VR equipment visual comfort transition method and device based on eyelid bionics

Abstract

The invention discloses a VR equipment visual comfort transition method and device based on eyelid bionics, and the method comprises the steps: controlling a physical shading part disposed between the eyes of a user and a display unit, and simulating the opening and closing motion of human eyelids to manage light rays entering the eyes; the control steps specifically comprise: receiving an input instruction; selecting to enter a protective instantaneous closing mode or an adaptive gradual change mode according to the type of the input instruction; if a protective instantaneous closing mode is entered, executing a protective instantaneous closing curve, and providing active physical protection; if the adaptive gradual change mode is entered, executing an adaptive gradual change curve, and driving a physical shading part to open or close in a non-uniform motion manner; wherein the speed change curve of the non-uniform motion is designed based on a human eyelid natural opening and closing motion rule and a pupil light reflex kinetic model. The eyelid is simulated through the physical shading part, light input is controlled through the on-off dynamic characteristics of the physical shading part, and therefore dizziness-free and high-comfort-degree switching between the virtual environment and the real environment is achieved.

Description

Technical Field

[0001] This invention relates to the field of virtual reality human-computer interaction technology, specifically to a method and device for comfortable visual transition in VR devices based on eyelid bionics. Background Technology

[0002] While virtual reality (VR) headsets provide an immersive experience, they also present challenges in terms of visual comfort. In particular, when switching between virtual and real environments, users often experience dizziness, visual fatigue, or spatial disorientation due to the abrupt change in lighting.

[0003] Currently, the technological approaches to improving the visual experience of VR devices mainly focus on two aspects: innovation in interaction methods and optimization of lighting switching schemes.

[0004] In terms of interaction methods, to provide a more intuitive control experience, existing technologies have proposed methods using biometrics for input. For example, Chinese patent application CN109753149A discloses a "control method and device for VR glasses," which collects user eye movement data (including eyelid opening and closing data) through a recognition unit and compares it with a pre-stored data template to trigger corresponding control commands (such as interface swiping and confirmation selection). This solution uses the physiological movement of the eyelids as a control input signal, improving the naturalness and convenience of the interaction. However, the core of this method lies in "recognizing" and "interpreting" the user's active intention to execute software commands, without managing and regulating the physical light entering the user's eyes. Therefore, it cannot solve the problem of physiological discomfort caused by sudden changes in light intensity when switching environments.

[0005] Current mainstream methods for directly managing light have inherent flaws. One type of solution relies on electronic display technology, such as video perspective, which captures external images through a camera and renders them on a screen. This suffers from image processing delays, perspective distortion, and visual convergence-accommodation conflicts, easily causing dizziness. Another type of solution uses optoelectronic materials for dimming, such as electrochromic lenses. While these can physically adjust light transmittance, they are expensive, and the light intensity changes are usually instantaneous or linear, which is severely incompatible with the precise and dynamic physiological adaptation process of the human visual system.

[0006] Over millions of years of evolution, the human visual system has developed a perfect light adaptation mechanism involving the rapid opening and closing of the eyelids and the slow contraction and dilation of the pupil. Current technologies utilize this movement as a control command but fail to coordinate it at the light entry point. Therefore, there is an urgent need for a low-cost solution that can physically simulate and coordinate with the original human visual physiological mechanism to achieve a smooth, dizzying, and highly comfortable transition between virtual and real environments. Summary of the Invention

[0007] In view of the above-mentioned shortcomings of the existing technology, the present invention aims to provide a visual comfort transition method and device for VR devices based on eyelid bionics. By setting an intelligently controlled bionic eyelid module at the physical optical path entrance between the user's eyes and the VR device display unit, the bionic eyelid module simulates the natural opening and closing dynamics of the human eyelid and makes its movement strictly match the physiological adaptation speed of the pupil, thereby performing physiological-level smooth management of the light flux entering the eye.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] A method for comfortable visual transition in VR devices based on eyelid bionics, comprising:

[0010] The control unit is a physical light-blocking component positioned between the user's eyes and the display unit, which simulates the opening and closing movements of human eyelids to manage the light entering the eyes;

[0011] The control steps specifically include:

[0012] Receive input commands;

[0013] Based on the type of input command, arbitrate and select to enter either the protective instantaneous closing mode or the adaptive gradual change mode;

[0014] If the protective instantaneous closing mode is entered, the protective instantaneous closing curve is executed, driving the physical light-shielding component to rapidly close from the open state within 150 milliseconds to 250 milliseconds to provide active physical protection.

[0015] If the adaptive gradient mode is entered, the adaptive gradient curve is executed, driving the physical light-blocking component to open or close at a non-uniform speed. The speed change curve of the non-uniform movement is designed based on the natural opening and closing motion of human eyelids and the pupil light reflection dynamics model, so as to match the rate of change of light flux with the visual physiological adaptation process.

[0016] Furthermore, the total execution time T of the protective instantaneous closing curve is configured such that the physical shading component completes its movement from the initial opening S_start to the final opening S_end after passing through the first acceleration phase, the second constant speed phase, and the third buffer phase, with 150 milliseconds ≤ T ≤ 250 milliseconds;

[0017] During the first acceleration phase, the physical shading component continuously accelerates to the maximum design speed V_max at the system's maximum acceleration, and the duration of the first acceleration phase is t1.

[0018] During the second uniform speed segment, the physical shading component maintains a uniform speed at its maximum design speed V_max, and the duration of the second uniform speed segment is t2.

[0019] The third buffer section adopts an S-shaped velocity curve model, which allows the physical shading component to smoothly decelerate from the maximum design speed V_max to zero and stop precisely at the end opening S_end. The duration of the third buffer section is t3.

[0020] Furthermore, the total execution time of the protective instantaneous closing mode does not exceed 200ms. The duration t1 of the first acceleration phase is within 60-100 milliseconds. The duration t2 of the second uniform speed phase is determined by the total closing stroke of the physical light-shielding component, the motion parameters of the first acceleration phase, and the motion parameters of the third buffer phase. The third buffer phase is activated when the physical light-shielding component moves to 5-15% of the remaining total closing stroke. The duration t3 of the third buffer phase is 40-80 milliseconds.

[0021] Furthermore, the adaptive gradient curve includes an involute curve and an involute curve. The involute curve is used to switch from a virtual environment to a real environment, and the involute curve is used to switch from a real environment to a virtual environment.

[0022] If the adaptive gradual change mode is entered, the direction of the environment switching is determined, and an involute curve or an involute curve is selected to be executed based on the direction of the environment switching.

[0023] The environment switching directions include switching from a virtual environment to a real environment and switching from a real environment to a virtual environment;

[0024] When the environment switching direction is from a virtual environment to a real environment, an involute curve is executed;

[0025] When the environment switching direction is from the real environment to the virtual environment, the asymptotic curve is executed.

[0026] Furthermore, the involute curve adopts a fast positioning + exponential approach hybrid model to drive the opening degree of the physical shading component to switch from the initial opening degree S_start to the final opening degree S_end, and S_start < S_end. The opening degree function of the physical shading component is configured to include a fast positioning stage and an exponential approach stage executed sequentially.

[0027] The rapid positioning phase: within the first time interval [0, T_fast), the physical shading component is driven to open from the initial opening degree S_start to the first target opening degree S_fast;

[0028] The exponential approach phase: within the second time interval [T_fast, ∞), the physical shading component is driven to approach the final opening S_end exponentially from the first target opening S_fast;

[0029] The opening function during the exponential approach phase is:

[0030] S(t) = S_fast + (S_end-S_fast) * [1- exp(-(t-T_fast) / τ)]

[0031] Where: S(t) is the opening degree of the physical shading component at time t, and τ is the time constant.

[0032] Furthermore, the duration T_fast of the rapid positioning phase is 300-400 milliseconds, the first target opening S_fast is 70-80% of the total opening stroke of the physical shading component, and the value range of the time constant τ is 250-350 milliseconds.

[0033] Furthermore, in the rapid positioning stage, the opening function is a high-order smooth function that is second-differentiable and has continuous acceleration, so as to achieve a smooth motion start without abrupt changes.

[0034] Furthermore, the closing curve adopts an overall gradually shifting S-shaped velocity curve model, driving the opening degree of the physical shading component to switch from the initial opening degree S_start to the final opening degree S_end, where S_start > S_end. The opening degree function of the physical shading component is:

[0035] S(t) = (S_start-S_end) / [1 + exp(h * (t - T_mid))]

[0036] Where h is the shape factor, and T_mid is the time point when the opening of the physical shading component reaches (S_start + S_end) / 2.

[0037] Furthermore, the shape factor is associated with a normalized average velocity;

[0038] h = 4 * V_norm;

[0039] Where h is the shape factor, V_norm is the normalized average velocity, and the normalized average velocity is configured such that the total duration of the physical shading component from fully open to fully closed is not less than 1.5-2 seconds.

[0040] Furthermore, the determination of the environment switching direction is based on one or more of the following information: user commands, system status signals, and environmental perception data.

[0041] On the other hand, the present invention provides a visual comfort transition control device for VR / AR devices, comprising:

[0042] Physical light-shielding components are positioned in the light path between the user's eyes and the display unit;

[0043] A drive unit, connected to the physical light-shielding component, is used to drive it to perform opening and closing movements;

[0044] The control unit, which is communicatively connected to the drive unit, is configured to perform the following operations:

[0045] Receive input commands;

[0046] Based on the type of input command, arbitrate and select to enter either the protective instantaneous closing mode or the adaptive gradual closing mode; if the protective instantaneous closing mode is entered, the protective instantaneous closing curve is executed, and the drive unit is controlled to drive the physical shading component to rapidly close from the open state within 150 milliseconds to 250 milliseconds.

[0047] If the adaptive gradient mode is entered, the adaptive gradient curve is executed, and the driving unit is controlled to drive the physical light-blocking component to open or close at a non-uniform speed; wherein, the speed change curve of the non-uniform speed movement is designed based on the natural opening and closing movement law of human eyelids and the pupil light reflection dynamics model.

[0048] The technical solution provided by this invention has the following advantages compared with the known prior art:

[0049] Existing technologies impose harsh, step-like light intensity signals on the visual nerves. This invention introduces a bionic eyelid as a physiological adaptation interface, enabling the device's light output characteristics (precisely managed by a control curve based on a pupil dynamics model) to actively match the dynamic characteristics of the human body's native visual input system. This eliminates conflict signals at the source of the interaction logic, providing a novel and fundamental solution to motion sickness. The time constant τ (250-350 milliseconds) in the involute curve directly maps to the physiological time constant of pupil constriction; the total protective blinking time T (150-250 milliseconds) is faster than voluntary blinking. This bionic design based on quantitative physiological data ensures the predictability and scientific validity of the technological effect.

[0050] This invention replaces the aforementioned complex electronic and optical systems with sophisticated biomimetic mechanical motion and intelligent control algorithms. The core hardware consists of common physical light-shielding components, micro-motors, and general-purpose control chips. Compared to precision optoelectronic display systems, it features a simpler structure, higher environmental tolerance, and a longer lifespan, significantly reducing the failure rate and improving the overall reliability of the product. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0052] Figure 1 A schematic diagram of the control flow for a VR device visual comfort transition method based on eyelid bionics;

[0053] Figure 2 This is a schematic diagram of the control flow of a VR device visual comfort transition method based on eyelid bionics in another embodiment. Detailed Implementation

[0054] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0055] This embodiment provides a visual comfort transition method for VR devices based on eyelid bionics, including: controlling a physical light-blocking component set between the user's eyes and the display unit to simulate the opening and closing movements of human eyelids to manage incoming light.

[0056] Control steps, such as Figure 1 As shown, it specifically includes:

[0057] The system receives input commands, which can be categorized into three main types: voice, sensor, and content. First, user commands are the most intuitive, including voice, gestures, and physical buttons—all explicit instructions issued by the user. Second, sensor signals are automatically perceived changes in the environment or user state, such as sudden changes in ambient light, the user's actions of putting on / removing the device, and detected physiological signals. Finally, system content triggers are state changes within the VR application, such as application startup / exit, specific content events (like flashing effects in games), and system-level mode switching commands.

[0058] Based on the type of input command, the system arbitrates and selects between a protective instantaneous shutdown mode and an adaptive gradual transition mode. In this embodiment, the arbitrator is controlled to make a unique and correct mode selection among multiple, potentially concurrent input commands, based on preset priority rules that conform to physiological and safety logic.

[0059] When a sudden change in ambient light intensity is received from the ambient light sensor (indicating that the light intensity exceeds a preset safety threshold), the arbitrator immediately outputs a decision and triggers the protective instantaneous shutdown mode, regardless of the current state of the system.

[0060] User intent priority rule: In the absence of a security alarm, if a clear user-initiated instruction (such as voice, gesture, or specific button operation) is received, the arbitrator will trigger the corresponding mode based on the semantics of the instruction. Specifically, instructions defined as emergency (such as "emergency light shielding") will trigger a protective instantaneous shutdown mode; instructions defined as environmental switching (such as "display reality") will trigger an adaptive gradual change mode.

[0061] System logic rules: If none of the above instructions occur, the arbitrator will determine the appropriate switching direction based on status signals from the VR operating system (such as application startup, exit, or pause). This triggers the adaptive transition mode, and subsequent modules will determine the specific switching direction. The arbitrator will make judgments according to the above priority order. Once a high-priority condition is met, low-priority conditions will no longer be evaluated, ensuring the determinism and security of the system response.

[0062] If the protective instantaneous closing mode is entered, the protective instantaneous closing curve is executed, driving the physical shading components to rapidly close from the open state within 150-250 milliseconds to provide active physical protection.

[0063] If the adaptive gradient mode is entered, the adaptive gradient curve is executed, driving the physical shading component to open or close at a non-uniform speed. The speed change curve of the non-uniform movement is designed based on the natural opening and closing motion of the human eyelid and the pupil light reflection dynamics model, so as to match the rate of change of light flux with the visual physiological adaptation process.

[0064] The key technology of this embodiment lies in a set of dedicated biomimetic motion curves, which drive the biomimetic eyelid (physical light-blocking component) to perform two core biological behaviors:

[0065] Protective instantaneous closure curve: This simulates the rapid blinking reflex of humans when encountering strong light or foreign objects. This curve drives the "bionic eyelid" to close rapidly by more than 90% within 100-200 milliseconds to achieve instantaneous light blocking and cope with sudden strong light or emergency safety needs.

[0066] Adaptive gradual change curve: simulates the slow closing of the eyes when a human moves from light to darkness or prepares to rest, and the slow opening of the eyes when moving from darkness to light.

[0067] The protective instantaneous closing mode simulates the unconditioned reflex blinking of humans when exposed to strong light. Its core objective is to achieve light blocking as quickly as possible while avoiding mechanical impact. In this embodiment, time-optimized Bang-Bang control combined with end-of-line buffering is employed. The total execution time T of the protective instantaneous closing curve is configured to allow the physical light-blocking component to travel from the initial opening S_start to the final opening S_end through the first acceleration phase, the second constant-speed phase, and the third buffer phase, with a time limit of 150 milliseconds ≤ T ≤ 250 milliseconds.

[0068] In this embodiment, the total execution time of the protective instantaneous closing mode from the initial opening S_start (100% opening when fully open) to S_end (0% opening when fully closed) is designed to be 150-250 milliseconds, which is faster than human spontaneous blinking and close to or slightly slower than reflexive blinking. Its purpose is to provide external physical light-blocking protection in advance before the user's own physiological reflex is completed, forming an active safety barrier, so as to balance feasibility and protection.

[0069] In the first acceleration phase, the physical shading component continuously accelerates to the maximum design speed V_max at the system's maximum acceleration, accelerating the physical shading component from fully open to the maximum design speed V_max. The duration of the first acceleration phase is t1.

[0070] v(t) = A_max * t;

[0071] D(t) = 0.5 * A_max * t² / ;

[0072] Where: D(t) is the displacement of the physical shading component at time t; v(t) is the velocity of the physical shading component at time t; A_max is the maximum acceleration of the physical shading component; t is time. .

[0073] During the second uniform speed segment, the physical light-shielding component reaches its maximum design speed V_max and maintains uniform motion. The duration of the second uniform speed segment is t2. During this segment, the control unit maintains the drive output, causing the physical light-shielding component to perform a closed motion at this constant speed until it enters the preset buffer deceleration zone.

[0074]

[0075] D(t) = D(t1) +V_max * (t - t1);

[0076] Where V_max is the maximum design speed of the physical shading component, and t is time.

[0077] This phase operates at the highest speed allowed by the hardware to ensure a rapid response; the duration depends on the stroke that needs to be closed.

[0078] The third buffer section adopts an S-shaped velocity curve model, which allows the physical shading component to smoothly decelerate from its maximum design speed V_max to zero and stop precisely at the end opening S_end. The duration of the third buffer section is t3.

[0079] In another embodiment, the total execution time of the protective instantaneous closing mode is designed to be no more than 200 ms, aiming to exceed the speed of spontaneous blinking and provide active protection. The duration t1 of the first acceleration phase is within 60-100 milliseconds, and the duration t2 of the second constant speed phase is determined by the total closing stroke of the physical light-blocking component, the motion parameters of the first acceleration phase, and the motion parameters of the third buffer phase. The third buffer phase is activated when the physical light-blocking component has moved to 5-15% of its total closing stroke remaining, and the duration t3 of the third buffer phase is 40-80 milliseconds. In this embodiment, the goal is to accelerate the eyelid from fully open to the maximum designed speed V_max within 60-100 milliseconds, and activate it just before the fully closed position (such as the last 5-15% of the stroke) to allow the movement to stop smoothly, avoiding uncomfortable "impact" and mechanical noise.

[0080] Another embodiment details the method for determining the duration t2 of the second uniform velocity segment in the protective instantaneous closing mode, as well as the design of the initiation conditions and parameters of the third buffer segment, in order to achieve adaptive, smooth and rapid closing motion.

[0081] System preset parameters and real-time status: Preset system parameters: maximum acceleration A_max; design duration of the first acceleration phase. (Recommended duration: 60-100 milliseconds); Duration of the third buffer segment design. (Fixed to a value within 40-80 milliseconds, such as 60 milliseconds), the third buffer segment start threshold ratio η (range 5%-15%, such as 10%).

[0082] The real-time acquired status is the initial opening S_start, and the motion trajectory parameters are calculated in real time according to the following steps when the protective instantaneous closing mode is triggered:

[0083] First acceleration phase displacement ;

[0084] Total closing displacement D_total = (S_start-S_end)*D_total, where D_total is the total displacement of the physical light-blocking component from fully open to fully closed. From the initial opening to the closing, S_end=0;

[0085] The displacement of the third uniform speed segment, D_buffer = η * (S_start - S_end) * D_total, means that the buffer is started when there is η of the total closed stroke remaining.

[0086] The displacement required for the second uniform velocity segment is the total displacement minus the displacements of the first acceleration segment and the third buffer segment: D_const = D_total - D(t1) - D_dec; therefore, the duration of the uniform velocity segment is:

[0087] To improve response speed and avoid latency in online computation, another embodiment employs a pre-computed lookup table method:

[0088] Offline, pre-calculate the corresponding values ​​for all possible S_start values ​​(e.g., at 5% intervals). And η. When the control unit is running, the parameters can be obtained immediately by looking up the table according to the real-time S_start, which greatly shortens the response time.

[0089] In another embodiment, the maximum operating speed V_max of the first acceleration phase is set within the range of 1000 degrees / second to 2500 degrees / second. The lower limit of this range ensures the speed of the action, while the upper limit is determined based on the reliability and safety boundaries of conventional micro-drive components. When the physical light-blocking component moves to a preset buffer start opening S_buffer_start from the fully closed position, where S_buffer_start is 5-15% of the total stroke, it enters the third buffer phase. To achieve smooth filtering in the third buffer phase, this embodiment uses an S-shaped velocity curve model to smoothly decelerate the physical light-blocking component from its maximum design speed to zero and precisely stop at the ending opening S_end. Based on the instantaneous closing mechanism of the S-shaped curve, the movement process of the eyelid stopping smoothly and without impact during the buffer deceleration phase is accurately described.

[0090] In this embodiment, the S-shaped velocity curve of the third buffer section is based on trajectory planning using a normalized Logistic function, which directly describes the opening result of the physical shading component. This is easy to understand and can broadly cover the smooth stopping effect achieved by various control methods.

[0091] Formula prototype (normalized S-curve):

[0092] S(t') = S_end+( S_buffer_start-S_end) / [1 + exp( g * (t' - t_mid))]

[0093] Where t' is the internal time of the third buffer stage, 0 < t' ≤ t3; S(t') is the opening degree of the physical shading component at time t'; S_buffer_start is the opening degree at the beginning of the third buffer stage, and the recommended value of S_buffer_start is 5-15% of S_start, that is, the buffering starts from a position close to the closure; S_end is the opening degree at the end of the third buffer stage, and S_end = 0 when fully closed; t_mid is the midpoint time of the curve, usually set to t3 / 2; g is the steepness factor of the curve, which controls the smoothness of deceleration, and g is negatively correlated with the duration of the third buffer stage; the total time of the third buffer stage is t3, and the recommended value is 50-100 milliseconds.

[0094] The trajectory planning must meet the following boundary conditions: at the initial moment (t' = 0), its velocity must be continuously connected to the end velocity of the second uniform velocity segment, i.e., the maximum safe operating speed V_max, and the initial acceleration must be zero; at the end moment (t' = t3), its S_end must be zero (completely closed), and both velocity and acceleration must be zero. This ensures that the entire process from high-speed motion to complete stop is smooth and shock-free.

[0095] Therefore, in order for the S-shaped velocity curve model to smoothly transition from V_max to zero velocity within a given time, the coefficient g needs to be matched with t3 and the initial velocity V_max. Simultaneously, by appropriately selecting the parameter g, the function value at the starting point can be made infinitely close to the second uniform velocity segment S(t1+t2), and the starting velocity can be close to V_max, thus meeting the engineering requirement of a smooth transition with the second uniform velocity segment. The approximate relationship between the parameter g and the motion parameters is as follows:

[0096] g ≈ 4 * V_max / (S_start * t3)

[0097] To ensure effectiveness, the curve steepness coefficient g is set between 40 and 80. This range ensures that the velocity curve is smooth and the acceleration is continuous under the given duration of the third buffer segment and the starting position of the buffer.

[0098] Through the seamless connection and coordinated control of the above three-stage motion, the protective instantaneous closing mode can be completed within a total time of 200 milliseconds, simultaneously meeting the requirements of rapid emergency protection and smoothness for human comfort. By limiting the maximum speed V_max within the above range and using a specific S-shaped speed curve model, this embodiment achieves a creative balance between meeting the rapid requirements of emergency protection (simulating the speed of a reflexive blink) and the engineering realities of controlling motor cost, power consumption, and noise, thus achieving a smooth stop acceptable to the human body.

[0099] In another embodiment, the third buffer segment employs a high-order S-shaped velocity curve model, using a fifth-order polynomial trajectory planning algorithm to smoothly decelerate the physical shading component from its maximum design speed to zero, precisely stopping at the ending opening S_end. By employing fifth-order polynomial trajectory planning, continuity of position, velocity, and acceleration is ensured; the corresponding opening function is:

[0100] Where t' is the internal time of the third buffer stage, 0 < t' ≤ t3, and the coefficients a0 to a5 are uniquely determined by the following boundary conditions:

[0101] When t' = 0, S(0) = S_start, V(0) = V_max, A(0) = 0;

[0102] When t' =t3, S(t3) = 0, V(t3) = 0, A(t3) = 0.

[0103] Through this design, the bionic eyelid can smoothly reach a fully closed state in a shock-free and low-noise manner during the total execution time of the protective instantaneous closing mode, simulating and enhancing the natural buffering at the end of the human blink reflex.

[0104] Another mode is the adaptive gradual change mode, which simulates the conscious and gradual opening and closing of the eyes in a waking state through an adaptive gradual change curve. The core of this mode is to manage the rate of change of light flux and match the pupil's adaptation speed.

[0105] In this embodiment, the adaptive gradient curve includes an involute curve and an involute curve. The involute curve is used to switch from the virtual environment to the real environment, and the involute curve is used to switch from the real environment to the virtual ring.

[0106] The corresponding control flow in this embodiment is as follows: Figure 2 As shown:

[0107] If the adaptive gradual change mode is entered, the direction of the environment switch is determined, and the involute curve or the closing curve is selected to be executed based on the direction of the environment switch.

[0108] The environment switching direction includes switching from a virtual environment to a real environment and switching from a real environment to a virtual environment;

[0109] When the environment switching direction is from a virtual environment to a real environment, an involute curve is executed;

[0110] When the environment switching direction is from the real environment to the virtual environment, the asymptotic curve is executed.

[0111] This embodiment matches the corresponding control curve according to the direction of environmental switching, realizes the rate of change of light flux under different switching environments, matches the pupil adaptation speed, and improves comfort.

[0112] In this embodiment, the involute curve adopts a hybrid model of rapid positioning and exponential approach to drive the opening degree of the physical shading component to switch from the initial opening degree S_start to the final opening degree S_end, and S_start < S_end. The opening degree function of the physical shading component is configured to include a rapid positioning stage and an exponential approach stage executed sequentially, from fully closed to fully open, taking into account both quickly providing a sense of security and smoothly completing physiological adaptation.

[0113] Rapid positioning phase: Within the first time interval [0, T_fast), the physical shading component is driven to open from the initial opening degree S_start to the first target opening degree S_fast. This embodiment uses a high-order S-curve (such as a 5th-degree polynomial) to smoothly open the eyelid from the closed state (S_start=0) to S_fast=70-80 within T_fast of 300-400ms.

[0114] Exponential approach phase: During the second time interval [T_fast, ∞), the physical shading component is driven to approach the final opening S_end exponentially from the first target opening S_fast, and then approaches full opening at the end, at which point S_end approaches 100.

[0115] The opening function during the exponential approach phase is:

[0116] S(t) = S_fast + (S_end-S_fast) * [1- exp(-(t-T_fast) / τ)]

[0117] Where: S(t) is the opening degree of the physical light-blocking component at time t, S_end is the closing opening degree of the physical light-blocking component (in this embodiment, S_end≈100), and τ is the time constant. The larger the value of τ, the slower and gentler the subsequent adaptation. In this embodiment, τ is taken as 250-350ms, and this parameter is directly derived from the neuromuscular dynamics constant of human pupil constriction. The curve design synchronizes the rate of change of light flux input with the physiological rate of change of pupil, thereby avoiding the visual cortex receiving conflict signals and reducing dizziness at its root.

[0118] To achieve a smooth transition, based on the previous embodiment, this embodiment uses a high-order smooth function for the rapid positioning stage. This function is second-differentiable and has continuous acceleration, so as to achieve a smooth motion start without abrupt changes.

[0119] In this embodiment, the closing curve control model is a globally gradual S-shaped velocity curve model (Sigmod function). Specifically, the closing curve adopts a globally gradual transition, switching from the initial opening degree S_start to the final opening degree S_end, where S_start > S_end. In this embodiment, the transition from fully open (100%) to fully closed (0%) is determined by the opening function of the physical shading component:

[0120] S(t) = (S_start-S_end) / [1 + exp(h * (t - T_mid))]

[0121] Where h is the shape factor, and T_mid is the time point when the opening of the physical shading component reaches (S_start + S_end) / 2, approximately at 40% of the total time. The velocity curve generated by this function is symmetrical and bell-shaped, with a slow start and end, and a slightly faster middle, perfectly simulating the natural process of slowly closing one's eyes.

[0122] In another implementation, the shape factor is associated with a normalized average velocity;

[0123] h = 4 * V_norm;

[0124] Where h is the shape factor, V_norm is the normalized average velocity, and the normalized average velocity is configured such that the total duration of the physical shading component from fully open to fully closed is not less than 1.5-2 seconds.

[0125] Adaptive clogging perfectly mimics the natural process of "slowly closing the eyes": 1. Pupil dark adaptation: The pupil dilates slowly, and complete adaptation may take several seconds or even minutes (involving rod cells). 2. Closing speed: Conscious, slow eye closing, typically lasting 1-2 seconds or longer, with a gentle speed curve. Given that dark adaptation is a slower physiological process, the total duration of the clogging curve in this embodiment (1.5-2.5 seconds) is significantly longer than the opening curve to match this physiological characteristic and guide the visual system to a smooth transition to an immersive state.

[0126] The adaptive gradual change mode needs to determine whether it is switching from a virtual environment to a real environment or vice versa. The determination of the environment switching direction is based on one or more of the following information: user commands, system status signals, and environmental perception data.

[0127] Based on explicit user commands, users can issue directional commands directly through voice (such as "return to reality" / "enter virtual"), controller buttons, specific gestures, or preset eye movements, such as "blink twice quickly".

[0128] Based on system status detection, the system continuously monitors the running status of the VR application. When the user is in VR, the system status is "virtual"; when the user exits the application, returns to the system's main interface, or triggers the "see-through" function, it indicates that they are about to "switch to reality".

[0129] Based on environmental perception data, the ambient light sensor obtains the brightness of the external environment in real time. At the same time, it obtains the average brightness of the current virtual scene from the VR graphics engine and makes judgments based on the brightness relationship.

[0130] In this embodiment, an ambient light sensor is integrated into the device, and the following steps are added to the control logic:

[0131] Data Acquisition: Real-time acquisition of ambient brightness L_env, and simultaneously acquisition of the average brightness L_vr of the current virtual scene from the VR graphics engine.

[0132] Brightness difference calculation and mapping: Calculate the brightness difference ΔL = L_env - L_vr.

[0133] Based on the magnitude and sign of ΔL, not only can the switching direction be determined, but the curve parameters can also be dynamically adjusted.

[0134] Adaptive judgment:

[0135] Direction determination: When a switching command is received, if ΔL > + threshold, it strongly indicates that the virtual environment is being switched to the real environment (obvious adaptation).

[0136] If ΔL <- threshold, it strongly suggests a switch from the real environment to a virtual environment (dark adaptation).

[0137] If ΔL is within the threshold range, the judgment mainly depends on user commands or system status.

[0138] To further achieve optimal comfort across environments, this embodiment dynamically adjusts the key parameters of the gradient curve based on |ΔL|. The mapping relationship is achieved through a preset lookup table or a linear function. In this embodiment, a linear function is used.

[0139] For an involute curve: the modulation target is the time constant τ of the exponentially approaching phase, and the modulation rule is:

[0140] τ = τ_base + α * |ΔL|;

[0141] Where τ_base is the base value (e.g., 300ms) and α is the gain coefficient (e.g., 0.2 ms / lux). When switching from a dark virtual scene to a bright reality (|ΔL| is large), the value of τ increases, which makes the subsequent light turn on more slowly, giving the pupil more time to contract and adapt, and completely avoiding glare.

[0142] For a closing curve: the modulation object is the total duration T_close or shape factor h of the S-shaped velocity curve model, and the modulation rule is:

[0143] T_close = T_base + β * |ΔL|;

[0144] Where T_base is the base value (e.g., 1.6 seconds) and β is the gain coefficient (e.g., 0.01 s / lux). When switching from bright reality to dark virtual reality (|ΔL| is large), the eye-closing process is further lengthened, the light dims more slowly, and the pupils are guided to begin dark adaptation more gently.

[0145] On the other hand, this embodiment provides a visual comfort transition control device for VR / AR devices, including:

[0146] Physical light-blocking components are positioned in the optical path between the user's eyes and the display unit. These components (such as flexible flaps or linked blade assemblies) are kinematically designed to simulate the arc-shaped movement trajectory of the eyelids. In this embodiment, two sets of ultra-thin flexible flaps are used, corresponding to the left and right eyes respectively, and are mounted inside the lens barrel via a pivot, closely attached to the front of the display unit (screen or lens). The curved contour design of these flaps simulates the curve of the human eyelid, and the material is an opaque, lightweight polymer.

[0147] The drive unit, connected to the physical light-shielding components, is used to drive them to perform opening and closing movements. In this embodiment, each set of flaps is directly driven by a miniature high-torque stepper motor through a precision worm gear reducer. This drive assembly provides sufficient torque to quickly open and close the flaps, while also possessing self-locking capability to maintain positional stability.

[0148] The control unit communicates with the drive unit. The device's main processor (such as an ARM Cortex-M series MCU) has embedded dedicated control firmware, serving as the core of the bionic control system. This unit connects and coordinates all sensors and drive units.

[0149] The control unit is configured to perform the following operations:

[0150] Receive input commands;

[0151] Based on the type of input command, the system arbitrates and selects to enter either the protective instantaneous closing mode or the adaptive gradual closing mode. If the protective instantaneous closing mode is entered, the protective instantaneous closing curve is executed, and the control drive unit drives the physical shading component to rapidly close from the open state within 150 milliseconds to 250 milliseconds.

[0152] If the adaptive gradient mode is entered, the adaptive gradient curve is executed, and the control drive unit drives the physical light-blocking component to open or close at a non-uniform speed. The speed change curve of the non-uniform motion is designed based on the natural opening and closing motion law of human eyelids and the pupil light reflection dynamics model.

[0153] It is also designed to include a microphone (for voice commands), physical buttons on the device, and a data interface for communicating with the VR host system (such as a PC or all-in-one motherboard) for the input and output of relevant information.

[0154] In another embodiment, the physical light-blocking component is a flexible light-blocking curtain (bionic actuator) installed inside the main shell of the VR headset, located between the user's face and the internal display module. Its spatial position is symmetrically distributed along the horizontal axis of the user's eyes, and the rotation axis of the module corresponds to the approximate projection position of the line connecting the corners of the user's eyes on the horizontal plane.

[0155] The flexible light-blocking curtain uses a curved, matte black flexible film (such as silicone or matte-treated polymer) that conforms to the contour of the eye socket, mimicking the soft tissue of the human eyelid to achieve soft, noiseless light blocking and ensure comfortable contact with the facial skin. Its upper edge is fixed to the drive unit.

[0156] The drive unit consists of a drive linkage and a crank-slider mechanism. The drive linkage is a rigid, slender rod arranged horizontally, which converts rotational motion into translational or arcuate motion of the blackout curtain. Both ends of the drive linkage are connected to the main housing via bearings and can rotate around its own axis. The middle part is fixedly connected to the upper edge of the flexible blackout curtain, and its end near the end is hinged to one end of the driven arm.

[0157] It also includes a crank-slider mechanism (the core of motion conversion), which converts the rotational motion of the motor into an arc motion that conforms to the biological motion trajectory.

[0158] A micro motor is fixed inside the main housing on the temporal side (corresponding to the temple). An eccentric wheel is mounted on its output shaft, and a slider is fitted onto the eccentric wheel, which can slide along a guide groove fixed to the main housing to provide a precise linear motion trajectory for the slider. One end of the driven arm is hinged to the slider, and the other end is hinged to the drive linkage, thereby driving the movement of the flexible blackout curtain.

[0159] This embodiment replaces the complex electronic and optical systems described above with sophisticated biomimetic mechanical motion and intelligent control algorithms. The core hardware consists of common physical light-shielding components, micro motors, and general-purpose control chips. Compared to precision optoelectronic display systems, it features a simpler structure, higher environmental tolerance, and a longer lifespan, significantly reducing the failure rate and improving the overall reliability of the product.

[0160] The above descriptions are merely preferred examples of the invention and are not intended to limit the invention. Although the invention has been described in detail with reference to the foregoing examples, those skilled in the art can still modify the technical solutions described in the foregoing examples or make equivalent substitutions for some of the technical features. All modifications and equivalent substitutions made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. A method for comfortable visual transition in VR devices based on eyelid bionics, comprising: The control unit is a physical light-blocking component positioned between the user's eyes and the display unit, which simulates the opening and closing movements of human eyelids to manage the light entering the eyes; The control steps specifically include: Receive input commands; Based on the type of input command, arbitrate and select to enter either the protective instantaneous closing mode or the adaptive gradual change mode; If the protective instantaneous closing mode is entered, the protective instantaneous closing curve is executed, driving the physical light-shielding component to rapidly close from the open state within 150 milliseconds to 250 milliseconds to provide active physical protection. If the adaptive gradient mode is entered, the adaptive gradient curve is executed, driving the physical light-blocking component to open or close at a non-uniform speed. The speed change curve of the non-uniform movement is designed based on the natural opening and closing motion of human eyelids and the pupil light reflection dynamics model, so as to match the rate of change of light flux with the visual physiological adaptation process.

2. The method for comfortable visual transition in VR devices based on eyelid bionics according to claim 1, characterized in that, The total execution time T of the protective instantaneous closing curve is configured such that the physical shading component completes its movement from the initial opening S_start to the final opening S_end after passing through the first acceleration phase, the second constant speed phase, and the third buffer phase, with 150 milliseconds ≤ T ≤ 250 milliseconds; During the first acceleration phase, the physical shading component continuously accelerates to the maximum design speed V_max at the system's maximum acceleration, and the duration of the first acceleration phase is t1. During the second uniform speed segment, the physical shading component maintains a uniform speed at its maximum design speed V_max, and the duration of the second uniform speed segment is t2. The third buffer section adopts an S-shaped velocity curve model, which allows the physical shading component to smoothly decelerate from the maximum design speed V_max to zero and stop precisely at the end opening S_end. The duration of the third buffer section is t3.

3. The visual comfort transition method for VR devices based on eyelid bionics according to claim 2, characterized in that, The total execution time of the protective instantaneous closing mode does not exceed 200ms. The duration t1 of the first acceleration phase is within 60-100 milliseconds. The duration t2 of the second uniform speed phase is determined by the total closing stroke of the physical light-shielding component, the motion parameters of the first acceleration phase, and the motion parameters of the third buffer phase. The third buffer phase is activated when the physical light-shielding component moves to 5-15% of the remaining total closing stroke. The duration t3 of the third buffer phase is 40-80 milliseconds.

4. The visual comfort transition method for VR devices based on eyelid bionics according to claim 1, characterized in that, The adaptive gradient curve includes an opening curve and a closing curve. The opening curve is used to switch from a virtual environment to a real environment, and the closing curve is used to switch from a real environment to a virtual environment. If the adaptive gradual change mode is entered, the direction of the environment switching is determined, and an involute curve or an involute curve is selected to be executed based on the direction of the environment switching. The environment switching directions include switching from a virtual environment to a real environment and switching from a real environment to a virtual environment; When the environment switching direction is from a virtual environment to a real environment, an involute curve is executed; When the environment switching direction is from the real environment to the virtual environment, the asymptotic curve is executed.

5. The method for comfortable visual transition in VR devices based on eyelid bionics according to claim 4, characterized in that, The involute curve adopts a fast positioning + exponential approach hybrid model to drive the opening degree of the physical shading component to switch from the initial opening degree S_start to the final opening degree S_end, and S_start < S_end. The opening degree function of the physical shading component is configured to include a fast positioning stage and an exponential approach stage executed sequentially. The rapid positioning phase: within the first time interval [0, T_fast), the physical shading component is driven to open from the initial opening degree S_start to the first target opening degree S_fast; The exponential approach phase: within the second time interval [T_fast, ∞), the physical shading component is driven to approach the final opening S_end exponentially from the first target opening S_fast; The opening function during the exponential approach phase is: S(t) = S_fast + (S_end-S_fast) * [1- exp(-(t-T_fast) / τ)] Where: S(t) is the opening degree of the physical shading component at time t, and τ is the time constant.

6. The method for comfortable visual transition in VR devices based on eyelid bionics according to claim 5, characterized in that, The duration T_fast of the rapid positioning phase is 300-400 milliseconds, the first target opening S_fast is 70-80% of the total opening stroke of the physical shading component, and the value of the time constant τ is 250-350 milliseconds.

7. A method for comfortable visual transition in VR devices based on eyelid bionics according to claim 4, characterized in that, The closing curve adopts an overall gradual S-shaped velocity curve model, driving the opening degree of the physical shading component to switch from the initial opening degree S_start to the final opening degree S_end, where S_start > S_end. The opening degree function of the physical shading component is: S(t) = (S_start-S_end) / [1 + exp(h * (t - T_mid))] Where h is the shape factor, and T_mid is the time point when the opening of the physical shading component reaches (S_start + S_end) / 2.

8. The method for comfortable visual transition in VR devices based on eyelid bionics according to claim 7, characterized in that, The shape factor is associated with a normalized average velocity; h = 4 * V_norm; Where h is the shape factor, V_norm is the normalized average velocity, and the normalized average velocity is configured such that the total duration of the physical shading component from fully open to fully closed is not less than 1.5-2 seconds.

9. A method for comfortable visual transition in VR devices based on eyelid bionics according to claim 4, characterized in that, The determination of the environment switching direction is based on one or more of the following information: user commands, system status signals, and environmental perception data.

10. A visual comfort transition control device for VR / AR devices, used to implement the method of any one of claims 1-9, characterized in that, include: Physical light-shielding components are positioned in the light path between the user's eyes and the display unit; A drive unit, connected to the physical light-shielding component, is used to drive it to perform opening and closing movements; The control unit, which is communicatively connected to the drive unit, is configured to perform the following operations: Receive input commands; Based on the type of input command, arbitrate and select to enter either the protective instantaneous closing mode or the adaptive gradual closing mode; if the protective instantaneous closing mode is entered, the protective instantaneous closing curve is executed, and the drive unit is controlled to drive the physical shading component to rapidly close from the open state within 150 milliseconds to 250 milliseconds. If the adaptive gradient mode is entered, the adaptive gradient curve is executed, and the driving unit is controlled to drive the physical light-blocking component to open or close at a non-uniform speed; wherein, the speed change curve of the non-uniform speed movement is designed based on the natural opening and closing movement law of human eyelids and the pupil light reflection dynamics model.

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