An automatically positioned mobile device and its control method

Abstract

The present invention discloses an automatically positioned mobile device and its control method, including: a first mobile device is connected to a second mobile device and is used to drive the second mobile device to move; the second mobile device is connected to an optical component and is used to drive the optical component to move; the optical component is used to locate the center point of the eyeball through an optical path structure and make full contact with the eyeball under the drive of the second mobile device; at least one pressure sensor is arranged on the second mobile device and is used to measure the pressure of the optical component and adjust the moving speed of the second mobile device based on the pressure. When the pressure meets the condition for stopping movement, the second mobile device stops moving. The present invention determines the target speed based on the pressure measured by at least one pressure sensor, so that the second mobile device drives the optical component to move smoothly and with less impact during the movement process, improving the user experience.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a mobile device with automatic positioning and its control method. Background Art

[0002] Currently, during the preparation process before an ophthalmic surgery, a negative pressure ring needs to be in full contact with the patient's eyeball to fix the eyeball, facilitating subsequent surgical operations. Among them, during the contact process between the negative pressure ring and the patient's eyeball, it is necessary to avoid discomfort to the patient caused by unsteady movement or excessive downward impact force.

[0003] In the prior art, after observing and judging with the aid of a surgical microscope, a doctor controls a joystick to move, so that the negative pressure ring contacts the patient's eyeball. Among them, during the contact process between the negative pressure ring and the patient's eyeball, human operation errors may be introduced, resulting in unsteady movement or excessive downward impact force, and the user experience is poor. Summary of the Invention

[0004] The present invention provides a mobile device with automatic positioning and its control method to at least solve the technical problems of unsteady movement, excessive downward impact force, and poor user experience in the related art.

[0005] The first aspect of the embodiments of the present invention provides a mobile device with automatic positioning, including: a first mobile device, a second mobile device, at least one pressure sensor, and an optical component;

[0006] The first mobile device is connected to the second mobile device and is used to drive the second mobile device to move;

[0007] The second mobile device is connected to the optical component and is used to drive the optical component to move;

[0008] The optical component is used to locate the center point of the eyeball through an optical path structure and make full contact with the eyeball under the drive of the second mobile device;

[0009] At least one of the pressure sensors is disposed on the second mobile device and is used to measure the pressure of the optical component, and adjust the moving speed of the second mobile device based on the pressure. When the pressure meets the stop moving condition, the second mobile device stops moving.

[0010] The mobile device with automatic positioning according to the embodiments of the present invention may further have the following additional technical features:

[0011] In an embodiment of the present invention, the first mobile device includes a base substrate, a transmission mechanism, a motor, a lifting slide, a lower lifting substrate, an upper lifting substrate, and an optoelectronic limit sensor,

[0012] The transmission mechanism is connected between the motor and the lifting slide table to drive the lifting slide table to move under the drive of the motor;

[0013] The lifting slide table is arranged on the base substrate and connected to the lower lifting substrate, and is used to drive the lower lifting substrate to move relative to the base substrate;

[0014] The upper lifting substrate is connected between the lower lifting substrate and the second moving device to drive the second moving device to move;

[0015] The photoelectric limit sensor is arranged on the lower lifting substrate and connected to the lifting slide table, and is used to measure the moving speed of the lifting slide table and / or the second moving device.

[0016] In an embodiment of the present invention, the second moving device includes a top mounting frame, a pressing block, a spring, a displacement sensor, and an up-and-down movable slide rail and a slider.

[0017] The top mounting frame is arranged on the upper lifting substrate;

[0018] The up-and-down movable slide rail is arranged on the upper lifting substrate, and the slider is arranged on the up-and-down movable slide rail and is movable along the up-and-down movable slide rail;

[0019] The optical component is arranged on the slider and moves under the drive of the slider;

[0020] The spring is connected between the pressing block and the optical component to buffer the optical component.

[0021] In an embodiment of the present invention, the optical component includes an optical device and a negative pressure ring.

[0022] The optical device is connected to the second moving device and moves under the drive of the second moving device;

[0023] The negative pressure ring is arranged at the bottom of the optical device and is used to make full contact with the eyeball under the drive of the optical device.

[0024] In an embodiment of the present invention, the device further includes a host computer.

[0025] The at least one pressure sensor is embedded between the top mounting frame and the pressing block;

[0026] The at least one pressure sensor is electrically connected to the host computer to transmit the measured pressure to the host computer.

[0027] An embodiment of the second aspect of the present invention proposes a control method for a mobile device based on the above automatic positioning, including:

[0028] Drive the optical component to move above the eyeball through the first mobile device and the second mobile device;

[0029] In response to the optical component receiving a positioning instruction, the optical component is positioned at the center point of the eyeball through the optical path structure;

[0030] In response to the second mobile device receiving a movement instruction, the second mobile device determines a target speed of movement based on the pressure measured by at least one of the pressure sensors, and drives the optical component to move based on the target speed until the movement stops when the pressure meets the stop movement condition.

[0031] In one embodiment of the present invention, the second mobile device determining a target speed of movement based on the pressure measured by at least one of the pressure sensors includes:

[0032] Determine a target pressure based on the pressure measured by at least one of the pressure sensors;

[0033] When the target pressure meets the first condition, determine the first speed as the target speed, where the first condition includes the target pressure being equal to a first threshold;

[0034] When the target pressure meets the second condition, determine a second speed based on the target pressure, and determine the second speed as the target speed, where the second condition includes that the difference between the target pressure at the current moment and the target pressure at the previous moment belongs to a second threshold range.

[0035] In one embodiment of the present invention, the determining the second speed based on the target pressure includes:

[0036] Determine the linear relationship between the target pressure and the second speed;

[0037] Determine the second speed based on the linear relationship.

[0038] In one embodiment of the present invention, the determining the second speed based on the target pressure includes:

[0039] If the target pressure belongs to a fourth threshold range, determine the second speed based on a first pressure, a second pressure, the target pressure, and the first speed, where the first pressure is the initial pressure and the second pressure is the pressure after full contact.

[0040] In one embodiment of the present invention, the method further includes:

[0041] Based on the pressure measured by at least one of the pressure sensors, determine whether there is a fault;

[0042] If a fault occurs, stop running or drive the optical component to move upward by a preset distance through the first moving device and the second moving device.

[0043] The technical solutions provided by the embodiments of the present invention at least bring the following beneficial effects:

[0044] The automatic positioning mobile device and its control method according to the embodiments of the present invention drive the optical component to move above the eyeball through the first moving device and the second moving device; in response to the optical component receiving a positioning instruction, the optical component positions to the center point of the eyeball through the optical path structure in the optical component; in response to the second moving device receiving a moving instruction, the second moving device determines the target speed of movement based on the pressure measured by at least one pressure sensor, and drives the optical component to move based on the target speed until the movement stops when the pressure meets the stop movement condition. Among them, the second moving device can automatically drive the optical component to make full contact with the eyeball through the target speed determined based on the pressure measured by at least one pressure sensor, and stop moving until the pressure meets the stop movement condition, without manual participation, making the entire movement process smooth and with less impact force, avoiding the situation of "unstable movement or excessive downward impact force", and improving the user experience.

[0045] The additional aspects and advantages of the present invention 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 present invention. Description of the Drawings

[0046] The above-mentioned and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the following description of the embodiments in conjunction with the drawings, where:

[0047] Figure 1 is a front schematic view of an automatic positioning mobile device according to an embodiment of the present invention;

[0048] Figure 2 is a side schematic view of an automatic positioning mobile device according to an embodiment of the present invention;

[0049] Figure 3 is a flowchart of a control method of an automatic positioning mobile device according to an embodiment of the present invention;

[0050] Figure 4 is a flowchart of the process of the second moving device driving the optical component to move based on the target speed according to an embodiment of the present invention.

[0051] Description of the Reference Numerals:

[0052] Base substrate - 1; Transmission mechanism - 2; Motor - 3; Lifting slide - 4; Lower lifting substrate - 5;

[0053] Upper lifting substrate - 6; top mounting bracket - 7; pressing block - 8; pressure sensor - 9; spring - 10;

[0054] Vertical moving slide rail - 11; slider - 12; optical device - 13; negative pressure ring - 14; eyeball - 15;

[0055] Photoelectric limit sensor - 16. Specific implementation manner

[0056] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0057] In order to enable those skilled in the art of the present technology to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0058] The automatic positioning mobile device and its control method according to an embodiment of the present invention will be described below with reference to the drawings.

[0059] Figure 1 FIG. is a front view of an automatic positioning mobile device according to an embodiment of the present invention, Figure 2 FIG. is a side view of an automatic positioning mobile device according to an embodiment of the present invention. As shown in Figure 1 - Figure 2 The automatic positioning mobile device may include: a first mobile device, a second mobile device, at least one pressure sensor, and an optical component. Among them,

[0060] The first mobile device is connected to the second mobile device and is used to drive the second mobile device to move;

[0061] The second mobile device is connected to the optical component and is used to drive the optical component to move;

[0062] The optical component is used to locate the center point of the eyeball through the optical path structure and make full contact with the eyeball under the drive of the second mobile device;

[0063] At least one pressure sensor is arranged on the second mobile device and is used to measure the pressure of the optical component and adjust the moving speed of the second mobile device based on the pressure. When the pressure meets the stop moving condition, the second mobile device stops moving.

[0064] In an embodiment of the present invention, when the above-mentioned automatically positioned mobile device is started, the first mobile device drives the second mobile device to move the optical component above the eyeball to complete rough adjustment, and the center point of the eyeball is positioned through the optical path structure in the optical component to complete fine adjustment. Then, the second mobile device drives the optical component to move, so that the optical component is in full contact with the eyeball. During the movement, the second mobile device can adjust the moving speed based on the pressure measured by at least one pressure sensor, so that the entire moving process is smooth and the impact force is small.

[0065] In the automatically positioned mobile device proposed in the embodiment of the present invention, the second mobile device can automatically drive the optical component to be in full contact with the eyeball at the target speed determined based on the pressure measured by at least one pressure sensor, and stop moving until the pressure meets the stop moving condition, without manual participation, making the entire moving process smooth and the impact force small, avoiding the situation of "unstable movement or excessive downward impact force", and improving the user experience.

[0066] In an embodiment of the present invention, the above-mentioned first mobile device may include a base substrate 1, a transmission mechanism 2, a motor 3, a lifting slide 4, a lower lifting substrate 5, an upper lifting substrate 6, and a photoelectric limit sensor 16.

[0067] As Figure 1 and Figure 2 shown, the lifting slide 4 is arranged on the base substrate 1 and is connected to the lower lifting substrate 5 for driving the lower lifting substrate 5 to move relative to the base substrate 1; the upper lifting substrate 6 is connected between the lower lifting substrate 5 and the second mobile device to drive the second mobile device to move; the photoelectric limit sensor 16 is arranged on the lower lifting substrate 5 and is connected to the lifting slide 4 for measuring the moving speed of the lifting slide 4 and / or the second mobile device.

[0068] Among them, in an embodiment of the present invention, before the above-mentioned automatically positioned mobile device moves, it is necessary to control the lifting slide 4 to move upward to the position where the photoelectric limit sensor 16 is located at a preset speed through the transmission mechanism 2 to complete initialization and enter the standby state, so that the photoelectric limit sensor 16 can measure the moving speed of the lifting slide 4 and / or the second mobile device. As Figure 2 shown, two upper and lower photoelectric limit sensors 16 are arranged on the lower lifting substrate 5, and the lower photoelectric limit sensor 16 is the limit position for the automatically positioned mobile position to move downward. If the lower photoelectric limit sensor responds during the operation and the automatically positioned mobile device reaches the limit position at this time, the operation will automatically stop to protect the automatically positioned mobile device.

[0069] Moreover, in an embodiment of the present invention, the up-and-down and / or left-and-right adjustment can be performed by the motor 3, so that the transmission mechanism 2 drives the lifting slide table 4 to move accordingly under the drive of the motor 3, and the lower lifting substrate 5 and the upper lifting substrate 6 are driven by the lifting slide table 4 to move accordingly, so that the upper lifting substrate 6 drives the second moving device to move, and then the optical component is driven to move by the second moving device, so that the optical component can roughly align with the eyeball to complete the coarse adjustment.

[0070] Furthermore, in an embodiment of the present invention, the second moving device further includes a top mounting bracket 7, a pressing block 8, a spring 10, and an up-and-down movable slide rail 11 and a slider 12.

[0071] As Figure 1 shown, the top mounting bracket 7 is provided on the upper lifting substrate 6; the up-and-down movable slide rail 11 is provided on the upper lifting substrate 6, and the slider 12 is provided on the up-and-down movable slide rail 11 and can move along the up-and-down movable slide rail 11; the optical component is provided on the slider 12 and moves under the drive of the slider 12; the spring 10 is connected between the pressing block 8 and the optical component to buffer the optical component.

[0072] Among them, in an embodiment of the present invention, the top mounting bracket 7 is a groove structure, and the pressing block 8 is provided in the groove structure of the top mounting bracket 7, so that the pressing block 8 is connected to the optical component through four springs 10.

[0073] Moreover, in an embodiment of the present invention, the optical component can be driven to move by the up-and-down movable slide rail 11 and the slider 12, so that the optical component can be in full contact with the eyeball, and during the movement, the pressing block 8 and the spring 10 can buffer the optical component, so that the impact force during the entire movement process is small. Among them, the movement range of each spring 10 can be (7mm, 8mm).

[0074] It should be noted that, in an embodiment of the present invention, the spring 10 may further include a ranging sensor, and the deformation amount of the spring can be measured by ranging. Among them, in an embodiment of the present invention, if the change in the deformation amount of the spring measured by the ranging sensor exceeds the preset range during operation, it is determined at this time that the automatically positioned moving device fails and alarms, stops running, or drives the optical component to move upward by a preset distance through the first moving device and the second moving device. Among them, the above preset range and preset distance can be set as needed.

[0075] Furthermore, in an embodiment of the present invention, the optical component includes an optical device 13 and a negative pressure ring 14.

[0076] As Figure 1As shown, the optical device 13 is connected to the second mobile device and moves under the drive of the second mobile device; the negative pressure ring 14 is arranged at the bottom of the optical device 13 and is used to make full contact with the eyeball 15 under the drive of the optical device 13.

[0077] Among them, in an embodiment of the present invention, the above-mentioned automatically positioning mobile device further includes a host computer, and the optical device 13 can be connected to the host computer. During operation, after the optical device 13 receives the positioning instruction sent by the host computer, it can be positioned at the center point of the eyeball 15 through the optical path structure to complete fine adjustment, so that the negative pressure ring is aligned with the eyeball.

[0078] Further, in an embodiment of the present invention, at least one pressure sensor 9 is embedded between the top mounting bracket 7 and the pressing block 8; at least one pressure sensor is electrically connected to the host computer to transmit the measured pressure to the host computer.

[0079] As Figure 1 shown, two pressure sensors 9 are embedded between the lower plate of the groove of the top mounting bracket 7 and the pressing block 8 to measure the pressure during the movement of the optical component driven by the second mobile device. In an embodiment of the present invention, after the above-mentioned rough adjustment and fine adjustment are completed, at this time, the negative pressure ring 14 is aligned with the eyeball and there is still a distance from the eyeball. Based on this, it is necessary to move the optical device 13 and the negative pressure ring 14 downward by moving the slide rail 11 and the slider 12 up and down until the negative pressure ring 14 makes full contact with the eyeball. And, during the above movement, the second mobile device can determine the target speed of movement based on the pressure measured by at least one pressure sensor 9, and drive the optical component to move based on the target speed until the movement stops when the pressure meets the stop movement condition. Among them, in an embodiment of the present invention, the above-mentioned stop movement condition may include: the target pressure reaches a preset threshold. And, the preset threshold can be set according to experience. For example, the preset threshold can be 0N.

[0080] And, in an embodiment of the present invention, the method for the second mobile device to determine the target speed of movement based on the pressure measured by at least one pressure sensor may include: determining the target pressure based on the pressure measured by at least one pressure sensor 9; when the target pressure meets the first condition, determining the first speed as the target speed; when the target pressure meets the second condition, determining the second speed based on the target pressure and determining the second speed as the target speed. Among them, the first condition includes that the target pressure is equal to the first threshold, and the second condition includes that the difference between the target pressure at the current moment and the target pressure at the previous moment belongs to the second threshold range.

[0081] Among them, in one embodiment of the present invention, the method for determining the target pressure based on the pressure measured by at least one pressure sensor may include: averaging the pressures measured by at least one pressure sensor and determining the average value as the target pressure. In another embodiment of the present invention, the pressure measured by any one of the at least one pressure sensor may also be determined as the target pressure, and the remaining pressure sensors are used as backup redundancies to ensure the smooth operation of the device when a pressure sensor fails.

[0082] In addition, in one embodiment of the present invention, the above first threshold may be the initial pressure, specifically, the pressure when the optical component does not contact the eyeball. That is, the weights of the optical device 13 and the negative pressure ring 14 are used as the initial pressure. Among them, in one embodiment of the present invention, if the above target pressure meets the first condition, that is, the target pressure is equal to the first threshold, it indicates that the negative pressure ring 14 has not contacted the eyeball at this time. Based on this, the first speed may be determined as the target speed so that the second moving device drives the optical component to descend at a uniform speed at the first speed. The first speed may be set according to historical experience.

[0083] Further, in one embodiment of the present invention, if the above target pressure meets the second condition, that is, the difference between the target pressure at the current moment and the target pressure at the previous moment belongs to the second threshold range, it indicates that the negative pressure ring contacts the eyeball at this time, thereby causing the pressure measured by the pressure sensor to decrease. Based on this, the second moving device needs to decelerate the descent to avoid too large an impact force. Among them, in one embodiment of the present invention, the above second threshold range may be (0.02N, 0.03N).

[0084] In addition, in one embodiment of the present invention, the second moving device may determine the second speed based on the target pressure and determine the second speed as the target speed, where the second speed is less than the first speed.

[0085] Specifically, in one embodiment of the present invention, the method for the second moving device to determine the second speed based on the target pressure may include: determining the linear relationship between the target pressure and the second speed and determining the second speed based on the linear relationship. Among them, in one embodiment of the present invention, the linear relationship between the target pressure and the second speed may be determined by the first formula, where the first formula is:

[0086] V g =V0 - (V0 / N s -N g )×(N s -N t )。

[0087] Wherein, V g is the target speed, V0 is the first speed, Ns is the first pressure (i.e., the initial pressure), N g is the second pressure (i.e., the pressure after the negative pressure ring is in full contact with the eyeball), N t is the target pressure at the current moment.

[0088] Moreover, in an embodiment of the present invention, after determining the linear relationship between the target pressure and the second speed through the above steps, the target pressure at the current moment can be substituted into the above linear relationship based on the linear relationship to obtain the second speed, so that the second moving device drives the optical component to decelerate and descend in a uniform deceleration manner until the movement stops when the pressure meets the stop movement condition.

[0089] Further, in another embodiment of the present invention, the method for the second moving device to determine the second speed based on the target pressure may include: if the target pressure belongs to the fourth threshold range, then determine the second speed based on the first pressure, the second pressure, the target pressure, and the first speed. Wherein, the fourth threshold range can be set according to experience or test data.

[0090] Among them, in an embodiment of the present invention, when the negative pressure ring 14 rapidly increases the pressure after contacting the eyeball, based on this, it may be necessary to further accelerate the speed reduction in the early stage of contacting the eyeball.

[0091] Moreover, in an embodiment of the present invention, when the target pressure belongs to the fourth threshold range, the second speed is determined through the third formula based on the first pressure, the second pressure, the target pressure, and the first speed. Wherein, the third formula is:

[0092] V g = - (V0 / N g 2 ) × (N s - N t ) 2 + V0.

[0093] Among them, in an embodiment of the present invention, the second speed determined through the third formula is less than the second speed determined through the second formula, so that the entire movement process is smooth and the impact force is small, avoiding the situation of "unstable movement or excessive downward impact force", and improving the user experience.

[0094] Further, in yet another embodiment of the present invention, the second moving device can determine the second speed according to the distance between the negative pressure ring and the eyeball, so that the second moving device maintains a safer descending speed. Among them, in an embodiment of the present invention, the distance between the negative pressure ring and the eyeball can be divided into multiple descending regions, and each descending region descends at a different speed. Among them, in the starting descending region, it can descend rapidly to complete the preoperative preparation faster as a whole, thereby improving the surgical efficiency.

[0095] Specifically, in an embodiment of the present invention, the distance between the negative pressure ring and the eyeball is divided into a safe descent area, a sensitive descent area, and a contact descent area. Among them, the distance between the negative pressure ring and the eyeball in the above-mentioned safe descent area, sensitive descent area, and contact descent area decreases in sequence. Moreover, the method for the second moving device to determine the second speed according to the distance between the negative pressure ring and the eyeball may include: if the distance between the negative pressure ring 14 and the eyeball belongs to the safe descent area, determining the second speed as the first moving speed; if the distance between the negative pressure ring 14 and the eyeball belongs to the sensitive descent area, determining the second speed as the second moving speed; if the distance between the negative pressure ring 14 and the eyeball belongs to the contact descent area, determining the second speed as the third moving speed. Among them, the above-mentioned first moving speed is greater than the second moving speed which is greater than the third moving speed, and the first moving speed, the second moving speed, and the third moving speed can be set according to test data.

[0096] Furthermore, in an embodiment of the present invention, it is also possible to judge whether there is a fault based on the pressure measured by at least one pressure sensor; if there is a fault, stop running or drive the optical component to move upward a preset distance by the first moving device and the second moving device.

[0097] Among them, in an embodiment of the present invention, the method for judging whether there is a fault based on the pressure measured by at least one pressure sensor may include: if the difference between the pressures measured by two pressure sensors is greater than or equal to the fifth threshold, determining that there is a fault; otherwise, determining that there is no fault, so that a fault can be detected in time based on the pressure measured by at least one pressure sensor, thereby avoiding irreparable losses to the device. Moreover, in an embodiment of the present invention, the above-mentioned preset distance can be set according to needs or experience.

[0098] Moreover, in another embodiment of the present invention, the method for judging whether there is a fault based on the pressure measured by at least one pressure sensor may include: if two pressure sensors mutate (for example, the difference from the previous measured value is large) or do not change (for example, read a number every 100 ms, or 5 numbers have not changed), determining that there is a fault; otherwise, determining that there is no fault.

[0099] Further, in an embodiment of the present invention, the AD (Analog-to-Digital) sampling value of the pressure sensor (i.e., the measured pressure above) can be a digital quantity obtained by converting an analog quantity through a linear relationship, so as to make the pressure measured by the pressure sensor more accurate. By way of example, assume that the automatically positioned mobile device includes a first pressure sensor #1 and a second sensor #2. Taking the reading value of sensor #1 and the reading value of the dynamometer as the abscissa and ordinate respectively, the linear relationship corresponding to sensor #1 is y = 0.0087x + 0.1456, where the reading value of the dynamometer is a test device simulating the eyeball to calibrate the corresponding relationship between the reading value of the pressure measuring device and the actual dynamometer reading; taking the reading value of sensor #2 and the reading value of the dynamometer as the abscissa and ordinate respectively, the linear relationship corresponding to sensor #2 is y = 0.0104x + 0.14625.

[0100] Also, in an embodiment of the present invention, after obtaining the AD sampling value of the pressure sensor through the above steps, the measured pressure can be calibrated by the corresponding dynamometer, thereby reducing the measurement error of the pressure sensor. Among them, it can move downward automatically according to the set pressure value, and when the pressure measured by the sensor reaches the set value, it stops moving, and records the pressure measured by the corresponding pressure sensor and the pressure measured by the dynamometer. Table 1 is a relationship table of the set pressure, the pressure measured by the pressure sensor, and the pressure measured by the dynamometer proposed in the embodiment of the present invention.

[0101] Table 1

[0102]

[0103] As shown in Table 1, when the set pressure is 1.5 N, the number of test times is 10 times, the pressure measured by the pressure sensor is 1.6 N each time, and the corresponding pressures measured by the dynamometer are 1.6 N, 1.5 N, 1.6 N, 1.6 N, 1.4 N, 1.5 N, 1.6 N, 1.5 N, 1.6 N, and 1.5 N respectively.

[0104] The automatic positioning mobile device according to the embodiment of the present invention drives an optical component to move above the eyeball through a first mobile device and a second mobile device; in response to the optical component receiving a positioning instruction, the optical component positions to the center point of the eyeball through an optical path structure in the optical component; in response to the second mobile device receiving a movement instruction, the second mobile device determines a target speed of movement based on the pressure measured by at least one pressure sensor, and drives the optical component to move based on the target speed until the movement stops when the pressure meets the stop movement condition. Among them, the second mobile device can automatically drive the optical component to make full contact with the eyeball through the target speed determined based on the pressure measured by at least one pressure sensor, and stop moving until the pressure meets the stop movement condition, without manual participation, making the entire movement process smooth and with less impact force, avoiding the situation of "unstable movement or excessive downward impact force", and improving the user experience.

[0105] Figure 3 It is a schematic flowchart of a control method for an automatic positioning mobile device according to an embodiment of the present invention.

[0106] As Figure 3 shown, the method may include the following steps:

[0107] Step 301, driving an optical component to move above the eyeball through a first mobile device and a second mobile device;

[0108] Step 302, in response to the optical component receiving a positioning instruction, the optical component positions to the center point of the eyeball through an optical path structure;

[0109] Step 303, in response to the second mobile device receiving a movement instruction, the second mobile device determines a target speed of movement based on the pressure measured by at least one pressure sensor, and drives the optical component to move based on the target speed until the movement stops when the pressure meets the stop movement condition.

[0110] In an embodiment of the present invention, the method for the second mobile device to determine the target speed of movement based on the pressure measured by at least one pressure sensor may include the following steps:

[0111] Step 1, determining a target pressure based on the pressure measured by at least one pressure sensor;

[0112] Step 2, when the target pressure meets the first condition, determining the first speed as the target speed, where the first condition includes that the target pressure is equal to the first threshold;

[0113] Step 3, when the target pressure meets the second condition, determining a second speed based on the target pressure and determining the second speed as the target speed, where the second condition includes that the difference between the target pressure at the current moment and the target pressure at the previous moment belongs to the second threshold range.

[0114] In one embodiment of the present invention, the method for determining the second speed based on the target pressure may include: determining the linear relationship between the target pressure and the second speed, and determining the second speed based on the linear relationship.

[0115] In one embodiment of the present invention, the method for determining the second speed based on the target pressure may include: if the target pressure belongs to the fourth threshold range, determining the second speed based on the first pressure, the second pressure, the target pressure, and the first speed.

[0116] In one embodiment of the present invention, the above method may further include:

[0117] Judging whether there is a fault based on the pressure measured by at least one pressure sensor;

[0118] If there is a fault, stop running or drive the optical component to move upward by a preset distance through the first moving device and the second moving device.

[0119] The control method of the automatically positioned moving device according to the embodiment of the present invention drives the optical component to move above the eyeball through the first moving device and the second moving device; in response to the optical component receiving a positioning instruction, the optical component positions to the center point of the eyeball through the optical path structure in the optical component; in response to the second moving device receiving a moving instruction, the second moving device determines the target speed of movement based on the pressure measured by at least one pressure sensor, and drives the optical component to move based on the target speed until the movement stops when the pressure meets the stop movement condition. Among them, the second moving device can automatically drive the optical component to make full contact with the eyeball through the target speed determined based on the pressure measured by at least one pressure sensor, and stop moving until the pressure meets the stop movement condition, without manual participation, making the entire movement process smooth and with less impact force, avoiding the situation of "unstable movement or excessive downward impact force", and improving the user experience.

[0120] Based on the above description, an example is given for the process of the second moving device driving the optical component to move based on the target speed in the embodiment. Figure 4It is a schematic flowchart of a process in which a second mobile device drives an optical component to move based on a target speed according to an embodiment of the present invention. The process includes: in response to the second mobile device receiving a movement instruction, determining a target pressure based on two pressure sensors; when the target pressure reaches a first threshold, the second mobile device drives the optical component to move based on a first speed; determining whether the difference between the target pressure at the current moment and the target pressure at the previous moment belongs to a second threshold range; when it is determined that the difference between the target pressure at the current moment and the target pressure at the previous moment belongs to the second threshold range, determining a second speed based on the target pressure, and the second mobile device drives the optical component to move based on the second speed; determining whether the target pressure reaches a preset threshold; after determining that the target pressure reaches the preset threshold, stopping the movement.

[0121] In the description of this specification, the descriptions with reference to the terms "an 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 invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0122] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

Claims

1. A control method for an automatically positioned mobile device, characterized in that the automatically positioned mobile device includes a first mobile device, a second mobile device, at least one pressure sensor, and an optical component; the first mobile device is connected to the second mobile device and is used to drive the second mobile device to move; the second mobile device is connected to the optical component and is used to drive the optical component to move; the optical component is used to locate the center point of the eyeball through an optical path structure and make full contact with the eyeball under the drive of the second mobile device; at least one of the pressure sensors is arranged on the second mobile device and is used to measure the pressure of the optical component, and adjust the moving speed of the second mobile device based on the pressure. When the pressure meets the stop moving condition, the second mobile device stops moving; the first mobile device includes a base substrate, a transmission mechanism, a motor, a lifting slide, a lower lifting substrate, an upper lifting substrate, and an optoelectronic limit sensor, the transmission mechanism is connected between the motor and the lifting slide to drive the lifting slide to move under the drive of the motor; the lifting slide is arranged on the base substrate and is connected to the lower lifting substrate, and is used to drive the lower lifting substrate to move relative to the base substrate; the upper lifting substrate is connected between the lower lifting substrate and the second mobile device to drive the second mobile device to move; the optoelectronic limit sensor is arranged on the lower lifting substrate and is connected to the lifting slide, and is used to measure the moving speed of the lifting slide and / or the second mobile device; the second mobile device includes a top mounting frame, a pressing block, a spring, and an up-and-down movable slide rail and slider, the top mounting frame is arranged on the upper lifting substrate; the up-and-down movable slide rail is arranged on the upper lifting substrate, and the slider is arranged on the up-and-down movable slide rail and is movable along the up-and-down movable slide rail; the optical component is arranged on the slider and moves under the drive of the slider; the spring is connected between the pressing block and the optical component to buffer the optical component; the optical component includes an optical device and a negative pressure ring, the optical device is connected to the second mobile device and moves under the drive of the second mobile device; the negative pressure ring is arranged at the bottom of the optical device and is used to make full contact with the eyeball under the drive of the optical device; the control method includes: driving the optical component to move above the eyeball through the first mobile device and the second mobile device; in response to the optical component receiving a positioning instruction, the optical component locates to the center point of the eyeball through the optical path structure; in response to the second mobile device receiving a moving instruction, the second mobile device determines the target speed of movement based on the pressure measured by at least one of the pressure sensors, and drives the optical component to move based on the target speed until the pressure meets the stop moving condition and then stops moving.

2. The method according to claim 1, characterized in that, the automatically positioned mobile device further includes a host computer, at least one of the pressure sensors is embedded between the top mounting frame and the pressing block; The at least one pressure sensor is electrically connected to the host computer to transmit the measured pressure to the host computer.

3. The method according to claim 1, wherein The second moving device determines a target speed of movement based on the pressure measured by at least one of the pressure sensors, including: Determining a target pressure based on the pressure measured by at least one of the pressure sensors; When the target pressure meets a first condition, determining a first speed as the target speed, where the first condition includes the target pressure being equal to a first threshold; When the target pressure meets a second condition, determining a second speed based on the target pressure and determining the second speed as the target speed, where the second condition includes that the difference between the target pressure at the current moment and the target pressure at the previous moment belongs to a second threshold range.

4. The method according to claim 3, characterized in that, The determining the second speed based on the target pressure includes: Determining a linear relationship between the target pressure and the second speed; Determining the second speed based on the linear relationship.

5. The method according to claim 3, characterized in that The determining the second speed based on the target pressure includes: If the target pressure belongs to a fourth threshold range, determining the second speed based on a first pressure, a second pressure, the target pressure, and the first speed, where the first pressure is an initial pressure and the second pressure is a pressure after full contact.

6. The method according to claim 1, wherein The method further includes: Judging whether there is a fault based on the pressure measured by at least one of the pressure sensors; If there is a fault, stopping the operation or driving the optical component to move upward a preset distance by the first moving device and the second moving device.

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