Simulation eyeball and robot

Abstract

The invention discloses a simulated eyeball and a robot. The simulated eyeball comprises a display unit, a convex lens unit and a sensing unit. The 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 convex lens unit is arranged on the display surface and covers the pupil area and the iris area. The sensing unit is arranged on the 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 don't 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, and 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 keeping pets are numerous, such as reducing stress and anxiety, and taking pets out for walks can also increase the amount of exercise. And there is research indicating that keeping 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 the eyes of humans or different animals, 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, which can simulate the pattern and / or color changes of real eyes.

[0006] To achieve the above object, a lifelike eyeball according to the present invention includes a display unit, a convex lens unit, and a sensing unit. The display unit has a display surface, and 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 convex lens unit is disposed on the display surface and covers the pupil area and the iris area. The sensing unit is disposed on the display unit, and the sensing unit is disposed corresponding to the position of the 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 display unit is a light-emitting diode display, an organic light-emitting diode display, a liquid crystal display, or an electronic paper display.

[0008] In one embodiment, the simulated eyeball further includes an adhesive layer disposed between the display surface and the convex lens unit.

[0009] In one embodiment, the through region includes a through hole penetrating the display unit, the sensing unit is disposed in the through hole, and the top surface of the sensing unit faces the opening of the through hole.

[0010] In one embodiment, the through region is provided with a plurality of pixels, the 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.

[0011] 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.

[0012] In one embodiment, the through region is a light-transmitting area and is not provided with pixels, the 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.

[0013] 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.

[0014] In one embodiment, the 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.

[0015] In one embodiment, the simulated eyeball further includes a control unit, and the control unit is electrically connected to the sensing unit and the display unit; wherein, the sensing unit includes a light sensor, and the light sensor senses the light incident through the convex lens unit and the through region and outputs a sensing signal, and the control unit changes the sizes of the pupil area and the iris area of the display unit according to the sensing signal.

[0016] In one embodiment, when the size of the pupil area decreases, the size of the iris area increases; when the size of the pupil area increases, the size of the iris area decreases.

[0017] In one embodiment, the number of the 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.

[0018] In one embodiment, these through regions are respectively located in the pupil area and the iris area.

[0019] In one embodiment, the display surface further includes a scleral region that is disposed around the periphery of the iris region. The convex lens unit also covers the scleral 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 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 light-shielding layer that is disposed on the display surface and is located around the periphery of the scleral region.

[0022] In one embodiment, the realistic eyeball further includes a functional layer that is disposed on the surface of the convex lens unit away from the display unit.

[0023] In one embodiment, the realistic eyeball further includes a light-shielding plate. The pupil region of the display unit is a first through hole. The display unit has a back surface opposite to the display surface. The light-shielding plate is disposed on the back surface and has a second through hole corresponding in position to the first through hole. The size of the second through hole is smaller than that of the first through hole, and the sensing unit is disposed in the first through hole via the second through hole.

[0024] In one embodiment, the realistic eyeball further includes a sphere that has a flat surface. The convex lens unit, the display unit, and the light-shielding plate are disposed on the flat surface. The sphere has a scleral pattern located around the periphery of the flat surface.

[0025] To achieve the above object, a robot according to the present invention includes a head and the above-described realistic eyeball, and the realistic eyeball is disposed on the head.

[0026] In one embodiment, the robot controls the display unit to generate a flicker and / or display a code according to the situation.

[0027] As described above, in the realistic eyeball and the robot having the realistic eyeball of the present invention, the display surface includes a pupil region and an iris region disposed around the periphery of the pupil region. The pupil region or the iris region has at least one through region. The convex lens unit is disposed on the display surface and covers the pupil region and the iris region. The sensing unit is disposed on the display unit and is disposed at a position corresponding to the through region. The pupil region and the iris region have different patterns and colors according to different simulated animals. The structural design enables the realistic eyeball and the robot of the present invention to simulate the patterns and / or color changes presented by different ethnic groups or animal eyes. In addition, the present invention can realistically simulate the eyes of humans or different animals, can have patterns and / or color changes specific to an individual or a specific animal, and can also express emotions through the displayed patterns.

[0028] In addition, in one embodiment, the sensing unit may include a camera that can obtain external light entering through the convex lens unit and the through area, and then see (sense) the object in front to perform corresponding actions. In another embodiment, the sensing unit may include a light sensor that can sense the light entering through the convex lens unit and the through area, and then change the sizes of the pupil area and the iris area through the display unit. In yet another embodiment, the sensing unit may include a distance sensor that can adjust the distance between the artificial eyeball (robot) and the object according to the distance between the object and the artificial eyeball. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1A and Figure 1B are respectively a combined schematic diagram and an exploded schematic diagram of an artificial eyeball according to an embodiment of the present invention.

[0030] Figure 1C is Figure 1A a top view schematic diagram of the artificial eyeball.

[0031] Figure 1D is Figure 1A a three-dimensional cross-sectional schematic diagram of the artificial eyeball.

[0032] Figure 1E is Figure 1D a schematic diagram of the relationship between the display substrate of the display unit and the sensing unit in the artificial eyeball.

[0033] Figures 2 to 7B are respectively schematic diagrams of artificial eyeballs according to different embodiments of the present invention.

[0034] Figure 8 , Figure 9 and Figure 10 are respectively schematic diagrams of robots according to different embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] Hereinafter, with reference to the relevant drawings, an artificial eyeball and a robot according to a preferred embodiment of the present invention will be described, where the same elements will be described with the same reference numerals.

[0036] The artificial eyeball herein may also be referred to as an artificial intelligence (AI) eyeball, which can simulate the patterns and / or color changes presented by human or animal eyes. In addition, the artificial eyeball herein can realistically be like 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 shown on the eyeball. 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.

[0037] Figure 1A and Figure 1BA combined schematic diagram and an exploded schematic diagram of a simulated eyeball 1 according to an embodiment of the present invention, Figure 1C is Figure 1A a top view schematic diagram of the simulated eyeball 1, Figure 1D is Figure 1A a three-dimensional sectional view schematic diagram of the simulated eyeball 1, and Figure 1E is Figure 1D a schematic diagram of the relationship between the display substrate 111 of the display unit 11 and the sensing unit 13 in the simulated eyeball 1. Here, Figure 1C the convex lens unit 12 of the simulated eyeball 1 is not shown.

[0038] Please refer to Figures 1A to 1E , the simulated eyeball 1 includes a display unit 11, a convex lens unit 12, and a sensing unit 13. In addition, the simulated eyeball 1 of this embodiment further includes an adhesive layer 14.

[0039] The display unit 11 has a display surface S1, the display surface S1 faces the convex lens unit 12, and includes 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, at least one through area A is provided in the pupil area S11 or the iris area S12. 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 through areas A are provided in both the pupil area S11 and the iris area S12. The present invention does not limit this. The shape of the through area A can be circular, quadrilateral (square, rectangle, rhombus, parallelogram, trapezoid), oval or other shapes. The through area A in this embodiment is taken as a quadrilateral as an example.

[0040] In addition, the display surface S1 of this embodiment may further include a sclera area S13. The sclera area S13 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 form a circular display area, and patterns can be displayed respectively, and different patterns and colors can be provided according to different simulated animals. As the name implies, the pupil area S11 is used to display the pupil pattern of the eye, generally black or brown and with an unlimited shape. Different ethnic groups or animals may have different pupil shapes, patterns, and / or colors. The iris area S12 displays the iris pattern. 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. Different ethnic groups or animals may have different sclera shapes, patterns, and / or colors. For example, as Figure 1CAs shown, the scleral region S13 can simulate the eye filaments S131 (such as blood streaks) presented by the white part of the human eye. Therefore, if the service robot works for too long, the scleral region S13 can present the eye filaments S131, thereby simulating the real situation of the human eye, such as blood streaks caused by working for too long.

[0041] In this embodiment, the shape of the display unit 11 is taken as a rectangle as an example, but it is not limited to a rectangle. Preferably, in order to make the (artificial) eyelid close and open more like the blinking situation of a real eye, a circular display unit 11 is more suitable for simulating a real eyeball, that is, the display unit 11 only has a pupil region S11, an iris region S12, and a scleral region S13. In one embodiment, the rectangular display unit 11 of this embodiment can be replaced with a circular display unit, and this circular display unit only displays the pupil region S11, the iris region S12, and the scleral region S13.

[0042] In one embodiment, the display unit 11 can 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 display unit 11 to display the pattern and / or color change of the eye to be simulated through the main control board. In one embodiment, the display unit 11 can 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 can 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 display unit 11 can be selected from self-luminous, transmissive, or reflective displays, 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, a large number of μLEDs can be transferred in large quantities to a planar substrate (the material is, for example, PI) to form the display unit 11 by using the mass transfer technology.

[0043] The convex lens unit 12 is disposed on the display surface S1 and covers the pupil region S11 and the iris region S12. The convex lens unit 12 of this embodiment also covers the scleral region S13. The convex lens unit 12 is made of a light-transmissive material. Since humans or different animals require different types of convex lens units 12, a more suitable convex lens unit 12 is a single-sided convex lens with elasticity, and the curvature of the single-sided convex lens can be made according to humans or different animals. The material of the convex lens unit 12 is, for example, but not limited to, silicone (such as including materials such as silicon methyl or silicon phenyl). In one embodiment, the convex lens unit 12 can also be made of glass or polyimide (PI).

[0044] The sensing unit 13 is disposed on the display unit 11, and the sensing unit 13 is disposed corresponding to the position of the transmissive region A. AsFigure 1D As shown, in this embodiment, it is taken as an example that the pupil area S11 has a transmissive area A, a through hole H penetrating the display unit 11 is provided in the transmissive area A, and the extending direction of the through hole H is perpendicular to the display surface S1. Additionally, as Figure 1E shown, in this embodiment, the display unit 11 is taken as an example of a micro light-emitting diode (μLED) display, which may include a display substrate 111, for example but not limited to a thin film transistor (TFT) substrate. Of course, the display unit 11 may also include other film layers and / or substrates, and the present invention is not limited thereto. The display substrate 111 has a plurality of pixels P (a plurality of μLEDs) arranged in a two-dimensional array. Since the transmissive area A is a through hole H, the transmissive area A does not have pixels P. In addition, 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. Additionally, the sensor may include a camera, a light sensor, or a proximity sensor, or a combination thereof. In other words, the camera herein 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 situation. 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 prone to be inaccurate due to contact with air, it is preferably a "non"-liquid crystal display for the display, and each layer structure needs to be closely adhered so that there are preferably no bubbles directly in front of the ultrasonic sensor (camera).

[0045] In this embodiment, the sensing unit 13 is taken as an example of including one sensor, which is the camera 131. In one embodiment, the camera 131 is a visible light camera (capable of obtaining a color image), an infrared (IR) camera (capable of obtaining a black and white image), or an ultrasonic (Ultrasound) camera. In this embodiment, the camera 131 is taken as an example of a visible light camera. Among them, the camera 131 (sensor) is a micro camera and is disposed in the through hole H, and the top surface T of the camera 131 (sensing unit 13) faces the opening of the through hole H. 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 111, the adhesive layer 14, and the convex lens unit 12, are as consistent (the same) as possible. In one embodiment, the sensing unit 13 can be fixed in the through hole H by using, 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 transmissive area A may 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.

[0046] The adhesive layer 14 is disposed between the display surface S1 and the convex lens unit 12. The adhesive layer 14 is used to bond the convex lens unit 12 to the display unit 11. The adhesive layer 14 can be an Optical Clear Adhesive (OCA), an Optical Clear Resin (OCR), or other light-transmitting adhesive materials, without limitation.

[0047] Continuing from the above, in the realistic eyeball 1 of this embodiment, the pupil area S11, iris area S12, and sclera area S13 of the display unit 11 can respectively display corresponding patterns and / or color changes, and the pupil area S11, iris area S12, and 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, iris area S12, and sclera area S13 can be built into the aforementioned main control board, and the main control board controls the pupil area S11, iris area S12, and sclera area S13 of the display unit 11 to respectively display these patterns and / or color changes, thereby simulating the patterns and / or color changes presented by human or different animal eyes. At the same time, it can also simulate patterns and / or color changes exclusive to an individual or a specific animal, and can express specific emotions, such as happiness or sadness, through the patterns presented by the pupil area S11, iris area S12, and sclera area S13. In addition, the camera 131 can obtain external light entering through the convex lens unit 12 and through the through area A (through hole H), and then see (perceive) the object in front to perform corresponding reaction actions.

[0048] In addition, Figures 2 to 7B are schematic diagrams of realistic eyeballs according to different embodiments of the present invention.

[0049] As Figure 2 shown, the component composition and the connection relationship of each component of the realistic eyeball 1a of this embodiment are substantially the same as those of the realistic eyeball 1 of the foregoing embodiment. The difference is that the realistic eyeball 1a of this embodiment may further include a functional layer 16, and the functional layer 16 is disposed on the surface of the convex lens unit 12 away from the display 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-finger printing Film, or a waterproof and anti-fouling film, or a combination of the above film layers. The present invention is not limited.

[0050] In addition, as Figure 3A and Figure 3BAs shown, the component composition of the realistic eyeball 1b in this embodiment and the realistic eyeball 1a in the foregoing embodiment, as well as the connection relationship of each component, are substantially the same. The difference is that in the realistic eyeball 1b of this embodiment, the through area A is not a physical hole, but an area through which light can pass. As Figure 3B As shown, a plurality of pixels P are provided in the through area A of this embodiment, and the display unit 11 further has a back surface S2 opposite to the display surface S1. 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 area A. Specifically, a plurality of specially designed pixels P are provided in the through area A of the display unit 11 in this embodiment. Among them, a part of each pixel P in the through area A is specially designed as a light-transmitting area P1 through which light can pass, and these light-transmitting areas P1 form the through area 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 area 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 of the display unit 11 by using, for example, a fixture, a glue material or other fixing methods, and the fixing method is not limited.

[0051] In another embodiment, as Figure 3C shown, when the camera 131 is an infrared camera, the display substrate 111 is an infrared-penetrable 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 area A of can be normal pixels for displaying images, and there is no need to specially design the 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 area A can also be normal pixels for displaying images, and there is no need for special design.

[0052] In addition, as Figure 3D shown, the main difference from Figure 3C is that Figure 3D the through area A of 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 area A. The reason why the through area 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, 1 meter away), because the size of the camera 131 is very small, even if the through area A does not have pixels P, the camera 131 is still not easily seen obviously, and it does not affect the realistic effect of the realistic eyeball. Figure 3D The design that the through area A of does not have pixels P can also be applied toFigure 3B in

[0053] Please refer to Figure 4A and Figure 4B , where Figure 4B is Figure 4A a functional block diagram of the realistic eyeball 1c. The component composition and the connection relationship of each component of the realistic eyeball 1c in this embodiment 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 same through hole H (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.

[0054] In addition, the realistic eyeball 1c of this embodiment may further include a control circuit board 18, and the control circuit board 18 can be disposed, for example, in the head or body of a robot. The control circuit board 18 is electrically connected to the display unit 11 and the sensing unit 13. The control circuit board 18 is the main control board and may include a database 181. The database 181 can store patterns and colors of a plurality of pupil regions S11 and iris regions S12. Further, the database 181 can also store patterns and colors of the sclera region S13. Here, the patterns and / or color changes to be displayed (simulated) in the pupil region S11, iris region S12, and sclera region 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 region S11, iris region S12, and sclera region S13 of humans are different from those of the pupil region S11, iris region S12, and sclera region 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 region S11, iris region S12, and sclera region S13 can be found from the database 181, so that the display unit 11 can display the patterns and colors of the pupil region S11, iris region S12, and sclera region S13 of the animal to be simulated.

[0055] In addition, the realistic eyeball 1c may further include a control unit 15. The control unit 15 may be electrically connected to the sensing unit 13a (the camera 131 and the light sensor 132) and the display unit 11 respectively through a flexible circuit board (such as COF). Here, the control unit 15 may be composed of software, hardware or firmware. The control unit 15 of this embodiment is located on the control circuit board 18 (it may also be located on an independently provided circuit board, which is not limited). The control unit 15 may change the display pattern and color of the display unit 11 according to the sensing results of the sensing unit 13a (the camera 131 and the 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. In one embodiment, for example, after the camera 131 obtains the images of the pupil area S11, the iris area S12 and the sclera area S13 of the animal to be simulated, the control unit 15 then controls the display unit 11 to display the corresponding patterns and colors according to the images obtained by the camera 131. Or, in another embodiment, as Figure 4B shown, the light sensor 132 of this embodiment may sense the light entering through the convex lens unit 12 and the through area A and output a sensing signal CS, so that the control unit 15 can change the display patterns and colors of the pupil area S11 and the iris area S12 of the display unit 11 according to the sensing signal CS, for example, 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.

[0056] For example, when the light sensor 132 senses strong external light, the control unit 15 can change the display pattern of the display unit 11, that is, it can reduce the size of the pupil area S11 and make the size of the iris area S12 larger; conversely, when the external light is dim, the control unit 15 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 may be a visible light or infrared sensor, and the present invention is not limited.

[0057] In another embodiment, when the sensing unit includes a distance sensor, and when the distance sensor senses that the distance between an object and the realistic eyeball is less than the target distance, it can output a sensing signal. The control unit 15 can adjust the distance between the realistic eyeball (robot) and the object according to the sensing signal, for example, 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 may be, for example, 0.5 to 1.0 mm, but not limited thereto.

[0058] 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 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) different types of sensors, and these different types of sensors are respectively disposed in these through regions A. Here, one through region A (through hole H1) is in the pupil region S11 and is provided with a camera 131, and the other through region A (through hole H1) is in the iris region S12 and is provided with a light sensor 132. In different embodiments, 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.

[0059] 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 in the realistic eyeball 1e of this embodiment, a light-shielding layer 17 is further included, the light-shielding layer 17 is disposed on the display surface S1, and the light-shielding layer 17 is located at the periphery of the sclera region S13. Thus, the light-shielding layer 17 can form a light-shielding region to prevent light leakage from the edge outside the sclera region S13.

[0060] It is understandable that the realistic eyeballs 1c, 1d, and 1e in the above embodiments take the through region A as a physical hole (through hole) as an example, but are not limited thereto, and those skilled in the art should be able to apply it to embodiments where the through region A is a non-physical hole.

[0061] In addition, as Figure 7A shown, the component composition of the realistic eyeball 1f in this embodiment and the connection relationships of the various components of the realistic eyeball 1 in the foregoing embodiment are substantially the same. The difference lies in that in the realistic eyeball 1f of this embodiment, the display unit 11a is a circular middle-hole type display. Among them, the pupil region S11 of the display unit 11a is a circular first through hole h1 (the size cannot be changed), so the display unit 11a can only display the iris pattern in the iris region S12. In addition, the realistic eyeball 1f in this embodiment further includes a light-shielding plate 19, the light-shielding plate 19 can be a black light-shielding sheet, which has a second through hole h2 corresponding in position to the first through hole h1 (pupil region S11), and the size of the second through hole h2 is smaller than that of the first through hole h1. Here, the first through hole h1 is the through region A, and the sensing unit 13 (camera 131) is disposed in the first through hole h1 via the second through hole h2 (the fixing method is not limited). In one embodiment, the display unit 11 and the light-shielding plate 19 can be adhered to each other through, for example, double-sided tape (not shown).

[0062] In addition, asFigure 7B As shown, the component composition of the realistic eyeball 1g in this embodiment and the connection relationships of the various components of the realistic eyeball 1f in the foregoing embodiment are substantially the same. The difference lies in that the realistic eyeball 1g in this embodiment further includes a sphere 20. The sphere 20 can be a white plastic sphere and has a plane P2. The size of the plane P2 is substantially the same as that of the convex lens unit 12, the adhesive layer 14, the display unit 11a, and the light shielding plate 19. And the convex lens unit 12, the adhesive layer 14, the display unit 11a, and the light shielding plate 19 are sequentially arranged on the plane P2 of the sphere 20 (for example, adhered to each other through double-sided tape). Among them, the sphere 20 further has a third through hole h3 corresponding in position to the second through hole h2, so that the sensing unit 13 (the camera 131) can be arranged in the first through hole h1 via the third through hole h3 and the second through hole h2. In addition, the outer side of the plane P2 of the sphere 20 can simulate the scleral region S13 of the human eye, and it can have a fixed-displayed scleral pattern located at the periphery of the plane P2, such as the eye filaments S131.

[0063] Figure 8 、 Figure 9 and Figure 10 are respectively schematic diagrams of robots according to different embodiments of the present invention.

[0064] As Figure 8 shown, the robot 2 includes a head 21 and at least one realistic eyeball 22. The realistic eyeball 22 is arranged on the head 21. In this embodiment, the robot 2 takes two realistic eyeballs 22 arranged on the head 21 as an example. Among them, the realistic eyeball 22 can be one of the realistic eyeballs 1, 1a to 1e in the above-mentioned embodiments, or a variant form thereof. The specific technical content has been detailed above and will not be elaborated here.

[0065] 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 4B control circuit board 18 (including the database 181), and is arranged on the head 21. And the robot 2 can change the patterns and colors of the pupil area, the iris area, and the scleral area through the control circuit board 25 according to the master's control or autonomously. The present invention is not limited. Here, the robot 2 is a terrestrial animal, and takes a pet robot (robot dog) as an example, but is not limited thereto. In different embodiments, the robot 2 can also be other terrestrial animals, such as a robot cat, a bird, a pig,..., or an aquatic animal, such as a robot fish, a dolphin,..., or the robot 2 can also be a service robot. The present invention is not limited.

[0066] In an application example, taking a pet robot as an example of a dog, since the lifespan of most pet dogs is shorter than that of humans, the owner can establish in advance the patterns and colors of the pet dog's eyeballs (pupil area, iris area, and sclera area) while the dog is alive. When the pet dog passes away, the lifelike eyeballs can be made using the previously established eyeball patterns and colors and applied to the pet robot (robotic dog). When the owner sees the expression and eyes of the pet robot, it seems as if they are seeing the previously raised dog still alive.

[0067] 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 previous 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 lifelike eyeballs 22, and the lifelike eyeballs 22 can change the patterns and colors of the pupil area, iris area, and sclera area of the display unit according to the master's control or autonomously through the control circuit board 25, thereby simulating the pattern and / or color changes of the human eye, such as the pupil constricting when encountering strong light, blood streaks appearing in the sclera area during long-term work or rubbing the eyes, and even shedding tears when encountering a sad situation, etc., thereby expressing emotions.

[0068] In some application examples, the aforementioned robot 2 or 2a can control the display unit of the lifelike eyeballs 22 to produce a warning effect according to the situation through the control circuit board 25. The warning effect can be, for example, flashing and / or displaying a fault code. For example, when the robot learns (learns through networking or detects with its own camera) that there is a fire in the building where it is located, it can actively control the display unit of the lifelike eyeballs 22 to produce, for example, red or green light flashing (the code can also be displayed simultaneously). If there is a microphone, it can also be accompanied by a voice reminder; when the robot detects that the battery power of itself is lower than the critical value, it can actively control the display unit of the lifelike eyeballs 22 to produce, for example, red or yellow light flashing (the code can also be displayed simultaneously). If there is a microphone, it can also be accompanied by a voice reminder; when the robot detects that its own mechanism has a fault, it can actively control the display unit of the lifelike eyeballs 22 to produce a code (such as a fault code, and it can also flash simultaneously). If there is a microphone, it can also be accompanied by a voice reminder, thereby notifying and assisting the maintenance personnel to carry out maintenance. The aforementioned situations of fire alarm, low battery power, or mechanism failure are only examples and cannot be used to limit the present invention.

[0069] In addition, as Figure 10 shown, a linkage mechanism can be provided inside the head of the robot to control the rotation of the lifelike eyeballs 22. For example, a plurality of drivers 26 are provided and connected to the two lifelike eyeballs 22 through a plurality of connecting rods 27, thereby controlling the rotation of the lifelike eyeballs 22 using the drivers 26 and the connecting rods 27.

[0070] In summary, in the realistic eyeball of the present invention and the robot with the realistic eyeball, the display surface includes a pupil area and an iris area disposed around the pupil area. The pupil area or the iris area has at least one through area. The convex lens unit is disposed on the display surface and covers the pupil area and the iris area. The sensing unit is disposed on the display unit and is disposed corresponding to the position of the 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 pattern and / or color changes presented by the eyes of different ethnic groups or animals. In addition, 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.

[0071] In addition, in one embodiment, the sensing unit may include a camera, which can obtain the external light entering through the convex 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 convex lens unit and the through area, and then change the sizes of the pupil area and the iris area through the 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.

[0072] 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 display unit having a display surface, wherein the display surface includes a pupil area and an iris area arranged around the pupil area, wherein the pupil area or the iris area has at least one transparent area; A convex lens unit, which is disposed on the display surface and covers the pupil area and the iris area; as well as A sensor unit, which is disposed on the display unit and 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 , wherein the transmission area is provided with a through hole, the sensor unit is arranged in the through hole, and the top surface of the sensor unit faces the opening of the through hole.

3. The simulated eyeball according to claim 1, wherein the transmission area is provided with a plurality of pixels, the 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. 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 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 display unit comprises a display substrate having a plurality of pixels, and when the sensing unit comprises an infrared sensor, the display substrate is an infrared-transmissive substrate.

7. The simulated eyeball according to claim 1, further comprising: a control unit, which is electrically connected to the sensor unit and the display unit; The sensing unit includes a light sensor, which senses the light incident through the convex lens unit and the transparent area and outputs a sensing signal. The control unit changes the size of the pupil area and the iris area of ​​the display unit according to the sensing signal.

8. 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.

9. The simulated eyeball according to claim 1, wherein the display surface also includes a sclera area, the sclera area is arranged around the periphery of the iris area, the convex lens unit also covers the sclera area, and the pupil area, the iris area and the sclera area display patterns and colors respectively.

10. The simulated eyeball according to claim 9, further comprising: The light shielding layer is arranged on the display surface, and the light shielding layer is located at the periphery of the sclera area.

11. The simulated eyeball according to claim 1, further comprising: A control circuit board is electrically connected to the 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.

12. The simulated eyeball according to claim 1, further comprising: A shading plate, wherein the pupil area of ​​the display unit is a first through hole, the display unit has a back surface opposite to the display surface, the shading plate is arranged on the back surface, and has a second through hole corresponding to the position of the first through hole, the size of the second through hole is smaller than the first through hole, and the sensing unit is arranged in the first through hole via the second through hole.

13. The simulated eyeball according to claim 12, further comprising: The sphere has a plane, the convex lens unit, the display unit and the light shielding plate are arranged on the plane, wherein the sphere has a sclera pattern located on the periphery of the plane.

14. A robot comprising: head; as well as The simulated eyeball according to any one of claims 1 to 13, which is arranged on the head.

15. The robot according to claim 14, wherein the robot controls the display unit to flash and / or display codes according to situations.

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