Bionic eyeball vision device, vision system, robot

Abstract

The application provides a kind of bionic eyeball vision device, including bionic eyeball shell, bionic lens is arranged in bionic eyeball shell, bionic lens is made of electroactive material;Bionic eyeball shell is equipped with bionic pupil, bionic pupil is made of electrochromic material;Bionic pupil is located in front of bionic lens;It further includes photosensitive element, bionic pupil, bionic lens, photosensitive element are sequentially arranged in bionic eyeball shell;Bionic eyeball shell further includes bionic iris, bionic iris has luminous layer, bionic iris has bionic texture.The application also provides a vision system including bionic eyeball vision device, robot.The bionic eyeball vision device provided by the application can improve the degree of eyeball personification, improve the vision integration, improve the compactness of structure;Electrochromic material is used to simulate pupil, electroactive material is used to simulate lens, which approaches human eye physiological structure from material and principle, realizes the unity of structural bionics and functional bionics.

Description

Technical Field

[0001] This application relates to the field of bionic robot technology, specifically to bionic eye-shaped visual devices, visual systems, and robots. Background Technology

[0002] Current robot vision systems mostly employ traditional industrial cameras or lens assemblies, which suffer from limitations such as mechanical appearance and limited adjustment capabilities, making it difficult to meet the humanoid and intelligent interaction requirements of high-end social and service robots. Existing bionic eye technology attempts to simulate the human eye, but still has the following shortcomings:

[0003] 1. Bulky adjustment mechanism: It mostly uses mechanical aperture and zoom lens, which has a slow response speed and complex structure, and cannot achieve the smooth adaptive adjustment of the human eye.

[0004] 2. Limited functionality: It lacks a compact design that integrates pupil adjustment, focus adjustment, and interactive expression, and most of them are monocular structures, which cannot simulate the binocular collaborative function of the human eye's "panoramic perception + precise focusing".

[0005] 3. Stiff visual experience: It only focuses on visual function adjustment and lacks simulation of non-verbal interaction characteristics of the human eye. It is difficult to convey natural emotional signals during interaction. Moreover, the field of vision of one eye is limited, and it cannot achieve environmental monitoring and accurate target tracking at the same time. Utility Model Content

[0006] The purpose of this application is to address at least one of the problems existing in the background art.

[0007] This application provides a bionic eyeball visual device, comprising a bionic eyeball shell, within which a bionic lens is disposed, the bionic lens being made of an electrodeformable material; a bionic pupil is mounted on the bionic eyeball shell, the bionic pupil being made of an electrochromic material; the bionic pupil is located in front of the bionic lens; it also includes a photosensitive element, the bionic pupil, the bionic lens, and the photosensitive element being sequentially disposed within the bionic eyeball shell; the bionic eyeball shell further includes a bionic iris, the bionic iris having a light-emitting layer and a bionic texture.

[0008] Furthermore, in the bionic eyeball visual device provided in this application, the bionic eyeball shell further includes a bionic sclera, and the bionic pupil is installed in the middle of the bionic sclera.

[0009] Furthermore, in the bionic eye visual device provided in this application, the bionic iris is disposed in front of or around the bionic pupil.

[0010] Furthermore, in the bionic eye visual device provided in this application, the bionic iris is made of a transparent flexible substrate, and the transparent flexible substrate is provided with an electrode structure.

[0011] Furthermore, in the bionic eye visual device provided in this application, the bionic iris is made of an electroluminescent material.

[0012] Furthermore, the bionic eye visual device provided in this application includes a controller, which is electrically connected to the bionic lens and the bionic pupil.

[0013] This application provides a vision system including two bionic eyeball vision devices; the bionic eyeball housings are connected to a frame via a connecting mechanism, the connecting mechanism being used to move the bionic eyeball housings relative to the frame; and a controller is included, the controller being electrically connected to the bionic lens and the bionic pupil.

[0014] This application provides yet another vision system, including two bionic eyeball vision devices; the center-to-center distance between the bionic pupils of the two bionic eyeball vision devices ranges from 50 mm to 80 mm.

[0015] This application provides a robot, including a bionic eye-shaped visual device.

[0016] The beneficial effects of this application are: improving the anthropomorphism of the product, improving visual integration, improving the compactness of the structure, and the bionic iris helps to realize the emotional expression of the device in anthropomorphic form; by using electrochromic materials to simulate the pupil and electrodeformable materials to simulate the lens, the physiological structure of the human eye is approximated in terms of materials and principles, thus achieving the unity of structural biomimicry and functional biomimicry. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a bionic eyeball vision device according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the structure of a vision system according to an embodiment of the present invention;

[0019] Explanation of reference numerals in the attached figures: 1-Bionic eyeball shell; 2-Bionic pupil; 3-Bionic iris; 4-Bionic lens; 5-Photosensitive element; 6-Connecting mechanism; 7-Frame; 8-Vision system; 9-Controller. Detailed Implementation

[0020] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0021] like Figure 1 As shown, this application provides a bionic eyeball vision device, including a bionic eyeball shell 1, a bionic lens 4 disposed inside the bionic eyeball shell 1, the bionic lens 4 being made of an electrodeformable material; a bionic pupil 2 installed in the bionic eyeball shell 1, the bionic pupil 2 being made of an electrochromic material; the bionic pupil 2 being located in front of the bionic lens 4; and a photosensitive element 5, the bionic pupil 2, the bionic lens 4, and the photosensitive element 5 being sequentially disposed inside the bionic eyeball shell 1.

[0022] By adopting a biomimetic eyeball shell and incorporating a biomimetic lens and pupil made of electrodeformable material, the product's anthropomorphism, visual integration, and structural compactness can be improved. The use of electrochromic material to simulate the pupil and electrodeformable material to simulate the lens approximates the physiological structure of the human eye in terms of both materials and principles, achieving a unity of structural and functional biomimetic.

[0023] The bionic eyeball shell can be any structure that can present the appearance of an eye, and this application does not limit its specific shape. For example, the shell can be a closed or open spherical shell that is spherically shaped as a whole, or a hemispherical shell suitable for partial implantation or surface mounting; in addition, the shell can also be designed as a streamlined shell, a thick spindle-shaped object, or other three-dimensional shapes that meet the requirements of ergonomics and aesthetics, such as an ellipsoid, a multi-segment curved surface spliced ​​shell, or a corneal-like shape with a flat or slightly convex front end.

[0024] In some embodiments, the electrodeformable material of the biomimetic lens 4 includes one or more of dielectric elastomers, electroactive polymers, liquid crystal elastomers, and electroresponsive hydrogels.

[0025] In one embodiment, the bionic eyeball shell 1 further includes a bionic iris 3, which has an electrically conductive and light-emitting layer. The bionic iris 3 refers to a shape that mimics the human iris, and when viewed from the front of the bionic eyeball shell, the bionic iris 3 can cover or surround the bionic pupil 2.

[0026] Specifically, the bionic iris 3 can be made from a transparent flexible substrate (such as PDMS) with electrode structures arranged on it, allowing it to emit light when powered. Because the bionic iris 3 emits light when powered, it can be used to achieve human-like emotional expression. The bionic iris 3 can also be made from electroluminescent materials, OLED materials, etc.

[0027] By combining a biomimetic lens 4 made of electrodeformable materials (such as dielectric elastomers and liquid crystal elastomers) with a biomimetic pupil 2 made of electrochromic materials, the physiological simulation of the human eye's automatic focusing and light intake regulation is achieved. The device can adjust the focal length in real time according to the distance to the target object, improving the clarity and stability of imaging in complex lighting environments.

[0028] In one embodiment, the bionic eyeball visual device includes a bionic iris 3 disposed on the bionic eyeball shell 1, and the bionic iris 3 is provided with bionic textures by means of printing, drawing, etching, etc.

[0029] Furthermore, in the bionic eyeball visual device, the bionic eyeball shell 1 also includes a bionic sclera, and a bionic pupil 2 is installed in the middle of the bionic sclera.

[0030] The bionic eyeball vision device provided in this application has a bionic iris disposed in front of or around the bionic pupil.

[0031] Furthermore, the bionic iris 3 is positioned in front of or around the bionic pupil 2.

[0032] Furthermore, the bionic eye visual device includes a controller 9, which is electrically connected to the bionic lens 4 and the bionic pupil 2.

[0033] like Figure 2 As shown, this application provides a vision system 8, including a bionic eye vision device, wherein the system includes a controller 9, which is electrically connected to a bionic lens 4 and a bionic pupil 2; the number of bionic eye vision devices is at least two; the controller 9 includes an image depth processing unit.

[0034] This application provides a vision system 8, including a bionic eye-like vision device, comprising: a controller 9 electrically connected to a bionic lens 4 and a bionic pupil 2; two bionic eye-like vision devices are provided, and the controller 9 includes an image depth processing unit; the center-to-center distance between the bionic pupils 2 of the two bionic eyeballs ranges from 50mm to 80mm. This vision system 8 adopts a binocular bionic eye structure, with the center-to-center distance between the two bionic pupils 2 designed to be 50mm–80mm, closely matching the interpupillary distance range of adults; in conjunction with the image depth processing unit in the controller 9, it can perform stereo matching and disparity calculation on images acquired by both eyes, generating scene depth information, achieving high-precision three-dimensional perception and stereo vision reconstruction, and can be widely applied to robot navigation and intelligent interaction scenarios.

[0035] This application provides a vision system 8, including a bionic eyeball vision device, wherein: the number of bionic eyeball vision devices is two; the bionic eyeball shell 1 is connected to the frame 7 through a connecting mechanism 6, the connecting mechanism 6 is used to make the bionic eyeball shell 1 move relative to the frame 7 respectively, and the bionic eyeball can be set to be independently controlled or linked as needed; it includes a controller 9, the controller 9 is electrically connected to the bionic lens 4 and the bionic pupil 2.

[0036] The method for controlling the wearing of the bionic eye-shaped visual device includes: converting environmental or scene information into electrical signals and transmitting them to the bionic pupil 2, changing the color of the bionic pupil 2, thereby changing the amount of light entering the bionic eye-shaped visual device.

[0037] The target object information is converted into electrical signals, which change the focal length of the bionic lens 4. Information such as the distance and movement trend of the target object is converted into electrical signals by sensors and input into the control unit of the bionic lens 4. This drives the internal electrodeformable material to deform, thereby changing the curvature and focal length of the lens in real time and with precision, achieving an autofocus function similar to that of the human eye.

[0038] Specifically, the bionic eye vision device acquires environmental or scene information such as the light intensity, color temperature, and dynamic changes of the surrounding environment, and converts it into corresponding electrical signals. These electrical signals are transmitted to the bionic pupil 2, which controls the electrochromic material or liquid crystal layer inside the pupil to change its color and light transmittance, thereby dynamically adjusting the color of the bionic pupil 2 and adjusting the amount of light entering the pupil.

[0039] Specifically, it receives emotional command signals from the user, which can originate from brain-computer interfaces, speech recognition systems, mobile terminal input, or preset program modes—and encodes them into electrical signals with specific parameters. These signals are then transmitted to the light-emitting structure of the bionic iris 3 (such as a transparent electroluminescent layer, a micro-LED array, or an OLED), regulating its luminous intensity, color distribution, or dynamic flickering mode. This alters the overall brightness and visual performance of the bionic iris 3, enabling the transmission of non-verbal information in emotional expression and interpersonal interaction, and enhancing the comprehensive performance of the bionic eye in terms of appearance realism and social function.

[0040] This application also provides a robot including the above-described bionic eye-like visual device.

[0041] During operation, an ambient light sensor located on the robot or externally detects the light intensity and transmits the signal to the controller 9. The controller 9 then adjusts the voltage of the bionic pupil 2, causing its color to darken or lighten to regulate the amount of light entering the device. Simultaneously, based on the target distance information, the controller 9 adjusts the voltage of the bionic lens 4, changing its curvature to achieve focusing. The image is ultimately clearly formed on the photosensitive element 5.

[0042] Innovatively, an electrically luminescent layer (such as electroluminescent materials, OLEDs, or micro-LED arrays) is integrated into the bionic iris 3, and emotional command signals are received through controller 9 to regulate the brightness, color, or dynamic lighting effects of the iris. This design enables the bionic eye not only to "see" but also to "express," achieving non-verbal emotional feedback and greatly enhancing the naturalness, affinity, and social attributes of human-computer interaction.

[0043] The bionic iris 3 can construct realistic iris textures through printing, etching, and other methods, and achieve a high degree of simulation in form and texture by combining it with a flexible transparent substrate (such as PDMS). Combined with a color-changing pupil, the overall visual effect is close to that of a human eyeball, which has important aesthetic value and psychological adaptation advantages in humanoid applications such as prosthetic eyes and service robots.

[0044] This application can be used not only in high-end intelligent robots, brain-computer interface assistive devices, and virtual reality / augmented reality (VR / AR) systems, but also in public security monitoring systems and emotional human-computer interaction terminals, and has broad market prospects and technological extensibility.

[0045] This application provides a robot whose head is equipped with the vision system 8 provided in this application. The robot can observe the world by moving its "eyeballs" like a human. Its vision system 8 can automatically adapt to different lighting environments and quickly focus on objects at different distances. At the same time, it can express simple emotions through the light emission of the bionic iris 3, which greatly enhances the naturalness and affinity of human-computer interaction.

Claims

1. A biomimetic eyeball vision device, characterized in that: The device includes a bionic eyeball shell, within which a bionic lens is disposed, the bionic lens being made of an electrodeformable material; a bionic pupil, also made of an electrochromic material, is mounted within the bionic eyeball shell; the bionic pupil is located in front of the bionic lens; it also includes a photosensitive element, with the bionic pupil, the bionic lens, and the photosensitive element sequentially disposed within the bionic eyeball shell; the bionic eyeball shell further includes a bionic iris, the bionic iris having a light-emitting layer; and the bionic iris having a bionic texture.

2. The bionic eyeball vision device according to claim 1, characterized in that: The bionic eyeball shell also includes a bionic sclera, and the bionic pupil is installed in the middle of the bionic sclera.

3. The bionic eyeball vision device according to claim 1, characterized in that: The bionic iris is positioned in front of or around the bionic pupil.

4. The bionic eyeball vision device according to claim 1, characterized in that: The biomimetic iris uses a transparent flexible substrate, and the transparent flexible substrate is provided with an electrode structure.

5. The bionic eyeball vision device according to claim 1, characterized in that: The bionic iris is made of electroluminescent material.

6. The bionic eyeball vision device according to claim 1, characterized in that: It includes a controller, which is electrically connected to the bionic lens and the bionic pupil.

7. A visual system comprising the bionic eyeball visual device of claim 1, characterized in that: The number of the bionic eyeball vision device is two; the bionic eyeball shell is connected to the frame through a connecting mechanism, which is used to make the bionic eyeball shell move relative to the frame respectively; It includes a controller, which is electrically connected to the bionic lens and the bionic pupil.

8. A visual system comprising the bionic eyeball visual device of claim 1, characterized in that: The number of the bionic eyeball vision devices is two; the center-to-center distance between the bionic pupils of the two bionic eyeball vision devices ranges from 50mm to 80mm.

9. A robot, characterized in that, Including the bionic eye-shaped visual device as described in any one of claims 1-6.

Images