VCM (Vision control motility method/mechanism) device

✔️ Content

• XYL 3 axis eyes method and mechanism
• 2 axis neck method and mechanism

XYL 3 axis eyes method and mechanism

Eyes control method

Coordinate map X 624 Y 488

 ______________________________________
|                                      |
|   0              x 312        X 624  |      
|       |----------|----------|        |
|       |          |          |        |
| y 244 |-------- ++ ---------|        |             
|       |         |           |        |
|       |---------|-----------|        |
| Y 488           x 305                |
|______________________________________|

Coordinate	Range	Center
X	0 – 624	312/305
Y	0 – 488	244

Precalculated parameters

ID	Blob rectangle size	Distance (cm) start - stable	Detection range min/max	Detection range same size object 13-11 cm (degree)
1	354	35-	7	253
2	253	45-55	22	239
3	181	63-68	31	147
4	129	90-100	43	96
5	92	133-145-178	106	69

Matrix X

Blob rectangle size	160 X 500	Range A	Range center 305	Range B	L—C—R=tap	Grid	Distance (cm)
354	436-175	=261	305+/-130=175—435	260	257—300—343=86	260/86=3.02 (3)	35
253	497-123	=374	...	...	...	...	45-55
181	534-86	=448	...	...	240—300—360=120	448/120=3.7 (4,7)	63-68
129	563-61	=502	...	...	210—300—390=180	502/180=2.7 [+1]	90-100
92	585-42	=543	...	...	170—300—430=260	543/260=2 (1/2)	133-145-178
XECP	430-170	=260	300+/-130 =170—430	260	170—300—430=260	260/260=1	...

Matrix Y

Blob rectangle size	...Y...	Range A	Range center 244	Range B	U—C—D=tap	Grid	Distance
354	297-187	=110	244+/-55=189—299	110	230—300—370=140	110/140=0.7 (1)	...
253	349-131	=218	244+/-109=135—353	218	170—300—430=260	218/260=0.8 (1)	...
181	386-95	=291	...	...	...	291/260=1.1 (1)	...
129	412-70	=342	...	...	...	342/260=1.3 (1)	...
92	433-52	=381	...	...	...	381/260=1.4 (1)	...
YECP	...—...	=...	...	...	...	...	...

2 axis neck method and mechanism

Position

       Motor position        |        Action borders       |
 ____________________________|_____________________________|
                             |                             |
             U               |     __|_____200_____|__     |   
            160              |       |      |      |       |
             |               |       |      |      |       |
  L 160 <-- 300 --> 430 R    |    240---300-+-------360    |
             |               |       |     244     |       |
            430              |     __|______|______|__     |
             D               |       |     288     |       |

Calculation scheme

                L   -   C   -   R    |                    U   -   C   -   D 
_____________________________________|__________________________________________
                                     |
  A. Obj dir:   160 <-- 300 --- 430  |   A. Obj dir:      160 <-- 300 --- 430    
     Blob coor: [...    ...    360]  |      Blob coor:    [200    ...    ...]
     Observer:  [ O     ...    ...]  |      Obs and obj:  [ O     ...     Y ] 
  B. Obj dir:   160 --- 300 --> 430  |   B. Obj dir:      160 --- 300 --> 430
     Blob coor: [240    ...    ...]  |      Blob coor:    [...    ...    288]
     Observer:  [...    ...     O ]  |      Obj and obs:  [ Y     ...     O ]
     Calc:      x+=p- < 300 > x-=p+  |      Calc:         y-=p- < 300 > y+=p+

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