Wearable device

Abstract

The invention discloses wearable equipment, and relates to the field of electronic equipment. The wearable device comprises a main body, and the main body at least comprises a laser radar, a first image acquisition unit and a second image acquisition unit. The main body is provided with an accommodating cavity for accommodating the head; the laser radar is arranged on one side, deviating from the accommodating cavity, of the main body; the main body is provided with at least one first image acquisition unit in the second direction, and the at least one first image acquisition unit can move on the main body in the first direction; the main body comprises a first end and a second end which are oppositely arranged. The second image acquisition unit is arranged at the first end. According to the wearable device provided by the invention, when the wearable device is applied to a robot, a user wears the wearable device to restore the acquired training scene environment spatial data, and the physical authenticity of dimension and spatial distribution is perceived.

Description

Technical Field

[0001] This application relates to the field of electronic device technology, and more particularly to a wearable device. Background Technology

[0002] With the rapid advancement and widespread application of robotics technology, humanoid robots have played a crucial role in numerous fields, including industrial manufacturing, surgery, and domestic services. Currently, high-fidelity, multi-dimensional training data for humanoid robots has become a key bottleneck in their intelligent evolution. In related technologies, obtaining high-fidelity, multi-dimensional training data for humanoid robots relies on manual data querying and the installation of cameras in relevant scenarios to collect large amounts of raw data, which suffers from low efficiency and limited scenario coverage. Summary of the Invention

[0003] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a wearable device, mainly used in data collection of humanoid robots, to overcome the technical problems of low collection efficiency and limited scene coverage in related technologies.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows: This application provides a wearable device, which includes: The main body includes at least a lidar, a first image acquisition unit, and a second image acquisition unit; The main body has a first direction, a second direction and a third direction that are perpendicular to each other. The main body is provided with a receiving cavity for accommodating the head along the third direction. The lidar is disposed on the side of the main body away from the receiving cavity along the third direction. The main body is provided with at least one first image acquisition unit along the second direction, and the at least one first image acquisition unit can move on the main body along the first direction; The main body includes a first end and a second end disposed opposite to each other along the second direction, and the second image acquisition unit is disposed at the first end.

[0005] The wearable device provided in this application is worn on the head of a human when collecting data from a test or training scenario. When applied to a robot, the wearable device, equipped with a lidar, a first image acquisition unit, and a second image acquisition unit, is matched to the installation position of the humanoid robot to achieve a high degree of consistency with the actual operating data of the humanoid robot. Data from the training scenario is collected through the lidar, the first image acquisition unit, and the second image acquisition unit. By using the wearable device, the collected training scenario environmental spatial data can be reproduced, ensuring the physical realism of the perceptual dimension and spatial distribution.

[0006] In addition, the wearable device according to this application may also have the following additional technical features: In one embodiment, the main body further includes an adapter, an adjusting member, and a base. The adapter is located at the first end, and the second image acquisition unit is disposed on the base. The base is rotatably connected to the adapter through the adjusting member, so that the second image acquisition unit can adjust its pitch angle.

[0007] In one embodiment, the base is rotatably connected to the adapter via at least two lugs; The adjusting component includes a rotating shaft and a knob, with the knob located at one end of the rotating shaft, which passes through the lifting lug.

[0008] In one embodiment, the main body further includes an inertial measurement unit, a first mounting base and a second mounting base, the first mounting base and the second mounting base being spaced apart along the third direction and forming a receiving space; The inertial measurement unit is mounted on the first mounting base and located within the accommodating space; The lidar is mounted on the second mounting base.

[0009] In one embodiment, the main body further includes a protective shell disposed within the receiving space and surrounding the periphery of the inertial measurement unit.

[0010] In one embodiment, the lidar is disposed on the side of the second mounting base near the first mounting base and located within the receiving space.

[0011] In one embodiment, the body further includes: A support base is disposed on the main body, and the support base is provided with a guide portion along the first direction; The bracket has the first image acquisition unit mounted on it, and the bracket has a sliding part that slides in cooperation with the guide part.

[0012] In one embodiment, the bracket includes a first bracket and a second bracket, the first bracket and the second bracket having a gap along the first direction, and both the first bracket and the second bracket are provided with the sliding portion, and both the first bracket and the second bracket are provided with the first image acquisition unit.

[0013] In one embodiment, the main body further includes a locking member that passes through the bracket and the sliding portion and can abut against the support base to restrict the movement of the sliding portion relative to the guide portion.

[0014] In one embodiment, the wearable device further includes a power source, a processor, and a memory, wherein the power source is electrically connected to the processor and the memory, respectively, for providing power to the processor and the memory.

[0015] In one embodiment, the wearable device further includes a display device, the display device including a screen electrically connected to the processor.

[0016] In one embodiment, the display device further includes a clamping assembly disposed on a side opposite to the display screen. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This application shows a three-dimensional structural schematic diagram of a wearable device provided in some embodiments; Figure 2 This application shows a schematic diagram of the wearable device from one perspective, based on some embodiments thereof; Figure 3 This application shows a schematic diagram of the wearable device provided in some embodiments from another perspective. Figure 4 It shows Figure 3 An enlarged schematic diagram of part A shown in the image; Figure 5 The present application provides schematic diagrams of the structure of the main body according to some embodiments; Figure 6 This application shows a schematic diagram of the structure of a first support provided in some embodiments; Figure 7 The present application shows a schematic diagram of the structure of a second support provided in some embodiments; Figure 8 The present application shows a schematic diagram of the structure of a support base provided in some embodiments; Figure 9 The present application shows a schematic diagram of the structure of the housing provided in some embodiments; Figure 10 This application shows a schematic diagram of the display device provided in some embodiments; Figure 11 This paper shows a schematic diagram of the display device provided in some embodiments of the present application from another perspective. Figure 12A schematic diagram of a wearable device provided in some embodiments of this application is shown.

[0019] Explanation of key component symbols: 100-Wearable device; 110-Casing; 111-Power supply; 112-Processor; 113-Memory; 121-Main body; 121a-First end; 121b-Second end; 1211-Receiving cavity; 122-LiDAR; 123-Inertial measurement unit; 124-First image acquisition unit; 125-Second image acquisition unit; 130-Adapter; 140-Adjusting component; 141-Shaft; 142-Knob; 143-Nut; 150-Base; 151-Lifting lug; 160-First mounting base; 161-Second mounting base; 162-Receiving space; 163-Protective shell; 164-Support column; 170-Support base; 171-Guide part; 172-Wire inlet groove; 173-Through hole; 174-Locking part; 180-Bracket; 1801-Sliding part; 181-First bracket; 1811-First support part; 1812-First mounting part; 1813-First bending part; 182-Second bracket; 1821-Second support part; 1822-Second mounting part; 190-Display device; 191-Display screen; 192-Clamping assembly; 1921-Mounting base; 1922-Clamp; 1923-Pin; X-First direction; Y-Second direction; Z-Third direction. Detailed Implementation

[0020] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0021] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0023] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0025] like Figure 1 and Figure 12 As shown, an embodiment of this application provides a wearable device 100, which is mainly used in data collection for humanoid robots. It can improve the physical geometric consistency of data collection according to specific on-site data collection needs, that is, it has a high degree of consistency with the actual operating data of the humanoid robot, thus ensuring the physical authenticity of the training data.

[0026] Combination Figure 2 and Figure 9 As shown, the wearable device 100 includes a main body 121, which is used to be worn on the head of a human body.

[0027] The main body 121 includes at least a lidar 122, a first image acquisition unit 124, and a second image acquisition unit 125.

[0028] The main body 121 has a first direction X, a second direction Y and a third direction Z that are perpendicular to each other. The main body 121 is provided with a receiving cavity 1211 for accommodating the head along the third direction Z. The lidar 122 and the inertial measurement unit 123 are disposed on the side of the main body 121 away from the receiving cavity 1211 along the third direction Z.

[0029] The main body 121 is provided with at least one first image acquisition unit 124 along the second direction Y, and the at least one first image acquisition unit 124 can move along the first direction X on the main body 121. This facilitates the adjustment of the position of the first image acquisition unit 124 along the first direction X, so as to facilitate the acquisition of training scene data.

[0030] The main body 121 includes a first end 121a and a second end 121b disposed opposite to each other along the first direction X, and the second image acquisition unit 125 is disposed at the first end 121a.

[0031] It should be noted that, for the sake of convenience in describing the various embodiments, the first direction X is taken as the front-back direction of the human body, the second direction Y is taken as the left-right direction of the human body, and the third direction Z is taken as the up-down direction of the human body.

[0032] For example, the main body 121 is worn on the head of a human body, with the first end 121a located near the forehead and the second end 121b located near the back of the head.

[0033] The wearable device 100 provided in the embodiments of this application, when collecting data of a test or training scenario, is worn on the head of a human body 121. When used with a robot, the wearable device 100, equipped with a lidar 122, a first image acquisition unit 124, and a second image acquisition unit 125, is matched with the installation position of the humanoid robot to achieve a high degree of consistency with the actual operating data of the humanoid robot. Data of the training scenario is collected through the lidar 122, the first image acquisition unit 124, and the second image acquisition unit 125. By having the user wear the wearable device 100, the physical reality of the collected training scenario environmental spatial data in terms of perception dimension and spatial distribution is restored.

[0034] like Figures 3 to 5As shown, in some embodiments, the main body 121 further includes an adapter 130, an adjustment member 140, and a base 150. The adapter 130 is located at the first end 121a, and the second image acquisition unit 125 is disposed on the base 150. The base 150 is rotatably connected to the adapter 130 via the adjustment member 140, so that the second image acquisition unit 125 can adjust its pitch angle. In this embodiment, the second image acquisition unit 125 is disposed on the base 150, and the base 150 and the adapter 130 are rotatably connected via the adjustment member 140. The rotation position is locked by the adjustment member 140 to adjust the viewing height and angle of the second image acquisition unit 125, facilitating data acquisition needs for different training scenarios.

[0035] like Figure 4 As shown, in the above embodiment, the base 150 is rotatably connected to the adapter 130 via at least two lugs 151. The adjusting member 140 includes a rotating shaft 141 and a knob 142, with the knob 142 disposed at one end of the rotating shaft 141, and the rotating shaft 141 passing through the lug 151.

[0036] For example, two lifting lugs 151 are provided on the base 150 at intervals, one lifting lug 151 is provided on the adapter 130, and the rotating shaft 141 passes through the three lifting lugs 151 to realize the rotational connection between the base 150 and the adapter 130.

[0037] Of course, in other embodiments, two lifting lugs 151 are provided at intervals on the base 150, and three lifting lugs 151 are provided at intervals on the adapter 130, with the lifting lugs 151 on the base 150 and the lifting lugs 151 on the adapter 130 being arranged alternately.

[0038] As another example, a lifting lug 151 is provided on the base 150 and a lifting lug 151 is provided on the adapter 130.

[0039] In this embodiment, the rotating knob 142 is rotated by external force to facilitate the rotation of the rotating shaft 141, so that the base 150 and the adapter 130 can rotate, thereby adjusting the viewing height and angle of the second image acquisition unit 125.

[0040] In the above embodiment, the adjusting member 140, by way of example, further includes a nut 143. The end of the rotating shaft 141 away from the knob 142 is provided with an external thread. The nut 143 engages with the external thread and can abut against the lifting lug 151 to lock and fix the base 150 and the adapter 130, preventing relative rotation after the base 150 and the adapter 130 are fixed. When it is necessary to adjust the viewing angle and height of the second image acquisition unit 125, the nut 143 is moved away from the lifting lug 151 to allow the base 150 and the adapter 130 to adjust their rotation angle.

[0041] like Figure 2As shown, in some embodiments, the main body 121 further includes an inertial measurement unit (IMU) 123, a first mounting base 160, and a second mounting base 161. The first mounting base 160 and the second mounting base 161 are spaced apart along a third direction Z to form a receiving space 162. The inertial measurement unit 123 is mounted on the first mounting base 160 and located within the receiving space 162. The lidar 122 is mounted on the second mounting base 161.

[0042] In this embodiment, by setting a first mounting base 160 and a second mounting base 161, the inertial measurement unit 123 and the lidar 122 are fixed on the top of the main body 121, that is, the top of the human head, so that they match the installation position of the humanoid robot, so as to achieve a high degree of consistency with the actual operation data of the humanoid robot, and meet the needs of various data collection in the training scenario.

[0043] like Figure 1 and Figure 2 As shown, in some embodiments, the main body 121 further includes a protective shell 163, which is disposed within the receiving space 162 and surrounds the periphery of the inertial measurement unit 123. In this embodiment, the protective shell 163 is provided to protect the inertial measurement unit 123 and reduce the possibility of damage to the inertial measurement unit 123.

[0044] like Figure 1 and Figure 2 As shown, in some embodiments, exemplarily, the lidar 122 is disposed on the side of the second mounting base 161 near the first mounting base 160 and located within the receiving space 162. Thus, the second mounting base 161 can protect the top of the lidar 122. Of course, in other embodiments, the lidar 122 may also be disposed on the side of the second mounting base 161 opposite to the inertial measurement unit 123.

[0045] For example, the first mounting base 160 and the second mounting base 161 are connected by support columns 164, which can be three or four. For instance, four support columns 164 are arranged circumferentially along the upper surface of the first mounting base 160, with one end of each support column 164 connected to the first mounting base 160 and the other end connected to the second mounting base 161, so as to provide support between the first mounting base 160 and the second mounting base 161 and form a receiving space 162 between the first mounting base 160 and the second mounting base 161.

[0046] like Figures 1 to 3 As shown, in some embodiments, the main body 121 also includes a support base 170 and a bracket 180.

[0047] Combination Figures 6 to 8 As shown, the support base 170 is disposed on the main body 121, and the support base 170 is provided with a guide portion 171 along the first direction X. The first image acquisition unit 124 is disposed on the bracket 180, and the bracket 180 is provided with a sliding portion 1801 that slides with the guide portion 171.

[0048] In this embodiment, by setting a support base 170 and a bracket 180, the bracket 180 slides with the guide portion 171 of the support base 170 through a sliding portion 1801, so that the bracket 180 can slide relative to the support base 170, thereby enabling the first image acquisition unit 124 to slide relative to the support base 170, so as to adjust the position of the first image acquisition unit 124 in the first direction X, which facilitates the acquisition of data in the training scenario.

[0049] For example, the guide portion 171 can be a guide groove, and the sliding portion 1801 can be a slider that cooperates with the guide groove. Of course, in other embodiments, the guide portion 171 can also be a guide rail or a guide rod, the sliding portion 1801 can be a pulley that cooperates with the guide rail, or the sliding portion 1801 can be a sleeve that cooperates with the guide rod.

[0050] For example, the guide part 171 is a guide groove, the sliding part 1801 is a slider, and the guide groove has a through hole 173 on the groove wall along the second direction Y. The through hole 173 is provided to reduce the weight of the support base 170, making the wearable device 100 lighter and easier for the human body to wear.

[0051] like Figure 8 As shown, in some embodiments, the support base 170 is provided with a cable inlet groove 172, which facilitates the electrical connection of the lidar 122, the inertial measurement unit 123, the first image acquisition unit 124 and the second image acquisition unit 125 to the power supply 111 through wires.

[0052] For example, the support base 170 is provided with a cable inlet groove 172 on one side along the third direction Z, and the support base 170 is also provided with a cable inlet groove 172 on one side along the second direction Y.

[0053] For example, the support base 170 is fixed to the main body 121 by screws. Of course, in other embodiments, the support base 170 can also be fixed to the main body 121 by welding, or it can be fixed to the main body 121 by snap-fit.

[0054] like Figure 2 , Figure 6 and Figure 7As shown, in the embodiment where the main body 121 includes a bracket 180, the bracket 180 includes a first bracket 181 and a second bracket 182. The first bracket 181 and the second bracket 182 have a gap along the first direction X, and both the first bracket 181 and the second bracket 182 are provided with a sliding part 1801. Both the first bracket 181 and the second bracket 182 are provided with a first image acquisition unit 124.

[0055] In this embodiment, the bracket 180 includes a first bracket 181 and a second bracket 182, and the first image acquisition unit 124 is respectively disposed on the first bracket 181 and the second bracket 182. The position of the first image acquisition unit 124 on the first bracket 181 in the first direction X can be adjusted by moving the first bracket 181 relative to the support base 170, and the position of the first image acquisition unit 124 on the second bracket 182 in the first direction X can be adjusted by moving the second bracket 182 relative to the support base 170.

[0056] like Figure 6 and Figure 7 As shown, in some embodiments, exemplarily, the first bracket 181 includes a first support portion 1811, a first mounting portion 1812, and a first bending portion 1813. A sliding portion 1801 is fixed to the first support portion 1811. One end of the first mounting portion 1812 is fixedly connected to one end of the first support portion 1811, and the other end of the first mounting portion 1812 extends along the second direction Y towards the second image acquisition unit 125. One first image acquisition unit 124 is mounted on the first mounting portion 1812. One end of the first bending portion 1813 is fixedly connected to the end of the first support portion 1811 away from the first mounting portion 1812, and the other end of the first bending portion 1813 is bent along the third direction Z. Another first image acquisition unit 124 is mounted on the first bending portion 1813. This allows for the positional arrangement of multiple first image acquisition units 124, achieving a spatial layout from multiple angles, facilitating data acquisition.

[0057] For example, the second bracket 182 includes a second support portion 1821 and a second mounting portion 1822. A sliding portion 1801 is disposed on the second support portion 1821. The second mounting portion 1822 is disposed at one end of the second support portion 1821 away from the first bracket 181, and one end of the second mounting portion 1822 extends along the second direction Y towards the main body 121. Another first image acquisition unit 124 is mounted on the second mounting portion 1822.

[0058] like Figure 3As shown, exemplarily, two first supports 181 and two second supports 182 are respectively provided, and two support bases 170 are also provided. The two support bases 170 are arranged opposite each other on both sides of the main body 121 along the second direction Y. The two first supports 181 are correspondingly arranged opposite each other on both sides of the main body 121 along the second direction Y, and the two second supports 182 are also arranged opposite each other on both sides of the main body 121 along the second direction Y. Each first support 181 is provided with two first image acquisition units 124, and each second support 182 is provided with one first image acquisition unit 124, so that the main body 121 is provided with six first image acquisition units 124, that is, first image acquisition units 124 are provided in the front, back, left and right directions of the main body 121, so as to facilitate the acquisition of spatial data of the training scene.

[0059] like Figure 3 and Figure 6 As shown, in the embodiment where the main body 121 includes a support base 170 and a bracket 180, the main body 121 further includes a locking member 174. The locking member 174 passes through the bracket 180 and the sliding part 1801 and can abut against the support base 170 to restrict the movement of the sliding part 1801 relative to the guide part 171.

[0060] In this embodiment, the locking member 174 passes through the bracket 180 and the sliding part 1801 and can abut against the support base 170 to lock the bracket 180 and the support base 170 before and after relative movement, so as to facilitate the adjustment of the relative position of the bracket 180 and the support base 170.

[0061] For example, the locking member 174 is provided on the first bracket 181 and the second bracket 182 respectively.

[0062] like Figure 9 and Figure 12 As shown, in some embodiments, the wearable device 100 further includes a power supply 111, a processor 112, and a memory 113. The power supply 111 is electrically connected to the processor 112 and the memory 113, respectively, and is used to provide power to the processor 112 and the memory 113.

[0063] In this embodiment, the power supply 111, processor 112, and memory 113 can be installed inside a backpack-like housing 110, which is worn on the back of the user while the main body 121 is worn on the head. When used as a robot, the LiDAR 122, inertial measurement unit 123, first image acquisition unit 124, and second image acquisition unit 125 collect data from the training scene. The memory 113 stores the collected data and provides instructions and data to the processor 112. The power supply 111 can directly provide power to the LiDAR 122, inertial measurement unit 123, first image acquisition unit 124, and second image acquisition unit 125.

[0064] like Figures 10 to 12 As shown, in some embodiments, the wearable device 100 further includes a display device 190, which includes a display screen 191 electrically connected to the processor 112. In this embodiment, by providing the display screen 191, the user can easily control the lidar 122, the inertial measurement unit 123, the first image acquisition unit 124, and the second image acquisition unit 125 by touching the display screen 191, and also understand the acquired data, facilitating interaction with the user.

[0065] For example, the display screen 191 can be worn on the user's chest or arm.

[0066] like Figure 11 As shown, in some embodiments, the display device 190 further includes a clamping assembly 192 disposed on the side opposite to the display screen 191. In this embodiment, the display device 190 is worn on the user's chest clothing or arm sleeve by means of the clamping assembly 192.

[0067] For example, the clamping assembly 192 includes a mounting base 1921, a clamp 1922, and a pin 1923. The mounting base 1921 is fixed to the side of the display device 190 opposite to the display screen 191. The clamp 1922 has two clamping parts that rotate relative to each other. A support is provided on the side of one clamping part opposite to the other clamping part. The support is rotatably connected to the mounting base 1921 via the pin 1923. This allows for adjustment of the angle at which the display device 190 is worn on the user's body, facilitating the user's viewing and operation of the data information on the display screen 191.

[0068] In any of the above embodiments, the main body 121 can be a helmet-shaped structure to facilitate wearing by the human body.

[0069] In practical applications, the aforementioned lidar 122 can be any of millimeter-wave radar, ultrasonic radar, etc.

[0070] The first image acquisition unit 124 and the second image acquisition unit 125 described above can be cameras or other similar devices to acquire images. For example, the first image acquisition unit 124 is a fisheye camera, and the second image acquisition unit 125 is an RGBD camera, configured with a camera driver board.

[0071] The processor 112 described above can be at least one of the following: Application-Specific Integrated Circuit (ASIC), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field-Programmable Gate Array (FPGA), controller, microcontroller, and microprocessor 112. It is understood that, for different devices, the electronic components used to implement the functions of the processor 112 can also be other types, and this application embodiment does not specifically limit the specific implementation.

[0072] The aforementioned memory 113 may be volatile memory, such as random-access memory (RAM); or non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); or a combination of the above types of memory, and provides instructions and data to the processor 112.

[0073] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0074] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A wearable device, characterized in that, include: The main body includes at least a lidar, a first image acquisition unit, and a second image acquisition unit; The main body has a first direction, a second direction and a third direction that are perpendicular to each other. The main body is provided with a receiving cavity for accommodating the head along the third direction. The lidar is disposed on the side of the main body away from the receiving cavity along the third direction. The main body is provided with at least one first image acquisition unit along the second direction, and the at least one first image acquisition unit can move on the main body along the first direction; The main body includes a first end and a second end disposed opposite to each other along the first direction, and the second image acquisition unit is disposed at the first end.

2. The wearable device according to claim 1, characterized in that, The main body also includes an adapter, an adjustment component, and a base. The adapter is located at the first end, and the second image acquisition unit is mounted on the base. The base is rotatably connected to the adapter through the adjustment component, so that the second image acquisition unit can adjust its pitch angle.

3. The wearable device according to claim 2, characterized in that, The base is rotatably connected to the adapter via at least two lugs; The adjusting component includes a rotating shaft and a knob, with the knob located at one end of the rotating shaft, which passes through the lifting lug.

4. The wearable device according to any one of claims 1 to 3, characterized in that, The main body also includes an inertial measurement unit, a first mounting base and a second mounting base, the first mounting base and the second mounting base being spaced apart along the third direction and forming a receiving space; The inertial measurement unit is mounted on the first mounting base and located within the accommodating space; The lidar is mounted on the second mounting base.

5. The wearable device according to claim 4, characterized in that, The main body also includes a protective shell, which is disposed within the accommodating space and surrounds the inertial measurement unit.

6. The wearable device according to claim 4, characterized in that, The lidar is mounted on the side of the second mounting base near the first mounting base and is located within the accommodating space.

7. The wearable device according to claim 1, characterized in that, The subject also includes: A support base is disposed on the main body, and the support base is provided with a guide portion along the first direction; The bracket has the first image acquisition unit mounted on it, and the bracket has a sliding part that slides in cooperation with the guide part.

8. The wearable device according to claim 7, characterized in that, The bracket includes a first bracket and a second bracket, the first bracket and the second bracket have a gap along the first direction, and both the first bracket and the second bracket are provided with the sliding part, and both the first bracket and the second bracket are provided with the first image acquisition unit.

9. The wearable device according to claim 7, characterized in that, The main body also includes a locking member, which passes through the bracket and the sliding part and can abut against the support base to restrict the movement of the sliding part relative to the guide part.

10. The wearable device according to claim 1, characterized in that, It also includes a power supply, a processor, and a memory, wherein the power supply is electrically connected to the processor and the memory respectively, and is used to provide power to the processor and the memory.

11. The wearable device according to claim 10, characterized in that, It also includes a display device, which includes a display screen that is electrically connected to the processor.

12. The wearable device according to claim 11, characterized in that, The display device further includes a clamping assembly disposed on a side opposite to the display screen.

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