Replaceable visual module, wearable device and robot

Abstract

The invention is suitable for the field of robots, and discloses a replaceable visual module, wearable equipment and a robot. The replaceable visual module and the wearable device applied to the robot are characterized in that the visual module is detachably installed on the wearable device, the visual module is provided with a visual sensor, the visual sensor is in signal connection with the robot, the robot is provided with a visual component, and the visual sensor is used for replacing the visual component so as to input visual information to the robot. According to the replaceable visual module and the robot, the wearable equipment can be worn, so that the robot can obtain different visual information, corresponding functional robots do not need to be manufactured additionally, the types and models of the robot wearable equipment needing to be designed are greatly reduced, the cost is reduced, and meanwhile, the universality of the robot can be ensured. Moreover, the visual module can realize unified and standardized design and production, so that the cost can be greatly reduced, and popularization and application of the wearable equipment are facilitated.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a replaceable visual module, a wearable device and a robot. Background Art

[0002] With the development of science and technology, robots are playing more and more roles in people's lives and have potential applications in various fields, such as teaching robots, medical robots, search and rescue robots, service robots, manufacturing robots, etc.

[0003] After the robot is manufactured and shipped, its visual components are generally determined. At present, robots can achieve additional visual functions by wearing wearable devices that carry other functional components. However, for robots with different appearances, in order to adapt to their appearances, it is necessary to produce a variety of different wearable devices. In addition, each robot needs to produce multiple sets of wearable devices that adapt to its appearance for different visual functions. This means that each wearable device of each robot needs to be produced separately. For example, each robot needs n types of wearable devices, and m types of robots need to produce m×n types of wearable devices. This undoubtedly increases the cost and is not conducive to promotion. Summary of the invention

[0004] The purpose of this application is to provide a replaceable visual module, a wearable device and a robot, which is intended to reduce the cost of the wearable device.

[0005] To achieve the above-mentioned purpose, the present application provides a replaceable visual module, which is applied to a wearable device on a robot. The visual module can be detachably installed on the wearable device. The visual module is provided with a visual sensor, and the visual sensor is provided with a visual receiving end. The visual receiving end is exposed on the side of the visual module away from the robot. The visual sensor and the robot are signal-connected. The robot is provided with visual components, and the visual sensor is used to replace the visual components to input visual information to the robot.

[0006] The replaceable visual module of the present application includes one or a combination of a far- and near-focus visual module, an infrared night vision module, a multi-spectral module, and a thermal imaging module.

[0007] The present application also provides a wearable device, applied to a robot, comprising a wearable piece and a plurality of replaceable visual modules as described in any one of the above;

[0008] The wearable component is used to be worn on the robot, and the wearable component is provided with a mounting slot; one of the multiple visual modules is detachably mounted in the mounting slot.

[0009] In the wearable device of the present application, the mounting slot is provided with a mounting opening, the visual module is adapted to the mounting slot, and the visual module can be installed in the mounting slot from the mounting opening, or detached from the mounting slot.

[0010] In the wearable device of the present application, along the direction from the bottom of the mounting slot to the mounting opening, the width of the mounting slot in the direction from one end to the other end of the wearing piece gradually increases.

[0011] In the wearable device of the present application, a positioning column is provided at the bottom of the mounting slot, a positioning hole is provided on the side of the visual module facing the bottom of the mounting slot, and the positioning column is embedded in the positioning hole.

[0012] In the wearable device of the present application, the side wall of the mounting slot is also provided with a card hole, and the side edge of the visual module is provided with a spring buckle, and the spring buckle is embedded in the card hole.

[0013] In the wearable device of the present application, the spring buckle is provided with a toggle member, and the toggle member is exposed on one side of the visual module located at the installation port.

[0014] In the wearable device of the present application, the mounting slot is provided with an outer opening facing away from the robot, the outer opening is adjacent to and connected to the mounting port, and the visual module exposes the visual receiving end at the outer opening.

[0015] In the wearable device of the present application, the visual module is provided with a first data transmission part, the bottom of the mounting slot is provided with a second data transmission part, and the first data transmission part and the second data transmission part are connected.

[0016] In the wearable device of the present application, one of the first data transmission part and the second data transmission part is a metal contact, and the other is a metal spring.

[0017] In the wearable device of the present application, the wearable component is provided with a first data interface, the first data interface is connected to the second data transmission part, and the robot is provided with a second data interface, the first data interface is used to connect to the second data interface to transmit the visual information acquired by the visual sensor to the robot.

[0018] In the wearable device of the present application, the first data interface is arranged at one end of the wearable component, the first data transmission part is located on the side of the visual module close to the first data interface, and the second data transmission part is located on the side of the installation slot close to the first data interface.

[0019] In the wearable device of the present application, the visual module is provided with a first power transmission part, the bottom of the mounting slot is provided with a second power transmission part, and the first data transmission part and the second data transmission part are connected.

[0020] In the wearable device of the present application, one of the first power transmission unit and the second power transmission unit is a metal contact, and the other is a metal spring.

[0021] In the wearable device of the present application, the wearable component is provided with a power input port, which is connected to the second power transmission unit, and the robot is provided with a power output port, which is used to connect to the power output port to input the power of the robot into the visual sensor.

[0022] In the wearable device of the present application, the power input port is arranged at the other end of the wearable component, the first power transmission unit is located on the side of the visual module close to the power input port, and the second power transmission unit is located on the side of the mounting slot close to the power input port.

[0023] In the wearable device of the present application, the mounting slot is located in the middle from one end to the other end of the wearable component.

[0024] In the wearable device of the present application, the robot is a humanoid robot, and the two ends of the wearable piece are arranged around the head of the robot so that the two ends of the wearable piece are placed on the ears on both sides of the robot, and the visual receiving end is placed on the eyes of the robot.

[0025] In the wearable device of the present application, the wearable piece extends in an arc shape from one end to the other end to fit the head of the robot.

[0026] In the wearable device of the present application, a flexible pad is provided on the inner wall of the wearable component facing the robot, and the flexible pad is supported against the head surface of the robot.

[0027] The wearable device of the present application also includes a fastening strap, the two ends of which are connected to the two ends of the wearing piece, the fastening strap and the wearing piece together form a wearing space, the wearing space is used to accommodate the head of the robot, and the fastening strap is used to fasten the wearing piece to the head of the robot.

[0028] In the wearable device of the present application, the portion of the wearable component provided with the mounting slot is arranged relative to the visual component to shield the visual component.

[0029] The present application also provides a robot, comprising a robot body and any of the wearable devices described above;

[0030] The robot body is provided with visual components;

[0031] The wearable device is worn on the robot body, and the visual sensor replaces the visual component.

[0032] In the replaceable visual modules, wearable devices and robots provided by the present application, the robot itself can receive visual information through its visual components to achieve corresponding functions. In the present application, the robot can wear a wearable device and install a visual module to replace the original visual function of the robot through the visual sensor on the visual module, so that the robot can obtain different visual information without the need to make robots with corresponding functions separately, reducing production costs, maintenance costs, and application costs, etc., while ensuring the versatility of the robot. In addition, visual modules with different functions can be directly replaced to meet the use requirements of the robot without removing the wearable parts, which is convenient for use. In addition, when producing wearable devices, for each robot's appearance, only one wearable component needs to be made to adapt to the robot, and multiple visual functions can be realized by matching the wearable component with multiple visual modules. For example, when each robot needs to be equipped with n visual functions, m robots only need to make m wearable components and n visual modules. Since the coordination between the wearable components and the visual modules is unified, each visual module can achieve unified and standardized design and production. Compared with the need to produce m×n wearable devices, the cost can be greatly reduced, which is conducive to the promotion and application of wearable devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0034] Figure 1 It is one of the structural schematic diagrams of the wearable device provided in the embodiment of the present application;

[0035] Figure 2 It is one of the exploded schematic diagrams of the wearable device provided in the embodiment of the present application;

[0036] Figure 3 This is the second exploded schematic diagram of the wearable device provided in the embodiment of the present application;

[0037] Figure 4 This is the second structural schematic diagram of the wearable device provided in the embodiment of the present application;

[0038] Figure 5 This is the third structural diagram of the wearable device provided in the embodiment of the present application;

[0039] Figure 6 This is the fourth structural diagram of the wearable device provided in the embodiment of the present application;

[0040] Figure 7 This is the fifth structural diagram of the wearable device provided in the embodiment of the present application;

[0041] Figure 8 is a schematic diagram of the structure of the robot provided in an embodiment of the present application;

[0042] Fig. 9 It is a schematic diagram of the disassembly structure of the wearable device of the robot provided in an embodiment of the present application.

[0043] Description of Figure Numbers:

[0044] 100: Wearable devices;

[0045] 10: Wearing parts;

[0046] 10a: mounting slot; 10b: mounting port;

[0047] 11: first boss; 111: first docking surface; 12: second boss; 121: second docking surface; 14: flexible pad; 15: wearing card slot; 16: positioning column; 171: second data transmission part; 172: second power transmission part; 18: card hole;

[0048] 20: visual module; 21: visual sensor; 22: positioning hole; 23: spring buckle; 231: toggle member; 241: first data transmission unit; 242: first power transmission unit;

[0049] 41: first data interface; 42: power input port;

[0050] 200: robot body;

[0051] 200b: second groove; 2012: power outlet. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0054] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or may be indirectly connected to the other element through an intermediate element.

[0055] In addition, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0056] After the robot is manufactured and shipped, the visual components on the robot body are generally determined. For example, the visible light visual component can capture images within a certain range, which can be used in scenes such as object recognition; for another example, the infrared visual component can use infrared radiation imaging, which can be used in scenes such as night monitoring and thermal imaging. At present, in order to ensure that the robot can adapt to different scenes and functions, the traditional way is to set up enough functional components on the robot, for example, both visible light visual components and infrared visual components are set up. Due to the increase in functional components, the manufacturing cost and maintenance cost of the robot are undoubtedly increased, and in specific applications, the power consumption will also be greatly increased, thereby increasing the application cost. If the functional components are reduced, for example, only visible light visual components are set up, or only infrared visual components are set up, the application scenarios of the robot will be limited, reducing the versatility of the robot. To this end, in the present application, the robot can realize additional visual functions by wearing wearable devices carrying other functional elements. However, for robots with different appearances, in order to adapt to their appearances, a variety of different wearable devices need to be produced, and each robot needs to produce multiple sets of wearable devices that adapt to its appearance for different visual functions. This means that each wearable device of each robot needs to be produced separately. For example, each robot requires n types of wearable devices, and m types of robots require m×n types of wearable devices. This undoubtedly increases costs and is not conducive to promotion.

[0057] To this end, the embodiments of the present application provide a replaceable visual module, a wearable device, and a robot. The robot can wear the wearable device, so that the robot can obtain different visual information. It is not necessary to make a robot with corresponding functions separately, and the types and models of robot wearable devices that need to be designed are greatly reduced, which reduces the cost and ensures the versatility of the robot. In addition, the visual module can realize unified and standardized design and production, which can greatly reduce costs and is conducive to the promotion and application of wearable devices.

[0058] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0059] like Figures 1 to 3 As shown, a replaceable visual module 20 provided in an embodiment of the present application is applied to a wearable device 100 on a robot.

[0060] The visual module 20 is detachably installed on the wearable device 100. The visual module 20 is provided with a visual sensor 21. The visual sensor 21 is provided with a visual receiving end. The visual receiving end is exposed on the side of the visual module 20 away from the robot. The visual sensor 21 is connected to the robot signal. The robot is provided with visual components. The visual sensor 21 is used to replace the visual components to input visual information to the robot.

[0061] The wearable device 10 is used to be worn on the robot, and the wearable device 10 is provided with a mounting slot 10a. The visual module 20 is detachably mounted in the mounting slot 10a, and the visual module 20 is provided with a visual sensor 21, and the visual sensor 21 is provided with a visual receiving end, and the visual receiving end is exposed on the side of the visual module 20 away from the robot, and the visual sensor 21 is connected to the robot signal, and the robot is provided with visual components, and the visual sensor 21 is used to replace the visual components to input visual information to the robot.

[0062] It should be noted that the visual module 20 can be detachably installed on the wearable device 100. When changing the type of the visual sensor 21, it is only necessary to remove the visual module 20 and replace it with a visual module 20 with different functions to adapt to the corresponding scene requirements without removing the wearable device 100.

[0063] It should be noted that the robot is originally equipped with visual components that can achieve certain functions, and the visual sensor 21 provided on the visual module 20 is a structure different from the visual components of the robot, and can receive other visual information. Therefore, after the robot wears the wearable device 100, it can achieve other functions, so that the robot has versatility and can adapt to a variety of different scenarios. For example, the visual component on the robot is a visible spectrum camera, and the visual sensor 21 on the visual module 20 is an infrared sensor.

[0064] It should be noted that after the wearable device 100 is worn on the robot, the visual sensor 21 will replace the visual components of the robot, that is, the original visual components of the robot will no longer work, and the visual sensor 21 will replace the visual components and work as the eyes of the robot, so that the operation of multiple components can be avoided and the additional application cost can be increased. Specifically, after the visual module 20 is installed on the wearable device 100 on the robot, the visual module 20 will transmit data with the robot, for example, through the first power transmission unit 242, the second power transmission unit 172, the first data interface 41 and the second data interface described later, and the robot transmits data. The visual module 20 will send information to the adaptive system of the robot, and the adaptive system of the robot will complete a series of related adaptation processes, start related drives, and turn off unnecessary visual components and heat dissipation mechanisms to avoid the additional application cost caused by the simultaneous operation of multiple visual components.

[0065] In the replaceable visual module 20 provided in the embodiment of the present application, the robot itself can receive visual information through its visual components to realize the corresponding functions. In the present application, the robot can wear the wearable device 100 and install the visual module 20 to replace the original visual function of the robot through the visual sensor 21 on the visual module 20, so that the robot can obtain different visual information without the need to make robots with corresponding functions separately, reducing the production cost, maintenance cost and application cost, etc., while ensuring the versatility of the robot. In addition, the visual modules 20 with different functions can be directly replaced to meet the use requirements of the robot without removing the wearable component 10, which is convenient for use. In addition, when producing the wearable device 100, for each robot's appearance, only one wearable component 10 needs to be produced to adapt to the robot, and multiple visual modules 20 are matched with the wearable component 10 to realize multiple visual functions. For example, when each robot needs to be equipped with n visual functions, m types of robots only need to produce m types of wearable components 10 and n types of visual modules 20. Since the coordination between the wearable component 10 and the visual module is unified, each visual module 20 can achieve unified and standardized design and production. Compared with the need to produce m×n types of wearable devices, the cost can be greatly reduced, which is conducive to the promotion and application of the wearable device 100.

[0066] In the embodiment of the present application, the visual sensor 21 is connected to the robot by signal. The visual sensor 21 can be connected to the robot by wire to achieve signal connection so as to transmit visual information to the robot. Of course, the visual sensor 21 can also be connected to the robot wirelessly, for example, by Bluetooth to achieve signal connection so as to transmit visual information to the robot.

[0067] In the embodiment of the present application, the visual sensor 21 is provided with at least a visual control board and a visual receiving end, receives external visual information through the visual receiving end, and converts it into an electrical signal through the visual control board, so that the visual information can be transmitted to the robot.

[0068] The wearable device 100 of the embodiment of the present application is applied to a robot, and includes a wearable component 10 and a plurality of replaceable visual modules 20;

[0069] The wearing piece 10 is used to be worn on the robot, and the wearing piece 10 is provided with a mounting slot 10a; one of the visual modules 20 is detachably mounted in the mounting slot 10a.

[0070] In the wearable device 100 provided in the embodiment of the present application, the robot can wear the wearable device 100 and install the visual module 20 through the mounting slot 10a, so as to replace the original visual function of the robot with the visual sensor 21 on the visual module 20, so that the robot can obtain different visual information without having to make another robot with corresponding functions, thereby reducing the production cost, maintenance cost and application cost, etc., and ensuring the versatility of the robot. In addition, the visual modules 20 with different functions can be directly replaced to meet the use requirements of the robot without removing the wearable component 10, which is convenient for use. In addition, when producing the wearable device 100, for each robot's appearance, only one wearable component 10 needs to be produced to adapt to the robot, and multiple visual modules 20 are matched with the wearable component 10 to realize multiple visual functions. For example, when each robot needs to be equipped with n visual functions, m types of robots only need to produce m types of wearable components 10 and n types of visual modules 20. Since the coordination between the wearable component 10 and the visual module is unified, each visual module 20 can achieve unified and standardized design and production. Compared with the need to produce m×n types of wearable devices, the cost can be greatly reduced, which is conducive to the promotion and application of the wearable device 100.

[0071] like Figures 1 to 3 As shown, in the embodiment of the present application, the mounting slot 10a is provided with a mounting port 10b, the visual module 20 is adapted to the mounting slot 10a, and the visual module 20 can be installed in the mounting slot 10a from the mounting port 10b, or detached from the mounting slot 10a. When the visual module 20 needs to be replaced, the installed visual module 20 can be detached from the mounting slot 10a along the mounting port 10b, and then other visual modules 20 can be inserted into the mounting slot 10a from the mounting port 10b, and the installation is simple and convenient. In the present embodiment, the visual module 20 is adapted to the mounting slot 10a, which can ensure that the visual module 20 is firmly mounted on the wearable component 10, and can ensure that it is stably connected to the telecommunication structure in the wearable component 10.

[0072] Exemplarily, the mounting opening 10b is located on the upper side of the visual module 20 to prevent the visual module 20 from falling from the mounting slot 10a, thereby ensuring the stable installation of the visual module 20. Moreover, after the visual module 20 is installed in the mounting slot 10a, its upper surface is flush with the upper surface of the wearable component 10.

[0073] like Figures 1 to 3 As shown, in the embodiment of the present application, the mounting slot 10a is provided with an outer opening facing away from the robot, the outer opening is adjacent to and connected to the mounting port 10b, and the visual module 20 is exposed with a visual receiving end at the corresponding outer opening. In this way, it can be ensured that the visual receiving end can be exposed to the outside so as to receive external visual information. And because the outer opening is adjacent to and connected to the mounting port 10b, when the visual module 20 is installed or removed, the receiving end protruding from the visual module 20 will not contact the wearable component 10, thereby avoiding damage to the visual sensor 21 when the visual module 20 is replaced. Of course, in other embodiments, the outer opening may not be connected to the mounting port 10b, as long as the visual receiving end can be exposed.

[0074] Exemplarily, the shape of the outer opening and the visual module 20 are adapted so that the side of the visual module 20 provided with the visual receiving end can be completely exposed to the outside, ensuring that the visual receiving end can be exposed to the outside when different types of visual modules 20 are replaced. For example, after the visual module 20 is installed in the installation slot 10a, the surface of the visual module 20 provided with the visual receiving end is flush with the surface of the wearable component 10.

[0075] like Figures 1 to 3 As shown, in the embodiment of the present application, along the direction from the bottom of the mounting slot 10a to the mounting opening 10b, the width of the mounting slot 10a from one end to the other end of the wearable component 10 gradually increases. It can be understood that the mounting slot 10a is larger at the top and smaller at the bottom. When the visual module 20 is installed in the mounting slot 10a from the mounting opening 10b, the visual module 20 can be placed in a position with a larger width first until it is completely placed in the mounting slot 10a. In this way, the visual module 20 can be quickly and smoothly installed in the mounting slot 10a, and it is not easy to get stuck. At the same time, it is also more convenient to disassemble the visual module 20.

[0076] Exemplarily, the mounting slot 10a is a trapezoidal slot that is larger at the top and smaller at the bottom.

[0077] like Figures 1 to 3 As shown, in the embodiment of the present application, a positioning column 16 is provided at the bottom of the mounting slot 10a, and a positioning hole 22 is provided on the side of the visual module 20 facing the bottom of the mounting slot 10a, and the positioning column 16 is embedded in the positioning hole 22. The positioning column 16 can position the cooperation between the visual module 20 and the mounting slot 10a, so that the installation position of the visual module 20 is determined, ensuring the stable installation of the visual module 20, and further ensuring the stable electrical connection between the two.

[0078] Exemplarily, multiple positioning posts 16 and positioning holes 22 are provided, and multiple positioning posts 16 and multiple positioning holes 22 correspond one to one to further stabilize the installation of the visual module 20. For example, two positioning posts 16 and two positioning holes 22 are provided, and the two positioning posts 16 are respectively located on both sides of the middle of the visual module 20.

[0079] like Figures 1 to 3 As shown, in the embodiment of the present application, the side wall of the mounting slot 10a is further provided with a clamping hole 18, and the side of the visual module 20 is provided with a spring clamp 23, and the spring clamp 23 is clamped in the clamping hole 18. Through the cooperation of the spring clamp 23 and the clamping hole 18, the visual module 20 can be limited to prevent the visual module 20 from being separated from the mounting slot 10a. Specifically, it can prevent the visual module 20 from being separated from the mounting slot 10a from the mounting opening 10b adjacent to the side wall of the mounting slot 10a, thereby ensuring the stable installation of the visual module 20.

[0080] Exemplarily, the side walls of the installation slot 10a on both sides in the direction from one end to the other end of the wearing piece 10 are provided with clamping holes 18, and the visual module 20 on both sides in the direction from one end to the other end of the wearing piece 10 is provided with spring buckles 23. The two spring buckles 23 are respectively embedded in the corresponding clamping holes 18, so that the two sides of the visual module 20 can be clamped in the installation slot 10a to ensure the stable installation of the visual module 20.

[0081] Exemplarily, the spring buckle 23 includes an elastic protrusion and an elastic member, the elastic protrusion is connected to the visual module 20 through the elastic member, and can move in a direction away from or toward the visual module 20. When there is no external force, the elastic member abuts against the elastic protrusion so that the elastic protrusion protrudes from the side of the visual module 20. Therefore, after the visual module 20 is placed in the mounting slot 10a, the elastic protrusion can be placed in the card hole 18 to prevent the visual module 20 from being separated from the mounting slot 10a.

[0082] Exemplarily, in combination with the shape of the above-mentioned mounting slot 10a, the side walls on both sides of the mounting slot 10a are inclined side walls. When installing the visual module 20, the elastic protrusion will first resist the side wall of the mounting slot 10a. As the visual module 20 is gradually inserted into the mounting slot 10a, the inclined side wall will drive the elastic protrusion to contract until the visual module 20 is completely placed in the mounting slot 10a. After that, the elastic protrusion recovers under the action of the elastic member and is placed in the card hole 18.

[0083] like Figures 1 to 3As shown, in the embodiment of the present application, the spring buckle 23 is provided with a toggle member 231, and the toggle member 231 is exposed on one side of the visual module 20 located at the installation opening 10b. The spring buckle 23 can be toggled by the toggle member 231 so that the spring buckle 23 can be disengaged from the card hole 18, so as to facilitate the visual module 20 to be detached from the installation card slot 10a.

[0084] Exemplarily, the elastic protrusion is provided with a toggle member 231 , which protrudes from a side surface of the visual module 20 located at the mounting opening 10 b , so that the toggle member 231 can be toggled when the visual module 20 needs to be detached.

[0085] like Figures 1 to 3 As shown, in the embodiment of the present application, the visual module 20 is provided with a first data transmission part 241, and the bottom of the mounting slot 10a is provided with a second data transmission part 171, and the first data transmission part 241 is connected to the second data transmission part 171. In this way, the wearable part 10 can achieve data connection with the visual module 20, and after replacing different visual modules 20, data connection with the wearable part 10 can be achieved to achieve data transmission.

[0086] Exemplarily, the second data transmission part 171 is arranged at the bottom of the mounting slot 10a. Specifically, when the mounting slot 10a opens the mounting opening 10b upward, the second data transmission part 171 is located at the lowest point of the mounting slot 10a, and after the visual module 20 is inserted into the mounting slot 10a and firmly installed, the first data transmission part 241 and the second data transmission part 171 are docked to achieve data connection, and the telecommunication connection is stable.

[0087] like Figures 1 to 3 As shown, in the embodiment of the present application, one of the first data transmission part 241 and the second data transmission part 171 is a metal contact, and the other is a metal spring. When the first data transmission part 241 and the second data transmission part 171 are connected, the metal spring is elastically deformed and abuts against the metal contact. In this way, the metal spring can stably abut against the metal contact under the elastic force of the metal spring, and maintain a good and stable connection between the two. For example, the first data transmission part 241 is a metal spring, and the second data transmission part 171 is a metal contact.

[0088] like Figure 2 , Figure 3 , Figure 7 as well as Fig. 9As shown, in the embodiment of the present application, the wearable component 10 is provided with a first data interface 41, and the first data interface 41 is connected to the second data transmission unit 171. The robot is provided with a second data interface (not shown), and the first data interface 41 is used to connect to the second data interface to transmit the visual information acquired by the visual sensor 21 to the robot. It should be known that, through the connection of the first data interface 41 and the second data interface, the visual sensor 21 can transmit the visual information to the robot through the first data transmission unit 241, the second data transmission unit 171, the first data interface 41 and the second data interface. By transmitting data through the connection of the first data interface 41 and the second data interface, stable data transmission can be guaranteed and data loss is not easy.

[0089] Exemplarily, one of the first data interface 41 and the second data interface is a plurality of metal contact pins, and the other is a plurality of metal grooves, and the plurality of metal contact pins are inserted into the plurality of metal grooves to achieve the connection between the first data interface 41 and the second data interface. For example, the first data interface 41 is a plurality of metal contact pins, and the second data interface is a plurality of metal grooves.

[0090] like Figure 2 , Figure 3 , Figure 7 as well as Fig. 9 As shown, in the embodiment of the present application, the first data interface 41 is provided at one end of the wearable component 10, the first data transmission part 241 is located at a side of the visual module 20 close to the first data interface 41, and the second data transmission part 171 is located at a side of the mounting slot 10a close to the first data interface 41. In this way, the distance between the first data interface 41 and the second data transmission part 171 can be shortened as much as possible, the internal electrical connection structure is prevented from being entangled, and the electrical connection structure can be simplified to facilitate manufacturing.

[0091] Exemplarily, the first data interface 41 and the second data transmission unit 171 are electrically connected via a wire. In other examples, the first data interface 41 and the second data transmission unit 171 may also be electrically connected via a metal plate fixed in the wearable component 10 .

[0092] like Figure 2 , Figure 3 , Figure 7 as well as Fig. 9 As shown, in the embodiment of the present application, one end of the wearable piece 10 is provided with a first boss 11 facing the robot, and the robot is provided with a first groove (not shown), and the first boss 11 is used to dock and fit into the first groove. Through the cooperation of the first boss 11 and the first groove, the wearable piece 10 can be stably worn at the corresponding position on the robot, thereby ensuring a stable structural fit.

[0093] like Figure 2 , Figure 3 , Figure 7 as well as Fig. 9 As shown, in the embodiment of the present application, the first boss 11 is provided with a first docking surface 111 facing away from the wearing piece 10, and the first data interface 41 is provided on the first docking surface 111. It should be noted that the second data interface of the robot is provided in the first groove. In this way, after the first boss 11 and the first groove are docked and matched, the connection between the first data interface 41 and the second data interface can be realized, which not only realizes the physical connection with the robot, but also realizes the signal connection with the robot. Of course, in other embodiments, the first data interface 41 may not be provided on the first docking surface 111, and the first boss 11 and the first groove are only used to stabilize the connection between the wearing piece 10 and the robot.

[0094] In other embodiments, the robot may be provided with a first boss 11, and the wearing piece 10 may be provided with a first groove, and the first boss 11 is docked with and adapted to the first groove.

[0095] In an embodiment of the present application, a first magnetic connection ring (not shown) is provided at one end of the wearable piece 10, and a second magnetic connection ring (not shown) is provided on the robot. The first magnetic connection ring and the second magnetic connection ring are magnetically connected to further ensure a stable connection between the wearable piece 10 and the robot.

[0096] In this embodiment, the first magnetic connection ring is arranged on the first boss 11 and surrounds the first data interface 41, and the second magnetic connection ring is arranged on the first groove and surrounds the second data interface, so as to realize the stable connection between the wearable component 10 and the robot when the first boss 11 and the first groove are docked and adapted, and ensure the stable electrical connection between the first data interface 41 and the second data interface.

[0097] Exemplarily, at least one of the first magnetic connecting ring and the second magnetic connecting ring is a magnetic structure, and the other may also be a magnetic structure or a structure that can be attracted by magnetic force, such as an iron structure.

[0098] like Figures 1 to 3 As shown, in the embodiment of the present application, the visual module 20 is provided with a first power transmission part 242, the bottom of the mounting slot 10a is provided with a second power transmission part 172, and the first data transmission part 241 is connected to the second data transmission part 171. In this way, the wearable part 10 can be electrically connected to the visual module 20, and after replacing different visual modules 20, it can be electrically connected to the wearable part 10 to achieve power transmission.

[0099] Exemplarily, the second power transmission part 172 is disposed at the bottom of the mounting slot 10a. Specifically, when the mounting slot 10a opens the mounting opening 10b upward, the second power transmission part 172 is located at the lowest point of the mounting slot 10a. After the visual module 20 is inserted into the mounting slot 10a and firmly installed, the first power transmission part 242 and the second power transmission part 172 are docked to achieve power connection, and the telecommunication connection is stable.

[0100] like Figures 1 to 3 As shown, in the embodiment of the present application, one of the first power transmission part 242 and the second power transmission part 172 is a metal contact, and the other is a metal spring. When the first power transmission part 242 and the second power transmission part 172 are connected, the metal spring is elastically deformed and abuts against the metal contact. In this way, the metal contact can be stably abutted under the elastic force of the metal spring to maintain a good and stable connection between the two. For example, the first power transmission part 242 is a metal spring, and the second power transmission part 172 is a metal contact.

[0101] like Figure 2 , Figure 3 , Figure 7 as well as Fig. 9 As shown, in the embodiment of the present application, the wearable component 10 is provided with a power input port 42, and the power input port 42 is connected to the second power transmission unit 172. The robot is provided with a power output port 2012, and the power input port 42 is used to connect with the power output port 2012 to input the power of the robot to the visual sensor 21. It should be known that through the connection between the power input port 42 and the power output port 2012, the robot can transmit power to the visual module 20 through the power output port 2012, the power input port 42, the second power transmission unit 172 and the first power transmission unit 242, so that various electrical components in the visual module 20 can perform corresponding work. For example, the visual sensor 21 can receive visual information and transmit it to the robot after power is supplied.

[0102] Exemplarily, one of the power input port 42 and the power output port 2012 is a plurality of metal contact pins, and the other is a plurality of metal grooves, and the plurality of metal contact pins are inserted into the plurality of metal grooves to achieve connection between the power input port 42 and the power output port 2012. For example, the power input port 42 is a plurality of metal contact pins, and the power output port 2012 is a plurality of metal grooves.

[0103] like Figure 2 , Figure 3 , Figure 7 as well as Fig. 9As shown, in the embodiment of the present application, the power input port 42 is provided at the other end of the wearable component 10, the first power transmission part 242 is located on the side of the visual module 20 close to the power input port 42, and the second power transmission part 172 is located on the side of the mounting slot 10a close to the power input port 42. In this way, the distance between the power input port 42 and the second power transmission part 172 can be shortened as much as possible, the internal electrical connection structure is avoided from being entangled, and the electrical connection structure can be simplified to facilitate manufacturing.

[0104] Exemplarily, the power input port 42 and the second power transmission unit 172 are electrically connected via a wire. In other examples, the power input port 42 and the second power transmission unit 172 may also be electrically connected via a metal plate fixed in the wearable component 10 .

[0105] In the embodiment of the present application, the power input port 42 and the first data interface 41 are two independent interfaces, so that the robot can respectively power the visual module 20, and the visual module 20 transmits visual information to the robot, and the two do not affect each other, and can ensure stable power supply and data transmission. In combination with the above, the power input port 42, the second power transmission unit 172 and the first power transmission unit 242 are located on one side of the wearable device 100, and the first data interface 41, the second data transmission unit 171 and the first data transmission unit 241 are located on the other side of the wearable device 100. The data transmission structure and the power supply structure are respectively located on both sides of the wearable device 100, and do not affect each other, so that the structure in the wearable device 100 can be balanced, so that the balance can be ensured when worn, and the internal wires can be standardized and will not be entangled, so as to ensure that the wires arranged in the wearable member 10 are clear, and the structure arrangement in the wearable member 10 is clear and clear, so as to facilitate the manufacture of the wearable device 100. In addition, stable power supply and data transmission can also be ensured. Of course, in other embodiments, the power input port 42 and the first data interface 41 may also be the same interface, that is, both power connection and data transmission are achieved through the same interface.

[0106] like Figure 2 , Figure 3 , Figure 7 as well as Fig. 9 As shown, in the embodiment of the present application, the other end of the wearable piece 10 is provided with a second boss 12 facing the robot, and the robot is provided with a second groove 200b, and the second boss 12 is used to dock and fit into the second groove 200b. Through the cooperation of the second boss 12 and the second groove, the wearable piece 10 can be stably worn at the corresponding position on the robot, thereby ensuring a stable structural fit. Combined with the above-mentioned first boss 11 and the first groove, the two ends of the wearable piece 10 can be stably matched with the robot, so that the wearable device 100 as a whole can be stably worn on the robot.

[0107] like Figure 2 , Figure 3 , Figure 7 as well as Fig. 9 As shown, in the embodiment of the present application, the second boss 12 is provided with a second docking surface 12 facing away from the wearable component 10, and the power input port 42 is provided on the second docking surface 12. It should be noted that the power output port 2012 of the robot is provided in the second groove 200b. In this way, after the second boss 12 and the second groove 200b are docked and matched, the connection between the power input port 42 and the power output port 2012 can be achieved, which not only realizes the physical connection with the robot, but also realizes the electrical connection with the robot. Of course, in other embodiments, the power input port 42 may not be provided on the second docking surface 12, and the second boss 12 and the second groove 200b are only used to stabilize the connection between the wearable component 10 and the robot.

[0108] In other embodiments, the robot may be provided with a second boss 12, the wearable piece 10 may be provided with a second groove 200b, and the second boss 12 may dock with and fit into the second groove 200b.

[0109] In an embodiment of the present application, a third magnetic connection ring (not shown) is provided at the other end of the wearable piece 10, and a fourth magnetic connection ring (not shown) is provided on the robot. The third magnetic connection ring and the fourth magnetic connection ring are magnetically connected to further ensure a stable connection between the wearable piece 10 and the robot.

[0110] In this embodiment, the third magnetic connection ring is arranged on the second boss 12 and surrounds the power input port 42, and the fourth magnetic connection ring is arranged on the second groove 200b and surrounds the power output port 2012, so as to realize the stable connection between the wearable component 10 and the robot when the second boss 12 and the second groove 200b are docked and adapted, and ensure the stable electrical connection between the power input port 42 and the power output port 2012.

[0111] Exemplarily, at least one of the third magnetic connection ring and the fourth magnetic connection ring is a magnetic structure, and the other may also be a magnetic structure, or a structure that can be attracted by magnetic force, such as an iron structure.

[0112] In some embodiments, the wearable device 100 further includes a power storage module, which is disposed in the wearable device 10 and connected to the power input port 42 and the second power transmission unit 172. The power storage module can store power when the robot supplies power to the wearable device 100, so that the visual module 20 on the wearable device 100 can work continuously, that is, even if it is not electrically connected to the robot for power supply, it can also achieve certain functional effects.

[0113] In other embodiments, the wearable device 100 does not have a power storage module, that is, after the power input port 42 and the power output port 2012 are connected, the robot directly supplies power to the visual module 20, and then the visual module 20 can perform corresponding functions.

[0114] like Figure 1 and Figure 7 As shown, in the embodiment of the present application, the mounting slot 10a is located in the middle from one end to the other end of the wearable member 10. Combined with the structure of the first boss 11 and the second boss 12, the visual sensor 21 is stably centered to ensure stable wearing of the wearable device 100.

[0115] like Figure 8 and Fig. 9 As shown, in the embodiment of the present application, the robot is a humanoid robot, and the two ends of the wearable piece 10 are arranged around the head of the robot, so that the two ends of the wearable piece 10 are placed on the ears on both sides of the robot, and the visual receiving end is placed on the eyes of the robot. After the wearable device 100 is worn on the head of the robot, the visual receiving end can be similar to the lenses of glasses on the eyes of the human body, and the two ends of the wearable piece 10 are placed on the ears on both sides of the robot, which can be similar to the temples of glasses placed on the ears of the human body, so that the cooperation between the wearable device 100 and the robot is reasonable and beautiful. In addition, since the wearable piece 10 is arranged around the head of the robot, the stable wearing of the wearable device 100 can be guaranteed.

[0116] Exemplarily, the ears on both sides of the robot are respectively provided with a first groove and a second groove 200b, and the first boss 11 and the second boss 12 at both ends of the wearable piece 10 can cooperate with the ears on both sides of the robot. The two ends of the wearable piece 10 can be stably connected and cooperated with the ears on both sides of the robot and clamped on the head of the robot, thereby ensuring that the wearable device 100 is stably worn and not easy to detach from the robot.

[0117] like Figures 7 to 9 As shown, in the embodiment of the present application, the wearing piece 10 is provided with a wearing card slot 15, and the wearing card slot 15 is adapted to and embedded in the nose bridge of the humanoid robot. The wearing piece 10 can support both ends of the wearing piece 10 through the connection between the first boss 11, the second boss 12 and the robot; through the cooperation of the wearing card slot 15 and the bridge of the nose, the position between the two ends of the wearing piece 10 can be supported. In the present application, the first boss 11, the second boss 12 and the wearing card slot 15 are all matched with the humanoid robot, so that the wearing piece 10 can be supported by at least three points, thereby ensuring that the wearable device 100 can be stably worn.

[0118] The wearing slot 15 is arranged in the middle from one end to the other end of the wearing member 10. In this way, the supporting positions at both ends of the wearing member 10 are symmetrical to the supporting positions at the wearing slot 15, which can ensure that the wearable device 100 is worn on the robot in a balanced and stable manner.

[0119] In the embodiment of the present application, the wearing slot 15 is adapted and embedded in the top of the nose bridge of the humanoid robot, so that the wearing piece 10 is level with the eyes of the humanoid robot. In this way, the wearable device 100 can be worn on the robot in a balanced manner without tilting forward or backward. On the one hand, it can ensure stable wearing and not easy to fall off. On the other hand, it can make the wearable device 100 more compatible with the head of the humanoid robot and improve the aesthetics of wearing.

[0120] Exemplarily, the top of the robot's nose bridge is tilted outward from top to bottom, and a raised arc surface is formed along one ear of the robot and the other ear. The matching card slot is adapted to the top of the nose bridge. Under the pull of the first boss 11 and the second boss 12, the middle part of the wearable component 10 can be prevented from sliding down along the nose bridge, and at the same time, the wearable component 10 can be prevented from deviating to the left or right side, thereby achieving balanced and stable wearing of the wearable device 100.

[0121] like Figure 1 As shown, in the embodiment of the present application, the wearable piece 10 extends in an arc from one end to the other end to fit the head of the robot. The wearable piece 10 is adapted to the head of the robot as a whole, which can ensure the stable wearing of the wearable device 100. In addition, the shape of the wearable piece 10 is adapted to the head of the robot, so that the robot can be reasonably and beautiful after wearing the wearable device 100. In addition, after the robot wears the wearable device 100, the wearable device 100 can fit the robot more closely, reduce the occupancy of additional space, and facilitate the robot's judgment of space. When the robot is working, it can avoid bumping into the wearable device 100.

[0122] like Figure 7 As shown, in the embodiment of the present application, a flexible pad 14 is provided on the inner wall of the wearable piece 10 facing the robot, and the flexible pad 14 is against the head surface of the robot. After the wearable device 100 is worn on the head of the robot, the flexible pad 14 can contact the head of the robot, so that the wearable piece 10 can stably fit the head surface of the robot and is not easy to shake relative to the head of the robot. In addition, the flexible pad 14 is arranged between the wearable piece 10 and the head surface of the robot, and the hard part of the wearable piece 10 can be prevented from contacting the robot, so as to effectively protect the robot, avoid bumping the surface of the robot, or damage to the components of the robot, for example, damage to the original visual components of the robot can be avoided.

[0123] Exemplarily, the flexible pad 14 is disposed on the inner wall between the middle part and one end of the wearable part 10. In this way, on the basis of achieving stable fit between the wearable part 10 and the head surface of the robot, the flexible pad 14 can be prevented from contacting the visual components of the robot, so that there is still a gap between the inner wall of the middle part of the wearable part 10 and the visual components to protect and shield the visual components. In this embodiment, the inner wall between the middle part and each end of the wearable part 10 is provided with a flexible pad 14, so that the wearable part 10 as a whole can be stably fitted to the head surface of the robot, and the wearable device 100 can be stably worn.

[0124] Exemplarily, the flexible pad 14 includes a silicone flexible pad 14 so as to be able to fit closely with the head surface of the robot.

[0125] In the embodiment of the present application, the wearable device 100 further includes a fastening belt, the two ends of which are connected to the two ends of the wearable component 10, and the fastening belt and the wearable component 10 enclose a wearing space, the wearing space is used to accommodate the head of the robot, and the fastening belt is used to fasten the wearable component 10 to the head of the robot. The wearable component 10 and the fastening belt can enclose the head of the robot, and can further stably mount the wearable component 10 on the robot, making it difficult to fall off, and further ensure a stable electrical connection between the wearable device 100 and the robot.

[0126] For example, the fastening belt includes an elastic fastening belt, which can automatically adjust the tightness through its elastic effect, so that the wearable device 100 is firmly mounted on the head of the robot. Of course, in other examples, the fastening belt can also be adjusted in length through a buckle to ensure that the wearable device 100 is firmly mounted on the head of the robot.

[0127] like Figure 8 As shown, in an embodiment of the present application, the portion of the wearable component 10 having the mounting slot 10a is arranged relative to the visual components to shield the visual components. It can be understood that the visual components of the robot are similar to the eyes of the robot and can input data information to the robot. In the present application, after the wearable device 100 is worn, the visual sensor 21 can also be similar to the eyes to input visual information to the robot. Therefore, shielding the visual components of the wearable component 10 can make the robot have only one eye-like structure, replace the visual components of the robot from a physical level, and can intuitively know the current working mode and application scenario of the robot for easy use, and can improve the aesthetics of the robot.

[0128] Of course, in other embodiments, the position where the wearing member 10 is provided with the mounting slot 10a is provided with a perspective portion connected to the wearing side, for example, the perspective portion includes a perspective hole, and when the visual module 20 is not installed, the visual components of the robot body 200 can be connected to the outside world through the perspective hole, so as to receive visual information from the outside world when the visual module 20 is not installed. After the visual module 20 is installed, the visual module 20 shields the visual components and replaces the visual components to receive visual information.

[0129] like Figure 1 As shown, in an embodiment of the present application, the visual module 20 includes a near-far focus visual module. The near-far focus visual module 20 is provided with two cameras with different focal lengths, which sense targets at different distances through different focal lengths. It should be noted that general visual components cannot see close objects. For example, defocusing problems will occur within 0.5m, and distant objects cannot be seen clearly. In this way, after the near-far focus visual module transmits visual information to the robot, the robot can see both close objects and distant objects at the same time, so that the robot can work normally in both close and long distance situations.

[0130] In the embodiment of the present application, the visual module 20 includes an infrared night vision module. The visual sensor 21 provided in the infrared night vision module is an infrared night vision sensor. The infrared night vision sensor can receive external infrared radiation and convert the received infrared radiation into an electrical signal, which can be transmitted to the robot. The robot can obtain an infrared image of the outside world by analyzing it. The robot using the visual module 20 can obtain external images at night or in a low-light environment, and the robot can perform corresponding operations, for example, obstacle avoidance, touch, and other operations.

[0131] In the embodiment of the present application, the visual module 20 includes a multispectral module. The visual sensor 21 provided in the multispectral module is a multispectral sensor. The multispectral sensor can receive light signals of different bands and convert them into electrical signals, which can be transmitted to the robot. The robot can obtain spectral information from the outside world by analyzing it. The robot using the visual module 20 can obtain spectral information for different application scenarios to perform corresponding diagnosis and detection. For example, patients can be diagnosed and detected in medical application scenarios, and for another example, the growth status of plants can be detected in agricultural application scenarios.

[0132] In the embodiment of the present application, the visual module 20 includes a thermal imaging module. The visual sensor 21 provided in the thermal imaging module is a thermal imaging sensor. The thermal imaging sensor receives thermal radiation energy emitted by an object, such as microwave radiation, infrared radiation, ultrasonic radiation, etc., and transmits the received thermal radiation energy electrical signal to the robot, which can obtain the temperature distribution on the surface of the object through analysis. In this way, the robot using the visual module 20 can detect the surface temperature of the object so as to be able to perform corresponding monitoring and reminders.

[0133] like Figure 5 As shown, in the embodiment of the present application, the visual module 20 includes a TOF 3D visual module. The visual sensor 21 provided in the TOF 3D visual module is a TOF 3D visual sensor. The TOF 3D visual sensor is a sensor that obtains real-time three-dimensional information of the external environment through TOF technology, and is used to establish a three-dimensional map of the surrounding environment in real time, judge obstacles or identify the distance of objects. When the visual sensor 21 is working, it is also necessary to emit an infrared beam to receive the reflected signal, convert the signal into an electrical signal, and transmit it to the robot. The robot can obtain external environmental information so that the robot can perform corresponding operations, such as auxiliary movement, auxiliary grasping of objects, etc., and its working distance is generally within 0.5 to 10m.

[0134] like Figure 4 As shown, in the embodiment of the present application, the vision module 20 includes a binocular 3D vision module. The binocular 3D vision module is provided with two cameras, which can observe the same object from different angles through binoculars, and transmit the observed visual information to the robot in the form of electrical signals. The robot can use the principle of triangulation to calculate the position deviation between image pixels, thereby obtaining the three-dimensional information of the object. The difference from the TOF 3D vision module is that the binocular 3D vision module uses visible light technology and can work normally even in outdoor scenes with strong sunlight. Its working range is also wider than that of the TOF 3D vision module, for example, 0.5m~100M or even 200M can work. The robot using the vision module 20 can obtain high-precision images of the outside world, so that the robot can perform corresponding operations, such as navigation, real-time map construction, obstacle avoidance, monitoring and object recognition.

[0135] like Figure 6 As shown, in the embodiment of the present application, the visual module 20 includes a multi-eye wide-angle visual module. The multi-eye wide-angle visual module is provided with multiple wide-angle cameras, has a wide field of view, and can obtain comprehensive environmental information. The robot using the visual module 20 can obtain more comprehensive environmental information, so that the robot can perform corresponding operations, such as navigation, monitoring, etc.

[0136] The visual module 20 of the present application is not limited to the visual modules 20 of the above types. According to the functional application requirements of the robot, other types of visual modules 20 that can receive visual information and transmit visual information to the robot can also be set, and the present application does not limit it. In addition, the visual module 20 of the present application can include the above one, of course, it can also be a combination of multiple different visual sensors 21, for example, a combination of the above types of sensors, as long as it can meet the corresponding functional application requirements of the robot. For example, the combination of the long- and short-focus visual module and the infrared night vision module enables the visual module 20 to not only sense targets at different distances, but also receive visual information at night.

[0137] In the embodiment of the present application, the visual sensor 21 is only used to receive visual information from the outside world, and convert the visual information into an electrical signal, and then transmit the electrical signal to the robot. After the received electrical signal is processed accordingly by the processor in the robot, the robot can perform corresponding operations according to the processed visual information. It can be understood that in order to be able to receive and process electrical signals transmitted by different types of wearable devices 100, the processor in the robot needs to be set to be able to identify and process different types of electrical signals, so that the robot can promptly know the visual information obtained by the visual sensor 21 currently worn.

[0138] Of course, in other embodiments, a processor is provided in the wearable component 10 or the visual module 20, and the processor is connected to the visual sensor 21. After the visual sensor 21 receives visual information from the outside world and converts the visual information into an electrical signal, the processor can process the electrical signal and obtain processed visual information. The processed visual information can be transmitted to the robot through data transmission, and the robot can directly perform corresponding operations based on the obtained visual information. Different from the above embodiments, the processor in the robot no longer needs to process the electrical signal, and can directly perform corresponding operation feedback based on the obtained visual information.

[0139] like Figure 8 and Fig. 9 As shown, the robot of the embodiment of the present application includes a robot body 200 and a wearable device 100 with a replaceable visual module;

[0140] The robot body 200 is provided with visual components. The wearable device 100 with replaceable visual modules is worn on the robot body 200, and the visual sensor 21 replaces the visual components.

[0141] In the robot provided in the embodiment of the present application, the robot body 200 can receive visual information through its visual components to achieve corresponding functions. In the present application, the robot body 200 can wear the wearable device 100 to replace the visual components through the visual sensor 21 on the visual module 20, so that the robot can obtain different visual information without having to make a robot with corresponding functions, thereby reducing the production cost, maintenance cost, and application cost, etc., while ensuring the versatility of the robot.

[0142] In the embodiment of the present application, the robot body 200 can select the corresponding visual module 20 according to the specific application scenario and functional requirements. For example, the visual module 20 can be directly replaced, or the wearable device 100 with a different visual module 20 can be replaced, so that the robot can meet the corresponding usage requirements, thereby making the robot universal.

[0143] In the embodiment of the present application, a power supply module is also provided in the robot body 200, and the power supply module can supply power to various electrical components of the robot body 200. After the robot body 200 wears the wearable device 100, the power supply module can also supply power to the wearable device 100 at the same time to ensure the normal operation of the wearable device 100.

[0144] In the embodiment of the present application, the first groove of the robot body 200 is provided with a concave first arc-shaped guide surface on the circumference side, and the second groove 200b is provided with a concave second arc-shaped guide surface on the circumference side. When the wearable device 100 is translated and worn on the robot body 200, the first bosses 11 at both ends of the wearable device 100 will first contact the first arc-shaped guide surface, and the second bosses 12 will first contact the second arc-shaped guide surface. Under the action of external force and through the guidance of the first arc-shaped surface and the second arc-shaped surface, the wearable component 10 will be elastically deformed and stretched open until the first boss 11 is placed in the first groove and the second boss 12 is placed in the second groove 200b. Such a structure can facilitate the wearing of the wearable device 100, and after being worn, it can be stably worn on the robot body 200.

[0145] In the embodiment of the present application, based on the above robot, a method for installing the visual module 20 is also provided, including:

[0146] The current application scenario can be obtained by the robot body 200 through active detection or through signal input.

[0147] According to the current application scenario, the required visual module 20 is determined. For example, if the current scenario is night, an infrared night vision module needs to be worn.

[0148] Confirm the target position of the visual module 20, and control the robot body 200 to move to the target position according to the target position. In actual use, multiple visual modules 20 can be stored uniformly, for example, uniformly placed at a base station, so that the robot body 200 can know the position of the required type of wearable device 100.

[0149] The robot body 200 is controlled to pick up the vision module 20 and install the vision module 20. In this way, the installation of the vision module 20 is completed.

[0150] It can be understood that the wearable component 10 is already worn on the robot body 200 , and when the robot body 200 is in operation, it is only necessary to complete the disassembly and assembly of the visual module 20 in order to meet the application requirements of the robot.

[0151] In the embodiment of the present application, during the process of the robot body 200 picking up and installing the vision module 20:

[0152] The two hands of the control robot body 200 hold the two ends of the vision module 20 respectively.

[0153] Then, place the vision module 20 above the installation port 10b, put the vision module 20 into the installation slot 10a, and then control the hand of the robot body 200 to press down the top of the vision module 20 until the vision module 20 is fully inserted into the installation slot 10a. For example, it can be determined whether the vision module 20 sends visual information to the robot body 200 to determine whether the installation of the vision module 20 is completed.

[0154] In addition, when the visual module 20 needs to be removed or replaced, the method further includes:

[0155] Remove the visual module 20 and place the visual module 20 at the target position. Referring to the above, the visual modules 20 can be placed uniformly for the next wearing. After the visual module 20 is removed, other types of visual modules 20 can be selected according to the current application scenario.

[0156] In the embodiment of the present application, during the process of removing the visual module 20:

[0157] The two hands of the robot body 200 are controlled to respectively move the moving member 231 on the top of the visual module 20 , and the hands are controlled to push the visual module 20 upward, so that the visual module 20 is partially separated from the mounting slot 10 a .

[0158] Then, the two hands of the robot body 200 are controlled to hold the two ends of the visual module 20 respectively, and move upward until it is completely separated from the installation slot 10a.

[0159] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the application concept of the present application, or directly / indirectly used in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A replaceable visual module, applied to a wearable device on a robot, characterized in that: The visual module is detachably mounted on the wearable device, the visual module is provided with a visual sensor, the visual sensor is provided with a visual receiving end, the visual receiving end is exposed on the side of the visual module away from the robot, the visual sensor is signal-connected to the robot, the robot is provided with visual components, and the visual sensor is used to replace the visual components to input visual information to the robot.

2. The replaceable visual module according to claim 1, characterized in that: The vision module includes one or a combination of a far and near focus vision module, an infrared night vision module, a multi-spectral module, and a thermal imaging module.

3. A wearable device, applied to a robot, characterized in that: A wearable device comprising a plurality of replaceable visual modules as claimed in any one of claims 1 and 2; The wearable component is used to be worn on the robot, and the wearable component is provided with a mounting slot; one of the multiple visual modules is detachably mounted in the mounting slot.

4. The wearable device according to claim 3, characterized in that: The mounting slot is provided with a mounting opening, the visual module is adapted to the mounting slot, and the visual module can be installed in the mounting slot through the mounting opening, or detached from the mounting slot.

5. The wearable device according to claim 4, characterized in that: Along the direction from the bottom of the installation slot to the installation opening, the width of the installation slot along the direction from one end to the other end of the wearing piece gradually increases.

6. The wearable device according to claim 4, characterized in that: A positioning column is provided at the bottom of the installation slot, a positioning hole is provided on one side of the visual module facing the bottom of the installation slot, and the positioning column is embedded in the positioning hole.

7. The wearable device according to claim 4, characterized in that: The side wall of the installation slot is also provided with a card hole, and the side edge of the visual module is provided with a spring buckle, and the spring buckle is embedded in the card hole.

8. The wearable device according to claim 7, wherein: The spring buckle is provided with a toggle member, and the toggle member is exposed on one side of the visual module located at the installation opening.

9. The wearable device according to claim 4, characterized in that: The installation slot is provided with an outer opening facing away from the robot, the outer opening is adjacent to and connected to the installation port, and the visual receiving end is exposed at the visual module corresponding to the outer opening.

10. The wearable device according to claim 3, characterized in that: The visual module is provided with a first data transmission part, and the bottom of the mounting slot is provided with a second data transmission part, and the first data transmission part and the second data transmission part are connected.

11. The wearable device according to claim 10, wherein: One of the first data transmission portion and the second data transmission portion is a metal contact, and the other is a metal spring.

12. The wearable device according to claim 10, wherein: The wearable component is provided with a first data interface, and the first data interface is connected to the second data transmission part. The robot is provided with a second data interface, and the first data interface is used to connect to the second data interface to transmit the visual information acquired by the visual sensor to the robot.

13. The wearable device according to claim 12, wherein: The first data interface is provided at one end of the wearable component, the first data transmission portion is located on a side of the visual module close to the first data interface, and the second data transmission portion is located on a side of the mounting slot close to the first data interface.

14. The wearable device according to claim 3, characterized in that: The visual module is provided with a first power transmission part, the bottom of the mounting slot is provided with a second power transmission part, and the first data transmission part and the second data transmission part are connected.

15. The wearable device according to claim 14, characterized in that: One of the first power transmission part and the second power transmission part is a metal contact, and the other is a metal spring.

16. The wearable device according to claim 14, wherein: The wearable component is provided with a power input port, which is connected to the second power transmission part. The robot is provided with a power output port, which is used to connect to the power output port to input the power of the robot into the visual sensor.

17. The wearable device according to claim 16, wherein: The power input port is arranged at the other end of the wearable component, the first power transmission part is located on the side of the visual module close to the power input port, and the second power transmission part is located on the side of the installation slot close to the power input port.

18. The wearable device according to claim 3, characterized in that: The mounting slot is located in the middle between one end and the other end of the wearing piece.

19. The wearable device according to claim 3, characterized in that: The robot is a humanoid robot, and the two ends of the wearing piece are arranged around the head of the robot so that the two ends of the wearing piece are placed on the ears on both sides of the robot, and the visual receiving end is placed on the eyes of the robot.

20. The wearable device according to claim 3, characterized in that: The wearing piece extends in an arc shape from one end to the other end so as to be adapted to the head of the robot.

21. The wearable device according to claim 3, characterized in that: The inner wall of the wearing piece facing the robot is provided with a flexible pad, and the flexible pad is supported against the head surface of the robot.

22. The wearable device according to claim 3, characterized in that: It also includes a fastening belt, the two ends of which are connected to the two ends of the wearing piece, the fastening belt and the wearing piece together form a wearing space, the wearing space is used to accommodate the head of the robot, and the fastening belt is used to fasten the wearing piece to the head of the robot.

23. The wearable device according to claim 3, characterized in that: The portion of the wearing piece provided with the mounting slot is arranged relative to the visual component to shield the visual component.

24. A robot, characterized in that: comprising a robot body and a wearable device as claimed in any one of claims 3 to 23; The robot body is provided with visual components; The wearable device is worn on the robot body, and the visual sensor replaces the visual component.

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