Eye movement tracking test method, device, equipment, storage medium and system

Abstract

The invention discloses an eye movement tracking test method, device and system, equipment and a storage medium, and relates to the technical field of augmented reality, and the method comprises the steps: controlling a motor to drive an eyeball model to move according to a received eye movement track instruction; a first angle fed back by a motor encoder and a second angle fed back by an external encoder are obtained, and the second angle represents the actual position of the eyeball model; controlling the movement of an eyeball model according to the deviation between the first angle and the second angle, so that the deviation between the second angle and an angle corresponding to the eye movement track instruction is lower than a first preset deviation; and determining the eye movement tracking positioning error of the intelligent glasses according to the second angle, thereby enabling the real position of the tail end of the eyeball model to be accurately matched with the expected trajectory, and effectively improving the test precision of the eye movement tracking function of the intelligent glasses.

Description

Technical Field

[0001] This application relates to the field of extended reality technology, and in particular to an eye-tracking testing method, apparatus, device, storage medium, and system. Background Technology

[0002] With the rapid development of extended reality technology, smart glasses, as a type of wearable device with partial display capabilities based on extended reality technology, such as augmented reality (AR) and virtual reality (VR) devices, have made eye tracking a core function for enhancing immersion and enabling natural interaction. To ensure users receive an accurate and low-latency visual experience, it is necessary to verify the performance of the eye tracking function of smart glasses during the research and development and production stages.

[0003] Currently, mechanical simulation testing solutions are commonly used in laboratory environments within the industry. This solution uses a single stepper motor or ordinary servo motor as the drive source, driving an eye model to rotate within a single plane (e.g., horizontally) via a transmission mechanism such as linkages, synchronous belts, or gears. During testing, the system sends the desired eye-tracking trajectory command (e.g., a 10-degree rotation) to the motor, and then the smart glasses identify and report the eye model's movement trajectory captured by their built-in camera. Finally, the eye-tracking accuracy of the smart glasses is evaluated by comparing the trajectory reported by the smart glasses with the desired trajectory input by the system.

[0004] However, the system can only obtain the motor shaft angle, i.e., the rotation angle of the motor output shaft, through the motor encoder built into the motor, and adjust the motor shaft angle to align the eye model with the desired trajectory. But due to the physical transmission chain between the motor shaft and the end of the eye model, nonlinear mechanical errors such as backlash and elastic deformation prevent the change in the motor shaft angle from being transmitted linearly and losslessly to the end of the eye. This results in a discrepancy between the motor shaft angle and the actual pointing angle of the eye model in space. Consequently, any compensation adjustment based on the distorted motor shaft angle will not accurately match the actual position of the end of the eye model with the desired trajectory, leading to low test accuracy of the eye-tracking function of the smart glasses. Summary of the Invention

[0005] The main objective of this application is to provide an eye-tracking testing method, apparatus, device, storage medium, and system, aiming to solve the technical problem of low testing accuracy of eye-tracking function in existing smart glasses.

[0006] To achieve the above objectives, this application proposes an eye-tracking testing method. The method is applied to an eye-tracking testing device within an eye-tracking testing system. The eye-tracking testing system further includes an eyeball model, smart glasses, a motor encoder, and an external encoder. The motor encoder is mounted on the motor output shaft, and the external encoder is mounted on the rotating shaft of the eyeball model. The method includes: The eyeball model is controlled by a motor to move according to the received eye movement trajectory instructions; The first angle fed back by the motor encoder and the second angle fed back by the external encoder are obtained, wherein the second angle represents the actual position of the eyeball model; The movement of the eyeball model is controlled based on the deviation between the first angle and the second angle, so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation; The eye-tracking positioning error of the smart glasses is determined based on the second angle.

[0007] In one embodiment, the step of controlling the movement of the eyeball model based on the deviation between the first angle and the second angle, so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than a first preset deviation, includes: The first angle deviation is determined based on the deviation between the first angle and the second angle; Determine whether the first angle deviation reaches a second preset deviation threshold within a preset time period, and obtain the determination result; The movement of the eyeball model is adjusted according to the judgment result so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation.

[0008] In one embodiment, the step of adjusting the movement of the eyeball model according to the judgment result so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than a first preset deviation includes: When the first angle deviation reaches the second preset deviation within the preset time period, and the rate of change of the first angle deviation is not higher than the preset rate of change, the target compensation angle is determined based on the first angle deviation. The movement of the eyeball model is adjusted according to the target compensation angle so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation.

[0009] In one embodiment, the step of determining the target compensation angle based on the first angle deviation when the first angle deviation reaches the second preset deviation within the preset time period, and the rate of change of the first angle deviation is not higher than a preset rate of change, includes: When the first angle deviation reaches the second preset deviation within the preset time period, and the rate of change of the first angle deviation is not higher than the preset rate of change, the current motor shaft angular velocity is determined based on the first angle deviation. Obtain a preset error compensation model, which represents the mapping relationship between the motor shaft angular velocity and the compensation angle; The target compensation angle corresponding to the current motor shaft angular velocity is determined by the preset error compensation model.

[0010] In one embodiment, the step of adjusting the movement of the eyeball model according to the judgment result so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation further includes: When the first angle deviation reaches the second preset deviation within the preset time period, and the rate of change of the first angle deviation is higher than the preset rate of change, the feedback adjustment parameters of the motor are adjusted according to the first angle deviation to obtain the target feedback adjustment parameters. The feedback adjustment parameters include at least proportional parameters, integral parameters, and derivative parameters. The target feedback adjustment command is generated based on the target feedback adjustment parameters to adjust the movement of the eyeball model so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation.

[0011] In one embodiment, the step of determining the eye-tracking positioning error of the smart glasses based on the second angle includes: Obtain the eye movement coordinates of the smart glasses based on the eye movement feedback from the eyeball model; The eye-tracking coordinates are compared with the coordinates corresponding to the second angle to determine the eye-tracking positioning error of the smart glasses.

[0012] Furthermore, to achieve the above objectives, this application also proposes an eye-tracking testing device, the device comprising: The instruction response module is used to control the motor to drive the eyeball model to move according to the received eye movement trajectory instructions; The data acquisition module is used to acquire a first angle fed back by the motor encoder and a second angle fed back by the external encoder, wherein the second angle represents the actual position of the eyeball model; The compensation control module is used to control the movement of the eyeball model according to the deviation between the first angle and the second angle, so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation; The testing module is used to determine the eye-tracking positioning error of the smart glasses based on the second angle.

[0013] In addition, to achieve the above objectives, this application also proposes an eye-tracking testing device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the eye-tracking testing method as described above.

[0014] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the eye-tracking test method described above.

[0015] In addition, to achieve the above objectives, this application also proposes an eye-tracking testing system, which includes: an eyeball model, smart glasses, a motor encoder, an external encoder, and the eye-tracking testing equipment described above. The motor encoder is located on the motor output shaft, and the external encoder is located on the rotating shaft of the eyeball model.

[0016] One or more technical solutions proposed in this application have at least the following technical effects: This application applies to an eye-tracking testing device within an eye-tracking testing system. The eye-tracking testing system further includes an eye model, smart glasses, a motor encoder, and an external encoder. The motor encoder is mounted on the motor output shaft, and the external encoder is mounted on the rotation shaft of the eye model. The system controls the motor to drive the eye model's movement based on received eye-tracking trajectory commands. It acquires a first angle fed back by the motor encoder and a second angle fed back by the external encoder, the second angle representing the actual position of the eye model. The movement of the eye model is controlled based on the deviation between the first and second angles, ensuring that the deviation between the second angle and the angle corresponding to the eye-tracking trajectory command is lower than a first preset deviation. The eye-tracking positioning error of the smart glasses is determined based on the second angle. Compared to existing technologies that only adjust the motor shaft angle to align the eye model with the desired trajectory, this application sets an external encoder on the rotating shaft of the eye model. The external encoder obtains a second angle representing the actual position of the eye model. The movement of the eye model is controlled by the deviation between the second angle and the first angle fed back by the motor encoder. This ensures that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation, so that the actual position of the end of the eye model can accurately match the desired trajectory, effectively improving the testing accuracy of the eye tracking function of smart glasses. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the first embodiment of the eye-tracking testing method of this application; Figure 2 This is a flowchart illustrating the second embodiment of the eye-tracking testing method of this application; Figure 3 This is a flowchart illustrating the third embodiment of the eye-tracking testing method of this application; Figure 4 This is a schematic diagram of the module structure for the eye-tracking test in this application; Figure 5 This is a schematic diagram of the structure of the eye-tracking testing device according to an embodiment of this application.

[0020] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0022] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0023] The main solution of this application embodiment is: controlling the motor to drive the eyeball model to move according to the received eye movement trajectory command; obtaining the first angle fed back by the motor encoder and the second angle fed back by the external encoder, the second angle representing the actual position of the eyeball model; controlling the movement of the eyeball model according to the deviation between the first angle and the second angle, so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation; determining the eye movement tracking positioning error of the smart glasses according to the second angle.

[0024] Existing technology obtains the motor shaft angle (i.e., the rotation angle of the motor output shaft) through a built-in motor encoder and adjusts the motor shaft angle to align the eye model with the desired trajectory. However, due to the physical transmission chain between the motor shaft and the end of the eye model, nonlinear mechanical errors such as backlash and elastic deformation prevent linear and lossless transmission of motor shaft angle changes to the end of the eye. This results in a discrepancy between the motor shaft angle and the actual pointing angle of the eye model in space. Consequently, any compensation adjustments based on the distorted motor shaft angle cannot accurately match the actual position of the eye model's end with the desired trajectory, leading to low testing accuracy of the eye-tracking function in smart glasses.

[0025] This application provides a solution that uses an external encoder on the rotating shaft of an eyeball model to obtain a second angle representing the actual position of the eyeball model. The deviation between the second angle and the first angle fed back by the motor encoder is used to control the movement of the eyeball model, ensuring that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than a first preset deviation. This allows the actual position of the end of the eyeball model to accurately match the expected trajectory, effectively improving the testing accuracy of the eye movement tracking function of smart glasses.

[0026] It should be noted that the execution entity in this embodiment is the eye-tracking testing device in the eye-tracking testing system. This eye-tracking testing device, as the control and processing core of the system, possesses data processing, real-time control, and communication functions, and is used to run the test program and control the collaborative work of related measurement mechanisms and the eye model. In this embodiment and the following embodiments, this eye-tracking testing device (hereinafter referred to as the testing device) is used as an example for description; its specific implementation can be an industrial control computer, an embedded control system, or a dedicated testing host, etc.

[0027] Based on this, embodiments of this application provide an eye-tracking testing method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the eye-tracking testing method of this application.

[0028] In this embodiment, the method is applied to an eye-tracking testing device in an eye-tracking testing system. The eye-tracking testing system also includes an eyeball model, smart glasses, a motor encoder, and an external encoder. The motor encoder is located on the motor output shaft, and the external encoder is located on the rotating shaft of the eyeball model.

[0029] It should be noted that the eye-tracking testing system also includes servo drivers, motors, an eye-tracking simulation subsystem, and a simulated head shell.

[0030] The simulated head shell is used to simulate the shape of a human head. Its function is to install and fix the smart glasses under test, so that the smart glasses are in a stable and standard test posture.

[0031] The eyeball model is installed at a preset eye point position on the simulated head shell to accurately simulate the spatial position of the human eye.

[0032] The eye-tracking simulation subsystem is a high-precision multi-axis motion control mechanism connected to the eye model drive. Its core function is to receive motion commands from the testing equipment and drive the eye model to make precise position and posture adjustments in three-dimensional space.

[0033] The method includes steps S10 to S40: Step S10: Control the motor to drive the eyeball model to move according to the received eye movement trajectory command.

[0034] It should be noted that the eye movement trajectory command can describe the desired eye model to move to the target location in a specified manner within a specified time period.

[0035] In practical implementation, the testing equipment can receive the input raw instructions, parse the raw instructions, and parse out the target position, target time (i.e., the specified duration), and curve type (the specified motion mode, such as S-shape). According to the formula corresponding to the curve, the eye-tracking trajectory instruction is decomposed into multiple micro-position set points at the millimeter or microsecond level to form a desired trajectory instruction. Subsequently, the calculated micro-position set points are sent to the servo driver in the form of drive instructions. The servo driver drives the motor shaft to rotate according to the received drive instructions. The motor shaft transmits the rotational motion to the rotation shaft of the eyeball model through a precision gear set to drive the eyeball model to move.

[0036] Step S20: Obtain the first angle fed back by the motor encoder and the second angle fed back by the external encoder.

[0037] It should be noted that the first angle can be the angular displacement of the motor output shaft around its own rotation center, representing the rotational position of the motor shaft. The second angle can be the angular displacement of the eyeball model's rotation around its own rotation center, representing the actual position of the eyeball model.

[0038] In a specific implementation, the testing equipment can communicate with the motor encoder and the external encoder. The motor encoder can be used to accurately measure the motor shaft angle of the motor shaft itself, i.e., the first angle, and feed the first angle back to the testing equipment; the external encoder is used to measure the rotation axis angle of the eyeball model, i.e., the second angle, and feed the second angle back to the testing equipment.

[0039] Step S30: Control the movement of the eyeball model according to the deviation between the first angle and the second angle, so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation.

[0040] It should be noted that the first preset deviation can be a pre-set value used to measure whether the deviation is low. If the deviation between the second angle and the angle corresponding to the eye-tracking command is less than the first preset deviation, it can be determined that the second angle is close to or reaches the angle corresponding to the eye-tracking command.

[0041] In practical implementation, the testing equipment can calculate the deviation between the first angle and the second angle (such as the transmission chain deviation) in real time, and output the corresponding control command to the servo driver based on the deviation. The control command can correct the second angle, that is, the actual movement trajectory of the eyeball model, so that the second angle can accurately track the target angle required by the eye movement trajectory command, that is, control the deviation between the second angle and the angle corresponding to the eye movement trajectory command within the first preset deviation range.

[0042] Step S40: Determine the eye-tracking positioning error of the smart glasses based on the second angle.

[0043] In practice, the testing equipment can determine the eye-tracking positioning error based on the deviation between the second angle and the angle of the smart glasses based on the eye movement feedback model.

[0044] In one feasible implementation, step S40 includes steps S401 to S402: Step S401: Obtain the eye movement coordinates of the smart glasses based on the eye movement feedback from the eyeball model.

[0045] In practice, after the smart glasses' built-in camera observes the movement of the eye model, its built-in processing unit outputs coordinate data representing the gaze point of the eye model to the testing device. The testing device can then use the received coordinate data of the eye model's gaze point as eye-tracking coordinates.

[0046] Step S402: Compare the eye-tracking coordinates with the coordinates corresponding to the second angle to determine the eye-tracking positioning error of the smart glasses.

[0047] In practice, the testing equipment compares the eye-tracking coordinates with the reference coordinates obtained by transforming the second angle mentioned above, calculates the difference between the two in two-dimensional or three-dimensional space, and takes the absolute value of the calculated difference to obtain the eye-tracking positioning error. By comparing the eye-tracking positioning error with a set reference error, if the eye-tracking positioning error is lower than or equal to the reference error, the eye-tracking function of the smart glasses is determined to meet the requirements; conversely, if the eye-tracking positioning error is higher than the reference error, the eye-tracking function of the smart glasses is determined to fail to meet the requirements. The testing equipment can generate a corresponding test report based on the comparison results of the eye-tracking positioning error and the reference error for relevant personnel to refer to.

[0048] This embodiment applies to an eye-tracking testing device within an eye-tracking testing system. The system also includes an eye model, smart glasses, a motor encoder, and an external encoder. The motor encoder is mounted on the motor output shaft, and the external encoder is mounted on the rotation shaft of the eye model. The system controls the motor to drive the eye model's movement based on received eye-tracking trajectory commands. It acquires a first angle fed back by the motor encoder and a second angle fed back by the external encoder, the second angle representing the actual position of the eye model. The movement of the eye model is controlled based on the deviation between the first and second angles, ensuring that the deviation between the second angle and the angle corresponding to the eye-tracking trajectory command is lower than a first preset deviation. The eye-tracking positioning error of the smart glasses is determined based on the second angle. Compared to existing technologies that only adjust the motor shaft angle to align the eye model with the desired trajectory, this embodiment sets an external encoder on the rotating shaft of the eye model. The external encoder obtains a second angle representing the actual position of the eye model. The movement of the eye model is controlled by the deviation between the second angle and the first angle fed back by the motor encoder. This ensures that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than a first preset deviation, so that the actual position of the end of the eye model can accurately match the desired trajectory, effectively improving the testing accuracy of the eye tracking function of smart glasses.

[0049] Based on the first embodiment of this application, a second embodiment of this application is proposed. In the second embodiment, content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 , Figure 2 This is a flowchart illustrating the second embodiment of the eye-tracking testing method of this application.

[0050] In this embodiment, step S20 includes steps S201 to S203: Step S201: Determine the first angle deviation based on the deviation between the first angle and the second angle.

[0051] In practice, the testing equipment can subtract the second angle from the first angle to obtain the first angle deviation.

[0052] Step S202: Determine whether the first angle deviation reaches the second preset deviation threshold within a preset time period, and obtain the determination result.

[0053] It should be noted that the second preset deviation threshold can be a threshold used to measure whether the deviation is too large and requires compensation.

[0054] Understandably, the preset time period can be a pre-defined time window used to observe and analyze the dynamic characteristics of the first angle deviation. The length of this preset time period can be set to cover a typical stage of the target eye trajectory corresponding to the eye trajectory command (such as a complete reversal process) to ensure that the complete evolution process of the first angle deviation from its appearance to its stability can be captured.

[0055] In a specific implementation, the testing equipment can compare the first angle deviation with the second preset deviation threshold within a preset time period, determine whether the first angle deviation reaches the second preset deviation threshold within the preset time period, and obtain the judgment result.

[0056] Step S203: Adjust the movement of the eyeball model according to the judgment result so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation.

[0057] In practical implementation, when the first angular deviation reaches a second preset deviation threshold within a preset time period, it is determined that a significant mechanical error (such as gear backlash or deformation) has occurred in the transmission chain and needs to be actively compensated. At this time, the testing equipment can correct the drive command of the servo driver according to the time-domain characteristics of the first angular deviation (such as whether it changes rapidly over time) so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation. If the first angular deviation does not reach the second preset deviation threshold within a preset time period, it is considered that the error is within the allowable range, and the movement of the current eye model is determined to be relatively accurate, without the need for compensation or adjustment.

[0058] It should be understood that the first angle deviation is determined by the deviation between the first angle and the second angle, and it is judged whether the first angle deviation reaches the second preset deviation threshold within a preset time period to obtain the judgment result; the movement of the eye model is adjusted according to the judgment result so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation, thereby realizing the adjustment of the movement of the eye model when the first angle deviation is large, and maintaining the movement of the eye model when the first large deviation is small, effectively improving the movement control accuracy of the eye model.

[0059] Based on the first and second embodiments of this application, a third embodiment of this application is proposed. In this third embodiment, content that is the same as or similar to the first and second embodiments described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 3 , Figure 3 This is a flowchart illustrating the third embodiment of the eye-tracking testing method of this application.

[0060] In this embodiment, step S203 includes steps S2031 to S2032: Step S2031: When the first angle deviation reaches the second preset deviation within the preset time period, and the rate of change of the first angle deviation is not higher than the preset rate of change, the target compensation angle is determined based on the first angle deviation.

[0061] It should be noted that the rate of change of the first angular deviation is the rate at which the first angular deviation changes with time within an unpreset time period, and it characterizes the dynamic characteristics of the transmission error.

[0062] Understandably, the preset rate of change can be a pre-set judgment threshold used to distinguish whether the first angle deviation is a stable static deviation or a dynamic deviation. When the rate of change of the first angle deviation is not higher than the preset rate of change threshold, it indicates that the first angle deviation remains basically constant within the preset time period; when the rate of change of the first angle deviation is higher than the preset rate of change threshold, it indicates that the first angle deviation changes dynamically within the preset time period.

[0063] In practice, when the first angle deviation reaches the second preset deviation within a preset time period and the rate of change of the first angle deviation is higher than the preset rate of change, the testing equipment takes the first angle deviation as input and maps a certain compensation angle through a built-in correspondence that reflects the inherent characteristics of mechanical transmission (e.g., a calibrated error compensation scale or a fixed proportional coefficient). The mapping result is the target compensation angle.

[0064] In one feasible implementation, step S2031 includes steps S20311 to S20313: Step S20311: When the first angle deviation reaches the second preset deviation within the preset time period, and the rate of change of the first angle deviation is not higher than the preset rate of change, the current motor shaft angular velocity is determined based on the first angle deviation.

[0065] In practice, when the first angle deviation reaches the second preset deviation within a preset time period and the rate of change of the first angle deviation is not higher than the preset rate of change, the test equipment performs time difference calculation on the first angle fed back by the motor encoder to obtain the current motor shaft angular velocity.

[0066] Step S20312: Obtain a preset error compensation model, which represents the mapping relationship between the motor shaft angular velocity and the compensation angle.

[0067] It should be noted that the preset error compensation model is as follows: Δθ_gap = k·sign(ω) + b In the formula, Δθ_gap compensation angle is given, ω is the angular velocity of the motor shaft, k is the half-gap angle, and b is the offset.

[0068] Understandably, the half-backlash angle is half the mechanical angle corresponding to the return clearance of the transmission chain (mainly gear pairs). The offset can be used to compensate for direction-independent constant errors that may exist in the system, such as the zero-point offset of sensors or installation deviations in the structure.

[0069] In practical implementation, the half-backlash angle and offset in the preset error compensation model can be determined through calibration. During calibration, the test equipment can control the motor to perform multiple standard forward and reverse rotations at extremely low speeds, and simultaneously acquire the motor shaft angular velocity and the actual transmission error calculated from the angle output by the motor encoder and the angle output by the external encoder during calibration with high precision. By analyzing the transmission errors during forward and reverse rotation, i.e., the average forward stable error and the average reverse stable error, the half-backlash angle can be obtained by subtracting the average forward stable error from the average reverse stable error and dividing by 2; the offset can be obtained by adding the two and dividing by 2.

[0070] Step S20313: Determine the target compensation angle corresponding to the current motor shaft angular velocity using the preset error compensation model.

[0071] In practice, the testing equipment can preset an error compensation model based on the current motor shaft angular velocity input value and obtain the target compensation angle output by the preset error compensation model.

[0072] Step S2032: Adjust the movement of the eyeball model according to the target compensation angle so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation.

[0073] In practice, the testing equipment can correct the drive command of the servo driver according to the target compensation angle so that the deviation between the second angle and the angle corresponding to the eye-tracking trajectory command is lower than the first preset deviation.

[0074] In this embodiment, step S203 further includes steps S2033~S2034: Step S2033: When the first angle deviation reaches the second preset deviation within the preset time period, and the rate of change of the first angle deviation is higher than the preset rate of change, the feedback adjustment parameters of the motor are adjusted according to the first angle deviation to obtain the target feedback adjustment parameters.

[0075] The feedback control parameters include at least proportional parameters, integral parameters, and derivative parameters. The proportional parameter is the proportional term (P) in the PID controller, the integral parameter is the integral term (I) in the PID controller, and the derivative parameter is the derivative term (D) in the PID controller.

[0076] In practical implementation, when the first angle deviation reaches the second preset deviation within a preset time period, and the rate of change of the first angle deviation is higher than the preset rate of change, it indicates that the transmission chain error is not a fixed value, but a dynamic quantity strongly correlated with the motion state, mainly caused by time-varying factors such as elastic deformation and viscous friction. At this time, the testing equipment can adjust the feedback adjustment parameters in the PID controller of the motor, namely the proportional parameters, integral parameters, and derivative parameters, according to the amplitude and trend of the first angle deviation, and calculate a new set of proportional parameters, integral parameters, and derivative parameters that can effectively suppress dynamic errors. The feedback adjustment parameters composed of this new set of proportional parameters, integral parameters, and derivative parameters are the target feedback adjustment parameters.

[0077] Step S2034: Generate a target feedback adjustment command based on the target feedback adjustment parameters to adjust the movement of the eyeball model so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation.

[0078] In practical implementation, the testing equipment can send the target feedback adjustment parameters to the servo driver, which then loads the proportional, integral, and derivative parameters from the target feedback adjustment parameters. Subsequently, the motor's response characteristics to the same motion command change; for example, the gain corresponding to the proportional parameter increases to improve response speed, and the gain corresponding to the derivative parameter increases to suppress oscillations. This enhances the system's ability to overcome dynamic transmission errors, enabling the actual position of the eye model to track eye movement trajectory commands more quickly, smoothly, and accurately. Ultimately, this ensures that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is stably controlled within a first preset deviation.

[0079] It should be understood that, when the first angle deviation reaches a second preset deviation within a preset time period, and the rate of change of the first angle deviation is not higher than a preset rate of change, a target compensation angle is determined based on the second preset deviation. The movement of the eye model is then adjusted according to the target compensation angle to ensure that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation. When the first angle deviation reaches a second preset deviation within a preset time period, and the rate of change of the first angle deviation is higher than a preset rate of change, the feedback adjustment parameters of the motor are adjusted based on the first angle deviation to obtain target feedback adjustment parameters. A target feedback adjustment command is then generated based on the target feedback adjustment parameters to adjust the movement of the eye model, ensuring that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation. Therefore, based on the first angle deviation reaching a second preset deviation within a preset time period, a corresponding compensation strategy is selected based on the rate of change of the first angle deviation to stably control the deviation between the second angle and the angle corresponding to the eye movement trajectory command within the first preset deviation, thereby effectively improving the positioning accuracy of the eye tracking test.

[0080] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the eye-tracking testing method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0081] This application also provides an eye-tracking testing device; please refer to... Figure 4 , Figure 4 This is a schematic diagram of the module structure for the eye-tracking test of this application. The eye-tracking test device includes: The instruction response module 10 is used to control the motor to drive the eyeball model to move according to the received eye movement trajectory instruction.

[0082] The data acquisition module 20 is used to acquire a first angle fed back by the motor encoder and a second angle fed back by the external encoder, wherein the second angle represents the actual position of the eyeball model.

[0083] The compensation control module 30 is used to control the movement of the eyeball model according to the deviation between the first angle and the second angle, so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation.

[0084] Test module 40 is used to determine the eye-tracking positioning error of the smart glasses based on the second angle.

[0085] The eye-tracking testing device provided in this application, employing the eye-tracking testing method described in the above embodiments, can solve the technical problem of low testing accuracy of eye-tracking function in existing smart glasses. Compared with the prior art, the beneficial effects of the eye-tracking testing device provided in this application are the same as those of the eye-tracking testing method provided in the above embodiments, and other technical features in the eye-tracking testing device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0086] This application provides an eye-tracking testing device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the eye-tracking testing method in the first embodiment described above.

[0087] The following is for reference. Figure 5 , Figure 5 This is a schematic diagram of the structure of an eye-tracking testing device according to an embodiment of this application. The eye-tracking testing device in this embodiment may include, but is not limited to, an industrial control computer, an embedded control system, or a dedicated testing host. Figure 5 The eye-tracking test device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0088] like Figure 5As shown, the eye-tracking testing device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the eye-tracking testing device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. The communication device 1009 allows the eye-tracking testing equipment to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows eye-tracking testing equipment with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0089] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0090] The eye-tracking testing device provided in this application, employing the eye-tracking testing method described in the above embodiments, can solve the technical problem of low testing accuracy of eye-tracking function in existing smart glasses. Compared with the prior art, the beneficial effects of the eye-tracking testing device provided in this application are the same as those of the eye-tracking testing method provided in the above embodiments, and other technical features of this eye-tracking testing device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0091] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0092] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0093] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the eye-tracking test method in the above embodiments.

[0094] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0095] The aforementioned computer-readable storage medium may be included in the eye-tracking testing device; or it may exist independently and not assembled into the eye-tracking testing device.

[0096] The aforementioned computer-readable storage medium carries one or more programs. When the aforementioned one or more programs are executed by the eye-tracking testing device, the eye-tracking testing device causes the following: it controls a motor to drive the eyeball model to move according to a received eye-tracking trajectory command; it acquires a first angle fed back by the motor encoder and a second angle fed back by an external encoder, the second angle representing the actual position of the eyeball model; it controls the movement of the eyeball model according to the deviation between the first angle and the second angle, so that the deviation between the second angle and the angle corresponding to the eye-tracking trajectory command is lower than a first preset deviation; and it determines the eye-tracking positioning error of the smart glasses according to the second angle.

[0097] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0098] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0099] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0100] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described eye-tracking testing method, thereby solving the technical problem of low testing accuracy of eye-tracking function in existing smart glasses. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the eye-tracking testing method provided in the above embodiments, and will not be repeated here.

[0101] This application also provides an eye-tracking testing system, which includes: an eyeball model, smart glasses, a motor encoder, an external encoder, and the eye-tracking testing equipment described above. The motor encoder is located on the motor output shaft, and the external encoder is located on the rotating shaft of the eyeball model.

[0102] The eye-tracking testing system provided in this application employs the smart glasses, image acquisition device, and eye-tracking testing equipment mentioned above in the eye-tracking testing method of the above embodiments, and can solve the technical problem of low testing accuracy of eye-tracking function in existing smart glasses. Compared with the prior art, the beneficial effects of the eye-tracking testing system provided in this application are the same as those of the optical eye-tracking testing method provided in the above embodiments, and will not be repeated here.

[0103] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. An eye-tracking testing method, characterized in that, The method is applied to an eye-tracking testing device in an eye-tracking testing system. The eye-tracking testing system further includes an eyeball model, smart glasses, a motor encoder, and an external encoder. The motor encoder is mounted on the motor output shaft, and the external encoder is mounted on the rotating shaft of the eyeball model. The method includes: The eyeball model is controlled by a motor to move according to the received eye movement trajectory instructions; The first angle fed back by the motor encoder and the second angle fed back by the external encoder are obtained, wherein the second angle represents the actual position of the eyeball model; The movement of the eyeball model is controlled based on the deviation between the first angle and the second angle, so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation; The eye-tracking positioning error of the smart glasses is determined based on the second angle.

2. The eye-tracking testing method as described in claim 1, characterized in that, The step of controlling the movement of the eyeball model based on the deviation between the first angle and the second angle, so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than a first preset deviation, includes: The first angle deviation is determined based on the deviation between the first angle and the second angle; Determine whether the first angle deviation reaches a second preset deviation threshold within a preset time period, and obtain the determination result; The movement of the eyeball model is adjusted according to the judgment result so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation.

3. The eye-tracking testing method as described in claim 2, characterized in that, The step of adjusting the movement of the eyeball model based on the judgment result so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation includes: When the first angle deviation reaches the second preset deviation within the preset time period, and the rate of change of the first angle deviation is not higher than the preset rate of change, the target compensation angle is determined based on the first angle deviation. The movement of the eyeball model is adjusted according to the target compensation angle so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation.

4. The eye-tracking testing method as described in claim 3, characterized in that, The step of determining the target compensation angle based on the first angle deviation when the first angle deviation reaches the second preset deviation within the preset time period, and the rate of change of the first angle deviation is not higher than the preset rate of change, includes: When the first angle deviation reaches the second preset deviation within the preset time period, and the rate of change of the first angle deviation is not higher than the preset rate of change, the current motor shaft angular velocity is determined based on the first angle deviation. Obtain a preset error compensation model, which represents the mapping relationship between the motor shaft angular velocity and the compensation angle; The target compensation angle corresponding to the current motor shaft angular velocity is determined by the preset error compensation model.

5. The eye-tracking testing method as described in claim 2, characterized in that, The step of adjusting the movement of the eyeball model based on the judgment result so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation further includes: When the first angle deviation reaches the second preset deviation within the preset time period, and the rate of change of the first angle deviation is higher than the preset rate of change, the feedback adjustment parameters of the motor are adjusted according to the first angle deviation to obtain the target feedback adjustment parameters. The feedback adjustment parameters include at least proportional parameters, integral parameters, and derivative parameters. The target feedback adjustment command is generated based on the target feedback adjustment parameters to adjust the movement of the eyeball model so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation.

6. The eye-tracking testing method according to any one of claims 1 to 5, characterized in that, The step of determining the eye-tracking positioning error of the smart glasses based on the second angle includes: Obtain the eye movement coordinates of the smart glasses based on the eye movement feedback from the eyeball model; The eye-tracking coordinates are compared with the coordinates corresponding to the second angle to determine the eye-tracking positioning error of the smart glasses.

7. An eye-tracking testing device, characterized in that, The device includes: The instruction response module is used to control the motor to drive the eyeball model to move according to the received eye movement trajectory instructions; The data acquisition module is used to acquire a first angle fed back by the motor encoder and a second angle fed back by the external encoder, wherein the second angle represents the actual position of the eyeball model; The compensation control module is used to control the movement of the eyeball model according to the deviation between the first angle and the second angle, so that the deviation between the second angle and the angle corresponding to the eye movement trajectory command is lower than the first preset deviation; The testing module is used to determine the eye-tracking positioning error of the smart glasses based on the second angle.

8. An eye-tracking testing device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the eye-tracking testing method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the eye-tracking test method as described in any one of claims 1 to 6.

10. An eye-tracking testing system, characterized in that, The eye-tracking testing system includes: an eye model, smart glasses, a motor encoder, an external encoder, and the eye-tracking testing device as described in claim 8. The motor encoder is located on the motor output shaft, and the external encoder is located on the rotating shaft of the eye model.

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