Simulation eyeball and robot

Abstract

The invention discloses a simulated eyeball and a robot. The simulated eyeball comprises a first lens unit, a spherical display unit and a sensing unit. The first lens unit has an inner concave surface. The spherical display unit is arranged on the inner concave surface of the first lens unit, the spherical display unit is provided with a display surface, the display surface comprises a pupil area and an iris area annularly arranged on the periphery of the pupil area, and the pupil area or the iris area is provided with at least one transmission area. The sensing unit is arranged on the spherical display unit, and the sensing unit is arranged corresponding to the position of the at least one transmission area; wherein the pupil area and the iris area have different patterns and colors according to different simulated animals.

Description

Technical Field

[0001] The present invention relates to an eyeball and a robot, and particularly to a lifelike eyeball and a robot with a lifelike eyeball. Background Art

[0002] Due to the intensive development of various robot manufacturers, in addition to the basic movement functions, service robots have also developed many functional types. For example, disinfection robots born in response to the needs of the epidemic, transportation robots that assist in carrying heavy objects, and conversation robots that can talk to people. Service robots are ready to integrate into our lives, undertake boring and repetitive work for people, and they do not need to rest and can be on duty 24 hours a day, which not only reduces enterprise costs but also allows people to focus more on creating service value.

[0003] In addition, the number of newborns has been decreasing year by year. Instead, the number of people raising pets is increasing. According to statistical data, the number of pet registrations in recent years has exceeded the number of newborns. The benefits of raising pets are numerous, such as reducing stress and anxiety. Taking pets out for walks can also increase physical activity. And there is research indicating that raising pets can reduce depression and loneliness. However, most pets have a shorter lifespan than humans. When a pet passes away, it may take the owner some time to recover from the pain in their hearts.

[0004] However, most of the eyes of existing service robots or pet robots are just decorations. One type will fixedly display a simple eye pattern (for example, a black dot in the eye represents the pupil), and another type will install a camera in the eye to obtain images, with rather simple functions. The eyes of existing service robots or pet robots cannot realistically be like human or different animal eyes, with patterns and / or color changes exclusive to an individual or a specific animal, nor can they express emotions through the eyes. Summary of the Invention

[0005] The object of the present invention is to provide a lifelike eyeball and a robot with a lifelike eyeball. In addition to being able to simulate the pattern and / or color changes of real eyes, when the lifelike eyeball is viewed from the outside, the pattern displayed by the lifelike eyeball will not be distorted.

[0006] To achieve the above object, a lifelike eyeball according to the present invention includes a first lens unit, a spherical display unit, and a sensing unit. The first lens unit has a concave surface. The spherical display unit is disposed on the concave surface of the first lens unit. The spherical display unit has a display surface, and the display surface includes a pupil area and an iris area annularly disposed around the pupil area. The pupil area or the iris area has at least one through area. The sensing unit is disposed on the spherical display unit and is disposed corresponding to the position of at least one through area; wherein, the pupil area and the iris area have different patterns and colors according to different simulated animals.

[0007] In one embodiment, the spherical display unit has a plurality of pixels disposed on a display substrate, and the display substrate has stretchability, flexibility, or bendability.

[0008] In one embodiment, the spherical display unit is a light-emitting diode display, an organic light-emitting diode display, a liquid crystal display, or an electronic paper display.

[0009] In one embodiment, the radius of curvature of the spherical surface of the spherical display unit is substantially the same as the radius of curvature of the spherical surface of the concave surface.

[0010] In one embodiment, the artificial eyeball further includes an adhesive layer disposed between the display surface and the concave surface.

[0011] In one embodiment, the artificial eyeball further includes a filling unit, wherein the spherical display unit further has a back surface opposite to the display surface, and the filling unit is attached to the back surface.

[0012] In one embodiment, the through region is provided with a first through hole, the filling unit has a second through hole communicating with the first through hole, the sensing unit is disposed in the first through hole via the second through hole, and the top surface of the sensing unit faces the opening of the first through hole.

[0013] In one embodiment, the through region is provided with a plurality of pixels, the filling unit has a second through hole, the sensing unit is disposed on the back surface via the second through hole, and the top surface of the sensing unit faces the through region.

[0014] In one embodiment, a part of each pixel in the through region is a light-transmitting area, and these light-transmitting areas form the through region.

[0015] In one embodiment, the through region is a light-transmitting area and does not have pixels, the spherical display unit further has a back surface opposite to the display surface, the sensing unit is disposed on the back surface, and the top surface of the sensing unit faces the through region.

[0016] In one embodiment, the sensing unit includes a sensor, and the sensor includes a visible light sensor, an infrared sensor, or an ultrasonic sensor, or a combination thereof; the sensor includes a camera, a light sensor, or a distance sensor, or a combination thereof.

[0017] In one embodiment, the spherical display unit includes a display substrate having a plurality of pixels. When the sensing unit includes an infrared sensor, the display substrate is an infrared-penetrable substrate.

[0018] In one embodiment, the number of through regions is multiple, the sensing unit includes a plurality of different types of sensors, and these different types of sensors are respectively disposed in these through regions.

[0019] In one embodiment, the display surface further includes a scleral region that is disposed around the periphery of the iris region, and patterns and colors are respectively displayed on the pupil region, the iris region, and the scleral region.

[0020] In one embodiment, the realistic eyeball further includes a control circuit board that is electrically connected to the spherical display unit and the sensing unit. The control circuit board includes a database that stores patterns and colors of multiple pupil regions and iris regions.

[0021] In one embodiment, the realistic eyeball further includes a control unit that is electrically connected to the spherical display unit and the sensing unit. Among them, the sensing unit includes a light sensor that senses the light entering through the first lens unit and the through region and outputs a sensing signal, and the control unit changes the sizes of the pupil region and the iris region of the spherical display unit according to the sensing signal.

[0022] In one embodiment, when the area of the pupil region shrinks, the area of the iris region becomes larger; when the area of the pupil region becomes larger, the area of the iris region shrinks.

[0023] In one embodiment, the realistic eyeball further includes a functional layer. Among them, the first lens unit further has a convex outer surface opposite to the concave inner surface, and the functional layer is disposed on the convex outer surface.

[0024] In one embodiment, the realistic eyeball further includes a second lens unit. The first lens unit further has a convex outer surface opposite to the concave inner surface, and the convex outer surface has grooves corresponding to the pupil region and the iris region. The second lens unit is disposed in the grooves. Among them, in the direction of looking down at the realistic eyeball, the area of the second lens unit is substantially the same as the sum of the areas of the pupil region and the iris region.

[0025] In one embodiment, the outer surface of the second lens unit has an arc-shaped protrusion.

[0026] To achieve the above object, a robot according to the present invention includes a head and the above-mentioned realistic eyeball, and the realistic eyeball is disposed on the head.

[0027] In one embodiment, the head of the robot includes artificial eyelids, and the spherical display unit includes an effective display area. When the realistic eyeball rotates, the artificial eyelids at least cover the edge of the effective display area.

[0028] In one embodiment, the robot controls the spherical display unit to generate a flicker and / or display a code according to the situation.

[0029] As described above, in the realistic eyeball of the present invention and the robot with a realistic eyeball, the spherical display unit is disposed on the concave surface of the first lens unit and has a display surface. The display surface includes a pupil area and an iris area surrounding the pupil area. The pupil area or the iris area has at least one through area. The sensing unit is disposed on the spherical display unit and is disposed corresponding to the position of at least one through area. Among them, the pupil area and the iris area have different pattern and color structural designs according to different simulated animals, so that the realistic eyeball and the robot of the present invention can simulate the patterns and / or color changes presented by the eyes of different ethnic groups or animals. Moreover, when viewing the realistic eyeball from the outside, the pattern displayed by the realistic eyeball will not be distorted. In addition, the realistic eyeball of the present invention can realistically be like the eyes of humans or different animals, with pattern and / or color changes exclusive to an individual or a specific animal, and can also express emotions through the displayed patterns.

[0030] In addition, in one embodiment, the sensing unit may include a camera, which can obtain the external light entering through the first lens unit and the through area, and then see (perceive) the object in front to perform corresponding actions. In another embodiment, the sensing unit may include a light sensor, which can sense the light entering through the first lens unit and the through area, and then change the sizes of the pupil area and the iris area through the spherical display unit. In yet another embodiment, the sensing unit may include a distance sensor, which can adjust the distance between the realistic eyeball (robot) and the object according to the distance between the object and the realistic eyeball. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1A and Figure 1B are respectively a combined schematic diagram and an exploded schematic diagram of a realistic eyeball according to an embodiment of the present invention.

[0032] Figure 1C is Figure 1A a top view schematic diagram of the realistic eyeball, Figure 1D is Figure 1A a three-dimensional cross-sectional schematic diagram of the realistic eyeball.

[0033] Figure 1E is Figure 1D a schematic diagram of the relationship between the display substrate of the spherical display unit and the sensing unit in the realistic eyeball.

[0034] Figure 1F and Figure 1G are respectively partial schematic diagrams of the spherical display unit in an unstretched and stretched state according to an embodiment of the present invention.

[0035] Figure 1H is a process schematic diagram of a realistic eyeball according to an embodiment of the present invention.

[0036] Figures 2 to 7 Schematic diagrams of the realistic eyeballs of different embodiments of the present invention respectively.

[0037] Figure 8 、 Figure 9 and Figure 10 Schematic diagrams of the robots of different embodiments of the present invention respectively. Detailed implementation manners

[0038] The following will refer to the relevant drawings to describe the realistic eyeballs and robots according to the preferred embodiments of the present invention, wherein the same elements will be described with the same reference numerals.

[0039] The realistic eyeballs herein may also be referred to as artificial intelligence (AI) eyeballs, which can simulate the patterns and / or color changes presented by human or animal eyes. Additionally, the realistic eyeballs herein can realistically resemble the eyes of humans or different animals, with patterns and / or color changes specific to an individual or a particular animal, and can also express emotions through the patterns displayed on the eyeballs. The elements appearing in the following embodiments are only used to illustrate their relative relationships and do not represent the proportions or sizes of real elements.

[0040] Figure 1A and Figure 1B Combined schematic diagram and exploded schematic diagram of a realistic eyeball 1 according to an embodiment of the present invention respectively, Figure 1C is Figure 1A Top view schematic diagram of the realistic eyeball 1, Figure 1D is Figure 1A Stereoscopic sectional view schematic diagram of the realistic eyeball 1, Figure 1E is Figure 1D Schematic diagram of the relationship between the display substrate 121 of the spherical display unit 12 and the sensing unit 13 in the realistic eyeball 1, Figure 1F and Figure 1G Partial schematic diagrams of the spherical display unit in the unstretched and stretched states according to an embodiment of the present invention respectively, while Figure 1H is the process schematic diagram of the realistic eyeball according to an embodiment of the present invention.

[0041] Please first refer to Figures 1A to 1E , the realistic eyeball 1 includes a first lens unit 11, a spherical display unit (Spherical Display Unit) 12, and a sensing unit 13. Additionally, the realistic eyeball 1 of this embodiment further includes an adhesive layer 14 and a filling unit 15. Herein, Figure 1A 、 Figure 1B and Figure 1C The adhesive layer 14 is not shown.

[0042] The first lens unit 11 has a concave surface 111 and a convex surface 112 opposite to the concave surface 111. Among them, both the concave surface 111 and the convex surface 112 are arc-shaped surfaces. As the name implies, the concave surface 111 is an arc-shaped surface that is concave inward, and the convex surface 112 is an arc-shaped surface that protrudes outward. As Figure 1B shown, the first lens unit 11 is a convex lens and has an inward concave concave surface 111 and an outward convex convex surface 112. The first lens unit 11 is made of a light-transmitting material, such as but not limited to silicone (such as materials including silicon methyl or silicon phenyl, etc.). In one embodiment, the first lens unit 11 can also be made of glass or polyimide (PI). Since the curvature radii of the spherical curved surfaces of the eyeballs of humans or different animals are different, therefore, the curvature of the spherical curved surfaces of the convex surface 112 and the concave surface 111 of the first lens unit 11 can be made according to humans or different animals.

[0043] The spherical display unit 12 is disposed on the concave surface 111 of the first lens unit 11 and has a display surface S1. The display surface S1 is disposed facing the concave surface 111 of the first lens unit 11. Among them, the spherical display unit 12 is a stretchable display, which has stretchability, flexibility or bendability, and needs to conform to a three-dimensional spherical curved surface solid after being cut. In terms of technology, because it needs to be attached to a three-dimensional sphere (filling unit 15) after being cut, a flat display can be cut. The cut part is a pixel-free area, and after being cut, it is attached to a three-dimensional sphere (filling unit 15) to achieve the purpose of seamless and macroscopically invisible seam lines.

[0044] The spherical display unit 12 of this embodiment has a plurality of pixels P ( Figure 1E ) disposed on the display substrate 121. The display substrate 121 has stretchability, and its material is such as but not limited to polyimide (PI). In Figure 1F the embodiment, when not stretched, the spherical display unit 12a can be a flat display and has a plurality of pixels P and signal lines C connecting these pixels P to each other. The signal lines C are bent when not stretched. As Figure 1G shown, when stretched, it can be extended into a curved display. Moreover, after stretching, the signal lines C can become straight lines, and these pixels P (and signal lines C) of the spherical display unit 12a can still operate normally. In different embodiments, there can also be signal lines C connecting to each other between sub-pixels such as red, green and blue. The present invention is not limited.

[0045] In order to dispose (fix) the spherical display unit 12 on the concave surface 111, the adhesive layer 14 ( Figure 1D) is disposed between the display surface S1 and the concave surface 111 of the first lens unit 11, so that the display surface S1 of the spherical display unit 12 can be fixed (adhered) to the concave surface 111. Therefore, the curvature radius of the spherical surface of the spherical display unit 12 is substantially the same as the curvature radius of the spherical surface of the concave surface 111. The adhesive layer 14 can be an optical glue (Optical Clear Adhesive, OCA) or an optical clear resin (Optical Clear Resin, OCR), or other light-transmitting adhesive materials, without limitation.

[0046] The display surface S1 of the spherical display unit 12 may include a pupil area S11 and an iris area S12 disposed around the periphery of the pupil area S11. The pupil area S11 and the iris area S12 may have different patterns and colors according to different simulated animals. Among them, the pupil area S11 or the iris area S12 has at least one through area A, and the through area A is an area through which light (including visible light or invisible light) can pass, and it can be a physical hole or a non-physical hole. Among them, the through area A can be disposed in the pupil area S11, or in the iris area S12, or one through area A is provided in each of the pupil area S11 and the iris area S12, which is not limited in the present invention. The shape of the through area A can be circular, quadrilateral (square, rectangle, rhombus, parallelogram, trapezoid), oval or other shapes. In this embodiment, the through area A is taken as a quadrilateral as an example.

[0047] In addition, the display surface S1 of this embodiment may further include a sclera area S13, which is also called the white of the eye area (in the case of humans) and is disposed around the periphery of the iris area S12. Among them, the pupil area S11, the iris area S12 and the sclera area S13 can form a circular display area, and the pupil area S11, the iris area S12 and the sclera area S13 can display patterns respectively, and can have different patterns and colors according to different simulated animals. As the name implies, the pupil area S11 is used to display the pupil pattern of the eye, generally for example black or brown and the shape is not limited, and different ethnic groups or animals may have different pupil shapes, patterns and / or colors. The iris area S12 displays the iris pattern, and different ethnic groups or animals may have different iris shapes, patterns and / or colors. The sclera area S13 is used to display the sclera pattern, and different ethnic groups or animals may have different sclera shapes, patterns and / or colors. For example, as Figure 1C shown, in an application example, the sclera area S13 can simulate the eye filaments S131 (such as blood filaments) presented by the white of the human eye. Therefore, if the working time of the service robot is too long, the sclera area S13 can be made to present the eye filaments S131, thereby simulating the real situation of the human eye, such as getting blood filaments due to too long working time.

[0048] The spherical display unit 12 of this embodiment may further include two ear portions R1 and R2, which are located on opposite sides of the periphery of the scleral region S13 and also adhere to the concave surface 111. In one embodiment, the ear portion R1 or the ear portion R2 may be electrically connected to the main control board (such as Figure 4B the control circuit board 18) via, for example, a flexible circuit board (such as COF), so as to control the spherical display unit 12 to display the pattern and / or color change of the eye to be simulated through the main control board. In one embodiment, an alignment symbol (such as □) may be respectively provided on the ear portions R1 and R2, and another alignment symbol (such as +) corresponding to these alignment symbols is provided on the filling unit 15, which is convenient for the alignment combination of the spherical display unit 12 and the filling unit 15.

[0049] In addition, the spherical display unit 12 of this embodiment further has a back surface S2 opposite to the display surface S1, and the filling unit 15 adheres to the back surface S2. In one embodiment, the filling unit 15 is a sphere or a hemisphere made of a light-transmitting or non-light-transmitting material. The filling unit 15 of this embodiment takes a sphere as an example. In one embodiment, the material of the filling unit 15 may be the same as or different from that of the first lens unit 11. The filling unit 15 of this embodiment is a sphere and can also be adhered to the back surface S2 of the spherical display unit 12 through an adhesive (not shown), so that the overall shape of the simulated eyeball 1 is similar to the shape of a real eyeball.

[0050] In one embodiment, the spherical display unit 12 may be a light-emitting diode (LED) display, an organic light-emitting diode (OLED) display, a liquid crystal display (LCD), or an electronic paper display (EPD). Among them, the light-emitting diode display may include a mini light-emitting diode (Mini LED) display or a micro light-emitting diode (μLED) display, which is not limited. In one embodiment, the spherical display unit 12 may be selected from a self-luminous, transmissive, or reflective display, but a bistable display in the reflective display is preferred because the bistable display does not consume power when the screen is not updated and maintains the same state as the iris of a real human eye. In one embodiment, after a large number of micro light-emitting diodes (μLEDs) are transferred in large quantities to a planar substrate (the material is, for example, PI), the planar substrate may be bent or stretched by a hemispherical fixture to form a spherical display unit, and then the hemispherical fixture is removed. In another embodiment, please refer to Figure 1H , a planar substrate (the material is, for example, PI) may be disposed on a hemispherical fixture S to form a spherical substrate 1211, and then a large number of micro light-emitting diodes 1212 (R, G, B) are transferred in large quantities to the spherical substrate 1211 by a mass transfer technology, and then the hemispherical fixture S is removed to form a spherical display unit.

[0051] The sensing unit 13 is disposed on the spherical display unit 12, and the sensing unit 13 is disposed corresponding to the position of the through region A. As Figure 1D shown, in this embodiment, the pupil region S11 has a through region A, and the through region A is provided with a first through hole H1 penetrating the spherical display unit 12 as an example. In addition, as Figure 1E shown, the spherical display unit 12 in this embodiment is exemplified by a micro light emitting diode (μLED) display, and the display substrate 121 is, for example but not limited to, a thin film transistor (TFT) substrate, and has a plurality of pixels P (connected signal lines C are not shown) arranged in a two-dimensional array. Of course, the spherical display unit 12 may further include other film layers and / or substrates, and the present invention is not limited. Since the through region A in this embodiment is a through hole (the first through hole H1), no pixel P is provided in the through region A. The sensing unit 13 may include a sensor, and the sensor may include a visible light sensor, an infrared sensor, or an ultrasonic sensor, or a combination thereof. In addition, the sensor may include a camera, a light sensor, or a proximity sensor, or a combination thereof. In other words, the camera in this article may be a visible light, infrared, or ultrasonic camera; the light sensor may be a visible light, infrared, or ultrasonic light sensor; the proximity sensor may be a visible light, infrared, or ultrasonic proximity sensor, depending on the actual usage. In one embodiment, if the sensor is an ultrasonic sensor, the number thereof may be multiple. Among them, since the sensing sensitivity of the ultrasonic sensor is easily inaccurate due to contact with air, it is better for the display to be a "non"-liquid crystal display, and each layer structure needs to be closely attached so that there are no bubbles as much as possible in front of the ultrasonic sensor (camera).

[0052] The sensing unit 13 of this embodiment takes a sensor, specifically the camera 131, as an example. In one embodiment, the camera 131 (sensor) is a visible light camera (capable of obtaining color images) or an infrared camera (capable of obtaining black and white images). The camera 131 of this embodiment takes the visible light camera as an example. Among them, the camera 131 (sensor) is a micro camera, and the filling unit has a second through hole H2 communicating with the first through hole H1, so that the camera 131 (sensing unit 13) can be disposed in the first through hole H1 via the second through hole H2, and at the same time, the top surface T of the camera 131 (sensor) faces the opening of the first through hole H1. In order to ensure the optical sensing sensitivity and image distortion-free of the visible light camera 131, it is better that the refractive indices of the layers in front of the top surface T of the camera 131, including the display substrate 121, the adhesive layer 14, and the first lens unit 11, are as consistent (the same) as possible. In one embodiment, the sensing unit 13 can be fixed in the first through hole H1 by, for example, a fixture, a glue material, or other fixing methods, and the fixing method is not limited. In one embodiment, the size of the through area A can be equal to or slightly larger than the size of the sensing unit 13, but smaller than the size of the pupil area S11 or the iris area S12. In one embodiment, the size of the camera 131 is, for example, about 0.65 mm.

[0053] Continuing from the above, in the simulated eyeball 1 of this embodiment, the pupil area S11, the iris area S12, and the sclera area S13 of the spherical display unit 12 can respectively display corresponding patterns and / or color changes, and the pupil area S11, the iris area S12, and the sclera area S13 have different patterns and colors according to different simulated animals. Among them, these patterns and / or color changes to be displayed (simulated) by the pupil area S11, the iris area S12, and the sclera area S13 can be pre-built in the aforementioned main control board, and the main control board controls the pupil area S11, the iris area S12, and the sclera area S13 of the spherical display unit 12 to respectively display these patterns and / or color changes, thereby simulating the patterns and / or color changes presented by the eyes of humans or different animals. At the same time, it can also simulate the patterns and / or color changes exclusive to an individual or a specific animal, and can express emotions, such as happiness or sadness, through the patterns displayed by the pupil area S11, the iris area S12, and the sclera area S13.

[0054] In addition, when looking down at the pattern displayed by the spherical display unit 12 from the outside convex surface 112 of the first lens unit 11 towards the spherical display unit 12, since the spherical display unit 12 is disposed (fitted) on the concave surface 111 of the first lens unit 11, when viewing the realistic eyeball 1 from the outside, the patterns displayed in the pupil area S11, iris area S12, and sclera area S13 will not be distorted. In addition, the camera 131 of this embodiment can obtain the external light that enters through the first lens unit 11 and the through area A (the first through hole H1), and then see (perceive) the object in front to perform corresponding reaction actions.

[0055] In addition, Figures 2 to 7 are schematic diagrams of realistic eyeballs according to different embodiments of the present invention.

[0056] As Figure 2 shown, the component composition of the realistic eyeball 1a in this embodiment and the connection relationship of each component are substantially the same as those of the realistic eyeball 1 in the foregoing embodiment. The difference is that the realistic eyeball 1a in this embodiment may further include a functional layer 16, and the functional layer 16 is disposed on the outside convex surface 112 of the first lens unit 11. Here, the functional layer 16 is a light-transmitting film layer, such as but not limited to an anti-scratch film, an anti-glare film, an anti-reflection film, an anti-fingerprint film, or a waterproof and anti-fouling film, or a combination of the above film layers, and the present invention is not limited.

[0057] In addition, as Figure 3A and Figure 3B shown, the component composition of the realistic eyeball 1b in this embodiment and the connection relationship of each component are substantially the same as those of the realistic eyeball 1a in the foregoing embodiment. The difference is that in the realistic eyeball 1b of this embodiment, the through area A is not a solid hole, but a region through which light can pass. As Figure 3BAs shown, the through region A of this embodiment is provided with a plurality of pixels P, and the sensing unit 13 (camera 131) is disposed on the back surface S2 of the spherical display unit 12 via the second through hole H2 of the filling unit 15, and the top surface T of the camera 131 (sensing unit 13) faces the through region A. Specifically, the through region A of the spherical display unit 12 of this embodiment is provided with a plurality of specially designed pixels P. Among them, a part of each pixel P in the through region A is specially designed as a light-transmitting area P1 through which light can pass, and these light-transmitting areas P1 form the through region A. Therefore, the light passing through these light-transmitting areas P1 can also enter the camera 131. In one embodiment, a part of each pixel P in the through region A being the light-transmitting area P1 can be designed only in the pupil area S11, and the pixels in other areas can be designed as normal pixels. In one embodiment, the camera 131 (sensing unit 13) can be fixed to the back surface S2 (or the second through hole H2) of the spherical display unit 12 by using, for example, a fixture, a glue material or other fixing methods, and the fixing method is not limited.

[0058] In another embodiment, as Figure 3C shown, when the camera 131 is an infrared camera, the display substrate 121 is an infrared-transmissive substrate, and the material includes, for example but not limited to, glass, polymethyl methacrylate (PMMA) or polycarbonate. It can be understood that Figure 3C the pixels P in the through region A can be normal pixels for displaying images, and there is no need to specially design a light-transmitting area P1. Among them, the infrared camera can obtain black and white images for the control circuit to interpret. In different embodiments, when the sensor is an infrared light sensor or an infrared distance sensor, the pixels P in the through region A can also be normal pixels for displaying images and do not need to be specially designed.

[0059] In addition, as Figure 3D shown, the main difference from Figure 3C is that Figure 3D the through region A of Figure 3D is a light-transmitting area and does not have pixels P, and the sensing unit 13 (camera 131) is disposed (fixed) on the back surface S2, and the top surface T of the camera 131 (sensing unit 13) faces the through region A. The reason why the through region A does not have pixels P is that when viewing the realistic eyeball of the embodiment of the present invention at a certain distance (for example, more than 1 meter), because the size of the camera 131 is very small, even if the through region A does not have pixels P, the camera 131 is still not easily seen clearly and does not affect the realistic effect of the realistic eyeball. Figure 3B The design that the through region A of

[0060] does not have pixels P can also be applied to Figure 4A and Figure 4B . Among them, Figure 4B isFigure 4A Functional block diagram of the realistic eyeball 1c. The component composition of the realistic eyeball 1c in this embodiment and the connection relationship of each component are substantially the same as those of the realistic eyeball 1a in the foregoing embodiment. The difference lies in that, in the realistic eyeball 1c of this embodiment, in addition to the camera 131, the sensing unit 13a further includes a light sensor 132. Here, both the camera 131 and the light sensor 132 are disposed in the first through hole H1 via the second through hole H2 (the fixing method is not limited). It is understandable that the light sensor 132 in this embodiment can also be replaced by a distance sensor; or, a distance sensor can be additionally installed beside the camera 131 and the light sensor 132, and the present invention is not limited.

[0061] The realistic eyeball 1c of this embodiment may further include a control circuit board 18, and the control circuit board 18 may be disposed in, for example, the head or body of a robot. The control circuit board 18 is electrically connected to the spherical display unit 12 and the sensing unit 13. The control circuit board 18 is the main control board and may include a database 181. The database 181 may store patterns and colors of a plurality of pupil areas S11 and iris areas S12. Further, the database 181 may also store patterns and colors of the sclera area S13. Here, the changes in these patterns and / or colors to be displayed (simulated) in the pupil area S11, iris area S12, and sclera area S13 are different according to different simulated animals, and can be input from the outside or built into the database 181 of the control circuit board 18, and the present invention is not limited. For example, the patterns and colors of the pupil area S11, iris area S12, and sclera area S13 of humans are different from those of the pupil area S11, iris area S12, and sclera area S13 of cats or dogs, and the patterns and colors of different ethnic groups, different cats or dogs are also different. These patterns and / or color changes can be pre-stored in the database 181. When the control circuit board 18 knows what animal (including humans) is to be simulated, the corresponding patterns and colors of the pupil area S11, iris area S12, and sclera area S13 can be found from the database 181, so that the spherical display unit 12 can display the patterns and colors of the pupil area S11, iris area S12, and sclera area S13 of the animal to be simulated.

[0062] In addition, the realistic eyeball 1c of this embodiment may further include a control unit 17. The control unit 17 can be electrically connected to the sensing unit 13a (camera 131, light sensor 132) and the spherical display unit 12 respectively through a flexible circuit board (such as COF). Here, the control unit 17 can be composed of software, hardware or firmware. The control unit 17 of this embodiment can be located on the control circuit board 18 (it can also be located on an independently provided circuit board, without limitation). The control unit 17 can change the display pattern and color of the spherical display unit 12 according to the sensing results of the sensing unit 13a (camera 131, light sensor 132) (and the patterns and colors stored in the database 181). That is, changing the display pattern includes changing the size of the pattern). As Figure 4A As Figure 4B shown, for example, after the control unit 17 obtains the images of the pupil area S11, iris area S12, and sclera area S13 of the animal to be simulated by the camera 131, the control unit 17 controls the spherical display unit 12 to display the corresponding patterns and colors according to the images obtained by the camera 131. In addition, the light sensor 132 can sense the light entering through the first lens unit 11 and the through area A and output a sensing signal CS, so that the control unit 17 can change the display pattern and color of the spherical display unit 12 according to the sensing signal CS, such as changing the sizes of the pupil area S11 and the iris area S12. Here, when the size of the pupil area S11 shrinks, the size of the iris area S12 becomes larger (the sum of the areas of the pupil area S11 and the iris area S12 remains unchanged); conversely, when the size of the pupil area S11 becomes larger, the size of the iris area S12 shrinks.

[0063] For example, when the light sensor 132 senses strong external light, the control unit 17 can change the display pattern of the spherical display unit 12, that is, it can reduce the size of the pupil area S11 and increase the size of the iris area S12; conversely, when the external light is dim, the control unit 17 can increase the size of the pupil area S11, increase the light entering the pupil area S11, and at the same time reduce the size of the iris area S12, thereby simulating the real reaction of the eye to strong light or insufficient light. In one embodiment, the light sensor 132 can be a visible light or infrared (IR) sensor, and the present invention is not limited.

[0064] In another embodiment, when the sensing unit includes a distance sensor and the distance sensor can output a sensing signal when sensing that the distance between an object and the realistic eyeball is less than the target distance, the control unit 17 can adjust the distance between the realistic eyeball (robot) and the object according to the sensing signal, such as increasing the distance from the object. In one embodiment, both the light sensor 132 and the distance sensor are micro-size sensors. In one embodiment, the size of the light sensor 132 or the distance sensor can be, for example, 0.5-1.0 mm, but is not limited thereto.

[0065] In addition, as Figure 5 shown, the component composition of the realistic eyeball 1d in this embodiment and the connection relationships of the various components of the realistic eyeball 1a in the foregoing embodiment are substantially the same. The difference lies in that, in the realistic eyeball 1d of this embodiment, the number of the through regions A is multiple (for example, 2), and these through regions A are located in the pupil region S11 and the iris region S12. In addition, the sensing unit 13a in this embodiment also includes multiple (for example, 2) sensors of different types, and these sensors of different types are respectively disposed in these through regions A. Here, one through region A (the first through hole H1) is in the pupil region S11 and is provided with the camera 131, and the other through region A (the third through hole H3) is in the iris region S12 and is provided with the light sensor 132 (the filling unit 15 has the fourth through hole H4 corresponding to the third through hole H3). In different embodiments, the multiple through regions A may be simultaneously located in the pupil region S11 or simultaneously located in the iris region S12, and the present invention is not limited thereto.

[0066] It can be understood that the realistic eyeballs 1c and 1d in the above embodiments take the through region A as an example of a physical hole (through hole), but are not limited thereto, and those skilled in the art should be able to apply it to the embodiments in which the through region A is a non-physical hole.

[0067] In addition, as Figure 6 shown, the component composition of the realistic eyeball 1e in this embodiment and the connection relationships of the various components of the realistic eyeball 1a in the foregoing embodiment are substantially the same. The difference lies in that the realistic eyeball 1e in this embodiment further includes the second lens unit 19. Among them, the convex outer surface 112 of the first lens unit 11 has the groove U corresponding to the pupil region S11 and the iris region S12, and the second lens unit 19 is disposed in the groove U. Here, the second lens unit 19 is a biconvex lens, and its shape matches the groove U. The second lens unit 19 can be attached to the groove U through, for example, an adhesive, or the second lens unit 19 and the first lens unit 11 may also be of an integrally formed structure, and the present invention is not limited thereto. In addition, in the direction of looking down on the realistic eyeball 1e, the area of the second lens unit 19 is substantially the same as the sum of the areas of the pupil region S11 and the iris region S12, thereby magnifying the patterns of the pupil region S11 and the iris region S12.

[0068] In addition, as Figure 7As shown, the component composition of the realistic eyeball 1f in this embodiment and the realistic eyeball 1e in the foregoing embodiment, as well as the connection relationship of each component, are substantially the same. The difference lies in that the shape of the second lens unit 19a of the realistic eyeball 1f in this embodiment is slightly different from the shape of the second lens unit 19. Here, the middle part of the outer surface 191 of the second lens unit 19a has an arc-shaped protrusion 192. The second lens unit 19a can be attached to the groove U through, for example, an adhesive, or the second lens unit 19a can also be integrally formed with the first lens unit 11, and the present invention does not limit this.

[0069] The purpose of setting the foregoing second lens unit 19 or 19a is as follows: Since the real eyeball has a structure similar to the second lens unit 19 or 19a, the patterns in the pupil area S11 and the iris area S12 can be magnified. Therefore, the above Figure 6 、 Figure 7 embodiments can magnify the patterns in the pupil area S11 and the iris area S12 through the setting of the second lens units 19 and 19a, so that the realistic eyeballs 1e and 1f can be closer to the pupil and iris patterns of the real eyeball, making the realistic eyeballs 1e and 1f more realistically resemble the eyes of humans or animals. In addition, it can be understood that the function layer 16 can also be provided on the outer surface 191 of the second lens unit 19 and the outer surface 191 and the arc-shaped protrusion 192 of the second lens unit 19a.

[0070] Figure 8 、 Figure 9 And Figure 10 are schematic diagrams of robots according to different embodiments of the present invention.

[0071] As Figure 8 shown, the robot 2 includes a head 21 and at least one realistic eyeball 22, and the realistic eyeball 22 is provided on the head 21. In this embodiment, the robot 2 takes two realistic eyeballs 22 provided on the head 21 as an example. Among them, the realistic eyeball 22 can be one of the realistic eyeballs 1, 1a to 1f in the above embodiments, or a variant thereof, and the specific technical content has been described in detail above and will not be elaborated here.

[0072] The robot 2 in this embodiment may further include a body 23, four limbs 24, and a control circuit board 25. The control circuit board 25 can be the foregoing Figure 4BThe control circuit board 18 (including the database 181) is provided in the head 21, and the robot 2 can change the patterns and colors of the pupil area, iris area, and sclera area according to the control of the owner or autonomously through the control circuit board 25, which is not limited in the present invention. Here, the robot 2 is a terrestrial animal, and a pet robot (robotic dog) is taken as an example, but it is not limited thereto. In different embodiments, the robot 2 can also be other terrestrial animals, such as robotic cats, birds, pigs,...; or aquatic animals, such as robotic fish, dolphins,...; or, the robot 2 can also be a service robot, which is not limited in the present invention.

[0073] In an application example, taking a pet robot as a dog as an example, since the lifespan of most pet dogs is shorter than that of humans, the owner can establish the patterns and colors of the pet dog's eyeballs (pupil area, iris area, and sclera area) in advance while the dog is alive. When the pet dog passes away, the lifelike eyeballs can be made using the pre-established eyeball patterns and colors and applied to the pet robot (robotic dog), so that when the owner sees the expression and eyes of the pet robot, it seems as if seeing the previously raised dog is still alive.

[0074] In addition, as Figure 9 shown, the component composition of the robot 2a in this embodiment and the connection relationship of each component with the robot 2 in the foregoing embodiment are substantially the same. The difference is that the robot 2a in this embodiment is a service robot. Similarly, the service robot 2a is equipped with a lifelike eyeball 22, and the lifelike eyeball 22 can change the patterns and colors of the pupil area, iris area, and sclera area of the spherical display unit according to the control of the owner or autonomously through the control circuit board 25, thereby simulating the pattern and / or color change of the human eye, such as the pupil shrinking in strong light, bloodshot eyes appearing in the sclera area during long-term work or rubbing the eyes, and even shedding tears in a sad situation, etc., thereby expressing emotions.

[0075] In some application examples, the aforementioned robot 2 or 2a can, according to the situation, control the spherical display unit of the simulated eyeball 22 through the control circuit board 25 to produce a warning effect, such as flashing and / or displaying a fault code. For example, when the robot learns (through networking or detection by its own camera) that there is a fire in the building where it is located, it can actively control the spherical display unit of the simulated eyeball 22 to produce, for example, red or green light flashing (codes can also be displayed simultaneously). If there is a microphone, voice reminder can also be provided; when the robot detects that the battery power of itself is lower than the critical value, it can actively control the spherical display unit of the simulated eyeball 22 to produce, for example, red or yellow light flashing (codes can also be displayed simultaneously). If there is a microphone, voice reminder can also be provided; when the robot detects that its own mechanism has a fault, it can actively control the spherical display unit of the simulated eyeball to produce a code (such as a fault code, flashing can also be simultaneous). If there is a microphone, voice reminder can also be provided, thereby notifying and assisting maintenance personnel to conduct inspections. The aforementioned situations of fire, low battery or mechanism failure are only examples and should not be used to limit the present invention.

[0076] In addition, as Figure 10 shown, a linkage mechanism can be provided inside the head of the robot to control the rotation of the simulated eyeball 22. For example, a plurality of drivers 26 are provided and connected to the two simulated eyeballs 22 through a plurality of support links 27, thereby using the drivers 26 and the links 27 to control the rotation of the simulated eyeball 22. In addition, the head 21 of the robot 2a can include artificial eyelids 211. The spherical display unit has an effective display area, which is the area on the display surface of the spherical display unit where images can be displayed; when the simulated eyeball 22 rotates, for example, when it rotates to the maximum angle, the artificial eyelids 211 should at least cover the edge of the effective display area of the spherical display unit. In Figure 10 the embodiment, the effective display area of the simulated eyeball 22 includes the aforementioned pupil area, iris area and sclera area. Therefore, when the robot 2a rotates the simulated eyeball 22, the artificial eyelids 211 still need to cover the edges of the pupil area, iris area and sclera area.

[0077] In summary, in the virtual eyeball of the present invention and the robot with the virtual eyeball, the spherical display unit is disposed on the concave surface of the first lens unit and has a display surface. The display surface includes a pupil area and an iris area disposed around the periphery of the pupil area. The pupil area or the iris area has at least one through area. The sensing unit is disposed on the spherical display unit and is disposed corresponding to the position of at least one through area. Among them, the pupil area and the iris area have different pattern and color structural designs according to different simulated animals, so that the virtual eyeball and the robot of the present invention can simulate the pattern and / or color changes presented by different ethnic groups or animal eyes. Moreover, when viewing the virtual eyeball from the outside, the pattern displayed by the virtual eyeball will not be distorted. In addition, the virtual eyeball of the present invention can realistically be like the eyes of humans or different animals, with pattern and / or color changes exclusive to an individual or a specific animal, and can also express emotions through the displayed patterns.

[0078] In addition, in one embodiment, the sensing unit may include a camera, which can obtain external light entering through the first lens unit and the through area, and then see (perceive) the object in front to perform corresponding actions. In another embodiment, the sensing unit may include a light sensor, which can sense the light entering through the first lens unit and the through area, and then change the sizes of the pupil area and the iris area through the spherical display unit. In yet another embodiment, the sensing unit may include a distance sensor, which can adjust the distance between the virtual eyeball (robot) and the object according to the distance between the object and the virtual eyeball.

[0079] The above is only illustrative and not restrictive. Any equivalent modification or change without departing from the spirit and scope of the present invention shall be included in the scope of the appended claims.

Claims

1. A simulated eyeball, comprising: A first lens unit having an inner concave surface; A spherical display unit, which is arranged on the inner concave surface of the first lens unit, the spherical display unit has a display surface, the display surface includes a pupil area and an iris area arranged around the pupil area, the pupil area or the iris area has at least one transmission area; as well as A sensor unit, which is disposed on the spherical display unit, and the sensor unit is disposed corresponding to the position of the transmission area; The pupil area and the iris area have different patterns and colors according to the simulated animals.

2. The simulated eyeball according to claim 1, further comprising: A filling unit, wherein the spherical display unit further has a back surface opposite to the display surface, and the filling unit is attached to the back surface; The penetration area is provided with a first through hole, the filling unit has a second through hole connected with the first through hole, the sensing unit is arranged in the first through hole via the second through hole, and the top surface of the sensing unit faces the opening of the first through hole.

3. The simulated eyeball according to claim 1, further comprising: A filling unit, wherein the spherical display unit further has a back surface opposite to the display surface, and the filling unit is attached to the back surface; The transmission area is provided with a plurality of pixels, the filling unit has a second through hole, the sensing unit is arranged on the back surface via the second through hole, and the top surface of the sensing unit faces the transmission area. 4 . The simulated eyeball according to claim 3 , wherein a portion of each of the pixels in the transmission area is a light-transmitting area, and the light-transmitting area forms the transmission area.

5. The simulated eyeball according to claim 1, wherein the transmission area is a light-transmitting area without pixels, the spherical display unit also has a back surface opposite to the display surface, the sensor unit is arranged on the back surface, and the top surface of the sensor unit faces the transmission area. 6 . The simulated eyeball according to claim 1 , wherein the number of the at least one transmission area is multiple, the sensing unit comprises multiple sensors of different types, and the sensors of different types are respectively arranged in the transmission areas.

7. The simulated eyeball according to claim 1, further comprising: A control circuit board is electrically connected to the spherical display unit and the sensor unit. The control circuit board includes a database. The database stores a plurality of patterns and colors of the pupil area and the iris area.

8. The simulated eyeball according to claim 1, further comprising: A control unit electrically connected to the spherical display unit and the sensor unit; The sensing unit includes a light sensor, which senses the light entering through the first lens unit and the transmission area and outputs a sensing signal. The control unit changes the size of the pupil area and the iris area of ​​the spherical display unit according to the sensing signal.

9. The simulated eyeball according to claim 1, further comprising: a second lens unit, wherein the first lens unit further comprises an outer convex surface opposite to the inner concave surface, the outer convex surface comprises grooves corresponding to the pupil area and the iris area, and the second lens unit is arranged in the grooves; wherein, in a direction of looking down at the simulated eyeball, the area of ​​the second lens unit is substantially the same as the area of ​​the pupil area and the iris area; Wherein, the outer surface of the second lens unit has an arc-shaped protrusion.

10. A robot comprising: head; as well as A simulated eyeball is arranged on the head, and the simulated eyeball comprises: A first lens unit having an inner concave surface; a spherical display unit disposed on the inner concave surface of the first lens unit, the spherical display unit having a display surface, the display surface including a pupil area and an iris area arranged around the pupil area, the pupil area or the iris area having at least one transmission area; and A sensor unit, which is disposed on the spherical display unit, and the sensor unit is disposed corresponding to the position of the transmission area; The pupil area and the iris area have different patterns and colors according to the simulated animals.

Images