Vision device and robot

Abstract

Provided in the present application are a vision device and a robot. The vision device comprises a vision module and a shielding module. The shielding module comprises a shielding main body and supporting portions, wherein the shielding main body is disposed on the side of the vision module away from the robot in the direction of height of the robot, and is provided with a gap between same and the vision module; and the supporting portions are connected to ends of the shielding main body and protrude toward the vision module relative to the shielding main body. The vision module is provided with fixing portions for engaging with the supporting portions, the supporting portions and the fixing portions being detachably arranged perpendicular to the direction of height of the robot. When a user presses the shielding main body, the shielding main body bends away from the vision module, causing the ends of the shielding main body to tilt away from the vision module; and the supporting portions are driven by the shielding main body to flip outward perpendicular to the direction of height of the robot and away from the vision module, and disengage from the fixing portions, thereby achieving the quick disassembly and replacement of the shielding module, reducing maintenance costs.

Description

Visual devices and robots

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 9, 2023, with application number 202323366141.9 and utility model name “Visual device and robot”, the entire contents of which are incorporated by reference into this application.

[0002] This application also claims priority to the Chinese patent application filed with the China Patent Office on December 9, 2023, with application number 202323367018.9 and utility model name “Visual device and robot”, 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 robots equipped with visual devices, the housing of the visual device is prone to aging when exposed to sunlight. The aged housing needs to be replaced as a whole, which increases the maintenance cost of the visual device. Summary of the Invention

[0005] The present application provides a visual device and a robot to solve the problem of easy aging of visual devices.

[0006] In a first aspect, the present application provides a visual device, which is applied to a robot, and the visual device includes a visual module and a shielding module. The visual module is arranged on the robot. The shielding module includes a shielding body and a supporting portion. The shielding body is arranged on a side of the visual module away from the robot along the height direction of the robot, and a gap is provided between the shielding body and the visual module. The supporting portion is connected to the end of the shielding body and protrudes relative to the shielding body in the direction of the visual module. The visual module is provided with a fixing portion that cooperates with the supporting portion, and the supporting portion and the fixing portion are detachably arranged along a height direction perpendicular to the robot.

[0007] In some embodiments, the shielding body is arranged in an arch shape.

[0008] In some embodiments, the shielding body includes a top plate and a first side plate, the first side plate is connected to a side of the top plate, and the first side plate is tilted relative to the top plate toward the vision module.

[0009] In some embodiments, along the front-to-back direction of the robot, the height of the top plate from the ground on a side close to the front end of the robot is smaller than the height of the top plate from the ground on a side close to the rear end of the robot.

[0010] In some embodiments, the top plate includes a main body and a first connecting portion, the first connecting portion is connected between the main body and the first side panel, the first connecting portion is inclined relative to the main body toward the direction close to the visual module, and is inclined relative to the first side panel toward the direction away from the visual module.

[0011] In some embodiments, the shielding body also includes a second side panel, the first side panel and the top panel are arranged along the width direction of the robot, the second side panel is connected to the side of the first side panel close to the rear end of the robot along the front-to-back direction of the robot, and the second side panel is tilted relative to the first side panel toward the direction of the visual module.

[0012] In some embodiments, the shielding body further includes a second connecting portion, the second connecting portion being connected to a side of the top plate close to the rear end of the robot, and the second connecting portion being connected to the second side plate along the side in the width direction of the robot.

[0013] In some embodiments, one of the supporting portion and the fixing portion is configured as a hook, and the other is provided with a hole that cooperates with the hook.

[0014] In some embodiments, a positioning structure is provided on a side of the shielding body facing the visual module, and the visual module is provided with a matching structure that matches the positioning structure.

[0015] In some embodiments, the positioning structure is slidably arranged relative to the matching structure along the height direction of the robot.

[0016] In some embodiments, the visual device further includes reinforcing ribs respectively connected to the support portion and the shielding body.

[0017] In some embodiments, the visual device further includes a heat dissipation structure disposed between the visual module and the shielding body, and the heat dissipation structure is thermally connected to the visual module.

[0018] In some embodiments, the heat dissipation structure and the shielding body are spaced apart.

[0019] In some embodiments, the heat dissipation structure includes a plurality of heat dissipation fins arranged at intervals.

[0020] In some embodiments, along the front-rear direction of the robot, the shielding body is provided with an air outlet communicating with the gap at a middle portion near the rear end of the robot.

[0021] In some embodiments, the shielding body is protruded toward the front end of the robot relative to the vision module along the front-to-back direction of the robot, and / or the shielding body is protruded relative to the vision module along the width direction of the robot.

[0022] In some embodiments, a reflective structure is provided on a side of the shielding body facing away from the visual module.

[0023] In some embodiments, the visual device is applied to a robot's walking device, and the visual device includes a support base. The support base is fixedly connected to the walking device. The visual module is fixedly connected to an end of the support base away from the walking device. The visual module protrudes from the support base along the width of the walking device, and a first heat dissipation duct is formed between the protruding portion of the visual module from the support base and the walking device.

[0024] In some embodiments, along the width direction of the walking device, the height of the first heat dissipation duct close to the support base is smaller than the height of the first heat dissipation duct away from the support base.

[0025] In some embodiments, the visual module includes a first shell and a second shell. Along the front and rear direction of the walking device, the second shell is connected to the rear end of the first shell. The first heat dissipation duct includes a first heat dissipation section and a second heat dissipation section. The first heat dissipation section is located between the first shell and the walking device, and the second heat dissipation section is located between the second shell and the walking device.

[0026] In some embodiments, the height of the end of the first heat dissipation section away from the second heat dissipation section along the height direction of the running device is greater than the height of the end of the first heat dissipation section close to the second heat dissipation section along the height direction of the running device.

[0027] In some embodiments, the height of the second heat dissipation section near the first heat dissipation section along the height direction of the walking device is less than or equal to the height of the second heat dissipation section away from the first heat dissipation section along the height direction of the walking device.

[0028] In some embodiments, a dimension of an end of the second shell close to the first shell along the height direction of the walking device is greater than a dimension of an end of the second shell away from the first shell along the height direction of the walking device.

[0029] In some embodiments, the visual device also includes a fixed seat, which is connected between the walking device and the support seat. The fixed seat is protruding relative to the support seat along the width direction of the walking device. The first heat dissipation duct is formed between the fixed seat and the visual module, and the visual module and / or the fixed seat are provided with multiple heat dissipation fins located in the first heat dissipation duct.

[0030] In some embodiments, the visual module is provided with a first heat sink located in the first heat dissipation duct, and the fixed seat is provided with a second heat sink located in the first heat dissipation duct. Along the direction from the front end to the rear end of the walking device, the distance between the first heat sink and the second heat sink along the height direction of the walking device decreases.

[0031] In some embodiments, a plurality of the heat dissipation fins are spaced apart along the width direction of the walking device.

[0032] In some embodiments, the shielding module is provided to protrude toward the front end of the walking device relative to the vision module along the front-to-back direction of the walking device.

[0033] In some embodiments, the shielding module is arranged to protrude relative to the vision module along the width direction of the walking device.

[0034] In some embodiments, the shielding module is protruded relative to the vision module toward the front end of the walking device along the front-to-back direction of the walking device, and the shielding module is protruded relative to the vision module along the width direction of the walking device.

[0035] In some embodiments, the surface of the support seat on one side along the front-to-back direction of the walking device toward the front end of the walking device is constructed as a wind guide surface, and the side of the wind guide surface close to the visual module is inclined toward the rear end of the walking device relative to the side of the wind guide surface close to the walking device.

[0036] In some embodiments, a protrusion is provided on the side of the visual module facing the shielding module, 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 near the rear end of the walking device.

[0037] In some embodiments, the protrusion and the wind guide surface are arranged side by side along the front-to-back direction of the walking device.

[0038] In some embodiments, a plurality of heat dissipation fins are provided on a side of the vision module facing the shielding module, and the plurality of heat dissipation fins are arranged at intervals along the width direction of the walking device.

[0039] In some embodiments, the plurality of heat sinks include a first heat sink fin group and a second heat sink fin group, the first heat sink fin group and the second heat sink fin group respectively include a plurality of heat sink fins, the first heat sink fin group is arranged on the protrusion, and the second heat sink fin group is arranged at a position outside the protrusion of the visual module corresponding to the protrusion.

[0040] 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 arranged on the walking device.

[0041] In the visual device and robot provided by the present application, a shielding module is provided on the side of the visual module away from the robot along the height direction of the robot, a gap is provided between the shielding body of the shielding module and the visual module, the supporting part of the shielding module is connected to the end of the shielding body, and the supporting part and the fixing part on the visual module are detachably provided along the height direction perpendicular to the robot. On the one hand, when the shielding module is installed on the visual module, the shielding module can be placed directly above the visual module, and the supporting part and the fixing part can be fixedly connected together by pressing the shielding body downward. When disassembling the shielding module from the visual module, the user can press the shielding body to bend the shielding body in the direction away from the visual module, and the end of the shielding body is facing away from the visual module. The supporting part at the end of the shielding body is tilted up, and is driven by the shielding body to turn outward in a direction perpendicular to the height direction of the robot toward the direction away from the vision module, and separate from the fixed part, thereby realizing the rapid installation and rapid disassembly of the shielding module, avoiding the replacement of the entire vision module, and reducing the maintenance cost of the robot; on the other hand, the shielding body can block the sunlight to prevent the sunlight from directly shining on the vision module, and the heat generated by the vision module during operation can be dissipated into the air in the gap between the shielding body and the vision module. The air in the gap can also form a heat insulating layer to prevent the shielding body from conducting heat to the vision module, thereby preventing the temperature inside the vision module from exceeding the preset operating temperature, ensuring that the vision module can continue to work normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] 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.

[0043] FIG1 is a partial cross-sectional view of a robot provided in an embodiment of the present application.

[0044] FIG2 is an exploded view of a visual device provided in an embodiment of the present application.

[0045] FIG3 is a schematic diagram of the structure of a visual device provided in an embodiment of the present application.

[0046] FIG4 is a schematic structural diagram of the shielding module provided in an embodiment of the present application at one viewing angle.

[0047] FIG5 is a schematic structural diagram of the shielding module provided in an embodiment of the present application from another perspective.

[0048] FIG6 is a partial cross-sectional view of a visual device provided in an embodiment of the present application.

[0049] FIG7 is a schematic structural diagram of the shielding module provided in an embodiment of the present application after being deformed by being pressed.

[0050] FIG8 is a schematic structural diagram of a shielding module provided in some embodiments of the present application.

[0051] FIG9 is a partial structural diagram of the robot provided in an embodiment of the present application.

[0052] Explanation of the main reference numerals: robot 100; body 101; walking device 110; mounting surface 1101; vision device 10; vision module 11; housing 111; first housing 1101; second housing 1102; fixing portion 1111; matching structure 1112; camera hole 1113; protrusion 1114; heat dissipation structure 12; heat dissipation fins 1211; first heat dissipation fin group 121; second heat dissipation fin group 122; third heat dissipation fin group 123; vision component 13; camera 131; circuit substrate 132; fixing bracket 133; protective member 134 ; Connecting cable 135; Shielding module 20; Shielding body 200; Gap 201; Air outlet 202; Top plate 21; Main body 211; First connecting part 212; Second connecting part 213; First side panel 22; Second side panel 23; Supporting part 24; Reinforcing rib 241; Positioning structure 25; Heat dissipation duct 301; First heat dissipation section 3011; Second heat dissipation section 3012; Fixing seat 31; Heat dissipation fin 311; First heat dissipation fin 3111; Second heat dissipation fin 3112; Connecting piece 312; Supporting seat 32; Connecting hole 321; Wind guide surface 322.

[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 100 provided in an embodiment of the present application; Figure 2 is an exploded view of the visual device 10 provided in an embodiment of the application. The present application provides a robot 100, which includes a body 101 and a visual device 10 provided on the body 101. The visual device 10 is applied to the robot 100. The visual device 10 is used to obtain image information on the travel route of the robot 100. The controller of the robot 100 judges the current road conditions based on the image information obtained by the visual device 10, thereby regulating the travel route and working state of the robot 100. Among them, the robot 100 can be 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 robot 100, the Y-axis direction is defined as the front-to-back direction of the robot 100, and the Z-axis direction is defined as the height direction of the robot 100. The length direction, width direction, and height direction of the robot 100 are perpendicular to each other. Among them, the positive direction of the Y-axis is the front end direction of the robot 100, and the reverse direction of the Y-axis is the rear end direction of the robot 100. When the robot 100 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, 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 robot 100 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.

[0059] The visual device 10 includes a visual module 11 and a shielding module 20. The visual module 11 is arranged on the body 101 of the robot 100. The shielding module 20 includes a shielding body 200 and a support portion 24. The shielding body 200 is arranged on a side of the visual module 11 away from the robot 100 along the height direction Z of the robot 100, and a gap 201 is formed between the shielding body 200 and the visual module 11. The support portion 24 is connected to the end of the shielding body 200 and is protruded relative to the shielding body 200 in the direction toward the visual module 11. A fixing portion 1111 that cooperates with the support portion 24 is provided on the visual module 11. The support portion 24 and the fixing portion 1111 are detachably arranged along the height direction Z perpendicular to the robot 100. In this embodiment, a shielding module 20 is provided on the side of the vision module 11 away from the robot 100 along the height direction Z of the robot 100, and a gap 201 is formed between the shielding body 200 of the shielding module 20 and the vision module 11, and the support part 24 of the shielding module 20 is connected to the end of the shielding body 200, and the support part 24 and the fixing part 1111 on the vision module 11 are detachably provided along the height direction Z perpendicular to the robot 100. On the one hand, when the shielding module 20 is installed on the vision module 11, the user can place the shielding module 20 directly above the vision module 11, and fix the support part 24 and the fixing part 1111 together by pressing the shielding body 200 downward; when the shielding module 20 is disassembled from the vision module 11, the user can press the shielding body 200 to bend the shielding body 200 in the direction away from the vision module 11, and the end of the shielding body 200 is tilted in the direction away from the vision module 11, and the shielding module 20 is located in the shielding position. Driven by the shielding body 200, the support portion 24 at the end of the shielding body 200 is turned outward in a direction perpendicular to the height direction X of the robot 100 in a direction away from the visual module 11 and separated from the fixing portion 1111, thereby achieving rapid installation and rapid disassembly of the shielding module 20. After the shielding module 20 ages, the shielding module 20 can be replaced in time, avoiding the replacement of the entire visual module 11 and reducing the maintenance cost of the robot 100. On the other hand, the shielding body 200 can block sunlight to prevent sunlight from directly shining on the visual module 11. The air in the gap 201 can also form an insulating layer to prevent the shielding body 200 from conducting heat to the visual module 11, thereby preventing the temperature inside the visual module 11 from exceeding the preset operating temperature, ensuring that the visual module 11 can continue to work normally. The shielding module 20 can also protect the visual module 11 to prevent external debris from directly falling on the visual module 11 and causing damage to the visual module 11. Among them, the shielding module 20 can be configured as an elastic structure. When the shielding module 20 is pressed, the shielding module 20 may be elastically deformed. For example, the shielding module 20 may be configured as a plastic structure.

[0060] The visual device 10 also includes a heat dissipation structure 12, which is disposed between the visual module 11 and the shielding module 20. The heat dissipation structure 12 is thermally connected to the visual module 11. This structure improves the heat dissipation efficiency of the visual module 11, allowing heat generated by the visual module 11 during operation to be dissipated more quickly into the air within the gap 201. A distance between the heat dissipation structure 12 and the shielding body 200 can be provided to prevent heat from being transferred from the shielding body 200 to the visual module 11 through the heat dissipation structure 12.

[0061] The heat dissipation structure 12 may include a plurality of heat dissipation fins 1211 arranged at intervals along the width direction X of the robot 100. The heat dissipation fins 1211 are fixedly connected to the vision module 11. Exemplarily, the heat dissipation fins 1211 may be integrally formed with the vision module 11. The heat dissipation fins 1211 may increase the surface area of ​​the vision module 11 and increase the contact area between the vision module 11 and the air, thereby improving the heat dissipation efficiency. In this embodiment, the heat dissipation fins 1211 may be arranged parallel to each other. The heat dissipation fins 1211 extend along the front-to-back direction Y of the robot 100 so that the airflow can better take away the heat from the heat dissipation fins 1211. In some embodiments, some of the heat dissipation fins 1211 may be arranged at an angle to each other among the plurality of heat dissipation fins 1211. The outer shell of the vision module 11 may be configured as a metal part, thereby improving the heat dissipation capacity of the vision module 11.

[0062] Please refer to Figures 1 and 3 together. Figure 3 is a structural diagram of the visual device 10 provided in an embodiment of the present application under a certain viewing angle. The shielding body 200 is provided to protrude relative to the visual module 11 toward the front end of the robot 100 along the front-back direction Y of the robot 100, and / or the shielding body 200 is provided to protrude relative to the visual module 11 along the width direction X of the robot 100. For example, in this embodiment, the shielding body 200 is provided to protrude relative to the visual module 11 toward the front end of the robot 100 along the front-back direction Y of the robot 100, and the shielding body 200 is provided to protrude relative to the visual module 11 along the width direction X of the robot 100. On the one hand, the shielding body 200 can shield the front end of the visual module 11, reduce or avoid direct sunlight on the camera of the visual module 11, thereby avoiding glare, overexposure and other problems when the camera is shooting, resulting in a decrease in the imaging effect of the camera; on the other hand, the shielding body 200 is provided to protrude relative to the front end of the visual module 11. When the robot 100 moves forward, the gas that hits the visual module 11 and diffuses toward the shielding body 200 can be stopped and guided, allowing the gas to enter the gap 201, thereby increasing the air intake of the gap 201 and improving the heat dissipation efficiency. On the other hand, the shielding body 200 can block the side of the visual module 11 along the width direction X of the robot 100, reducing or preventing direct sunlight from shining on the side of the visual module 11, causing the temperature of the visual module 11 to rise, and providing a hand support point for the user when the user disassembles and assembles the shielding module 20, thereby facilitating the user to take and place the shielding module 20. The protruding length of the shielding body 200 relative to the visual module 11 can be specifically set according to actual needs, as long as it can meet the working requirements of the visual module 11, and is not specifically limited in this application. In some embodiments, the shielding body 200 can be set to protrude relative to the visual module 11 toward the front end of the robot 100 along the front-to-back direction Y of the robot 100. In some embodiments, the shielding body 200 is disposed to protrude relative to the vision module 11 along the width direction X of the robot 100 .

[0063] Referring to Figures 2, 4, and 5, along the front-to-back direction Y of the robot 100, the shielding body 200 is provided with an air outlet 202 in communication with the gap 201 in the middle portion near the rear end of the robot 100. The air outlet 202 is used to allow the heated air in the gap 201 to flow out of the gap 201, allowing the unheated air outside to enter the gap 201 and absorb the heat emitted by the heat dissipation structure 12 and the vision module 11, thereby forming a gas flow within the gap 201 and improving the heat dissipation efficiency. The air outlet 202 is provided at the rear end of the shielding body 20 near the robot 100, so that the direction of movement of the robot 100 when moving forward is aligned with the direction of the air flow within the gap 201, thereby increasing the flow rate of the gas within the gap 201 and promptly allowing the heated air in the gap 201 to flow out of the air outlet 202, preventing the hot air from being trapped in the gap 201, thereby improving the heat dissipation effect on the heat dissipation structure 12 and the vision module 11.

[0064] In this embodiment, the shielding body 200 is arched, rising from its central portion along the width direction X of the robot 100, away from the vision module 11. The gap 201 is high in the middle and low around the edges. The air within the gap 201 is heated and rises, flowing along the edges toward the center and out through the air outlet 202. Unheated air from outside can enter the gap 201 from the side of the gap 201 near the front end of the robot 100 and from both sides along the width direction X of the robot 100, thereby increasing the air intake into the gap 201 and, in turn, improving the heat dissipation effect.

[0065] The shielding body 200 includes a top plate 21 and a first side plate 22. The first side plate 22 is connected to the side of the top plate 21. The first side plate 22 is tilted relative to the top plate 21 in the direction toward the visual module 11. When the robot 100 is placed on the ground, along the height direction Z of the robot 100, the height from the ground of the side of the first side plate 22 close to the top plate 21 is greater than the height from the ground of the side of the first side plate 22 away from the top plate 21. Among them, there are two first side plates 22, and the two first side plates 22 are respectively connected to both sides of the top plate 21. The two first side plates 22 and the top plate 21 are connected together to form an arch structure. There can be two support parts 24. The two support parts 24 are respectively located at the ends of the two first side plates 22 away from the top plate 21.

[0066] The side of the top plate 21 near the rear end of the robot 100 is tilted relative to the side near the front end of the robot 100, away from the vision module 11, so that the gap 201 is lower at the front end and higher at the rear end along the front-to-back direction Y of the robot 100. Specifically, along the front-to-back direction Y of the robot 100, the height above the ground on the side of the top plate 21 near the front end of the robot 100 is lower than the height above the ground on the side near the rear end of the robot 100. The air outlet 202 is located on the side of the top plate 21 near the rear end of the robot 100. The shielding body 200 and the vision module 11 form an air inlet with the gap 201 on the side near the front end of the robot 100. The gap 201 extends along the front-to-back direction Y of the robot 100. In this embodiment, after the gas within gap 201 is heated, due to the low density of the hot air, the hot air can spontaneously flow from the air inlet of gap 201 to the air outlet 202 under the action of buoyancy. This allows the gas within gap 201 to spontaneously flow when the robot 100 is stationary, preventing the hot air from accumulating within gap 201 and thereby improving the heat dissipation effect on the vision module 11 and the heat dissipation structure 12. A protrusion is provided at the position corresponding to the top plate 21 of the vision module 11. The height of the protrusion near the front end of the robot 100 along the front-to-back direction Y of the robot 100 is lower than the height of the protrusion near the rear end of the robot 100. The portion of gap 201 corresponding to the top plate 21 extends upwardly and obliquely from the front end of the robot 100 toward the rear end, facilitating the spontaneous flow of hot air within gap 201 and allowing any moisture or debris that enters gap 201 to slide out through gap 201.

[0067] The heat dissipation structure 12 includes a first heat dissipation fin group 121 and a second heat dissipation fin group 122. The first heat dissipation fin group 121 is located between the top plate 21 and the vision module 11. The second heat dissipation fin group 122 is located between the first side plate 22 and the vision module 11. The first heat dissipation fin group 121 and the second heat dissipation fin group 122 each include a plurality of heat dissipation fins 1211.

[0068] In this embodiment, the top plate 21 includes a main body 211 and a first connecting portion 212. The first connecting portion 212 is connected between the main body 211 and the first side plate 22. The first connecting portion 212 is tilted relative to the main body 211 toward the direction close to the visual module 11, and is tilted relative to the first side plate 22 toward the direction away from the visual module 11. The main body 211 is roughly trapezoidal, and the first connecting portion 212 is roughly triangular, with the long side of the first connecting portion 212 connected to the hypotenuse of the main body 211. Along the front-to-back direction Y of the robot 100, the height above the ground of the side of the main body 211 close to the front end of the robot 100 is less than the height above the ground of the side close to the rear end of the robot 100. The setting of the first connecting portion 212 can improve the elastic deformation ability of the shielding body 200 at the position of the first connecting portion 212, so that when the user presses the main body 211, the first side panel 22 bends relative to the main body 211 in the direction away from the visual module 11, thereby facilitating the separation of the supporting portion 24 and the fixing portion 1111, thereby facilitating the disassembly of the shielding module 20 and the visual module 11.

[0069] The shielding body 200 also includes a second side panel 23. In this embodiment, the first side panel 22 and the top panel 21 are arranged along the width direction X of the robot 100. The second side panel 23 is connected to the side of the first side panel 22 close to the rear end of the robot 100 along the front-to-back direction Y of the robot 100. The second side panel 23 is tilted relative to the first side panel 22 toward the direction of the vision module 11. The heat dissipation structure 12 also includes a third heat dissipation fin group 123, which is located between the second side panel 23 and the vision module 11. The third heat dissipation fin group 123 includes a plurality of heat dissipation fins 1211. The heat dissipation fins 1211 in the third heat dissipation fin group 123 can be aligned with the heat dissipation fins 1211 in the second heat dissipation fin group 122 along the front-to-back direction Y of the robot 100.

[0070] The shielding body 200 also includes a second connecting portion 213. The second connecting portion 213 is connected to a side of the top plate 21 close to the rear end of the robot 100. The second connecting portion 213 is connected to the second side plate 23 along the side of the width direction X of the robot 100. The second connecting portion 213 is tilted relative to the second side plate 23 in a direction away from the visual module 11. The second connecting portion 213 can block sunlight from the side to prevent sunlight from directly hitting the visual module 11. There are two second connecting portions 213. The two second connecting portions 213 are spaced apart along the width direction X of the robot 100, and an air outlet 202 is formed between the two second connecting portions 213.

[0071] In this embodiment, the main body 211, the first connecting portion 212, the first side panel 22, the second side panel 23, and the second connecting portion 213 are integrally formed to reduce manufacturing costs. In some embodiments, one or more of the main body 211, the first connecting portion 212, the first side panel 22, the second side panel 23, and the second connecting portion 213 can be independently formed.

[0072] Please refer to Figures 2, 5, 6 and 7 together. The support part 24 and the fixing part 1111 can be connected by a clamping arrangement. One of the support part 24 and the fixing part 1111 is configured as a hook, and the other is provided with a clamping hole that cooperates with the hook. The hook is used to cooperate with the clamping hole for fixing, and after the hook is clamped into the clamping hole, the clamping hole can limit the movement of the hook. For example, in this embodiment, the support part 24 is configured as a hook, and the fixing part 1111 is configured as a clamping hole provided on the side of the vision module 11 along the width direction X of the robot 100. When installing the shielding module 20, the user can press the shielding module 20 onto the vision module 11 along the height direction of the robot 100 so that the hook is clamped into the clamping hole. When disassembling the shielding module 20, after the user presses the top plate 21, the top plate 21 and the first side plate 22 bend in the direction away from the visual module 11, and the end of the first side plate 22 away from the top plate 21 is tilted in the direction away from the visual module 11, and drives the support part 24 to flip outward in the direction away from the visual module 11, and the hook disengages from the hole, thereby realizing the disassembly of the shielding module 20 and the visual module 11.

[0073] In this embodiment, a positioning structure 25 is provided on the side of the shielding body 200 facing the visual module 11. A matching structure 1112 that matches the positioning structure 25 is provided on the visual module 11. The positioning structure 25 can be provided on the side of the main body 211 of the top plate 21 facing the visual module 11. The positioning structure 25 and the matching structure 1112 are used to position the shielding module 20 when the shielding module 20 is installed on the visual module 11, so as to facilitate the alignment and engagement of the support portion 24 with the fixing portion 1111. After the shielding module 20 is installed on the visual module 11, the positioning structure 25 can also support the shielding module 20 so that the shielding module 20 is fixed relative to the visual module 11, so that the support portion 24 can be more firmly engaged with the fixing portion 1111 to prevent the support portion 24 from falling out of the fixing portion 1111. One of the positioning structure 25 and the matching structure 1112 can be configured as a positioning pin, and the other can be configured as a positioning groove or a positioning hole. For example, the positioning structure 25 can be configured as a positioning pin, and the mating structure 1112 can be configured as a positioning hole. Two support portions 24 can be provided. The two support portions 24 are respectively located at the ends of the two first side panels 22 away from the top panel 21, and are located on the side of the first side panels 22 facing the vision module 11. Two positioning structures 25 can be provided, and the two positioning structures 25 are located between the two support portions 24 and spaced apart from the support portions 24.

[0074] In some embodiments, the positioning structure 25 is slidably disposed relative to the mating structure 1112 along the height direction Z of the robot 100. When the shielding body 200 is pressed, the positioning structure 25 slides relative to the mating structure 1112 along the height direction Z of the robot 100 to increase the bending deformation of the top plate 21, causing the end of the first side plate 22 away from the top plate 21 to tilt further away from the vision module 11, thereby reducing the difficulty of disassembling the shielding module 20 from the vision module 11. In some cases, when the positioning structure 25 slides to abut against the vision module 11, due to the stopping effect of the positioning structure 25, the user can further bend the top plate 21 when pressing the top plate 21, thereby further tilting the end of the first side plate 22 away from the top plate 21 away from the vision module 11.

[0075] In some embodiments, the visual device 10 further includes a reinforcing rib 241 connected to the support portion 24 and the shielding body 200, respectively, to strengthen the connection strength between the support portion 24 and the shielding body 200. The reinforcing rib 241 can be provided on one side of the support portion 24 away from the middle of the shielding body 200 along the width direction X of the robot 100. In some embodiments, a reflective structure is provided on the side of the shielding body 200 facing away from the visual module 11, and the reflective structure is used to reflect sunlight irradiated on the shielding body 200, thereby reducing the heat absorbed by the shielding body 200. The reflective structure can be configured as a surface on one side of the shielding body 200 facing away from the visual module 11, and the surface on the side of the shielding body 200 facing away from the visual module 11 is a smooth surface, so that the shielding body 200 reflects light. For example, the shielding body 200 can be polished to make the surface of the shielding body 200 smooth. In some embodiments, the reflective structure can also be configured as a reflective coating provided on the surface of the side of the shielding body 200 facing away from the visual module 11. The reflective coating has a high reflectivity to light. For example, the reflective coating can be an aluminum coating, a tin coating, a magnesium coating, etc.

[0076] In some embodiments, the top plate 21 and the first side plate 22 can be arranged along the front-to-back direction Y of the robot 100, and the two first side plates 22 are connected to both sides of the top plate 21 along the front-to-back direction Y of the robot 100. The support portion 24 is provided at the end of the first side plate 22 away from the top plate 21 along the front-to-back direction Y of the robot 100, and is located on the side of the first side plate 22 facing the vision module 11. The support portion 24 and the shielding body 200 can be integrally formed, or the support portion 24 and the shielding body 200 can be separately provided and fixedly connected together by welding, welding, bonding, clamping, etc. In some embodiments, the top plate 21 and the first side plate 22 can be arranged along other suitable directions of the robot 100, which is not specifically limited in this application.

[0077] Please refer to Figure 8, which is a schematic diagram of the structure of the shielding module 20 provided in some embodiments of the present application. The shielding body 200 of the shielding module 20 is generally flat. The support portion 24 is bent relative to the shielding body 200 toward the visual module 11. A latching protrusion is provided on the side of the support portion 24 facing the visual module 11, which is configured to engage with a latching hole. When the shielding module 20 is installed on the visual module 11, the latching protrusion is accommodated in the latching hole. The shielding body 200 is elastic. When the user presses the shielding body 200, the shielding body 200 is deformed downward toward the visual module 11. Due to the deformation of the shielding body 200, the support portion 24 is turned outward relative to the visual module 11, thereby disengaging the latching protrusion from the latching hole, thereby enabling the shielding module 20 to be disassembled from the visual module 11. It should be noted that the arrangement of the shielding body 200 and the support portion 24 in the embodiment shown in Figure 8 of the present application can be combined with or applied to other embodiments herein.

[0078] Please refer to Figure 3 and Figure 9 together. Figure 9 is a partial cross-sectional view of the robot 100 provided in an embodiment of the present application. The present application provides a robot 100, which includes a walking device 110 and a visual device 10. The visual device 10 also includes a support base 32. The support base 32 is fixedly connected to the walking device 110. When the robot 100 is working, the support base 32 is located on the side of the walking device 110 away from the ground. The visual module 11 is fixedly connected to one end of the support base 32 away from the walking device 110. The visual module 11 is protruded relative to the support base 32 along the width direction X of the walking device 110. A heat dissipation duct 301 is formed between the protruding portion of the visual module 11 relative to the support base 32 and the walking device 110. When the walking device 110 is moving, the external air will form an airflow when flowing through the heat dissipation duct 301, and the airflow in the heat dissipation duct 301 will form heat exchange with the visual module 11 and the support seat 32. The heat generated by the visual module 11 is dissipated into the air through the heat dissipation duct 301. Therefore, on the basis of the spontaneous heat dissipation of the visual module 11, the airflow in the heat dissipation duct 301 further dissipates the heat of the visual module 11, thereby improving the heat dissipation efficiency of the visual module 11, thereby preventing the temperature inside the visual module 11 from exceeding the preset operating temperature, and ensuring that the robot 100 can continue to work normally.

[0079] Referring to Figures 1, 2, and 3, the visual device 10 further includes a fixing base 31 and a support base 32. The fixing base 31 is connected between the traveling device 110 and the support base 32. The fixing base 31 protrudes relative to the support base 32 along the width direction X of the traveling device 110 to enhance the connection stability between the support base 32 and the traveling device 110 and reduce vibrations generated by the visual module 11 when the traveling device 110 is in motion. A cooling duct 301 is formed between the fixing base 31 and the visual module 11. The mounting surface 1101 on the traveling device 110 for mounting the fixing base 31 is tilted toward the ground. The ground clearance of the fixing base 31 near the front end of the traveling device 110 is lower than the ground clearance of the fixing base 31 near the rear end of the traveling device 110. When the traveling device 110 is in motion, air flows along the mounting surface 1101 and, guided by the mounting surface 1101, flows into the cooling duct 301.

[0080] Along the width direction X of the running device 110, the height of the heat dissipation duct 301 on the side close to the support base 32 is smaller than the height of the heat dissipation duct 301 on the side away from the support base 32. This can increase the surface area of ​​the visual module 11 facing the heat dissipation duct 301 and improve the heat dissipation efficiency of the visual module 11. The cross-section of the heat dissipation duct 301 along the width direction X of the running device 110 is roughly trumpet-shaped. After the air absorbs the heat emitted by the visual module 11 and the support base 32, the air undergoes thermal expansion. The trumpet-shaped cross-section of the heat dissipation duct 301 is conducive to the rapid flow of hot air out of the heat dissipation duct 301, thereby taking away the heat in time. Fixed seat 31 Fixed seat 31.

[0081] Fixed seat 31 Fixed seat 31 Support seat 32 Fixed seat 31 Fixed seat 31 The vision module 11 includes a housing 111 and a vision assembly 13 disposed within the housing 111. The vision assembly 13 includes a camera 131, a circuit substrate 132, and a fixing bracket 133. The fixing bracket 133 is fixedly connected to the housing 111. The camera 131 and the circuit substrate 132 are respectively mounted and fixed on the fixing bracket 133. The camera 131 is electrically connected to the circuit substrate 132. The circuit substrate 132 and the housing 111 are thermally conductively connected to conduct heat to the outside through the housing 111. In some embodiments, a heat conductor is provided between the circuit substrate 132 and the housing 111 to improve the thermal conductivity between the circuit substrate 132 and the housing 111. Exemplarily, the heat conductor can be configured as thermal grease. A camera hole 1113 is provided on one side of the housing 111 near the front end of the robot 100. The camera 131 is positioned corresponding to the camera hole 1113.

[0082] The vision module 11 includes a first housing 1101 and a second housing 1102. The first housing 1101 is fixedly connected to the support base 32. The second housing 1102 is connected to the rear end of the first housing 1101 along the front-to-back direction Y of the walking device 110. In some embodiments, the support base 32 can be fixedly connected to the second housing 1102, or fixedly connected to the first housing 1101 and the second housing 1102.

[0083] The heat dissipation duct 301 includes a first heat dissipation section 3011 and a second heat dissipation section 3012. The first heat dissipation section 3011 is located between the first shell 1101 and the traveling device 110. The second heat dissipation section 3012 is located between the second shell 1102 and the traveling device 110. The height of the end of the first heat dissipation section 3011 away from the second heat dissipation section 3012 along the height direction Z of the traveling device 110 is greater than the height of the end of the first heat dissipation section 3011 close to the second heat dissipation section 3012 along the height direction Z of the traveling device 110. From the first heat dissipation section 3011 toward the second heat dissipation section 3012, the height of the first heat dissipation section 3011 decreases. When the traveling device 110 is traveling, the flow area of ​​the air flowing through the first heat dissipation section 3011 decreases, and the air flow rate increases. The increase in the air flow rate can improve the heat exchange efficiency between the visual module 11 and the air, thereby improving the heat dissipation effect of the visual module 11.

[0084] The height of the second heat dissipation section 3012, located near the first heat dissipation section 3011, along the height direction Z of the running device 110 is less than the height of the second heat dissipation section 3012, located far from the first heat dissipation section 3011, along the height direction Z of the running device 110. When air flows from the first heat dissipation section 3011 into the second heat dissipation section 3012, the air flow area increases, causing the air to expand. As the air expands, it absorbs heat, further absorbing heat from the second housing 1102 and improving the heat dissipation efficiency of the vision module 11. In some embodiments, the height of the second heat dissipation section 3012, located near the first heat dissipation section 3011, along the height direction Z of the running device 110 is equal to the height of the second heat dissipation section 3012, located far from the first heat dissipation section 3011, along the height direction Z of the running device 110.

[0085] The dimension of the end of the second shell 1102 close to the first shell 1101 along the height direction Z of the walking device 110 is larger than the dimension of the end of the second shell 1102 away from the first shell 1101 along the height direction Z of the walking device 110. In this way, when the air flows through the second shell 1102, a flow layer attached to the outer surface of the second shell 1102 will be formed, thereby improving the heat exchange efficiency between the second shell 1102 and the air.

[0086] The vision module 11 and / or the mounting base 31 are provided with a plurality of heat dissipation fins 311 located within the heat dissipation duct 301. The heat dissipation fins 311 can increase the contact area with the air, thereby improving the heat dissipation efficiency. The plurality of heat dissipation fins 311 are arranged at intervals along the width direction X of the walking device 110. The plurality of heat dissipation fins 311 can be arranged parallel to each other and parallel to the extension direction of the heat dissipation duct 301, thereby improving the heat dissipation efficiency when the heat dissipation fins 311 come into contact with the air. In some embodiments, the plurality of heat dissipation fins 311 can be arranged such that at least some of the heat dissipation fins 311 are angled with each other.

[0087] In this embodiment, the plurality of heat dissipating fins 311 include first heat dissipating fins 3111 and second heat dissipating fins 3112. The vision module 11 is provided with the first heat dissipating fins 3111, which are located within the heat dissipation duct 301. Heat from the vision module 11 can be transferred to the first heat dissipating fins 3111 and dissipated into the air through the first heat dissipating fins 3111. The support base 32 is provided with the second heat dissipating fins 3112, which are located within the heat dissipation duct 301. Heat from the vision module 11 is transferred to the support base 32 via the fixing base 31, and the support base 32 transfers the heat into the air via the second heat dissipating fins 3112.

[0088] Along the front-to-back direction Y of the running device 110, the distance between the first cooling fins 3111 and the second cooling fins 3112 along the height direction Z of the running device 110 decreases, thereby increasing the air velocity as it flows through the first cooling fins 3111 and the second cooling fins 3112, thereby improving heat dissipation efficiency. The trumpet-shaped cross-section of the heat dissipation duct 301 along the width direction X of the running device 110 also allows for more first cooling fins 3111 to be positioned on the side of the vision module 11 facing the heat dissipation duct 301, further improving the heat dissipation efficiency of the vision module 11.

[0089] The support base 32 has a side surface along the front-to-back direction Y of the traveling device 110, which faces the front end of the traveling device 110, configured as an air guide surface 322. The side of the air guide surface 322 closer to the vision module 11 is tilted relative to the side of the air guide surface 322 closer to the traveling device 110, toward the rear end of the traveling device 110. When the traveling device 110 is in motion, the air guide surface 322 can guide air away from the ground. After flowing upward through the vision module 11, the air is stopped by the shielding module 20 and enters the gap 201, thereby allowing more air to enter the gap 201 and increasing the air flow rate within the gap 201, thereby improving the heat dissipation effect of the vision module 11.

[0090] The surface of one side of the vision module 11 near the front end of the walking device 110 can be constructed as a plane to facilitate air flow over the vision module 11 under the guidance of the wind guide surface 322, thereby reducing the resistance of the vision module 11 to the air. The side of the vision module 11 near the front end of the walking device 110 protrudes toward the front end of the walking device 110 relative to the wind guide surface 322, and the connection between the wind guide surface 322 and the vision module 11 is located on the side of the vision module 11 facing the walking device 110. In some embodiments, the side of the vision module 11 near the front end of the walking device 110 is connected to the side of the wind guide surface 322 near the rear end of the walking device 110 to reduce the obstruction of the vision module 11 to the air, so that the air can flow more quickly from the wind guide surface 322 to the gap 201, thereby increasing the flow rate of the air in the gap 201.

[0091] A protrusion 1114 is provided on the side of the vision module 11 facing the shielding module 20. Along the height direction Z of the running device 110, the ground clearance of the protrusion 1114 on the side closer to the front end of the running device 110 along the front-to-back direction Y of the running device 110 is lower than the ground clearance of the side closer to the rear end of the running device 110. The protrusion 1114 is located in the middle of the vision module 11 along the width direction X of the running device 110. The shielding module 20 is positioned so that it protrudes away from the vision module 11 at the position corresponding to the protrusion 1114.

[0092] The protrusion 1114 and the air guide surface 322 are arranged side by side along the front-to-back direction Y of the running device 110. This can reduce the turning radius of air when flowing into the gap 201, reduce air flow loss, and increase the air flow rate in the gap 201, thereby better dissipating heat from the vision module 11. The protrusion 1114 and the air guide surface 322 can be aligned along the front-to-back direction Y of the running device 110, that is, the protrusion 1114 and the air guide surface 322 are respectively located in the middle of the vision module 11 along the width direction X of the running device 110, so that more air flowing over the air guide surface 322 enters the gap 201 corresponding to the protrusion 1114, thereby increasing the air flow rate in the gap 201. In some embodiments, the protrusion 1114 and the air guide surface 322 can be staggered along the width direction X of the running device 110, such that the protrusion 1114 or the air guide surface 322 is staggered with the middle of the vision module 11 along the width direction X of the running device 110.

[0093] The vision module 11 also includes a protective member 134 disposed on the side of the housing 111 corresponding to the camera hole 1113. Protective member 134 is used to cover the camera hole 1113 to prevent external moisture and debris from entering the housing 111 through the camera hole 1113. Protective member 134 is configured as a light-transmitting structure at the position corresponding to the camera hole 1113, allowing the camera 131 to capture image information in front of the robot 100 through the camera hole 1113.

[0094] The vision module 11 also includes a connecting cable 135. This cable 135 is used to electrically connect the circuit board 132 to other components of the robot 100. The support base 32 defines a connection hole 321 through which the connecting cable 135 passes. The vision module 11 also includes a connector 312, which is sealed to the connection hole 321. The connector 312 defines a through-hole through which the connecting cable 135 passes.

[0095] 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, which is applied to a robot, characterized in that: The visual device comprises: A visual module is provided on the robot; A shielding module, the shielding module includes a shielding body and a supporting portion, the shielding body is arranged on a side of the visual module away from the robot along the height direction of the robot, and a gap is arranged between the shielding body and the visual module; the supporting portion is connected to the end of the shielding body, and is protruded relative to the shielding body toward the direction of the visual module, the visual module is provided with a fixing portion cooperating with the supporting portion, and the supporting portion and the fixing portion are detachably arranged along a height direction perpendicular to the robot.

2. The visual device according to claim 1, characterized in that The shielding body is arranged in an arch shape.

3. The visual device according to claim 1, characterized in that The shielding body includes a top plate and a first side plate, wherein the first side plate is connected to a side portion of the top plate, and the first side plate is tilted relative to the top plate toward the visual module.

4. The visual device according to claim 3, characterized in that Along the front-to-back direction of the robot, the height of the top plate from the ground on a side close to the front end of the robot is smaller than the height of the top plate from the ground on a side close to the rear end of the robot.

5. The visual device according to claim 3, characterized in that: The top plate includes a main body and a first connecting portion, wherein the first connecting portion is connected between the main body and the first side plate, and the first connecting portion is inclined relative to the main body toward a direction close to the visual module, and is inclined relative to the first side plate toward a direction away from the visual module.

6. The visual device according to claim 3, characterized in that: The shielding body also includes a second side panel, the first side panel and the top panel are arranged along the width direction of the robot, the second side panel is connected to the first side panel along the front-to-back direction of the robot close to the rear end of the robot, and the second side panel is tilted relative to the first side panel toward the direction of the visual module.

7. The visual device according to claim 6, characterized in that The shielding body further includes a second connecting portion, which is connected to a side of the top plate close to the rear end of the robot, and the side of the second connecting portion along the width direction of the robot is connected to the second side plate.

8. The visual device according to claim 1, characterized in that One of the supporting portion and the fixing portion is configured as a hook, and the other is provided with a hook hole matched with the hook.

9. The visual device according to claim 1, characterized in that: A positioning structure is provided on the side of the shielding body facing the visual module, and the visual module is provided with a matching structure matching with the positioning structure.

10. The visual device according to claim 9, characterized in that The positioning structure is slidably arranged relative to the matching structure along the height direction of the robot.

11. The visual device according to claim 1, characterized in that The visual device also includes reinforcing ribs respectively connected to the supporting portion and the shielding body.

12. The visual device according to claim 1, characterized in that The visual device further comprises a heat dissipation structure arranged between the visual module and the shielding body, and the heat dissipation structure is thermally connected to the visual module.

13. The visual device according to claim 12, characterized in that The heat dissipation structure and the shielding body are spaced apart from each other.

14. The visual device according to claim 12, characterized in that The heat dissipation structure includes a plurality of heat dissipation fins arranged at intervals.

15. The visual device according to claim 1, characterized in that Along the front-rear direction of the robot, the shielding body is provided with an air outlet communicating with the gap at a middle portion close to the rear end of the robot.

16. The visual device according to claim 1, characterized in that The shielding body is protruded relative to the visual module toward the front end of the robot along the front-rear direction of the robot, and / or the shielding body is protruded relative to the visual module along the width direction of the robot.

17. The visual device according to claim 1, characterized in that A reflective structure is arranged on a side of the shielding body facing away from the visual module.

18. The visual device according to claim 1, characterized in that The visual device is applied to the walking device of the robot, and the visual device also includes a support base, which is fixedly connected to the walking device. The visual module is fixedly connected to one end of the support base away from the walking device, and the visual module is protruded relative to the support base along the width direction of the walking device. A first heat dissipation duct is formed between the protruding part of the visual module relative to the support base and the walking device.

19. The visual device according to claim 18, characterized in that Along the width direction of the walking device, the height of the first heat dissipation duct on a side close to the support base is smaller than the height on a side away from the support base.

20. The visual device according to claim 18, characterized in that The visual module includes a first shell and a second shell. Along the front-to-back direction of the walking device, the second shell is connected to the rear end of the first shell. The first heat dissipation duct includes a first heat dissipation section and a second heat dissipation section. The first heat dissipation section is located between the first shell and the walking device, and the second heat dissipation section is located between the second shell and the walking device.

21. The visual device according to claim 20, characterized in that A height of one end of the first heat dissipation section away from the second heat dissipation section along the height direction of the running device is greater than a height of one end of the first heat dissipation section close to the second heat dissipation section along the height direction of the running device.

22. The visual device according to claim 20, characterized in that A height of one end of the second heat dissipation section close to the first heat dissipation section along the height direction of the running device is less than or equal to a height of one end of the second heat dissipation section away from the first heat dissipation section along the height direction of the running device.

23. The visual device according to claim 20, characterized in that A dimension of an end of the second shell close to the first shell along the height direction of the running device is greater than a dimension of an end of the second shell away from the first shell along the height direction of the running device.

24. The visual device according to claim 18, characterized in that The visual device also includes a fixed seat, which is connected between the walking device and the supporting seat. The fixed seat is protruded relative to the supporting seat along the width direction of the walking device. The first heat dissipation duct is formed between the fixed seat and the visual module. The visual module and / or the fixed seat are provided with a plurality of heat dissipation fins located in the first heat dissipation duct.

25. The visual device according to claim 24, characterized in that The visual module is provided with a first heat sink located in the first heat dissipation duct, and the fixed seat is provided with a second heat sink located in the first heat dissipation duct. Along the direction from the front end to the rear end of the walking device, the distance between the first heat sink and the second heat sink along the height direction of the walking device decreases.

26. The visual device according to claim 24, characterized in that The plurality of heat dissipation fins are arranged at intervals along the width direction of the traveling device.

27. The visual device according to claim 18, characterized in that The support seat has a side surface along the front-to-back direction of the walking device toward the front end of the walking device constructed as a wind guide surface, and the side of the wind guide surface close to the visual module is inclined toward the rear end of the walking device relative to the side of the wind guide surface close to the walking device.

28. The visual device according to claim 27, characterized in that A protrusion is provided on one side of the vision module toward the shielding module, and along the height direction of the walking device, the height of the protrusion from the ground on the side close to the front end of the walking device along the front-back direction of the walking device is smaller than the height from the ground on the side close to the rear end of the walking device.

29. The visual device according to claim 28, characterized in that The protrusion and the wind guide surface are arranged side by side along the front-rear direction of the walking device.

30. The visual device according to claim 28, characterized in that A plurality of heat dissipation fins are arranged on one side of the vision module facing the shielding module, and the plurality of heat dissipation fins are arranged at intervals along the width direction of the walking device.

31. The visual device according to claim 30, characterized in that The plurality of heat sink fins include a first heat sink fin group and a second heat sink fin group. The first heat sink fin group and the second heat sink fin group respectively include a plurality of heat sink fins. The first heat sink fin group is arranged on the protrusion, and the second heat sink fin group is arranged at a position of the visual module corresponding to the protrusion outside the protrusion.

32. A robot, characterized in that: It comprises a walking device and a visual device as described in any one of claims 1 to 31, wherein the visual device is installed on the walking device.

Images