CN102499626A - Stereoscopic vision flickering perception test device - Google Patents

Stereoscopic vision flickering perception test device Download PDF

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CN102499626A
CN102499626A CN2011104261632A CN201110426163A CN102499626A CN 102499626 A CN102499626 A CN 102499626A CN 2011104261632 A CN2011104261632 A CN 2011104261632A CN 201110426163 A CN201110426163 A CN 201110426163A CN 102499626 A CN102499626 A CN 102499626A
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CN102499626B (en
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陈磊
李晓华
夏振平
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Southeast University
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Abstract

本发明的立体视觉闪烁感知测试装置,在人机交互界面接口输入参数,经微处理器计算,驱动两路步进电机,调整活动反光镜的角度和位置,使左右眼图像正确呈现,经测试者的视觉融合,形成立体图像,并在光源照明下,进行闪烁感知测试。本发明箱体的内壁为不反光的材料,箱体内由全彩发光二极管提供照明,可实现单一光源和双眼不同光源照明下的闪烁感知测试。本发明可根据需要调节光源的闪烁频率、相差、亮度、色彩、明暗调制深度等,克服了现有频闪仪无法测试立体显示设备中产生的闪烁感觉,无法测试两眼对于不同闪烁光的融合情况,无法测试单眼调节位置与两眼会聚点不一致时的闪烁感知情况,可以更全面科学地进行人眼闪烁感知测试和研究。

The stereoscopic vision flicker perception test device of the present invention inputs parameters at the man-machine interface interface, calculates through the microprocessor, drives two-way stepping motors, adjusts the angle and position of the movable reflector, and makes the images of the left and right eyes appear correctly. After testing The visual fusion of the tester forms a three-dimensional image, and under the illumination of the light source, the flicker perception test is carried out. The inner wall of the cabinet of the present invention is made of non-reflective material, and the cabinet is illuminated by full-color light-emitting diodes, which can realize the flicker perception test under the illumination of a single light source and different light sources for both eyes. The present invention can adjust the flickering frequency, phase difference, brightness, color, light-dark modulation depth, etc. of the light source as required, and overcomes the inability of the existing stroboscope to test the flickering sensation generated in the stereoscopic display device, and the inability to test the fusion of two eyes for different flickering lights However, it is impossible to test the flicker perception when the adjustment position of one eye is inconsistent with the convergence point of the two eyes, and it is possible to conduct more comprehensive and scientific testing and research on flicker perception of the human eye.

Description

一种立体视觉闪烁感知测试装置A stereo vision flicker perception testing device

技术领域 technical field

本发明属于电子技术应用领域,具体涉及的是一种立体视觉闪烁感知测试仪器。 The invention belongs to the application field of electronic technology, and in particular relates to a stereoscopic vision flicker perception testing instrument.

背景技术 Background technique

目前进行人眼闪烁感知测试一般采用频闪仪作为测量仪器。频闪仪可以控制光源发光,以特定频率快速闪动,从而进行闪烁感的测量。这类仪器结构简单,功能单一,只能测试在两眼观看同一光源时闪烁频率对于人眼闪烁感知能力的影响,而无法测试两眼在不同光源照明下的闪烁感知情况,并且无法调制光源的色彩、调制深度等。只能测量人眼对简单闪烁光源的感知情况。 At present, the human eye flicker perception test generally uses a stroboscope as a measuring instrument. The stroboscope can control the light source to flash quickly at a specific frequency, so as to measure the flickering feeling. This type of instrument has a simple structure and a single function. It can only test the impact of the flicker frequency on the flicker perception ability of the human eye when two eyes look at the same light source, but cannot test the flicker perception of the two eyes under different light sources, and cannot modulate the light source. Color, Modulation Depth, etc. Only the human eye's perception of simple flickering light sources can be measured.

目前3D显示技术发展迅速,各显示设备制造厂商推出了众多型号的立体显示设备,这些3D显示设备的应用前景非常广泛。目前市场已有的3D显示设备的显示原理大都采用时间分离或空间分离的方法,使左右两眼观察到不同的平面图像,再通过视觉融合形成3D立体图像。在这些技术中,由于呈现给左右眼的是两幅图像,其分别闪烁产生的闪烁感知与两眼同时观看同一图像时的得到的闪烁感知的原理不一样,目前已有的频闪仪已无法进行这些情况下的闪烁感知测试研究。 At present, 3D display technology is developing rapidly, and various display device manufacturers have launched many types of stereoscopic display devices. The application prospects of these 3D display devices are very broad. Most of the display principles of the existing 3D display devices in the market adopt the method of time separation or space separation, so that the left and right eyes can observe different plane images, and then form a 3D stereoscopic image through visual fusion. In these technologies, since two images are presented to the left and right eyes, the principle of flicker perception produced by flickering separately is different from the flicker perception obtained when two eyes watch the same image at the same time. A flicker perception test study under these conditions was performed.

此外,目前采用时间分离或空间分离呈现不同图像给左右眼,通过人脑的融合形成立体图像的技术,打破了单眼调节功能和双眼会聚功能的协调机理,在这种情况下,人眼对闪烁的感知情况用现有的频闪仪也无法测试。 In addition, the current technology of presenting different images to the left and right eyes by time separation or space separation, and forming a three-dimensional image through the fusion of the human brain breaks the coordination mechanism of the adjustment function of the single eye and the convergence function of the two eyes. The perception of the situation can not be tested with the existing stroboscope.

综上所述,由于3D显示技术的发展,已有的频闪仪由于无法给双眼呈现不同闪烁频率、亮度、色彩、闪烁调制深度的图像,无法测量在打破正常的单眼调节和双眼会聚这种协调机理的情况下呈现立体图像时的闪烁感知,所以不能进行已有3D显示设备的立体视觉闪烁感知的测试研究。 To sum up, due to the development of 3D display technology, the existing stroboscopes cannot present images with different flicker frequencies, brightness, colors, and flicker modulation depths to both eyes, and cannot measure the effects of breaking the normal monocular adjustment and binocular convergence. Flicker perception when presenting stereoscopic images under the condition of coordination mechanism, so it is impossible to carry out test research on the stereoscopic vision flicker perception of existing 3D display devices.

发明内容 Contents of the invention

       技术问题:本发明提供了一种可以测试两眼在不同光源照明下的闪烁感知情况,还可通过调制光源的色彩、亮度来调制照明深度的立体视觉闪烁感知测试装置。 Technical problem: The present invention provides a stereoscopic vision flicker perception testing device that can test the flicker perception of two eyes under different light sources, and can also modulate the lighting depth by modulating the color and brightness of the light source.

技术方案:本发明的立体视觉闪烁感知测试装置,包括箱体、光源、固定反射镜、活动反光镜机构、控制器和观察窗口,箱体为顶部为活动盖板的立方体,箱体的内表面敷设有不反光材料,箱体的前立面和后立面之间设置的隔光装置将箱体分割为左右对称的两个暗室,隔光装置包括活动隔光板、横向隔光板和纵向隔光板,活动隔光板包括纵向直板和设置于所述纵向直板一端的倒U形板,倒U形板的开口一侧面向横向隔光板并与之连接,纵向直板的另一端与前立面中心设置的固定槽连接;横向隔光板的两端分别与左立面和右立面连接,将左右两个独立暗室均分割为前后两部分,在横向隔光板与倒U形板的开口相对的区域中心设置有一个光源,光源包括全彩发光二极管和恒流驱动器,所述全彩发光二极管的电流输入端与恒流驱动器的电流输出端连接; Technical solution: the stereoscopic vision flicker perception testing device of the present invention comprises a box body, a light source, a fixed reflector, a movable reflector mechanism, a controller and an observation window, the box body is a cube with a movable cover plate at the top, and the inner surface of the box body Non-reflective materials are laid, and the light insulation device installed between the front and rear facades of the cabinet divides the cabinet into two symmetrical darkrooms. The light insulation device includes movable light partitions, horizontal light partitions and longitudinal light partitions The movable light-insulating panel includes a vertical straight plate and an inverted U-shaped plate arranged at one end of the longitudinal straight plate. The opening side of the inverted U-shaped plate faces the horizontal light-insulating plate and is connected to it, and the other end of the vertical straight plate is connected to the center of the front facade. Fixed groove connection; the two ends of the horizontal light partition are respectively connected with the left and right facades, and the left and right independent darkrooms are divided into two parts, the front and the back, and are set in the center of the area where the horizontal light partition is opposite to the opening of the inverted U-shaped plate There is a light source, the light source includes a full-color light-emitting diode and a constant current driver, the current input end of the full-color light-emitting diode is connected to the current output end of the constant-current driver;

在每个所述暗室中,前立面上设有观察图像,横向隔光板上设置有与所述观察图像对应的通光孔,通光孔内侧相邻的横向隔光板上设置有光源,在横向隔光板和后立面之间设置有与观察图像对应的固定反射镜,固定反射镜的外侧固定于横向隔光板上,内侧固定于后立面上,固定反射镜与后立面的夹角β=45°;在固定反射镜内侧相邻的后立面上设置有观察窗口,在暗室的底面上设置有与所述观察窗口对应的活动反光镜机构,在活动反光镜机构上设置有活动反光镜,活动反光镜机构可使活动反光镜水平横向运动,同时还可绕垂直于底面的轴线转动。 In each of the darkrooms, an observation image is provided on the front facade, a light hole corresponding to the observation image is arranged on the transverse light-shielding plate, and a light source is arranged on the transverse light-shielding plate adjacent to the inner side of the light-through hole. A fixed reflector corresponding to the observed image is arranged between the transverse light partition and the rear facade. The outer side of the fixed reflector is fixed on the transverse light partition, and the inner side is fixed on the rear facade. The angle between the fixed reflector and the rear facade β=45°; an observation window is arranged on the rear facade adjacent to the inner side of the fixed reflector, a movable reflector mechanism corresponding to the observation window is arranged on the bottom surface of the darkroom, and a movable reflector mechanism is arranged on the movable reflector mechanism. Reflective mirror, the movable reflective mirror mechanism can make the movable reflective mirror move horizontally and laterally, and can also rotate around the axis perpendicular to the bottom surface at the same time.

本发明中,活动反光镜机构包括水平移动装置和反光镜转动装置,水平移动装置的支座设置在暗室的底面上,支座上设置有两根横向且平行的导轨,导轨上放置有可在导轨上水平滑动的滑动底座,导轨两端均设置有限位开关,在支座上设置有位于导轨一侧的水平移动步进电机和水平电机减速齿轮组,位于导轨另一侧的从动轮,水平移动步进电机与水平电机减速齿轮组连接,水平电机减速齿轮组的输出轮连接有主动轮,从动轮和主动轮上设置有传动皮带,所述滑动底座一侧设置有皮带固定夹,皮带固定夹与传动皮带连接;水平移动步进电机通过信号线连接有步进电机驱动器;  In the present invention, the movable mirror mechanism includes a horizontal moving device and a mirror rotating device. The support of the horizontal moving device is arranged on the bottom surface of the darkroom, and two transverse and parallel guide rails are arranged on the support. A sliding base that slides horizontally on the guide rail, with limit switches at both ends of the guide rail, a horizontal moving stepper motor and a horizontal motor reduction gear set on one side of the guide rail, and a driven wheel on the other side of the guide rail. The mobile stepper motor is connected with the reduction gear set of the horizontal motor, and the output wheel of the reduction gear set of the horizontal motor is connected with a driving wheel, and a transmission belt is arranged on the driven wheel and the driving wheel, and a belt fixing clip is arranged on one side of the sliding base, and the belt is fixed The clip is connected with the transmission belt; the horizontal moving stepper motor is connected with the stepper motor driver through the signal line;

反光镜转动装置包括设置在滑动底座上的角度转动步进电机和角度电机减速齿轮组,角度转动步进电机与角度电机减速齿轮组连接,角度电机减速齿轮组输出轮的上侧连接有反光镜夹具,反光镜夹具上设置有活动反光镜;角度转动步进电机通过信号线连接有角度步进电机驱动器; The reflector rotating device includes an angle rotation stepping motor and an angle motor reduction gear set arranged on the sliding base, the angle rotation stepping motor is connected with the angle motor reduction gear set, and the upper side of the output wheel of the angle motor reduction gear set is connected with a reflector Fixtures, reflector fixtures are provided with movable reflectors; the angular rotation stepping motor is connected to the angular stepping motor driver through the signal line;

控制器包括微处理器、人机交互界面接口、驱动信号输出端,微处理器的信号输入端与人机交互界面接口和限位开关连接,微处理器通过驱动信号输出端分别与恒流驱动器、水平步进电机驱动器和角度步进电机驱动器的信号输入端连接。 The controller includes a microprocessor, a human-computer interaction interface, and a drive signal output terminal. The signal input terminal of the microprocessor is connected to the human-computer interaction interface interface and the limit switch. The microprocessor is respectively connected to the constant current driver through the drive signal output terminal. , the horizontal stepping motor driver and the signal input terminal of the angle stepping motor driver are connected.

本发明的装置使用时,如果需要测试单一光源下的各种闪烁感知情况,可打开测试箱顶部的活动盖板,移去活动隔光板,由横向隔光板中间的光源提供照明;如果需要两眼通道在不同闪烁频率、强度、相差、亮度、色彩、闪烁调制深度等情况下的进行视觉闪烁感知测试,则加上活动隔光板,由左右两个暗室内的光源独立照明。 When the device of the present invention is in use, if it is necessary to test various flicker perception situations under a single light source, the movable cover plate on the top of the test box can be opened, the movable light-insulating plate can be removed, and the light source in the middle of the horizontal light-insulating plate can provide illumination; The visual flicker perception test of the channel under different flicker frequency, intensity, phase difference, brightness, color, flicker modulation depth, etc., is added with a movable light partition, and is independently illuminated by the light sources in the left and right dark rooms.

箱体中的左右眼的观察图像可根据测试需要选择,可以为简单图形,也可以是复杂的图像,其大小、形状都可根据需要改变。选择好观察图像,并向人机交互界面接口输入测试者瞳距、需要的两眼会聚距离和照明光源各项参数后,微处理器可计算出活动反射镜需移动的距离和转动的角度,微处理器控制水平步进电机驱动器和角度步进电机驱动器,驱动水平移动步进电机和角度转动步进电机,使活动反光镜移到相应的位置和角度。观察图像经过固定反射镜和活动反射镜的两次反射后,呈现在观察窗口中,使测试者从左右两个观察窗口中的看到的图像能正确会聚,形成一幅立体图像,同时在人机交互界面接口中显示单眼调节距离和两眼会聚距离、闪烁光源参数。其中,单眼调节距离等于观察图像两次反射后经过的光程长度,两眼会聚距离等于会聚的像点距两眼中点的距离。 The observation images of the left and right eyes in the box can be selected according to the test needs, and can be simple graphics or complex images, and their size and shape can be changed according to needs. After selecting the observation image, and inputting the interpupillary distance of the tester, the required convergence distance of the two eyes and the parameters of the lighting source to the human-computer interface interface, the microprocessor can calculate the moving distance and rotation angle of the movable mirror, The microprocessor controls the horizontal stepping motor driver and the angle stepping motor driver, drives the horizontally moving stepping motor and the angle rotating stepping motor, and moves the movable reflector to a corresponding position and angle. The observation image is presented in the observation window after being reflected twice by the fixed mirror and the movable mirror, so that the images seen by the tester from the left and right observation windows can be correctly converged to form a three-dimensional image. The single-eye adjustment distance, the two-eye convergence distance, and the parameters of the flickering light source are displayed in the computer interaction interface interface. Among them, the single-eye adjustment distance is equal to the length of the optical path after two reflections of the observed image, and the convergence distance of the two eyes is equal to the distance between the converged image point and the midpoint of the two eyes.

测试箱内的光源提供观察图像时的照明。改变光源的参数,即可测试不同闪烁光源照明下,对不同图像的闪烁感知。本发明可以通过人机交互界面接口选择单一光源照明或两眼独立光源照明,可选择改变光源的闪烁频率、亮度、色彩、闪烁调制深度以及左右两路光源的相差等参数,可选择需测试的两眼会聚距离,模拟已有3D显示设备的各种闪烁情况。 A light source inside the test chamber provides illumination for viewing images. By changing the parameters of the light source, you can test the flicker perception of different images under the illumination of different flickering light sources. The present invention can select a single light source for lighting or two independent light sources for lighting through the human-computer interaction interface, and can choose to change the flickering frequency, brightness, color, flickering modulation depth of the light source, and the phase difference between the left and right light sources and other parameters, and can choose the one to be tested. The convergence distance of the two eyes simulates various flickering situations of existing 3D display devices.

有益效果:本发明相对于现有技术,具有以下优点: Beneficial effect: compared with the prior art, the present invention has the following advantages:

本发明装置采用不透光的箱体作为测试环境,观察窗口加以遮光眼罩,箱体内敷设不反光材料,测试者感受到的照明光由测试箱内的全彩高亮发光二极管提供,排除了环境光对测试者的闪烁感知产生的影响,使测试结果更加精确。 The device of the present invention adopts a light-tight box as the test environment, a light-shielding goggle is added to the observation window, and non-reflective materials are laid in the box, and the illuminating light felt by the tester is provided by the full-color bright light-emitting diode in the test box, eliminating the need for environmental protection. The effect of light on the tester's flicker perception makes the test results more accurate.

本发明可模拟更广泛的照明情况来测试人眼的闪烁感知。本测试装置采用微处理器控制三路全彩发光二极管进行照明,可以独立控制各路光源的闪烁频率、色彩。采用中间一路全彩发光二极管进行照明时,可测试在单一光源下的闪烁感知情况;采用左右两路全彩发光二极管进行照明时,可测试两眼在不同光源下的人的闪烁感知情况。人眼观看自然景象时,单眼调节距离和双眼会聚距离是协调一致的。而现有的立体显示设备是在同一显示平面上为左右眼呈现不同视差的图像,打破了人的单眼调节和双眼会聚的协调机制。本测试装置通过微处理器的计算,控制两路步进电机,改变活动反光镜的角度和水平位置,可以调节双眼的会聚距离,因而可以测试打破这种协调机制的情况下人眼的闪烁感知情况。 The invention can simulate a wider range of lighting conditions to test the flicker perception of human eyes. The test device uses a microprocessor to control three full-color light-emitting diodes for lighting, and can independently control the flickering frequency and color of each light source. When the middle full-color LED is used for lighting, the flicker perception under a single light source can be tested; when the left and right full-color LEDs are used for lighting, the flicker perception of people with two eyes under different light sources can be tested. When human eyes watch natural scenes, the adjustment distance of one eye and the convergence distance of both eyes are coordinated. However, the existing stereoscopic display device presents images with different parallax for left and right eyes on the same display plane, which breaks the coordination mechanism of human monocular adjustment and binocular convergence. Through the calculation of the microprocessor, the test device controls the two stepping motors, changes the angle and horizontal position of the movable mirror, and can adjust the convergence distance of the eyes, so it can test the flicker perception of the human eye when this coordination mechanism is broken. Condition.

本发明通过参数设置,可以用PWM调制的方法,对闪烁光的明、暗亮度水平进行调制,使其在不同明暗的亮度水平下闪烁,而不是仅以光源的全亮和全暗两种亮度水平进行闪烁。这可以测试出各种暗背景下不同亮度光源的闪烁感知。即可模拟人眼通过各种有背光照明的显示器(如液晶显示器等)观看立体图像时,显示不同亮度水平图像时的闪烁感知情况。在左右两眼使用独立的全彩发光二极管照明时,不仅可以调整以上参数,还可以调整两路照明的相差,模拟更多3D显示设备中的闪烁情况。 Through parameter setting, the present invention can use PWM modulation method to modulate the bright and dark brightness levels of the flickering light, so that it flickers at different brightness levels, instead of only using the full bright and full dark brightness of the light source Blinks horizontally. This can test the flicker perception of light sources of different brightness in various dark backgrounds. It can simulate the flicker perception of human eyes when viewing stereoscopic images through various displays with backlighting (such as liquid crystal displays, etc.) when displaying images with different brightness levels. When the left and right eyes are illuminated by independent full-color LEDs, not only the above parameters can be adjusted, but also the phase difference between the two illuminations can be adjusted to simulate more flickering conditions in 3D display devices.

附图说明 Description of drawings

图1为本发明测试装置的平面结构图; Fig. 1 is the plane structural diagram of testing device of the present invention;

图2为本发明测试装置的通光孔剖面图;  Fig. 2 is the cross-sectional view of the light hole of the testing device of the present invention;

图3为本发明测试装置的正面视图; Fig. 3 is the front view of testing device of the present invention;

图4为本发明测试装置的电路连接原理图; Fig. 4 is the schematic diagram of the circuit connection of the testing device of the present invention;

图5.1为本发明测试装置的水平移动装置俯视图; Figure 5.1 is a top view of the horizontal moving device of the testing device of the present invention;

图5.2为本发明测试装置的水平移动装置正面视图; Fig. 5.2 is the front view of the horizontal moving device of the testing device of the present invention;

图5.3为本发明测试装置的水平移动装置左侧视图 Figure 5.3 is the left side view of the horizontal moving device of the testing device of the present invention

图6.1为本发明测试装置的反光镜转动装置俯视图; Figure 6.1 is a top view of the mirror rotating device of the test device of the present invention;

图6.2为本发明测试装置的反光镜转动装置正面视图; Figure 6.2 is a front view of the mirror rotating device of the testing device of the present invention;

图7为本发明测试装置的单一光源照明立体视觉闪烁感知测试原理图; 7 is a schematic diagram of a single light source illumination stereoscopic vision flicker perception test of the test device of the present invention;

图8为本发明测试装置的两路独立光源照明立体视觉闪烁感知测试原理图; Fig. 8 is a schematic diagram of the stereoscopic vision flicker perception test of the two-way independent light source illumination of the test device of the present invention;

图9为本发明测试装置的立体视觉闪烁感知测试流程图; Fig. 9 is the flow chart of the stereoscopic vision flicker perception test of the test device of the present invention;

图10为本发明测试装置的活动反光镜水平移动和角度转动几何关系原理图; Fig. 10 is a schematic diagram of the geometric relationship between the horizontal movement and angular rotation of the movable reflector of the testing device of the present invention;

图11为测试者单眼调节距离与两眼会聚距离的关系图; Figure 11 is a graph showing the relationship between the tester's monocular adjustment distance and the convergence distance of the two eyes;

图12为活动反射镜水平移动距离与两眼会聚距离的关系图; Fig. 12 is a relation diagram between the horizontal movement distance of the movable reflector and the convergence distance of the two eyes;

图13为活动反射镜转动角度与两眼会聚距离的关系图。 Fig. 13 is a graph showing the relationship between the rotation angle of the movable mirror and the convergence distance of the two eyes.

图中有:箱体1、光源2、固定反射镜4、水平移动装置5、反光镜转动装置6、控制器7、观察窗口8、前立面11、后立面12、左立面13、右立面14、观察图像15、全彩发光二极管21、恒流驱动器22、固定槽31、左固定档板32、右固定档板33、活动隔光板34、横向隔光板35,纵向隔光板36、通光孔37、皮带固定夹50、支座51、限位开关52、导轨53、滑动底座54、水平移动步进电机55、从动轮56、传动皮带57、主动轮58、水平步进电机驱动器59、角度步进电机驱动器61、角度转动步进电机62、角度电机减速齿轮组63、活动反光镜64、反光镜夹具65、齿轮固定座66、微处理器71、人机交互界面接口72、驱动信号输出端73。 In the figure there are: box body 1, light source 2, fixed reflector 4, horizontal moving device 5, reflector rotating device 6, controller 7, observation window 8, front elevation 11, rear elevation 12, left elevation 13, Right elevation 14, observation image 15, full-color light-emitting diode 21, constant current driver 22, fixed slot 31, left fixed baffle 32, right fixed baffle 33, movable light-insulating plate 34, horizontal light-insulating plate 35, longitudinal light-insulating plate 36 , light hole 37, belt fixing clip 50, support 51, limit switch 52, guide rail 53, sliding base 54, horizontal movement stepping motor 55, driven wheel 56, transmission belt 57, driving wheel 58, horizontal stepping motor Driver 59, angle step motor driver 61, angle rotation step motor 62, angle motor reduction gear set 63, movable reflector 64, reflector fixture 65, gear holder 66, microprocessor 71, man-machine interface interface 72 , the drive signal output terminal 73 .

观察图像到通光孔距离h1、通光孔到观察窗口的垂直距离h2,活动反光镜机构移动算法原理图中光线经过的各主要点有A、F、B、C、D、E、F,算法推导时的辅助点G、O。活动反光镜与观察窗口所在箱体板的夹角α,固定反光镜与观察窗口所在箱体板的夹角β(β≡45°),活动反光镜调整的角度δ(δ=α-β)。 The distance h 1 from the observation image to the light hole, the vertical distance h 2 from the light hole to the observation window, and the main points that the light passes through in the schematic diagram of the moving mirror mechanism movement algorithm are A, F, B, C, D, E, F, auxiliary points G and O for algorithm derivation. The angle α between the movable reflector and the box plate where the observation window is located, the angle β between the fixed reflector and the box plate where the observation window is located (β≡45°), and the angle δ (δ=α-β) adjusted by the movable reflector .

具体实施方式 Detailed ways

下面结合说明书附图,对本发明的技术方案进一步详细说明。 The technical solution of the present invention will be described in further detail below in conjunction with the accompanying drawings.

本发明的立体视觉闪烁感知测试装置,包括箱体1、光源2、固定反射镜4、活动反光镜机构、控制器7和观察窗口8,箱体1为顶部为活动盖板的立方体,箱体1的内表面敷设有不反光材料,箱体1的前立面11和后立面12之间设置的隔光装置将箱体1分割为左右对称的两个暗室,隔光装置包括活动隔光板34、横向隔光板35和纵向隔光板36,活动隔光板34包括纵向直板和设置于所述纵向直板一端的倒U形板,倒U形板的开口一侧面向横向隔光板35并与之连接,纵向直板的另一端与前立面11中心设置的固定槽31连接;横向隔光板35的两端分别与左立面13和右立面14连接,将左右两个独立暗室均分割为前后两部分,在横向隔光板35与倒U形板的开口相对的区域中心设置有一个光源2,光源2包括全彩发光二极管21和恒流驱动器22,所述全彩发光二极管21的电流输入端与恒流驱动器22的电流输出端连接; Stereo vision flicker perception testing device of the present invention comprises casing 1, light source 2, fixed reflector 4, movable reflector mechanism, controller 7 and observation window 8, and casing 1 is the cube that top is movable cover plate, and casing The inner surface of 1 is covered with non-reflective material, and the light insulation device arranged between the front facade 11 and the rear facade 12 of the box body 1 divides the box body 1 into two symmetrical darkrooms. The light insulation device includes a movable light insulation board 34. Transverse light-insulating plate 35 and longitudinal light-insulating plate 36. The movable light-insulating plate 34 includes a vertical straight plate and an inverted U-shaped plate arranged at one end of the longitudinal straight plate. The opening side of the inverted U-shaped plate faces the transverse light-insulating plate 35 and is connected to it , the other end of the vertical straight plate is connected with the fixed groove 31 provided in the center of the front facade 11; the two ends of the transverse light-shielding plate 35 are respectively connected with the left facade 13 and the right facade 14, and the left and right independent darkrooms are divided into front and rear two. Part, a light source 2 is arranged in the center of the area where the transverse light-shielding plate 35 is opposite to the opening of the inverted U-shaped plate. The light source 2 includes a full-color light-emitting diode 21 and a constant current driver 22. The current input terminal of the full-color light-emitting diode 21 is connected to the The current output terminal of the constant current driver 22 is connected;

在每个所述暗室中,前立面11上设有观察图像15,横向隔光板35上设置有与所述观察图像15对应的通光孔37,通光孔37内侧相邻的横向隔光板35上设置有光源2,在横向隔光板35和后立面12之间设置有与观察图像15对应的固定反射镜4,固定反射镜4的外侧固定于横向隔光板35上,内侧固定于后立面12上,固定反射镜4与后立面12的夹角β=45°;在固定反射镜4内侧相邻的后立面12上设置有观察窗口8,在暗室的底面上设置有与所述观察窗口6对应的活动反光镜机构,在活动反光镜机构上设置有活动反光镜64,活动反光镜机构可使活动反光镜64水平横向运动,同时还可绕垂直于底面的轴线转动。 In each of the darkrooms, the front facade 11 is provided with an observation image 15, and the transverse light-shielding plate 35 is provided with a light-through hole 37 corresponding to the observation image 15, and the transverse light-shielding plate adjacent to the inside of the light-through hole 37 35 is provided with a light source 2, and a fixed reflector 4 corresponding to the observation image 15 is arranged between the transverse light-insulating plate 35 and the rear facade 12. The outer side of the fixed reflector 4 is fixed on the transverse light-insulating plate 35, and the inner side is fixed on the rear. On the facade 12, the angle β=45° between the fixed reflector 4 and the rear facade 12; the rear facade 12 adjacent to the fixed reflector 4 inside is provided with an observation window 8, and the bottom surface of the darkroom is provided with a The movable reflector mechanism corresponding to the observation window 6 is provided with a movable reflector 64 on the movable reflector mechanism. The movable reflector mechanism can make the movable reflector 64 move horizontally and laterally, and also rotate around an axis perpendicular to the bottom surface.

本发明中,活动反光镜机构包括水平移动装置5和反光镜转动装置6,水平移动装置5的支座51设置在暗室的底面上,支座51上设置有两根横向且平行的导轨53,导轨53上放置有可在导轨53上水平滑动的滑动底座54,导轨53两端均设置有限位开关52,在支座51上设置有位于导轨53一侧的水平移动步进电机55和水平电机减速齿轮组,位于导轨53另一侧的从动轮56,水平移动步进电机55与水平电机减速齿轮组连接,水平电机减速齿轮组的输出轮连接有主动轮58,从动轮56和主动轮58上设置有传动皮带57,所述滑动底座54一侧设置有皮带固定夹50,皮带固定夹50与传动皮带57连接;水平移动步进电机55通过信号线连接有水平步进电机驱动器59;  In the present invention, the movable reflector mechanism includes a horizontal moving device 5 and a mirror rotating device 6, and the support 51 of the horizontal moving device 5 is arranged on the bottom surface of the darkroom, and the support 51 is provided with two transverse and parallel guide rails 53, A sliding base 54 that can slide horizontally on the guide rail 53 is placed on the guide rail 53, limit switches 52 are arranged at both ends of the guide rail 53, and a horizontally moving stepping motor 55 and a horizontal motor on one side of the guide rail 53 are provided on the support 51. The reduction gear set is located at the driven wheel 56 on the other side of the guide rail 53, and the horizontal movement stepper motor 55 is connected with the horizontal motor reduction gear set. A transmission belt 57 is arranged on the top, and a belt fixing clip 50 is arranged on one side of the sliding base 54, and the belt fixing clip 50 is connected with the transmission belt 57; the horizontal moving stepping motor 55 is connected with a horizontal stepping motor driver 59 through a signal line;

反光镜转动装置6包括设置在滑动底座54上的角度转动步进电机62、和角度电机减速齿轮组63,角度转动步进电机62与角度电机减速齿轮组63连接,角度电机减速齿轮组63输出轮的上侧连接有反光镜夹具65,反光镜夹具65上设置有活动反光镜64;角度转动步进电机62通过信号线连接有角度步进电机驱动器61; Reflective mirror rotating device 6 comprises the angle rotation stepper motor 62 that is arranged on the slide base 54 and the angle motor reduction gear group 63, and the angle rotation stepper motor 62 is connected with the angle motor reduction gear group 63, and the angle motor reduction gear group 63 outputs The upper side of the wheel is connected with a reflector fixture 65, and the reflector fixture 65 is provided with a movable reflector 64; the angle rotation stepper motor 62 is connected with an angle stepper motor driver 61 by a signal line;

控制器7包括微处理器71、人机交互界面接口72、驱动信号输出端73,微处理器71的信号输入端与人机交互界面接口和限位开关52连接,微处理器71通过驱动信号输出端73分别与恒流驱动器22、水平步进电机驱动器59和角度步进电机驱动器61的信号输入端连接。 Controller 7 comprises microprocessor 71, man-machine interface interface 72, drive signal output end 73, and the signal input end of microprocessor 71 is connected with man-machine interface interface and limit switch 52, and microprocessor 71 passes drive signal The output terminal 73 is respectively connected with the signal input terminals of the constant current driver 22 , the horizontal stepping motor driver 59 and the angle stepping motor driver 61 .

本发明装置的箱体由不透光材料构成,内壁表面敷设有不反光材料,保证不受环境光干扰。如图1所示,箱体由横向隔光板分成前半部分和后半部分。前半部分可由活动隔光板分隔为两个暗室,为左右两眼的测试通道,可用左右两路全彩发光二极管分别照明。移去活动隔光板时,用中间一路全彩发光二极管照明。箱体后半部分为反射光路部分,由纵向隔光板分隔成左右两个对称的暗室,与前半部分以通光孔连接,通光孔如图2所示。固定反射镜、活动反光镜平台支架放置其中。固定反射镜呈β=45°固定于横向隔光板和后立面上正对通光孔处。活动反射镜角度初始值α=β=45°,初始位置为距固定反射镜0.5 h2,h2为箱体后半部分长度,见图8。观察窗口为测试人员观察图像的窗口,可水平调节两窗口间距,以适应不同瞳距的测试人员使用。 The box body of the device of the present invention is made of opaque material, and the inner wall surface is covered with non-reflective material to ensure that it will not be disturbed by ambient light. As shown in Figure 1, the cabinet is divided into a front half and a back half by a transverse light partition. The front half can be divided into two darkrooms by a movable light partition, which is the test channel for the left and right eyes, which can be illuminated by two full-color light-emitting diodes on the left and right respectively. When removing the movable light-shielding board, use a full-color light-emitting diode in the middle for lighting. The second half of the cabinet is the part of the reflected light path, which is divided into two symmetrical darkrooms on the left and right by a longitudinal light partition, and connected to the front half with a light hole, as shown in Figure 2. The fixed reflector and the movable reflector platform support are placed therein. The fixed reflector is fixed at β=45° on the transverse light partition and the rear facade facing the light hole. The initial value of the angle of the movable reflector is α=β=45°, the initial position is 0.5 h 2 from the fixed reflector, and h 2 is the length of the second half of the cabinet, see Figure 8. The observation window is the window for the tester to observe the image, and the distance between the two windows can be adjusted horizontally to suit testers with different interpupillary distances.

观察图像可根据测试需要,选择简单图形和复杂图像,观察图像用全彩发光二极管照明,光源的各项参数可通过人机交互界面接口输入。 The observation image can choose simple graphics and complex images according to the test needs, and the observation image is illuminated by full-color light-emitting diodes. The parameters of the light source can be input through the human-computer interface interface.

如图4所示,控制器包括微处理器、人机交互界面接口、驱动信号输出端。所述微处理器分别与人机交互界面接口输入端和输出端连接,与驱动信号输出端连接。 As shown in Fig. 4, the controller includes a microprocessor, a man-machine interface interface, and a drive signal output terminal. The microprocessor is respectively connected with the input end and the output end of the interface of the human-computer interaction interface, and is connected with the output end of the driving signal.

光源的恒流驱动器输入端与驱动信号输出端连接,恒流驱动器的输出端分别与三路全彩发光二极管的输入端连接。全彩发光二极管由红、绿、蓝三色通道组成,可通过控制各通道的驱动信号,改变光源闪烁的频率、强度、颜色、相位等。 The input end of the constant current driver of the light source is connected with the output end of the driving signal, and the output ends of the constant current driver are respectively connected with the input ends of three full-color LEDs. Full-color light-emitting diodes are composed of red, green, and blue channels. By controlling the driving signals of each channel, the frequency, intensity, color, and phase of the light source can be changed.

活动反光镜机构的水平步进电机驱动器59和角度步进电机驱动器61的信号输入端分别与控制器71的驱动信号输出端73连接,水平步进电机驱动器59的输出端与水平移动步进电机55连接,水平移动步进电机55可通过水平电机减速齿轮组58、从动轮56和传动皮带57带动滑动底座54进行水平方向移动。角度步进电机驱动器61的输出端与角度转动步进电机61连接,活动反射镜64固定于角度电机减速齿轮组63的输出轮上,由角度转动步进电机61带动角度电机减速齿轮组62转动,进行角度定位。 The signal input end of the horizontal stepping motor driver 59 and the angle stepping motor driver 61 of the movable mirror mechanism is connected with the driving signal output end 73 of the controller 71 respectively, and the output end of the horizontal stepping motor driver 59 is connected with the horizontal moving stepping motor 55 is connected, and the horizontal movement stepper motor 55 can drive the sliding base 54 to move horizontally through the horizontal motor reduction gear set 58, the driven wheel 56 and the transmission belt 57. The output end of the angle step motor driver 61 is connected with the angle rotation step motor 61, and the movable reflector 64 is fixed on the output wheel of the angle motor reduction gear set 63, and the angle rotation step motor 61 drives the angle motor reduction gear set 62 to rotate , for angular positioning.

本发明中的角度转动步进电机转动角度和水平移动步进电机移动距离的几何关系,保证了两眼观察到的图像能够正确会聚成一幅立体图像。图10为几何关系原理图。结合图10,下面对几何关系的计算进行详细说明。 The geometric relationship between the rotation angle of the angle-rotating stepping motor and the moving distance of the horizontally moving stepping motor in the present invention ensures that the images observed by the two eyes can be correctly converged into a stereoscopic image. Figure 10 is a schematic diagram of the geometric relationship. With reference to FIG. 10 , the calculation of the geometric relationship will be described in detail below.

设箱体宽w,长h。h=h1+h2 , h1为观察图像到通光孔的距离、通光孔到观察窗口的垂直距离h2,                                               

Figure 2011104261632100002DEST_PATH_IMAGE001
为被测试者的瞳距。固定反射镜的角度β=45°,并固定于底边上正对通光孔处。活动反射镜角度的初始角度α=β=45°,初始位置为距离固定反射镜0.5 h2,即E点处。作光路辅助线AFB,BEC,CD,AF=h1,FB=BE=h2,G点为图像会聚点,O点为两眼间距的中心点。 Let the box be wide w and long h. h=h1+h2, h1 is the distance from the observed image to the light hole, and the vertical distance h 2 from the light hole to the observation window,
Figure 2011104261632100002DEST_PATH_IMAGE001
is the interpupillary distance of the subjects. The angle of the fixed reflector is β=45°, and it is fixed on the bottom edge facing the light hole. The initial angle of the movable mirror angle is α=β=45°, and the initial position is 0.5 h 2 away from the fixed mirror, that is, point E. As optical path auxiliary lines AFB, BEC, CD, AF=h 1 , FB=BE=h 2 , point G is the image convergence point, and point O is the center point of the distance between the two eyes.

由光反射定律和三角形相似定理,推导过程如下: According to the law of light reflection and the similarity theorem of triangles, the derivation process is as follows:

l        EC为水平移动步进电机需要水平向右移动的距离。 l EC is the distance that the stepper motor needs to move horizontally to the right.

,

l        δ即为活动反射镜在初始角度α= 45°基础上,需要逆时针移动的角度。 l δ is the angle at which the movable mirror needs to move counterclockwise on the basis of the initial angle α = 45°.

Figure 2011104261632100002DEST_PATH_IMAGE005
Figure 2011104261632100002DEST_PATH_IMAGE005

  the

l        单眼调节距离

Figure 2011104261632100002DEST_PATH_IMAGE006
。 l Monocular adjustment distance
Figure 2011104261632100002DEST_PATH_IMAGE006
.

由勾股定理可得:

Figure 2011104261632100002DEST_PATH_IMAGE008
According to the Pythagorean theorem:
Figure 2011104261632100002DEST_PATH_IMAGE008

Figure 2011104261632100002DEST_PATH_IMAGE010
Figure 2011104261632100002DEST_PATH_IMAGE010

Figure 2011104261632100002DEST_PATH_IMAGE012
Figure 2011104261632100002DEST_PATH_IMAGE012

画出测试者单眼调节距离与两眼会聚距离的关系曲线,如图11所示。 Draw the relationship curve between the tester's monocular adjustment distance and the convergence distance of the two eyes, as shown in Figure 11.

画出活动反射镜水平移动距离与两眼会聚距离的关系图,如图12所示。 Draw the relationship diagram between the horizontal movement distance of the movable mirror and the convergence distance of the two eyes, as shown in Figure 12.

画出活动反射镜转动角度与两眼会聚距离的关系图,如图13所示。 Draw the relationship diagram between the rotation angle of the movable mirror and the convergence distance of the two eyes, as shown in Figure 13.

图中:取h1=800mm,h2=200mm,

Figure 2011104261632100002DEST_PATH_IMAGE013
,正常人瞳距设为65mm。因为人眼的明视距离在200-300mm左右,取会聚距离为
Figure 2011104261632100002DEST_PATH_IMAGE014
200mm~5000mm。 In the figure: take h1=800mm, h2=200mm,
Figure 2011104261632100002DEST_PATH_IMAGE013
, normal pupil distance is set to 65mm. Because the clear vision distance of the human eye is about 200-300mm, the convergence distance is taken as
Figure 2011104261632100002DEST_PATH_IMAGE014
200mm~5000mm.

本发明可进行两种类型不同照明光源的闪烁感觉测试: The present invention can carry out the flicker feeling test of two types of different lighting sources:

第一种是独立光源照明的立体视觉闪烁感知测试。这种测试可以研究用单一光源照明时,人眼在不同频率、强度、颜色、明暗调制深度的照明光下的闪烁感知情况,图7所示为用中间一路全彩发光二极管照明时立体视觉闪烁感知测试的箱体原理图;第二种是左右眼不同光源照明时立体视觉闪烁感知测试。这种测试可以研究测试者两眼被呈现不同频率、强度、颜色、相位的照明光时,人眼的立体视觉闪烁感知情况,图8所示为进行两眼独立光源照明立体视觉闪烁感知测试的箱体原理图。 The first is a stereoscopic flicker perception test illuminated by an independent light source. This kind of test can study the flicker perception of the human eye under lighting lights of different frequencies, intensities, colors, and light-dark modulation depths when illuminated by a single light source. Figure 7 shows the stereoscopic flicker when illuminated by a full-color light-emitting diode in the middle The schematic diagram of the box for the perception test; the second is the stereo vision flicker perception test when the left and right eyes are illuminated by different light sources. This test can study the human eye's stereoscopic vision flicker perception when the tester's eyes are presented with different frequencies, intensities, colors, and phases of illumination light. Figure 8 shows the test for the stereoscopic vision flicker perception of two independent light sources. Schematic diagram of the box.

图9为进行测试时的流程图。测试时首选确定是进行单光源照明下的测试,还是左右眼不同光源照明时立体视觉闪烁感知测试。根据需要,决定是否移去活动隔光板。然后选择合适大小、形状的观察图像,固定于箱体前壁正对通光孔处。启动测试装置的电源,系统对各部件进行自检。如果自检时出错,停止测试,等待检修。如果自检正常,则进行系统的初始化过程。这一过程包括显示初始信息,将水平移动步进电机和角度转动步进电机通过归位开关传回的信号进行归位,使活动反光镜水平中心位置位于距固定反光镜0.5

Figure 2011104261632100002DEST_PATH_IMAGE016
处,初始角度为α=β=45°。初始化结束,则等待输入参数。通过人机交互界面选择测试类型,输入光源的各项参数确认后,参数信号经人机交互界面接口输入到微处理器。微处理器处理后,通过驱动信号输出端将控制信号传送给光源的恒流驱动器,控制全彩发光二极管发光。再通过人机交互界面输入测试者瞳距和需要的两眼会聚距离确认后,参数信号经人机交互界面接口输入到微处理器,微处理器计算后,通过驱动信号输出端将控制信号传送给步进电机驱动器,驱动角度转动步进电机和水平移动步进电机,将活动反射镜移动到正确的位置和角度,同时将光源参数、单眼调节距离和双眼会聚距离等计算后的信息通过人机交互界面接口传输给人机交互界面显示。这时可通过观察窗口进行闪烁感知测试。 Fig. 9 is a flow chart when testing. When testing, the first choice is to determine whether to test under single light source lighting, or to test stereoscopic vision flicker perception when the left and right eyes are illuminated by different light sources. Depending on the need, decide whether to remove the movable light barrier. Then select an observation image of appropriate size and shape, and fix it on the front wall of the cabinet facing the light hole. Start the power of the test device, and the system will perform a self-test on each component. If there is an error during the self-test, stop the test and wait for overhaul. If the self-test is normal, proceed to the initialization process of the system. This process includes displaying initial information, homing the horizontal movement stepper motor and angular rotation stepper motor through the signal sent back by the home switch, so that the horizontal center of the movable reflector is located at a distance of 0.5 from the fixed reflector.
Figure 2011104261632100002DEST_PATH_IMAGE016
, the initial angle is α=β=45°. After the initialization is completed, it waits for input parameters. The test type is selected through the human-computer interaction interface, and after each parameter of the input light source is confirmed, the parameter signal is input to the microprocessor through the human-computer interaction interface interface. After processing by the microprocessor, the control signal is sent to the constant current driver of the light source through the drive signal output terminal to control the full-color light-emitting diode to emit light. Then input the interpupillary distance of the tester and the required convergence distance of the two eyes through the human-computer interaction interface to confirm, the parameter signal is input to the microprocessor through the human-computer interaction interface interface, and after calculation by the microprocessor, the control signal is transmitted through the drive signal output terminal Give the stepper motor driver, drive the angular rotation stepper motor and horizontally move the stepper motor, move the movable reflector to the correct position and angle, and at the same time, calculate the information such as light source parameters, monocular adjustment distance and binocular convergence distance through the human body The computer interaction interface interface is transmitted to the computer interaction interface for display. At this time, the flicker perception test can be carried out through the observation window.

Claims (2)

1. stereoscopic vision flicker perception test set; It is characterized in that; This device comprises casing (1), light source (2), stationary mirror (4), movable illuminator mechanism, controller (7) and watch window (8); Described casing (1) is the cube of removable cover for the top; The inner surface of casing (1) is laid with not reflectorized material; Separated the electro-optical device that is provided with between the preceding facade (11) of casing (1) and back facade (12) is divided into symmetrical two darkrooms with casing (1), said at a distance from electro-optical device comprise movable at a distance from tabula rasa (34), laterally at a distance from tabula rasa (35) with vertically at a distance from tabula rasa (36), said activity comprises vertically straight plate and is arranged at said vertical directly inverted U-shaped plate of plate one end at a distance from tabula rasa (34); At a distance from tabula rasa (35) and be attached thereto, the other end of said vertically straight plate is connected with the holddown groove (31) of preceding facade (11) center setting to laterally in opening one side of said inverted U-shaped plate; The two ends of said laterally separated tabula rasa (35) are connected with right facade (14) with left facade (13) respectively; With about two independent darkrooms all be divided into before and after two parts; Laterally be provided with a light source (2) at a distance from the opening region facing center of tabula rasa (35) and inverted U-shaped plate; Said light source (2) comprises full-color light-emitting diode (21) and constant-flow driver (22), and the current input terminal of said full-color light-emitting diode (21) is connected with the current output terminal of constant-flow driver (22);
In each said darkroom; Preceding facade (11) is provided with observes image (15); Laterally be provided with the light hole (37) corresponding with said observation image (15) at a distance from tabula rasa (35); The inboard adjacent laterally separated tabula rasa (35) of said light hole (37) is provided with light source (2), laterally between tabula rasa (35) and back facade (12), is being provided with the stationary mirror (4) corresponding with observing image (15), and the outside of said stationary mirror (4) is fixed on the laterally separated tabula rasa (35); The inboard is fixed on back facade (12), angle β=45 of stationary mirror (4) and back facade (12) °; The inboard adjacent back facade (12) of said stationary mirror (4) is provided with watch window (8); The bottom surface in darkroom is provided with corresponding with said watch window (6) movable illuminator mechanism; Said movable illuminator mechanism is provided with movable illuminator (64); Activity illuminator mechanism can make the motion of said movable illuminator (64) horizontal cross, and the axis that also can wind simultaneously perpendicular to the bottom surface rotates.
2. a kind of stereoscopic vision flicker perception test set according to claim 1; It is characterized in that; Described movable illuminator mechanism comprises horizontally moving device (5) and illuminator tumbler (6); The bearing (51) of said horizontally moving device (5) is arranged on the bottom surface in darkroom, and said bearing (51) is provided with two horizontal and parallel guide rails (53), is placed with on the said guide rail (53) to go up the sliding bottom (54) of horizontal slip at guide rail (53); Guide rail (53) two ends are provided with limit switch (52); Bearing (51) be provided be positioned at guide rail (53) one sides move horizontally motor (55) and horizontal motor train of reduction gears, be positioned at the driven pulley (56) of guide rail (53) opposite side, the said motor (55) that moves horizontally is connected with horizontal motor train of reduction gears; The output wheel of horizontal motor train of reduction gears is connected with drivewheel (58); Said driven pulley (56) and drivewheel (58) are provided with driving belt (57), and said sliding bottom (54) one sides are provided with belt fixation clamp (50), and said belt fixation clamp (50) is connected with driving belt (57); The said motor (55) that moves horizontally is connected with horizontal stepper motor driver (59) through holding wire;
Said illuminator tumbler (6) comprises angular turn motor (62) and the angle motor train of reduction gears (63) that is arranged on the sliding bottom (54); Said angular turn motor (62) is connected with angle motor train of reduction gears (63); The upside of angle motor train of reduction gears (63) output wheel is connected with illuminator anchor clamps (65), and illuminator anchor clamps (65) are provided with movable illuminator (64); Said angular turn motor (62) is connected with angle stepper motor driver (61) through holding wire;
Said controller (7) comprises microprocessor (71), human-computer interaction interface interface (72), drives signal output part (73); The signal input part of said microprocessor (71) is connected with limit switch (52) with human-computer interaction interface interface (72), and microprocessor (71) is connected with constant-flow driver (22), horizontal stepper motor driver (59) and the signal input part of angle stepper motor driver (61) respectively through driving signal output part (73).
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