CN221338585U - Vision device and robot - Google Patents

Abstract

The utility model provides a vision device and a robot. The vision device comprises a supporting part and a vision module. The supporting part is fixedly connected to the walking device. The vision module is fixedly connected to one end of the supporting part, which is far away from the traveling device, the vision module is arranged along the protruding part of the supporting part in the width direction of the traveling device, a first heat dissipation air channel is formed between the protruding part of the vision module, which is opposite to the supporting part, and the traveling device is used for forming heat exchange with the vision module and the supporting part when the outside air flows through the first heat dissipation air channel, the heat generated by the vision module is dissipated into the air through the first heat dissipation air channel, and the vision module is further cooled through the air flow in the first heat dissipation air channel on the basis of spontaneous heat dissipation of the vision module, so that the heat dissipation efficiency of the vision module is improved, the temperature inside the vision module is prevented from exceeding the preset working temperature, and the robot is ensured to continuously and normally work.

Description

Vision device and robot

Technical Field

The utility model relates to the technical field of heat dissipation, in particular to a vision device and a robot.

Background

The vision device of robot can produce a large amount of heat at the during operation, and current vision device's radiating effect is poor, and the inside temperature of vision device exceeds preset operating temperature easily after long-time work, and the vision device is in the during operation under the high temperature state for a long time, and the life of vision device can seriously reduce, takes place to damage easily.

Disclosure of utility model

The utility model provides a vision device and a robot, which are used for solving the problem of poor heat dissipation effect of the vision device.

In a first aspect, the present utility model provides a vision device for use with a running gear. The vision device comprises a supporting part and a vision module. The supporting part is fixedly connected to the walking device. The vision module is fixedly connected to one end, far away from the running gear, of the supporting portion, the vision module is arranged in a protruding mode relative to the supporting portion in the width direction of the running gear, and a first heat dissipation air channel is formed between the protruding portion of the vision module relative to the supporting portion and the running gear.

In some embodiments, along the width direction of the walking device, the height of the side of the first heat dissipation air duct, which is close to the supporting portion, is smaller than the height of the side, which is far away from the supporting portion.

In some embodiments, the vision module includes a first housing and a second housing, the second housing being connected to the first housing rear end in a front-to-rear direction of the running gear, the first heat dissipation duct including a first heat dissipation section and a second heat dissipation section, the first heat dissipation section being located between the first housing and the running gear, the second heat dissipation section being located between the second housing and the running gear.

In some embodiments, a height of an end of the first heat dissipation section, which is far from the second heat dissipation section, along a height direction of the running gear is greater than a height of an end of the first heat dissipation section, which is near to the second heat dissipation section, along the height direction of the running gear.

In some embodiments, a height of an end of the second heat dissipation section, which is close to the first heat dissipation section, along a height direction of the running gear is less than or equal to a height of an end of the second heat dissipation section, which is far away from the first heat dissipation section, along the height direction of the running gear.

In some embodiments, a dimension of an end of the second housing near the first housing in a height direction of the running gear is greater than a dimension of an end of the second housing far from the first housing in the height direction of the running gear.

In some embodiments, the vision device further includes a fixing portion, the fixing portion is connected between the walking device and the supporting portion, the fixing portion is arranged to protrude from the supporting portion along a width direction of the walking device, the first heat dissipation air duct is formed between the fixing portion and the vision module, and the vision module and/or the fixing portion are provided with a plurality of heat dissipation fins located in the first heat dissipation air duct.

In some embodiments, the vision module is provided with a first heat sink located in the first heat dissipation air duct, the fixing portion is provided with a second heat sink located in the first heat dissipation air duct, and the distance between the first heat sink and the second heat sink along the height direction of the walking device is reduced along the direction from the front end to the rear end of the walking device.

In some embodiments, the plurality of heat dissipation fins are arranged at intervals along the width direction of the travelling device.

In some embodiments, the vision device further comprises a shielding piece, the shielding piece is located on one side of the vision module away from the supporting portion, and a second heat dissipation air channel is formed between the shielding piece and the vision module.

In some embodiments, the shielding member is provided to protrude toward the front end of the running gear with respect to the vision module in the front-rear direction of the running gear, and/or the shielding member is provided to protrude with respect to the vision module in the width direction of the running gear.

In some embodiments, a side surface of the support portion facing the front end of the running gear in the front-rear direction of the running gear is configured as an air guiding surface, and a side of the air guiding surface near the vision module is obliquely arranged relative to a side of the air guiding surface near the running gear in a direction facing the rear end of the running gear.

In some embodiments, a protrusion is provided on a side of the vision module facing the shielding member, and a ground clearance of a side of the protrusion, which is adjacent to the front end of the running gear in the front-rear direction of the running gear, is smaller than a ground clearance of a side, which is adjacent to the rear end of the running gear, in the height direction of the running gear.

In some embodiments, the protrusions and the wind guiding surface are arranged side by side along the front-rear direction of the walking device.

In some embodiments, a plurality of radiating fins are arranged on one side of the vision module, facing the shielding piece, and the radiating fins are arranged at intervals along the width direction of the travelling device.

In some embodiments, the plurality of heat dissipation fins includes a first heat dissipation fin group and a second heat dissipation fin group, the first heat dissipation fin group and the second heat dissipation fin group respectively include a plurality of heat dissipation fins, the first heat dissipation fin group is disposed on the protrusion, and the second heat dissipation fin group is disposed at a position of the vision module corresponding to the outside of the protrusion.

In a second aspect, the present utility model provides a robot comprising a running gear and a vision device as defined in any one of the preceding claims, the vision device being arranged on the running gear.

According to the vision device and the robot, based on the first heat dissipation air channel formed between the vision module and the traveling device, air flow is formed when the traveling device travels through the first heat dissipation air channel, heat exchange is formed between the air flow in the first heat dissipation air channel, the vision module and the supporting part, and heat generated by the vision module is dissipated into the air through the first heat dissipation air channel, so that the vision module is further cooled through the air flow in the first heat dissipation air channel on the basis of spontaneous heat dissipation of the vision module, the heat dissipation efficiency of the vision module is improved, the temperature inside the vision module is further prevented from exceeding the preset working temperature, and the robot is ensured to continuously and normally work.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a partial block diagram of a robot according to an embodiment of the present utility model.

Fig. 2 is a schematic structural diagram of a vision apparatus according to an embodiment of the present disclosure.

Fig. 3 is an exploded view of a vision apparatus provided by an embodiment of the present utility model.

The main reference numerals illustrate: a robot 100; a walking device 110; a mounting surface 1101; a vision device 10; a vision module 11; a first housing 111; projections 1111; a second housing 112; a first heat radiation air duct 121; a first heat dissipation section 1211; a second heat sink section 1212; a second heat dissipation air duct 122; a fitting portion 13; a support portion 21; an air guiding surface 211; a fixing portion 22; a heat radiation fin 31; the first heat sink 311; a second heat sink 312; a heat radiation fin 32; a first fin group 321; second fin group 322; a shutter 40; a body portion 41; a connection portion 42.

The utility model will be further described in the following detailed description in conjunction with the above-described figures.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some, but not all embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Reference herein to "an embodiment" or "implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment or implementation may be included in at least one embodiment of the utility model. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

It is to be understood that the terminology used in the description and claims of the utility model and in the above description and drawings is for the purpose of describing particular embodiments only, and is not intended to be limiting of the utility model. The terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. The term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

Referring to fig. 1 and fig. 2 together, fig. 1 is a partial cross-sectional view of a robot 100 according to an embodiment of the present utility model; fig. 2 is a schematic structural diagram of a vision apparatus 10 according to an embodiment of the present utility model. The present utility model provides a robot 100, the robot 100 comprising a running gear 110 and a vision device 10. The vision apparatus 10 is disposed on the running gear 110. The vision device 10 is used for capturing picture information on a traveling route of the robot 100, and the controller of the robot 100 determines a current road condition according to the picture information captured by the vision device 10, so as to regulate and control the traveling route and the working state of the robot 100. The robot 100 may be a four-wheeled walking robot, a mowing robot, a pesticide spraying robot, a crop harvesting robot, or the like.

For the sake of clarity, in the present utility model, the X-axis direction is defined as the width direction of the running gear 110, the Y-axis direction is defined as the front-rear direction of the running gear 110, and the Z-axis direction is defined as the height direction of the running gear 110. The running gear 110 is perpendicular to each other in the length direction, width direction, and height direction. The positive direction of the Y axis is the front end direction of the traveling device 110, and the negative direction of the Y axis is the rear end direction of the traveling device 110. When the traveling device 110 is operated, the traveling device travels forward in the forward direction of the Y axis and travels backward in the reverse direction of the Y axis. For convenience of description, the vertical, horizontal, front-rear directions in the present utility model are relative positions, and are not limited to implementation. The front-rear direction, width direction and height direction of the running gear 110 can be customized according to the specific structure of the product and the view angle of the drawing, and the utility model is not particularly limited.

The vision apparatus 10 includes a vision module 11 and a support 21. The support portion 21 is fixedly connected to the running gear 110. When the robot 100 is in operation, the support 21 is located on the side of the running gear 110 away from the ground. The vision module 11 is fixedly connected to one end of the supporting portion 21 away from the walking device 110. The vision module 11 is provided to protrude from the support 21 in the width direction X of the running gear 110. A first heat dissipation air duct 121 is formed between the portion of the vision module 11 protruding from the supporting portion 21 and the running gear 110. In the running process of the running device 110, air flow is formed when air flows through the first heat dissipation air duct 121, heat exchange is formed between the air flow in the first heat dissipation air duct 121 and the vision module 11 and the supporting portion 21, and heat generated by the vision module 11 is dissipated into the air through the first heat dissipation air duct 121, so that the heat dissipation of the vision module 11 is further carried out through the air flow in the first heat dissipation air duct 121 on the basis of spontaneous heat dissipation of the vision module 11, the heat dissipation efficiency of the vision module 11 is improved, the fact that the temperature inside the vision module 11 exceeds the preset working temperature is avoided, and the robot 100 is guaranteed to continuously and normally work.

The ocular device 10 further comprises a fixation portion 22. The fixing portion 22 is connected between the running gear 110 and the supporting portion 21. The fixing portion 22 is protruded along the width direction X of the running gear 110 relative to the supporting portion 21, so as to improve the connection stability between the supporting portion 21 and the running gear 110, and reduce the vibration generated by the vision module 11 when the running gear 110 runs. A first heat dissipation duct 121 is formed between the fixing portion 22 and the vision module 11. The mounting surface 1101 of the running gear 110 for mounting the fixing portion 22 is inclined in a direction toward the ground, and the ground clearance of the fixing portion 22 on the side near the front end of the running gear 110 is smaller than the ground clearance of the fixing portion 22 on the side near the rear end of the running gear 110. When the traveling device 110 travels, air flows along the mounting surface 1101, and flows into the first heat radiation air duct 121 under the guiding action of the mounting surface 1101.

Along the width direction X of the running device 110, the height of the first cooling air duct 121 near the supporting portion 21 is smaller than the height of the first cooling air duct 121 far away from the supporting portion 21, so that the surface area of the vision module 11 facing the first cooling air duct 121 can be increased, and the cooling efficiency of the vision module 11 can be improved. The cross section of the first heat dissipation air duct 121 along the width direction X of the running gear 110 is substantially horn-shaped. After the air absorbs the heat emitted by the vision module 11 and the supporting portion 21, the air thermally expands, and the cross section of the first heat dissipation air duct 121 is in a horn shape, so that the hot air can flow away from the first heat dissipation air duct 121 quickly, and the heat can be taken away timely.

The vision module 11 includes a first housing 111 and a second housing 112. The first housing 111 is fixedly connected to the support portion 21. The second housing 112 is connected to the rear end of the first housing 111 in the front-rear direction Y of the running gear 110. In some embodiments, the support portion 21 may be fixedly connected to the second housing 112, or fixedly connected to the first housing 111 and the second housing 112, respectively.

The first heat dissipation air duct 121 includes a first heat dissipation section 1211 and a second heat dissipation section 1212. The first heat dissipation section 1211 is located between the first housing 111 and the running gear 110. The second heat dissipation section 1212 is located between the second housing 112 and the running gear 110. The height of the end of the first heat dissipation section 1211, which is far from the second heat dissipation section 1212, along the height direction Z of the running gear 110 is greater than the height of the end of the first heat dissipation section 1211, which is near to the second heat dissipation section 1212, along the height direction Z of the running gear 110. From the first heat dissipation section 1211 toward the second heat dissipation section 1212, the height of the first heat dissipation section 1211 becomes smaller. When the running gear 110 runs, the flow area of the air flowing through the first heat dissipation section 1211 becomes small, the flow rate of the air increases, and the increase of the flow rate of the air can improve the heat exchange efficiency between the vision module 11 and the air, thereby improving the heat dissipation effect of the vision module 11.

The height of the end of the second heat dissipation section 1212, which is close to the first heat dissipation section 1211, along the height direction Z of the running gear 110 is smaller than the height of the end of the second heat dissipation section 1212, which is far from the first heat dissipation section 1211, along the height direction Z of the running gear 110. When air flows into the second heat dissipation section 1212 from the first heat dissipation section 1211, the flow area of the air increases, the air expands, and the air absorbs heat when expanding, so that the heat emitted by the second housing 112 is further absorbed, and the heat dissipation efficiency of the vision module 11 is improved. In some embodiments, the height of the end of the second heat dissipation section 1212, which is near the first heat dissipation section 1211, along the height direction Z of the running gear 110 is equal to the height of the end of the second heat dissipation section 1212, which is far from the first heat dissipation section 1211, along the height direction Z of the running gear 110.

The dimension of the end of the second housing 112, which is close to the first housing 111, along the height direction Z of the running gear 110 is greater than the dimension of the end of the second housing 112, which is far from the first housing 111, along the height direction Z of the running gear 110, so that when air flows through the second housing 112, a flow layer attached to the outer surface of the second housing 112 is formed, thereby improving heat exchange efficiency between the second housing 112 and the air.

The vision module 11 and/or the fixing portion 22 are provided with a plurality of heat dissipation fins 31 located in the first heat dissipation air duct 121. The heat radiation fins 31 can increase the contact area with air, thereby improving the heat radiation efficiency. The plurality of radiator fins 31 are arranged at intervals in the width direction X of the running gear 110. The plurality of heat dissipation fins 31 may be disposed parallel to each other and parallel to the extending direction of the first heat dissipation air duct 121, so as to improve the heat dissipation efficiency when the heat dissipation fins 31 contact with air. In some embodiments, the plurality of heat dissipation fins 31 may be disposed at least partially with an included angle between the heat dissipation fins 31.

In the present embodiment, the plurality of heat dissipation fins 31 includes a first heat dissipation fin 311 and a second heat dissipation fin 312. The first cooling fins 311 positioned in the first cooling air duct 121 are arranged on the vision module 11, and heat of the vision module 11 can be conducted to the first cooling fins 311 and dissipated into the air through the first cooling fins 311. The fixing portion 22 is provided with a second cooling fin 312 located in the first cooling air duct 121, the vision module 11 conducts heat to the fixing portion 22 through the supporting portion 21, and the fixing portion 22 conducts heat to the air through the second cooling fin 312.

The distance between the first heat sink 311 and the second heat sink 312 in the height direction Z of the running gear 110 is reduced along the front-rear direction Y of the running gear 110, so that the flow rate of air is increased when the air flows through the first heat sink 311 and the second heat sink 312, and the heat dissipation efficiency is improved. The cross section of the first heat dissipation air duct 121 along the width direction X of the traveling device 110 is in a horn shape, so that the vision module 11 can further improve the heat dissipation efficiency of the vision module 11 by arranging more first heat dissipation fins 311 towards one side of the first heat dissipation air duct 121.

Referring to fig. 1, fig. 2 and fig. 3 together, fig. 3 is an exploded view of a vision apparatus 10 according to an embodiment of the present disclosure. The ocular device 10 also comprises a shield 40. The shutter 40 is located on the side of the vision module 11 remote from the support 21. The shielding member 40 serves to shield the sun rays from being directly incident on the vision module 11. In a plane perpendicular to the height direction Z of the running gear 110, the front projection of the screen 40 is arranged at least partially overlapping the front projection of the vision module 11.

A second heat dissipation air duct 122 is formed between the shutter 40 and the vision module 11. The shielding member 40 and the vision module 11 are formed with an air inlet communicating with the second heat dissipation air duct 122 at a side near the front end of the running gear 110, and an air outlet communicating with the second heat dissipation air duct 122 at a side near the rear end of the running gear 110. When the running gear 110 runs, air flows through the first heat dissipation air channel 121 and dissipates heat to one side of the vision module 11 close to the running gear 110, air flows through the second heat dissipation air channel 122 and dissipates heat to one side of the vision module 11 far away from the running gear 110, and air flows in the first heat dissipation air channel 121 and the second heat dissipation air channel 122 dissipate heat to the vision module 11 together, so that the heat dissipation efficiency of the vision module 11 is greatly improved.

The shielding member 40 is provided to protrude toward the front end of the running gear 110 with respect to the vision module 11 in the front-rear direction Y of the running gear 110, and/or the shielding member 40 is provided to protrude with respect to the vision module 11 in the width direction X of the running gear 110. In some embodiments, the shielding member 40 protrudes towards the front end of the traveling device 110 relative to the vision module 11 along the front-rear direction Y of the traveling device 110, on one hand, the shielding member 40 can shield one side of the vision module 11 near the front end of the traveling device 110, so as to reduce or avoid direct sunlight on the camera of the vision module 11, and avoid the problems of glare, overexposure and the like of the camera during shooting, on the other hand, when the traveling device 110 travels, the protruding part of the shielding member 40 relative to the vision module 11 can stop and guide the air impinging on the vision module 11 and diffusing towards the shielding member 40, so that more air enters the second heat dissipation air duct 122, and the air intake of the second heat dissipation air duct 122 is improved, thereby improving the heat dissipation effect on the vision module 11. In some embodiments, the shielding member 40 is arranged to protrude from the vision module 11 along the width direction X of the running gear 110, and the shielding member 40 can shield the side portion of the vision module 11 along the width direction X of the running gear 110, reduce or avoid direct sunlight to the side portion of the vision module 11, so as to raise the temperature of the vision module 11, and provide hand force points for a user when the user dismounts the shielding member 40, so that the user can conveniently take and put the shielding member 40. In some embodiments, the shield 40 is convexly disposed toward the front end of the running gear 110 with respect to the vision module 11 in the front-rear direction Y of the running gear 110, and the shield 40 is convexly disposed with respect to the vision module 11 in the width direction X of the running gear 110.

The support portion 21 is configured as an air guide surface 211 along a side surface of the running gear 110 facing the front end of the running gear 110 in the front-rear direction Y. The side of the air guiding surface 211 near the vision module 11 is inclined towards the direction of the rear end of the running gear 110 relative to the side of the air guiding surface 211 near the running gear 110. When the running gear 110 runs, the air guiding surface 211 can guide air towards a direction far away from the ground, and the air is stopped by the shielding member 40 after flowing upwards through the vision module 11 and enters the second heat dissipation air duct 122, so that more air enters the second heat dissipation air duct 122, the air flow rate in the second heat dissipation air duct 122 is improved, and the heat dissipation effect of the vision module 11 is further improved.

A side surface of the vision module 11 near the front end of the running gear 110 may be configured to be planar so that air flows over the vision module 11 under the guide of the air guide surface 211, reducing resistance of the vision module 11 to air. The side of the vision module 11 near the front end of the running gear 110 protrudes towards the front end of the running gear 110 relative to the air guide surface 211, and the connection part of the air guide surface 211 and the vision module 11 is positioned at the side of the vision module 11 facing the running gear 110. In some embodiments, a side of the vision module 11 near the front end of the running gear 110 is connected to a side of the air guiding surface 211 near the rear end of the running gear 110, so as to reduce the blocking of air by the vision module 11, and enable air to flow from the air guiding surface 211 into the second heat dissipation air duct 122 more quickly, so as to improve the flow velocity of the air in the second heat dissipation air duct 122.

The side of the vision module 11 facing the shutter 40 is provided with a projection 1111. Along the height direction Z of the running gear 110, the ground clearance of the side of the protrusion 1111 near the front end of the running gear 110 along the front-rear direction Y of the running gear 110 is smaller than the ground clearance of the side near the rear end of the running gear 110. The boss 1111 is provided at a middle position of the vision module 11 in the width direction X of the running gear 110. The shield 40 is arched. The position of the shutter 40 corresponding to the boss 1111 is convexly arranged in a direction away from the vision module 11. Along the height direction Z of the running gear 110, the ground clearance of the side of the second heat dissipation air duct 122, which is close to the front end of the running gear 110 along the front-back direction Y of the running gear 110, is smaller than the ground clearance of the side, which is close to the rear end of the running gear 110, after the air in the second heat dissipation air duct 122 is heated, the hot air expands, the density becomes smaller, and the hot air can spontaneously flow in the second heat dissipation air duct 122 and flow out from the air outlet, so that the hot air is prevented from accumulating in the second heat dissipation air duct 122, and the heat dissipation effect on the vision module 11 is improved.

The protrusions 1111 and the air guiding surface 211 are arranged side by side along the front-rear direction Y of the walking device 110, so that the turning radius of the air when flowing into the second heat dissipation air duct 122 can be reduced, the flow velocity loss of the air can be reduced, and the air flow velocity in the second heat dissipation air duct 122 can be improved, so that the heat dissipation of the vision module 11 can be better performed. The protrusions 1111 and the air guiding surface 211 may be aligned along the front-rear direction Y of the running device 110, that is, the protrusions 1111 and the air guiding surface 211 are located at the middle position of the vision module 11 along the width direction X of the running device 110, so that more air flowing on the air guiding surface 211 enters the position of the second heat dissipation air duct 122 corresponding to the protrusions 1111, and the flow velocity of the air in the second heat dissipation air duct 122 is increased. In some embodiments, the protrusions 1111 and the air guiding surface 211 may be offset along the width direction X of the running gear 110, and the protrusions 1111 or the air guiding surface 211 may be offset from the middle position of the vision module 11 along the width direction X of the running gear 110.

The side of the vision module 11 facing the shutter 40 is provided with a plurality of heat dissipating fins 32. The plurality of heat radiating fins 32 are provided at intervals in the width direction X of the running gear 110. The heat dissipation fins 32 are thermally connected to the vision module 11. The shield 40 is spaced apart from the heat radiating fins 32. The heat dissipation fins 32 may increase the heat dissipation area of the vision module 11, thereby improving the heat dissipation effect of the vision module 20. The plurality of heat radiating fins 32 includes a first heat radiating fin group 321 and a second heat radiating fin group 322. The first fin group 321 and the second fin group 322 each include a plurality of fins 32. The first heat radiating fin group 321 is disposed on the boss 1111. The second heat dissipation fin group 322 is disposed at a position outside the corresponding protrusion 1111 of the vision module 11.

The shutter 40 is detachably connected to the vision module 11. The shutter 40 includes a body portion 41 and a connecting portion 42. The body 41 is located at a side of the vision module 11 away from the walking device 110, and forms a second heat dissipation air duct 122 with the vision module 11. The connection portion 42 is disposed at an end of the body portion 41 and is located at a side of the body portion 41 near the vision module 11. The vision module 11 is provided with a detachable connection mating portion 13 with the connection portion 42. The connecting portion 42 and the engaging portion 13 are detachably disposed in a direction perpendicular to the height direction Z of the running gear 110. When the body 41 is pressed, the middle part of the body 41 is concave towards the direction of the vision module 11, the end part of the body 41 is tilted towards the direction away from the vision module 11, and the connecting part 42 is turned outwards towards the direction away from the vision module 11 under the driving of the body 41 and is separated from the matching part 13, so that the shielding piece 40 is detached. One of the connection portion 42 and the mating portion 13 may be configured as a hook, and the other may be configured as a slot. Illustratively, in the present embodiment, the connecting portion 42 connects with an end portion of the body portion 41 in the width direction X of the running gear 110, and the connecting portion 42 is configured as a hook. The vision module 11 is provided with a clamping groove matched with the clamping hook along the lateral part of the walking device 110 in the width direction X. When the shielding member 40 is mounted on the vision module 11, the clamping hooks are clamped and fixed with the clamping grooves.

The present utility model is not limited to the above embodiments, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the present utility model, and these modifications and substitutions are intended to be included in the scope of the present utility model. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.

Claims (17)

1. A vision device for use with a running gear, the vision device comprising:

The supporting part is fixedly connected to the walking device;

the vision module is fixedly connected to one end, far away from the running gear, of the supporting portion, the vision module is arranged in a protruding mode relative to the supporting portion in the width direction of the running gear, and a first heat dissipation air channel is formed between the protruding portion of the vision module relative to the supporting portion and the running gear.

2. The vision apparatus according to claim 1, wherein a height of a side of the first heat dissipation air duct near the supporting portion is smaller than a height of a side far from the supporting portion in a width direction of the running gear.

3. The vision device of claim 1, wherein the vision module comprises a first housing and a second housing, the second housing being connected to the first housing at a rear end thereof in a front-to-rear direction of the running gear, the first heat dissipation duct comprising a first heat dissipation section and a second heat dissipation section, the first heat dissipation section being located between the first housing and the running gear, the second heat dissipation section being located between the second housing and the running gear.

4. A vision device as claimed in claim 3, wherein the height of the end of the first heat dissipation section away from the second heat dissipation section in the height direction of the running gear is greater than the height of the end of the first heat dissipation section close to the second heat dissipation section in the height direction of the running gear.

5. A vision device as claimed in claim 3, wherein the height of the end of the second heat dissipation section, which is close to the first heat dissipation section, in the height direction of the running gear is less than or equal to the height of the end of the second heat dissipation section, which is far away from the first heat dissipation section, in the height direction of the running gear.

6. A vision apparatus as set forth in claim 3 wherein the dimension of the end of the second housing adjacent to the first housing in the height direction of the running gear is greater than the dimension of the end of the second housing remote from the first housing in the height direction of the running gear.

7. The vision device according to claim 1, further comprising a fixing portion connected between the running gear and the supporting portion, wherein the fixing portion is protruded relative to the supporting portion along a width direction of the running gear, the first heat dissipation air channel is formed between the fixing portion and the vision module, and the vision module and/or the fixing portion are/is provided with a plurality of heat dissipation fins located in the first heat dissipation air channel.

8. The vision apparatus according to claim 7, wherein the vision module is provided with a first heat sink located in the first heat dissipation duct, the fixing portion is provided with a second heat sink located in the first heat dissipation duct, and a distance between the first heat sink and the second heat sink in a height direction of the walking apparatus decreases in a direction from a front end to a rear end of the walking apparatus.

9. The vision apparatus of claim 7, wherein a plurality of the heat sink fins are spaced apart along a width of the running gear.

10. The vision apparatus of claim 1, further comprising a shield positioned on a side of the vision module remote from the support, wherein a second heat dissipation air channel is formed between the shield and the vision module.

11. A vision apparatus according to claim 10, wherein the shield is provided so as to protrude toward the front end of the running gear with respect to the vision module in the front-rear direction of the running gear, and/or the shield is provided so as to protrude with respect to the vision module in the width direction of the running gear.

12. The vision apparatus according to claim 10, wherein a side surface of the support portion facing the front end of the running gear in the front-rear direction of the running gear is configured as an air guiding surface, and a side of the air guiding surface near the vision module is inclined toward the rear end of the running gear with respect to a side of the air guiding surface near the running gear.

13. A vision apparatus according to claim 12, wherein a projection is provided on a side of the vision module facing the shield, and a ground clearance of a side of the projection near a front end of the running gear in a front-rear direction of the running gear is smaller than a ground clearance of a side near a rear end of the running gear in a height direction of the running gear.

14. The vision apparatus of claim 13, wherein the protrusions are disposed side-by-side with the air guiding surface in a front-to-rear direction of the running gear.

15. A vision apparatus according to claim 13, wherein a side of the vision module facing the shade is provided with a plurality of heat radiating fins, and a plurality of the heat radiating fins are arranged at intervals in a width direction of the running gear.

16. The vision device of claim 15, wherein the plurality of heat dissipating fins comprises a first heat dissipating fin set and a second heat dissipating fin set, the first heat dissipating fin set disposed on the protrusion and the second heat dissipating fin set disposed on the vision module at a location other than the protrusion, respectively.

17. A robot comprising a running gear and a vision apparatus as claimed in any one of claims 1 to 16, said vision apparatus being arranged on said running gear.