second calibration image of the laser point positions; control the movement of the human eye simulation device 101 based on the positions of the laser point positions in the second calibration image so that the center point of the camera 1012 coincides with the second center of the circle of the laser point positions; control the movement of the human eye simulation device 101 based on the first motion coefficient to perform an initial Kappa angle calibration on the human eye simulation device 101.

[0281] In some 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 configured to set a plurality of fixation point positions and obtain binocular Kappa angle measurement information of multiple human eyes at the plurality of fixation point positions; train a Kappa angle dynamic compensation model based on the plurality of binocular Kappa angle measurement information and an artificial neural network; determine a 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; perform compensation for 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.

[0282] In some embodiments, when determining 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 as the anthropomorphic Kappa angle of the human eye simulation device 101 determined by the Kappa angle dynamic compensation model, the angle determination module 250 is specifically configured to obtain the current azimuth angle and the current polar angle corresponding to the current fixation point of the human eye simulation device 101; determine at least one fixation point closest to the current fixation point from multiple fixation points according to the current azimuth angle, the current polar angle, and the Kappa angle dynamic compensation model; and determine the anthropomorphic Kappa angle corresponding to the current fixation point according to the at least one fixation point.

[0283] It should be noted that the foregoing explanation of the Kappa angle acquisition method in the foregoing embodiments is equally applicable to the Kappa angle acquisition device 200 in the embodiments of the present application, and will not be elaborated herein.

[0284] Please refer to Figure 4 and Figure 26 The embodiments of the present application further provide 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, and when the computer program is executed by the processor 310, the Kappa angle acquisition method in any of the foregoing embodiments is implemented.

[0285] For example, when the computer program is executed by the processor 310, the following Kappa angle acquisition method is implemented:

[0286] 010: 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;

[0287] 020: Control the human eye simulation device 101 to photograph the laser exit hole 21 to obtain a first calibration image;

[0288] 030: Detect the first calibration image to determine the first center of the circle corresponding to the laser exit hole 21 in the first calibration image;

[0289] 040: Control the movement of the human eye simulation device 101 according to the position of the first center, and determine the first movement coefficient of the human eye simulation device 101;

[0290] 050: Determine the initial Kappa angle of the human eye simulation device 101 based on the first movement coefficient.

[0291] For another example, when the computer program is executed by the processor 310, the following Kappa angle acquisition method is implemented:

[0292] 011: Control the displacement stage 30 to drive the laser emitter 10 to move in the first direction to determine the first displacement and the second displacement;

[0293] 012: Control the displacement stage 30 to drive the laser emitter 10 to move in the second direction to determine the third displacement and the fourth displacement;

[0294] 013: Determine the calibration travel of the displacement stage 30 according to the first displacement, the second displacement, the third displacement, and the fourth displacement;

[0295] 014: Control the displacement stage 30 to move according to the calibration travel so that the laser light path emitted by the laser emitter 10 coincides with the optical axis of the human eye simulation device 101;

[0296] Wherein, the first direction is perpendicular to the second direction.

[0297] It should be noted that the explanations of the Kappa angle acquisition method and the Kappa angle acquisition device 200 in the foregoing embodiments are equally applicable to the Kappa angle acquisition system 300 of the embodiments of the present application, and will not be elaborated herein.

[0298] Please refer to Figure 4 and Figure 27 , the embodiments of the present application also provide 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 foregoing embodiments is implemented.

[0299] For example, when the computer program 410 is executed by the processor 420, the following Kappa angle acquisition method is implemented:

[0300] 010: 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;

[0301] 020: Control the human eye simulation device 101 to take a first calibration image of the laser exit hole 21;

[0302] 030: Detect the first calibration image to determine the first center of the circle corresponding to the laser exit hole 21 in the first calibration image;

[0303] 040: Control the movement of the human eye simulation device 101 according to the position of the first center and determine the first movement coefficient of the human eye simulation device 101;

[0304] 050: Determine the initial Kappa angle of the human eye simulation device 101 based on the first movement coefficient.

[0305] For another example, when the computer program 410 is executed by the processor 420, a Kappa angle acquisition method as follows is implemented:

[0306] 011: Control the displacement stage 30 to drive the laser emitter 10 to move in the first direction to determine the first displacement and the second displacement;

[0307] 012: Control the displacement stage 30 to drive the laser emitter 10 to move in the second direction to determine the third displacement and the fourth displacement;

[0308] 013: Determine the calibration travel of the displacement stage 30 according to the first displacement, the second displacement, the third displacement, and the fourth displacement;

[0309] 014: Control the displacement stage 30 to move according to the calibration travel so that the laser optical path emitted by the laser emitter 10 coincides with the optical axis of the human eye simulation device 101;

[0310] Wherein, the first direction is perpendicular to the second direction.

[0311] It should be noted that the explanations of the Kappa angle acquisition method and the Kappa angle acquisition device 200 in the foregoing embodiments are equally applicable to the computer-readable storage medium 400 of the embodiments of the present application, and will not be elaborated herein.

[0312] Please refer to Figure 4 and Figure 28 , the embodiments of the present application further provide 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 foregoing embodiments. The Kappa angle calibration device 500 includes a point position setting module 510, a third control module 520, a fourth control module 530, and an angle calibration module 540. The point position setting module 510 is used to set the laser point position. The third control module 520 is used to control the human eye simulation device 101 to capture the laser point position 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 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. 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.

[0313] It should be noted that the explanations of the Kappa angle calibration method in the foregoing embodiments are equally applicable to the Kappa angle calibration device 500 of the embodiments of the present application, and will not be elaborated herein.

[0314] Please refer to Figure 4 and Figure 29 For the embodiments of the present application, a Kappa angle calibration system 600 is further provided. 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.

[0315] For example, when the computer program is executed by the processor 610, the following Kappa angle calibration method is implemented:

[0316] 060: Set the laser point position;

[0317] 070: Control the human eye simulation device 101 to capture the laser point position to obtain a second calibration image;

[0318] 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;

[0319] 090: Control 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.

[0320] It should be noted that the explanations of the Kappa angle calibration method and the Kappa angle calibration device 500 in the foregoing embodiments are equally applicable to the Kappa angle acquisition system 600 of the embodiments of the present application, and will not be elaborated herein.

[0321] Please refer to Figure 4 and Figure 30 For the embodiments of the present application, a computer-readable storage medium 700 is further provided, 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.

[0322] For example, when the computer program 710 is executed by the processor 720, the following Kappa angle calibration method is implemented:

[0323] 060: Set the laser point position;

[0324] 070: Control the human eye simulation device 101 to capture the laser point position to obtain a second calibration image;

[0325] 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;

[0326] 090: Control the movement of the human eye simulation device 101 based on the first movement coefficient to perform initial Kappa angle calibration on the human eye simulation device 101.

[0327] It should be noted that the explanations of the Kappa angle calibration method and the Kappa angle calibration device 500 in the foregoing embodiments are equally applicable to the computer-readable storage medium 700 of the embodiments of the present application, and will not be elaborated here.

[0328] Please refer to Figure 4 and Figure 31 , the embodiments of the present application also provide 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 movement coefficient and the initial Kappa angle by the Kappa angle acquisition method of any of the foregoing 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 a plurality of fixation points and acquire binocular Kappa angle measurement information of multiple human eyes at the plurality of fixation points. The model training module 820 is used to train a Kappa angle dynamic compensation model based on the multiple binocular Kappa angle measurement information and an artificial neural network. The model determination module 830 is used to determine a 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 movement 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 movement coefficient and the second movement coefficient.

[0329] In some embodiments, when determining 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 is to determine the anthropomorphic Kappa angle of the human eye simulation device 101 based on the Kappa angle dynamic compensation model, the angle estimation module 840 is specifically used to obtain the current azimuth angle and the current polar angle corresponding to the current fixation point of the human eye simulation device 101; determine at least one fixation point closest to the current fixation point from the plurality of fixation points according to the current azimuth angle, the current polar angle, and the Kappa angle dynamic compensation model; and determine the anthropomorphic Kappa angle corresponding to the current fixation point according to the at least one fixation point.

[0330] It should be noted that the explanations of the Kappa angle compensation method in the foregoing embodiments are equally applicable to the Kappa angle compensation device 800 of the embodiments of the present application, and will not be elaborated here.

[0331] Please refer to Figure 4 and Figure 32 , an embodiment of 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 foregoing embodiments is implemented.

[0332] For example, when the computer program is executed by the processor 910, the following Kappa angle compensation method is implemented:

[0333] 0100: Set a plurality of fixation points, and obtain binocular Kappa angle measurement information of multiple human eyes at the plurality of fixation points;

[0334] 0110: Train a Kappa angle dynamic compensation model based on the plurality of binocular Kappa angle measurement information and an artificial neural network;

[0335] 0120: Determine a human eye mechanism model;

[0336] 0130: 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;

[0337] 0140: Determine the corresponding second motion coefficient according to the anthropomorphic Kappa angle;

[0338] 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.

[0339] For another example, when the computer program is executed by the processor 910, the following Kappa angle compensation method is implemented:

[0340] 0131: Obtain the current azimuth angle and the current polar angle corresponding to the current fixation point of the human eye simulation device 101;

[0341] 0132: Determine at least one fixation point closest to the current fixation point from the plurality of fixation points according to the current azimuth angle, the current polar angle, and the Kappa angle dynamic compensation model;

[0342] 0133: Determine the anthropomorphic Kappa angle corresponding to the current fixation point according to the at least one fixation point.

[0343] It should be noted that the explanations of the Kappa angle compensation method and the Kappa angle compensation device 800 in the foregoing embodiments are equally applicable to the Kappa angle acquisition system 900 of the embodiments of the present application, and will not be elaborated herein.

[0344] Please refer to Figure 4 and Figure 33 In an embodiment of the present application, a computer-readable storage medium 1000 is further provided, 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 foregoing embodiments is implemented.

[0345] For example, when the computer program 1010 is executed by the processor 1020, the following Kappa angle compensation method is implemented:

[0346] 0100: Set multiple fixation points and obtain binocular Kappa angle measurement information of multiple human eyes at multiple fixation points;

[0347] 0110: Train a Kappa angle dynamic compensation model based on multiple binocular Kappa angle measurement information and an artificial neural network;

[0348] 0120: Determine a human eye mechanism model;

[0349] 0130: 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;

[0350] 0140: Determine the corresponding second motion coefficient according to the anthropomorphic Kappa angle;

[0351] 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.

[0352] For another example, when the computer program 1010 is executed by the processor 1020, the following Kappa angle compensation method is implemented:

[0353] 0131: Obtain the current azimuth angle and the current polar angle corresponding to the current fixation point of the human eye simulation device 101;

[0354] 0132: Determine at least one fixation point closest to the current fixation point from multiple fixation points according to the current azimuth angle, the current polar angle, and the Kappa angle dynamic compensation model;

[0355] 0133: Determine the anthropomorphic Kappa angle corresponding to the current fixation point according to at least one fixation point.

[0356] It should be noted that the explanations of the Kappa angle compensation method and the Kappa angle compensation device 800 in the foregoing embodiments are equally applicable to the computer-readable storage medium 1000 of the embodiment of the present application, and will not be elaborated herein.

[0357] 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 according to the embodiments of the present application, the initial Kappa angle of the eye simulation device 101 is determined based on the calibration system 100. The laser light path emitted by the laser emitter 10 is calibrated and coincided with the optical axis of the eye simulation device 101. The eye simulation device 101 is controlled to capture the first calibration image of the laser exit hole 21, and then the eye simulation device 101 is moved based on the position of the laser exit hole 21 in the first calibration image to determine the first motion coefficient of the eye simulation device 101, so as to determine the initial Kappa angle of the eye simulation device 101. In this way, the initial Kappa angle of the eye simulation device 101 can be accurately determined.

[0358] In the description of this specification, the descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection 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 can be combined in any suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0359] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art of the embodiments of the present application.

[0360] The logic and / or steps represented in the flowchart or otherwise described herein can be considered, for example, as a definitional sequence of executable instructions for implementing logical functions, which can be embodied in any computer-readable storage medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device. For the purposes of this specification, a computer-readable storage medium can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable storage medium include the following: an electrical connection portion having one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable storage medium can even be paper or other suitable medium on which the program can be printed, as the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or otherwise processing as appropriate, and then storing it in a computer memory.

[0361] It should be understood that various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above-described 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 in hardware, as in another embodiment, any one or a combination of the following techniques known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

[0362] Those of ordinary skill in the art can understand that all or part of the steps carried out in the methods of the above embodiments can be completed by instructing relevant hardware through a program. The said program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments. In addition, in each of the embodiments of the present application, each functional unit can be integrated in a processing module, or each unit can exist physically alone, or two or more units can be integrated in one module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. If the above 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 storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disc, etc.

[0363] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to 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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