Walking device and robot

Abstract

A walking device (1000), the walking device (1000) comprising a machine body (200), a mounting body (10) fixedly connected to the body (200), and a control assembly (20) mounted on a side of the mounting body (10) distant from the body (200). The control assembly (20) comprises at least two of a height adjustment component (21), a function control component (22) and a visual component (23). By means of modular design, the integration of the walking device (1000) is greatly improved, the structural complexity of the walking device (1000) is reduced, and the difficulty of installation and maintenance of the walking device (1000) is reduced. A robot (2000) is also provided, the robot (2000) comprising a walking apparatus (24), a mounting body mounted on the walking apparatus (24), and a visual component (23) disposed on the walking apparatus (24) by means of the mounting body. The visual component (23) comprises: a housing (237) disposed on the walking apparatus (24) by means of the mounting body, and a first visual component (235) and a second visual component (236) mounted at the housing (237). In this way, the robot (2000) can obtain image information located at the front end and the rear end of the walking apparatus (24) by means of the visual component (23), thereby preventing the robot (2000) from being carried away or stolen, and improving the anti-theft capability of the robot (2000).

Description

Walking equipment and robots

[0001] This application claims priority to the Chinese patent application filed with the Patent Office of China on December 9, 2023, with application number 202323366242.6 and application name “Visual device and robot”, and the Chinese patent application filed with the Patent Office of China on December 9, 2023, with application number 202323369350.9 and application name “Walking device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of walking equipment, and in particular to a walking equipment and a robot. Background Art

[0003] In existing walking devices, various control components are distributed in different positions of the walking device. When repairing the walking device, the walking device needs to be disassembled as a whole, which makes the installation and maintenance of the walking device difficult.

[0004] In addition, in an unmanned automated operating environment, some specific walking equipment, such as robots, may be moved or stolen by unauthorized personnel if they lack effective anti-theft protection, thereby posing a risk of loss to the user's property. Summary of the Invention

[0005] In view of this, the present application provides a walking device and a robot that can solve the technical problems of difficulty in installing and maintaining the walking device and poor anti-theft ability.

[0006] The present application provides a walking device, comprising: a fuselage, a mounting body; the mounting body is fixedly connected to the fuselage, a control component, the control component is mounted on a side of the mounting body away from the fuselage, and the control component includes at least two of a height adjustment component, a function control component, and a visual component.

[0007] In the embodiment of the present application, by arranging at least two of the height adjustment parts, function control parts and visual parts on the installation body, the modular design greatly improves the integration of the walking equipment, reduces the structural complexity of the walking equipment, and reduces the difficulty of installation and maintenance of the walking equipment.

[0008] On the other hand, the present application provides a robot, including a walking device, a mounting body and a visual component, the mounting body being connected to the walking device, the visual component being arranged on the walking device through the mounting body, the visual component including: a shell, arranged on the walking device through the mounting body, a first visual component, mounted on the shell, the first visual component being used to obtain image information located on the front end side of the walking device, a second visual component being mounted on the shell, the second visual component being used to obtain image information located on the rear end side of the walking device.

[0009] In the embodiment of the present application, based on the first visual component and the second visual component installed on the shell, the image information located on the front end side of the walking device is obtained through the first visual component, and the image information located on the rear end side of the walking device is obtained through the second visual component, thereby protecting both the front end side and the rear end side of the walking device. When a thief approaches the walking device from the front end or rear end of the walking device, the first visual component and the second visual component can image the thief, thereby preventing the robot from being carried away or stolen by the thief, and improving the robot's anti-theft ability.

[0010] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0012] FIG1 is a schematic diagram of a partial structure of a walking device provided in an embodiment of the present application.

[0013] FIG2 is a schematic structural diagram of the installation body and control assembly provided in an embodiment of the present application.

[0014] FIG3 is a partial cross-sectional view of the robot provided in an embodiment of the present application.

[0015] FIG4 is a schematic structural diagram of the visual component provided in an embodiment of the present application after some structures are removed.

[0016] FIG5 is a schematic structural diagram of a housing provided in an embodiment of the present application.

[0017] FIG6 is a schematic structural diagram of a visual component provided in an embodiment of the present application.

[0018] Description of main reference numerals:

[0019] Walking device 1000; fuselage 200; installation body 10; installation plate 11; connecting plate 12; first connecting plate 121; second connecting plate 122; fixing plate 13; extension plate 14; control assembly 20; height adjustment member 21; rotating part 211; pointer part 212; indicating part 213; function control member 22; emergency stop member 221; starting member 222; liquid detection member 223; function button 224; signal light 225; visual member 23; front camera 231; rear camera 232; shielding member 233; visual fixing part 234.

[0020] Robot 2000; visual component 23; shielding component 233; heat dissipation duct 2331; avoidance opening 2332; visual fixing portion 234; first visual component 235; first protective plate 2351; second visual component 236; mounting portion 2361; first heat dissipation fin 23611; extension portion 2362; rear camera hole 23621; second protective plate 2363; housing 237; front camera hole 2371; mounting opening 237 2; mounting slot 2373; groove 23731; second heat sink 2374; first heat sink 23741; first extension section 23741a; second extension section 23741b; second heat sink 23742; first segment 23742a; second segment 23742b; third segment 23742c; card hole 23751; matching structure 23752; inclined surface 2376; base plate 238; walking device 24.

[0021] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments in this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0023] References herein to "embodiments" or "implementations" mean that a particular feature, structure, or characteristic described in connection with the embodiments or implementations may be included in at least one embodiment of the present application. The appearance of such phrases in various places in the specification does not necessarily refer to the same embodiment, nor do they constitute independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0024] It should be noted that the terms in the specification and claims of this application and the accompanying drawings are intended only to describe specific embodiments and are not intended to limit this application. The terms "first," "second," and so on in the specification and claims of this application and the accompanying drawings are used to distinguish different objects, not to describe a specific order. The term "and / or" as used in the specification and claims of this application refers to any and all possible combinations of one or more of the associated listed items, including and including these combinations.

[0025] Please refer to Figures 1 and 2 together. Figure 1 is a schematic diagram of the partial structure of the walking device 1000 provided in an embodiment of the present application; Figure 2 is a schematic diagram of the structure of the installation body 10 and the control component 20 provided in an embodiment of the present application. The embodiment of the present application provides a walking device 1000, the walking device 1000 includes a body 200, a mounting body 10 and a control component 20, and the mounting body 10 is installed on the body 200. The control component 20 is installed on the mounting body 10. The control component 20 includes at least two of a height adjustment component 21, a function control component 22 and a visual component 23. In this embodiment, by arranging at least two of the height adjustment component 21, the function control component 22 and the visual component 23 on the mounting body 10, the modular design greatly improves the integration of the walking device 1000, reduces the structural complexity of the walking device 1000, and reduces the difficulty of installation and maintenance of the walking device 1000. For example, in this embodiment, the height adjustment component 21 , the function control component 22 and the visual component 23 are all installed on the installation body 10 , further improving the integration of various control components in the walking device 1000 .

[0026] The walking device 1000 can be a lawn mower, a four-wheeled walking device, a pesticide sprayer, a crop harvester, a sweeper, or the like. For example, the walking device 1000 can be configured as a lawn mower, further comprising a cutterhead mounted on the body 200 for mowing the lawn. The height adjustment member 21 is used to adjust the height of the cutterhead of the walking device 1000. The function control member 22 is used to control the operating state of the walking device 1000, such as controlling whether the walking device 1000 is in a mowing state, a driving state, a stopped state, or the like. The visual member 23 is used to obtain image information regarding the direction of travel of the walking device 1000. The controller of the walking device 1000 determines the current road conditions based on the image information obtained by the visual member 23, thereby regulating the direction of travel and operating state of the walking device 1000. In some embodiments, the walking device 1000 can also be configured as a sweeper, and the height adjustment member 21 can be used to adjust the height of the sweeping brush.

[0027] For a clearer description, in this application, the X-axis direction is defined as the width direction of the walking device 1000, the Y-axis direction is defined as the front-to-back direction of the walking device 1000, and the Z-axis direction is defined as the height direction of the walking device 1000. The length direction, width direction, and height direction of the walking device 1000 are perpendicular to each other. Among them, the positive direction of the Y-axis is the front end direction of the walking device 1000, and the reverse direction of the Y-axis is the rear end direction of the walking device 1000. The moving direction of the walking device 1000 is parallel to the Y-axis direction. When the walking device 1000 is working, moving along the positive direction of the Y-axis is forward, and moving along the reverse direction of the Y-axis is backward. For the convenience of description, the up and down, left and right, and front and back directions in this application are relative positions and do not constitute a limitation to the implementation. The front and back directions, width directions, and height directions of the walking device 1000 can be customized according to the specific structure of the product and the perspective of the drawings, and this application does not make specific limitations.

[0028] Along the front-to-back direction Y of the walking device 1000, the function control part 22 is located between the height adjustment part 21 and the visual part 23. The visual part 23 is installed at the end of the installation body 10 close to the front end of the walking device 1000, so that the visual part 23 can better obtain the image information in the direction of travel of the walking device 1000. Among them, the height adjustment part 21 is usually not adjusted again after the adjustment is completed, and the frequency of use of the height adjustment part 21 is low. The frequency of use of the function control part 22 by users is higher than the frequency of use of the height adjustment part 21. In this embodiment, by setting the function control part 22 at a position close to the front end of the height adjustment part 21 near the fuselage 200, the convenience of the user's control of the walking device 1000 can be improved, thereby enhancing the user experience.

[0029] The height adjustment member 21, the function control member 22, and the visual member 23 can be arranged along the front-to-back direction Y of the walking device 1000. In some embodiments, the height adjustment member 21, the function control member 22, and the visual member 23 can also be arranged in other ways, such as in a triangular arrangement, along the width direction X of the walking device 1000, etc.

[0030] At least one of the height adjustment member 21, the function control member 22, and the visual member 23 is detachably connected to the mounting body 10. For example, in this embodiment, the height adjustment member 21, the function control member 22, and the visual member 23 are detachably connected to the mounting body 10. If one or more of the height adjustment member 21, the function control member 22, and the visual member 23 malfunctions, the height adjustment member 21, the function control member 22, and the visual member 23 can be individually disassembled and assembled, thereby reducing the difficulty of installation and maintenance of the walking device 1000.

[0031] The mounting body 10 is detachably connected to the body 200. Compared to existing mobile devices, the mounting body 10 in this embodiment is detachably connected to the body 200. If one or more of the height adjustment member 21, the function control member 22, and the visual member 23 is damaged, the mounting body 10 can be completely removed from the body 200, thereby facilitating inspection and repair of the control assembly 20 on the mounting body 10 and reducing the maintenance difficulty of the mobile device 1000.

[0032] The mounting body 10 includes a mounting plate 11, a connecting plate 12 and a fixing plate 13. The connecting plate 12 is connected to the peripheral side of the mounting plate 11. The fixing plate 13 is connected to one end of the connecting plate 12 away from the mounting plate 11. The fixing plate 13 is used to connect to the fuselage 200. The height adjustment member 21 and the function control member 22 are respectively mounted on the mounting plate 11. The visual member 23 is located on the side of the connecting plate 12 close to the front end of the fuselage 200. The mounting plate 11 is extended along the front-to-back direction Y of the walking device 1000. The mounting plate 11 is set higher than the fuselage 200 in the height direction Z of the walking device 1000 to facilitate the user's operation of the height adjustment member 21 and the function control member 22 on the mounting plate 11.

[0033] The connecting plate 12 is arranged around the four sides of the mounting plate 11. One end of the connecting plate 12 away from the fuselage 200 protrudes from the fuselage 200, and the mounting plate 11 is connected to the end of the connecting plate 12 away from the fuselage 200. A mounting opening is provided on the fuselage 200, and the connecting plate 12 is passed through the mounting opening. The mounting plate 11 and the connecting plate 12 are enclosed to form a receiving space, and the portion of the functional control component 22 located in the fuselage 200 can be at least partially accommodated in the receiving space. In this embodiment, the connecting plate 12 is arranged to protrude relative to the fuselage 200, so that the heat generated by the functional control component 22 during operation can be promptly dissipated to the outside of the walking device 1000 through the portion of the connecting plate 12 located outside the fuselage 200, thereby improving the heat dissipation capacity.

[0034] The connecting plate 12 includes a first connecting plate 121 and a second connecting plate 122 connected to the first connecting plate 121. The first connecting plate 121 is connected to both sides of the mounting plate 11 along the width direction X of the walking device 1000. The second connecting plate 122 is connected to one side of the mounting plate 11 near the front end of the walking device 1000. For example, the first connecting plate 121 extends along the height direction Z of the walking device 1000. The second connecting plate 122 is tilted relative to the mounting plate 11 toward the front end of the walking device 1000. The second connecting plate 122 forms an obtuse angle with the mounting plate 11. The visual component 23 is arranged adjacent to the second connecting plate 122. The side of the visual component 23 facing the second connecting plate 122 is arranged at an angle to the height direction of the walking device 1000 and cooperates with the second connecting plate 122. A back cover is provided on the side of the visual component 23 facing the second connecting plate 122, and the back cover and the housing of the visual component 23 enclose a storage space for accommodating a camera. The second connecting plate 122 is tilted toward the front end of the walking device 1000, so that when moisture enters the position between the visual component 23 and the second connecting plate 122, the moisture can flow away quickly, and the moisture is located on the side of the rear cover of the visual component 23 facing the ground, thereby preventing the moisture from flowing upward into the receiving space of the visual component 23, thereby improving the waterproof ability of the visual component 23.

[0035] The fixing plate 13 extends along the front-to-back direction Y and the width direction X of the walking device 1000. The fixing plate 13 surrounds the connecting plate 12. After the mounting body 10 is mounted on the body 200, the fixing plate 13 is located inside the body 200. In some embodiments, the fixing plate 13 can also be located outside the body 200.

[0036] The mounting plate 11 is curved or tilted toward the ground, and / or the fixing plate 13 is curved or tilted toward the ground. In this embodiment, the side of the body 200 facing away from the ground is curved or tilted toward the ground. The curved or tilted mounting plate 11 toward the ground facilitates the sliding of moisture and debris from the outside onto the mounting plate 11, preventing them from accumulating on the mounting plate 11. In the front-to-back direction of the mobile device 1000, the height of the mounting plate 11 near the front end of the mobile device 1000 is lower than the height of the mounting plate 11 near the rear end of the mobile device 1000. In some embodiments, the surface of the mounting plate 11 facing away from the ground can be flat, with the mounting plate 11 tilted toward the ground. In some embodiments, the surface of the mounting plate 11 facing away from the ground can be curved. For example, the mounting plate 11 is curved toward the ground. In some embodiments, the mounting plate 11 can also be positioned horizontally relative to the ground.

[0037] In this embodiment, the fixing plate 13 cooperates with the side of the fuselage 200 away from the ground. The fixing plate 13 is bent or tilted toward the ground so that moisture can flow away quickly under the guiding effect of the fixing plate 13, avoiding moisture accumulation at the connection between the fixing plate 13 and the fuselage 200, and reducing the air resistance of the walking device 1000 when traveling. Among them, the surface of the side of the fuselage 200 away from the ground is arranged in an arc shape and bent toward the ground. The side of the fixing plate 13 facing the ground is bent toward the ground. In some embodiments, the surface of the side of the fuselage 200 away from the ground can be flat and tilted toward the ground. The side of the fixing plate 13 facing the ground is tilted toward the ground. In some embodiments, the fixing plate 13 can also be arranged horizontally relative to the ground.

[0038] In some embodiments, the mounting body 10 further includes an extension plate 14. The extension plate 14 is connected to an end of the fixing plate 13 away from the connecting plate 12. The extension plate 14 extends from the fixing plate 13 in a direction away from the mounting plate 11. A sunken groove is provided on the fixing plate 13 near the extension plate 14, and a fixing groove is provided in the sunken groove for cooperating with a fixing structure on the fuselage 200. In some embodiments, a fixing protrusion may also be provided in the sunken groove for cooperating with a fixing structure on the fuselage 200. The mounting body 10 and the fuselage 200 may be fixedly connected together using fasteners such as screws.

[0039] In this embodiment, the visual component 23 includes a front camera 231 and a rear camera 232. The front camera 231 is located on the side of the visual component 23 close to the front end of the body 200, and the rear camera 232 is located on the side of the visual component 23 away from the ground. The front camera 231 is set toward the front end of the walking device 1000 and is used to obtain image information located in front of the walking device 1000. The rear camera 232 is set toward the oblique rear of the walking device 1000 and is used to obtain image information located obliquely rearward of the walking device 1000. In particular, when a thief steals the walking device 1000, the rear camera 232 can image the thief and provide the user with information about the thief's appearance, allowing the user to recover the walking device 1000 in a timely manner, thereby improving the anti-theft capability of the walking device 1000.

[0040] In some embodiments, two front cameras 231 are provided. The images from the two front cameras 231 enable the walking device 1000 to obtain distance information about obstacles in front of the walking device 1000, thereby better controlling the operating state and travel route of the walking device 1000. In some embodiments, the visual component 23 may not include the rear camera 232 to reduce the manufacturing cost of the walking device 1000.

[0041] In some embodiments, the visual component 23 further includes a shielding member 233. The shielding member 233 is disposed on the side of the housing of the visual component 23 that is away from the ground along the height direction Z of the walking device 1000. The shielding member 233 is used to block sunlight, thereby reducing the internal temperature increase of the visual component 23 caused by sunlight shining on the housing of the visual component 23, slowing down the aging of the housing of the visual component 23 due to sunlight exposure, and increasing the service life of the visual component 23. It also protects the housing of the visual component 23 from external debris directly falling on the housing and causing damage to the housing. In some embodiments, the visual component 23 further includes a visual fixing portion 234 disposed on the side of the housing along the width direction X of the walking device 1000. The visual fixing portion 234 is used to be fixedly connected to the fixing plate 13. The visual fixing portion 234 extends along the width direction X of the walking device 1000 to increase the contact area between the housing of the visual component 23 and the fixing plate 13, thereby improving the stability of the connection between the visual component 23 and the fixing plate 13.

[0042] The height adjustment member 21 includes a rotating part 211, a pointer part 212 and an indicating part 213. The pointer part 212 is arranged on the rotating part 211. The indicating part 213 is arranged on the mounting plate 11. The indicating part 213 includes a plurality of height gears arranged around the rotating part 211. The pointer part 212 is used to indicate the height gear corresponding to the rotating part 211. Among them, different height gears are used to indicate different lifting heights of the cutter disc of the walking device 1000. In some embodiments, an anti-slip structure is provided on the rotating part 211 to increase the friction between the user's hand and the rotating part 211, so that the user can better rotate the rotating part 211. Among them, the anti-slip structure can be constructed as an anti-slip groove opened on the rotating part 211, or an anti-slip protrusion protruding from the rotating part 211.

[0043] In some embodiments, the function control element 22 includes an emergency stop element 221, which is used to control the walking device 1000 to stop the current working task and enter a stopped state. For example, when the walking device 1000 encounters an emergency, the user can press the emergency stop element 221 to immediately stop the walking device 1000.

[0044] In some embodiments, the function control component 22 also includes a starter 222, which is used to start the walking device 1000. The starter 222 can be configured as a start key for the walking device 1000. The starter 222 is pluggable relative to the installation body 10. When the walking device 1000 does not detect the insertion of the starter 222, the walking device 1000 is in a stopped state, and at this time, the walking device 1000 cannot work. For example, when the walking device 1000 is not used for a long time, the user can remove the starter 222 to prevent the walking device 1000 from being accidentally started or to prevent the walking device 1000 from being stolen by thieves. After the walking device 1000 detects the insertion of the starter 222, the walking device 1000 is in an operable state, and the user can control the walking device 1000 to perform various work tasks.

[0045] For example, the emergency stop member 221 is provided with a slot for mating with the starter member 222. Only after the starter member 222 is inserted into the slot on the emergency stop member 221 can the walking device 1000 be put into an operational state. The starter member 222 and the emergency stop member 221 can share a sensor, thereby reducing the manufacturing cost of the walking device 1000.

[0046] In some embodiments, the functional control component 22 also includes a liquid detection component 223. The liquid detection component 223 is used to detect whether there is liquid on the mounting plate 11. For example, when it rains, the liquid detection component 223 can detect rainwater falling on the mounting plate 11. When the controller of the walking device 1000 receives a signal that the liquid detection component 223 detects moisture, it controls the walking device 1000 to return to the warehouse. The liquid detection component 223 is arranged adjacent to the visual component 23. The liquid detection component 223 is located at a position of the mounting plate 11 close to the front end of the walking device 1000, so that the moisture falling on the mounting plate 11 flows more quickly to the liquid detection component 223, thereby improving the detection effect of the liquid detection component 223. Exemplarily, the liquid detection component 223 includes a water collection tank and two sensing electrodes arranged in the water collection tank. When moisture accumulates in the water collection tank, the moisture will conduct the two sensing electrodes, thereby realizing the detection of moisture. The water collecting tank may be provided with a plurality of protrusions, which are used to destroy the surface tension of the water in the water collecting tank, so that the water flowing into the water collecting tank can quickly spread out and spread on the bottom of the water collecting tank, and connect the two sensing electrodes.

[0047] The function control unit 22 also includes function buttons 224, which are used to control the operating state of the walking device 1000. The function control unit 222 may include one or more of a return button, a power off button, a mowing button, and a start button. The return button is used to return the walking device 1000 to the warehouse. The power off button is used to turn off the walking device 1000. The mowing button is used to enable the walking device 1000 to perform a mowing task. The start button is used to enable the walking device 1000 to begin the current task.

[0048] The function control unit 22 also includes a signal light 225, which is used to indicate the status information of the walking device 1000. For example, the signal light 225 can be used to indicate the remaining power of the walking device 1000. Among them, the signal light 225 can be set to multiple, and the number of signal lights 225 that are lit can indicate the remaining power of the walking device 1000. In some embodiments, the signal light 225 can also be used to indicate the signal connection status of the walking device 1000. For example, if the walking device 1000 can be connected to a network, the signal light 225 is used to indicate the signal connection strength between the walking device 1000 and a base station.

[0049] In some embodiments, in unsupervised automated operating environments, certain walking devices, such as robots, may be moved or stolen by unauthorized personnel if they lack effective anti-theft protection, thereby posing a risk of loss to the user's property. To address this security issue, the present application provides another walking device. To clearly illustrate the structure of this walking device, the following description uses a robot (e.g., a lawn mower robot) as an example.

[0050] Please refer to Figures 3, 4 and 5. Figure 3 is a schematic diagram of the partial structure of the robot 2000 provided in an embodiment of the present application; Figure 4 is a schematic diagram of the structure of the visual component 23 provided in an embodiment of the present application; and Figure 5 is a schematic diagram of the structure of the shell 237 provided in an embodiment of the present application. The present application provides a robot 2000, which includes a walking device 24 and a visual component 23. The visual component 23 is arranged on the walking device 24. The visual component 23 is used to obtain image information on the route of the robot 2000. The controller of the robot 2000 judges the current road conditions based on the image information obtained by the visual component 23, thereby regulating the route and working status of the robot 2000. Among them, the robot 2000 can be a lawn mowing robot, a four-wheel walking robot, a pesticide spraying robot, or a crop harvesting robot, etc.

[0051] For a clearer description, in this application, the X-axis direction is defined as the width direction of the walking device 24, the Y-axis direction is defined as the front-to-back direction of the walking device 24, and the Z-axis direction is defined as the height direction of the walking device 24. The length direction, width direction, and height direction of the walking device 24 are perpendicular to each other. Among them, the positive direction of the Y-axis is the front end direction of the walking device 24, and the reverse direction of the Y-axis is the rear end direction of the walking device 24. The moving direction of the walking device 24 is parallel to the Y-axis direction. When the walking device 24 is working, traveling along the positive direction of the Y-axis is forward, and traveling along the reverse direction of the Y-axis is backward. For the convenience of description, the up and down, left and right, front and back directions in this application are relative positions and do not constitute a limitation to implementation. The front and back directions, width directions, and height directions of the walking device 24 can be customized according to the specific structure of the product and the perspective presented in the drawings, and this application does not make specific limitations.

[0052] The visual element 23 is applied to the running device. The visual element 23 includes a housing 237, a first visual element 235, and a second visual element 236. The housing 237 is mounted on the running device 24. The first visual element 235 is mounted to the housing 237 and is used to obtain image information located at the front end of the running device 24 along the front-to-back direction Y of the running device 24. The second visual element 236 is mounted to the housing 237 and is used to obtain image information located at the rear end of the running device 24 along the front-to-back direction Y of the running device 24. In the robot 2000 provided in the present application, based on the first visual component 235 and the second visual component 236 installed on the shell 237, the image information located on the front side of the walking device 24 is obtained through the first visual component 235, and the image information located on the rear side of the walking device 24 is obtained through the second visual component 236, thereby protecting both the front and rear sides of the walking device 24. When a thief approaches the walking device 24 from the front or rear end of the walking device 24, the first visual component 235 and the second visual component 236 can image the thief, thereby preventing the robot 2000 from being taken away or stolen by the thief, or providing the user with the thief's appearance information after the robot 2000 is taken away or stolen by the thief, so that the user can recover the robot 2000 in time, thereby improving the anti-theft ability of the robot 2000.

[0053] An installation cavity is provided in the shell 237, and the first visual component 235 is provided in the installation cavity. A front camera hole 2371 is provided on the shell 237. The first visual component 235 is provided at a position corresponding to the front camera hole 2371. The first visual component 235 includes a first front camera and a second front camera. There are two front camera holes 2371, and the two front camera holes 2371 are arranged at intervals along the width direction X of the walking device 24. The first front camera and the second front camera are arranged at intervals along the width direction X of the walking device 24, and respectively correspond to the positions of the two front camera holes 2371. The controller of the robot 2000 can determine whether there is an obstacle in the direction of travel of the walking device 24 based on the image information obtained by the first front camera and the second front camera, and calculate the spatial position, spatial distance and other information of the obstacle relative to the walking device, and adjust the travel route and working state of the walking device 24 based on the calculation results, so as to avoid collision between the walking device 24 and the obstacle.

[0054] The second visual component 236 is disposed on a side of the housing 237 away from the walking device 24 along the height direction Z of the walking device 24, and is protruded relative to the housing 237 to reduce or avoid obstruction of the second visual component 236 by the walking device 24, so that the second visual component 236 can obtain a wider field of view, thereby better protecting the robot 2000; in addition, the protrusion of the second visual component 236 relative to the housing 237 can also serve as a warning to thieves, thereby improving the anti-theft capability of the robot 2000. In this embodiment, the second visual component 236 is separated from the housing 237 to facilitate the installation and maintenance of the visual component 13. The second visual component 236 can be detachable from the housing 237. In some embodiments, the second visual component 236 can also be disposed in the installation cavity.

[0055] The shell 237 is provided with a mounting groove 2373 on a side away from the walking device 24 in the height direction Z of the walking device 24, and the second visual component 236 is arranged in the mounting groove 2373. The second visual component 236 is sealed with the shell 237 to prevent external moisture from entering the mounting groove 2373. One of the second visual component 236 and the shell 237 may be provided with a groove, and the other may be provided with a protrusion, which is accommodated in the groove. A sealing ring may be provided in the groove, and the protrusion is provided in abutment with the sealing ring. Exemplarily, a groove 23731 is provided on the shell 237, and the second visual component 236 is provided with a protrusion that is sealed with the groove 23731 on the side facing the shell 237.

[0056] The second visual component 236 includes a mounting portion 2361, an extension portion 2362 and a rear camera. The mounting portion 2361 is connected to the housing 237. The mounting portion 2361 can cover the opening of the mounting groove 2373 on the side away from the walking device 24, so that external moisture flows away from the surface of the housing 237 on the side away from the walking device 24, and prevents moisture from entering the mounting groove 2373. The extension portion 2362 is located on the side of the mounting portion 2361 away from the housing 237, and is tilted relative to the mounting portion 2361 along the front-to-back direction Y of the walking device 24 in the direction away from the walking device 24. A accommodating cavity for accommodating the rear camera is provided in the extension portion 2362. The rear camera is installed in the accommodating cavity of the extension portion 2362. The extension portion 2362 is provided with a rear camera hole 26321, and the rear camera is provided at a position corresponding to the rear camera hole 26321. The rear camera's shooting direction forms an angle with the front-to-rear direction Y of the walking device 24 and is tilted relative to the walking device 24, facing away from the walking device 24. The rear camera is used to capture image information diagonally behind the walking device 24. It is understood that if the robot 2000 encounters a thief, the rear camera captures image information diagonally behind the walking device 24, allowing the rear camera to better capture the thief's facial information, facilitating the user's recovery of the robot 2000 after theft, thereby enhancing the robot 2000's anti-theft effectiveness.

[0057] In this embodiment, a first heat dissipation fin 23611 is provided on the side of the mounting portion 2361 facing away from the housing 237. The first heat dissipation fin 23611 is used to increase the heat dissipation area between the mounting portion 2361 and the air, thereby improving the heat dissipation effect of the mounting portion 2361 and preventing the operating temperature of the rear camera from exceeding a preset temperature.

[0058] The visual component 23 also includes a first protective plate 2351, which covers the front camera hole 2371, and / or the visual component 23 also includes a second protective plate 2363, which covers the rear camera hole 26321. In this embodiment, the visual component 23 includes a first protective plate 2351 and a second protective plate 2363. The position of the first protective plate 2351 corresponding to the front camera hole 2371 is configured as a light-transmitting structure, and the position of the second protective plate 2363 corresponding to the rear camera hole 26321 is configured as a light-transmitting structure. The first protective plate 2351 is used to protect the front camera hole 2371 to prevent external moisture and debris from entering the installation cavity through the front camera hole 2371. The second protective plate 2363 is used to protect the rear camera hole 26321 to prevent external moisture and debris from entering the accommodating cavity of the extension 2362 through the rear camera hole 26321. Among them, the first protective plate 2351 can be integrally formed with the shell 237 or separately formed, and the second protective plate 2363 can be integrally formed with the extension 2362 or separately formed. In some embodiments, the visual component 23 can be provided with a first protective plate 2351, and no second protective plate 2363 is provided. For example, the extension 2362 can be constructed as a light-transmitting structure at the position corresponding to the rear camera, or the extension 2362 can be made of a light-transmitting material. In some embodiments, the visual component 23 can be provided with a second protective plate 2363, and no first protective plate 2351 is provided. For example, the shell 237 can be constructed as a light-transmitting structure at the positions corresponding to the first front camera and the second front camera, or can be made of a light-transmitting material.

[0059] The visual component 23 also includes a base plate 238. A mounting opening 2372 is provided on the side of the housing 237 facing the rear end of the running device 24. The base plate 238 covers the mounting opening 2372. The base plate 238 and the housing 237 are sealed. For example, one of the base plate 238 and the housing 237 may have a sealing groove, and the other may have a sealing protrusion received within the sealing groove. In some embodiments, the visual component 23 also includes a sealing member disposed within the sealing groove, with the sealing protrusion abutting against the sealing member.

[0060] The mounting opening 2372 is defined on a side of the housing 237 facing the rear end of the running device 24. After the base plate 238 is connected to the housing 237, the base plate 238 and the housing 237 are arranged along the front-to-back direction Y of the running device 24. When the running device 24 is splashed by rain or water from an irrigation faucet, the water flows down along the height direction Z of the running device 24. Because the base plate 238 and the housing 237 are arranged along the front-to-back direction Y of the running device 24, the water can quickly flow away from the connection between the base plate 238 and the housing 237, thereby preventing water from accumulating at the connection between the base plate 238 and the housing 237. This further prevents water from entering the mounting cavity and enhances the waterproofing capability of the housing 237. The base plate 238 can be tilted toward the rear end of the running device 24. Along the front-to-back direction Y of the running device 24, the side of the base plate 238 farther from the running device 24 along the height direction Z of the running device 24 is tilted relative to the side of the base plate 238 closer to the running device 24 along the height direction Z of the running device 24, toward the rear end of the running device 24. When external moisture falls from the housing 237, the side of the housing 237 away from the traveling device 24 along the height direction Z of the traveling device 24 can form a shield for the substrate 238, thereby reducing the moisture flowing to the connection between the substrate 238 and the housing 237. For example, a receiving groove is formed on the side of the housing 237 facing the rear end of the traveling device 24, and the substrate 238 is disposed in the receiving groove. The side of the substrate 238 near the rear end of the traveling device 24 is flush with the side of the housing 237 near the rear end of the traveling device 24, so that when external moisture flows down from the housing 237, it flows away from the side of the substrate 238 near the rear end of the traveling device 24, thereby reducing the moisture flowing to the connection between the substrate 238 and the housing 237.

[0061] Referring to Figures 3 and 4 , the visual component 23 also includes a shielding member 233, which is disposed on the side of the housing 237 away from the traveling device 24 along the height direction Z of the traveling device 24. The shielding member 233 can block sunlight, reducing the amount of sunlight directly incident on the housing 237, reducing the temperature rise of the visual component 23 caused by sunlight, and slowing down the aging of the housing 237 due to sunlight exposure, thereby increasing the service life of the visual component 23. The shielding member 233 also protects the housing 237 from external debris directly impacting and damaging it. A relief opening 2332 is defined in the shielding member 233, and the extension 2362 of the second visual component 236 is located within the relief opening 2332.

[0062] A heat dissipation duct 2331 is formed between the shielding member 233 and the shell 237. On the one hand, the air in the heat dissipation duct 2331 can also form an insulating layer to prevent the shielding member 233 from transferring heat to the shell 237; on the other hand, when the walking device 24 is moving, the air flowing through the heat dissipation duct 2331 can take away the heat on the shell 237, preventing the temperature in the installation cavity from exceeding the preset operating temperature of the first visual member 235, thereby ensuring that the visual member 23 can continue to work stably.

[0063] Second heat sink fins 2374 are provided on the side of the housing 237 facing the shielding member 233. The second heat sink fins 2374 are located within the heat dissipation duct 2331. The second heat sink fins 2374 are used to increase the heat dissipation area of ​​the housing 237 and improve the heat dissipation efficiency of the housing 237. For example, the second heat sink fins 2374 are arranged in a curved shape along the front-to-back direction Y of the running device 24. The curved shape of the second heat sink fins 2374 allows for a longer extension length, thereby increasing the surface area of ​​the second heat sink fins 2374 and improving the heat dissipation efficiency of the housing 237.

[0064] Specifically, a plurality of second heat sink fins 2374 are provided, and the plurality of second heat sink fins 2374 are symmetrically arranged along the width direction X of the running device 24. The plurality of second heat sink fins 2374 include a plurality of first heat sink fins 23741 and a plurality of second heat sink fins 23742. The plurality of first heat sink fins 23741 are divided into two groups, and the plurality of second heat sink fins 23742 are located between the two groups of first heat sink fins 23741 along the width direction X of the running device 24. The first heat sink 23741 includes a first extension section 23741a and a second extension section 23741b connected to an end of the first extension section 23741a near the rear end of the running device 24. The first extension section 23741a extends along the front-to-back direction Y of the running device 24. The second extension section 23741b is bent relative to the first extension section 23741a along the width direction X of the running device 24, away from the running device 24. The second heat sink 23742 includes a first segment 23742a, a second segment 23742b, and a third segment 23742c, which are sequentially connected from the front end to the rear end of the running device 24. The first segment 23742a and the third segment 23742c extend along the front-to-back direction Y of the running device 24. The second segment 23742b is bent relative to the first segment 23742a along the width direction X of the running device 24, away from the running device 24. The first heat sink 23611 is disposed adjacent to the second heat sink 23742, so that air can quickly flow from the area between two adjacent second heat sinks 23742 to the area between two adjacent first heat sink fins 23611.

[0065] Illustratively, the shielding member 233 and the housing 237 are detachably connected to facilitate assembly and disassembly of the shielding member 233 and the housing 237. For example, if the shielding member 233 becomes obsolete, the user can easily replace it, reducing maintenance costs for the robot 1. The shielding member 233 and the housing 237 can be configured in a snap-fitting manner. One of the shielding member 233 and the housing 237 is configured as a hook, and the other is provided with a latching hole that mates with the hook. The hook is used to mate with the latching hole, and once the hook is engaged, the latching hole can restrict the movement of the hook. Illustratively, in this embodiment, the shielding member 233 is provided with a latching hook, and the housing 237 is provided with a latching hole 23751 on the side along the width direction X of the running device 24. To install the shielding member 233, the user presses the shielding member 233 against the housing 237 along the height direction Z of the running device 24, causing the latching hook to engage with the latching hole 23751.

[0066] In some embodiments, the shielding member 233 is provided with a positioning structure. The housing 237 is provided with a matching structure 23752 that cooperates with the positioning structure. The positioning structure and the matching structure 23752 are used to position the shielding member 233 when it is installed on the housing 237, so as to facilitate the alignment and engagement of the hook with the latch hole. After the shielding member 233 is installed on the housing 237, the positioning structure can also support the shielding member 233, fixing the shielding member 233 relative to the housing 237, so that the hook can be more firmly engaged in the latch hole and prevent the hook from being dislodged from the latch hole. One of the positioning structure and the matching structure 23752 can be configured as a positioning pin, and the other can be configured as a positioning slot or a positioning hole. For example, the positioning structure can be configured as a positioning pin, and the matching structure 23752 can be configured as a positioning hole.

[0067] In this embodiment, a visual fixation portion 234 is provided on the side of the housing 237 along the width direction X of the running device 24. The visual fixation portion 234 is configured to be fixedly connected to the running device 24 to secure the housing 237 relative to the running device 24. The visual fixation portion 234 has a lower ground clearance on the side closer to the front end of the running device 24 than on the side closer to the rear end of the running device 24.

[0068] The housing 237 faces the front end of the walking device 24, and an inclined surface 2376 is provided on the side close to the walking device 24. The inclined surface 2376 is inclined relative to the side surface of the housing 237 facing the front end of the walking device 24, and is arranged at an obtuse angle to the side surface of the housing 237 facing the front end of the walking device 24. When the robot 2000 is operating, because the inclined surface 2376 is inclined toward the rear end of the walking device 24, the inclined surface 2376 reduces the surface area of ​​the side of the housing 237 facing the front end of the walking device 24. Sunlight cannot reach the inclined surface 2376, thereby reducing the heating of the housing 237 by sunlight and preventing the temperature of the housing 237 from exceeding the preset operating temperature of the first visual component 235. In addition, the inclined surface 2376 can increase the heat dissipation area of ​​the side of the housing 237 close to the front end of the walking device 24, thereby allowing the heat of the housing 237 to be dissipated into the air more quickly.

[0069] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and such modifications or substitutions should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A walking device, characterized in that: include: body; An installation body; the installation body is fixedly connected to the fuselage; A control component is installed on a side of the installation body away from the fuselage, and the control component includes at least two of a height adjustment component, a function control component and a visual component.

2. The walking device according to claim 1, characterized in that: Along the front-rear direction of the walking device, the function control component is located between the height adjustment component and the visual component.

3. The walking device according to claim 1, characterized in that: At least one of the height adjustment member, the function control member and the visual member is detachably connected to the mounting body.

4. The walking device according to claim 1, characterized in that: The installation body is detachably connected to the body.

5. The walking device according to claim 1, characterized in that: The mounting body includes a mounting plate, a connecting plate and a fixing plate, wherein the connecting plate is connected to the peripheral side of the mounting plate, the fixing plate is connected to one end of the connecting plate away from the mounting plate, the fixing plate is used to connect to the fuselage, the height adjustment component and the function control component are respectively mounted on the mounting plate, and the visual component is located on the side of the connecting plate close to the front end of the fuselage.

6. The walking device according to claim 5, characterized in that: The mounting plate is higher than the fuselage in the height direction of the walking equipment.

7. The walking device according to claim 5, characterized in that: The mounting plate is bent or tilted toward the ground, and / or the fixing plate is bent or tilted toward the ground.

8. The walking device according to claim 1, characterized in that: The visual component comprises a front camera and a rear camera, wherein the front camera is located at a side of the visual component close to the front end of the fuselage, and the rear camera is located at a side of the visual component away from the ground.

9. The walking device according to claim 1, characterized in that: The functional control component includes one or more of an emergency stop component, a start component, a liquid detection component, a function button, and a signal light.

10. The walking device according to claim 1, characterized in that: The height adjustment member includes a rotating part, a pointer part and an indicating part. The pointer part is arranged on the rotating part. The indicating part includes a plurality of height gears. The pointer part is used to indicate the height gear corresponding to the rotating part.

11. The walking device according to claim 8, characterized in that: The front camera is arranged toward the front end of the walking device, and is used to obtain image information located in front of the walking device. The rear camera is arranged toward the oblique rear of the walking device, and is used to obtain image information located oblique rear of the walking device.

12. The walking device according to claim 11, characterized in that: The rear camera is arranged obliquely upward toward the rear of the walking device.

13. The walking device according to claim 8, characterized in that: The front camera is provided with two.

14. The walking device according to claim 8, characterized in that: The visual component further includes a shielding member, which is arranged on a side of a housing of the visual component away from the ground along a height direction of the walking device.

15. The walking device according to claim 8, characterized in that: The visual component further includes a visual fixing portion, which is arranged on the side of the housing of the visual component along the width direction of the walking device, the visual fixing portion is used to be connected to the fuselage, and the visual fixing portion is extended along the width direction of the walking device.

16. A robot, characterized in that: It includes a walking device, a mounting body and a visual component, wherein the mounting body is connected to the walking device, the visual component is arranged on the walking device through the mounting body, and the visual component includes: A housing, which is arranged on the walking device through the mounting body; A first visual component, mounted on the housing, the first visual component being used to obtain image information located at a front end side of the walking device; The second visual component is installed on the shell, and the second visual component is used to obtain image information located at the rear end side of the walking device.

17. The robot according to claim 16, characterized in that: The robot further includes at least one of a height adjustment member and a function control member.

18. The robot according to claim 16, characterized in that: The first visual component includes a first front camera and a second front camera, and the first front camera and the second front camera are arranged at intervals along the width direction of the walking device.

19. The robot according to claim 16, characterized in that: The second visual component is arranged on a side of the shell away from the running device along the height direction of the running device, and is protruded relative to the shell.

20. The robot according to claim 16, characterized in that The second visual component includes a mounting portion, an extension portion and a rear camera, the mounting portion is connected to the shell, the extension portion is located on a side of the mounting portion away from the shell, and is inclined relative to the mounting portion along the front and rear direction of the walking device toward a direction away from the walking device, and the rear camera is installed in the extension portion.

21. The robot according to claim 20, characterized in that A first heat dissipation fin is arranged on a side of the mounting portion away from the housing.

22. The robot according to claim 20, characterized in that The visual component also includes a first protective plate, the shell is provided with a front camera hole, the first visual component is arranged at a position corresponding to the front camera hole, and the first protective plate covers the front camera hole, and / or the visual component also includes a second protective plate, the extension portion is provided with a rear camera hole, the rear camera is arranged at a position corresponding to the rear camera hole, and the second protective plate covers the rear camera hole.

23. The robot according to claim 16, characterized in that The visual component further includes a shielding member, and the shielding member is arranged on a side of the housing away from the walking device along a height direction of the walking device.

24. The robot according to claim 23, characterized in that A heat dissipation duct is formed between the shielding member and the shell.

25. The robot according to claim 23, characterized in that A second heat dissipation fin is arranged on a side of the housing facing the shielding member.

26. The robot according to claim 25, characterized in that The second heat dissipation fins are bent along the front-rear direction of the walking device.

27. The robot according to claim 23, characterized in that The shielding member is provided with a position avoiding opening, and the second visual member is located at the position avoiding opening.

28. The robot according to claim 23, characterized in that The shielding member is detachably connected to the housing.

29. The robot according to claim 16, characterized in that The shell is provided with a visual fixing portion on the side along the width direction of the walking device, and the visual fixing portion is fixedly connected to the walking device. The height of the visual fixing portion from the ground on the side close to the front end of the walking device is smaller than the height of the visual fixing portion from the ground on the side close to the rear end of the walking device.

Images