CN106814849A - Simulated flight operation test accessory system and method based on eyeball tracking - Google Patents
Simulated flight operation test accessory system and method based on eyeball tracking Download PDFInfo
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- 210000001747 pupil Anatomy 0.000 claims abstract description 130
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- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
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Abstract
The present invention relates to a kind of psychological Computer Aided Analysis System based on sight line and method.The method includes：Into a certain simulated flight operator scheme, test instruction is sent to test equipment；Receive the second pupil image that test equipment sends；Treatment is carried out to the second pupil image and forms the second sight line track；The first sight line track under locally transferring correspondence simulated flight operator scheme；Contrast the first sight line track and form test assistance data with the second sight line track.The embodiment of the present invention, sight line track by qualified pilot under a certain driving model or special scenes forms standardized sight line footprint by way of big data is analyzed, compare with the sight line track for being test for flying cadet, using registration as test flight student one of index, it is capable of the test of secondary analog flight, improves test effect.
Description
Technical field
The invention belongs to eyeball tracking technical field, and in particular to a kind of simulated flight operation test based on eyeball tracking
Accessory system and method.
Background technology
Simulated flight is to rely on computer hardware and software engineering, using internet, LAN environment, be similar to very
The motion of the simulated flight operating technology of real true aircraft (such as Boeing-737).Highly emulation and it is interactive be by force simulated flight
Most outstanding feature, simulated flight generally applies to the ground flying training of civilian or military pilot.
Flight simulator or flight simulator, are also called simulator cockpit, are a kind of truly reproductions as far as possible or simulation
The system of airborne vehicle driving sensation.Flight simulator is contained from electronic game, to by hydraulic pressure or motor-driven, and by first
The simulator cockpit in proportion that the computer technology for entering is controlled.Flight simulator widely applied to by aircraft industry design and
Research and development, and for civil and military aircraft does pilot and crew's training.
Then, for pilot, before actually aircraft is driven, it is necessary to by strict training, ensureing safety
On the premise of driving, in addition it is also necessary to cope with the emergency processing under various complex environments and pattern.Accordingly, it would be desirable to design a kind of survey
Whether test system and method for testing are qualified to determine the driver behavior of pilot.
The content of the invention
In order to solve the above-mentioned problems in the prior art, fly the invention provides a kind of simulation based on eyeball tracking
Row operation test accessory system and method.
An embodiment provides a kind of simulated flight operation test accessory system based on eyeball tracking, bag
Include：The simulated flight device of flight control is carried out for flying cadet and be carried on the test equipment of flying cadet's head, institute
Stating test equipment includes communication module and eyes image acquisition module；Wherein,
When a certain simulated flight operator scheme is started, the simulated flight device sends test and refers to the test equipment
Order, the test equipment receives the test instruction and sends to the eye test instruction by the communication module
Image capture module, second pupil image of presently described flying cadet is gathered and by described in by the eyes image acquisition module
Second pupil image is back to the simulated flight device by the communication module, by the processor of the simulated flight device to institute
Stating the second pupil image carries out the second sight line track for the treatment of formation, and the second sight line track is regarded with first for prestoring
Line tracking carries out contrast and forms test assistance data.
In one embodiment of the invention, the eyes image acquisition module gathers the second of presently described flying cadet
Pupil image, including：
The eyes image acquisition module tests the corresponding image acquisition modality of instruction calls according to described, and according to described
The time point control eyes image acquisition module that image acquisition modality is set carries out image to the eye of the flying cadet
Collection forms second pupil image；Or
The eyes image acquisition module carries out image to the eye of the flying cadet in real time according to the test instruction
Collection forms second pupil image, and the test instruction is according to setting time point under correspondence simulated flight operator scheme
The multiple images acquisition control instruction of transmission.
In one embodiment of the invention, the processor of the simulated flight device to second pupil image at
Reason forms the second sight line track, including：
The processor determines the marginal position of the second pupil according to second pupil image, and by the marginal position
Determine the center position of second pupil；
The processor will be many according to setting time point under correspondence simulated flight operator scheme according to the test instruction
The central point of individual second pupil is fitted to form the second sight line track.
In one embodiment of the invention, the processor determines the side of the second pupil according to second pupil image
Edge position, including：
Second pupil image is carried out gray processing treatment and forms the second gray level image by the processor；
The processor estimates that the center position of second pupil is initial to be formed on second gray level image
Central point；
The processor is counted along specified directions of rays centered on the initial center point on second gray level image
The Grad of gray scale is calculated, and position where when Grad is reached into maximum is defined as the marginal position of second pupil.
In one embodiment of the invention, the processor estimates second pupil on second gray level image
Center position forming initial center point, including：
The processor estimates the centre bit of second pupil using gray integration method on second gray level image
Put coordinate (xmin, ymin)；Wherein, the formula of xmin and ymin is：
Wherein, min is represented and is taken minimum operation, and sum represents summation operation, and f (i, j) is represented in coordinate (x, y) place image
Gray value.
In one embodiment of the invention, the center position of second pupil is determined by the marginal position, is wrapped
Include：
The processor carries out process of fitting treatment and forms class elliptic curve to the marginal position point of multiple second pupil, with
The center of the class elliptic curve as second pupil center position.
An alternative embodiment of the invention provides a kind of simulated flight operation method of testing based on eyeball tracking, bag
Include：
Into a certain simulated flight operator scheme, test instruction is sent to test equipment；
Receive the second pupil image that the test equipment sends；
Treatment is carried out to second pupil image and forms the second sight line track；
The first sight line track under locally transferring correspondence simulated flight operator scheme；
Contrast the first sight line track and form test assistance data with the second sight line track.
In one embodiment of the invention, the forming step of the first sight line track includes：
Under a certain simulated flight operational motion, first pupil image of the multiple operators of collection；
The marginal position of the first pupil is determined according to first pupil image, and determines described by the marginal position
The center position of one pupil；
The central point of first pupil of each operator is fitted to form the first sight line curve；
Multiple the first sight line curve is fitted to form the first sight line track using big data analysis mode.
Yet another embodiment of the present invention provides a kind of simulated flight operation method of testing based on eyeball tracking, bag
Include：
Receive the test instruction that simulated flight device sends；
Second pupil image collection is carried out to flying cadet according to the test instruction；
Second pupil image is sent to the simulated flight device so that the simulated flight device is according to described second
Pupil image forms the second sight line track, so that the flight simulator is by the second sight line track and first for being locally stored
Sight line track carries out contrast and forms test assistance data.
In one embodiment of the invention, the second sight line track is formed according to second pupil image, including：
The marginal position of the second pupil is determined according to second pupil image, and determines described by the marginal position
The center position of two pupils；
Time point for being set under corresponding image acquisition modality is instructed according to the test by multiple second pupils
Central point is fitted to form the second sight line track.
The embodiment of the present invention, by the contrast of sight line track, pilot that will be qualified is in a certain driving model or spy
Determine sight line track under scene and form standardized sight line footprint by way of big data is analyzed, and be test for flight
The sight line track of student is compared, using registration as test flight student one of index, which can be effectively right
Flying cadet is tested, and is capable of the test of secondary analog flight, improves test effect.
Brief description of the drawings
Fig. 1 is that a kind of structure of simulated flight operation test system based on sight line track provided in an embodiment of the present invention is shown
It is intended to；
Fig. 2 is a kind of contour structures schematic diagram of simulated flight device provided in an embodiment of the present invention；
Fig. 3 is a kind of contour structures schematic diagram of test equipment provided in an embodiment of the present invention；
Fig. 4 is the electrical block diagram of another simulated flight device provided in an embodiment of the present invention；
Fig. 5 is a kind of schematic diagram of sight line track contrast provided in an embodiment of the present invention；
Fig. 6 is the signal that a kind of simulated flight based on sight line track provided in an embodiment of the present invention operates method of testing
Figure；
Fig. 7 is the signal that another simulated flight based on sight line track provided in an embodiment of the present invention operates method of testing
Figure；And
Fig. 8 is that a kind of signaling of simulated flight operation method of testing based on sight line track provided in an embodiment of the present invention is handed over
Mutual schematic diagram.
Specific embodiment
Further detailed description is done to the present invention with reference to specific embodiment, but embodiments of the present invention are not limited to
This.
Embodiment one
It is a kind of simulated flight operation based on sight line track provided in an embodiment of the present invention to refer to Fig. 1 and Fig. 2, Fig. 1
The structural representation of test system, Fig. 2 is a kind of contour structures schematic diagram of simulated flight device provided in an embodiment of the present invention.Should
System 10 includes simulated flight device 11 and test equipment 13, wherein, the simulated flight device 11 and test equipment 13 communicate to connect with
Transmission test instruction and the second pupil image data.
Fig. 3 is referred to, Fig. 3 is a kind of contour structures schematic diagram of test equipment provided in an embodiment of the present invention, and test sets
Standby 13 shape could be arranged to the shape similar to glasses, including picture frame 131 and temple 133, and in the interior lateral margin of picture frame 131
Position sets acquisition module, and the acquisition module can be multiple pupil image collectors 135, and multiple pupil image collectors
135 are perfectly even arranged at interior lateral edge locations, naturally it is also possible to according to actual design require, be mainly distributed on upside or under
Side, or a pupil image collector 135 can also be set in order to cost-effective, no limitations are hereby intended.
In addition, pupil image collector preferably comprises the image acquisition device of at least one infrared lamp source.Because in pupil,
Outer to have apparent difference to ultrared reflection, the image of shooting is stronger in pupil region light, and brightness is high；In non-lesser ring of Merkel
Then dark images, brightness is low, therefore can preferably photograph the image of pupil using the image acquisition device for including infrared light supply.
Fig. 4 is referred to, Fig. 4 is a kind of electrical block diagram of simulated flight device provided in an embodiment of the present invention.The mould
The circuit composition for intending aircraft 11 can include：Communication module, processor, memory and power module.Wherein, communication module,
Display screen and memory are electrically connected to processor.Communication module preferably uses WIFI module,
Specific operation principle is as follows：
1st, the first sight line track formation stages：Under a certain simulated flight operator scheme, the eyes image acquisition module
The acquisition instructions of simulated flight device transmission are being received, first pupil image of the operator of collection specification flight simultaneously returns to mould
Intend aircraft；Simulated flight device determines the pupil edge position of first pupil image with true according to first pupil image
The center position of fixed first pupil；And will under correspondence simulated flight operator scheme according to setting time point by multiple institutes
The central point for stating the first pupil is fitted to form the first sight line curve, and multiple first sight line curves are entered using big data analysis mode
Row fitting forms the first sight line track.
Fig. 5 is referred to, Fig. 5 is a kind of schematic diagram of sight line track contrast provided in an embodiment of the present invention.By big data
Analytical mathematics, sight line track of the multiple qualified pilots of collection under a certain driving model or scene forms sight line rail
Mark region, so that later stage flying cadet is in the reference data of test phase.It should be noted that height, seat due to pilot
Personalized direction of visual lines etc. deviates factor in appearance and operating process, can influence the contrast of sight line track, it is therefore desirable to by big
The mode of data analysis, using the region of a large amount of sight line tracks formation as standard, eliminates these influences for deviateing factors, possesses Shandong
Rod.The sample that preferred acquisition is more than 100.
2nd, test phase, the simulated flight device sends test instruction to the test equipment, and the test equipment passes through
The communication module receives the test instruction and sends to the eyes image acquisition module test instruction, by described
Eyes image acquisition module gathers second pupil image of presently described flying cadet and second pupil image is passed through into institute
State communication module and be back to the simulated flight device, second pupil image is carried out by the processor of the simulated flight device
Treatment forms the second sight line track, and the second sight line track is carried out into contrast formation with the first sight line track for prestoring
Test assistance data.
I.e. after having with reference to sight line track, flying cadet enters simulated flight device, wears test equipment, ready work
Afterwards, operated by voice message and start test, now, simulated flight device starts simulated operation pattern and synchronized transmission test refers to
Make to test equipment.Test equipment gathers the eyes image of flying cadet according to test instruction control eyes image acquisition module,
And the image is back to simulated flight device, the sight line track that treatment forms the flying cadet is carried out by simulated flight device, by this
Compare to determine to be somebody's turn to do with the reference sight line track regions being stored in advance in the memory module of simulated flight device in sight line track
The simulated operation achievement of flying cadet.
Wherein, the eyes image acquisition module gathers second pupil image of presently described flying cadet, including as follows
Two ways：
Mode one, the eyes image acquisition module according to the test corresponding image acquisition modality of instruction calls, and
The time point set according to described image drainage pattern controls the eyes image acquisition module to the eye of the flying cadet
Carry out IMAQ and form second pupil image；Or
Mode two, the eyes image acquisition module enter to the eye of the flying cadet in real time according to the test instruction
Row IMAQ forms second pupil image, and the test instruction is according to setting under correspondence simulated flight operator scheme
The multiple images acquisition control instruction that time point sends.
The processor of the simulated flight device carries out treatment to second pupil image and forms the second sight line track, can be with
Including：
First, the processor determines the marginal position of the second pupil according to second pupil image, and by the side
Edge position determines the center position of second pupil.
Wherein, second pupil image is carried out gray processing treatment and forms the second gray level image by the processor；It is described
Processor estimates the center position of second pupil to form initial center point on second gray level image；The place
Reason device calculates the Grad of gray scale along specified directions of rays centered on the initial center point on second gray level image,
And the position where when Grad is reached into maximum is defined as the marginal position of second pupil.
And initial center point really usual practice in this way the processor using gray integration method on second gray level image
Estimate the center position coordinates (xmin, ymin) of second pupil；Wherein, the formula of xmin and ymin is：
Wherein, min is represented and is taken minimum operation, and sum represents summation operation, and f (i, j) is represented in coordinate (x, y) place image
Gray value.
In addition, the center position for determining second pupil by the marginal position can for example be used：
Secondly, the processor is instructed under correspondence simulated flight operator scheme according to setting time point according to the test
The central point of multiple second pupil is fitted to form the second sight line track.
The processor determines the marginal position of the second pupil according to second pupil image, including：The processor
Marginal position point to multiple second pupil carries out process of fitting treatment formation class elliptic curve, with the class elliptic curve
The heart as second pupil center position.
The present embodiment, by the sight line track to pilot in simulated operating procedure and the standard sight line rail for prestoring
Mark region is contrasted on a timeline, as pilot for this training test result, to the driving of pilot and
One of auxiliary performance assessment criteria of managing special situation ability, the method can improve the accuracy of simulated flight operation.
Embodiment two
Fig. 6 is referred to, Fig. 6 is a kind of simulated flight operation test side based on sight line track provided in an embodiment of the present invention
The schematic diagram of method.Method of testing of the invention comprises the following steps：
Step 1, into a certain simulated flight operator scheme, send test instruction to test equipment；
Step 2, the second pupil image for receiving the test equipment transmission；
Step 3, second pupil image is carried out treatment formed the second sight line track；
Step 4, the first sight line track under locally transferring correspondence simulated flight operator scheme；
Step 5, contrast the first sight line track and the second sight line track form test assistance data.
Specifically, the forming step of the first sight line track can include：
Step x1, under a certain simulated flight operational motion, first pupil image of the multiple operators of collection；
Step x2, the marginal position that the first pupil is determined according to first pupil image, and it is true by the marginal position
The center position of fixed first pupil；
Step x3, the central point of first pupil of each operator is fitted to form the first sight line curve；
Step x4, multiple the first sight line curves are fitted using big data analysis mode to form described first and regard
Line tracking.
Wherein, on the second pupil in the mode and above-described embodiment of the marginal position determination of first pupil of step x2
Marginal position determination mode is similar to, and something in common is repeated no more.It is emphasized that：First pupil image is carried out at gray processing
Reason forms the first gray level image and can act on each pixel of the first pupil image using enhancing operator so that brightness of image increases
Increase that is strong and then realizing grey-scale contrast, carries out image filtering treatment to the infrared image using Laplce's method afterwards；
Wherein, the formula of the enhancing operator is：En=c*lg (1+double (f0))；Wherein, En is enhancing operator, f0
It is original function gray value, c is constant coefficient.Wherein, the specific value of c can be set according to actual conditions, and the present invention is not limited herein
System.For example, it is ashes of the image f at coordinate (i, j) place to set f (i, j)
Angle value, the partial differential of gray value is：
The then shade of gray of the directionD maximum point is marginal point.
Alternatively, the gray processing treatment for the second pupil image can also be similar to that aforesaid way.
In step x2, the mode of the center position of first pupil is determined by the marginal position many kinds, this
Place illustrates a kind of exemplary mode by way of example.Concrete mode is as follows：
Step a, any 5 points are chosen from N number of characteristic point, carrying out ellipse fitting using least square method forms the
One class elliptic equation；
Step b, N number of characteristic point is carried out using stochastical sampling consistency algorithm by the first kind elliptic equation
Intra-office point drawn game exterior point is screened, and statistics obtains M intra-office point and N-M point not in the know；
In the present embodiment, the point fallen on class ellipse, is considered as intra-office point.Certainly, the present invention is limited not herein
System.
Step c, judge intra-office point occupation rateWhether first threshold t1 is less than；If, it is determined that 5 points are
Atypical characteristics point, fitted ellipse is oval atypical characteristics, then re-execute step a；If not, it is determined that 5 points are
Characteristic feature point, then perform step d；
Step d, according to the M intra-office point arbitrarily choose 5 points, using least square method to the first kind ellipse side
Journey optimizes to form Equations of The Second Kind elliptic equation, and passes through described using stochastical sampling consistency algorithm to N number of characteristic point
Equations of The Second Kind elliptic equation carries out the examination of intra-office point drawn game exterior point, and final statistics obtains M1 intra-office point and N-M1 points not in the know；
Step e, judge intra-office point occupation rateWhether Second Threshold t2 is more than；In this way, then iteration is terminated, it is believed that institute
Equations of The Second Kind elliptic equation is stated for Optimality equations；If it is not, then performing step d.
In step x3, the central point of first pupil of each operator is fitted to form the first sight line song
Line, namely the fitting of first pupil center's point is carried out according to the time point set under respective operations pattern, one is formed with discrete
First sight line curve of time change, similar to a curves and b curves shown in Fig. 5.
In the present embodiment, the sight line track of collection is not the observation station position shape that pupil center's point is at a time observed
Into track, but the variation track of pupil center's point of human eye is depended directly on, using the analysis mode of big data, by curve
It is changed into apparent path region, precision declines caused by solving the problems, such as the differentiation due to everyone.
Embodiment three
Fig. 7 is referred to, Fig. 7 is another simulated flight operation test based on sight line track provided in an embodiment of the present invention
The schematic diagram of method.Method of testing of the invention comprises the following steps：
Step 1, the test instruction for receiving the transmission of simulated flight device；
Step 2, according to it is described test instruction the second pupil image collection is carried out to flying cadet；
Step 3, second pupil image is sent to the simulated flight device so that the simulated flight device is according to institute
State the second pupil image formed the second sight line track, so as to the flight simulator by the second sight line track be locally stored
The first sight line track carry out contrast formed test assistance data.
It is wherein individual, for step 3, can include：
Step 31, the marginal position that the second pupil is determined according to second pupil image, and it is true by the marginal position
The center position of fixed second pupil；
Step 32, time point for being set under corresponding image acquisition modality is instructed according to the test by multiple described second
The central point of pupil is fitted to form the second sight line track.
Example IV
Fig. 8 is referred to, Fig. 8 is a kind of simulated flight operation test side based on sight line track provided in an embodiment of the present invention
The Signalling exchange schematic diagram of method.The method includes：
S101, into a certain simulated flight operator scheme, simulated flight device sends test instruction to test equipment；
S102, test equipment receive the test instruction that simulated flight device sends；
S103, test equipment carry out the second pupil image collection to flying cadet according to the test instruction；
S104, test equipment send to the simulated flight device second pupil image；
S105, simulated flight device receive the second pupil image that the test equipment sends；
S106, simulated flight device carry out treatment to second pupil image and form the second sight line track；
The the first sight line track of S107, simulated flight device under locally transferring correspondence simulated flight operator scheme；
S108, contrast the first sight line track and the second sight line track form test assistance data.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
Specific implementation of the invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should be all considered as belonging to of the invention
Protection domain.
Claims (10)
1. accessory system is tested in a kind of simulated flight operation based on eyeball tracking, it is characterised in that including：For flying cadet
The simulated flight device for carrying out flight control and the test equipment for being carried on flying cadet's head, the test equipment include logical
Letter module and eyes image acquisition module；Wherein,
When a certain simulated flight operator scheme is started, the simulated flight device sends test instruction, institute to the test equipment
Test equipment is stated to receive the test instruction by the communication module and send to the eyes image test instruction
Acquisition module, second pupil image of presently described flying cadet is gathered and by described second by the eyes image acquisition module
Pupil image is back to the simulated flight device by the communication module, by the processor of the simulated flight device to described
Two pupil images carry out treatment and form the second sight line track, and by the second sight line track and the first sight line rail for prestoring
Mark carries out contrast and forms test assistance data.
2. system according to claim 1, it is characterised in that the eyes image acquisition module gathers presently described flight
Second pupil image of student, including：
The eyes image acquisition module tests the corresponding image acquisition modality of instruction calls according to described, and according to described image
The time point control eyes image acquisition module that drainage pattern is set carries out IMAQ to the eye of the flying cadet
Form second pupil image；Or
The eyes image acquisition module carries out IMAQ to the eye of the flying cadet in real time according to the test instruction
Second pupil image is formed, the test instruction is sent according to setting time point under correspondence simulated flight operator scheme
Multiple images acquisition control instruction.
3. system according to claim 1, it is characterised in that the processor of the simulated flight device is to second pupil
Image carries out treatment and forms the second sight line track, including：
The processor determines the marginal position of the second pupil according to second pupil image, and is determined by the marginal position
The center position of second pupil；
The processor according to the test instruction under correspondence simulated flight operator scheme according to setting time point by multiple institutes
The central point for stating the second pupil is fitted to form the second sight line track.
4. system according to claim 3, it is characterised in that the processor determines according to second pupil image
The marginal position of two pupils, including：
Second pupil image is carried out gray processing treatment and forms the second gray level image by the processor；
The processor estimates the center position of second pupil to form initial center on second gray level image
Point；
The processor calculates ash along specified directions of rays centered on the initial center point on second gray level image
The Grad of degree, and position where when Grad is reached into maximum is defined as the marginal position of second pupil.
5. system according to claim 4, it is characterised in that the processor estimates institute on second gray level image
The center position of the second pupil is stated to form initial center point, including：
The processor estimates that the center of second pupil is sat using gray integration method on second gray level image
Mark (xmin, ymin)；Wherein, the formula of xmin and ymin is：
Wherein, min is represented and is taken minimum operation, and sum represents summation operation, and f (i, j) represents the ash in coordinate (x, y) place image
Angle value.
6. system according to claim 3, it is characterised in that the center of second pupil is determined by the marginal position
Point position, including：
The processor carries out process of fitting treatment and forms class elliptic curve to the marginal position point of multiple second pupil, with described
The center of class elliptic curve as second pupil center position.
7. a kind of simulated flight based on eyeball tracking operates method of testing, it is characterised in that including：
Into a certain simulated flight operator scheme, test instruction is sent to test equipment；
Receive the second pupil image that the test equipment sends；
Treatment is carried out to second pupil image and forms the second sight line track；
The first sight line track under locally transferring correspondence simulated flight operator scheme；
Contrast the first sight line track and form test assistance data with the second sight line track.
8. method according to claim 7, it is characterised in that the forming step of the first sight line track includes：
Under a certain simulated flight operational motion, first pupil image of the multiple operators of collection；
The marginal position of the first pupil is determined according to first pupil image, and first pupil is determined by the marginal position
The center position in hole；
The central point of first pupil of each operator is fitted to form the first sight line curve；
Multiple the first sight line curve is fitted to form the first sight line track using big data analysis mode.
9. a kind of simulated flight based on eyeball tracking operates method of testing, it is characterised in that including：
Receive the test instruction that simulated flight device sends；
Second pupil image collection is carried out to flying cadet according to the test instruction；
Second pupil image is sent to the simulated flight device so that the simulated flight device is according to second pupil
Image forms the second sight line track, so that the flight simulator is by the second sight line track and the first sight line being locally stored
Track carries out contrast and forms test assistance data.
10. method according to claim 9, it is characterised in that the second sight line rail is formed according to second pupil image
Mark, including：
The marginal position of the second pupil is determined according to second pupil image, and second pupil is determined by the marginal position
The center position in hole；
Time point for being set under corresponding image acquisition modality is instructed according to the test by the center of multiple second pupils
Point fitting forms the second sight line track.
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