Vision device and robot

Abstract

Provided in the present application are a vision device and a robot. The vision device comprises a housing and a vision module. A mounting cavity is formed in the housing, the vision module being arranged in the mounting cavity. The vision module comprises a fixed support, a control board and a camera, the fixed support being fixedly connected to the housing, the control board being disposed on the fixed support, and the camera being fixedly connected to the fixed support. In the vision device and the robot provided in the present application, the control board and the camera are installed on the fixed support, and then the integrated vision module is fixedly connected in the housing by means of the fixed support, reducing the difficulty in installing and maintaining the vision device.

Description

Vision equipment and robots

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 26, 2024, with application number 202420203850.0 and utility model name “Visual Equipment and Robots”, the entire contents of which are incorporated herein by reference.

[0002] This application also claims priority to the Chinese patent application filed with the China Patent Office on December 9, 2023, with application number 202323366359.4 and utility model name “Visual Equipment and Robots,” the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application belongs to the field of robotics technology, and in particular relates to a visual device and a robot. Background Art

[0004] In existing robot vision equipment, the camera and control panel are separately mounted on the housing. The assembly process of the vision equipment is complex, and installation and maintenance are difficult. Summary of the Invention

[0005] The present application provides a visual device and a robot to solve the problem of difficulty in installing and maintaining visual equipment.

[0006] In a first aspect, the present application provides a visual device comprising a housing and a visual module. The housing has a mounting cavity disposed therein. The visual module is disposed within the mounting cavity and comprises a fixed bracket, a control board, and a camera. The fixed bracket is fixedly connected to the housing, the control board is disposed on the fixed bracket, and the camera is fixedly connected to the fixed bracket.

[0007] In some embodiments, the visual module further includes a mounting portion protruding from the fixing bracket, and the control panel is fixedly connected to an end of the mounting portion away from the fixing bracket.

[0008] In some embodiments, the visual module further includes a positioning post protruding from the fixing bracket, a positioning hole is opened on the control panel, and the positioning post is passed through the positioning hole.

[0009] In some embodiments, the fixing bracket includes a main body and a connecting portion, the connecting portion is connected to a side of the main body, the control panel is arranged on the main body, and the camera is arranged on the connecting portion.

[0010] In some embodiments, a first fixing post extending toward the main body is protruded from the inner wall of the shell, and the main body is fixedly connected to the first fixing post.

[0011] In some embodiments, the visual module further includes a first fixing member, the main body is provided with a first connecting hole, the first fixing member is passed through the first connecting hole, and is used to fix the main body to the first fixing column.

[0012] In some embodiments, the fixing bracket further includes a U-shaped baffle protruding from the main body, the U-shaped baffle and the main body are combined to form a limiting sliding groove, and the first connecting hole is located in the limiting sliding groove.

[0013] In some embodiments, the visual module also includes a second fixing member, a second fixing column extending toward the connecting part is protruded on the inner wall of the outer shell, the connecting part is provided with a second connecting hole, the second fixing member is passed through the second connecting hole, and is used to fix the connecting part to the second fixing column.

[0014] In some embodiments, the number of the connecting parts is two, the main body is located between the two connecting parts, the number of the first connecting holes and the number of the second connecting holes are two, and the two first connecting holes and the two second connecting holes are arranged in a trapezoidal shape.

[0015] In some embodiments, the visual device is applied to a walking device, and the visual module includes a shielding member and a first heat conducting member disposed on the control board. The first heat conducting member is disposed on a side of the shielding member facing away from the control board and is in contact with an inner wall of the mounting cavity.

[0016] In some embodiments, the shell includes a first shell and a second shell, the second shell is connected to the side of the first shell close to the rear end of the walking device along the front and rear direction of the walking device, and an extension portion is protruded toward the direction of the second shell at one end of the first shell close to the second shell, and the extension portion extends to the interior of the second shell, and the control panel is fixedly connected to the extension portion.

[0017] In some embodiments, the control board includes a first portion covered by the shield and a second portion located outside the shield, wherein the second portion is connected to the extension.

[0018] In some embodiments, a heat dissipation structure is provided on the housing, and the heat dissipation structure includes a plurality of heat dissipation fins spaced apart along the width direction of the walking device.

[0019] In some embodiments, the heat dissipation fins extend along the front-rear direction of the walking device.

[0020] In some embodiments, the visual component further includes a heat generating element and a second heat conducting element, the heat generating element is arranged on the control board, the shielding element covers the heat generating element, and the second heat conducting element is arranged between the shielding element and the heat generating element.

[0021] In some embodiments, a camera hole is provided on the shell, and the camera is arranged at a position of the shell corresponding to the camera hole. The visual device also includes a first protective member, which is connected to the shell and covers the camera hole. The area of ​​the first protective member corresponding to the camera hole is constructed as a first light-transmitting area.

[0022] In some embodiments, the visual module also includes a light-emitting component and a light-guiding component, the light-emitting component is electrically connected to the control board, the shell is provided with a light-guiding hole, the light-guiding component is arranged at a position of the shell corresponding to the light-guiding hole, and the light-guiding component is used to transmit the light emitted by the light-emitting component to the light-guiding hole.

[0023] In some embodiments, the light emitting element is disposed on a side of the control panel close to the fixing bracket.

[0024] In some embodiments, the fixing bracket is provided with a mounting groove, and the light guide is disposed in the mounting groove.

[0025] In some embodiments, a limiting groove is provided on the side wall of the mounting groove, and the light guide member is provided with a limiting protrusion that cooperates with the limiting groove, or a limiting protrusion is provided on the side wall of the mounting groove, and a limiting groove is provided on the side wall of the light guide member that cooperates with the limiting protrusion.

[0026] In some embodiments, the number of the cameras is two, and the light emitting element is located between the two cameras along the width direction of the walking device.

[0027] In some embodiments, the visual device further includes a second protective member, which covers the light guide hole, and an area of ​​the second protective member corresponding to the light guide hole is configured as a second light-transmitting area.

[0028] In some embodiments, a light-shielding pattern is disposed in the second light-transmitting area.

[0029] In some embodiments, the visual device further includes a shielding member, which is located on a side of the housing away from the walking device along the height direction of the walking device, and an air guide channel is formed between the shielding member and the housing.

[0030] In some embodiments, a protrusion is provided on the side of the shell facing the shielding member, and along the height direction of the walking device, the ground height of the protrusion near the front end of the walking device along the front-to-back direction of the walking device is smaller than the ground height of the protrusion near the rear end of the walking device.

[0031] In some embodiments, the shell includes a first shell and a second shell, the second shell being connected to a side of the first shell close to the rear end of the walking device along the front-to-back direction of the walking device, and along the front-to-back direction of the walking device, the dimension of the end of the second shell close to the first shell along the height direction of the walking device is greater than the dimension of the end away from the first shell along the height direction of the walking device.

[0032] In some embodiments, the visual device further includes a support base, which is fixedly connected to the walking device; the shell is fixedly connected to a side of the support base away from the walking device along the height direction of the walking device.

[0033] In some embodiments, the support seat includes a fixing part and a supporting part, the fixing part is fixedly connected to the walking device, the supporting part is fixedly connected to the side of the fixing part away from the walking device, and the outer shell is fixedly connected to the end of the supporting part away from the fixing part, and is thermally conductively connected to the supporting part.

[0034] In some embodiments, a first connecting hole connected to the mounting cavity is provided on one side of the shell facing the support portion, and a second connecting hole connected to the first connecting hole is provided on the support portion. The visual device also includes a connecting cable connected to the control panel, and the connecting cable is passed through the first connecting hole and the second connecting hole.

[0035] In some embodiments, the visual device further includes a sealing member disposed between the housing and the support portion, wherein the sealing member is disposed around the first communicating hole and the second communicating hole.

[0036] In some embodiments, the visual device further includes a connecting member, which is disposed at the first connecting hole and fixed relative to the housing, and the connecting cable is fixedly connected to the connecting member.

[0037] In some embodiments, the visual module further includes a third fixing member, the fixing bracket is provided with a fixing hole, the third fixing member is passed through the fixing hole, and is used to fix the camera to the fixing bracket.

[0038] In some embodiments, the fixing bracket is provided with a protruding limiting structure, and the camera is provided with a matching structure that matches the limiting structure, and the limiting structure is used to limit the movement of the matching structure.

[0039] In some embodiments, a heat conducting member is provided between the control board and the housing.

[0040] In some embodiments, the housing includes a first shell and a second shell connected to the first shell, the fixing bracket is fixedly connected to the first shell, an extension portion is protruded toward the second shell at one end of the first shell close to the second shell, and the control panel is fixedly connected to the extension portion.

[0041] In some embodiments, a latching structure is provided in the first shell and / or the second shell, and the latching structure is used to engage with the control board.

[0042] In a second aspect, the present application provides a robot comprising a walking device and a visual device as described above, wherein the visual device is used to be connected to the walking device.

[0043] In the visual equipment and robot provided in this application, the control board and the camera are installed on a fixed bracket, and the integrated visual module is fixedly connected to the housing through the fixed bracket, which reduces the difficulty of installation and maintenance of the visual equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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.

[0045] FIG1 is a partial cross-sectional view of a robot provided in an embodiment of the present application.

[0046] FIG2 is an exploded diagram of a visual device provided in an embodiment of the present application.

[0047] FIG3 is a schematic structural diagram of a visual module provided in an embodiment of the present application.

[0048] FIG4 is a schematic structural diagram of a fixing bracket provided in an embodiment of the present application.

[0049] FIG5 is a schematic structural diagram of the first shell provided in an embodiment of the present application.

[0050] FIG6 is a schematic structural diagram of the first shell from another perspective provided by an embodiment of the present application.

[0051] FIG7 is a schematic structural diagram of the second shell provided in an embodiment of the present application.

[0052] Explanation of the main reference numerals: robot 1; visual device 101; walking device 102; housing 10; first housing 11; extension portion 111; first fixing column 112; second fixing column 113; protrusion 114; first communicating hole 115; accommodating groove 116; light guide hole 117; second housing 12; mounting cavity 13; camera hole 131; latching structure 14; heat dissipation fin 141; visual module 20; fixing bracket 21; main body 211; first connecting hole 2111; connecting portion 212; second connecting hole 2121; limiting column 2122; limiting baffle 2123; fixing hole 2124; mounting portion 213; positioning column 214; U-shaped baffle 2 15; limiting slide 2151; mounting slot 216; limiting groove 2161; control board 22; first mounting hole 2211; second mounting hole 2212; positioning hole 222; chamfer 224; camera 23; matching structure 231; first heat conducting member 241; connecting cable 25; shielding member 26; heating member 27; light guiding member 28; first protective member 291; second protective member 292; shielding member 30; air guide channel 301; first fixing member 31; second fixing member 32; third fixing member 33; support seat 40; heat dissipation duct 401; support portion 41; air guide surface 411; second connecting hole 412; fixing portion 42; sealing member 44; connecting member 45.

[0053] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0054] 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.

[0055] 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.

[0056] 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.

[0057] Please refer to Figures 1 and 2 together. Figure 1 is a partial cross-sectional view of the robot 1 provided in an embodiment of the present application; Figure 2 is an exploded view of the visual device 101 provided in an embodiment of the present application. The robot 1 includes a visual device 101 and a walking device 102. The visual device 101 is used to connect to the walking device 102. The visual device 101 is used to obtain road surface information in the forward direction of the walking device 102. The controller of the robot 1 receives and controls the travel route and working status of the walking device 102 according to the road surface information obtained by the visual device 101. The robot 1 can be configured as a four-wheel walking robot, a lawn mowing robot, a pesticide spraying robot, or a crop harvesting robot, etc.

[0058] For a clearer description, in this application, the X-axis direction is defined as the width direction of the walking device 102, the Y-axis direction is defined as the front-to-back direction of the walking device 102, and the Z-axis direction is defined as the height direction of the walking device 102. The length direction, width direction, and height direction of the walking device 102 are perpendicular to each other. Among them, the positive direction of the Y-axis is the front end direction of the walking device 102, and the reverse direction of the Y-axis is the rear end direction of the walking device 102. When the walking device 102 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 102 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.

[0059] The visual device 101 includes a housing 10 and a visual module 20. An installation cavity 13 is provided in the housing 10. The visual module 20 is provided in the installation cavity 13. The visual module 20 includes a fixed bracket 21, a control board 22 and a camera 23. The fixed bracket 21 is fixedly connected to the housing 10. The control board 22 is provided on a side of the fixed bracket 21 away from the walking device 102 along the height direction Z of the walking device 102. The camera 23 is fixedly connected to the fixed bracket 21. A camera hole 131 is provided on the housing 10. The camera hole 131 can be provided on a side of the housing 10 close to the front end of the walking device 102. The camera 23 is provided at a position corresponding to the camera hole 131. In this embodiment, based on the control board 22 and the camera 23 being installed on the fixed bracket 21, the integrated visual module 20 is fixedly connected to the housing 10 through the fixed bracket 21, thereby improving the integration of the visual module 20 and reducing the difficulty of installation and maintenance of the visual device 101.

[0060] In some embodiments, the control panel 22 is located on a side of the fixed bracket 21 that is away from the walking device 102 along the height direction Z of the walking device 102, so as to facilitate the connection of the control panel 22 with other devices and reduce the difficulty of installing the vision module 20. For example, the vision module 20 also includes a connecting cable 25. A cable through hole is provided on the side of the housing 10 close to the walking device 102. The connecting cable 25 can be connected to the side of the control panel 22 close to the walking device 102 and passed through the cable through hole. In some embodiments, the control panel 22 can also be located at other positions of the fixed bracket 21, for example, the control panel 22 can be located on a side of the fixed bracket 21 that is close to the walking device 102 along the height direction Z of the walking device 102.

[0061] The fixing bracket 21 includes a main body 211 and a connecting part 212. The connecting part 212 is connected to the side of the main body 211. The control board 22 is arranged on the main body 211. The camera 23 is arranged on the connecting part 212. Among them, two cameras 23 can be set. The controller of the robot 1 can judge the distance between the walking device 102 and the obstacle based on the image information obtained by the two cameras 23 and the control algorithm based on binocular vision, thereby regulating the travel route of the walking device 102. There are two connecting parts 212, and the two cameras 23 are respectively arranged on the two connecting parts 212. The main body 211 is located between the two connecting parts 212. The two connecting parts 212 are arranged along the width direction X of the walking device 102.

[0062] The visual module 20 also includes a mounting portion 213 protruding from the fixed bracket 21. The control board 22 is fixedly connected to one end of the mounting portion 213 away from the fixed bracket 21. The mounting portion 213 can be located on the main body 211. The control board 22 forms a gap with the main body 211 through the mounting portion 213. The control board 22 generates heat when the robot 1 is working. The mounting portion 213 can reduce the heat conducted from the control board 22 to the main body 211, thereby reducing or preventing heat from being conducted to the camera 23 through the main body 211 and the connecting portion 212, and preventing the temperature of the camera 23 from exceeding the allowable operating temperature. The mounting portion 213 can also prevent structural interference between components on the control board 22 and the main body 211.

[0063] The mounting portion 213 and the control board 22 can be fixedly connected together by screwing, bonding, or clamping. For example, the mounting portion 213 and the control board 22 are fixed together by screws. The mounting portion 213 can be configured as a columnar structure. The end of the mounting portion 213 away from the main body 211 is provided with a threaded hole for fixed connection with a screw. The control board 22 is provided with a first mounting hole 2211. A screw is inserted into the first mounting hole 2211 and is used to press the control board 22 against the mounting portion 213.

[0064] The visual module 20 also includes a positioning post 214 protruding from the fixing bracket 21. A positioning hole 222 is defined in the control panel 22. The positioning post 214 is configured to pass through the positioning hole 222. The positioning post 214 is used to position the control panel 22 so that the first mounting hole 2211 on the control panel 22 is aligned with the first mounting hole 2211 on the mounting portion 213, facilitating screw installation.

[0065] Please refer to Figures 2, 3, 4 and 6. A first fixing column 112 extending toward the main body 211 is protruded from the inner wall of the housing 10. The main body 211 is fixedly connected to the first fixing column 112. In some embodiments, the visual module 20 also includes a first fixing member 31. A first connecting hole 2111 is provided on the main body 211. The first fixing member 31 is passed through the first connecting hole 2111 and is used to fix the main body 211 to the first fixing column 112. The first fixing member 31 and the first fixing column 112 can be screwed together. The first fixing member 31 can be configured as a screw, and a threaded hole that cooperates with the screw is provided on the first fixing column 112. In some embodiments, the first fixing member 31 and the first fixing column 112 can also be fixed by means of clamping, bonding, etc. In some embodiments, the main body 211 can be fixed to the first fixing column 112 by means of clamping, bonding, etc.

[0066] There can be two first fixing columns 112, and the two first fixing columns 112 are arranged at intervals along the width direction X of the walking device 102. There are two first connecting holes 2111. The two first connecting holes 2111 are provided at two opposite ends of the main body 211 along the width direction X of the walking device 102. The first connecting hole 2111 is located at the end of the main body 211 close to the connecting part 212 to improve the connection stability between the main body 211 and the first fixing column 112 and reduce the vibration generated by the main body 211 when the walking device 102 is traveling. In some embodiments, those skilled in the art can specifically set the number of the first fixing columns 112 and the first connecting holes 2111 according to actual needs, and no specific limitation is made in this application. For example, the number of the first fixing columns 112 and the first connecting holes 2111 can also be set to one or more than two.

[0067] The fixing bracket 21 also includes a U-shaped baffle 215 protruding from the main body 211. The U-shaped baffle 215 is located on the side of the main body 211 facing the first fixing post 112. The U-shaped baffle 215 and the main body 211 together form a retaining groove 2151. The first connecting hole 2111 is located within the retaining groove 2151. The retaining groove 2151 is used to position and guide the first fixing post 112, facilitating alignment of the threaded hole in the first fixing post 112 with the first connecting hole 2111, thereby improving the installation efficiency of the fixing bracket 21 and the housing 10.

[0068] In some embodiments, the opening of the U-shaped baffle 215 is located on the side of the first connection hole 2111 that is farther away from the walking device 102 along the height direction Z of the walking device 102. The opening of the U-shaped baffle 215 refers to the gap formed between the two ends of the U-shaped baffle 215. The limiting chute 2151 extends along the height direction Z of the walking device 102. The first connection hole 2111 is located at the end of the limiting chute 2151 that is farther away from the opening of the U-shaped baffle 215. When the fixing bracket 21 is installed on the housing 10, the end of the first fixing column 112 away from the inner wall of the housing 10 can extend from the limiting slide groove 2151 toward the side of the first fixing column 112 or from the opening of the U-shaped baffle 215 into the limiting slide groove 2151. Under the limiting and guiding action of the U-shaped baffle 215, the first fixing column 112 slides along the height direction Z of the walking device 102 to the position of the first connecting hole 2111, thereby aligning the threaded hole on the first fixing column 112 with the first connecting hole 2111. In some embodiments, the opening of the U-shaped baffle 215 can also be located at other positions, for example, on the side of the first connecting hole 2111 closer to the walking device 102 along the height direction Z of the walking device 102.

[0069] The visual module 20 also includes a second fixing member 32. A second fixing column 113 extending toward the connecting portion 212 is protruded from the inner wall of the housing 10. A second connecting hole 2121 is provided on the connecting portion 212. The second fixing member 32 is passed through the second connecting hole 2121 and is used to fix the connecting portion 212 to the second fixing column 113. The second fixing member 32 and the second fixing column 113 can be screwed together. The second fixing member 32 can be configured as a screw, and a threaded hole that cooperates with the screw is provided on the second fixing column 113. In some embodiments, the second fixing member 32 and the second fixing column 113 can also be fixed by snapping.

[0070] There can be two second fixing columns 113, and the two second fixing columns 113 are arranged at intervals along the width direction X of the walking device 102. There are two second connecting holes 2121. The two second connecting holes 2121 are respectively located at the ends of the two connecting parts 212 away from the main body 211, so as to improve the connection stability between the connecting parts 212 and the second fixing columns 113 and reduce the vibration generated by the fixing bracket 21 when the walking device 102 is traveling. In some embodiments, those skilled in the art can specifically set the number of the second fixing columns 113 and the second connecting holes 2121 according to actual needs, and no specific limitation is made in this application. For example, the number of the second fixing columns 113 and the second connecting holes 2121 can also be set to one or more than two.

[0071] The second connection hole 2121 is located on a side of the first connection hole 2111 that is farther away from the walking device 102 along the height direction X of the walking device 102. The two first connection holes 2111 and the two second connection holes 2121 are arranged in a trapezoidal shape, which can improve the connection stability between the fixing bracket 21 and the housing 10 and reduce vibration caused by the fixing bracket 21 when the walking device 102 is moving.

[0072] In some embodiments, the visual device 101 includes a housing 10, a visual module 20, a first heat conductor 241 and a support base 40. The support base 40 is fixedly connected to the walking device 102. The housing 10 is fixedly connected to the support base 40 on a side away from the walking device 102 along the height direction Z of the walking device 102. An installation cavity 13 is provided in the housing 10. The visual module 20 is provided in the installation cavity 13. The visual module 20 includes a control board 22 and a shielding member 26 provided on the control board 22. The first heat conductor 241 is provided on the side of the shielding member 26 facing away from the control board 22, and is in contact with and connected to the inner wall of the installation cavity 13. In this embodiment, the first heat conductor 241 is used to achieve a thermal connection between the shielding member 26 and the inner wall of the installation cavity 13, so that the heat of the shielding member 26 can be quickly transferred to the housing 10 and dissipated to the outside of the visual device 101 through the housing 10, thereby avoiding the temperature of the visual module 20 from being too high, so that the visual device 101 can continue to work for a long time. The first heat conducting member 241 can be configured as thermal grease, thermal silica gel, etc. For example, the surface of the housing 10 that contacts the first heat conducting member 241 can be configured as a plane to improve the fit between the first heat conducting member 241 and the housing 10 and improve the heat transfer effect between the first heat conducting member 241 and the housing 10.

[0073] Please refer to Figure 2. A heat dissipation structure is provided on the housing 10. The heat dissipation structure includes a plurality of heat dissipation fins 141 arranged at intervals along the width direction X of the walking device 102. The housing 10 and the heat dissipation fins 141 are thermally conductively connected. The heat dissipation fins 141 can increase the heat dissipation area of ​​the housing 10 and improve the heat exchange efficiency with the external air, so that the heat of the housing 10 can be dissipated to the external air more quickly. In some embodiments, the housing 10 and the heat dissipation fins 141 can be integrally formed. In some embodiments, the heat dissipation fins 141 can also be provided separately from the housing 10 and fixedly connected together by bonding, clamping, welding, etc.

[0074] The heat dissipation fins 141 can be extended along the front-to-back direction Y of the walking device 102. When the walking device 102 is moving, the air flow direction is consistent with or approximately close to the extension direction of the heat dissipation fins 141, so that the external airflow can promptly blow away the heated air between two adjacent heat dissipation fins 141, preventing the hot air from being trapped between the two adjacent heat dissipation fins 141, thereby improving the heat dissipation efficiency of the heat dissipation fins 141.

[0075] Please refer to Figures 2 and 5 together. Figure 5 is a structural schematic diagram of the first shell 11 provided in an embodiment of the present application. The outer shell 10 includes a first shell 11 and a second shell 12. The second shell 12 is sealed to the side of the first shell 11 close to the rear end of the walking device 102 along the front-to-back direction Y of the walking device 102. A sealing structure, such as a sealing ring, may be provided between the first shell 11 and the second shell 12. An extension portion 111 is protruded toward the direction of the second shell 12 at one end of the first shell 11 close to the second shell 12. The extension portion 111 extends to the inside of the second shell 12, and the control board 22 is fixedly connected to the extension portion 111. The control board 22 includes a first part covered by the shielding member 26 and a second part located outside the shielding member 26. The second part is connected to the extension portion 111 to avoid interference between the extension portion 111 and the shielding member 26.

[0076] The dimension of the end of the second shell 12 close to the first shell 11 along the height direction Z of the walking device 102 is larger than the dimension of the end of the second shell 12 away from the first shell 11 along the height direction Z of the walking device 102. In this way, when the air flows through the second shell 12, a flow layer attached to the outer surface of the second shell 12 will be formed, thereby improving the heat exchange efficiency between the second shell 12 and the air.

[0077] In some embodiments, the housing 10 includes a first housing 11 and a second housing 12 connected to the first housing 11. A fixing bracket 21 is fixedly connected to the first housing 11. An extension 111 is provided at one end of the first housing 11 protruding toward the second housing 12. The control panel 22 is fixedly connected to the extension 111. The fixing bracket 21 and the extension 111 jointly secure the control panel 22, thereby improving the connection stability of the control panel 22 and reducing vibration of the control panel 22 during travel of the walking device 102. When installing the vision module 20, since the extension 111 protrudes from the first housing 11, the extension 111 and the control panel 22 can be easily secured together, thereby simplifying assembly and disassembly of the control panel 22 and simplifying installation and maintenance of the vision module 20. The extension 111 and the control panel 22 can be secured by screws. The control panel 22 has a second mounting hole 2212 at a position corresponding to the extension 111. A threaded structure can be provided in the center of the second mounting hole 2212. The extension portion 111 is provided with a connecting through hole, through which a screw is passed and screwed into the second mounting hole 2212 , thereby fixing the control board 22 and the extension portion 111 together.

[0078] The visual module 20 also includes a heating element 27. The heating element 27 is arranged on the control board 22. The shielding member 26 covers the heating element 27. For example, the heating element 27 can be configured as a control chip. In some embodiments, the visual module 20 also includes a second heat-conducting member. The second heat-conducting member is arranged between the shielding member 26 and the heating element 27. The second heat-conducting member can quickly transfer the heat generated by the heating element 27 to the shielding member 26, and the shielding member 26 transfers the heat to the housing 10 through the first heat-conducting member 241. The second heat-conducting member can be configured as thermal grease, thermal silica gel, etc.

[0079] The housing 10 is provided with a camera hole 131. The camera hole 131 can be provided on a side of the housing 10 near the front end of the walking device 102. The camera 23 is positioned corresponding to the camera hole 131. The number of cameras 23 can be set to multiple. The controller of the robot 1 can determine the distance between the walking device 102 and obstacles based on the image information obtained by the multiple cameras 23 and a multi-vision control algorithm, thereby regulating the travel path of the walking device 102. For example, the number of cameras 23 can be set to two.

[0080] The visual device 101 also includes a first protective member 291. The first protective member 291 is connected to the housing 10 and covers the camera aperture 131. The first protective member 291 protects the camera aperture 131 from external debris such as moisture and dust, which enter the mounting cavity 13. The area of ​​the first protective member 291 corresponding to the camera aperture 131 is configured as a first light-transmitting area, allowing external light to pass through the first protective member 291.

[0081] The visual module 20 also includes a light-emitting component. The light-emitting component is electrically connected to the control board 22. A light-guiding hole 117 is provided on the housing 10. The light emitted by the light-emitting component is transmitted to the outside of the housing 10 through the light-guiding hole 117. In some embodiments, the light-guiding hole 117 can be opened on the side of the housing 10 close to the front end of the walking device 102. The opening direction of the light-guiding hole 117 is the same as that of the camera hole 131. The light-emitting component is used to fill in the light for the camera 23 and improve the imaging effect of the camera 23 in a dark environment. Along the width direction X of the walking device 102, the light-emitting component is located between the two cameras 23, so that the light-guiding component has a uniform fill-in effect on the two cameras 23, so that the imaging effect between the two cameras 23 is consistent. In some embodiments, the light-emitting component can also be used to display a preset pattern to indicate the working status of the robot 1.

[0082] In some embodiments, the visual module 20 further includes a light guide 28. The light guide 28 is disposed on the fixed bracket 21. The light guide 28 is disposed at a position corresponding to the light guide hole 117. The light guide 28 is used to transmit the light emitted by the light emitting component to the light guide hole 117. Exemplarily, the light guide 28 can reflect or refract the light emitted by the light emitting component, and deflect the light emitted by the light emitting component. In some embodiments, the light guide 28 can also diffuse the light emitted by the light emitting component. For example, the light guide 28 is configured as a diffusion plate. After the light emitted by the light emitting component passes through the diffusion effect of the light guide 28, the light uniformity of the light guide hole 117 can be improved.

[0083] In some embodiments, the light-emitting element can be disposed on a side of the control panel 22 near the fixed bracket 21. A mounting groove 216 is provided on the fixed bracket 21. The light guide 28 is disposed in the mounting groove 216. In some embodiments, a limiting groove 2161 is provided on the sidewall of the mounting groove 216, and a limiting protrusion that cooperates with the limiting groove 2161 is provided on the light guide 28. The limiting protrusion is used to snap into the limiting groove 2161 to limit the movement of the light guide 28 in the mounting groove 216, thereby fixing the light guide 28 relative to the fixed bracket 21. In some embodiments, a limiting protrusion is provided on the sidewall of the mounting groove 216, and a limiting groove that cooperates with the limiting protrusion is provided on the sidewall of the light guide 28.

[0084] In some embodiments, the visual device 101 further includes a second protective member 292. The second protective member 292 is connected to the housing 10 and is provided to cover the light guide hole 117. The second protective member 292 is used to protect the light guide hole 117 to prevent external moisture, dust and other debris from entering the installation cavity 13. The area of ​​the second protective member 292 corresponding to the light guide hole 117 is constructed as a second light-transmitting area, so that the light emitted by the light-emitting component passes through the second protective member 292 to the outside of the installation cavity 13. In some embodiments, the first protective member 291 and the second protective member 292 can be provided as a whole, for example, the first protective member 291 and the second protective member 292 can be configured as a protective plate. In some embodiments, the first protective member 291 and the second protective member 292 can also be provided separately, and the first protective member 291 and the second protective member 292 are respectively installed on the housing 10.

[0085] In some embodiments, a light-blocking pattern is provided within the second light-transmitting area. The light-blocking pattern includes a light-blocking portion that blocks light and a light-transmitting portion that allows light to pass through. When light emitted by the light-emitting element shines on the second light-transmitting area, the light-blocking portion of the light-blocking pattern blocks the light, while the light-transmitting portion of the light-blocking pattern allows light to pass through, thereby displaying a specific pattern on the second protective member 292. In some embodiments, the shape of the light-transmitting portion of the light-blocking pattern can be used to indicate the signal connection status of the robot 1. For example, when the signal connection to the robot 1 is disconnected, the light-emitting element emits light, causing the second protective member 292 to display the shape of the light-transmitting portion. The color of the light emitted by the light-emitting element can be customized according to actual needs and is not specifically limited in this application, such as red, green, blue, etc. A retaining structure is also provided on the fixed bracket 21, and a mating structure 231 is provided on the camera 23 to mate with the retaining structure. The retaining structure is used to limit the movement of the mating structure 231, thereby securing the camera 23 relative to the fixed bracket 21. In some embodiments, the retaining structure can be configured as a retaining post 2122 protruding from the connecting portion 212. Two limiting posts 2122 are provided and are spaced apart along the height direction X of the walking device 102. The mating structure 231 is configured as a protrusion protruding from the camera 23. The protrusion is located between two adjacent limiting posts 2122, and the two limiting posts 2122 limit the protrusion, thereby limiting the position of the camera 23. The two limiting posts 2122 can also be spaced apart along other directions. In some embodiments, the limiting structure can also be configured as a limiting baffle 2123 protruding from the connecting portion 212. The limiting baffle 2123 is arranged in a semi-annular shape, and the mating structure 231 is located in the limiting groove enclosed by the limiting baffle 2123. Exemplarily, the limiting structure includes the limiting baffle 2123 and the limiting posts 2122, and the limiting posts 2122 and the limiting baffle 2123 are spaced apart along the width direction X of the walking device 102. The camera 23 is located between the limiting baffle 2123 and the limiting posts 2122. There are two matching structures 231 , which respectively match the limiting column 2122 and the limiting baffle 2123 , so that the limiting column 2122 and the limiting baffle 2123 can limit the camera 23 along the height direction Z and the width direction X of the walking device 102 .

[0086] The visual module 20 also includes a third fixing member 33. The third fixing member 33 is used to fix the camera 23 to the connecting portion 212. The camera 23 and the connecting portion 212 can be fixed by screws. The third fixing member 33 can be configured as a screw. In some embodiments, a threaded hole is provided on the mating structure 231, and a fixing hole 2124 is provided on the connecting portion 212. The third fixing member 33 is inserted into the fixing hole 2124 and is mated and connected with the threaded hole on the mating structure 231 to fix the camera 23 to the connecting portion 212.

[0087] In some embodiments, a chamfer 224 is provided at a position of the control board 22 near the camera 23. The chamfer 224 is used to allow the control board 22 and the camera 23 to avoid each other along the height direction Z of the walking device 102, so that the control board 22 and the camera 23 are staggered, thereby allowing the heat of the control board 22 and the camera 23 to be dissipated to different positions in the installation cavity 13, avoiding the formation of a heat concentration area in the installation cavity 13, which would cause the temperature of the control board 22 or the camera 23 to exceed the maximum operating temperature, thereby enabling the visual device 101 to continue to operate normally and improving the service life of the visual device 101.

[0088] Please refer to Figures 1, 2, 6 and 7 together. In some embodiments, a latching structure 14 is provided in the first shell 11 and / or the second shell 12, and the latching structure 14 is used to engage with the control board 22. The latching structure 14 can engage with the control board 22 when installing the visual module 20, thereby pre-positioning the visual module 20 and facilitating the installation of the visual module 20. A latching slot that cooperates with the control board 22 is provided on the latching structure 14. Exemplarily, the latching structure 14 is respectively provided on the inner wall of the first shell 11 on the side facing the second shell 12 and on the inner wall of the second shell 12 on the side facing the first shell 11.

[0089] In some embodiments, the first housing 11 and the second housing 12 are sealed to prevent external moisture, debris, etc. from entering the mounting cavity 13, thereby increasing the service life of the visual device 101. A sealing groove is defined in the first housing 11 and / or the second housing 12. The visual device 101 also includes a sealing ring disposed within the sealing groove and abutting the first housing 11 and the second housing 12, thereby sealing the connection between the first housing 11 and the second housing 12.

[0090] The visual device 101 also includes a shielding member 30. The shielding member 30 is located on a side of the housing 10 that is away from the walking device 102 along the height direction Z of the walking device 102. The shielding member 30 is used to block sunlight, prevent sunlight from directly hitting the housing 10, and prevent the visual module 20 from overheating. The shielding member 30 can be detachably fixed to the housing 10 by a snap connection. In a plane perpendicular to the height direction Z of the walking device 102, the orthographic projection of the shielding member 30 and the orthographic projection of the housing 10 are arranged to at least partially overlap.

[0091] An air guide channel 301 is formed between the shielding member 30 and the housing 10. An air inlet connected to the air guide channel 301 is formed between the shielding member 30 and the housing 10 on a side close to the front end of the walking device 102, and an air outlet connected to the air guide channel 301 is formed on a side close to the rear end of the walking device 102. When the walking device 102 is moving, air flows through the air guide channel 301 and dissipates heat to the side of the housing 10 facing the shielding member 30. The air guide channel 301 can also form a heat insulating layer to prevent heat from the shielding member 30 from being transferred to the housing 10. In some embodiments, the housing 10 is provided with heat dissipation fins 141 located in the air guide channel 301 to improve the heat dissipation capacity of the housing 10.

[0092] In some embodiments, a protrusion 114 is provided on the side of the housing 10 facing the shielding member 30. Along the height direction Z of the walking device 102, the height of the protrusion 114 near the front end of the walking device 102 along the front-to-back direction Y of the walking device 102 is lower than the height of the protrusion 114 near the rear end of the walking device 102. After the air in the air guide channel 301 is heated, the hot air expands and becomes less dense. The hot air can spontaneously flow in the air guide channel 301 and out of the air outlet, preventing the hot air from accumulating in the air guide channel 301, thereby improving the heat dissipation effect of the housing 10.

[0093] In some embodiments, the support base 40 separates the housing 10 from the walking device 102, thereby increasing the contact area between the housing 10 and the outside air, thereby improving the heat dissipation effect of the housing 10. The support base 40 includes a support portion 41 and a fixing portion 42. The fixing portion 42 is fixedly connected to the walking device 102. The support portion 41 is fixedly connected to the side of the fixing portion 42 away from the walking device 102. The housing 10 is fixedly connected to the end of the support portion 41 away from the fixing portion 42 and is thermally connected to the support portion 41. The housing 10 can conduct heat to the support portion 41, and dissipate heat into the air through the support portion 41. The visual device 101 may also include a third heat conducting member disposed between the housing 10 and the support portion 41 to improve the heat conduction efficiency between the housing 10 and the support portion 41. A receiving groove 116 is defined on the side of the first housing 11 facing the support portion 41. The third heat conducting member is disposed within the receiving groove 116. The third heat conducting member can be configured as thermal grease, thermal conductive silicone, etc.

[0094] The outer shell 10 is provided to protrude relative to the supporting portion 41 along the width direction X of the walking device 102. The fixing portion 42 is provided to protrude relative to the supporting portion 41 along the width direction X of the walking device 102. A heat dissipation duct 401 is formed between the outer shell 10 and the fixing portion 42. When the walking device 102 is moving, the air in the heat dissipation duct 401 can take away the heat emitted by the outer shell 10. On the basis of the spontaneous heat dissipation of the outer shell 10, the air flow in the heat dissipation duct 401 further dissipates heat from the outer shell 10, thereby improving the heat dissipation efficiency of the outer shell 10. In some embodiments, the fixing portion 42 is provided with heat dissipation fins 141 located in the heat dissipation duct 401 to improve the heat dissipation capacity of the fixing portion 42. In some embodiments, the outer shell 10 is provided with heat dissipation fins 141 located in the heat dissipation duct 401 to improve the heat dissipation capacity of the outer shell 10.

[0095] The support portion 41 has a side surface along the front-to-back direction Y of the walking device 102 toward the front end of the walking device 102 configured as an air guide surface 411. The side of the air guide surface 411 close to the housing 10 is inclined relative to the side of the air guide surface 411 close to the walking device 102 toward the rear end of the walking device 102. The shielding member 30 is protruding relative to the housing 10 toward the front end of the walking device 102 along the front-to-back direction Y of the walking device 102. When the walking device 102 is traveling, the air guide surface 411 can guide the air in a direction away from the ground. After the air flows upward through the housing 10, it is stopped by the shielding member 30 and enters the air guide channel 301, thereby allowing more air to enter the air guide channel 301 and increasing the air flow rate in the air guide channel 301, thereby improving the heat dissipation effect of the housing 10.

[0096] The protrusion 114 and the air guide surface 411 are arranged side by side along the front-to-back direction Y of the walking device 102. This can reduce the turning radius of air when flowing into the air guide channel 301, reduce air flow loss, and increase the air flow rate in the air guide channel 301, thereby better dissipating heat from the housing 10. The protrusion 114 and the air guide surface 411 can be aligned along the front-to-back direction Y of the walking device 102, that is, the protrusion 114 and the air guide surface 411 are respectively located in the middle position of the housing 10 along the width direction X of the walking device 102, so that more air flowing over the air guide surface 411 enters the air guide channel 301 at the position corresponding to the protrusion 114, thereby increasing the air flow rate in the air guide channel 301. In some embodiments, the protrusion 114 and the air guide surface 411 can be staggered along the width direction X of the walking device 102, so that the protrusion 114 or the air guide surface 411 is staggered with the middle position of the housing 10 along the width direction X of the walking device 102.

[0097] A first communication hole 115 is defined on the side of the housing 10 facing the support portion 41, communicating with the mounting cavity 13. A second communication hole 412 is defined in the support portion 41, communicating with the first communication hole 115. A connection cable 25 connected to the control board 22 is passed through the first communication hole 115 and the second communication hole 412. The connection cable 25 is used to connect the control board 22 to the controller of the robot 1.

[0098] The visual device 101 also includes a seal 44 disposed between the housing 10 and the support portion 41. The seal 44 surrounds the first communication hole 115 and the second communication hole 412. The seal 44 is used to seal the connection between the housing 10 and the support portion 41, preventing external moisture, debris, etc. from entering the mounting cavity 13 and the interior of the walking device 102.

[0099] The visual device 101 also includes a connector 45. The connector 45 is positioned at the first communication hole 115 and is fixed relative to the housing 10. The connecting cable 25 is fixedly connected to the connector 45. The connector 45 is used to secure the connecting cable 25 relative to the housing 10, reducing vibration of the connecting cable 25 during travel of the walking device 102 and preventing the connecting cable 25 from becoming loose from the control panel 22.

[0100] 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 visual device, characterized in that: include: A housing having a mounting cavity disposed therein; A visual module is arranged in the installation cavity, and the visual module includes a fixed bracket, a control board and a camera. The fixed bracket is fixedly connected to the shell, the control board is arranged on the fixed bracket, and the camera is fixedly connected to the fixed bracket.

2. The visual device according to claim 1, characterized in that The visual module also includes a mounting portion protruding from the fixing bracket, and the control board is fixedly connected to an end of the mounting portion away from the fixing bracket.

3. The visual device according to claim 1, characterized in that The fixing bracket comprises a main body and a connecting part, wherein the connecting part is connected to a side of the main body, the control panel is arranged on the main body, and the camera is arranged on the connecting part.

4. The visual device according to claim 3, characterized in that A first fixing column extending toward the main body is protruded from the inner wall of the shell, and the main body is fixedly connected to the first fixing column.

5. The visual device according to claim 4, characterized in that The visual module also includes a first fixing member. The main body is provided with a first connecting hole. The first fixing member is inserted into the first connecting hole and is used to fix the main body to the first fixing column.

6. The visual device according to claim 5, characterized in that The fixing bracket also includes a U-shaped baffle protruding from the main body, the U-shaped baffle and the main body are combined to form a limiting sliding groove, and the first connecting hole is located in the limiting sliding groove.

7. The visual device according to claim 6, characterized in that The visual module also includes a second fixing member, a second fixing column extending toward the connecting portion is protruding on the inner wall of the shell, the connecting portion is provided with a second connecting hole, the second fixing member is passed through the second connecting hole, and is used to fix the connecting portion to the second fixing column.

8. The visual device according to claim 7, characterized in that There are two connecting parts, the main body is located between the two connecting parts, there are two first connecting holes and two second connecting holes respectively, and the two first connecting holes and the two second connecting holes are arranged in a trapezoidal shape.

9. The visual device according to claim 1, characterized in that The housing includes a first shell and a second shell connected to the first shell, the fixing bracket is fixedly connected to the first shell, an extension portion is protruded toward the second shell at one end of the first shell close to the second shell, and the control panel is fixedly connected to the extension portion.

10. The visual device according to claim 1, characterized in that The visual device is applied to walking equipment, and the visual module further comprises a shielding member arranged on the control panel; and The first heat-conducting member is arranged on a side of the shielding member facing away from the control board and is in contact with and connected to the inner wall of the mounting cavity.

11. The visual device according to claim 10, characterized in that The shell includes a first shell and a second shell, the second shell is connected to the first shell on one side close to the rear end of the walking device along the front-rear direction of the walking device, an end of the first shell close to the second shell is protruding with an extension portion toward the direction of the second shell, the extension portion extends to the inside of the second shell, and the control panel is fixedly connected to the extension portion.

12. The visual device according to claim 11, characterized in that The control board includes a first portion covered by the shielding member and a second portion located outside the shielding member, wherein the second portion is connected to the extension portion.

13. The visual device according to claim 10, characterized in that The shell is provided with a heat dissipation structure, and the heat dissipation structure comprises a plurality of heat dissipation fins arranged at intervals along the width direction of the walking device.

14. The visual device according to claim 13, characterized in that The heat dissipation fins are extended along the front-rear direction of the walking device.

15. The visual device according to claim 10, characterized in that The visual module further includes a heat generating component and a second heat conducting component. The heat generating component is disposed on the control board. The shielding component covers the heat generating component. The second heat conducting component is disposed between the shielding component and the heat generating component.

16. The visual device according to claim 10, characterized in that A camera hole is provided on the shell, and the camera is arranged at a position of the shell corresponding to the camera hole. The visual device also includes a first protective member, which is connected to the shell and covers the camera hole. The area of ​​the first protective member corresponding to the camera hole is constructed as a first light-transmitting area.

17. The visual device according to claim 16, characterized in that The visual module also includes a light-emitting component, which is electrically connected to the control board, and a light-guiding hole is provided on the housing.

18. The visual device according to claim 17, characterized in that The visual module also includes a light guide member, the light emitting member is arranged on the control board, the light guide member is arranged at a position of the housing corresponding to the light guide hole, and the light guide member is used to transmit the light emitted by the light emitting member to the light guide hole.

19. The visual device according to claim 18, characterized in that The number of the cameras is two, and the light emitting element is located between the two cameras along the width direction of the walking device.

20. The visual device according to claim 18, characterized in that The visual device further comprises a second protective member, which is arranged to cover the light guide hole, and the area of ​​the second protective member corresponding to the light guide hole is constructed as a second light-transmitting area.

21. The visual device according to claim 20, characterized in that A light-shielding pattern is arranged in the second light-transmitting area.

22. The visual device according to claim 10, characterized in that The visual device further comprises a shielding member, wherein the shielding member is located at a side of the housing away from the walking device along a height direction of the walking device, and an air guide channel is formed between the shielding member and the housing.

23. The visual device according to claim 22, characterized in that A protrusion is provided on one side of the shell facing the shielding member, and along the height direction of the walking device, the height of the protrusion near the front end of the walking device along the front-to-back direction of the walking device is smaller than the height of the protrusion near the rear end of the walking device.

24. The visual device according to claim 10, characterized in that The shell includes a first shell and a second shell, the second shell is connected to the first shell on one side close to the rear end of the walking device along the front-to-back direction of the walking device, and along the front-to-back direction of the walking device, the dimension of the second shell at one end close to the first shell along the height direction of the walking device is greater than the dimension of the second shell at one end away from the first shell along the height direction of the walking device.

25. The visual device according to claim 10, characterized in that The visual device also includes a support base, which is fixedly connected to the walking device; the shell is fixedly connected to a side of the support base away from the walking device along the height direction of the walking device.

26. The visual device according to claim 25, characterized in that The support seat includes a fixing portion and a supporting portion, the fixing portion is fixedly connected to the walking device, the supporting portion is fixedly connected to a side of the fixing portion away from the walking device, the outer shell is fixedly connected to an end of the supporting portion away from the fixing portion, and is thermally connected to the supporting portion.

27. The visual device according to claim 26, characterized in that A first connecting hole connected to the installation cavity is formed on one side of the shell facing the support part, and a second connecting hole connected to the first connecting hole is formed on the support part. The visual device also includes a connecting cable connected to the control board, and the connecting cable is passed through the first connecting hole and the second connecting hole.

28. The visual device according to claim 27, characterized in that The visual device further includes a sealing member disposed between the housing and the supporting portion, wherein the sealing member is disposed around the first communicating hole and the second communicating hole.

29. The visual device according to claim 27, characterized in that The visual device also includes a connecting piece, which is arranged at the first connecting hole and fixed relative to the housing, and the connecting cable is fixedly connected to the connecting piece.

30. A robot, characterized in that: It comprises a walking device and a visual device as described in any one of claims 1 to 29, wherein the visual device is installed on the walking device.

Images