Robot

Abstract

The embodiment of the invention provides a robot. The robot comprises a head shell, a driving mechanism and a driving mechanism, wherein two eye holes are formed in the head shell; the human-eye-imitating camera shooting assembly is connected with the head shell; the simulated human eye camera shooting assembly comprises two simulated human eye camera shooting modules, each simulated human eye camera shooting module comprises a simulated human eye camera, the simulated human eye cameras are configured to simulate human eye rotation, and the simulated human eye cameras are arranged in the eye holes corresponding to the simulated human eye cameras; the robot further comprises a photosensitive sensor which is used for detecting light intensity; the human-eye-imitating camera sequentially comprises a cornea-like lens, a dimming film and an imaging lens group along an optical axis, and the dimming film adjusts a light-transmitting area of the dimming film according to the light intensity.

Description

robot Technical Field

[0001] This application relates to the field of smart device technology, and more specifically, to a robot. Background Technology

[0002] In order for robots to be able to perform increasingly complex tasks, they need not only better control systems, but also greater sensitivity to changes in the environment.

[0003] In view of this, a new technical solution is needed to solve the above-mentioned technical problems. Summary of the Invention

[0004] The purpose of this application is to provide a new technology solution for robots.

[0005] This application provides a robot. The robot includes:

[0006] The head shell has two eye openings;

[0007] A human-eye camera assembly is connected to the head shell; the human-eye camera assembly includes two human-eye camera modules, each of which includes a human-eye camera, which is configured to simulate the rotation of a human eye, and the human-eye camera is disposed in the corresponding eye opening;

[0008] The robot also includes a photosensitive sensor, which is used to detect light intensity;

[0009] The human-eye-like camera includes, in sequence along the optical axis, a corneal-like lens, a dimming film, and an imaging lens group. The dimming film adjusts its light-transmitting area according to the light intensity.

[0010] Optionally, the robot further includes a first control unit, which is electrically connected to the photosensor and receives the light intensity detected by the photosensor.

[0011] The first control unit is electrically connected to the dimming film to control the light-transmitting area of ​​the dimming film.

[0012] Optionally, the robot further includes a walking unit, a drive unit, and a second control unit, wherein the walking unit is disposed at the bottom of the robot;

[0013] The second control unit is connected to the drive unit, and under the action of the second control unit, the drive unit drives the walking unit to move.

[0014] Optionally, the human-eye-like camera is used to collect environmental images and transmit the environmental images to the second control unit, which then controls the robot to move based on the environmental image information.

[0015] Optionally, the first control unit and the second control unit are communicatively connected;

[0016] The second control unit controls the movement of the walking unit based on information about the light-transmitting area of ​​the dimming film.

[0017] Optionally, the human-eye camera module further includes a first driving component and a second driving component for driving each of the human-eye cameras to rotate;

[0018] The first driving component drives the human-eye-like camera to rotate in the vertical direction;

[0019] The second driving component drives the human-eye-like camera to rotate in the horizontal direction.

[0020] Optionally, the first driving assembly includes a first rotating shaft and a first driving component, the first driving component driving the first rotating shaft to rotate so as to cause the humanoid eye camera to rotate in the vertical direction; and

[0021] The second driving component includes a second rotating shaft and a second driving component. The second driving component drives the second rotating shaft to rotate so as to drive the human-eye-like camera to rotate in the horizontal direction.

[0022] Optionally, the axis of the first rotation axis and the axis of the second rotation axis intersect at the rotation center of the human eye-like camera.

[0023] Optionally, the robot further includes a body component, and the head shell is rotatably connected to the body component.

[0024] Optionally, the robot further includes a third drive assembly, which includes a third rotating shaft and a third drive component. The third drive component drives the third rotating shaft to rotate, thereby causing the head shell to rotate horizontally relative to the body component; and / or

[0025] The robot also includes a fourth drive assembly, which includes a fourth rotating shaft and a fourth drive component. The fourth drive component drives the fourth rotating shaft to rotate so that the head shell rotates in the vertical direction relative to the body component.

[0026] Optionally, the power of the third driving component is greater than the power of the second driving component, and the power of the fourth driving component is greater than the power of the first driving component.

[0027] Optionally, the rotation angle range of the first rotating shaft is greater than that of the fourth rotating shaft, and the rotation range of the second rotating shaft is greater than that of the third rotating shaft.

[0028] Optionally, the rotational torque of the fourth rotating shaft is greater than that of the first rotating shaft, and the rotational torque of the third rotating shaft is greater than that of the second rotating shaft.

[0029] Optionally, the curvature of the anterior surface of the corneal lens ranges from 7.5 mm to 8.0 mm, the curvature of the posterior surface of the corneal lens ranges from 6.5 mm to 7.0 mm, and / or the thickness of the corneal lens ranges from 500 μm to 600 μm.

[0030] Optionally, the aperture range of the light-transmitting area of ​​the dimming film is 1.5mm to 5mm.

[0031] Optionally, the imaging lens group includes a first lens disposed adjacent to the dimming film and a first cemented lens group disposed adjacent to the first lens;

[0032] The optical power of the first lens is positive;

[0033] The first cemented lens group includes a second lens and a third lens, wherein one of the second and third lenses has a positive optical power and the other lens has a negative optical power.

[0034] Optionally, a filter is disposed between the first lens and the first cemented lens group, the filter being used to absorb or reflect infrared light.

[0035] Optionally, the imaging lens group further includes a fourth lens and a fifth lens arranged sequentially along the incident optical axis, wherein the fourth lens is located on the light-emitting side of the first cemented lens group;

[0036] The fourth lens and the fifth lens have opposite optical powers.

[0037] Optionally, the imaging lens group further includes a second cemented lens group, which is located between the second lens and the third lens; the second cemented lens group includes a sixth lens and a seventh lens, wherein one of the sixth lens and the seventh lens has a positive optical power and the other lens has a negative optical power.

[0038] According to embodiments of this application, the robot includes a human-eye-like camera, which includes a dimming film with an adjustable light-transmitting area. This enables the robot to have a visual system similar to that of a human eye, allowing it to perceive the intensity of ambient light and simulate the sensitivity and adaptability of the human eye to the external environment, thereby improving the robot's intelligence level and environmental adaptability.

[0039] Other features and advantages of this specification will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0040] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of this specification and, together with their description, serve to explain the principles of this specification.

[0041] Figure 1 shows a connection block diagram of the robot provided in an embodiment of this application.

[0042] Figure 2 shows a structural diagram of the human eye-like camera component provided in an embodiment of this application.

[0043] Figure 3 shows a structural diagram of the connection between the human eye-like camera and the camera bracket provided in an embodiment of this application.

[0044] Figure 4 shows the optical architecture diagram of the human eye-like camera provided in an embodiment of this application.

[0045] Figures 5a-5h show dot array diagrams of the human eye-like camera provided in the embodiments of this application.

[0046] Figures 6a-6e show the MTF curves of the human eye-like camera provided in the embodiments of this application.

[0047] Figure 7 shows the relative illumination diagram of the human eye-like camera provided in an embodiment of this application.

[0048] Explanation of reference numerals in the attached figures:

[0049] 1. Human eye-like camera; 11. Connection hole;

[0050] 2. First drive assembly; 20. First rotating shaft; 21. First drive component;

[0051] 3. Second drive assembly; 30. Second rotating shaft; 31. Second drive component;

[0052] 4. Camera bracket; 41. Connecting post; 411. First positioning hole;

[0053] 5. Mounting bracket; 51. Second positioning hole; 52. Connecting shaft;

[0054] 6. Protect the glass;

[0055] 71. Lens-like structure; 72. Dimming film; 73. Optical filter;

[0056] 8. Imaging lens group; 81. First lens; 82. Second lens; 83. Third lens; 84. Fourth lens; 85. Fifth lens; 86. Sixth lens; 87. Seventh lens. Detailed Implementation

[0057] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0058] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0059] Technologies and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such technologies and equipment should be considered part of the specification.

[0060] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0061] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0062] This application provides a robot. The robot includes a human-eye-like camera 1, enabling it to adapt to different lighting conditions and possessing a visual system that simulates the human eye. The robot can be, but is not limited to, a humanoid robot or a body-worn robot.

[0063] Referring to Figures 1 and 2, the robot includes: a head shell, wherein the head shell has two eye openings;

[0064] A human-eye camera assembly is connected to the head shell; the human-eye camera assembly includes two human-eye camera modules, each of which includes a human-eye camera 1, which is configured to simulate the rotation of a human eye and is disposed in the corresponding eye opening.

[0065] The robot also includes a photosensitive sensor, which is used to detect light intensity;

[0066] The human-eye-like camera 1 includes, in sequence along the optical axis, a corneal-like lens, a dimming film, and an imaging lens group. The dimming film adjusts its light-transmitting area according to the light intensity.

[0067] In this embodiment, the robot includes a head shell with two eye openings. These two eye openings provide mounting locations for subsequent humanoid eye camera components.

[0068] The human-eye camera assembly is connected to the head shell. Exemplarily, the human-eye camera assembly is fixedly connected to the head shell. Referring to Figure 2, a specific structure of one human-eye camera module within the human-eye camera assembly is shown (including the structure of the human-eye camera 1 and the drive structure for rotating the human-eye camera 1). Each human-eye camera module can be fixedly connected to the head shell separately; alternatively, the human-eye camera assembly may also include a base, with two human-eye camera modules mounted on the base, and the human-eye camera assembly fixedly connected to the head shell via the base.

[0069] The humanoid eye camera assembly comprises two humanoid eye camera modules, each including one humanoid eye camera 1. Thus, the robot has two humanoid eye cameras 1, designed to simulate the rotation of a human eye, increasing the robot's realism and interactivity. Each humanoid eye camera 1 is installed in its corresponding eye socket, making the robot's eyes appear like real human eyes from the outside.

[0070] In addition, the robot includes a photosensor. This sensor detects the intensity of light in the surrounding environment. This allows the robot to adapt to different lighting conditions, such as moving from bright outdoor light to dim indoor light.

[0071] In order to enable the biomimetic eye camera 1 to simulate human eye imaging, the internal structure of the biomimetic eye camera 1 is defined. The biomimetic eye camera 1 includes, along the optical axis, a corneal-like lens, a dimming film, and an imaging lens group.

[0072] The corneal-like lens 71 simulates the cornea of ​​the human eye. The corneal-like lens 71 is used to initially adjust the direction and divergence of light, providing suitable light input for the subsequent dimming film 72 and imaging lens group 8.

[0073] The dimming film 72 is located on the light-emitting side of the corneal lens 71. Specifically, the corneal lens 71 diverges light so that the light can pass through the light-transmitting area of ​​the dimming film 72 and be received by the imaging lens group 8 for subsequent imaging.

[0074] Specifically, the dimming film 72 functions similarly to an iris, altering the amount of light transmitted by adjusting its light-transmitting area. This means the dimming film 72 can adjust the amount of light transmitted as needed. This design helps mimic the pupillary adjustment function of the human eye, adaptively adjusting the amount of light transmitted according to the intensity of ambient light. For example, when the ambient light is too strong or too weak, the dimming film 72 can automatically adjust its light transmittance to ensure that the camera receives appropriate light, thereby capturing a clear and bright image. This adaptive function is crucial for improving the robot's visual performance under different lighting conditions.

[0075] The imaging lens group 8 is located at the rear end of the human-eye-like camera 1, close to the photosensitive element (such as an image sensor). The imaging lens group 8 contains at least one lens, and the number of lenses in the imaging lens group 8 is related to the thickness of each imaging lens, as well as its optical parameters such as refractive index and curvature. In other words, by properly setting the optical parameters of the imaging lens, an imaging effect similar to that of the human eye's lens can be achieved through a single imaging lens. Alternatively, by properly setting and combining the optical parameters of multiple imaging lenses, an imaging effect similar to that of the human eye's lens can also be achieved through two, three, or more imaging lenses.

[0076] The imaging lens group 8 functions to converge light, similar to the lens of the human eye. It further converges the light, after being adjusted by the corneal-like lens 71 and the dimming film 72, to form a clear image. The design and optimization of the imaging lens group 8 are crucial for improving image resolution and sharpness.

[0077] Therefore, in this embodiment, the robot includes a human-eye-like camera 1, which includes a dimming film with an adjustable light-transmitting area. This enables the robot to have a visual system similar to that of a human eye, allowing it to perceive the intensity of ambient light and simulate the sensitivity and adaptability of the human eye to the external environment, thereby improving the robot's intelligence level and environmental adaptability.

[0078] In one embodiment, referring to FIG1, the robot further includes a first control unit, which is electrically connected to the photosensor and receives the light intensity detected by the photosensor; the first control unit is also electrically connected to the dimming film to control the light-transmitting area of ​​the dimming film.

[0079] In this embodiment, the first control unit is connected to a photosensor via an electrical signal, enabling it to receive light intensity data detected by the photosensor in real time. This connection ensures that the robot can perceive changes in the external lighting environment in real time.

[0080] In addition to being connected to the photosensor, the first control unit is also electrically connected to the dimming film. This connection allows the first control unit to dynamically adjust the light-transmitting area of ​​the dimming film based on the received light intensity data, thereby achieving precise control over the amount of light received by the camera.

[0081] Specifically, a photosensor continuously monitors the ambient light intensity and sends the real-time data to a first control unit. Upon receiving the light intensity data, the first control unit analyzes and processes it, and based on a preset algorithm or logic, determines whether to adjust the light-transmitting area of ​​the dimming film. Based on the decision, the first control unit sends a control signal to the dimming film to adjust the aperture size of its light-transmitting area, thereby changing the amount of light received by the human-eye-like camera 1. For example, the control signal can be a voltage signal or a current signal, etc.

[0082] In one embodiment, referring to FIG1, the robot further includes a walking unit, a drive unit, and a second control unit, wherein the walking unit is disposed at the bottom of the robot;

[0083] The second control unit is connected to the drive unit, and under the action of the second control unit, the drive unit drives the walking unit to move.

[0084] In this embodiment, the robot's autonomous movement capability is achieved by adding a walking unit, a driving unit, and a second control unit.

[0085] Specifically, the second control unit establishes an electrical connection with the drive unit, enabling the second control unit to control the output of the drive unit in real time. The second control unit can precisely control the output of the drive unit according to a preset algorithm or received instructions, thereby achieving precise control of the movement of the walking unit. For example, the second control unit can receive instructions from an external controller, sensor, or other intelligent device.

[0086] In one embodiment, referring to FIG1, the humanoid eye camera 1 is used to acquire environmental images and transmit the environmental images to the second control unit, which controls the robot to move based on the environmental image information.

[0087] In this embodiment, the second control unit is capable of receiving and processing environmental image information from the humanoid eye camera 1. Exemplarily, the humanoid eye camera 1 is electrically connected to the second control unit, and the humanoid eye camera 1 directly transmits the environmental images it captures to the second control unit. Alternatively, the humanoid eye camera 1 indirectly transmits the images it captures to the second unit through the first control unit.

[0088] Based on the received image information, the second control unit performs complex analysis and decisions to determine how the robot should move. This may involve recognizing objects in the image, understanding the environment, and predicting potential obstacles. After making a decision, the second control unit sends control signals to the drive unit to drive the walking unit to move along a predetermined path and speed.

[0089] In one embodiment, referring to Figure 1, the first control unit and the second control unit are communicatively connected; the second control unit controls the movement of the walking unit based on information about the light-transmitting area of ​​the dimming film.

[0090] In this embodiment, the first control unit and the second control unit can be closely connected through some form of communication interface (such as serial communication, parallel communication, network communication, etc.). This connection ensures that the two can exchange information in real time and accurately.

[0091] After receiving information about the light-transmitting area of ​​the dimming film from the first control unit, the second control unit makes movement decisions based on this information. For example, if the light-transmitting area of ​​the dimming film is small (meaning the ambient light is weak or too strong), the second control unit may decide to move the robot closer to the light source or to an area with softer light. Based on the decision, the second control unit sends control signals to the drive unit to drive the walking unit to move along a predetermined path and speed.

[0092] Specifically, a photosensor detects the ambient light intensity, and the first control unit adjusts the light-transmitting area of ​​the dimming film based on the detection result. The first control unit transmits the information about the light-transmitting area of ​​the dimming film to the second control unit. Based on the received information and combined with data from other possible sensors (such as distance sensors, obstacle detectors, etc.), the second control unit makes a movement decision. Based on the decision, the second control unit sends a control signal to the drive unit, driving the walking unit to move. For example, during movement, the robot can continue to receive data from various sensors, and the second control unit will adjust the movement decision in real time based on this data.

[0093] In one embodiment, the human-eye camera module further includes a first driving component 2 and a second driving component 3 for driving each of the human-eye cameras 1 to rotate;

[0094] The first driving component 2 drives the human eye-like camera 1 to rotate in the vertical direction;

[0095] The second driving component 3 drives the human-eye-like camera 1 to rotate in the horizontal direction.

[0096] In this embodiment, to enable the human-eye-like camera 1 to simulate the rotation of a human eye, the rotation of the human-eye-like camera 1 is driven by the first driving component 2 and the second driving component 3. Specifically, referring to Figure 2, the first driving component 2 drives the human-eye-like camera 1 to rotate vertically to adjust the pitch angle of the human-eye-like camera 1. The second driving component 3 drives the human-eye-like camera 1 to rotate horizontally to adjust the horizontal rotation angle of the human-eye-like camera 1. This achieves rotation of the human-eye-like camera 1 in multiple directions to simulate the rotation of a human eye.

[0097] In one embodiment, referring to FIG2, the first driving component 2 includes a first rotating shaft 20 and a first driving component 21, the first driving component 21 driving the first rotating shaft 20 to rotate so as to drive the humanoid eye camera 1 to rotate in the vertical direction; and

[0098] The second drive assembly 3 includes a second rotating shaft 30 and a second drive component 31. The second drive component 31 drives the second rotating shaft 30 to rotate so as to drive the human eye-like camera 1 to rotate in the horizontal direction.

[0099] In this embodiment, the first driving component 2 includes a first rotating shaft 20 and a first driving component 21. The first rotating shaft 20 is directly or indirectly connected to the human-eye-like camera 1. The first driving component 21 is a device that provides rotational power, and the first driving component 21 can be a driver of a motor, stepper motor, servo motor, or similar type.

[0100] The first drive component 21 is connected to the first rotating shaft 20 through a connector (such as a coupling, gear, etc.). When the first drive component 21 is started, it outputs rotational force, which is transmitted to the first rotating shaft 20 through the connector, thereby driving the human eye camera 1 to rotate.

[0101] Please refer to Figure 2. The second drive assembly 3 includes a second rotating shaft 30 and a second drive component 31. The second rotating shaft 30 is directly or indirectly connected to the humanoid eye camera 1. The second drive component 31 is a device that provides rotational power. The second drive component 31 can be a driver of a motor, stepper motor, servo motor, or similar type.

[0102] The second drive component 31 is connected to the second rotating shaft 30 through a connector (such as a coupling, gear, etc.). When the second drive component 31 is started, it outputs rotational force, which is transmitted to the second rotating shaft 30 through the connector, thereby driving the human eye camera 1 to rotate.

[0103] In a further embodiment, referring to FIG2, the first rotating shaft 20 is located above the second rotating shaft 30 and the first rotating shaft 20 and the second rotating shaft 30 are arranged perpendicularly.

[0104] In this embodiment, the first rotating shaft 20 is located above the second rotating shaft 30 and the two are arranged perpendicularly. When the first rotating shaft 20 and / or the second rotating shaft 30 drive the humanoid eye camera 1 to rotate around the rotation center of the humanoid eye camera 1, the humanoid eye camera 1 can be rotated in multiple directions.

[0105] Furthermore, the axis of the first rotating shaft 20 and the axis of the second rotating shaft 30 intersect at the rotation center of the human eye-like camera 1.

[0106] In this embodiment, the axis of the first rotating shaft 20 and the rotation center of the human-eye-like camera 1 are collinear, as are the axis of the second rotating shaft 30 and the rotation center of the human-eye-like camera 1. This achieves the goal of the axes of the first rotating shaft 20 and the second rotating shaft 30 intersecting at the rotation center of the human-eye-like camera 1. This design, by mimicking the physiological structure of the human eye, achieving consistency in the rotation range, and improving rotation accuracy, makes the rotation trajectory of the human-eye-like camera 1 closer to the natural rotation of the human eye.

[0107] In one embodiment, the robot further includes a body component, to which the head shell is rotatably connected.

[0108] In this embodiment, the robot's head and body components are rotatably connected via a rotating component. This rotatable connection allows the head to rotate at a certain angle relative to the body components. This rotation is designed to simulate human head rotation, thereby increasing the robot's flexibility and interactivity. For example, when the robot needs to observe different parts of its surroundings, it can adjust the viewing angle of the humanoid eye camera 1 by rotating its head without moving its entire body.

[0109] In one specific embodiment, the robot further includes a third drive assembly, which includes a third rotating shaft and a third drive component. The third drive component drives the third rotating shaft to rotate, thereby causing the head shell to rotate horizontally relative to the body component; and / or

[0110] The robot also includes a fourth drive assembly, which includes a fourth rotating shaft and a fourth drive component. The fourth drive component drives the fourth rotating shaft to rotate so that the head shell rotates in the vertical direction relative to the body component.

[0111] In this embodiment, when the third rotation axis rotates, it causes the head shell to rotate horizontally relative to the body components. This means that the robot can turn its head left and right like a human to observe different areas in the horizontal direction.

[0112] When the fourth axis of rotation rotates, it causes the head shell to rotate vertically relative to the body components. This means the robot can rotate its head up and down like a human to observe different areas in the vertical direction.

[0113] By introducing a third and / or fourth drive component, the robot achieves free rotation of its head in both horizontal and vertical directions. This design not only improves the robot's flexibility and field of vision but also enhances its adaptability and interactivity.

[0114] In one embodiment, the power of the third driving component is greater than the power of the second driving component 3, and the power of the fourth driving component is greater than the power of the first driving component 2.

[0115] In this embodiment, since the third drive component needs to drive the head shell and the humanoid eye camera component located inside the head shell to rotate synchronously in the horizontal direction, under the condition of increased load, it is also necessary to ensure the synchronicity of the rotation of the head shell and the humanoid eye camera component, which requires the power of the third drive component to be greater than the power of the second drive component 3.

[0116] Furthermore, since the fourth drive component needs to drive the head shell and the humanoid eye camera component located inside the head shell to rotate synchronously in the vertical direction, under the condition of increased load, it is also necessary to ensure the synchronicity of the rotation of the head shell and the humanoid eye camera component, which requires the power of the third drive component to be greater than the power of the second drive component 3.

[0117] In one embodiment, the rotation angle range of the first rotating shaft 20 is greater than that of the fourth rotating shaft, and the rotation range of the second rotating shaft 30 is greater than that of the third rotating shaft.

[0118] In this embodiment, the first rotating shaft 20 drives the humanoid eye camera 1 to rotate in the vertical direction, and the fourth rotating shaft drives the robot's head shell and the humanoid eye camera assembly connected to the head shell to rotate synchronously in the vertical direction. The load driven by the fourth rotating shaft is greater than the load driven by the first rotating shaft 20. Therefore, the first rotating shaft 20 has a wider range of rotation angles, and its flexibility exceeds the limitations that the fourth rotating shaft can achieve.

[0119] For example, the rotation angle range of the first rotating shaft 20 driving the human eye camera 1 to rotate in the vertical direction is -57° to 42°.

[0120] Similarly, the second rotating shaft 30 drives the humanoid eye camera 1 to rotate in the horizontal direction, while the third rotating shaft drives the robot's head shell and the humanoid eye camera assembly connected to the head shell to rotate synchronously in the vertical direction. The load driven by the third rotating shaft is greater than the load driven by the second rotating shaft 30. Therefore, the second rotating shaft 30 has a wider range of rotation angles, and its flexibility exceeds the limitations that the third rotating shaft can achieve.

[0121] For example, the rotation angle range of the second rotating shaft 30 driving the human eye camera 1 to rotate in the horizontal direction is -42° to 82°.

[0122] In one embodiment, the rotational torque of the fourth rotating shaft is greater than the rotational torque of the first rotating shaft 20, and the rotational torque of the third rotating shaft is greater than the rotational torque of the second rotating shaft 30.

[0123] In this embodiment, the first rotating shaft 20 drives the humanoid eye camera 1 to rotate in the vertical direction, and the fourth rotating shaft drives the robot's head shell and the humanoid eye camera assembly connected to the head shell to rotate synchronously in the vertical direction. The load driven by the fourth rotating shaft is greater than the load driven by the first rotating shaft 20. Based on this, the rotational torque of the fourth rotating shaft needs to be greater than the rotational torque of the first rotating shaft 20.

[0124] Similarly, the second rotating shaft 30 drives the humanoid eye camera 1 to rotate in the horizontal direction, and the third rotating shaft drives the robot's head shell and the humanoid eye camera component connected to the head shell to rotate synchronously in the vertical direction. The load driven by the third rotating shaft is greater than the load driven by the second rotating shaft 30. Based on this, the rotational torque of the third rotating shaft needs to be greater than the rotational torque of the second rotating shaft 30.

[0125] In an optional embodiment, referring to Figures 2 and 3, the human eye-like camera module further includes a camera bracket 4 and a mounting bracket 5.

[0126] The connection method between the human-eye-like camera 1 and the camera bracket 4 is specified below:

[0127] The human-eye-like camera 1 is fixedly connected to the camera bracket 4. Specifically, the corneal-like lens of the human-eye-like camera 1 is positioned away from the camera bracket 4.

[0128] The camera bracket 4 is an important component that supports and fixes the humanoid eye camera 1, ensuring the stability and accuracy of the humanoid eye camera 1 during use.

[0129] The human-eye-like camera 1 is used to simulate the visual function of the human eye. The human-eye-like camera 1 may contain complex components such as sensors and image processing algorithms for capturing and processing image information. These components can be built into the camera bracket 4.

[0130] Specifically, referring to Figure 3, in order to connect the human-eye camera 1 and the camera bracket 4, a connection hole 11 is made on the human-eye camera 1, and a connection post 41 is provided on the camera bracket 4. The camera bracket 4 and the human-eye camera 1 are connected together by the cooperation of the connection hole 11 and the connection post 41.

[0131] For example, referring to FIG3, a plurality of connection holes 11 are provided in the circumference of the human eye-like camera 1. Correspondingly, a plurality of connection posts 41 are provided in the circumference of the camera bracket 4. The reliability of the connection between the two is improved by the cooperation of the connection posts 41 and the connection holes 11.

[0132] For example, the connecting posts 41 on the camera bracket 4 typically have a certain length and diameter to ensure they can be securely inserted into the connecting holes 11 and provide sufficient support. The surface of the connecting posts 41 can be specially treated, such as with threads, chamfers, or coatings, to enhance the stability and durability of the connection.

[0133] In addition, a clearance portion can be provided between adjacent connecting columns 41 to prevent the design of the camera bracket 4 from affecting the image capture effect of the human eye camera 1.

[0134] It should be noted that, in addition to simple embedding, there may be additional fixing mechanisms, such as screws, clips or locking devices, between the connecting hole 11 and the connecting post 41 to ensure that the human eye camera 1 will not loosen during rotation or use.

[0135] The structure of mounting bracket 5 is defined below:

[0136] The camera bracket 4 and the mounting bracket 5 are rotatably connected, and the first rotating shaft 20 is connected to the camera bracket 4. Under the driving force of the first rotating shaft 20, the camera bracket 4 rotates relative to the mounting bracket 5, thereby realizing the rotation of the human eye-like camera 1 on the camera bracket 4.

[0137] Specifically, referring to Figure 2, the connecting post 41 of the camera bracket 4 is provided with a first positioning hole 411, the mounting bracket 5 includes a first bracket, and the first bracket is provided with a second positioning hole 51 corresponding to the first positioning hole 411; the human eye-like camera module also includes a connecting shaft 52, one end of the connecting shaft 52 is rotatably disposed in the second positioning hole 51, and the other end of the connecting shaft 52 is rotatably disposed in the first positioning hole 411, thus realizing the vertical rotation of the human eye-like camera 1 relative to the mounting bracket 5.

[0138] Further, referring to Figure 2, the mounting bracket 5 includes a second bracket, which is arranged opposite to the first bracket; the first rotating shaft 20 passes through the second bracket and connects to the camera bracket 4, and the first rotating shaft 20 is collinear with the connecting shaft 52.

[0139] Furthermore, referring to Figure 3, the mounting bracket 5 also includes a third bracket, which is located below the first bracket and the second bracket, and the first bracket and the second bracket are respectively connected to the third bracket; the second rotating shaft 30 passes through the third bracket to drive the mounting bracket 5 to rotate.

[0140] In one embodiment, referring to FIG4, the curvature range of the anterior surface of the corneal lens 71 is 7.5mm to 8.0mm, the curvature range of the posterior surface of the corneal lens 71 is 6.5mm to 7.0mm, and / or the thickness range of the corneal lens 71 is 500μm to 600μm.

[0141] In this embodiment, the curvature design of the corneal-like lens 71 has a significant impact on light focusing and image quality. By selecting a curvature range similar to that of the human cornea, the human-eye-like camera 1 can more closely approximate the perception of the human eye, ensuring that light is correctly focused when passing through the lens, thereby forming a clear image.

[0142] Furthermore, the thickness of the corneal-like lens 71 is limited within this range to simulate the thickness of the human cornea. The thickness range of 500μm to 600μm ensures that the corneal-like lens 71 has excellent optical performance. It allows light to refract at an appropriate angle, thereby ensuring that the image can be clearly focused on the photosensitive element.

[0143] Preferably, the anterior surface curvature of the corneal lens 71 is 7.8 mm, and the posterior surface curvature of the corneal lens 71 is 6.7 mm, so that the anterior / posterior surface curvature of the corneal lens 71 meets the corneal curvature of most people's eyes.

[0144] In one embodiment, the aperture range of the light-transmitting area of ​​the dimming film 72 is 1.5 mm to 5 mm.

[0145] In this embodiment, the main function of the dimming film 72 is to adjust its light-transmitting area according to the intensity of ambient light, so as to ensure that the human eye-like camera 1 can receive appropriate light and simulate the changes in the human eye pupil.

[0146] The human eye's pupil can adapt to different lighting conditions. When light intensifies, the pupil automatically constricts to reduce the amount of light entering the eye, thus protecting the retina from damage by strong light. Conversely, when light diminishes, the pupil dilates to increase the amount of light entering, enabling the eye to see objects clearly in dark environments.

[0147] The aperture range of 1.5mm to 5mm means that the dimming film 72 can flexibly adjust its light transmittance within this range, mimicking the pupillary adjustment of the human eye. When the ambient light is weak, the dimming film can appropriately increase the aperture range to reduce light loss and ensure that the human-eye-like camera 1 can receive enough light to see objects clearly in dark environments. Conversely, when the ambient light is too strong, the dimming film can appropriately reduce the aperture of the light-transmitting area to prevent the camera from overexposure or image quality degradation due to excessive light, provided that the light intensity is sufficient to see objects clearly.

[0148] In one embodiment, referring to FIG3, the imaging lens group 8 includes a first lens 81 disposed adjacent to the dimming film 72 and a first cemented lens group disposed adjacent to the first lens 81.

[0149] The optical power of the first lens 81 is positive;

[0150] The first cemented lens group includes a second lens 82 and a third lens 83, wherein one of the second lens 82 and the third lens 83 has a positive optical power and the other lens has a negative optical power.

[0151] In this embodiment, the imaging lens group 8 includes a first lens 81 and a first cemented lens group. The first lens 81 is designed to have positive optical power, meaning that the first lens 81 is capable of converging light rays. Specifically, the first lens group 81 converges the light rays it receives to transmit them to the first cemented lens group.

[0152] The first cemented lens group consists of a second lens 82 and a third lens 83, which are cemented together to form a single optical element.

[0153] In the second lens 82 and the third lens 83, one lens has positive optical power and the other has negative optical power. This combination of positive and negative optical power lenses effectively corrects chromatic aberration, the difference in focusing position caused by different wavelengths of light passing through the lens. This is crucial for improving image quality, allowing the image quality of the human-eye-like camera 1 to closely resemble that of the human eye. Furthermore, the design of the first cemented lens group can reduce other types of aberrations, such as spherical aberration and coma, which affect image sharpness and clarity.

[0154] For example, the optical power of the second lens 82 is positive and the optical power of the third lens 83 is negative; or the optical power of the second lens 82 is negative and the optical power of the third lens 83 is positive. Specifically, referring to Figure 3, the second lens 82 is a biconcave lens with negative optical power, and the third lens 83 is a biconvex lens with positive optical power.

[0155] In one embodiment, referring to FIG3, a filter 73 is disposed between the first lens 81 and the first cemented lens group, the filter 73 being for absorbing or reflecting infrared light.

[0156] In this embodiment, the filter 73 is placed between the first lens 81 and the first cemented lens group. This positioning ensures that light is processed by the filter 73 before passing through the imaging lens group 8.

[0157] The presence of filter 73 does not significantly alter other optical properties of the imaging lens group 8, such as focal length and aberrations. However, it does have a significant impact on spectral composition, improving image quality or meeting specific application requirements by filtering out or attenuating infrared light.

[0158] For example, the filter 73 is a cutoff filter 73, or a specific film layer can be provided on the filter 73 to achieve the effect of absorbing or reflecting infrared light.

[0159] In a further embodiment, referring to FIG3, the imaging lens group 8 further includes a fourth lens 84 and a fifth lens 85 arranged sequentially along the incident optical axis, wherein the fourth lens 84 is located on the light-emitting side of the first cemented lens group; the optical powers of the fourth lens 84 and the fifth lens 85 are opposite.

[0160] In this embodiment, in addition to the imaging lens group 8 including a first lens 81 and a first cemented lens group (a second lens 82 and a third lens 83 cemented together), the imaging lens group 8 further includes a fourth lens 84 and a fifth lens 85 arranged sequentially along the optical axis, with the fourth lens 84 located on the light-emitting side of the first cemented lens group. The fourth lens 84 and the fifth lens 85 have opposite optical powers.

[0161] For example, the optical power of the fourth lens 84 can be positive, and the optical power of the fifth lens 85 can be negative, or the optical power of the fourth lens 84 can be negative, and the optical power of the fifth lens 85 can be positive. Specifically, referring to Figure 3, the fourth lens 84 is a biconvex lens with positive optical power, and the fifth lens 85 is a concave-convex lens with negative optical power.

[0162] Specifically, since the fourth lens 84 and the fifth lens 85 have opposite optical powers, they can compensate for each other's aberrations, such as spherical aberration and coma aberration. This compensation helps improve image quality and reduce image distortion.

[0163] In a further embodiment, referring to FIG3, the imaging lens group 8 further includes a second cemented lens group, which is located between the second lens 82 and the third lens 83; the second cemented lens group includes a sixth lens 86 and a seventh lens 87, wherein one of the sixth lens 86 and the seventh lens 87 has a positive optical power and the other lens has a negative optical power.

[0164] In this embodiment, in addition to the imaging lens group 8 comprising a first lens 81, a first cemented lens group (a second lens 82 and a third lens 83 cemented together), a fourth lens 84, and a fifth lens 85, the imaging lens group 8 further includes a second cemented lens group. The second cemented lens group is located between the fourth lens 84 and the fifth lens 85; the second cemented lens group includes a sixth lens 86 and a seventh lens 87, wherein one of the sixth lens 86 and the seventh lens 87 has a positive optical power, and the other lens has a negative optical power.

[0165] Specifically, the design of the sixth lens 86 and the seventh lens 87 with opposite optical powers allows them to compensate for each other's aberrations, such as spherical aberration and coma. This compensation helps reduce image distortion during the imaging process and improves image sharpness.

[0166] Furthermore, the imaging performance of the imaging lens group 8 can be further optimized by adjusting parameters such as the curvature and refractive index of the sixth lens 86 and the seventh lens 87. For example, this can improve image resolution, contrast, and color reproduction.

[0167] For example, the optical power of the sixth lens 86 is positive and the optical power of the seventh lens 87 is negative, or the optical power of the sixth lens 86 is negative and the optical power of the seventh lens 87 is positive. Specifically, referring to Figure 3, the sixth lens 86 is a convex-concave lens with negative optical power, and the seventh lens 87 is a biconvex lens with positive optical power.

[0168] In an optional embodiment, the human-eye-like camera 1 further includes a protective glass 6 located furthest from the corneal-like lens 71. In this embodiment, the human-eye-like camera 1 also includes the protective glass 6, which is used to protect other sensors such as the photosensitive chip.

[0169] In one embodiment, the light-transmitting area of ​​the dimming film 72 is adjusted electronically.

[0170] In this embodiment, the amount of light transmitted can be adjusted by controlling the light-transmitting area of ​​the dimming film 72 through electronic means, thereby simulating the response of the human eye pupil under different lighting conditions.

[0171] The dimming film 72 is typically made by injecting a liquid crystal / polymer hybrid material between two transparent conductive films. In the absence of an electric field, the dimming film 72 is opaque. When an alternating current is applied, the liquid crystal molecules align in an ordered manner, and the dimming film 72 transitions from the opaque state (OFF state) to the transparent state (ON state). Through the application of an electric field, rapid transitions between the ON and OFF states can be achieved.

[0172] Therefore, the dimming film 72 can simulate this light-sensing adaptive adjustment mechanism through electronic control. When the external light changes, the control system can sense and adjust the voltage or current applied to the dimming film 72, thereby changing the size and shape of its light-transmitting area and achieving precise control over the amount of light transmitted.

[0173] In one embodiment, the anterior surface curvature of the corneal lens 71 ranges from 7.5 mm to 8.0 mm, and the posterior surface curvature ranges from 6.5 mm to 7.0 mm.

[0174] In this embodiment, the curvature design of the corneal-like lens 71 has a significant impact on light focusing and image quality. By selecting a curvature range similar to that of the human cornea, the human-eye-like camera 1 can more closely approximate the perception of the human eye, ensuring that light is correctly focused when passing through the lens, thereby forming a clear image.

[0175] Preferably, the anterior surface curvature of the corneal lens 71 is 7.8 mm, and the posterior surface curvature of the corneal lens 71 is 6.7 mm.

[0176] In a specific embodiment, referring to FIG3, the human eye-like camera 1 includes, in sequence along the incident optical axis: a corneal-like lens 71, a dimming film 72, a first lens 81, a filter 73, a first cemented lens group (a second lens 82 and a third lens 83 cemented together), a fourth lens 84, a second cemented lens group (a sixth lens 86 and a seventh lens 87), and a fifth lens 85.

[0177] Specifically, the optical parameters of the corneal lens 71 are as follows: focal length: -154.057mm; front surface curvature: 7.8mm; rear surface curvature: 6.7mm; refractive index: 1.5167; Abbe number: 64.199; glass material: H-K9L.

[0178] The optical parameters of the first lens 81 are as follows: focal length: 27.6mm; front surface curvature: 899.5mm; rear surface curvature: 28.79mm; refractive index: 1.9; Abbe number: 30.1; glass material: HZLAF92.

[0179] The optical parameters of the second lens 82 are as follows: focal length: -4.41mm; front surface curvature: 5.62mm; rear surface curvature: 8.868mm; refractive index: 1.7552; Abbe number: 27.5; glass material: ZF6.

[0180] The optical parameters of the third lens 83 are as follows: focal length: -6.23mm; front surface curvature: 8.868mm; rear surface curvature: 7.907mm; refractive index: 1.52; Abbe number: 38; glass material: HLAK52.

[0181] The optical parameters of the fourth lens 84 are as follows: focal length: 10.89mm; front surface curvature: 15.74mm; rear surface curvature: 26.61mm; refractive index: 1.923; Abbe number: 21; glass material: HZF62.

[0182] The optical parameters of the sixth lens 86 are as follows: focal length: -9mm; front surface curvature: 23.9mm; rear surface curvature: 5.525mm; refractive index: 1.8063; Abbe number: 25.38; glass material: ZF7.

[0183] The optical parameters of the seventh lens 87 are as follows: focal length: 10.23mm; front surface curvature: 5.525mm; rear surface curvature: 45.2mm; refractive index: 1.72; Abbe number: 55; glass material: HZPK5.

[0184] Optical parameters of the fifth lens 85: focal length: -23.76mm; front surface curvature: 7.543mm; rear surface curvature: 22.22mm; refractive index: 1.5164; Abbe number: 60.5; glass material: HQK3L.

[0185] The human-eye-like camera 1 can simulate the imaging process of the human eye and achieve an imaging effect similar to that of the human eye.

[0186] In this embodiment, referring to Figures 5a-5h, there are dot array diagrams of the bionic eye optical module focusing at infinity, 4m, 3m, 2m, 1.44m, 1.2m, 1m and 0.2m. The size of each field of view dot array diagram is close to the Airy disk.

[0187] In this embodiment, referring to Figures 6a-6e, the MTF of the bionic eye optical module at 0, 0.5, 0.7, and 1 field of view is shown. Because the field of view of the bionic eye optical module is reduced to 35°, the focal length needs to be increased to match the sensor, resulting in an increase in the F-number and a decrease in the diffraction limit. When focusing at infinity (-0.25m), the MTF of the 0-0.7 field of view at 227 lp / mm is generally above 0.5; when focusing at 0.2m, the resolution decreases slightly, but the MTF of the 0-0.5 field of view at 227 lp / mm is generally above 0.5; throughout the focusing process, the resolution of the edge field of view at 227 lp / mm is between 0.3 and 0.4.

[0188] In this embodiment, referring to Figure 7, the relative illumination across the entire field of view is above 85%.

[0189] The above embodiments mainly describe the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. For the sake of brevity, they will not be elaborated here.

[0190] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A robot, characterized in that, include: The head shell has two eye openings; A human-eye camera assembly is connected to the head shell; the human-eye camera assembly includes two human-eye camera modules, each of which includes a human-eye camera (1), the human-eye camera (1) is configured to simulate human eye rotation, and the human-eye camera (1) is disposed in the eye hole corresponding to it; The robot also includes: a photosensitive sensor, which is used to detect light intensity; the human-eye-like camera (1) includes, along the optical axis: a corneal-like lens (71), a dimming film (72) and an imaging lens group (8), wherein the dimming film (72) adjusts its light-transmitting area according to the light intensity.

2. The robot according to claim 1, characterized in that, The robot also includes a first control unit, which is electrically connected to the photosensitive sensor and receives the light intensity detected by the photosensitive sensor; the first control unit is electrically connected to the dimming film (72) to control the light-transmitting area of ​​the dimming film (72).

3. The robot according to claim 2, characterized in that, The robot also includes a walking unit, a drive unit, and a second control unit. The walking unit is located at the bottom of the robot. The second control unit is connected to the drive unit, and the drive unit drives the walking unit to move under the action of the second control unit.

4. The robot according to claim 3, characterized in that, The humanoid eye camera (1) is used to collect environmental images and transmit the environmental images to the second control unit, which controls the robot to move based on the environmental image information.

5. The robot according to claim 3, characterized in that, The first control unit and the second control unit are communicatively connected; the second control unit controls the movement of the walking unit based on the information of the light-transmitting area of ​​the dimming film (72).

6. The robot according to claim 1, characterized in that, The simulated human eye camera module further includes a first driving component (2) and a second driving component (3) for driving each simulated human eye camera (1) to rotate; the first driving component (2) drives the simulated human eye camera (1) to rotate in the vertical direction; the second driving component (3) drives the simulated human eye camera (1) to rotate in the horizontal direction.

7. The robot according to claim 6, characterized in that, The first driving component (2) includes a first rotating shaft (20) and a first driving component (21). The first driving component (21) drives the first rotating shaft (20) to rotate so as to drive the human eye-like camera (1) to rotate in the vertical direction. The second drive assembly (3) includes a second rotating shaft (30) and a second drive component (31), the second drive component (31) driving the second rotating shaft (30) to rotate so as to drive the human eye camera (1) to rotate in the horizontal direction.

8. The robot according to claim 7, characterized in that, The axis of the first rotating shaft (20) and the axis of the second rotating shaft (30) intersect at the rotation center of the human eye-like camera (1).

9. The robot according to claim 8, characterized in that, The robot also includes a body component, and the head shell is rotatably connected to the body component.

10. The robot according to claim 9, characterized in that, The robot further includes a third drive assembly, which includes a third rotating shaft and a third drive component. The third drive component drives the third rotating shaft to rotate, thereby causing the head shell to rotate horizontally relative to the body component; and / or the robot further includes a fourth drive assembly, which includes a fourth rotating shaft and a fourth drive component. The fourth drive component drives the fourth rotating shaft to rotate, thereby causing the head shell to rotate vertically relative to the body component.

11. The robot according to claim 10, characterized in that, The power of the third drive component is greater than the power of the second drive component, and the power of the fourth drive component is greater than the power of the first drive component.

12. The robot according to claim 11, characterized in that, The rotation angle range of the first rotating shaft is greater than that of the fourth rotating shaft, and the rotation range of the second rotating shaft is greater than that of the third rotating shaft.

13. The robot according to claim 11 or 12, characterized in that, The rotational torque of the fourth rotating shaft is greater than that of the first rotating shaft, and the rotational torque of the third rotating shaft is greater than that of the second rotating shaft.

14. The robot according to claim 1, characterized in that, The curvature of the anterior surface of the corneal lens (71) ranges from 7.5 mm to 8.0 mm, the curvature of the posterior surface of the corneal lens (71) ranges from 6.5 mm to 7.0 mm, and / or the thickness of the corneal lens (71) ranges from 500 μm to 600 μm.

15. The robot according to claim 1, characterized in that, The aperture range of the light-transmitting area of ​​the dimming film (72) is 1.5mm to 5mm.

16. The robot according to claim 1, characterized in that, The imaging lens group (8) includes a first lens (81) disposed adjacent to the dimming film (72) and a first cemented lens group disposed adjacent to the first lens (81); the optical power of the first lens (81) is positive; the first cemented lens group includes a second lens (82) and a third lens (83), wherein the optical power of one of the second lens (82) and the third lens (83) is positive and the optical power of the other lens is negative.

17. The robot according to claim 16, characterized in that, A filter (73) is disposed between the first lens (81) and the first cemented lens group, the filter (73) being used to absorb or reflect infrared light.

18. The robot according to claim 16, characterized in that, The imaging lens group (8) further includes a fourth lens (84) and a fifth lens (85) arranged sequentially along the incident optical axis. The fourth lens (84) is located on the light-emitting side of the first cemented lens group. The optical powers of the fourth lens (84) and the fifth lens (85) are opposite.

19. The robot according to claim 18, characterized in that, The imaging lens group (8) further includes a second cemented lens group, which is located between the second lens (82) and the third lens (83); the second cemented lens group includes a sixth lens (86) and a seventh lens (87), wherein one of the sixth lens (86) and the seventh lens (87) has a positive optical power and the other lens has a negative optical power.

Images