Method and device for detecting sighting mark movement and adjustment amplitude based on dynamic compensation

Abstract

The invention discloses a sighting mark movement and adjustment amplitude detection method and device based on dynamic compensation, and aims to dynamically adjust the sighting mark movement speed in real time, so that the adaptability of the sighting mark movement speed to a user is higher, the adjustment amplitude detection accuracy is improved, and in the sighting mark movement based on dynamic compensation, the adjustment amplitude detection accuracy is improved. Based on a preset sampling period, detecting a relative distance between the sighting mark and a preset target point and a real-time adjustment lag value, and based on the relative distance, calculating a basic moving speed of the current sampling period; and calculating a dynamic compensation factor based on the real-time adjustment lag value, a preset sensitivity coefficient and a target adjustment force, calculating an expected movement speed based on the dynamic compensation factor and the basic movement speed, and controlling the sighting mark to move in the movement direction based on the expected movement speed.

Description

Technical Field

[0001] This invention relates to the field of target movement technology, and in particular to a method and apparatus for detecting target movement and adjustment amplitude based on dynamic compensation. Background Technology

[0002] Currently, accommodative amplitude refers to the change in refractive power when the eye adjusts from clear fixation on a distant target to accommodation towards the nearest point of focus, usually expressed in diopters (diopters). This quantity is often expressed by measuring the near point distance and converting it into diopters. Common subjective measurement methods include the approach method and the negative lens method. The approach method involves gradually moving the near target closer to the subject until they report the first instance of persistent blurring, recording this distance, and converting it into diopters. The negative lens method involves gradually adding a negative lens in front of a fixed near target until blurring occurs; the diopters of the negative lens used reflect the required amount of accommodation, which is then combined with a reference distance to calculate the accommodative amplitude. Objective measurement methods include dynamic autorefractors or dynamic manual retinoscopy, which directly obtain the accommodative amplitude by recording the changes in refractive state as visual stimuli change.

[0003] While existing methods for detecting accommodation amplitude have seen some application, they suffer from several drawbacks. Since refractive power is inversely proportional to target distance, even small displacements in the near point can cause significant refractive changes. Moving the target at a constant speed can lead to premature endpoint determination, thus underestimating accommodation amplitude. Furthermore, there are significant differences in accommodation reaction time among different age groups, but devices typically use a uniform movement speed, resulting in a mismatch between target movement and user reaction time. Additionally, existing target movement compensation parameters are primarily based on engineering experience and lack objective evidence, leading to low accuracy in accommodation amplitude detection. Summary of the Invention

[0004] This invention provides a method and apparatus for detecting target movement and accommodation amplitude based on dynamic compensation, which dynamically adjusts the target movement speed in real time, making the target movement speed more adaptable to the user, thereby improving the accuracy of accommodation amplitude detection.

[0005] To address the aforementioned technical problems, this invention provides a target movement method based on dynamic compensation, comprising: The target is initialized based on the preset initial position and preset target style; In response to a target movement command, the target is controlled to move in a preset direction based on the target movement command and a preset movement speed until a preset condition is met, at which point the target movement stops. During the target movement, the relative distance and real-time adjustment lag value between the target and the preset target point are detected based on a preset sampling period, and the basic movement speed of the current sampling period is calculated based on the relative distance; a dynamic compensation factor is calculated based on the real-time adjustment lag value, a preset sensitivity coefficient and target adjustment force; a desired movement speed is calculated based on the dynamic compensation factor and the basic movement speed; and the target is controlled to move in the movement direction based on the desired movement speed.

[0006] After the target is initialized and receives a movement command, this invention no longer relies solely on a preset speed for blind uniform motion. Instead, it continuously acquires the relative position information of the target and the target point and adjusts the lag value in real time within a preset sampling period. Based on the relative displacement, it calculates the basic movement speed and generates a dynamic compensation factor by combining the real-time lag, the preset sensitivity coefficient, and the target adjustment force to correct the speed. Finally, it outputs the desired movement speed to control the actuator. This allows for real-time adjustment of the target's movement rhythm and amplitude, avoiding movement mismatch or endpoint determination deviation caused by a single fixed speed. It improves the tracking accuracy, motion smoothness, and adaptability to feedback response states of the target trajectory, thereby significantly enhancing the robustness and repeatability of target control.

[0007] Furthermore, the step of detecting the relative distance and real-time adjustment hysteresis value between the target and the preset target point based on a preset sampling period, and calculating the basic moving speed for the current sampling period based on the relative distance, includes: The relative distance between the visual target and the preset target point and the real-time accommodation hysteresis value are detected based on a preset sampling period; the real-time accommodation hysteresis value is obtained based on eye tracker detection. The distance coefficient for the current sampling period is determined based on the relative distance and a preset distance coefficient relationship table, and the basic moving speed for the current sampling period is calculated based on the distance coefficient and the relative distance.

[0008] This invention improves the calculation mechanism of basic movement velocity by introducing a distance coefficient relationship table based on relative distance and real-time hysteresis values ​​obtained from eye trackers. Mapping continuous distances to segmented or graded distance coefficients allows the basic movement velocity of the target to exhibit a non-linear yet controllable response characteristic within different distance intervals, avoiding instability in the control strategy or excessive speed caused by small near-end displacements. Simultaneously, using eye tracker data as the source of hysteresis measurement ensures that the calculation of the basic velocity reflects the subject's current reaction characteristics. This improvement allows the velocity benchmark to consider both spatial geometry and the subject's instantaneous state, providing a more reliable velocity input, facilitating subsequent compensation and adjustment, thereby improving the smooth transition and temporal consistency of target movement, and reducing control errors caused by non-linear distance relationships.

[0009] Furthermore, the step of calculating a dynamic compensation factor based on the real-time adjustment lag value, a preset sensitivity coefficient, and a target adjustment force; calculating a desired movement speed based on the dynamic compensation factor and the base movement speed; and controlling the target to move in the movement direction based on the desired movement speed includes: The compensation ratio is calculated based on the real-time adjustment lag value and the target adjustment force, and the dynamic compensation factor is calculated based on the compensation ratio and the preset sensitivity coefficient. The expected movement speed is calculated based on the product of the dynamic compensation factor and the base movement speed. A motor control signal is generated based on the desired moving speed, and the target is controlled to move in the moving direction based on the motor control signal.

[0010] This invention calculates the compensation ratio by combining real-time lag and target adjustment force with a preset sensitivity coefficient. The compensation parameters are derived from real-time measurements and a clearly defined mapping relationship, rather than empirical manual tuning. The compensation factor is directly multiplied by the base speed and converted into specific motor drive commands, shortening the control loop delay and reducing the uncertainty between commands and motion. This process enables online adaptation to the response speed and motion inertia of different subjects, reducing oscillations or jitter caused by overshoot and lag, improving the accuracy and stability of actuator control, and significantly enhancing the repeatability and cross-individual consistency of system parameters, facilitating standardization and batch deployment.

[0011] Secondly, the present invention provides a method for detecting adjustment amplitude, comprising: Obtain the age of the user performing the operation, and preset a sensitivity coefficient based on the age of the user performing the operation; Based on the aforementioned sensitivity coefficient, a target movement method is applied to control the movement of the target target. After the target object stops moving, the relative distance between the target object and the user's eyes is obtained; The user's adjustment range is determined based on the relative distance and the preset adjustment range calculation formula.

[0012] This invention introduces age as a preset input for the sensitivity coefficient in the measurement process, enabling the same control algorithm to automatically adjust the response intensity based on the physiological characteristics of the group, thus achieving personalized measurement. This not only improves the clinical interpretability and accuracy of measurement results for different age groups, but also simplifies the clinical operation process and facilitates deployment and promotion in conventional visual function testing equipment.

[0013] Furthermore, during the target movement, user feedback signals are collected, and the adjustment start delay time and adjustment maintenance time are calculated based on the user feedback signals. The sampling frequency is calculated based on the adjustment start delay time, adjustment duration, and preset sampling factor, and the sampling period during the target movement process is adjusted based on the sampling frequency; wherein, the sampling factor is set based on the age of the operating user.

[0014] This invention collects subjective and objective feedback in parallel during movement to calculate and adjust the start-up delay and maintenance time, and dynamically calculates and adjusts the sampling frequency accordingly. This can reduce the sampling load at distant points or static stages while ensuring the data density of key time windows. This time-domain optimization not only improves data quality and enhances the ability to identify lag and unstable adjustment events, but also optimizes computing and communication resources, enhances the system's response to sudden anomalies, and improves overall measurement efficiency.

[0015] Thirdly, the present invention provides a target movement device based on dynamic compensation, comprising: an initialization module and a control module; The initialization module is used to initialize the target based on a preset initial position and a preset target style; The control module is used to respond to the target movement command, and control the target to move in a preset movement direction based on the target movement command and a preset movement speed, until a preset condition is met and the target movement stops. During the target movement, the relative distance and real-time adjustment lag value between the target and the preset target point are detected based on a preset sampling period, and the basic movement speed of the current sampling period is calculated based on the relative distance; a dynamic compensation factor is calculated based on the real-time adjustment lag value, a preset sensitivity coefficient and target adjustment force; a desired movement speed is calculated based on the dynamic compensation factor and the basic movement speed; and the target is controlled to move in the movement direction based on the desired movement speed.

[0016] Furthermore, the control module is used to detect the relative distance between the target and the preset target point based on a preset sampling period and to adjust the hysteresis value in real time, and to calculate the basic moving speed for the current sampling period based on the relative distance, including: The relative distance between the visual target and the preset target point and the real-time accommodation hysteresis value are detected based on a preset sampling period; the real-time accommodation hysteresis value is obtained based on eye tracker detection. The distance coefficient for the current sampling period is determined based on the relative distance and a preset distance coefficient relationship table, and the basic moving speed for the current sampling period is calculated based on the distance coefficient and the relative distance.

[0017] Furthermore, the control module is used to calculate a dynamic compensation factor based on the real-time adjustment lag value, a preset sensitivity coefficient, and the target adjustment force; calculate a desired movement speed based on the dynamic compensation factor and the base movement speed; and control the target to move in the movement direction based on the desired movement speed, including: The compensation ratio is calculated based on the real-time adjustment lag value and the target adjustment force, and the dynamic compensation factor is calculated based on the compensation ratio and the preset sensitivity coefficient. The expected movement speed is calculated based on the product of the dynamic compensation factor and the base movement speed. A motor control signal is generated based on the desired moving speed, and the target is controlled to move in the moving direction based on the motor control signal.

[0018] Fourthly, the present invention provides an adjustment range detection device, comprising: an information setting module, a target movement module, a distance acquisition module, and an adjustment range calculation module; The information setting module is used to obtain the age of the user and preset a sensitivity coefficient based on the age of the user. The target movement module, based on the sensitivity coefficient, is used in any one of the target movement methods according to claims 1 to 3 to control the movement of the target; The distance acquisition module is used to acquire the relative distance between the target visual object and the user's eyes after the target visual object stops moving; The adjustment range calculation module is used to determine the user's adjustment range based on the relative distance and the preset adjustment range calculation formula.

[0019] Furthermore, the target movement module is also used for: During the movement of the target, user feedback signals are collected, and the adjustment start delay time and adjustment maintenance time are calculated based on the user feedback signals. The sampling frequency is calculated based on the adjustment start delay time, adjustment duration, and preset sampling factor, and the sampling period during the target movement process is adjusted based on the sampling frequency; wherein, the sampling factor is set based on the age of the operating user. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating a target movement method based on dynamic compensation, provided in an embodiment of the present invention.

[0021] Figure 2 This is a schematic flowchart of an adjustment amplitude detection method provided in an embodiment of the present invention. Detailed Implementation

[0022] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0023] The terms "first" and "second," etc., in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0024] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0025] Example 1 See Figure 1 , Figure 1 This is a flowchart illustrating a target movement method based on dynamic compensation provided in an embodiment of the present invention. The embodiment of the present invention provides a target movement method based on dynamic compensation, including steps 101 to 102, as detailed below: Step 101: Initialize the target based on the preset initial position and preset target style; In this embodiment, the preset initial position parameters and target style parameters are first read, and the initial position is converted into the coordinate system of the display device to determine the initial pixel position of the target on the screen and the corresponding actual viewing distance value. Then, an initial target object is created and its attributes are set item by item according to the preset style, including size, brightness, contrast, shape and font.

[0026] This invention ensures that each target movement begins at a uniform starting point and under a consistent visual presentation, thereby greatly improving the consistency of measurement starting conditions and reducing systematic errors introduced by differences in starting position or target style. At the same time, the preset style can be personalized according to the needs of the examinee, taking into account both standardization and individualization.

[0027] Step 102: Respond to the target movement command, and control the target to move in a preset direction based on the target movement command and a preset movement speed until a preset condition is met, then stop moving the target; During the target movement, the relative distance and real-time adjustment lag value between the target and the preset target point are detected based on a preset sampling period, and the basic movement speed of the current sampling period is calculated based on the relative distance; a dynamic compensation factor is calculated based on the real-time adjustment lag value, a preset sensitivity coefficient and target adjustment force; a desired movement speed is calculated based on the dynamic compensation factor and the basic movement speed; and the target is controlled to move in the movement direction based on the desired movement speed.

[0028] In this embodiment, the step of detecting the relative distance and real-time adjustment hysteresis value between the target and the preset target point based on a preset sampling period, and calculating the base movement speed for the current sampling period based on the relative distance, includes: The relative distance between the visual target and the preset target point and the real-time accommodation hysteresis value are detected based on a preset sampling period; the real-time accommodation hysteresis value is obtained based on eye tracker detection. The distance coefficient for the current sampling period is determined based on the relative distance and a preset distance coefficient relationship table, and the basic moving speed for the current sampling period is calculated based on the distance coefficient and the relative distance.

[0029] In this embodiment, the position of the visual target and the eye position of the subject are simultaneously sampled and processed based on a preset sampling period. Within each sampling period, the system first obtains the relative distance between the visual target and the preset target point through feedback from the position encoder or visual target driver, and the eye-tracking instrument extracts the accommodation hysteresis value in real time. This hysteresis value can be represented by instantaneous refractive error or start-up delay time. Subsequently, the measured relative distance is matched against a pre-calibrated distance coefficient relationship table to determine the distance coefficient to be used in the current sampling period. This relationship table uses distance intervals as indexes and corresponds to different distance coefficients to ensure the smoothness of the velocity within the nonlinear range of refractive power. After determining the distance coefficient, the basic movement velocity for this period is calculated according to the engineering unit conversion rules. The calculation uses the product of the distance coefficient and the square of the relative distance, thereby actively compensating for the rate of change of refractive power in space. Specifically: (1) in, Let d be the base moving speed and d be the relative distance. This is the distance coefficient.

[0030] Please refer to Table 1, which is a distance coefficient relationship table provided by an embodiment of the present invention.

[0031] Table 1 In this embodiment, the movement of the visual target from far to near is divided into three stages based on the distance between the target and the eye: the far-point pre-adjustment stage, the mid-point steady-state stage, and the near-point critical stage. When the target distance is greater than 0.5 meters, the system determines that it is in the far-point pre-adjustment stage. At this time, the corresponding accommodative power is less than 2 diopters, and a higher rate of change of accommodative power is used to achieve rapid target approach, thereby shortening the overall detection time and avoiding unnecessary low-frequency stimulation to the accommodation system. When the target distance is between 0.25 and 0.5 meters, the system enters the mid-point steady-state stage, with an accommodative power range of 2 to 4 diopters. In this stage, a moderate rate of change is used to maintain the smoothness of target movement, ensuring that the accommodative response can be fully established and maintained stably. When the target distance is less than or equal to 0.25 meters, the system determines that it has entered the near-point critical stage. At this time, the accommodative power reaches or exceeds 4 diopters, and a lower rate of change is used to finely control target movement, reducing the risk of misjudgment caused by abrupt changes in refractive power. By employing the aforementioned phased control strategy, the target movement speed is matched with the physiological characteristics of different accommodation ranges, thereby significantly improving the accuracy and repeatability of accommodation amplitude measurement while ensuring detection efficiency.

[0032] In this embodiment, to suppress measurement noise and transient fluctuations, the system applies short-time filtering to the original relative distance and hysteresis value, and adds upper and lower limit saturation protection in the speed generation stage. Finally, the calculated base movement speed is transmitted to the compensation layer to synthesize the desired movement speed and generate motor control commands. This embodiment ensures the repeatability of the speed benchmark generated based on objective sensing values, and improves movement accuracy and clinical interpretability through engineering methods such as table lookup and filtering.

[0033] In this embodiment, the step of calculating a dynamic compensation factor based on the real-time adjustment lag value, a preset sensitivity coefficient, and a target adjustment force; calculating a desired movement speed based on the dynamic compensation factor and the base movement speed; and controlling the target to move in the movement direction based on the desired movement speed includes: The compensation ratio is calculated based on the real-time adjustment lag value and the target adjustment force, and the dynamic compensation factor is calculated based on the compensation ratio and the preset sensitivity coefficient. The expected movement speed is calculated based on the product of the dynamic compensation factor and the base movement speed. A motor control signal is generated based on the desired moving speed, and the target is controlled to move in the moving direction based on the motor control signal.

[0034] In this embodiment, the real-time adjustment lag value and the current target adjustment force are first obtained, and the initial compensation ratio is calculated by comparing the two. Then, this compensation ratio is multiplied by a preset sensitivity coefficient and a reference value is added to generate a dynamic compensation factor. The calculation process is numerically filtered for short-term noise suppression and saturated with upper and lower limits to ensure execution safety. Specifically: (2) in, As a dynamic compensation factor, This represents the real-time accommodative lag value obtained from eye-tracking. For the target adjustment force, This is the preset sensitivity coefficient.

[0035] In this embodiment, the base moving speed calculated by the process control layer for this cycle is multiplied by the dynamic compensation factor to determine the desired moving speed: (3) In this embodiment, the speed is processed using acceleration / deceleration curves to meet the dynamic constraints of the actuator and avoid abrupt changes. The desired movement speed is converted into a specific motor control signal by a speed loop PID controller or speed prediction model, and then sent to the target actuator. Simultaneously, the encoder or position feedback is read in a closed loop to correct the deviation between the actual speed and the desired speed in real time. The entire process is executed cyclically according to a preset sampling period. The sampled data is used for online updates of hysteresis estimation and sensitivity coefficient adaptation, and all key variables are recorded for offline verification and clinical interpretation, thereby realizing the engineering implementation of generating compensation parameters from objective physiological parameters to precisely control target movement.

[0036] In this embodiment, the target is first reset according to the preset initial position and target pattern during the initialization phase, and the sensitivity coefficient and sampling coefficient are set according to the subject's age and refractive state. Then, the phased movement control phase is entered. The target movement is divided into three segments from far to near: far point pre-adjustment, midpoint steady state, and near point criticality. The basic accommodation rate corresponding to each segment is determined by clinical calibration value to adapt to the nonlinear change of accommodation force with distance. In each sampling cycle, the system collects position encoder data in parallel to obtain the relative distance between the target and the target point, and obtains the real-time accommodation lag value through the eye tracker. Based on the relative distance, the system looks up and matches the data in the pre-calibrated distance coefficient relationship table to calculate the basic movement speed of the current cycle. Then, the real-time lag value is divided by the target accommodation force to obtain the compensation ratio. The compensation ratio and the sensitivity coefficient are combined to generate a dynamic compensation factor. The basic movement speed is multiplied by the dynamic compensation factor and subjected to acceleration, deceleration and saturation processing to obtain the desired movement speed. This speed is converted into motor commands by the speed loop controller to drive the target to move precisely. In the time domain, the system uses the MSI dynamic sampling model to calculate the sampling frequency based on the sampling sensitivity coefficient and the sum of the inverse of the adjustment start delay and the adjustment maintenance time, so as to achieve adaptive allocation of sparse sampling at far points and dense sampling at near points. All raw measurements are filtered for a short time before the control is issued to reduce the impact of noise, and upper and lower limit protection is implemented at the execution layer to ensure safety. Closed-loop data is used to periodically update hysteresis and time characteristics and adjust the sensitivity coefficient parameters. The endpoint determination adopts a joint rule of subjective reporting and objective refractive change. For example, when there are three consecutive subjective fuzzy reports and the accommodation force change exceeds one diopter, the minimum distance is locked and the accommodation amplitude is calculated.

[0037] Please refer to Figure 2 , Figure 2 This is a schematic flowchart of an adjustment amplitude detection method provided in an embodiment of the present invention, including steps 201 to 204, specifically: Step 201: Obtain the age of the user and preset a sensitivity coefficient based on the user's age; Step 202: Based on the sensitivity coefficient, control the target target to move using the target movement method described above; Step 203: After the target visual object stops moving, obtain the relative distance between the target visual object and the user's eyes; Step 204: Determine the user's adjustment range based on the relative distance and the preset adjustment range calculation formula.

[0038] In this embodiment, during the movement of the target, user feedback signals are collected, and the adjustment start delay time and adjustment maintenance time are calculated based on the user feedback signals. The sampling frequency is calculated based on the adjustment start delay time, adjustment duration, and preset sampling factor, and the sampling period during the target movement process is adjusted based on the sampling frequency; wherein, the sampling factor is set based on the age of the operating user.

[0039] In this embodiment, a sensitivity coefficient is first determined in a preset mapping table using the user-submitted age information. This sensitivity coefficient is then loaded into the control algorithm as a personalized parameter. Subsequently, the measurement program is initiated according to the described target movement method. In each sampling period, the system collects the relative distance between the target and the target point and the real-time accommodation hysteresis value obtained from eye tracking in parallel. Based on the relative distance, a distance coefficient is obtained by looking up the table, and the basic movement speed is calculated. The real-time hysteresis is then compared with the target accommodation force and transformed by the sensitivity coefficient to generate a dynamic compensation factor. The compensation factor is multiplied by the basic movement speed and then sent to the drive unit as the desired movement speed to execute the target movement.

[0040] In this embodiment, during the target movement, the system simultaneously acquires the subject's subjective feedback and objective eye movement signals to obtain raw data for temporal domain analysis. First, the system synchronously records the start time of the target movement and each subjectively clear or blurred mark using timestamps. Simultaneously, the eye-tracking unit extracts the instantaneous refractive changes in the accommodative response to determine when accommodation initiates and remains stable, thereby calculating the accommodative initiation delay time. and adjustment duration The system then retrieves the sampling factor from a preset mapping table based on the subject's age. The system adds the sampling factor to the reciprocal of the adjustment initiation delay time and the reciprocal of the adjustment maintenance time to determine the current required sampling frequency. in, The sampling factor is based on the user's age. For children (1-16), β=0.8; for adults (16-60), β=1.0; and for the elderly (greater than 60), β=1.5.

[0041] In this embodiment, a higher sampling frequency indicates a need for more refined temporal analysis during that period to capture rapidly changing physiological events. The calculated sampling frequency is used to dynamically adjust the sampling period of the data acquisition module, resulting in denser sampling during the accommodation initiation and maintenance phases, and sparser sampling during the far point or static phase. In this embodiment, after the target visual object stops, the position feedback unit measures the minimum relative distance between the visual object and both eyes. This minimum distance, converted to the reciprocal of refractive power, is the subject's accommodation amplitude. During the measurement process, the sampling sequence control parameters are recorded simultaneously for traceability and clinical interpretation. By using objective physiological quantities to generate compensation parameters and drive the control quantity, this embodiment achieves precise spatiotemporal control of visual object movement, thereby improving the accuracy of accommodation amplitude measurement and individualized adaptation capabilities.

[0042] In this embodiment, the subject's age and refractive state are first read during the initialization phase, and the hysteresis sensitivity coefficient α and sampling sensitivity coefficient β are preset accordingly. Simultaneously, the visual target is reset to the preset starting position and the visual target style parameters are loaded. During measurement, the visual target is divided into three control intervals from far to near. Clinically calibrated distance coefficients are used to calculate the baseline movement speed for this cycle. The value of the baseline speed is determined by the corresponding distance coefficient and the square of the current relative distance, to compensate for the non-linear variation of refractive power with space.

[0043] In this embodiment, within each sampling period, the position encoder provides the relative distance between the target and the visual target, and the eye tracker extracts the real-time accommodation hysteresis value. The system obtains the dynamic compensation factor CF by multiplying the ratio of the hysteresis value to the target accommodation force by a sensitivity coefficient. Subsequently, the base movement speed is multiplied by the compensation factor to generate the desired movement speed. The desired speed is processed by acceleration / deceleration curves and saturation limiting, and then converted into a motor control signal by the speed loop controller to drive the precise movement of the visual target. The MSI dynamic sampling model, which operates in parallel in the time domain, calculates the sampling frequency by summing the sampling factor with the reciprocal of the accommodation start delay and the maintenance time, in order to achieve sampling density during the accommodation start and maintenance periods and sampling sparsity during the far-point static period.

[0044] In this embodiment, the endpoint determination integrates subjective feedback and objective refractive changes. When three consecutive subjective reports are blurred and the corresponding change in accommodative power exceeds the clinical threshold, the minimum distance is locked and the accommodative amplitude is obtained by taking the reciprocal of the minimum distance.

[0045] This invention also provides a target movement device based on dynamic compensation, comprising: an initialization module and a control module; The initialization module is used to initialize the target based on a preset initial position and a preset target style; The control module is used to respond to the target movement command, and control the target to move in a preset movement direction based on the target movement command and a preset movement speed, until a preset condition is met and the target movement stops. During the target movement, the relative distance and real-time adjustment lag value between the target and the preset target point are detected based on a preset sampling period, and the basic movement speed of the current sampling period is calculated based on the relative distance; a dynamic compensation factor is calculated based on the real-time adjustment lag value, a preset sensitivity coefficient and target adjustment force; a desired movement speed is calculated based on the dynamic compensation factor and the basic movement speed; and the target is controlled to move in the movement direction based on the desired movement speed.

[0046] In this embodiment, the control module is used to detect the relative distance between the target and the preset target point based on a preset sampling period and to adjust the hysteresis value in real time, and to calculate the basic moving speed for the current sampling period based on the relative distance, including: The relative distance between the visual target and the preset target point and the real-time accommodation hysteresis value are detected based on a preset sampling period; the real-time accommodation hysteresis value is obtained based on eye tracker detection. The distance coefficient for the current sampling period is determined based on the relative distance and a preset distance coefficient relationship table, and the basic moving speed for the current sampling period is calculated based on the distance coefficient and the relative distance.

[0047] In this embodiment, the control module is used to calculate a dynamic compensation factor based on the real-time adjustment lag value, a preset sensitivity coefficient, and the target adjustment force; calculate a desired movement speed based on the dynamic compensation factor and the base movement speed; and control the target to move in the movement direction based on the desired movement speed, including: The compensation ratio is calculated based on the real-time adjustment lag value and the target adjustment force, and the dynamic compensation factor is calculated based on the compensation ratio and the preset sensitivity coefficient. The expected movement speed is calculated based on the product of the dynamic compensation factor and the base movement speed. A motor control signal is generated based on the desired moving speed, and the target is controlled to move in the moving direction based on the motor control signal.

[0048] This invention also provides an adjustment range detection device, comprising: an information setting module, a target movement module, a distance acquisition module, and an adjustment range calculation module; The information setting module is used to obtain the age of the user and preset a sensitivity coefficient based on the age of the user. The target movement module controls the target to move based on the sensitivity coefficient using a target movement method described above. The distance acquisition module is used to acquire the relative distance between the target visual object and the user's eyes after the target visual object stops moving; The adjustment range calculation module is used to determine the user's adjustment range based on the relative distance and the preset adjustment range calculation formula.

[0049] The present invention also provides the target movement module, which is further used for: During the movement of the target, user feedback signals are collected, and the adjustment start delay time and adjustment maintenance time are calculated based on the user feedback signals. The sampling frequency is calculated based on the adjustment start delay time, adjustment duration, and preset sampling factor, and the sampling period during the target movement process is adjusted based on the sampling frequency; wherein, the sampling factor is set based on the age of the operating user.

[0050] The present invention provides a communication device, including a module for performing the method.

[0051] The present invention provides a communication device, including a processor and an interface circuit. The interface circuit is used to receive signals from other communication devices and transmit them to the processor, or to send signals from the processor to other communication devices. The processor is used to implement the method through logic circuits or execution code instructions.

[0052] The present invention provides a computer program product, including a computer program or instructions, which, when executed by a communication device, implement the method described therein.

[0053] In this embodiment of the invention, a processing device is also provided, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the above-described dynamic compensation-based target movement method.

[0054] In this embodiment of the invention, a computer-readable storage medium is also provided, which includes a stored computer program, wherein the computer program controls the device where the computer-readable storage medium is located to execute the above-described dynamic compensation-based target movement method when it is running.

[0055] For example, a computer program can be divided into one or more modules, one or more of which are stored in memory and executed by a processor to perform the present invention. The one or more modules can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in a processing device.

[0056] The processing device can be a desktop computer, laptop, handheld computer, or cloud server, etc. The processing device may include, but is not limited to, a processor, memory, and a display. Those skilled in the art will understand that the above components are merely examples of the processing device and do not constitute a limitation on the processing device. It may include more or fewer components than the specified components, or a combination of certain components, or different components. For example, the processing device may also include input / output devices, network access devices, buses, etc.

[0057] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the processing device, connecting all parts of the processing device through various interfaces and lines.

[0058] Memory can be used to store computer programs and / or modules. The processor performs various functions of the processing device by running or executing the computer programs and / or modules stored in the memory, and by accessing data stored in the memory. Memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, at least one application program required for a function (such as sound playback, text conversion, etc.), etc.; the data storage area can store data created based on the use of the mobile phone (such as audio data, text message data, etc.). In addition, memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart media cards (SMC), secure digital cards (SD cards), flash cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0059] In this invention, the module for moving a target based on dynamic compensation, if implemented as a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. Those skilled in the art can understand and implement this invention without any inventive effort.

[0060] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A target movement method based on dynamic compensation, characterized in that, include: The target is initialized based on the preset initial position and preset target style; In response to a target movement command, the target is controlled to move in a preset direction based on the target movement command and a preset movement speed until a preset condition is met, at which point the target movement stops. During the movement of the target, the relative distance between the target and the preset target point and the real-time adjustment hysteresis value are detected based on a preset sampling period, and the basic movement speed of the current sampling period is calculated based on the relative distance; A dynamic compensation factor is calculated based on the real-time adjustment lag value, the preset sensitivity coefficient, and the target adjustment force. A desired movement speed is calculated based on the dynamic compensation factor and the base movement speed. The target is then controlled to move in the movement direction based on the desired movement speed.

2. The target movement method based on dynamic compensation as described in claim 1, characterized in that, The step of detecting the relative distance and real-time adjustment hysteresis value between the target and the preset target point based on a preset sampling period, and calculating the base movement speed for the current sampling period based on the relative distance, includes: The relative distance between the visual target and the preset target point and the real-time accommodation hysteresis value are detected based on a preset sampling period; the real-time accommodation hysteresis value is obtained based on eye tracker detection. The distance coefficient for the current sampling period is determined based on the relative distance and a preset distance coefficient relationship table, and the basic moving speed for the current sampling period is calculated based on the distance coefficient and the relative distance.

3. The target movement method based on dynamic compensation as described in claim 2, characterized in that, The step of calculating a dynamic compensation factor based on the real-time adjustment hysteresis value, a preset sensitivity coefficient, and a target adjustment force; calculating a desired movement speed based on the dynamic compensation factor and the base movement speed; and controlling the target to move in the movement direction based on the desired movement speed includes: The compensation ratio is calculated based on the real-time adjustment lag value and the target adjustment force, and the dynamic compensation factor is calculated based on the compensation ratio and the preset sensitivity coefficient. The expected movement speed is calculated based on the product of the dynamic compensation factor and the base movement speed. A motor control signal is generated based on the desired moving speed, and the target is controlled to move in the moving direction based on the motor control signal.

4. A method for detecting adjustment amplitude, characterized in that, include: Obtain the age of the user performing the operation, and preset a sensitivity coefficient based on the age of the user performing the operation; The sensitivity coefficient is applied to a target movement method according to any one of claims 1 to 3 to control the movement of a target; After the target object stops moving, the relative distance between the target object and the user's eyes is obtained; The user's adjustment range is determined based on the relative distance and the preset adjustment range calculation formula.

5. The adjustment amplitude detection method as described in claim 4, characterized in that, include: During the movement of the target, user feedback signals are collected, and the adjustment start delay time and adjustment maintenance time are calculated based on the user feedback signals. The sampling frequency is calculated based on the adjustment start delay time, adjustment duration, and preset sampling factor, and the sampling period during the target movement process is adjusted based on the sampling frequency; wherein, the sampling factor is set based on the age of the operating user.

6. A target movement device based on dynamic compensation, characterized in that, include: Initialization module and control module; The initialization module is used to initialize the target based on a preset initial position and a preset target style; The control module is used to respond to the target movement command, and control the target to move in a preset movement direction based on the target movement command and a preset movement speed, until a preset condition is met and the target movement stops. During the movement of the target, the relative distance between the target and the preset target point and the real-time adjustment hysteresis value are detected based on a preset sampling period, and the basic movement speed of the current sampling period is calculated based on the relative distance; A dynamic compensation factor is calculated based on the real-time adjustment lag value, the preset sensitivity coefficient, and the target adjustment force. A desired movement speed is calculated based on the dynamic compensation factor and the base movement speed. The target is then controlled to move in the movement direction based on the desired movement speed.

7. A target movement device based on dynamic compensation as described in claim 6, characterized in that, The control module is used to detect the relative distance between the target and the preset target point based on a preset sampling period and to adjust the hysteresis value in real time, and to calculate the basic moving speed for the current sampling period based on the relative distance, including: The relative distance between the visual target and the preset target point and the real-time accommodation hysteresis value are detected based on a preset sampling period; the real-time accommodation hysteresis value is obtained based on eye tracker detection. The distance coefficient for the current sampling period is determined based on the relative distance and a preset distance coefficient relationship table, and the basic moving speed for the current sampling period is calculated based on the distance coefficient and the relative distance.

8. The target movement device based on dynamic compensation as described in claim 7, characterized in that, The control module is used to calculate a dynamic compensation factor based on the real-time adjustment lag value, a preset sensitivity coefficient, and the target adjustment force; calculate a desired movement speed based on the dynamic compensation factor and the base movement speed; and control the target to move in the movement direction based on the desired movement speed, including: The compensation ratio is calculated based on the real-time adjustment lag value and the target adjustment force, and the dynamic compensation factor is calculated based on the compensation ratio and the preset sensitivity coefficient. The expected movement speed is calculated based on the product of the dynamic compensation factor and the base movement speed. A motor control signal is generated based on the desired moving speed, and the target is controlled to move in the moving direction based on the motor control signal.

9. An adjustment amplitude detection device, characterized in that, include: Information setting module, target movement module, distance acquisition module, and adjustment range calculation module; The information setting module is used to obtain the age of the user and preset a sensitivity coefficient based on the age of the user. The target movement module, based on the sensitivity coefficient, is used in any one of the target movement methods according to claims 1 to 3 to control the movement of the target; The distance acquisition module is used to acquire the relative distance between the target visual object and the user's eyes after the target visual object stops moving; The adjustment range calculation module is used to determine the user's adjustment range based on the relative distance and the preset adjustment range calculation formula.

10. The adjustment amplitude detection device as described in claim 9, characterized in that, The target movement module is also used for: During the movement of the target, user feedback signals are collected, and the adjustment start delay time and adjustment maintenance time are calculated based on the user feedback signals. The sampling frequency is calculated based on the adjustment start delay time, adjustment duration, and preset sampling factor, and the sampling period during the target movement process is adjusted based on the sampling frequency; wherein, the sampling factor is set based on the age of the operating user.

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