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对目标在双目水平平面上深度非对称的注视点转移任务,提出了一种基于注视点水平方向转移幅度的分段式头眼协调控制策略,并建立了注视转移运动控制模型。水平方向注视转移幅度小于头部运动阈值,眼球做扫视-异向运动;水平方向注视转移幅度大于头部运动阈值且小于眼球转动的饱和阈值时头眼协调运动;当水平方向注视转移幅度大于眼球转动饱和阈值时,头部先运动使目标处于眼球运动可达范围,再进行头眼协调运动完成注视转移。仿真实验证实了方案可行性和有效性,适用于仿生眼双目水平平面上视线切换。
Aiming at the task of gaze point shifting with asymmetric depth on the horizontal plane of binocular, a coordinated head-eye coordination control strategy based on horizontal shift of gaze point is proposed and a motion control model of gaze is established. Horizontal shift of gaze is less than the threshold of head movement, and the eyeball does glaucoma-antegrade movement; when horizontal shift of gaze is greater than the threshold of head movement and less than the saturated threshold of eyeball rotation, eye-eye coordination moves more than the eyeball When the saturation threshold is turned, the head first moves the target in the reachable range of the eyeball, and then the eye coordination movement completes the gaze transfer. The simulation experiment proves the feasibility and effectiveness of the scheme. It is suitable for line-of-sight switching on the horizontal plane of bionic eyes.