CN112315423B - Eyeball movement measuring equipment - Google Patents

Eyeball movement measuring equipment Download PDF

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CN112315423B
CN112315423B CN202011231069.7A CN202011231069A CN112315423B CN 112315423 B CN112315423 B CN 112315423B CN 202011231069 A CN202011231069 A CN 202011231069A CN 112315423 B CN112315423 B CN 112315423B
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eye
strabismus
center
left eye
angle
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CN112315423A (en
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杜煜
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Shanghai Qingyan Technology Co ltd
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Shanghai Qingyan Technology Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
    • A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
    • A61B3/113—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for determining or recording eye movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
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    • A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
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    • A61B3/14—Arrangements specially adapted for eye photography
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A—HUMAN NECESSITIES
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    • A61B3/14—Arrangements specially adapted for eye photography
    • A61B3/15—Arrangements specially adapted for eye photography with means for aligning, spacing or blocking spurious reflection ; with means for relaxing
    • A61B3/156—Arrangements specially adapted for eye photography with means for aligning, spacing or blocking spurious reflection ; with means for relaxing for blocking
    • A61B3/158—Arrangements specially adapted for eye photography with means for aligning, spacing or blocking spurious reflection ; with means for relaxing for blocking of corneal reflection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
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    • G06T2207/00—Indexing scheme for image analysis or image enhancement
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    • G06T2207/10048—Infrared image
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    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract

The purpose of the invention is that: an apparatus is provided that can enable eye movement measurements. In order to achieve the above object, the present invention provides an eye movement measuring apparatus, comprising: a left eye semi-transparent semi-reflective module; a movable left eye tracking module; a right eye semi-transparent semi-reflective module; a movable right eye tracking module. The invention has the beneficial effects that: the automatic quantitative eyeball movement measurement can be performed automatically, quickly, intuitively and accurately, and the time of doctors and testees is saved.

Description

Eyeball movement measuring equipment
Technical Field
The invention relates to the technical field of eye movement measurement, in particular to eye movement measurement equipment based on image processing.
Background
The eyeball is approximately spherical, and can rotate around the sphere center to perform eyeball movement (eye movement), and the eyeball can rotate around the vertical axis in the horizontal direction, rotate around the horizontal axis in the vertical direction and rotate around the front and back axes in the clockwise or anticlockwise direction.
The eye movement is examined medically, and the eye movement is mainly observed visually according to the experience of doctors at present. Strabismus is a disease closely related to eyeball movement, taking strabismus as an example, a method commonly used in clinical strabismus examination at present is a covering test, namely, covering single eyes sequentially and then removing the covers, or alternatively covering both eyes, a doctor observes the condition of the eyeball movement of the eyes of a tested person in the covering test, judges whether strabismus exists or not, estimates strabismus degree empirically according to the amplitude of eyeball movement, and then verifies by using a triple prism, and the method is relatively time-consuming. Another common strabismus inspection method is a corneal specular reflection method, which is to judge whether strabismus exists by observing whether the corneal light reflection is located at the pupil center or not, and estimate the strabismus according to the distance of the corneal light reflection from the pupil center, and this method can only be roughly estimated and is affected by Kappa angle, so the accuracy is low.
Disclosure of Invention
The purpose of the invention is that: an apparatus is provided that can enable eye movement measurements.
In order to achieve the above object, the present invention provides an eye movement measuring apparatus, comprising:
the left eye semi-transparent and semi-reflective module is in a plane sheet shape, can transmit visible light and reflect near infrared light;
a movable left eye tracking module comprising at least one near infrared camera, being a left eye camera; comprises at least one near infrared light source which is a left eye light source; the relative positions of the left eye camera and the left eye light source are fixed; the left eye camera can shoot an image of a left eye region through the left eye semi-transparent semi-reflective module; and the center coordinates of pupils of the left eye can be calculated; the left eye camera can shoot the reflection point of the left eye light source on the left eye cornea through the left eye semi-transparent semi-reflective module; and the center coordinates of the reflecting points of the left cornea can be calculated; the left eye tracking module can move to a corresponding position, so that in an image shot by the left eye camera, the center coordinates of a reflecting point of a left eye cornea of the left eye and the center coordinates of a left eye pupil coincide;
the right eye semi-transparent and semi-reflective module is in a plane sheet shape, can transmit visible light and reflect near infrared light;
A movable right eye tracking module comprising at least one near infrared camera, referred to as a right eye camera; comprising at least one near infrared light source, referred to as a right eye light source; the relative positions of the right eye camera and the right eye light source are fixed; the right-eye camera can shoot an image of a right-eye area through the right-eye semi-transparent semi-reflective module; and the center coordinates of the pupils of the right eye can be calculated; the right eye camera can shoot the reflection point of the right eye light source on the right eye cornea through the right eye semi-transparent semi-reflective module; and the center coordinates of the reflecting points of the right cornea can be calculated; the right eye tracking module can move to a corresponding position, so that in an image shot by the right eye camera, the center coordinate of a reflecting point of the right eye cornea of the right eye and the center coordinate of the right eye pupil coincide.
Preferably, the left eye eyeball tracking module moves along a left spherical surface, and the position of the spherical center of the left spherical surface is the position of a virtual image of the spherical center of the left eye eyeball reflected by the left eye semi-transparent semi-reflective module; the radius R1 of the left sphere is a fixed value; the position of the left eye tracking module can be represented in a spherical coordinate system with a virtual image of the spherical center of the left eye as the spherical center and R1 as the radius;
the right eye eyeball tracking module moves along a right spherical surface, and the position of the spherical center of the right spherical surface is the position of a virtual image of the spherical center of the right eye eyeball reflected by the right eye semi-transparent semi-reflective module; the radius R2 of the right sphere is a fixed value; the position of the right eye tracking module can be represented in a spherical coordinate system with the virtual image of the spherical center of the right eye as the spherical center and R2 as the radius.
Preferably, the radius R1 of the left sphere and the radius R2 of the right sphere are equal.
Preferably, when the left eye eyeball tracking module moves along the left spherical surface, the axis of the left eye camera always faces to the virtual image of the sphere center of the left eye eyeball;
when the right eye eyeball tracking module moves along the right spherical surface, the axis of the right eye camera always faces to the virtual image of the sphere center of the right eye eyeball.
Preferably, according to the angle of the left eye tracking module moving along the left sphere, the angle of the left eye rotating in the horizontal direction and the angle of the left eye rotating in the vertical direction can be calculated;
according to the angle of the right eye tracking module moving along the right sphere, the angle of the right eye rotating in the horizontal direction and the angle of the right eye rotating in the vertical direction can be calculated.
Preferably, the horizontal viewing angle is θ in the left eye l1 And the vertical viewing angle isThe spherical coordinates of the left eye tracking module at this time are recorded +.>Calculation of Δθ l1 ＝θ l1 ’-θ l1 ，/>Left eye tracking model for measuring left eye after movement of left eyeThe horizontal direction angle value and the vertical direction angle value in the spherical coordinates of the block are subtracted by Δθ, respectively l1 And->A horizontal viewing angle and a vertical viewing angle of the left eye can be obtained;
the horizontal viewing angle is theta at the right eye r1 And the vertical viewing angle isThe spherical coordinates of the right eye tracking module at this time are recorded +. >Calculation of Δθ r1 ＝θ r1 ’-θ r1 ，/>Subtracting delta theta from the horizontal angle value and the vertical angle value in the spherical coordinates of the right eye tracking module after the movement of the right eye r1 And->A horizontal viewing angle and a vertical viewing angle of the right eye can be obtained.
Preferably, the left eye tracking module is movable along a left plane; when the viewing angle in the horizontal direction and the viewing angle in the vertical direction are both 0 DEG, the visual axes of the left plane and the virtual image of the left eye eyeball are vertical; the vertical line of the left plane passing through the point of the left plane (0, 0) is intersected with the virtual image of the sphere center of the left eye eyeball; the distance between the left plane and the virtual image of the sphere center of the left eye eyeball is D1;
the right eye tracking module can move along a right plane; when the viewing angle of the right eye is 0 DEG in the horizontal direction and the viewing angle of the right eye in the vertical direction, the right plane is perpendicular to the visual axis of the virtual image of the eyeball of the right eye; the vertical line of the right plane passing through the point of the right plane (0, 0) is intersected with the virtual image of the sphere center of the right eye eyeball; the distance between the right plane and the virtual image of the sphere center of the eyeball of the right eye is D2.
Preferably, the distance D1 of the virtual images of the left plane and the center of the left eye is equal to the distance D2 of the virtual images of the right plane and the center of the right eye.
Preferably, when the left eye eyeball tracking module moves along the left plane, the axis of the left eye camera always faces to the virtual image of the sphere center of the left eye eyeball;
When the right eye eyeball tracking module moves along the right plane, the axis of the right eye camera always faces to the virtual image of the sphere center of the right eye eyeball.
Preferably, according to the angle of the left eye tracking module moving along the left plane, the angle of the left eye rotating in the horizontal direction and the angle of the left eye rotating in the vertical direction can be calculated;
according to the angle of the right eye tracking module moving along the right plane, the angle of the right eye rotating in the horizontal direction and the angle of the right eye rotating in the vertical direction can be calculated.
Preferably, the horizontal viewing angle is θ in the left eye l2 And the vertical viewing angle isCalculating the left plane coordinate of the left eye tracking module at the moment>And calculate Δθ l2 ＝θ l2 ’-θ l2 ，/>Subtracting delta theta from the horizontal angle value and the vertical angle value in the left plane coordinate of the left eye tracking module after the left eye moves l2 And->A horizontal viewing angle and a vertical viewing angle of the left eye can be obtained;
the horizontal viewing angle is theta at the right eye r2 And the vertical viewing angle isCalculating the right plane coordinates of the right eye tracking module at the moment>And calculate Δθ r2 ＝θ r2 ’-θ r2 ，/>Subtracting delta theta from the horizontal angle value and the vertical angle value in the right plane coordinate of the right eye tracking module after the movement of the right eye r2 Anda horizontal viewing angle and a vertical viewing angle of the right eye can be obtained.
Preferably, the left eye tracking module may identify a characteristic of the left eye iris and calculate an angle of left eye rotation based on a change in the characteristic of the left eye iris; the right eye tracking module may identify characteristics of the right eye iris and calculate an angle of rotation of the right eye based on changes in the characteristics of the right eye iris.
Preferably, the display and control module is further included; the display and control module comprises a display device which can be switched between the following three display modes:
display mode one: displaying a visual target visible only to the left eye;
display mode two: displaying a visual target visible to only the right eye;
display mode three: displaying the visual target visible to both eyes.
Preferably, the display device comprises a left liquid crystal shutter device, a left half-transparent half-reflecting module and a display and control module, wherein the left liquid crystal shutter device is positioned between the left half-transparent half-reflecting module and the display device in the display and control module and can switch the transparent state and the opaque state;
the display device comprises a right liquid crystal shutter device, a right semi-transparent and semi-reflective module and a display and control module, wherein the right liquid crystal shutter device is positioned between the right semi-transparent and semi-reflective module and the display device in the display and control module and can switch transparent and opaque states.
Preferably, a strabismus measuring module is also included, arranged to perform the steps of,
(a) The display and control module is switched to a first display mode, two eyes are respectively provided as F eyes and G eyes, and only F eyes are provided firstly A strabismus measuring optotype displayed on a visual display device; when the F eye gazes at the optotype, the central coordinate of the reflecting point of the F eye cornea and the central coordinate of the F eye pupil are overlapped, and the position EF of the F eye tracking module is recorded 1 The central coordinate of the reflecting point of the G eye cornea and the central coordinate of the G eye pupil are overlapped, and the position EG of the G eye tracking module is recorded 1 The method comprises the steps of carrying out a first treatment on the surface of the Setting two threshold values TH 1 And TH 2 Wherein TH is as follows 2 ≥TH 1 ；
(b) The display and control module is switched to a third display mode, and the F eye and the G eye can both see the strabismus measurement optotype displayed by the display device, so that the display position of the optotype is unchanged; when eyes watch the optotype, the central coordinate of the reflecting point of the F-eye cornea and the central coordinate of the F-eye pupil are overlapped, and the position EF of the F-eye tracking module is recorded 2 The method comprises the steps of carrying out a first treatment on the surface of the The center coordinates of the reflecting point of the G eye cornea and the center coordinates of the G eye pupil are overlapped, and the position EG of the G eye tracking module is recorded 2 ；
Such as |EF 2 -EF 1 |＜TH 1 And |EG 2 -EG 1 |＜TH 1 The result is denoted as B1;
such as |EF 2 -EF 1 |＜TH 1 And |EG 2 -EG 1 |≥TH 2 The result is denoted as B2;
such as |EF 2 -EF 1 |≥TH 2 And |EG 2 -EG 1 |≥TH 2 The result is denoted as B3;
(c) The display and control module is switched into a second display mode, and only the strabismus measuring optotype displayed on the G-eye visible display device is displayed, so that the display position of the optotype is unchanged; when the G eye gazes at the optotype, the central coordinate of the reflecting point of the G eye cornea and the central coordinate of the G eye pupil are overlapped, and the position EG of the G eye tracking module is recorded 3 The central coordinate of the reflecting point of the F eye cornea and the central coordinate of the F eye pupil are overlapped, and the position EF of the F eye tracking module is recorded 3 ；
Such as |EF 3 -EF 2 |＜TH 1 And |EG 3 -EG 2 |＜TH 1 The result is denoted as C1;
such as |EF 3 -EF 2 |≥TH 2 And |EG 3 -EG 2 |＜TH 1 The result is denoted as C2;
such as |EF 3 -EF 2 |≥TH 2 And |EG 3 -EG 2 |≥TH 2 The result is denoted as C3;
(d) The display and control module is switched to a third display mode, and the F eye and the G eye can both see the strabismus measurement optotype displayed by the display device, so that the display position of the optotype is unchanged; when eyes watch the optotype, the central coordinate of the reflecting point of the F-eye cornea and the central coordinate of the F-eye pupil are overlapped, and the position EF of the F-eye tracking module is recorded 4 The method comprises the steps of carrying out a first treatment on the surface of the The center coordinates of the reflecting point of the G eye cornea and the center coordinates of the G eye pupil are overlapped, and the position EG of the G eye tracking module is recorded 4 ；
Such as |EF 4 -EF 3 |＜TH 1 And |EG 4 -EG 3 |＜TH 1 The result is denoted as D1;
such as |EF 4 -EF 3 |≥TH 2 And |EG 4 -EG 3 |＜TH 1 The result is denoted as D2;
such as |EF 4 -EF 3 |≥TH 2 And |EG 4 -EG 3 |≥TH 2 The result is denoted as D3;
(e) After the steps are finished, B1, C1 and D1 are satisfied simultaneously, so that no strabismus is displayed and no strabismus is hidden;
and B2, C2 and D2 are satisfied simultaneously, which shows that there is a hidden strabismus, and the strabismus degree is |EG 2 -EG 1 I or I EF 3 -EF 2 I or I EF 4 -EF 3 The triangular prism degree converted by the angle corresponding to the I; EG (EG) 2 -EG 1 |、|EF 3 -EF 2 |、|EF 4 -EF 3 The values of the three are equal;
if B1, C3 and D1 are satisfied at the same time, it is judged that alternate strabismus is displayed, and the strabismus degree is |EF 3 -EF 2 The triangular prism degree converted by the angle corresponding to the I;
satisfying B3, C1 and D1 at the same time, judging that monocular strabismus appears and F eye isStrabismus eye, strabismus degree is |EF 2 -EF 1 The triangular prism degree converted by the angle corresponding to the I;
if B1, C3 and D3 are satisfied at the same time, monocular strabismus is judged, the G eye is strabismus eye, and the strabismus degree is |EG 4 -EG 3 The angle corresponding to the I is converted into the triangular prism degree.
Preferably, after the direction and the degree of strabismus are measured, a prism with corresponding degree is placed in front of the strabismus eye to carry out measurement again; if the movement angles of the left eye tracking module and the right eye tracking module are smaller than TH in each step when the measurement is carried out again 1 It was confirmed that the degree of triple prism at this time was the degree of oblique viewing.
Preferably, a rotary strabismus measuring module is also included, arranged to perform the steps of,
(a) The display and control module is switched to a first display mode, two eyes are respectively J eyes and K eyes, and firstly, only the J eyes can see the strabismus measuring optotype displayed on the display device; when the J eyes watch the optotype, the characteristics of the iris of the J eyes and the corresponding angle HJ of the iris of the J eyes are recorded 1 Recording the characteristics of the K-eye iris and the corresponding K-eye iris angle HK 1 The method comprises the steps of carrying out a first treatment on the surface of the Setting two angle thresholds TH 3 And TH 4 Wherein TH is as follows 4 ≥TH 3 ；
(b) The display and control module is switched into a third display mode, and the strabismus measuring sighting target displayed by the J eye and K eye visible display device is unchanged in the sighting target display position; recording the characteristics of the J-eye iris and the corresponding J-eye iris angle HJ 2 The method comprises the steps of carrying out a first treatment on the surface of the Recording the characteristics of the K-eye iris at the moment and the corresponding K-eye iris angle HK 2 ；
For example |HJ 2 -HJ 1 |＜TH 3 And |HK 2 -HK 1 |＜TH 3 The result is denoted as B4;
for example |HJ 2 -HJ 1 |＜TH 3 And |HK 2 -HK 1 |≥TH 4 The result is denoted as B5;
for example |HJ 2 -HJ 1 |≥TH 4 And |HK 2 -HK 1 |≥TH 4 The result is denoted as B6;
(c) The display and control module is switched into a second display mode, and only the strabismus measuring optotype displayed on the K-eye visible display device is displayed, so that the display position of the optotype is unchanged; recording the characteristics of the K-eye iris at the moment and the corresponding K-eye iris angle HK 3 Recording the characteristics of the J-eye iris and the corresponding J-eye iris angle HJ 3 ；
For example |HJ 3 -HJ 2 |＜TH 3 And |HK 3 -HK 2 |＜TH 3 The result is marked as C4;
for example |HJ 3 -HJ 2 |≥TH 4 And |HK 3 -HK 2 |＜TH 3 The result is marked as C5;
for example |HJ 3 -HJ 2 |≥TH 4 And |HK 3 -HK 2 |≥TH 4 The result is marked as C6;
(d) The display and control module is switched into a third display mode, and the strabismus measuring sighting target displayed by the J eye and K eye visible display device is unchanged in the sighting target display position; recording the characteristics of the J-eye iris and the corresponding J-eye iris angle HJ 4 The method comprises the steps of carrying out a first treatment on the surface of the Recording the characteristics of the K-eye iris at the moment and the corresponding K-eye iris angle HK 4 ；
For example |HJ 4 -HJ 3 |＜TH 3 And |HK 4 -HK 3 |＜TH 3 The result is denoted as D4;
for example |HJ 4 -HJ 3 |≥TH 4 And |HK 4 -HK 3 |＜TH 3 The result is denoted as D5;
for example |HJ 4 -HJ 3 |≥TH 4 And |HK 4 -HK 3 |≥TH 4 The result is denoted as D6;
(e) After the steps are finished, B4, C4 and D4 are satisfied simultaneously, so that no explicit rotary strabismus or implicit rotary strabismus is indicated;
and B5, C5 and D5 are satisfied synchronously, which shows that the hidden rotary strabismus exists, and the rotary strabismus degree is |HK 2 -HK 1 I or i HJ 3 -HJ 2 I or i HJ 4 -HJ 3 Angle corresponding to HK 2 -HK 1 |、|HJ 3 -HJ 2 |、|HJ 4 -HJ 3 These three angles are equal values;
the synchronous conditions of B4, C6 and D4 are satisfied, and the alternate dominant rotary strabismus is judged, and the rotary strabismus degree is |HJ 3 -HJ 2 Angle corresponding to the I;
and B6, C4 and D4 are satisfied synchronously, monocular dominant rotary strabismus is judged, J eyes are strabismus eyes, and rotary strabismus degree is |HJ 2 -HJ 1 Angle corresponding to the I;
and B4, C6 and D6 are satisfied synchronously, monocular dominant rotary strabismus is judged, the K eye is strabismus eye, and the rotary strabismus degree is |HK 4 -HK 3 Angle corresponding to the l.
Preferably, the left eye tracking module and the right eye tracking module use an automatic pupil center tracking algorithm, and the calculation method of the automatic pupil center tracking algorithm is as follows: and (3) for any eyeball, respectively calculating the coordinates of the cornea reflecting point center and the pupil center of the eyeball, if the coordinates of the cornea reflecting point center and the coordinates of the pupil center do not coincide, enabling an eyeball tracking module corresponding to the eyeball to move along the vector direction of a connecting line from the cornea reflecting point center coordinates to the pupil center coordinates, and gradually reducing the distance between the cornea reflecting point center and the pupil center in the moving process until the cornea reflecting point center and the pupil center are coincident again.
Preferably, the head fixing device comprises a lifting chin rest, the head fixing device comprises a left side column and a right side column, standard height scale marks are arranged on the left side column and the right side column, and the chin rest is adjusted to enable the eye height of a tested person to be equal to the standard height scale marks in the test process.
Preferably, the device also comprises a three-dimensional coordinate measuring device, which can measure the three-dimensional coordinates of the sphere center of the left eye eyeball and the sphere center of the right eye eyeball; the position of the left sphere where the left eye eyeball tracking module is positioned or the position of the left eye semi-transparent semi-reflective module is adjusted according to the three-dimensional coordinates of the virtual image of the sphere center of the left eye eyeball, so that the sphere center of the left sphere is overlapped with the virtual image of the sphere center of the left eye eyeball; and adjusting the position of the right sphere where the right eye eyeball tracking module is positioned or adjusting the position of the right eye semi-transparent semi-reflective module according to the three-dimensional coordinates of the virtual image of the sphere center of the right eye eyeball so that the sphere center of the right sphere coincides with the virtual image of the sphere center of the right eye eyeball.
Preferably, the device also comprises a three-dimensional coordinate measuring device, which can measure the three-dimensional coordinates of the sphere center of the left eye eyeball and the sphere center of the right eye eyeball; the position of a left plane where the left eye eyeball tracking module is positioned or the position of the left eye semi-transparent semi-reflective module is adjusted according to the three-dimensional coordinates of the virtual image of the spherical center of the left eye eyeball, so that the point of a left plane (0, 0) is intersected with the vertical line of the left plane and the virtual image of the spherical center of the left eye eyeball, and D1 is equal to the distance between the point of the left plane (0, 0) and the virtual image of the spherical center of the left eye eyeball; and adjusting the position of a right plane where the right eye tracking module is located or adjusting the position of the right eye semi-transparent semi-reflective module according to the three-dimensional coordinates of the virtual image of the spherical center of the right eye eyeball, so that the point of the right plane (0, 0) is intersected with the vertical line of the plane and the virtual image of the spherical center of the right eye eyeball, and D2 is equal to the distance between the point of the right plane (0, 0) and the virtual image of the spherical center of the right eye eyeball.
Preferably, the three-dimensional coordinate measuring device comprises two cameras and two light sources; the relative positions of the two cameras, the two light sources, the display device, the left eye semi-transparent semi-reflective module and the right eye semi-transparent semi-reflective module are fixed;
the display device may display the optotype at two different positions;
the method comprises the steps that a left eye of a person to be detected respectively views two optotypes in a display mode, and three-dimensional coordinates of the sphere center of the eyeball of the left eye are calculated through images shot by a binocular camera;
the right eye of the testee respectively sees the two optotypes in the second display mode, and the three-dimensional coordinates of the sphere center of the eyeball of the right eye are calculated through the images shot by the binocular camera.
Preferably, a baffle which transmits near infrared light and does not transmit visible light is arranged between the left eye eyeball tracking module and the left eye; a baffle which transmits near infrared light and does not transmit visible light is arranged between the right eye eyeball tracking module and the right eye.
The invention has the beneficial effects that: the automatic quantitative eyeball movement measurement can be performed automatically, quickly, intuitively and accurately, and the time of doctors and testees is saved.
Drawings
FIG. 1 is a schematic illustration of the components of an apparatus in which an eye tracking module moves spherically;
FIG. 2 is a schematic diagram of measuring eye movement by movement of an eye tracking module;
FIGS. 3 (a) through 3 (c) are changes in the image of the eye area during the use of an automatic pupil center tracking algorithm;
FIG. 4 is a schematic illustration of the components of the apparatus wherein the eye tracking module moves along a plane;
FIG. 5 is a schematic diagram of the relative positions of a binocular camera, two light sources, a display and two eyes in a three dimensional coordinate measuring device;
fig. 6 is a schematic diagram of a three-dimensional coordinate measuring device calculating a line of sight.
Detailed Description
The application will be further illustrated with reference to specific examples. It is to be understood that these examples are illustrative of the present application and are not intended to limit the scope of the present application. Furthermore, it should be understood that various changes and modifications can be made by one skilled in the art after reading the teachings of the present application, and such equivalents are intended to fall within the scope of the application as defined in the appended claims.
Example 1
As shown in fig. 1, the eye movement measuring apparatus disclosed in this embodiment includes a left eye half mirror module 101, a movable left eye tracking module 102, a right eye half mirror module 103, a movable right eye tracking module 104, a display and control module (including a display 105 and a control device), a left liquid crystal shutter 106 between the left eye half mirror module 101 and the display 105, a right liquid crystal shutter 107 between the right eye half mirror module 103 and the display 105, and a head fixing device. Wherein:
The left eye tracking module 102 includes a near infrared camera (left eye camera) and a near infrared LED point light source (left eye light source), the wavelength of the near infrared light source is 940nm, and the relative positions of the left eye camera and the left eye light source are fixed. In this embodiment, the left eye light source is located 4cm directly above the left eye camera. The left-eye half-transmitting half-reflecting module 101 is a piece of planar sheet-shaped optical glass, and can transmit visible light and reflect near infrared light. In this embodiment, the left eye half mirror module 101 forms an angle of 45 ° with the line of sight when the left eye looks straight ahead. Thus, the display 105 can be seen by the left eye half mirror module 101, and the near infrared camera in the left eye tracking module 102 can capture a virtual image reflected by the left eye through the left eye half mirror module 101. The left eye light source irradiates the cornea of the left eye through the reflection of the left eye semi-transparent semi-reflective module and generates a left eye cornea reflecting point, and the left eye camera can shoot a virtual image of the left eye cornea reflecting point reflected by the left eye semi-transparent semi-reflective module.
In this embodiment, the left eye tracking module 102 can move along a spherical surface, which is called a left spherical surface, where the center of the left spherical surface is the position of the virtual image of the center of the left eye reflected by the left eye half mirror module 101, and the radius of the left spherical surface is 50cm in this embodiment. The position of the left eye tracking module 102 can be set in a spherical coordinate system with the virtual image of the center of the left eye as the center and 50cm as the radius Representing θ and->Is in units of angle. In this embodiment, the point on the spherical coordinate system (50,0,0) of the left eye tracking module 102 is directly left of the central virtual image of the left eye. Because the range of eye rotation of the human eye is limited, in this embodiment, the angular range of movement of left eye tracking module 102 on the left sphere is-60 + 60,the left eye tracking module 102 may move along a spherical surface in a rail or a robotic arm. In order to center the eye image and achieve a better shooting effect, when the left eye tracking module 102 moves along the left sphere, the axis of the left eye camera always faces the direction of the virtual image of the center of the left eye.
The right eye tracking module 104 includes a near infrared camera (right eye camera) and a near infrared LED point light source (right eye light source), the wavelength of the near infrared light source is 940nm, and the relative positions of the right eye camera and the right eye light source are fixed, in this embodiment, the right eye light source is located 4cm above the right eye camera. The right eye half-transmitting half-reflecting module 103 is a piece of planar sheet-shaped optical glass, and can transmit visible light and reflect near infrared light. In this embodiment, the right eye half mirror module 103 forms an angle of 45 ° with the line of sight when the right eye looks straight ahead. Thus, the display 105 can be seen by the right eye through the right eye half mirror module 103, and the near infrared camera in the right eye tracking module 104 can capture a virtual image reflected by the right eye through the right eye half mirror module 103. The right eye light source irradiates the cornea of the right eye through the reflection of the right eye semi-transparent semi-reflecting module and generates a right eye cornea reflecting point, and the right eye camera can shoot a virtual image of the right eye cornea reflecting point reflected by the right eye semi-transparent semi-reflecting module.
In this embodiment, the right eye tracking module 104 can move along a spherical surface, which is called a right spherical surface, and the center of the right spherical surface is the position of the virtual image of the center of the right eye, which is reflected by the right eye half mirror module 103, and the radius of the right spherical surface in this embodiment is 50cm. The right eye tracking module 104 may be positioned in a spherical coordinate system with a virtual image of the center of the right eye as the center of the sphere and a radius of 50cmRepresenting θ and->Is in units of angle. In this embodiment, the point on the spherical coordinate system (50,0,0) of the right eye tracking module 104 is directly right of the central virtual image of the right eye. Because the range of eye rotation of the human eye is limited, in this embodiment, the range of angles that the right eye tracking module 104 moves on the right sphere is-60 theta 60 deg.,the right eye tracking module 104 may move along a spherical surface in a rail or a robotic arm. To center the eye image for better capture, the right eye tracking module 104 moves along the left sphere with the axis of the right eye cameraAlways facing the direction of the virtual image of the sphere center of the eyeball of the right eye.
In this embodiment, the left eye tracking module 102 and the right eye tracking module 104 use an automatic pupil center tracking algorithm to make the center coordinates of the reflecting point of the left eye cornea of the left eye light source coincide with the center coordinates of the left eye pupil center, and make the center coordinates of the reflecting point of the right eye cornea of the right eye light source coincide with the center coordinates of the right eye pupil center; the direction of the camera is the vector direction of the connecting line from the central coordinate of the cornea reflecting point to the central coordinate of the pupil, and the camera stops moving until the cornea reflecting point and the pupil coincide again. The movement of the camera is automatically controlled by a program. Considering that the eyeball may have small shake, a certain noise may exist in the image acquisition, where the "coincidence" may be set so that the distance between the central coordinate of the reflection point of the cornea and the central coordinate of the pupil in the image is smaller than a certain pixel value, and in this embodiment, the coincidence is considered as being smaller than 2 pixels.
The display 105 in the display and control module is positioned directly in front of the subject's field of view, and the distance can be adjusted according to the test requirements. The display device in the display and control module may be a projector, a television, a printed pattern, a physical object, or the like, in addition to the display 105 written in the present embodiment. The left liquid crystal shutter 106 is located between the left eye half mirror module 101 and the display 105, and the right liquid crystal shutter 107 is located between the right eye half mirror module 103 and the display 105. The left liquid crystal shutter 106 is transparent when not energized and opaque when energized; the right liquid crystal shutter 107 is transparent when not energized and opaque when energized. In this embodiment, the display and control module can switch the following three display modes, namely, the first display mode by controlling the left liquid crystal shutter 106 and the right liquid crystal shutter 107: the left liquid crystal shutter 106 is transparent, the right liquid crystal shutter 107 is opaque, and only the content displayed by the left-eye-viewable display device is displayed in display mode two: the right liquid crystal shutter 107 is transparent, the left liquid crystal shutter 106 is opaque, and only the content displayed by the right-eye visual display device is displayed in the third display mode: both the left liquid crystal shutter 106 and the right liquid crystal shutter 107 are transparent, and the contents displayed by the display device are visible to both the left eye and the right eye.
The head fixing device comprises a lifting chin rest, the head fixing device comprises a left side column and a right side column, and eye standard height scale marks are arranged on the left side column and the right side column. In order to achieve the effect of stabilizing the head position, the head position fixing device further comprises a clamping belt for fixing the forehead, the chin of the tested person is placed on the chin rest, the forehead is against the clamping belt, and the chin rest is adjusted during testing to enable the eye height of the tested person to be equal to the standard height scale marks on the left side post and the right side post when the tested person looks straight ahead. A three-dimensional space coordinate system is established by taking the midpoint of a connecting line of standard height scale marks on the left side column and the right side column as an origin (approximately the position of the eyebrow of a detected person), the coordinates of the spherical centers of the eyeballs of the two eyes are 0 in the up-down direction, the pupil distance of the detected person is measured, or the positions of the center of the eyeballs of the left eye and the center of the eyeballs of the right eye in the left-right horizontal direction can be determined by adopting an average reference pupil distance of 6cm, in addition, the positions of the center of the eyeballs of the left eye and the center of the eyeballs of the right eye in the front-back direction are basically equal to the front-back position of the midpoint of a chin rest, and thus, the center position of the eyeballs of the left eye and the center position of the eyeballs of the right eye are positioned at a point determined in the three-dimensional space for the detected person. The center of the eyeball remains unchanged when the eyeball rotates in the horizontal direction around the vertical axis, rotates in the vertical direction around the horizontal axis, or rotates clockwise or counterclockwise around the front-back axis. Meanwhile, since the spatial positions of the left eye half mirror module 101 and the right eye half mirror module 103 are fixed, the virtual image of the center of the left eye reflected by the left eye half mirror module 101 is also fixed and remains unchanged when the left eye moves, and the virtual image of the center of the right eye reflected by the right eye half mirror module 103 is also fixed and remains unchanged when the right eye moves. The head fixation device is not shown in fig. 1.
The left spherical center of the left eye tracking module 102 coincides with the left eye center virtual image, and the right spherical center of the right eye tracking module 104 coincides with the right eye center virtual image.
In order to prevent the examinee from seeing the camera and other devices in the eye tracking module and interfering with the attention, the present embodiment further uses two baffles that transmit near infrared light and not transmit visible light, which are made of black acrylic materials, wherein one baffle is located between the left eye tracking module 102 and the left eye, and one baffle is located between the right eye tracking module 104 and the right eye. The baffle is not shown in fig. 1.
The apparatus in this embodiment further includes an electronic computer for running an automatic pupil center tracking algorithm in the eye tracking module, running a program for controlling the display content, running a program for controlling the opening and closing of the liquid crystal shutter, running a program for controlling the movement of the camera and calculating the movement angle of the camera, and the like.
The principle of the present device for measuring eye movement by movement of the eye tracking module is illustrated below. For convenience of description, only the left eye-related portion is drawn, as shown in FIG. 2, at T 1 At this time, the left eye is gazing at a visual mark at a certain designated position in front of the eye, and the viewing angle in the horizontal direction at this time is θ 1 The viewing angle in the vertical direction isThe left eye tracking module 102 causes the left eye light source to coincide with the left eye pupil center coordinate at the left eye cornea's glisten point center coordinate by an automatic pupil center tracking algorithm. Because there is an angle between the visual axis and the optical axis of the eyeball, i.e. Kappa angle, and the Kappa angle varies from person to person, the spherical coordinates of the left eye tracking module 102 and the actual left eye viewing angle may not completely coincide, and the spherical coordinates of the left eye tracking module are recorded at this timeThe left eye tracking module 102 is positioned at θ in FIG. 2 2 Is a top view, only the horizontal position projection can be seen. Then, at T 2 At the moment, the eyeball of the left eye moves upwards and rightwards to move to the visual angle theta in the horizontal direction 3 Viewing angle in vertical direction->The left eye tracking module 102 enables the center coordinates of the reflecting point of the left eye cornea of the left eye light source to coincide with the center coordinates of the left eye pupil through an automatic pupil center tracking algorithm, and records the spherical coordinates of the left eye tracking module at the momentTheta in figure 2 4 Is a top view, only the horizontal position projection can be seen. The angle of rotation of the left eye eyeball and the angle of rotation of the virtual image of the left eye eyeball are the same, so that 4 -θ 2 ＝θ 3 -θ 1 ，/>Thus, by calculating the left eye tracking module 102 at T 2 Time and T 1 Difference theta of horizontal angle of spherical coordinates of time 4 -θ 2 The angle theta of the horizontal movement of the left eye eyeball can be obtained 3 -θ 1 The method comprises the steps of carrying out a first treatment on the surface of the By calculating the left eye tracking module 102 at T 2 Time and T 1 Difference in vertical angle of spherical coordinates at time +.>The angle of vertical movement of the left eye's eyeball can be obtained>Because the left eye tracking module captures the left eye image through the virtual image reflected by the semi-transparent semi-reflective module, the direction of rotation of the left eye in the horizontal direction of the left sphere is opposite to the direction of rotation of the left eye tracking module in the horizontal direction of the left sphere, for example, when the left eye rotates clockwise, as viewed from above, the left eye tracking module rotates counterclockwise on the left sphere. Therefore, the angle change value of the left eye eyeball horizontal direction clockwise when calculating the angle difference is equal to the angle change value of the left eye eyeball tracking module horizontal direction anticlockwise.
In this example, the automatic pupil center tracking algorithm works as follows: the left eye camera in the left eye tracking module 102 captures an image of the left eye region by reflection from the left eye half mirror module 101, and the left eye light source generates a corneal reflection point by reflection from the outer surface of the left eye cornea. According to the characteristic of low gray level of pupil area, a gray level higher than pupil and lower than surrounding iris is set A gray threshold for gray level of the skin area, the area below which is marked as a possible pupil area; and then setting an area threshold value for eliminating small black object interference such as eyelashes, so as to determine the accurate area where the pupil is located and calculate the coordinates of the center of the pupil area. Because the left eye cornea glistening point has high brightness, the gray level can reach 255, the position of the cornea glistening point can be found according to the characteristic (if more than one gray level 255 luminous point exists in the image, for example, a sclera possibly has some interference glistening points, one closest to the pupil area is selected from a plurality of luminous points to be the cornea glistening point), and the coordinate of the center of the cornea glistening point is calculated. If the central coordinates of the cornea reflecting point and the central coordinates of the pupil at the initial positions are not coincident, the left eye tracking module 102 is moved along the vector direction from the central coordinates of the cornea reflecting point to the connecting line of the central coordinates of the pupil, and the distance between the center of the cornea reflecting point and the center of the pupil gradually becomes smaller in the moving process until the central coordinates of the cornea reflecting point and the center of the pupil are coincident again. At T 1 The left eye cornea glint center and the pupil center coincide at the moment, as shown in fig. 3 (a), when the left eye tracking module 102 is located at the spherical coordinates Is a position of (c). At T 2 At the moment, the eyeball of the left eye moves to the right in the horizontal direction by theta 3 -θ 1 Is moved upwards in the vertical direction by +.>Is a function of the angle of (a). Because the eye rotates at a fast speed, the left eye tracking module remains at +.>The center of the cornea reflecting point and the center of the pupil are not coincident any more, because the left eye image captured by the left camera is a virtual image reflected by the left eye half mirror 101 by plane mirror imaging, and the center of the pupil is located on the upper right side of the center of the cornea reflecting point in the image, as shown in fig. 3 (b); the automatic pupil center tracking algorithm program then detects the pupil centerSince the centers of the glistenings are not coincident, the left eye tracking module 102 is controlled to move upward and rightward (the "upper right" is the viewing angle from the center of the left sphere to the virtual image of the left eye) until the center of the glistenings of the left eye cornea and the center of the left eye pupil are coincident again, as shown in fig. 3 (c), at this time, the left eye tracking module 102 is located at the spherical coordinates->Is a position of (c).
Similarly, the eye movement of the right eye can also be calculated by the movement of the right eye tracking module.
Thus, the device can realize the following steps: according to the angle of the left eye tracking module 102 moving along the left sphere, the angle of the left eye rotating in the horizontal direction and the angle of the left eye rotating in the vertical direction can be calculated; based on the angle at which the right eye tracking module 104 moves along the right sphere, the angle at which the right eye rotates in the horizontal direction and the angle at which the right eye rotates in the vertical direction can be calculated.
In addition, the visual angle of the eyeball can be calculated through single-point calibration. The method comprises the following steps:
a horizontal viewing angle of θ at left eye l1 And the vertical viewing angle isAt the time of the optotype of (2), the spherical coordinates of the left eye tracking module 102 at this time are recorded +.>Calculation of Δθ l1 ＝θ l1 ’-θ l1 ，/>Subtracting delta theta from the horizontal angle value and the vertical angle value in the spherical coordinates of the left eye tracking module after the left eye moves l1 And->A horizontal viewing angle and a vertical viewing angle of the left eye can be obtained.
The horizontal viewing angle is theta at the right eye r1 And the vertical viewing angle isAt this time, the spherical coordinates +.>Calculation of Δθ r1 ＝θ r1 ’-θ r1 ，/>The measured horizontal and vertical angle values in the spherical coordinates of the right eye tracking module 104 are subtracted by Δθ after the right eye moves r1 Anda horizontal viewing angle and a vertical viewing angle of the right eye can be obtained.
In this embodiment, taking the left-eye single-point calibration as an example, the calibration optotype is an optotype with a horizontal viewing angle of 0 ° and a vertical viewing angle of 0 ° on the display. The spherical coordinates (50, 4 degrees, 3 degrees) of the left eye tracking module at the moment are recorded, and then delta theta is recorded l1 ＝4°，The horizontal angle value and the vertical angle value of the measured spherical coordinates of the left eye tracking module 101 are subtracted by 4 ° and 3 ° after the left eye moves, so that the horizontal angle and the vertical angle of the left eye can be obtained.
In addition, each eye tracking module of this embodiment uses only one near infrared camera and one near infrared light source. In other embodiments, multiple near infrared light sources may be used in some cases, such as multiple light sources that each produce a corneal glint, and the average of the central coordinates of the multiple corneal glints may be taken as the central coordinates of the corneal glints and made coincident with the pupil center. Multiple near infrared cameras may also be used in some cases, where the eye image of only one of the cameras is taken to calculate if the pupil center and the corneal glint center coincide.
Example two
In this embodiment, left eye tracking module 102 and right eye tracking module 104 may also move along a plane. Other device compositions and operating principles are similar to the embodiments.
As shown in fig. 4, left eye tracking module 102 may be movable along a left plane. When the left eye looks straight ahead and the horizontal direction visual angle and the vertical direction visual angle are both 0 degrees, the visual axes of the left plane and the left eye eyeball virtual image are vertical. The perpendicular to the left plane passing through the point of the left plane (0, 0) intersects the virtual image of the center of the left eye's sphere. The distance between the left plane and the virtual image of the center of the left eye's eyeball is D1.
In this embodiment, the distance D1 between the left plane and the virtual image of the center of the left eye eyeball is equal to the distance D2 between the right plane and the virtual image of the center of the right eye eyeball, and is 50cm.
When the left eye tracking module 102 moves along the left plane, the axis of the left eye camera always faces to the virtual image of the sphere center of the left eye; the axis of the right eye camera always faces the virtual image of the center of the right eye as the right eye tracking module 104 moves along the right plane.
Based on the angle at which the left eye tracking module 102 moves along the left plane, the angle at which the left eye rotates in the horizontal direction and the angle at which the left eye rotates in the vertical direction can be calculated. The calculation method is as follows: let the vertical line of the left plane passing through the point of the left plane (0, 0) be "0 ° vertical line", which is the line connecting the point of the left plane (0, 0) and the central virtual image of the left eye eyeball. Let the coordinates in the left plane before the movement of the left eye tracking module 102 be (XL 1 ,YL 1 ) The horizontal angle between the connection line of the left eye tracking module and the central virtual image of the left eye and the vertical line of 0 DEG is arctan (XL) 1 /D1), the vertical angle is arctan (YL) 1 /D1). Let the coordinates in the left plane after the movement of the left eye tracking module 102 be (XL) 2 ,YL 2 ) The horizontal angle between the line connecting the left eye tracking module 102 and the central virtual image of the left eye and the "0 ° vertical line" is arctan (XL) 2 /D1), the vertical angle is arctan (YL) 2 /D1). Left eye tracking module102 after the movement, the angle of the horizontal movement is arctan (XL) 2 /D1)-arctan(XL 1 /D1), the angle of the vertical movement is arctan (YL) 2 /D1)-arctan(YL 1 /D1)。
Similarly, according to the angle of movement of the right eye tracking module 104 along the right plane, the angle of rotation of the right eye in the horizontal direction and the angle of rotation in the vertical direction can be calculated.
The visual angle of the eyeball can be calculated through single-point calibration:
a horizontal viewing angle of θ at left eye l2 And the vertical viewing angle isAccording to the included angle between the left eye tracking module 102 and the left plane '0 DEG vertical line', calculating the left plane angle coordinate of the left eye tracking module 102 at the moment>And calculate Δθ l2 ＝θl2’-θ l2 ，/>The measured horizontal and vertical angle values in the left plane coordinates of left eye tracking module 102 are subtracted by Δθ after the left eye moves, respectively l2 And->A horizontal viewing angle and a vertical viewing angle of the left eye can be obtained.
The horizontal viewing angle is theta at the right eye r2 And the vertical viewing angle isAccording to the included angle between the right eye tracking module 104 and the right plane '0 DEG vertical line', the right plane angle coordinate of the right eye tracking module 104 is calculated at this time>And calculates deltaθ r2 ＝θ r2 ’-θ r2 ，/>The measured horizontal and vertical angle values in the right plane coordinates of the right eye tracking module 104 are subtracted by Δθ after the right eye moves, respectively r2 And->A horizontal viewing angle and a vertical viewing angle of the right eye can be obtained.
Example III
The device in this embodiment further includes a strabismus measurement module based on the device in the first embodiment. The strabism measuring module is a program running on an electronic computer of the device, and can judge whether strabismus exists in a tested person according to eyeball movement measuring data, if strabismus exists, the type of strabismus, the direction of strabismus and the strabismus degree are judged.
In medicine, strabismus can be classified as follows: the control of eye deviation from the fusion function can be categorized into strabismus and strabismus. Classification from gaze conditions can be divided into monocular strabismus and alternating strabismus. Directions from eye deflection can be classified into horizontal strabismus, vertical strabismus, and rotational strabismus.
And (5) displaying strabismus: also known as dominant strabismus, is an eye deviation that cannot be controlled by the fusion mechanism.
Invisible strabismus: also known as implicit strabismus, or synclinism, is a potential eye deviation that can be controlled by the fusion mechanism, which occurs only when the fusion is broken.
Monocular strabismus: strabismus exists only at a certain eye.
Alternate strabismus: the eyes can autonomously alternate fixation.
Horizontal strabismus: oblique view in the horizontal direction, in which inward (nasal side) is inclined to inward oblique view and outward (temporal side) is inclined to outward oblique view.
Vertical strabismus: oblique view in the vertical direction.
Mixed strabismus: containing two or more components.
The strabismus measuring module is arranged to perform the steps of:
(a) The display and control module is switched to a first display mode, and only the strabismus measuring optotype displayed on the left-eye visible display device is displayed; when the left eye looks at the optotype, the central coordinate of the reflecting point of the left eye cornea and the central coordinate of the left eye pupil are overlapped by the left eye light source, and the position EF of the left eye tracking module is recorded 1 The central coordinates of the reflecting point of the right eye cornea and the central coordinates of the right eye pupil are overlapped with each other, and the position EG of the right eye eyeball tracking module is recorded 1 The method comprises the steps of carrying out a first treatment on the surface of the Setting two angle thresholds TH 1 And TH 2 Wherein TH is as follows 2 ≥TH 1 。TH 1 Is a small angular threshold, since the eye may experience slight jitter when looking at the optotype, the spontaneous slight jitter vision variation is mostly within 1 viewing angle, and in this embodiment, the threshold TH is set 1 Is 1 deg.. TH (TH) 2 Is a ratio TH 1 A larger angle threshold, beyond which the viewing angle deviation is determined to be strabismus, is set as threshold TH in this embodiment 2 Is 2 deg..
(b) The display and control module is switched into a display mode III, so that the strabismus measurement optotype displayed by the display device can be seen by both left eyes and right eyes, and the display position of the optotype is unchanged; when eyes watch the optotype, the central coordinates of the reflecting point of the cornea of the left eye and the central coordinates of the pupil of the left eye are overlapped, and the position EF of the left eye tracking module 102 is recorded 2 The method comprises the steps of carrying out a first treatment on the surface of the The center coordinates of the reflecting point of the right eye cornea and the center coordinates of the right eye pupil are overlapped with each other, and the position EG of the right eye tracking module 104 is recorded 2 ；
Such as |EF 2 -EF 1 |＜TH 1 And |EG 2 -EG 1 |＜TH 1 The result is denoted as B1;
such as |EF 2 -EF 1 |＜TH 1 And |EG 2 -EG 1 |≥TH 2 The result is denoted as B2;
such as |EF 2 -EF 1 |≥TH 2 And |EG 2 -EG 1 |≥TH 2 The result is denoted as B3;
wherein EF is set 1 The position of (2) isEF 2 The position of (2) is +.>(θ 2 -θ 1 ) For the corresponding angle of movement of the eye tracking module in the horizontal direction (also reflecting the angle of rotation of the eye in the horizontal direction),>for the angle of movement of the corresponding eye tracking module in the vertical direction (also reflecting the angle of rotation of the eye in the vertical direction), we define |EF 2 -EF 1 I isThe other symbols "||" indicating the change in the rotation angle in this embodiment are the same as those.
(c) The display and control module is switched into a second display mode, and only the strabismus measurement optotype displayed on the right-eye visible display device is displayed, so that the display position of the optotype is unchanged; when the right eye looks at the optotype, the center coordinates of the reflecting point of the cornea of the right eye and the center coordinates of the pupil of the right eye are overlapped, and the position EG of the right eye tracking module 104 is recorded 3 The center coordinates of the reflecting point of the left eye cornea and the center coordinates of the left eye pupil are overlapped, and the position EF of the left eye tracking module 102 is recorded 3 ；
Such as |EF 3 -EF 2 |＜TH 1 And |EG 3 -EG 2 |＜TH 1 The result is denoted as C1;
such as |EF 3 -EF 2 |≥TH 2 And |EG 3 -EG 2 |＜TH 1 The result is denoted as C2;
such as |EF 3 -EF 2 |≥TH 2 And |EG 3 -EG 2 |≥TH 2 The result is denoted as C3;
(d) The display and control module is switched to a third display mode and a left display modeThe strabismus measuring sighting target displayed by the visual display device is visible to eyes and right eyes, and the display position of the sighting target is unchanged; when eyes watch the optotype, the central coordinates of the reflecting point of the cornea of the left eye and the central coordinates of the pupil of the left eye are overlapped, and the position EF of the left eye tracking module 102 is recorded 4 The method comprises the steps of carrying out a first treatment on the surface of the The center coordinates of the reflecting point of the right eye cornea and the center coordinates of the right eye pupil are overlapped with each other, and the position EG of the right eye tracking module 104 is recorded 4 ；
Such as |EF 4 -EF 3 |＜TH 1 And |EG 4 -EG 3 |＜TH 1 The result is denoted as D1;
such as |EF 4 -EF 3 |≥TH 2 And |EG 4 -EG 3 |＜TH 1 The result is denoted as D2;
such as |EF 4 -EF 3 |≥TH 2 And |EG 4 -EG 3 |≥TH 2 The result is denoted as D3;
(e) After the steps are finished, B1, C1 and D1 are satisfied simultaneously, so that no strabismus is displayed and no strabismus is hidden;
and B2, C2 and D2 are satisfied simultaneously, which shows that there is a hidden strabismus, and the strabismus degree is |EG 2 -EG 1 I or I EF 3 -EF 2 I or I EF 4 -EF 3 Triangular prism degree converted by angle corresponding to I, EG 2 -EG 1 |、|EF 3 -EF 2 |、|EF 4 -EF 3 The values of the three are equal;
if B1, C3 and D1 are satisfied at the same time, it is judged that alternate strabismus is displayed, and the strabismus degree is |EF 3 -EF 2 The triangular prism degree converted by the angle corresponding to the I;
If B3, C1 and D1 are satisfied simultaneously, it is judged that monocular strabismus is displayed, the left eye is strabismus, the strabismus direction is the eyeball movement direction corresponding to the direction of EF1 towards EF2, and the strabismus degree is |EF 2 -EF 1 The triangular prism degree converted by the angle corresponding to the I;
the conditions of B1, C3 and D3 are satisfied at the same time, and monocular strabismus is judged, the right eye is strabismus eye, and the strabismus direction is EG 3 Towards EG 4 Eyeball corresponding to the direction of (2)Direction of motion, strabismus degree is |EG 4 -EG 3 The angle corresponding to the I is converted into the triangular prism degree.
If the type of strabismus is horizontal strabismus, the horizontal strabismus is the triple prism converted by the moving angle of the corresponding eyeball tracking module; if the strabismus type is vertical strabismus, the vertical direction strabismus degree is the triple prism degree converted by the corresponding eyeball tracking module moving angle; if the strabismus type is a mixed strabismus of a horizontal direction and a vertical direction, the movement angle of the corresponding eyeball tracking module can be decomposed into a horizontal component and a vertical component, then the horizontal component is converted into a triple prism as the horizontal direction strabismus, and the vertical component is converted into the triple prism as the vertical direction strabismus.
(f) After the strabismus direction and the strabismus degree are measured, a triangular prism with corresponding degrees is placed in front of the strabismus eye, and measurement is performed again; if the movement angles of the left eye tracking module and the right eye tracking module are smaller than TH in each step when the measurement is carried out again 1 It was confirmed that the degree of triple prism at this time was the degree of oblique viewing.
For example, a specific procedure for a strabismus subject to make strabismus measurement using the present apparatus is as follows:
the display and control module uses a projector to display a strabismus measuring sighting target at a position which is 6m away and parallel to the sight line and is positioned at the middle position. The other modules are the same as in the first embodiment. Since the distance is long at this time, the visual lines of the left eye and the right eye are approximately parallel, and the horizontal direction and the vertical direction in which the measurement optotype is located are both viewing angles of 0 °.
Firstly, the display and control module is switched into a first display mode, and only the left eye can see the strabismus measuring optotype, and at the moment, the visual angle of the left eye eyeball is (0, 0). The central coordinates of the reflecting point of the left eye cornea and the central coordinates of the left eye pupil are overlapped, and the position of the left eye eyeball tracking module 102 on the left sphere at the moment is recordedThe left eye tracking module 102 is now positioned on the left sphere (50,3,2) due to the Kappa angle.
In this embodiment, a positive value of θ indicates a counterclockwise direction when viewed from the top,the positive value of (2) indicates that it is in the upper hemisphere of the sphere. While recording the position of the right eye tracking module 104 on the right sphere at this time.
And then the display and control module is switched into a display mode III, the binocular strabismus measurement optotype is visible, and the display position of the optotype is unchanged. The left eye tracking module 102 moves (50,9,2) using the automatic pupil center tracking algorithm, meaning that the left eye tracking module 102 has moved 6 ° counterclockwise, and correspondingly, the left eye has rotated 6 ° clockwise (horizontal to the right). At the same time the device records that the right eye tracking module 104 is also moving 6 counterclockwise on the right sphere, and as a result B3.
And then the display and control module is switched to a second display mode, only the right eye can see the strabismus measuring optotype, and the display position of the optotype is unchanged. In this process, neither left eye tracking module 102 nor right eye tracking module 104 is moving, or the angle of movement is less than 1 °, and the result is denoted as C1.
And then the display and control module is switched into a display mode III, the strabismus measuring optotype is visible for both left eyes and right eyes, and the display position of the optotype is unchanged. In this process, neither left eye tracking module 102 nor right eye tracking module 104 is moving, or the angle of movement is less than 1 °, and as a result is denoted as D1.
In summary, since B3, C1, and D1 are satisfied simultaneously, it is determined that monocular strabismus is displayed, the left eye is strabismus, the direction of strabismus is strabismus (internal strabismus) of the left eye in the horizontal right direction, and the strabismus degree is a triple prism degree converted by 6 °. The degree of oblique viewing was calculated as 10.5PD by converting the formula "triple prism=100×tan (angle)" into the degree of oblique viewing in units of triple Prism (PD).
Finally, in order to verify the accuracy of strabismus measurement, a prism with corresponding degree is placed in front of the left eye, and the measurement is performed again. When re-measuring, the moving angles of the left eye tracking module and the right eye tracking module are smaller than TH 1 Then confirm at this timeThe triangular prism power is the oblique vision.
In addition, if the oblique view is required to be measured in different directions, the above steps can be repeated by displaying the measurement optotype in different directions of the display device. If the oblique vision is required to be measured at different distances, the distance between the display device and the eyes can be adjusted, and the distance adjustment range is generally between 30cm and 6 meters; the display device distance may also be constant, with different display distances being simulated by adjustable lenses or lens groups.
Example IV
The device can also measure the rotation of the eyeball around the front-back axis in a clockwise or anticlockwise direction. The hardware components of the device are the same as those of the first embodiment. In addition, left eye tracking module 102 may identify features of the left eye iris and calculate an angle of left eye rotation based on changes in the left eye iris features; the right eye tracking module 104 may identify characteristics of the right eye iris and calculate the angle of rotation of the right eye based on changes in the characteristics of the right eye iris.
In this embodiment, an automatic pupil center tracking algorithm is used to make the center of the cornea reflection point coincide with the center of the pupil, and then according to the characteristics that the gray scale of the iris is larger than the pupil but smaller than the sclera, an annular area where the iris is located is found and the size and shape of the annular area are normalized. And then calculating the left-eye iris texture angle characteristic according to the left-eye image gradient, and calculating the right-eye iris texture angle characteristic according to the right-eye image gradient. The iris texture angle characteristic of the left eye is set as a left eye 0 degree rotation angle when only the visual target is visible for the left eye, if the iris texture angle characteristic of the left eye changes at a later moment, the angle difference value of the left eye 0 degree rotation angle is the rotation angle of the left eye eyeball around the front and back axes. The iris texture angle characteristic of the right eye is set as a 0-degree rotation angle of the right eye when the visual target is visible only for the right eye, if the iris texture angle characteristic of the right eye changes at a later moment, the angle difference value of the 0-degree rotation angle of the right eye is the rotation angle of the eyeball of the right eye around the front and back axes.
The embodiment also comprises a rotary strabismus measuring module which is a program running on the electronic computer of the device, and can judge whether the testee has rotary strabismus according to eyeball movement measuring data, and if the testee has the rotary strabismus, the type of the rotary strabismus, the direction of the rotary strabismus and the rotary strabismus degree are judged.
The rotational strabismus measuring module is arranged to perform the steps of:
(a) The display and control module is switched to a first display mode, and only the strabismus measuring optotype displayed on the left-eye visible display device is displayed; when the left eye looks at the optotype, the characteristics of the left eye iris and the corresponding left eye iris angle HJ are recorded 1 Recording the characteristics of the right eye iris and the corresponding right eye iris angle HK 1 The method comprises the steps of carrying out a first treatment on the surface of the Setting two angle thresholds TH 3 And TH 4 Wherein TH is as follows 4 ≥TH 3 。TH 3 Is a small angular threshold, since there may be a slight rotational change in the eye when looking at the optotype, the spontaneous slight rotational change is mostly within 1 viewing angle, in this embodiment threshold TH 3 Is 1 deg.. TH (TH) 4 Is a ratio TH 3 A larger angle threshold value, beyond which the rotary strabismus is determined, in this embodiment, a threshold value TH is set 4 Is 2 deg..
(b) The display and control module is switched into a display mode III, so that the strabismus measurement optotype displayed by the display device can be seen by both left eyes and right eyes, and the display position of the optotype is unchanged; recording the characteristics of the iris of the left eye and the corresponding angle HJ of the iris of the left eye 2 The method comprises the steps of carrying out a first treatment on the surface of the Recording the characteristics of the iris of the right eye and the corresponding right eye angle HK 2 ；
For example |HJ 2 -HJ 1 |＜TH 3 And |HK 2 -HK 1 |＜TH 3 The result is denoted as B4;
for example |HJ 2 -HJ 1 |＜TH 3 And |HK 2 -HK 1 |≥TH 4 The result is denoted as B5;
for example |HJ 2 -HJ 1 |≥TH 4 And |HK 2 -HK 1 |≥TH 4 The result is denoted as B6;
wherein, |HJ 2 -HJ 1 And I is the absolute value of the angle change of the rotation of the eyeball iris. Other symbols indicating the change of the rotation angle in this embodiment have the meaning of "| | |The same applies to this.
(c) The display and control module is switched into a second display mode, and only the strabismus measurement optotype displayed on the right-eye visible display device is displayed, so that the display position of the optotype is unchanged; recording the characteristics of the right eye iris and the corresponding right eye iris angle HK 3 Recording the characteristics of the left eye iris and the corresponding left eye iris angle HJ 3 ；
For example |HJ 3 -HJ 2 |＜TH 3 And |HK 3 -HK 2 |＜TH 3 The result is marked as C4;
for example |HJ 3 -HJ 2 |≥TH 4 And |HK 3 -HK 2 |＜TH 3 The result is marked as C5;
for example |HJ 3 -HJ 2 |≥TH 4 And |HK 3 -HK 2 |≥TH 4 The result is marked as C6;
(d) The display and control module is switched into a display mode III, so that the strabismus measurement optotype displayed by the display device can be seen by both left eyes and right eyes, and the display position of the optotype is unchanged; recording the characteristics of the iris of the left eye and the corresponding angle HJ of the iris of the left eye 4 The method comprises the steps of carrying out a first treatment on the surface of the Recording the characteristics of the right eye iris and the corresponding right eye iris angle HK 4 ；
For example |HJ 4 -HJ 3 |＜TH 3 And |HK4-HK3| < TH 3 The result is denoted as D4;
For example |HJ 4 -HJ 3 |≥TH 4 And |HK4-HK3| < TH 3 The result is denoted as D5;
for example |HJ 4 -HJ 3 |≥TH 4 And |HK4-HK3| is not less than TH 4 The result is denoted as D6;
(e) After the steps are finished, B4, C4 and D4 are satisfied simultaneously, so that no explicit rotary strabismus or implicit rotary strabismus is indicated;
and B5, C5 and D5 are satisfied synchronously, which shows that the hidden rotary strabismus exists, and the rotary strabismus degree is |HK 2 -HK 1 I or i HJ 3 -HJ 2 I or i HJ 4 -HJ 3 Angle corresponding to HK 2 -HK 1 |、|HJ 3 -HJ 2 |、|HJ 4 -HJ 3 These three angles are equal values;
the synchronous conditions of B4, C6 and D4 are satisfied, and the alternate dominant rotary strabismus is judged, and the rotary strabismus degree is |HJ 3 -HJ 2 Angle corresponding to the I;
and B6, C4 and D4 are satisfied synchronously, monocular dominant rotary strabismus is judged, the left eye is strabismus eye, and the rotary strabismus degree is |HJ 2 -HJ 1 The angle corresponding to the I, the direction of the rotary strabismus is HJ 1 Steering HJ 2 Opposite direction (because the captured image is a planar reflected virtual image, the direction of rotation is opposite, e.g., the iris of an eyeball is rotated clockwise, the captured image is rotated counterclockwise);
and B4, C6 and D6 are satisfied synchronously, it is judged that monocular dominant rotary strabismus exists, the right eye is strabismus eye, and the rotary strabismus degree is |HK 4 -HK 3 The angle corresponding to the I, the direction of the rotary strabismus is HK 3 Steering HK 4 Opposite to the direction of (a).
Example five
The device needs to match the moving surface of the eyeball tracking module with the virtual image position of the eyeball center as much as possible, and the more accurate the position matching is, the more accurate the eyeball motion measurement is. The first embodiment uses the head fixing device, the position of the center of the eyeball is estimated according to the eye position observed by naked eyes and the experience value of the eyeball size, which is basically accurate, but has a certain error, because the eyeball motion is measured by using the device and mainly changes according to the relative angle before and after the movement, the tiny error of the eyeball center position estimation has little influence on the measurement result in general.
In some situations, it may be desirable to achieve a high degree of accuracy in measuring the eye movement and the position of the center of the eye. In order to eliminate the measurement errors of the eyeball center position and the eyeball movement caused by the difference of interpupillary distance or eyeball size from person to person, the device can use a three-dimensional coordinate measuring device and a corresponding measuring method to measure the three-dimensional coordinates of the left-eye eyeball center and the right-eye eyeball center.
If the eyeball tracking module moves along the spherical surface, the position of the left spherical surface where the left-eye eyeball tracking module 102 is positioned or the position of the left-eye semi-transparent semi-reflective module 101 is adjusted according to the three-dimensional coordinate of the virtual image of the spherical center of the left-eye eyeball, so that the spherical center of the left spherical surface is overlapped with the virtual image of the spherical center of the left-eye eyeball; the position of the right sphere where the right eye tracking module 104 is located or the position of the right eye semi-transparent semi-reflective module 103 is adjusted according to the three-dimensional coordinates of the virtual image of the sphere center of the right eye, so that the sphere center of the right sphere coincides with the virtual image of the sphere center of the right eye.
If the eyeball tracking module moves along the plane, the position of the left plane where the left-eye eyeball tracking module 102 is positioned or the position of the left-eye semi-transparent semi-reflecting module 101 is adjusted according to the three-dimensional coordinate of the center of the left-eye eyeball, so that the point of the left plane (0, 0) is intersected with the perpendicular line of the left plane and the virtual image of the center of the left-eye eyeball, and D1 is equal to the distance between the point of the left plane (0, 0) and the virtual image of the center of the left-eye eyeball; the position of the right plane where the right eye tracking module 104 is located or the position of the right eye semi-transparent semi-reflective module 103 is adjusted according to the three-dimensional coordinates of the center of the right eye eyeball, so that the point of the right plane (0, 0) intersects with the perpendicular line of the plane and the virtual image of the center of the right eye eyeball, and D2 is equal to the distance between the point of the right plane (0, 0) and the virtual image of the center of the right eye eyeball.
Taking the case that the eyeball tracking module moves along the spherical surface as an example, one specific implementation mode is as follows:
as shown in fig. 5, the three-dimensional coordinate measuring device is composed of a binocular camera 108 and a right camera 109, respectively, and two light sources 111, respectively, which are a left light source 110 and a right light source 110, and can emit white visible light, which is a point light source, located on both sides of the binocular camera. The display device in the display and control module is a display, and can display the optotype at different positions. The three-dimensional coordinate measuring device is positioned below the display, and the relative positions of each component part of the three-dimensional coordinate measuring device, the display, the left eye semi-transparent semi-reflective module, the right eye semi-transparent semi-reflective module and the head fixing device are known. The three-dimensional coordinate measuring device measures the three-dimensional coordinate of the sphere center of the eyeball, which comprises the following steps:
(a) Taking the measurement of the sphere center of the eyeball of the left eye as an example, the left liquid crystal shutter 106 is first made transparent, the right liquid crystal shutter 107 is made opaque, and a visual target is displayed at a point Q on the left side of the display 105, so that the subject is examinedThe head of the person is placed on the head-fixing support, and the left eye looks at the sighting mark. According to the binocular vision three-dimensional space positioning principle, the left eye pupil center P can be measured by a binocular camera 1 Is a three-dimensional space coordinate of (c).
(b) As shown in fig. 6, there is a spherical surface on the outer side of the pupil, and the surface of the cornea of the human eye is regarded as a convex mirror, and a virtual image is formed on the other side of the convex mirror by reflection of the point light source by the convex mirror. Based on the principle of optical imaging it is known that the position of the virtual image is determined by the position of the light source and the convex mirror, independently of the position of the observer (i.e. independently of the position of the camera). In addition, a space straight line formed by connecting the point light source and the virtual image passes through the sphere center of the sphere where the convex mirror is positioned. When a person to be examined looks at the sighting mark point Q, based on the optical principle of the convex mirror reflection imaging of the point light sources and the binocular vision three-dimensional space positioning principle, the three-dimensional space position of the two point light sources is set as R 1 And R is 2 The three-dimensional space position of the virtual images of the two reflection points of the cornea surface can be calculated to be R 1 ' and R 2 ’。R 1 -R 1 ' connection and R 2 -R 2 The' line intersects the center of sphere O of the sphere where the corneal surface is located c . In addition, the pupil center P has been measured in the last step 1 Is a three-dimensional coordinate of (c). P (P) 1 And O c The line of (a) is the left eye optical axis line, the optical axis line P 1 -O c Through the sphere center O of the left eye eyeball e 。
(c) Then another sighting mark is displayed at a point S on the right side of the display, so that the head of the testee is placed on the head fixing support by the testee, the left eye looks at the sighting mark, and therefore, when the sighting mark point is changed, only the eyeballs rotate, and the position of the head is kept unchanged. The straight line of the optical axis of the left eye at this time can be obtained by the same method and also passes through the center of sphere O of the left eye e The optical axis line and the line P obtained in the previous step 1 -O c The intersection point of (2) is the sphere center O of the left eye eyeball e Is a three-dimensional coordinate of (c).
(d) The right liquid crystal shutter 107 is made transparent, the left liquid crystal shutter 106 is made opaque, and the optotype is displayed on the left and right sides of the display 105, respectively, and the three-dimensional coordinates of the center of the sphere of the right eye can be obtained by the same principle as in the previous step.
(e) The three-dimensional coordinates of the virtual image of the sphere center of the left eye eyeball are calculated according to the three-dimensional coordinates of the sphere center of the left eye eyeball obtained in the above steps and the three-dimensional space position of the left eye semi-transparent semi-reflective module 101. If the three-dimensional coordinates of the center of the sphere on which the left eye tracking module 102 is located and the virtual image of the center of the left eye are not consistent, the three-dimensional coordinates of the sphere center of the sphere where the left eye tracking module 102 is located and the three-dimensional coordinates of the virtual image of the sphere center of the left eye are consistent by adjusting the position of the sphere where the left eye tracking module 102 is located or adjusting the position of the left eye semi-transparent semi-reflective module 101.
(f) And calculating the three-dimensional coordinates of the virtual image of the sphere center of the right eye eyeball according to the three-dimensional coordinates of the sphere center of the right eye eyeball obtained by the steps and the three-dimensional space position of the right eye semi-transparent semi-reflecting module 103. If the three-dimensional coordinates of the center of the sphere on which the right eye tracking module 104 is located and the virtual image of the center of the right eye are not consistent, the three-dimensional coordinates of the sphere center of the sphere where the right eye tracking module 104 is located and the three-dimensional coordinates of the virtual image of the sphere center of the right eye are consistent by adjusting the position of the sphere where the right eye tracking module 104 is located or adjusting the position of the right eye semi-transparent semi-reflective module 103.

Claims (26)

1. An eye movement measurement apparatus, comprising:
the left eye semi-transparent and semi-reflective module is in a plane sheet shape, can transmit visible light and reflect near infrared light;
a movable left eye tracking module comprising at least one near infrared camera, being a left eye camera; comprises at least one near infrared light source which is a left eye light source; the relative positions of the left eye camera and the left eye light source are fixed; the left eye camera can shoot an image of a left eye region through the left eye semi-transparent semi-reflective module; and the center coordinates of pupils of the left eye can be calculated; the left eye camera can shoot the reflection point of the left eye light source on the left eye cornea through the left eye semi-transparent semi-reflective module; and the center coordinates of the reflecting points of the left cornea can be calculated; the left eye tracking module can move to a corresponding position, so that in an image shot by the left eye camera, the center coordinates of a reflecting point of a left eye cornea of the left eye and the center coordinates of a left eye pupil coincide; left eye The ball tracking module moves along the left spherical surface, and the position of the ball center of the left spherical surface is the position of the virtual image of the ball center of the left eye, reflected by the left eye semi-transparent semi-reflective module; the radius R1 of the left sphere is a fixed value; the position of the left eye tracking module can be represented in a spherical coordinate system with a virtual image of the spherical center of the left eye as the spherical center and R1 as the radius; a horizontal viewing angle of θ at left eye l1 And the vertical viewing angle isThe spherical coordinates of the left eye tracking module at this time are recorded +.>Calculation of Δθ l1 ＝θ l1 ’-θ l1 ，/>Subtracting delta theta from the horizontal angle value and the vertical angle value in the spherical coordinates of the left eye tracking module after the left eye moves l1 And->A horizontal viewing angle and a vertical viewing angle of the left eye can be obtained; the left eye tracking module can identify the characteristics of the left eye iris and calculate the rotation angle of the left eye according to the change of the characteristics of the left eye iris;
the right eye semi-transparent and semi-reflective module is in a plane sheet shape, can transmit visible light and reflect near infrared light;
a movable right eye tracking module comprising at least one near infrared camera, referred to as a right eye camera; comprising at least one near infrared light source, referred to as a right eye light source; the relative positions of the right eye camera and the right eye light source are fixed; the right-eye camera can shoot an image of a right-eye area through the right-eye semi-transparent semi-reflective module; and the center coordinates of the pupils of the right eye can be calculated; the right eye camera can shoot the reflection point of the right eye light source on the right eye cornea through the right eye semi-transparent semi-reflective module; and can calculate the center of the reflecting point of the right eye cornea Coordinates; the right eye tracking module can move to the corresponding position, so that in the image shot by the right eye camera, the center coordinate of the reflecting point of the right eye cornea of the right eye and the center coordinate of the right eye pupil coincide with each other; the right eye eyeball tracking module moves along a right spherical surface, and the position of the spherical center of the right spherical surface is the position of a virtual image of the spherical center of the right eye eyeball reflected by the right eye semi-transparent semi-reflective module; the radius R2 of the right sphere is a fixed value; the position of the right eye tracking module can be represented in a spherical coordinate system with a virtual image of the spherical center of the right eye as the spherical center and R2 as the radius; the horizontal viewing angle is theta at the right eye r1 And the vertical viewing angle isThe spherical coordinates of the right eye tracking module at this time are recorded +.>Calculation of Δθ r1 ＝θ r1 ’-θ r1 ，/>Subtracting delta theta from the horizontal angle value and the vertical angle value in the spherical coordinates of the right eye tracking module after the movement of the right eye r1 And->A horizontal viewing angle and a vertical viewing angle of the right eye can be obtained; the right eye tracking module can identify the characteristics of the right eye iris and calculate the rotation angle of the right eye according to the change of the characteristics of the right eye iris;
the three-dimensional coordinate measuring device can measure the three-dimensional coordinates of the sphere center of the left eye eyeball and the sphere center of the right eye eyeball; and is combined with
According to the three-dimensional coordinates of the spherical center virtual image of the left eye eyeball, the position of the left sphere where the left eye eyeball tracking module is positioned or the position of the left eye semi-transparent semi-reflective module is adjusted, so that the spherical center of the left sphere is overlapped with the virtual image of the spherical center of the left eye eyeball; and adjusting the position of the right sphere where the right eye eyeball tracking module is positioned or adjusting the position of the right eye semi-transparent semi-reflective module according to the three-dimensional coordinates of the virtual image of the sphere center of the right eye eyeball so that the sphere center of the right sphere coincides with the virtual image of the sphere center of the right eye eyeball.
2. The eye movement measurement device according to claim 1, wherein the radius R1 of the left spherical surface and the radius R2 of the right spherical surface are equal.
3. The eye movement measurement device according to claim 1, wherein the axis of the left eye camera always faces the virtual image of the center of the left eye sphere as the left eye tracking module moves along the left sphere;
when the right eye eyeball tracking module moves along the right spherical surface, the axis of the right eye camera always faces to the virtual image of the sphere center of the right eye eyeball.
4. The eye movement measurement device according to claim 1, wherein the angle of rotation of the left eye in the horizontal direction and the angle of rotation of the left eye in the vertical direction are calculated based on the angle of movement of the left eye tracking module along the left spherical surface;
According to the angle of the right eye tracking module moving along the right sphere, the angle of the right eye rotating in the horizontal direction and the angle of the right eye rotating in the vertical direction can be calculated.
5. The eye movement measurement device according to claim 1, further comprising a display and control module; the display and control module comprises a display device which can be switched between the following three display modes: display mode one: displaying a visual target visible only to the left eye;
display mode two: displaying a visual target visible to only the right eye;
display mode three: displaying the visual target visible to both eyes.
6. The eye movement measurement device according to claim 5, comprising a left liquid crystal shutter device between the left transflective module and the display device in the display and control module, the transparent and opaque states being switchable;
the display device comprises a right liquid crystal shutter device, a right semi-transparent and semi-reflective module and a display and control module, wherein the right liquid crystal shutter device is positioned between the right semi-transparent and semi-reflective module and the display device in the display and control module and can switch transparent and opaque states.
7. The eye movement measurement device according to claim 5, further comprising a strabismus measurement module configured to perform the steps of,
(a) The display and control module is switched to a first display mode, two eyes are respectively provided as an F eye and a G eye, and firstly, the strabismus measuring optotype displayed on the F eye-only visual display device is enabled to be visible; when the F eye gazes at the optotype, the central coordinate of the reflecting point of the F eye cornea and the central coordinate of the F eye pupil are overlapped, and the position EF of the F eye tracking module is recorded 1 The central coordinate of the reflecting point of the G eye cornea and the central coordinate of the G eye pupil are overlapped, and the position EG of the G eye tracking module is recorded 1 The method comprises the steps of carrying out a first treatment on the surface of the Setting two threshold values TH 1 And TH 2 Wherein TH is as follows 2 ≥TH 1 ；
(b) The display and control module is switched to a third display mode, and the F eye and the G eye can both see the strabismus measurement optotype displayed by the display device, so that the display position of the optotype is unchanged; when eyes watch the optotype, the central coordinate of the reflecting point of the F-eye cornea and the central coordinate of the F-eye pupil are overlapped, and the position EF of the F-eye tracking module is recorded 2 The method comprises the steps of carrying out a first treatment on the surface of the The center coordinates of the reflecting point of the G eye cornea and the center coordinates of the G eye pupil are overlapped, and the position EG of the G eye tracking module is recorded 2 ；
Such as |EF 2 -EF 1 |＜TH 1 And |EG 2 -EG 1 |＜TH 1 The result is denoted as B1;
such as |EF 2 -EF 1 |＜TH 1 And |EG 2 -EG 1 |≥TH 2 The result is denoted as B2;
such as |EF 2 -EF 1 |≥TH 2 And |EG 2 -EG 1 |≥TH 2 The result is denoted as B3;
(c) The display and control module is switched into a display moduleSecondly, only the strabismus measuring sighting target displayed on the G eye visual display device is unchanged in sighting target display position; when the G eye gazes at the optotype, the central coordinate of the reflecting point of the G eye cornea and the central coordinate of the G eye pupil are overlapped, and the position EG of the G eye tracking module is recorded 3 The central coordinate of the reflecting point of the F eye cornea and the central coordinate of the F eye pupil are overlapped, and the position EF of the F eye tracking module is recorded 3 ；
Such as |EF 3 -EF 2 |＜TH 1 And |EG 3 -EG 2 |＜TH 1 The result is denoted as C1;
such as |EF 3 -EF 2 |≥TH 2 And |EG 3 -EG 2 |＜TH 1 The result is denoted as C2;
such as |EF 3 -EF 2 |≥TH 2 And |EG 3 -EG 2 |≥TH 2 The result is denoted as C3;
(d) The display and control module is switched to a third display mode, and the F eye and the G eye can both see the strabismus measurement optotype displayed by the display device, so that the display position of the optotype is unchanged; when eyes watch the optotype, the central coordinate of the reflecting point of the F-eye cornea and the central coordinate of the F-eye pupil are overlapped, and the position EF of the F-eye tracking module is recorded 4 The method comprises the steps of carrying out a first treatment on the surface of the The center coordinates of the reflecting point of the G eye cornea and the center coordinates of the G eye pupil are overlapped, and the position EG of the G eye tracking module is recorded 4 ；
Such as |EF 4 -EF 3 |＜TH 1 And |EG 4 -EG 3 |＜TH 1 The result is denoted as D1;
such as |EF 4 -EF 3 |≥TH 2 And |EG 4 -EG 3 |＜TH 1 The result is denoted as D2;
such as |EF 4 -EF 3 |≥TH 2 And |EG 4 -EG 3 |≥TH 2 The result is denoted as D3;
(e) After the steps are finished, B1, C1 and D1 are satisfied simultaneously, so that no strabismus is displayed and no strabismus is hidden;
and B2, C2 and D2 are satisfied simultaneously, which shows that there is a hidden strabismus, and the strabismus degree is |EG 2 -EG 1 I or I EF 3 -EF 2 I or I EF 4 -EF 3 The triangular prism degree converted by the angle corresponding to the I; EG (EG) 2 -EG 1 |、|EF 3 -EF 2 |、|EF 4 -EF 3 The values of the three are equal;
if B1, C3 and D1 are satisfied at the same time, it is judged that alternate strabismus is displayed, and the strabismus degree is |EF 3 -EF 2 The triangular prism degree converted by the angle corresponding to the I;
if B3, C1 and D1 are satisfied at the same time, it is judged that monocular strabismus is displayed, the F eye is strabismus, and the strabismus degree is |EF 2 -EF 1 The triangular prism degree converted by the angle corresponding to the I;
if B1, C3 and D3 are satisfied at the same time, monocular strabismus is judged, the G eye is strabismus eye, and the strabismus degree is |EG 4 -EG 3 The angle corresponding to the I is converted into the triangular prism degree.
8. The eye movement measurement apparatus according to claim 7, wherein after the direction and degree of strabismus are measured, a prism of a corresponding degree is placed in front of the strabismus to re-measure; if the movement angles of the left eye tracking module and the right eye tracking module are smaller than TH in each step when the measurement is carried out again 1 It was confirmed that the degree of triple prism at this time was the degree of oblique viewing.
9. The eye movement measurement device according to claim 5, further comprising a rotational strabismus measurement module configured to perform the steps of,
(a) The display and control module is switched to a first display mode, two eyes are respectively J eyes and K eyes, and firstly, only the J eyes can see the strabismus measuring optotype displayed on the display device; when the J eyes watch the optotype, the characteristics of the iris of the J eyes and the corresponding angle HJ of the iris of the J eyes are recorded 1 Recording the characteristics of the K-eye iris and the corresponding K-eye iris angle HK 1 The method comprises the steps of carrying out a first treatment on the surface of the Setting two angle thresholds TH 3 And TH 4 Wherein TH is as follows 4 ≥TH 3 ；
(b) Display and control moduleThe block is switched to a display mode III, so that the strabismus measuring optotype displayed by the J-eye and K-eye visible display devices is unchanged in display position; recording the characteristics of the J-eye iris and the corresponding J-eye iris angle HJ 2 The method comprises the steps of carrying out a first treatment on the surface of the Recording the characteristics of the K-eye iris at the moment and the corresponding K-eye iris angle HK 2 ；
For example |HJ 2 -HJ 1 |＜TH 3 And |HK 2 -HK 1 |＜TH 3 The result is denoted as B4;
for example |HJ 2 -HJ 1 |＜TH 3 And |HK 2 -HK 1 |≥TH 4 The result is denoted as B5;
for example |HJ 2 -HJ 1 |≥TH 4 And |HK 2 -HK 1 |≥TH 4 The result is denoted as B6;
(c) The display and control module is switched into a second display mode, and only the strabismus measuring optotype displayed on the K-eye visible display device is displayed, so that the display position of the optotype is unchanged; recording the characteristics of the K-eye iris at the moment and the corresponding K-eye iris angle HK 3 Recording the characteristics of the J-eye iris and the corresponding J-eye iris angle HJ 3 ；
For example |HJ 3 -HJ 2 |＜TH 3 And |HK 3 -HK 2 |＜TH 3 The result is marked as C4;
for example |HJ 3 -HJ 2 |≥TH 4 And |HK 3 -HK 2 |＜TH 3 The result is marked as C5;
for example |HJ 3 -HJ 2 |≥TH 4 And |HK 3 -HK 2 |≥TH 4 The result is marked as C6;
(d) The display and control module is switched into a third display mode, and the strabismus measuring sighting target displayed by the J eye and K eye visible display device is unchanged in the sighting target display position; recording the characteristics of the J-eye iris and the corresponding J-eye iris angle HJ 4 The method comprises the steps of carrying out a first treatment on the surface of the Recording the characteristics of the K-eye iris at the moment and the corresponding K-eye iris angle HK 4 ；
For example |HJ 4 -HJ 3 |＜TH 3 And |HK 4 -HK 3 |＜TH 3 The result is denoted as D4;
for example |HJ 4 -HJ 3 |≥TH 4 And |HK 4 -HK 3 |＜TH 3 The result is denoted as D5;
for example |HJ 4 -HJ 3 |≥TH 4 And |HK 4 -HK 3 |≥TH 4 The result is denoted as D6;
(e) After the steps are finished, B4, C4 and D4 are satisfied simultaneously, so that no explicit rotary strabismus or implicit rotary strabismus is indicated;
and B5, C5 and D5 are satisfied synchronously, which shows that the hidden rotary strabismus exists, and the rotary strabismus degree is |HK 2 -HK 1 I or i HJ 3 -HJ 2 I or i HJ 4 -HJ 3 Angle corresponding to HK 2 -HK 1 |、|HJ 3 -HJ 2 |、|HJ 4 -HJ 3 These three angles are equal values;
the synchronous conditions of B4, C6 and D4 are satisfied, and the alternate dominant rotary strabismus is judged, and the rotary strabismus degree is |HJ 3 -HJ 2 Angle corresponding to the I;
and B6, C4 and D4 are satisfied synchronously, monocular dominant rotary strabismus is judged, J eyes are strabismus eyes, and rotary strabismus degree is |HJ 2 -HJ 1 Angle corresponding to the I;
and B4, C6 and D6 are satisfied synchronously, monocular dominant rotary strabismus is judged, the K eye is strabismus eye, and the rotary strabismus degree is |HK 4 -HK 3 Angle corresponding to the l.
10. The eye movement measurement device according to claim 1, wherein the left eye tracking module and the right eye tracking module use an automatic pupil center tracking algorithm, and the calculation method of the automatic pupil center tracking algorithm is: and (3) for any eyeball, respectively calculating the coordinates of the cornea reflecting point center and the pupil center of the eyeball, if the coordinates of the cornea reflecting point center and the coordinates of the pupil center do not coincide, enabling an eyeball tracking module corresponding to the eyeball to move along the vector direction of a connecting line from the cornea reflecting point center coordinates to the pupil center coordinates, and gradually reducing the distance between the cornea reflecting point center and the pupil center in the moving process until the cornea reflecting point center and the pupil center are coincident again.
11. The eye movement measurement device according to claim 1, wherein the head fixation device comprises a liftable chin rest, the head fixation device comprises a left side post and a right side post, standard height graduation marks are arranged on the left side post and the right side post, and the chin rest is adjusted to make the eye height of the subject equal to the standard height graduation marks during testing.
12. The eye movement measurement device according to claim 1, wherein the three-dimensional coordinate measurement device includes two cameras and two light sources; the relative positions of the two cameras, the two light sources, the display device, the left eye semi-transparent semi-reflective module and the right eye semi-transparent semi-reflective module are fixed;
the display device may display the optotype at two different positions;
the method comprises the steps that a left eye of a person to be detected respectively views two optotypes in a display mode, and three-dimensional coordinates of the sphere center of the eyeball of the left eye are calculated through images shot by a binocular camera;
the right eye of the testee respectively sees the two optotypes in the second display mode, and the three-dimensional coordinates of the sphere center of the eyeball of the right eye are calculated through the images shot by the binocular camera.
13. The eye movement measurement device according to claim 1, wherein a near infrared light-transmitting and visible light-impermeable barrier is provided between the left eye tracking module and the left eye; a baffle which transmits near infrared light and does not transmit visible light is arranged between the right eye eyeball tracking module and the right eye.
14. An eye movement measurement apparatus, comprising:
the left eye semi-transparent and semi-reflective module is in a plane sheet shape, can transmit visible light and reflect near infrared light;
a movable left eye tracking module comprising at least one near infrared camera, being a left eye camera; comprises at least one near infrared light source which is a left eye light source; left eye camera and left eye lightThe relative position of the sources is fixed; the left eye camera can shoot an image of a left eye region through the left eye semi-transparent semi-reflective module; and the center coordinates of pupils of the left eye can be calculated; the left eye camera can shoot the reflection point of the left eye light source on the left eye cornea through the left eye semi-transparent semi-reflective module; and the center coordinates of the reflecting points of the left cornea can be calculated; the left eye tracking module can move to a corresponding position, so that in an image shot by the left eye camera, the center coordinates of a reflecting point of a left eye cornea of the left eye and the center coordinates of a left eye pupil coincide; the left eye tracking module can move along a left plane; when the viewing angle in the horizontal direction and the viewing angle in the vertical direction are both 0 DEG, the visual axes of the left plane and the virtual image of the left eye eyeball are vertical; the vertical line of the left plane passing through the point of the left plane (0, 0) is intersected with the virtual image of the sphere center of the left eye eyeball; the distance between the left plane and the virtual image of the sphere center of the left eye eyeball is D1; a horizontal viewing angle of θ at left eye l2 And the vertical viewing angle isCalculating the left plane coordinate of the left eye tracking module at the moment>And calculate Δθ l2 ＝θ l2 ’-θ l2 ，/>Subtracting delta theta from the horizontal angle value and the vertical angle value in the left plane coordinate of the left eye tracking module after the left eye moves l2 And->A horizontal viewing angle and a vertical viewing angle of the left eye can be obtained; the left eye tracking module can identify the characteristics of the left eye iris and calculate the rotation angle of the left eye according to the change of the characteristics of the left eye iris;
the right eye semi-transparent and semi-reflective module is in a plane sheet shape, can transmit visible light and reflect near infrared light;
a movable right eye tracking module comprising at least one near infrared camera, referred to as a right eye camera; comprising at least one near infrared light source, referred to as a right eye light source; the relative positions of the right eye camera and the right eye light source are fixed; the right-eye camera can shoot an image of a right-eye area through the right-eye semi-transparent semi-reflective module; and the center coordinates of the pupils of the right eye can be calculated; the right eye camera can shoot the reflection point of the right eye light source on the right eye cornea through the right eye semi-transparent semi-reflective module; and the center coordinates of the reflecting points of the right cornea can be calculated; the right eye tracking module can move to the corresponding position, so that in the image shot by the right eye camera, the center coordinate of the reflecting point of the right eye cornea of the right eye and the center coordinate of the right eye pupil coincide with each other; the right eye tracking module can move along a right plane; when the viewing angle of the right eye is 0 DEG in the horizontal direction and the viewing angle of the right eye in the vertical direction, the right plane is perpendicular to the visual axis of the virtual image of the eyeball of the right eye; the vertical line of the right plane passing through the point of the right plane (0, 0) is intersected with the virtual image of the sphere center of the right eye eyeball; the distance between the right plane and the virtual image of the sphere center of the eyeball of the right eye is D2; the horizontal viewing angle is theta at the right eye r2 And the vertical viewing angle isCalculating the right plane coordinates of the right eye tracking module at the moment>And calculate Δθ r2 ＝θ r2 ’-θ r2 ，Subtracting delta theta from the horizontal angle value and the vertical angle value in the right plane coordinate of the right eye tracking module after the movement of the right eye r2 And->A horizontal viewing angle and a vertical viewing angle of the right eye can be obtained; the right eye tracking module may identifyThe characteristic of the iris of the right eye, and calculate the angle of rotation of the right eye according to the change of the iris characteristic of the right eye;
the three-dimensional coordinate measuring device can measure the three-dimensional coordinates of the sphere center of the left eye eyeball and the sphere center of the right eye eyeball; and is combined with
According to the three-dimensional coordinates of the spherical center virtual image of the left eye eyeball, the position of a left plane where the left eye eyeball tracking module is positioned or the position of the left eye semi-transparent semi-reflective module is adjusted, so that the point of a left plane (0, 0) is intersected with the perpendicular line of the left plane and the virtual image of the spherical center of the left eye eyeball, and D1 is equal to the distance between the point of the left plane (0, 0) and the spherical center virtual image of the left eye eyeball; and adjusting the position of a right plane where the right eye tracking module is located or adjusting the position of the right eye semi-transparent semi-reflective module according to the three-dimensional coordinates of the virtual image of the spherical center of the right eye eyeball, so that the point of the right plane (0, 0) is intersected with the vertical line of the plane and the virtual image of the spherical center of the right eye eyeball, and D2 is equal to the distance between the point of the right plane (0, 0) and the virtual image of the spherical center of the right eye eyeball.
15. An eye movement measuring device according to claim 14, wherein the distance D1 of the virtual images of the left plane and the center of the left eye is equal to the distance D2 of the virtual images of the right plane and the center of the right eye.
16. The eye movement measurement device according to claim 14, wherein the axis of the left eye camera always faces the virtual image of the center of the left eye as the left eye tracking module moves along the left plane;
when the right eye eyeball tracking module moves along the right plane, the axis of the right eye camera always faces to the virtual image of the sphere center of the right eye eyeball.
17. The eye movement measurement device according to claim 14, wherein the angle of rotation of the left eye in the horizontal direction and the angle of rotation of the left eye in the vertical direction are calculated based on the angle of movement of the left eye tracking module along the left plane;
according to the angle of the right eye tracking module moving along the right plane, the angle of the right eye rotating in the horizontal direction and the angle of the right eye rotating in the vertical direction can be calculated.
18. The eye movement measurement device according to claim 14, further comprising a display and control module; the display and control module comprises a display device which can be switched between the following three display modes:
Display mode one: displaying a visual target visible only to the left eye;
display mode two: displaying a visual target visible to only the right eye;
display mode three: displaying the visual target visible to both eyes.
19. An eye movement measurement device according to claim 18, comprising a left liquid crystal shutter arrangement between the left transflective module and the display device in the display and control module, switchable between transparent and opaque states;
the display device comprises a right liquid crystal shutter device, a right semi-transparent and semi-reflective module and a display and control module, wherein the right liquid crystal shutter device is positioned between the right semi-transparent and semi-reflective module and the display device in the display and control module and can switch transparent and opaque states.
20. An eye movement measurement device according to claim 18, further comprising a strabismus measurement module configured to perform the steps of,
(a) The display and control module is switched to a first display mode, two eyes are respectively provided as an F eye and a G eye, and firstly, the strabismus measuring optotype displayed on the F eye-only visual display device is enabled to be visible; when the F eye gazes at the optotype, the central coordinate of the reflecting point of the F eye cornea and the central coordinate of the F eye pupil are overlapped, and the position EF of the F eye tracking module is recorded 1 The central coordinate of the reflecting point of the G eye cornea and the central coordinate of the G eye pupil are overlapped, and the position EG of the G eye tracking module is recorded 1 The method comprises the steps of carrying out a first treatment on the surface of the Setting two threshold values TH 1 And TH 2 Wherein TH is as follows 2 ≥TH 1 ；
(b) The display and control module is switched to a third display mode, and the F eye and the G eye can both see the strabismus measurement optotype displayed by the display device, so that the display position of the optotype is unchanged; when eyes watch the optotype, the F-eye light source is arranged at the corner of the F-eyeThe central coordinate of the reflecting point of the film coincides with the central coordinate of the pupil of the F eye, and the position EF of the F eye tracking module is recorded 2 The method comprises the steps of carrying out a first treatment on the surface of the The center coordinates of the reflecting point of the G eye cornea and the center coordinates of the G eye pupil are overlapped, and the position EG of the G eye tracking module is recorded 2 ；
Such as |EF 2 -EF 1 |＜TH 1 And |EG 2 -EG 1 |＜TH 1 The result is denoted as B1;
such as |EF 2 -EF 1 |＜TH 1 And |EG 2 -EG 1 |≥TH 2 The result is denoted as B2;
such as |EF 2 -EF 1 |≥TH 2 And |EG 2 -EG 1 |≥TH 2 The result is denoted as B3;
(c) The display and control module is switched into a second display mode, and only the strabismus measuring optotype displayed on the G-eye visible display device is displayed, so that the display position of the optotype is unchanged; when the G eye gazes at the optotype, the central coordinate of the reflecting point of the G eye cornea and the central coordinate of the G eye pupil are overlapped, and the position EG of the G eye tracking module is recorded 3 The central coordinate of the reflecting point of the F eye cornea and the central coordinate of the F eye pupil are overlapped, and the position EF of the F eye tracking module is recorded 3 ；
Such as |EF 3 -EF 2 |＜TH 1 And |EG 3 -EG 2 |＜TH 1 The result is denoted as C1;
such as |EF 3 -EF 2 |≥TH 2 And |EG 3 -EG 2 |＜TH 1 The result is denoted as C2;
such as |EF 3 -EF 2 |≥TH 2 And |EG 3 -EG 2 |≥TH 2 The result is denoted as C3;
(d) The display and control module is switched to a third display mode, and the F eye and the G eye can both see the strabismus measurement optotype displayed by the display device, so that the display position of the optotype is unchanged; when eyes watch the optotype, the central coordinate of the reflecting point of the F-eye cornea and the central coordinate of the F-eye pupil are overlapped, and the position EF of the F-eye tracking module is recorded 4 The method comprises the steps of carrying out a first treatment on the surface of the The G eye light source is arranged at the center of the reflection point of the G eye corneaThe coordinates coincide with the center coordinates of the pupil of the G eye, and the position EG of the G eye tracking module is recorded 4 ；
Such as |EF 4 -EF 3 |＜TH 1 And |EG 4 -EG 3 |＜TH 1 The result is denoted as D1;
such as |EF 4 -EF 3 |≥TH 2 And |EG 4 -EG 3 |＜TH 1 The result is denoted as D2;
such as |EF 4 -EF 3 |≥TH 2 And |EG 4 -EG 3 |≥TH 2 The result is denoted as D3;
(e) After the steps are finished, B1, C1 and D1 are satisfied simultaneously, so that no strabismus is displayed and no strabismus is hidden;
and B2, C2 and D2 are satisfied simultaneously, which shows that there is a hidden strabismus, and the strabismus degree is |EG 2 -EG 1 I or I EF 3 -EF 2 I or I EF 4 -EF 3 The triangular prism degree converted by the angle corresponding to the I; EG (EG) 2 -EG 1 |、|EF 3 -EF 2 |、|EF 4 -EF 3 The values of the three are equal;
if B1, C3 and D1 are satisfied at the same time, it is judged that alternate strabismus is displayed, and the strabismus degree is |EF 3 -EF 2 The triangular prism degree converted by the angle corresponding to the I;
if B3, C1 and D1 are satisfied at the same time, it is judged that monocular strabismus is displayed, the F eye is strabismus, and the strabismus degree is |EF 2 -EF 1 The triangular prism degree converted by the angle corresponding to the I;
if B1, C3 and D3 are satisfied at the same time, monocular strabismus is judged, the G eye is strabismus eye, and the strabismus degree is |EG 4 -EG 3 The angle corresponding to the I is converted into the triangular prism degree.
21. The eye movement measurement device according to claim 20, wherein after the direction and degree of strabismus are measured, a prism of a corresponding degree is placed in front of the strabismus to re-measure; if the movement angles of the left eye tracking module and the right eye tracking module are smaller than TH in each step when the measurement is carried out again 1 Confirm thisThe prism power is the oblique viewing angle.
22. An eye movement measurement device according to claim 18, further comprising a rotational strabismus measurement module configured to perform the steps of,
(a) The display and control module is switched to a first display mode, two eyes are respectively J eyes and K eyes, and firstly, only the J eyes can see the strabismus measuring optotype displayed on the display device; when the J eyes watch the optotype, the characteristics of the iris of the J eyes and the corresponding angle HJ of the iris of the J eyes are recorded 1 Recording the characteristics of the K-eye iris and the corresponding K-eye iris angle HK 1 The method comprises the steps of carrying out a first treatment on the surface of the Setting two angle thresholds TH 3 And TH 4 Wherein TH is as follows 4 ≥TH 3 ；
(b) The display and control module is switched into a third display mode, and the strabismus measuring sighting target displayed by the J eye and K eye visible display device is unchanged in the sighting target display position; recording the characteristics of the J-eye iris and the corresponding J-eye iris angle HJ 2 The method comprises the steps of carrying out a first treatment on the surface of the Recording the characteristics of the K-eye iris at the moment and the corresponding K-eye iris angle HK 2 ；
For example |HJ 2 -HJ 1 |＜TH 3 And |HK 2 -HK 1 |＜TH 3 The result is denoted as B4;
for example |HJ 2 -HJ 1 |＜TH 3 And |HK 2 -HK 1 |≥TH 4 The result is denoted as B5;
for example |HJ 2 -HJ 1 |≥TH 4 And |HK 2 -HK 1 |≥TH 4 The result is denoted as B6;
(c) The display and control module is switched into a second display mode, and only the strabismus measuring optotype displayed on the K-eye visible display device is displayed, so that the display position of the optotype is unchanged; recording the characteristics of the K-eye iris at the moment and the corresponding K-eye iris angle HK 3 Recording the characteristics of the J-eye iris and the corresponding J-eye iris angle HJ 3 ；
For example |HJ 3 -HJ 2 |＜TH 3 And |HK 3 -HK 2 |＜TH 3 The result is marked as C4;
for example |HJ 3 -HJ 2 |≥TH 4 And |HK 3 -HK 2 |＜TH 3 The result is marked as C5;
for example |HJ 3 -HJ 2 |≥TH 4 And |HK 3 -HK 2 |≥TH 4 The result is marked as C6;
(d) The display and control module is switched into a third display mode, and the strabismus measuring sighting target displayed by the J eye and K eye visible display device is unchanged in the sighting target display position; recording the characteristics of the J-eye iris and the corresponding J-eye iris angle HJ 4 The method comprises the steps of carrying out a first treatment on the surface of the Recording the characteristics of the K-eye iris at the moment and the corresponding K-eye iris angle HK 4 ；
For example |HJ 4 -HJ 3 |＜TH 3 And |HK 4 -HK 3 |＜TH 3 The result is denoted as D4;
for example |HJ 4 -HJ 3 |≥TH 4 And |HK 4 -HK 3 |＜TH 3 The result is denoted as D5;
for example |HJ 4 -HJ 3 |≥TH 4 And |HK 4 -HK 3 |≥TH 4 The result is denoted as D6;
(e) After the steps are finished, B4, C4 and D4 are satisfied simultaneously, so that no explicit rotary strabismus or implicit rotary strabismus is indicated;
and B5, C5 and D5 are satisfied synchronously, which shows that the hidden rotary strabismus exists, and the rotary strabismus degree is |HK 2 -HK 1 I or i HJ 3 -HJ 2 I or i HJ 4 -HJ 3 Angle corresponding to HK 2 -HK 1 |、|HJ 3 -HJ 2 |、|HJ 4 -HJ 3 These three angles are equal values;
the synchronous conditions of B4, C6 and D4 are satisfied, and the alternate dominant rotary strabismus is judged, and the rotary strabismus degree is |HJ 3 -HJ 2 Angle corresponding to the I;
and B6, C4 and D4 are satisfied synchronously, monocular dominant rotary strabismus is judged, J eyes are strabismus eyes, and rotary strabismus degree is |HJ 2 -HJ 1 Angle corresponding to the I;
if the conditions satisfy B4, C6 and D6 simultaneously, it is judged that monocularDominant rotary strabismus, K eye is strabismus eye, rotary strabismus degree is |HK 4 -HK 3 Angle corresponding to the l.
23. The eye movement measurement device according to claim 14, wherein the left eye tracking module and the right eye tracking module use an automatic pupil center tracking algorithm, and the calculation method of the automatic pupil center tracking algorithm is: and (3) for any eyeball, respectively calculating the coordinates of the cornea reflecting point center and the pupil center of the eyeball, if the coordinates of the cornea reflecting point center and the coordinates of the pupil center do not coincide, enabling an eyeball tracking module corresponding to the eyeball to move along the vector direction of a connecting line from the cornea reflecting point center coordinates to the pupil center coordinates, and gradually reducing the distance between the cornea reflecting point center and the pupil center in the moving process until the cornea reflecting point center and the pupil center are coincident again.
24. An eye movement measurement device according to claim 14, wherein the head fixation device comprises a liftable chin rest, the head fixation device comprises a left post and a right post, standard height graduations are provided on the left post and the right post, and the chin rest is adjusted to make the eye height of the subject equal to the standard height graduations during testing.
25. The eye movement measurement device according to claim 14, wherein the three-dimensional coordinate measurement device comprises two cameras and two light sources; the relative positions of the two cameras, the two light sources, the display device, the left eye semi-transparent semi-reflective module and the right eye semi-transparent semi-reflective module are fixed;
the display device may display the optotype at two different positions;
the method comprises the steps that a left eye of a person to be detected respectively views two optotypes in a display mode, and three-dimensional coordinates of the sphere center of the eyeball of the left eye are calculated through images shot by a binocular camera;
the right eye of the testee respectively sees the two optotypes in the second display mode, and the three-dimensional coordinates of the sphere center of the eyeball of the right eye are calculated through the images shot by the binocular camera.
26. The eye movement measurement device according to claim 14, wherein a near infrared light-transmitting and visible light-impermeable barrier is provided between the left eye tracking module and the left eye; a baffle which transmits near infrared light and does not transmit visible light is arranged between the right eye eyeball tracking module and the right eye.
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