Research On Robot Bionic Eye Motion Control Model

The eyes as an important organ for human perceiving and gaining information,which play a vital role in the human survival process.The appearance of machine vision makes machine intelligent equipment have the similar visual ability with human.On this basis,how to enable robot eyes to make flexible movement,locate object accurately,and change visual movement patterns quickly become a research focus.And the comprehensive function and movement mechanism of human visual system give us a good inspiration.This paper will analyze the structure characteristics of the human visual system and the neural pathways of different motion modes from the perspective of anatomy and neurophysiology,and focusing on the research of bionic eye motion control algorithm.First,briefly introducing the background and meaning of robot bionic eye research,and reviewing and analyzing the research results in recent years,pointing out the main problems that exist in the current research and stating the main research condition in this paper.In this paper,the anatomical structure of eyeball and visual formation of conduction path are analyzed;the characteristics and forms of various models of eye movement are summarized;and the sports related neural mechanisms and signal transmission pathways are analyzed.The relationship between bionic eye movement control and visual perception also being discussed.In this work,we based on the neurophysiology structure of different eye movements mode,analyzing the relationship between the various nerve modules;extracting mathematical expression of each module for engineering simulation.We established the saccade control model and verification by simulation experiments.The results are consistent with the physiological data.Considering the possible situation of the target movement along the depth direction when it is moving in the horizontal direction.So we establish complex motion control model that combines saccadic eye movement and the vergence motion;we establish an adaptive smooth pursuit control model with retinal slip error constraint,considering the characteristics of smooth pursuit movement with precise attention.This model solve the problem of current model merely precise tracking the target of periodic movement,it can track the target with uniform speed,acceleration and random motion accurately.And improvement the head-eye coordinated movement control model based on the existing model,considering the role of reflex eye movement,getting the information of head position and head velocity at the same time,so we can make it easy to achieve in the project.