Cleaning device

Abstract

The cleaning equipment comprises a machine body and a laser radar assembly, a containing cavity is formed in the machine body, the containing cavity extends towards the interior of the machine body, at least part of the laser radar assembly is located in the containing cavity, the containing cavity is provided with an opening communicating with the surface of the machine body, and the laser radar assembly is movably arranged relative to the containing cavity so as to stretch out of or retract into the opening; a first sealing structure is arranged in the containing cavity, the laser radar assembly comprises a second sealing structure, and in the process that the laser radar assembly stretches out of or retracts into the opening, the first sealing structure abuts against the second sealing structure in a sealed mode. The waterproof and dustproof performance of the cleaning equipment is improved, and the probability that external water or dust or other impurities enter the cleaning equipment when the laser radar ascends and descends is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning equipment. Background Art

[0002] In recent years, with the improvement of people's living standards, home cleaning has gradually entered an era of automation and intelligence. The cleaning equipment that has emerged can liberate people from home cleaning work, effectively reduce people's workload in home cleaning, and alleviate people's fatigue during home cleaning.

[0003] In order to enable the cleaning equipment to have the function of automatic cleaning, the relevant technical solution sets a laser direct structuring (LDS) on the cleaning equipment. The laser radar emits lasers through high-speed rotation, and then judges the distance between itself and the obstacle by the time it takes for the laser to reflect back after hitting the obstacle, thereby judging the relative position and achieving positioning. In addition, the cleaning equipment equipped with laser radar has high positioning accuracy and can achieve precise positioning even in a dark environment. The cleaning equipment is also equipped with a lifting component, which can drive the laser radar to extend or retract the cleaning equipment, so that the cleaning equipment can pass through some suspended obstacles or enter low areas to prevent bumps.

[0004] However, the cleaning equipment in the related technology has poor waterproof and dustproof performance. When the lifting component drives the laser radar to rise and fall, external impurities such as water or dust may enter the cleaning equipment, thereby contaminating the cleaning equipment. Utility Model Content

[0005] In order to overcome the above-mentioned defects of the relevant technology, the purpose of this application is to provide a cleaning device, which is conducive to improving the waterproof and dustproof performance of the cleaning equipment and reducing the probability of external impurities such as water or dust entering the interior of the cleaning equipment when the laser radar is raised and lowered.

[0006] The present application provides a cleaning device, comprising a body and a laser radar component, wherein a housing cavity is provided in the body, at least part of the laser radar component is located in the housing cavity, the housing cavity is provided with an opening communicating with a surface of the body, and the laser radar component is movably arranged relative to the housing cavity to extend out of or retract into the opening;

[0007] A first sealing structure is provided in the accommodating cavity, and the laser radar component includes a second sealing structure. At least when the laser radar component is extended or retracted into the opening, the first sealing structure is in sealing contact with the second sealing structure.

[0008] The present application sets a first sealing structure in the accommodating cavity and sets a second sealing structure on the laser radar component. After the laser radar component extends out of or retracts into the opening on the body, the first sealing structure can abut against the second sealing structure. It can be understood that since the laser radar component is movably arranged in the accommodating cavity, the second sealing structure on the laser radar component will also move with the laser radar component; when the laser radar component extends out of the opening, part of the second sealing structure is sealed and connected to the first sealing structure; when the laser radar component is retracted into the opening, another part of the second sealing structure is sealed and connected to the first sealing structure; thus, the laser radar component and the body are sealed in the above manner, reducing the probability of external impurities such as water or dust entering the interior of the cleaning equipment, and improving the waterproof and dustproof performance of the cleaning equipment.

[0009] In a possible implementation, when the laser radar assembly is located in the body, the first sealing structure is in sealing contact with the second sealing structure.

[0010] In the present application, when the laser radar component is located within the body, the first sealing structure and the second sealing structure are sealed and abutted against each other, thereby ensuring good sealing between the laser radar component and the body in this state, and preventing external impurities such as water or dust from entering the interior of the cleaning equipment.

[0011] In a possible implementation, a lifting component is further included, wherein the lifting component is connected to the laser radar component, and the lifting component can drive the laser radar component to move along the accommodating cavity to extend or retract the opening.

[0012] In this embodiment, a lifting assembly is provided to drive the laser radar assembly to move, so that the laser radar assembly extends out along the accommodating cavity or retracts into the opening.

[0013] In one possible implementation, the first sealing structure includes the inner wall of the accommodating cavity; the second sealing structure includes a laser radar shell of the laser radar assembly, and along the moving direction of the laser radar assembly, the cross-sectional shape of the laser radar shell is adapted to the cross-sectional shape of the accommodating cavity.

[0014] The present application arranges the laser radar housing of the laser radar assembly and the inner wall of the accommodating cavity into a structure with a cross-sectional shape that matches each other, so that when the laser radar assembly moves, the laser radar housing can always abut against the inner wall of the accommodating cavity, thereby making the laser radar assembly and the accommodating cavity achieve a zero-matching state (that is, the two are in contact and abutment with each other), thereby reducing the probability of external impurities such as water or dust entering the interior of the cleaning equipment and improving the waterproof and dustproof performance of the cleaning equipment.

[0015] In a possible implementation, a first flange surrounding the laser radar housing is provided on the laser radar housing, and when the laser radar assembly moves along the accommodating cavity, the first flange always abuts against the inner wall of the accommodating cavity.

[0016] By providing a first flange that is always in contact with the inner wall of the accommodating cavity, it can be ensured that when the laser radar assembly moves along the accommodating cavity, no gap will be generated between the laser radar assembly and the accommodating cavity, thereby preventing external impurities such as water or dust from entering the interior of the cleaning equipment, thereby ensuring the waterproof and dustproof performance of the cleaning equipment.

[0017] In a possible implementation, the first flange is located at an end of the laser radar housing away from the opening.

[0018] By setting the first flange at an end away from the opening in the laser radar housing, it can be ensured that when the laser radar component moves along the accommodating cavity, the first flange will not move outside the body, thereby preventing external impurities such as water or dust from entering the interior of the cleaning equipment, thereby ensuring the waterproof and dustproof performance of the cleaning equipment.

[0019] In one possible implementation, the inner wall of the accommodating cavity includes a first cavity wall and a second cavity wall that are connected to each other, the first cavity wall extends along the moving direction of the laser radar assembly, and the second cavity wall gradually tilts outward from a side away from the opening to a side close to the opening.

[0020] In the present application, the inner wall of the accommodating cavity is arranged to include a vertical first cavity wall and an inclined second cavity wall, and the second cavity wall gradually inclines toward the inner wall side away from the accommodating cavity in the direction toward the opening side, so that the size of the accommodating cavity close to the opening position gradually increases, thereby facilitating the movement of the laser radar component in the accommodating cavity.

[0021] In a possible implementation, the first cavity wall is a cylindrical cavity wall, and the second cavity wall is a truncated cone cavity wall.

[0022] In a possible implementation, the laser radar housing is further provided with a second flange, and the second flange and the first flange are arranged at intervals along the moving direction of the laser radar assembly;

[0023] After the lifting assembly drives the laser radar assembly to retract into the opening, the second flange abuts against the second cavity wall.

[0024] The present application sets a second flange, and after the laser radar component is retracted into the opening, the second flange abuts against the second cavity wall, so that the second flange and the second cavity wall can form a sealing connection structure. Combined with the sealing connection structure between the first flange and the inner wall of the accommodating cavity, the sealing performance between the laser radar component and the accommodating cavity can be further improved, reducing the probability of external impurities such as water or dust entering the interior of the cleaning equipment, thereby improving the waterproof and dustproof performance of the cleaning equipment.

[0025] In a possible implementation, the second flange has a mating surface that abuts against the second cavity wall, and the mating surface is a part of a conical surface.

[0026] In a possible implementation, when the lifting assembly drives the laser radar assembly to be in a state of extending out of the opening, the second flange is located outside the body.

[0027] In a possible implementation, the first sealing structure includes a sealing ring, at least a portion of which is located in the accommodating cavity; the second sealing structure includes a first flange and a second flange which are spaced apart along a moving direction of the laser radar assembly;

[0028] The cleaning device further comprises a lifting assembly, and after the lifting assembly drives the laser radar assembly to extend out of the opening, the first flange abuts against the sealing ring;

[0029] After the lifting assembly drives the laser radar assembly to retract into the opening, the second flange abuts against the sealing ring.

[0030] The present application sets a sealing ring in the accommodating cavity and sets a first flange and a second flange on the laser radar component; after the laser radar component extends out of the opening, the first flange abuts against the sealing ring, thereby achieving a sealed connection between the laser radar component and the body; after the laser radar component retracts into the opening, the second flange abuts against the sealing ring, thereby achieving a sealed connection between the laser radar component and the body. In the above manner, the present application can reduce the probability of impurities such as water or dust from the outside entering the interior of the cleaning device, and improve the waterproof and dustproof performance of the cleaning device.

[0031] In a possible implementation, the sealing ring is detachably disposed in the body, thereby facilitating installation and subsequent maintenance and replacement.

[0032] The body includes an upper laser radar shell and a pressure cover, the upper laser radar shell includes an upper cover, the accommodating cavity is connected to the upper cover, the pressure cover is arranged on the upper cover, and the sealing ring is sealed between the upper cover and the pressure cover.

[0033] In a possible implementation, a mounting portion is further provided at one end of the accommodating cavity facing the upper cover, the mounting portion is connected to the outer wall of the accommodating cavity, and a mounting groove is provided in the mounting portion;

[0034] The sealing ring includes a first part and a second part, the first part is located in the installation groove, and the second part is connected to the first part and extends into the accommodating cavity.

[0035] The first part of the sealing ring is arranged in the installation groove to achieve a detachable connection between the sealing ring and the accommodating cavity; the second part of the sealing ring extends into the accommodating cavity to achieve sealing of the laser radar component.

[0036] In a possible implementation, a fixing groove is further provided on the first part, and a fixing protrusion is provided on a side of the gland facing the sealing ring, and the fixing protrusion is inserted into the fixing groove.

[0037] By arranging a fixing protrusion on the pressure cover and inserting the fixing protrusion into the fixing groove of the first part, the stability of the assembly of the sealing ring between the upper cover and the pressure cover is improved.

[0038] In a possible implementation, an interactive component is further provided on the laser radar component, the interactive component has a shell, and the second flange is surrounded by the shell of the interactive component.

[0039] By setting the outer shell of the interactive component as the second flange, it is helpful to reduce the number of parts on the laser radar component.

[0040] In one possible implementation, the lifting assembly includes a first base and a driving device, the first base is fixed in the body, the driving device is arranged on the first base, and the driving device is connected to the laser radar assembly. The driving device can drive the laser radar assembly to move along the accommodating cavity to extend or retract the opening.

[0041] By providing a first base to fix the lifting assembly to the body, the stability of the lifting assembly is improved. The first base can also provide support for the laser radar assembly to improve the stability of the laser radar assembly. By providing a driving device to provide power for the laser radar assembly, the laser radar assembly can move along the accommodating cavity.

[0042] In one possible implementation, the laser radar assembly includes a laser radar and a second base, the laser radar is arranged on the second base, the second base is arranged on the first base, and the second base is movably connected to the first base, the driving device is connected to the second base, and the driving device can drive the second base to move along the accommodating cavity to extend or retract the opening.

[0043] The second base can be provided to support the laser radar and improve the stability of the laser radar. The movable connection between the second base and the first base ensures that the laser radar assembly can move relative to the first base.

[0044] In a possible implementation, the laser radar assembly further includes a first optical coupling detection mechanism and a second optical coupling detection mechanism arranged along the height direction of the cleaning device, a shielding mechanism is provided on the second base, and the driving device can drive the laser radar assembly to switch between the first position and the second position.

[0045] Wherein, when the laser radar assembly is located at the first position, the shielding mechanism shields the first optical coupling detection mechanism;

[0046] When the laser radar assembly is located at the second position, the shielding mechanism shields the second optical coupling detection mechanism.

[0047] By setting a first optical coupling detection mechanism and a second optical coupling detection mechanism in the laser radar component and setting a shielding mechanism on the second base, the shielding mechanism can be used in conjunction with the first optical coupling detection mechanism and the second optical coupling detection mechanism to obtain the height information of the laser radar component, and then the driving device can be controlled to stop driving the laser radar component.

[0048] In a possible implementation, the second base includes a slider, and the shielding mechanism is arranged on the slider; the laser radar assembly also includes an outer cover, which is located on the first base, and the first optical coupling detection mechanism and the second optical coupling detection mechanism are arranged on the outer cover at intervals along the height direction of the cleaning device.

[0049] In a possible implementation, the driving device includes a motor, a crank and a connecting rod, the output end of the motor is connected to the crank, the crank is also connected to the first end of the connecting rod, and the second end of the connecting rod is connected to the second base;

[0050] A plurality of guide rails are also arranged in the outer cover, and the sliding block is sleeved on the plurality of guide rails and can slide along the guide rails.

[0051] By setting a plurality of guide rails in the outer cover and making the slider slide along the guide rails, the sliding of the slider can be accurately calibrated to prevent the laser radar component from deviating when it is raised or lowered.

[0052] In a possible implementation, the driving device includes a first driving unit and a second driving unit, the first driving unit is used to drive the second base to extend out of the opening, and the second driving unit is used to drive the second base to retract into the opening.

[0053] By setting the first driving unit, the laser radar component can be extended out of the opening along the accommodating cavity; by setting the second driving unit, the laser radar component can be retracted into the opening along the accommodating cavity.

[0054] In a possible implementation, the first driving unit includes an elastic member, two ends of the elastic member are respectively abutted against the first base and the second base, and an elastic force of the elastic member points in a direction in which the first base and the second base move away from each other.

[0055] The elastic part of the present application is in a compressed state when the laser radar assembly is retracted into the opening. When the laser radar assembly needs to be extended out of the opening, the force compressing the elastic part is cancelled, and the elastic part pushes the laser radar assembly out of the opening under the action of its own elastic restoring force.

[0056] In one possible implementation, the second driving unit includes a motor, a wheel and a rope, the wheel is mounted on the output shaft of the motor, the first end of the rope is connected to the wheel, the second end of the rope passes through the second base and is connected to the laser radar, and the wheel is configured to rotate when driven by the motor so that the rope is wrapped around the wheel and pulls the laser radar toward the wheel.

[0057] When the motor of the present application rotates, it can drive the wheel to rotate, thereby wrapping the rope around the wheel. Since the rope is connected to the laser radar, the laser radar can be pulled toward the side of the first base, thereby retracting the laser radar assembly into the opening.

[0058] In a possible implementation, a main frame bracket is provided in the body, the laser radar assembly is located above the main frame bracket, and a battery pack and a side brush assembly are also provided in the body. The laser radar assembly, the battery pack and the side brush assembly are all located at the front end of the forward direction of the body, and the battery pack and the side brush assembly are respectively located on the left and right sides of the laser radar assembly; the side brush assembly can extend or retract into the body.

[0059] In the present application, the battery pack and the side brush assembly are respectively arranged on the left and right sides of the laser radar assembly, so that the weight of the left and right sides of the cleaning equipment is basically the same, and there is no need to set a counterweight, thereby saving costs.

[0060] In one possible implementation, the mainboard of the cleaning device includes a first circuit board disposed in the body, the first circuit board is located on the main frame and disposed above the battery pack, and the cleaning device also includes an interactive component, the leads of the interactive component are electrically connected to the first circuit board.

[0061] The present application arranges the first circuit board at the front end of the forward direction of the body, thereby facilitating the processing of high-speed signals such as cameras, radars, and ultrasound.

[0062] In a possible implementation, the mainboard of the cleaning device further includes a second circuit board disposed in the body, the second circuit board is located at a rear end in a forward direction of the body, and the first circuit board is communicatively connected with the second circuit board.

[0063] In a possible implementation, a universal wheel and a roller brush are further provided at the lower portion of the machine body, wherein the roller brush is located in the middle portion of the machine body in the forward direction, and the universal wheel is provided close to the front end of the machine body in the forward direction.

[0064] In a possible implementation, a universal wheel and a roller brush are further provided at the lower part of the machine body, the roller brush is located in the middle of the forward direction of the machine body, and the universal wheel is provided near the rear end of the forward direction of the machine body;

[0065] A counterweight block is also provided in the machine body, and the counterweight block is arranged close to the rear end of the machine body in the forward direction. The center of gravity of the machine body is located on the machine body between the roller brush and the universal wheel.

[0066] The present application sets the center of gravity of the machine body in the rear half of the machine body. According to the lever principle, the lever arm is reduced, and the roller brush can exert greater force on the ground during cleaning, which is beneficial to improving the cleaning effect and cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the following is a brief introduction to the drawings required for use in the embodiments or the related technical descriptions. Obviously, the drawings described below are 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 work.

[0068] Figure 1 A simplified structural diagram of a cleaning device provided in an embodiment of the present application in a first state;

[0069] Figure 2 for Figure 1 A simplified diagram of the structure from another perspective;

[0070] Figure 3 for Figure 1 AA section view;

[0071] Figure 4 for Figure 3 A partial enlarged view of the middle A part;

[0072] Figure 5A simplified structural diagram of a cleaning device provided in an embodiment of the present application in a second state;

[0073] Figure 6 for Figure 5 BB cross-sectional view;

[0074] Figure 7 for Figure 6 A partial enlarged view of the middle B part;

[0075] Figure 8 A schematic structural diagram of a cleaning device in a first state provided by another embodiment of the present application;

[0076] Fig. 9 for Figure 8 CC section view;

[0077] Fig.10 for Fig. 9 A partial enlarged view of the middle C part;

[0078] Fig.11 A schematic structural diagram of a cleaning device in a second state provided by another embodiment of the present application;

[0079] Fig.12 for Fig.11 DD cross-sectional view;

[0080] Fig.13 for Fig.12 A partial enlarged view of the middle D part;

[0081] Fig.14 An exploded view of a laser radar assembly and a lifting assembly provided in one embodiment of the present application;

[0082] Fig.15 A schematic diagram of the connection structure of the motor, the wheel disc and the rope provided in one embodiment of the present application;

[0083] Fig.16 A cross-sectional view of a laser radar assembly and a lifting assembly provided in another embodiment of the present application in a first position;

[0084] Fig.17 A cross-sectional view of a laser radar assembly and a lifting assembly provided in another embodiment of the present application in a second position;

[0085] Fig.18 A simplified diagram of the connection structure of the laser radar component and the interactive component provided in one embodiment of the present application;

[0086] Fig.19 for Fig.18 EE cross-sectional view;

[0087] Fig. 20 for Fig.18Exploded view of;

[0088] Fig.21 A cross-sectional view of a cleaning device provided in yet another embodiment of the present application along one direction;

[0089] Fig. 22 A simplified structural diagram of a cleaning device provided in yet another embodiment of the present application with part of the outer shell hidden;

[0090] Fig.23 A bottom view of a cleaning device provided in yet another embodiment of the present application;

[0091] Fig.24 A cross-sectional view of a cleaning device provided in yet another embodiment of the present application along one direction.

[0092] Reference numerals:

[0093] 10- Cleaning parts;

[0094] 20-dust box assembly;

[0095] 30-Roller;

[0096] 40-Universal wheel;

[0097] 50-Roller brush;

[0098] 100-body; 101-upper cover; 102-pressure cover; 1021-fixing protrusion; 110-accommodating cavity; 111-inner wall of the accommodating cavity; 1111-first cavity wall; 1112-second cavity wall; 112-installation portion; 120-host bracket; 130-battery pack; 140-side brush assembly; 150-first circuit board; 160-second circuit board; 170-counterweight;

[0099] 200-laser radar assembly; 201-first optical coupling detection mechanism; 202-second optical coupling detection mechanism; 203-outer cover; 204-guide rail; 210-laser radar housing; 211-clamping column; 212-first limiting rib; 220-first flange; 230-second flange; 240-interactive assembly; 241-housing; 2411-top plate; 24111-fixing hole; 24112-first mounting hole; 24113-second limiting rib; 2412-side wall; 2413-bottom plate; 24131-card slot; 2 4132-fixing column; 24133-wire hole; 242-interactive part; 2421-body; 2422-flange; 2423-protrusion; 243-circuit board; 2431-through hole; 2432-key spring; 244-decorative cover; 2441-second mounting hole; 245-flexible pad; 246-lead; 247-micro switch; 250-laser radar; 260-second base; 261-wire through hole; 262-second guide hole; 263-shielding mechanism; 270-winding column; 280-motor base;

[0100] 300-lifting assembly; 310-first base; 311-first guide hole; 320-elastic member; 330-motor; 340-wheel; 341-first groove; 342-second groove; 350-rope; 351-rope body; 352-first fixing block; 353-second fixing block; 360-guide column; 370-crank; 380-connecting rod;

[0101] 400-seal ring; 410-first part; 420-second part;

[0102] 500-shielding cover; 510-cable outlet hole. DETAILED DESCRIPTION

[0103] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0104] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0105] As described in the background technology, in the solution of the related technology, when the lifting assembly drives the laser radar to extend or retract the cleaning device, impurities such as water or dust from the outside may enter the cleaning device, thereby polluting the cleaning device. The inventors have found that the cause of the above problem is that there is a gap between the laser radar and the body of the cleaning device, and impurities such as water or dust from the outside may enter the cleaning device through the gap, thereby polluting the cleaning device.

[0106] In view of this, an embodiment of the present application aims to provide a cleaning device, by providing a accommodating cavity in the body, and providing a first sealing structure in the accommodating cavity, and providing a second sealing structure on the laser radar component. After the laser radar component is extended or retracted into the body along the accommodating cavity, the first sealing structure abuts against the second sealing structure to seal the laser radar component to the body, thereby reducing the probability of external impurities such as water or dust entering the interior of the cleaning device and improving the waterproof and dustproof performance of the cleaning device.

[0107] The contents of the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings so that those skilled in the art can understand the contents of the present application in more detail.

[0108] Figure 1 A simplified structural diagram of a cleaning device provided in an embodiment of the present application in a first state; Figure 2 for Figure 1 A simplified diagram of the structure from another perspective; Figure 3 for Figure 1 AA section view; Figure 4 for Figure 3 A partial enlarged view of the middle A part; Figure 5 A simplified structural diagram of a cleaning device provided in an embodiment of the present application in a second state; Figure 6 for Figure 5 BB cross-sectional view; Figure 7 for Figure 6 A partial enlarged view of part B in the middle;

[0109] Figure 8 A simplified structural diagram of a cleaning device in a first state provided by another embodiment of the present application; Fig. 9 for Figure 8 CC section view; Fig.10 for Fig. 9 A partial enlarged view of the middle C part; Fig.11 A schematic structural diagram of a cleaning device in a second state provided by another embodiment of the present application; Fig.12 for Fig.11 DD cross-sectional view; Fig.13 for Fig.12 A partial enlarged view of the middle D part; Fig.14 An exploded view of a laser radar assembly and a lifting assembly provided in one embodiment of the present application; Fig.15 This is a simplified diagram of the connection structure of the motor, wheel and rope provided in one embodiment of the present application.

[0110] Please refer to Figure 1-Figure 15 , this embodiment provides a cleaning device, which can be a cleaning robot, such as a sweeping robot, a mopping robot, a sweeping and mopping robot, etc. The cleaning device includes a body 100, which can be in various shapes. In order to take into account stability and be applicable to various scenarios, such as cleaning areas under the bed, the body 100 is usually cylindrical, D-shaped, quadrangular, etc., and the corresponding body 100 profile is a circular profile, a D-shaped profile or a rectangular profile, etc. Specifically, the range of the body 100 profile can be determined according to the projection of the body 100 on the horizontal plane. A laser radar component 200 is provided on one side of the body 100, and the laser radar component 200 can determine the distance between itself and the obstacle, thereby determining the relative position and achieving positioning. A cleaning member 10, a dust box component 20, a roller 30 and a universal wheel 40 are also provided on the other side of the body 100. Among them, the cleaning member 10 can be, for example, a sweeping brush, a mop, etc. When the body 100 moves, the cleaning member 10 can rotate to remove the dirt on the ground. The dust box assembly 20 is arranged behind the direction of travel of the cleaning member 10 to receive the dirt swept by the cleaning member 10. The roller 30 is arranged entirely or partially outside the body 100 so as to contact the ground and drive the body 100 to move. For example, the roller 30 can be driven by a drive motor arranged inside the body 100, or a hub motor can be arranged inside the roller 30, and the drive wheel 210 can be self-driven by the built-in hub motor. The universal wheel 40 can be used in conjunction with the roller 30 to realize the steering of the cleaning device.

[0111] In the present embodiment, a housing cavity 110 is provided in the body 100, and the housing cavity 110 is connected to the body 100 and extends toward the interior of the body 100. At least part of the laser radar component 200 is located in the housing cavity 110. The housing cavity 110 is provided with an opening connected to the surface of the body 100. The laser radar component 200 is movably arranged relative to the housing cavity 110 to extend or retract the opening.

[0112] For example, the accommodating cavity 110 of the present embodiment is generally cylindrical, and the shape of the laser radar assembly 200 is also generally cylindrical to match the accommodating cavity 110. For example, both can be generally cylindrical, so as to facilitate the lifting and lowering of the laser radar assembly 200 in the accommodating cavity 110. The laser radar assembly 200 can be driven by external force (such as manual pressing and pulling by the user) to achieve movement relative to the accommodating cavity 110; or, the laser radar assembly 200 can be driven by a mechanical device to achieve movement relative to the accommodating cavity 110.

[0113] like Figure 3 , Figure 6 , Fig. 9 and Fig.12 As shown, a lifting assembly 300 is further provided in the body 100 of this embodiment, and the lifting assembly 300 is connected to the laser radar assembly 200. The lifting assembly 300 can drive the laser radar assembly 200 to move along the accommodating cavity 110 to extend or retract the opening. The specific structure of the lifting assembly 300 can be determined according to actual needs.

[0114] Furthermore, in the present embodiment, a first sealing structure is provided in the accommodating cavity 110, and a second sealing structure is provided on the laser radar assembly 200. After the lifting assembly 300 drives the laser radar assembly 200 to extend or retract the opening, the first sealing structure abuts against the second sealing structure, thereby achieving a sealed connection between the laser radar assembly 200 and the accommodating cavity 110 to prevent external impurities such as water and dust from entering the interior of the body 100, thereby improving the waterproof and dustproof performance of the cleaning equipment.

[0115] In this embodiment, a first sealing structure is arranged in the accommodating cavity 110, and a second sealing structure is arranged on the laser radar assembly 200. At least when the lifting assembly 300 drives the laser radar assembly 200 to extend or retract the opening on the body 100, the first sealing structure can be in contact with the second sealing structure. It can be understood that since the laser radar assembly 200 is movably arranged in the accommodating cavity 110, the second sealing structure on the laser radar assembly 200 will also move with the laser radar assembly 200; when the laser radar assembly 200 extends out of the opening, part of the second sealing structure is sealed and connected to the first sealing structure; when the laser radar assembly 200 is retracted into the opening, another part of the second sealing structure is sealed and connected to the first sealing structure; thus, the laser radar assembly 200 and the body 100 are sealed in the above manner, reducing the probability of impurities such as water or dust from the outside entering the interior of the cleaning equipment, and improving the waterproof and dustproof performance of the cleaning equipment.

[0116] Exemplarily, when the laser radar component 200 is located in the body 100, the first sealing structure and the second sealing structure are sealed and abutted against each other, thereby ensuring good sealing between the laser radar component 200 and the body 100 in this state, preventing external impurities such as water or dust from entering the interior of the cleaning equipment.

[0117] Please continue to refer to Figure 1-Figure 7In one possible embodiment, the first sealing structure of the present embodiment includes the inner wall 111 of the accommodating cavity; the second sealing structure includes the laser radar housing 210 of the laser radar assembly, and the cross-sectional shape of the laser radar housing 210 is adapted to the cross-sectional shape of the accommodating cavity 110 along the moving direction of the laser radar assembly 200. For example, when the laser radar housing 210 of the laser radar assembly and the inner wall 111 of the accommodating cavity are both substantially cylindrical, along the moving direction of the laser radar assembly 200, the cross-section of the laser radar housing 210 and the cross-section of the inner wall 111 of the accommodating cavity are both substantially circular, and the outer diameter of the cross-section of the laser radar housing is substantially equal to the inner diameter of the inner wall 111 of the accommodating cavity, so as to ensure that the laser radar housing 210 can abut against the inner wall 111 of the accommodating cavity to achieve a zero-matching state.

[0118] In this embodiment, the laser radar housing 210 of the laser radar assembly and the inner wall 111 of the accommodating cavity are configured to have a structure with a cross-sectional shape that matches each other. This allows the laser radar housing 210 to always abut against the inner wall 111 of the accommodating cavity when the laser radar assembly 200 moves, thereby allowing the laser radar assembly 200 and the accommodating cavity 110 to achieve a zero-matching state (i.e., the two are in contact and abutment with each other), thereby reducing the probability of external impurities such as water or dust entering the interior of the cleaning equipment, thereby improving the waterproof and dustproof performance of the cleaning equipment.

[0119] In some embodiments, a first flange 220 surrounding the laser radar housing 210 is provided on the laser radar housing 210 of this embodiment. When the laser radar assembly 200 moves along the accommodating cavity 110, the first flange 220 always abuts against the inner wall 111 of the accommodating cavity.

[0120] This embodiment provides a first flange 220 that is always in contact with the inner wall 111 of the accommodating cavity. This ensures that when the laser radar component 200 moves along the accommodating cavity 110, no gap is generated between the laser radar component 200 and the accommodating cavity 110, thereby preventing external impurities such as water or dust from entering the interior of the cleaning equipment, thereby ensuring the waterproof and dustproof performance of the cleaning equipment.

[0121] In some embodiments, the first flange 220 of this embodiment is located at an end of the laser radar housing 210 away from the opening.

[0122] This embodiment arranges the first flange 220 at an end away from the opening in the laser radar housing 210 to ensure that when the laser radar component 200 moves along the accommodating cavity 110, the first flange 220 will not move outside the body 100, thereby preventing external impurities such as water or dust from entering the interior of the cleaning equipment, thereby ensuring the waterproof and dustproof performance of the cleaning equipment.

[0123] Please continue to refer to Figure 4 and Figure 7In some embodiments, the inner wall 111 of the accommodating cavity of this embodiment includes a first cavity wall 1111 and a second cavity wall 1112 that are connected to each other, the first cavity wall 1111 extends along the moving direction of the laser radar assembly 200, and the second cavity wall 1112 gradually tilts outward from the side away from the opening to the side close to the opening.

[0124] In this embodiment, the inner wall 111 of the accommodating cavity is configured to include a vertical first cavity wall 1111 and an inclined second cavity wall 1112, and the second cavity wall 1112 gradually inclines toward the inner wall 111 of the accommodating cavity in the direction toward the opening side, so that the size of the accommodating cavity 110 close to the opening position gradually increases, thereby facilitating the movement of the laser radar assembly 200 in the accommodating cavity 110.

[0125] Furthermore, in this embodiment, the first cavity wall 1111 may be a cylindrical cavity wall, and the second cavity wall 1112 may be a truncated cone cavity wall.

[0126] In some embodiments, the laser radar housing 210 of this embodiment is further provided with a second flange 230, and the second flange 230 and the first flange 220 are arranged at intervals along the moving direction of the laser radar assembly 200. After the lifting assembly 300 drives the laser radar assembly 200 to retract the opening, the second flange 230 abuts against the second cavity wall 1112.

[0127] In this embodiment, a second flange 230 is provided, and after the laser radar component 200 retracts the opening, the second flange 230 abuts against the second cavity wall 1112, so that the second flange 230 and the second cavity wall 1112 can form a sealing connection structure. Combined with the sealing connection structure between the first flange 220 and the inner wall 111 of the accommodating cavity, the sealing performance between the laser radar component 200 and the accommodating cavity 110 can be further improved, the probability of external impurities such as water or dust entering the interior of the cleaning equipment can be reduced, and the waterproof and dustproof performance of the cleaning equipment can be improved.

[0128] Furthermore, the second flange 230 has a mating surface that abuts against the second cavity wall 1112, and the mating surface is a portion of a conical surface, thereby ensuring that the second flange 230 can fit tightly against the second cavity wall 1112 after the laser radar assembly 200 is retracted into the opening.

[0129] It is understandable that when the lifting assembly 300 of this embodiment drives the laser radar assembly 200 to be in a state of extending out of the opening, the second flange 230 is located outside the body 100.

[0130] Please continue to refer to Figure 8-Figure 13In another possible embodiment, the first sealing structure of this embodiment includes a sealing ring 400, at least part of which is located in the accommodating cavity 110; the second sealing structure includes a first flange 220 and a second flange 230 arranged at intervals along the moving direction of the laser radar assembly 200. Similar to the above embodiment, the first flange 220 and the second flange 230 of this embodiment can be arranged on the laser radar housing 210 of the laser radar assembly 200. The sealing ring 400 is generally annular, the outer diameter of the first flange 220 and the outer diameter of the second flange 230 can be equal, and the inner diameter of the sealing ring 400 is generally equal to the outer diameter of the first flange 220 and the outer diameter of the second flange 230.

[0131] When the lifting assembly 300 drives the laser radar assembly 200 to extend out of the opening, the first flange 220 abuts against the sealing ring 400, thereby preventing external impurities such as water and dust from entering the interior of the body 100 through the sealed connection structure between the first flange 220 and the sealing ring 400.

[0132] When the lifting assembly 300 drives the laser radar assembly 200 to retract the opening, the second flange 230 abuts against the sealing ring 400, thereby preventing external impurities such as water and dust from entering the interior of the body 100 through the sealed connection structure between the second flange 230 and the sealing ring 400.

[0133] In this embodiment, a sealing ring 400 is arranged in the accommodating cavity 110, and a first flange 220 and a second flange 230 are arranged on the laser radar assembly 200; after the laser radar assembly 200 extends out of the opening, the first flange 220 abuts against the sealing ring 400, thereby realizing a sealed connection between the laser radar assembly 200 and the body 100; after the laser radar assembly 200 retracts into the opening, the second flange 230 abuts against the sealing ring 400, thereby realizing a sealed connection between the laser radar assembly 200 and the body 100. In the above manner, this embodiment can reduce the probability of impurities such as water or dust from the outside entering the interior of the cleaning device, and improve the waterproof and dustproof performance of the cleaning device.

[0134] In some embodiments, the sealing ring 400 of this embodiment is detachably disposed in the body 100 , thereby facilitating installation and subsequent maintenance and replacement.

[0135] like Fig.10 and Fig.13 As shown, optionally, the body 100 of this embodiment includes an upper laser radar shell and a pressure cover 102, the upper laser radar shell includes an upper cover 101, the accommodating cavity 110 is connected to the upper cover 101, the pressure cover 102 is covered on the upper cover 101, and the sealing ring 400 is sealed and connected between the upper cover 101 and the pressure cover 102.

[0136] Furthermore, a mounting portion 112 is further provided at one end of the accommodating cavity 110 facing the upper cover 101 . The mounting portion 112 is connected to the outer wall of the accommodating cavity 110 , and a mounting groove is provided in the mounting portion 112 .

[0137] The sealing ring 400 includes a first portion 410 and a second portion 420 . The first portion 410 is located in the mounting groove, and the second portion 420 is connected to the first portion 410 and extends into the accommodating cavity 110 .

[0138] In this embodiment, the first part 410 of the sealing ring 400 is arranged in the installation groove to achieve a detachable connection between the sealing ring 400 and the accommodating cavity 110; the second part 420 of the sealing ring 400 extends into the accommodating cavity 110 to achieve sealing of the laser radar assembly 200.

[0139] Furthermore, a fixing groove is further provided on the first portion 410 of the present embodiment, and a fixing protrusion 1021 is provided on the side of the pressure cover 102 facing the sealing ring 400 , and the fixing protrusion 1021 is inserted into the fixing groove.

[0140] In this embodiment, a fixing protrusion 1021 is provided on the pressure cover 102 , and the fixing protrusion 1021 is inserted into the fixing groove of the first part 410 , thereby improving the stability of the assembly of the sealing ring 400 between the upper cover 101 and the pressure cover 102 .

[0141] In some embodiments, the sealing ring 400 of this embodiment may be a thermoplastic polyurethane rubber ring. The thermoplastic polyurethane rubber ring has good wear resistance, which is beneficial to improving the service life of the sealing ring 400.

[0142] like Figure 4 , Figure 7 , Fig.10 and Fig.13 As shown, in some embodiments, the laser radar assembly 200 of this embodiment is further provided with an interactive assembly 240, which may include, for example, any one of a button and a touch screen, and the user may interact with the cleaning device through the interactive assembly 240 to enhance the user experience. The interactive assembly 240 has a housing, and the second flange 230 may be surrounded by the housing of the interactive assembly 240.

[0143] This embodiment helps to reduce the number of components on the laser radar component 200 by configuring the outer shell of the interactive component 240 to be the second flange 230 .

[0144] like Fig.14 and Fig.15As shown, in some embodiments, the lifting assembly 300 of this embodiment includes a first base 310 and a driving device, the first base 310 is fixed in the body 100, the driving device is arranged on the first base 310, and the driving device is connected to the laser radar assembly 200, and the driving device can drive the laser radar assembly 200 to move along the accommodating cavity 110 to extend or retract the opening.

[0145] Optionally, the first base 310 of the present embodiment can be fixed in the body 100 by welding, riveting, screw connection or bolt connection, and the driving device can also be fixed to the first base 310 by welding, riveting, screw connection or bolt connection.

[0146] In this embodiment, the first base 310 is provided to fix the lifting assembly 300 to the body 100, thereby improving the stability of the lifting assembly 300. The first base 310 can also provide support for the laser radar assembly 200, thereby improving the stability of the laser radar assembly 200. By providing a driving device, the laser radar assembly 200 is powered, so that the laser radar assembly 200 can move along the accommodating cavity 110.

[0147] In some embodiments, the laser radar assembly 200 includes a laser radar 250 and a second base 260, the laser radar 250 is disposed on the second base 260, the second base 260 is disposed on the first base 310, and the second base 260 is movably connected to the first base 310, and a driving device is connected to the second base 260, and the driving device can drive the second base 260 to move along the accommodating cavity 110 to extend or retract the opening.

[0148] In this embodiment, the second base 260 is provided to support the laser radar 250, thereby improving the stability of the laser radar 250. The movable connection between the second base 260 and the first base 310 ensures that the laser radar assembly 200 can move relative to the first base 310.

[0149] In some embodiments, the driving device includes a first driving unit and a second driving unit, the first driving unit is used to drive the second base 260 to extend out of the opening, and the second driving unit is used to drive the second base 260 to retract into the opening.

[0150] In this embodiment, a first driving unit is provided to enable the laser radar component 200 to extend out of the opening along the accommodating cavity 110 ; and a second driving unit is provided to enable the laser radar component 200 to retract into the opening along the accommodating cavity 110 .

[0151] Exemplarily, the first driving unit includes an elastic member 320 , two ends of which are respectively abutted against the first base 310 and the second base 260 , and the elastic force of the elastic member 320 points to a direction in which the first base 310 and the second base 260 move away from each other.

[0152] The elastic member 320 of the present embodiment is in a compressed state when the laser radar assembly 200 is retracted into the opening. When the laser radar assembly 200 needs to be extended out of the opening, the force compressing the elastic member 320 is cancelled, and the elastic member 320, under the action of its own elastic restoring force, pushes the laser radar assembly 200 out of the opening.

[0153] Exemplarily, the second driving unit includes a motor 330, a wheel 340 and a rope 350. The wheel 340 is mounted on the output shaft of the motor 330. The first end of the rope 350 is connected to the wheel 340. The second end of the rope 350 passes through the second base 260 and is connected to the laser radar 250. The wheel 340 is configured to rotate when driven by the motor 330, so that the rope 350 is wrapped around the wheel 340 and pulls the laser radar 250 toward the wheel 340.

[0154] When the motor 330 of this embodiment rotates, it can drive the wheel 340 to rotate, so that the rope 350 is wound around the wheel 340. Since the rope 350 is connected to the laser radar 250, the laser radar 250 can be pulled toward the side of the first base 310, so that the laser radar assembly 200 is retracted into the opening.

[0155] Please continue to refer to Fig.15 Specifically, the rope 350 of this embodiment includes a rope body 351 and a first fixing block 352 and a second fixing block 353 disposed at both ends of the rope body 351. The wheel 340 is provided with a first groove 341 and a second groove 342. The first groove 341 is disposed on the side of the wheel 340 and extends along the radial direction of the wheel 340. The second groove 342 extends along the circumferential direction of the wheel 340, and the first groove 341 is connected to the second groove 342. The first fixing block 352 is located in the first groove 341, and the second groove 342 is used to accommodate the rope body 351. The second base 260 is provided with a wire through hole 261. The second fixing block 353 passes through the wire through hole 261 and is connected to the laser radar 250.

[0156] In this embodiment, a first fixing block 352 and a second fixing block 353 are provided at both ends of the rope 350, so as to facilitate the connection of the rope 350 with the wheel 340 and the laser radar 250. The first fixing block 352 can be fixed in a first groove 341 provided along the axial direction of the wheel 340, and the rope 350 is made to correspond to a second groove 342 provided along the radial direction of the wheel 340, so that the rope 350 is wound in the second groove 342 when the wheel 340 rotates.

[0157] In some embodiments, the present embodiment further includes a plurality of guide posts 360, and a plurality of first guide holes 311 are provided on one of the first base 310 and the second base 260, and a plurality of second guide holes 262 are provided on the other. In the present embodiment, the first guide holes 311 are provided on the first base 310, and the second guide holes 262 are provided on the second base 260. The plurality of guide posts 360 correspond to the plurality of first guide holes 311 and the plurality of second guide holes 262 one by one, and the first end of the guide post 360 is fixedly connected to the corresponding first guide hole 311, and the second end of the guide post 360 is passed through the second guide hole 262. When the driving device drives the second base 260 to move along the accommodating cavity 110, the guide post 360 can move relative to the second guide hole 262, thereby realizing the lifting and lowering guiding function of the laser radar 250.

[0158] In this embodiment, a plurality of guide posts 360 are provided to guide the laser radar 250 during lifting and lowering. The provision of the plurality of guide posts 360 can also improve the stability of the connection between the first base 310 and the second base 260 .

[0159] Fig.16 A cross-sectional view of a laser radar assembly and a lifting assembly provided in another embodiment of the present application in a first position; Fig.17 A cross-sectional view of a laser radar assembly and a lifting assembly provided in another embodiment of the present application when in the second position.

[0160] Please refer to Fig.16 and Fig.17 In some embodiments, the laser radar assembly 200 also includes a first optical coupling detection mechanism 201 and a second optical coupling detection mechanism 202 arranged along the height direction of the cleaning equipment. A shielding mechanism 263 is provided on the second base 260, and the driving device can drive the laser radar assembly 200 to switch between the first position and the second position.

[0161] The first position and the second position may be two extreme positions during the ascent and descent of the laser radar assembly 200, for example, the first position is the lowest position and the second position is the highest position. When the laser radar assembly 200 is in the first position, the shielding mechanism 263 shields the first optical coupling detection mechanism 201; thus, the information that the laser radar assembly 200 is in the lowest position can be obtained through the cooperation of the shielding mechanism 263 and the first optical coupling detection mechanism 201. When the laser radar assembly 200 is in the second position, the shielding mechanism 263 shields the second optical coupling detection mechanism 202; thus, the information that the laser radar assembly 200 is in the highest position can be obtained through the cooperation of the shielding mechanism 263 and the second optical coupling detection mechanism 202.

[0162] In this embodiment, a first optical coupling detection mechanism 201 and a second optical coupling detection mechanism 202 are set in the laser radar component 200, and a shielding mechanism 263 is set on the second base 260. The shielding mechanism 263 can be used to cooperate with the first optical coupling detection mechanism 201 and the second optical coupling detection mechanism 202 to obtain the height information of the laser radar component 200, and then the driving device can be controlled to stop driving the laser radar component 200.

[0163] Exemplarily, the second base 260 of this embodiment includes a slider, and the shielding mechanism 263 is arranged on the slider. The laser radar assembly 200 also includes an outer cover 203, which is located on the first base 310, and the first optical coupling detection mechanism 201 and the second optical coupling detection mechanism 202 are arranged on the outer cover 203 at intervals along the height direction of the cleaning device.

[0164] The driving device includes a motor (not shown), a crank 370 and a connecting rod 380. The output end of the motor is connected to the crank 370. For example, the motor may have a reduction gearbox, so that the crank 370 can be directly driven by the output shaft. The crank 370 is also connected to the first end of the connecting rod 380, and the second end of the connecting rod 380 is connected to the second base 260.

[0165] This embodiment adopts a crank slider mechanism. When the cleaning device is in normal use, the laser radar assembly 200 is lifted up by the connecting rod 380 and is at the "dead point" position. When it needs to be lowered, the motor starts to drive the crank 370 to rotate, thereby driving the connecting rod 380 and the slider to descend; when it needs to be raised, the motor reverses, and the crank 370 drives the connecting rod 380 to lift up the laser radar assembly 200.

[0166] In this embodiment, a plurality of guide rails 204 are further provided in the outer cover 203 , and the slider is sleeved on the plurality of guide rails and can slide along the guide rails.

[0167] In this embodiment, a plurality of guide rails 204 are provided in the outer cover 203, and the slider is made to slide along the guide rails 204, so that the sliding of the slider can be accurately calibrated to prevent the laser radar assembly 200 from deviating when being raised or lowered.

[0168] Fig.18 A simplified diagram of the connection structure of the laser radar component and the interactive component provided in one embodiment of the present application; Fig.19 for Fig.18 AA section view; Fig. 20 for Fig.18 Exploded view of.

[0169] Please refer to Figure 18-Figure 20In some embodiments, the interactive component 240 includes a shell 241 and an interactive part 242. The shell 241 is disposed on the laser radar component 200, and the interactive part 242 is disposed at one end of the shell 241 away from the laser radar component 200. The interactive part 242 is used for human-computer interaction.

[0170] In this embodiment, the interactive component 242 is disposed at an end of the housing 241 facing away from the laser radar assembly 200, thereby facilitating the interaction between the user and the interactive component 242 to enhance the user's experience.

[0171] In some embodiments, a circuit board 243 is further disposed in the housing 241 , and the interactive component 242 is physically connected or communicatively connected to the circuit board 243 .

[0172] In this embodiment, a circuit board 243 is disposed in the housing 241 , and the interactive component 242 is connected to the circuit board 243 by physical connection or communication connection, thereby providing a basis for the interactive component 242 to realize human-computer interaction.

[0173] Specifically, the housing 241 includes a top plate 2411, a side wall 2412, and a bottom plate 2413. The top plate 2411 and the bottom plate 2413 are respectively located at two ends of the side wall 2412. The top plate 2411, the side wall 2412, and the bottom plate 2413 together form a cavity for accommodating the circuit board 243. The bottom plate 2413 is connected to the laser radar assembly 200, the circuit board 243 is arranged in the cavity and located on the bottom plate 2413, and the interactive component 242 is arranged on the top plate 2411.

[0174] In some embodiments, the base plate 2413 of this embodiment is detachably disposed on the laser radar assembly 200 .

[0175] This embodiment facilitates the installation and subsequent maintenance and replacement of the interactive component 240 by detachably setting the bottom plate 2413 on the laser radar component 200.

[0176] Please continue to refer to Fig. 20 Specifically, one of the laser radar assembly 200 and the bottom plate 2413 is provided with a plurality of clamping posts 211, and the other is provided with a plurality of clamping slots 24131. The plurality of clamping posts 211 correspond to the plurality of clamping slots 24131 one by one and are clamped and fixed, so that the laser radar assembly 200 and the bottom plate 2413 are detachably connected. Exemplarily, the clamping posts 211 of this embodiment are arranged at the top of the laser radar assembly 200, and the clamping slots 24131 are arranged on the bottom plate 2413.

[0177] In some embodiments, the circuit board 243 of this embodiment is disposed between the top plate 2411 and the bottom plate 2413 .

[0178] In this embodiment, the circuit board 243 is clamped between the top plate 2411 and the bottom plate 2413 , thereby ensuring the stability of the circuit board 243 in the housing 241 .

[0179] Please continue to refer to Fig.19 and Fig. 20 Specifically, the circuit board 243 is overlapped on the bottom plate 2413. A plurality of fixing posts 24132 are provided on the bottom plate 2413, a plurality of through holes 2431 are provided on the circuit board 243, and a plurality of fixing holes 24111 are provided on the top plate 2411. The plurality of fixing posts 24132, the plurality of through holes 2431 and the plurality of fixing holes 24111 correspond to each other. The fixing posts 24132 are passed through the corresponding through holes 2431, and the fasteners are connected to the corresponding fixing posts 24132 after passing through the fixing holes 24111. Exemplarily, a threaded hole may be provided in the fixing posts 24132 of this embodiment, and the fasteners may be screws, which are connected to the threaded holes after passing through the fixing holes 24111, so that the top plate 2411 and the bottom plate 2413 are connected and fixed. After the connection, the circuit board 243 is stuck between the top plate 2411 and the bottom plate 2413.

[0180] In this embodiment, the top plate 2411 and the bottom plate 2413 of the housing 241 are fixedly connected by fasteners, so that the circuit board 243 is clamped between the top plate 2411 and the bottom plate 2413 to ensure the stability of the circuit board 243.

[0181] In some embodiments, the interactive component 242 of this embodiment is detachably connected to the top plate 2411 .

[0182] In this embodiment, the interactive component 242 is detachably arranged on the top plate 2411 , thereby facilitating installation and removal of the interactive component 242 and facilitating subsequent maintenance and replacement.

[0183] Please continue to refer to Fig.19 and Fig. 20 Specifically, the top plate 2411 is provided with a first mounting hole 24112, and a mounting groove is further provided on the side of the top plate 2411 away from the bottom plate 2413, and a decorative cover 244 is provided in the mounting groove, and the decorative cover 244 is provided with a second mounting hole 2441 corresponding to the first mounting hole 24112, and the interactive member 242 is located in the first mounting hole 24112 and the second mounting hole 2441. The interactive member 242 includes a body 2421 and a flange 2422, and the flange 2422 is provided at one end of the body 2421 facing the bottom plate 2413, and the decorative cover 244 is overlapped on the side of the flange 2422 away from the bottom plate 2413, so that the interactive member 242 is clamped on the top plate 2411 by using the decorative cover 244.

[0184] In this embodiment, the decorative cover 244 is disposed in the installation groove, and the decorative cover 244 is overlapped on the flange 2422 of the interactive member 242, so that the interactive member 242 is clamped on the top plate 2411 through the decorative cover 244, thereby realizing a detachable connection between the interactive member 242 and the top plate 2411.

[0185] In some embodiments, a flexible pad 245 is further provided between the circuit board 243 and the interactive member 242 of this embodiment, and in a plane parallel to the circuit board 243, the projection of the first mounting hole 24112 is located within the projection range of the flexible pad 245. In other words, the flexible pad 245 of this embodiment can completely cover the first mounting hole 24112. The flexible pad 245 can be clamped between the top plate 2411 and the bottom plate 2413.

[0186] In this embodiment, a flexible pad 245 is provided to buffer the impact force between the interactive component 242 and the circuit board 243, which is beneficial to prolonging the service life of the interactive component 242 and the circuit board 243. The flexible pad 245 covers the first mounting hole 24112, so that a sealing structure is formed between the flexible component and the housing 241, preventing external impurities such as water and dust from entering the interactive component 240.

[0187] In some embodiments, the flexible pad 245 of this embodiment may be a rubber pad or a silicone pad.

[0188] Please continue to refer to Fig.18 and Fig. 20 In some embodiments, a wire hole 24133 is further provided on the bottom plate 2413 of the present embodiment, and the lead wire 246 of the circuit board 243 passes through the wire hole 24133 and is connected to the main board of the cleaning device.

[0189] In this embodiment, the circuit board 243 is connected to the main board of the cleaning device by connecting the lead 246 of the circuit board 243 to the main board of the cleaning device, thereby realizing the communication connection between the circuit board 243 and the main board of the cleaning device. The wire hole 24133 is set on the bottom plate 2413, which is not easy to be found by the user, and the appearance of the interactive component 240 can be ensured to be beautiful.

[0190] In some embodiments, in a plane parallel to the bottom plate 2413, the projection of the laser radar assembly 200 of this embodiment is located within the projection range of the bottom plate 2413, that is, the bottom plate 2413 of this embodiment can completely cover the laser radar assembly 200. The wire hole 24133 is provided on the portion of the bottom plate 2413 that is located outside the projection range of the laser radar assembly 200.

[0191] The laser radar assembly 200 includes a laser radar 250, a laser radar housing 210 and a motor base 280. The laser radar 250 is located inside the laser radar housing 210. The laser radar housing 210 is located between the interactive assembly 240 and the motor base 280. The lead 246 is connected to the mainboard of the cleaning device along the laser radar housing 210 and the motor base 280.

[0192] In this embodiment, the lead 246 is arranged outside the laser radar housing 210, thereby avoiding interference between the lead 246 and the laser radar component 200, thereby ensuring the normal use of the laser radar component 200.

[0193] In some embodiments, a shielding cover 500 is further provided on the outside of the laser radar housing 210 and the motor base 280, and a wiring space is formed between the shielding cover 500 and the laser radar housing 210 and the motor base 280. Part of the lead 246 is located in the wiring space, and a wire outlet hole 510 is further provided on the end of the shielding cover 500 facing away from the bottom plate 2413. The lead 246 passes through the wire outlet hole 510 and is connected to the mainboard of the cleaning device.

[0194] In this embodiment, the shielding cover 500 is provided to set the lead 246 between the shielding cover 500 and the laser radar housing 210 and the motor base 280, so that the lead 246 is not exposed, which is conducive to improving the aesthetics. The shielding cover 500 can also provide protection for the lead 246 to ensure that the lead 246 is not easily damaged.

[0195] In some embodiments, at least two winding posts 270 are arranged at intervals in the wiring space of this embodiment, and the two ends of the winding post 270 are respectively connected to the shielding cover 500 and the motor base 280, and the lead 246 is passed through the two winding posts 270. In this embodiment, the winding post 270 is provided to change the direction of the lead 246, so as to facilitate the connection of the lead 246 to the main board of the cleaning device.

[0196] For example, the winding post 270 of this embodiment may be provided with a fixing hole arranged along the axial direction, and the fastener passes through the shielding cover 500 and is connected to the fixing hole, thereby connecting the shielding cover 500 to the motor base 280.

[0197] like Fig.19As shown, in a possible embodiment, the interactive member 242 of this embodiment includes a plurality of buttons, and the plurality of buttons are arranged on the side of the interactive member 242 away from the laser radar assembly 200. A plurality of button shrapnels 2432 are arranged between the interactive member 242 and the circuit board 243, and the button is configured to deform the button shrapnel 2432 when subjected to a pressing force, so that the circuit board 243 generates a trigger signal. Exemplarily, the button shrapnel 2432 can be a pot piece arranged on the circuit board 243, and the button shrapnel 2432 is in a free state when the button is not pressed; when the button is pressed, the button shrapnel 2432 is deformed toward one side of the circuit board 243, so that the circuit board 243 triggers a signal; after the button is released, the button shrapnel 2432 can return to a free state under the action of its own elastic force.

[0198] In this embodiment, a button is set on the interactive component 242, and a button spring 2432 is set between the interactive component 242 and the circuit board 243. The user can press the button to deform the button spring 2432, so that the circuit board 243 generates a trigger signal to achieve human-computer interaction.

[0199] Furthermore, the interactive component 242 of this embodiment is also provided with a plurality of protrusions 2423 on the side facing the laser radar assembly 200. The plurality of protrusions 2423 correspond one-to-one to the plurality of key springs 2432. When the key is pressed, the corresponding protrusion 2423 can be driven to abut against the corresponding key spring 2432, so that the circuit board 243 generates a trigger signal.

[0200] In another possible embodiment, the interactive component 242 of this embodiment includes a touch screen, and the interactive component 242 is communicatively connected with the circuit board 243 . For example, the interactive component 242 and the circuit board 243 may be connected via a cable.

[0201] In this embodiment, the interactive element 242 is set as a touch screen, and the user can achieve human-computer interaction by clicking or sliding the touch screen.

[0202] Please continue to refer to Fig.18 In this embodiment, a motor is provided in the motor base 280 , and the output end of the motor is connected to the laser radar 250 to drive the laser radar 250 to rotate in the laser radar housing 210 .

[0203] This embodiment restricts the rotation of the laser radar 250 within the laser radar housing 210 , thereby preventing the user from coming into direct contact with the rotating laser radar 250 , which helps to improve safety.

[0204] like Fig.19 and Fig. 20As shown, further, the laser radar housing 210 of this embodiment is provided with a plurality of clamping posts 211, and the bottom plate 2413 is provided with a plurality of clamping slots 24131, and the plurality of clamping posts 211 and the plurality of clamping slots 24131 correspond to each other one by one, and the clamping posts 211 are inserted into the corresponding clamping slots 24131 and can slide along the clamping slots 24131;

[0205] A micro switch 247 is also provided between the top plate 2411 and the bottom plate 2413. The micro switch 247 is communicatively connected with the circuit board 243. A first limiting rib 212 is provided on the laser radar housing 210. The first limiting rib 212 passes through the bottom plate 2413 and is located inside the interactive component 240. When the interactive component 240 slides along the laser radar housing 210, the micro switch 247 can abut against the first limiting rib 212.

[0206] In this embodiment, the interactive component 240 can slide on the laser radar housing 210 by inserting the clamping column 211 into the corresponding clamping slot 24131; during the movement, the micro switch 247 can abut against the first limiting rib 212, thereby triggering the micro switch 247. The micro switch 247 can feedback the collision information so that the cleaning equipment can perform the corresponding obstacle avoidance strategy.

[0207] A second limiting rib 24113 is also provided on the top plate 2411 of the present embodiment. The second limiting rib 24113 is located above the micro switch 247. After the micro switch 247 abuts against the first limiting rib 212, the interactive component 240 can drive the second limiting rib 24113 to abut against the first limiting rib 212 when continuing to slide along the laser radar housing 210, so that the interactive component 240 and the laser radar housing 210 are relatively locked.

[0208] In this embodiment, a second limiting rib 24113 is provided to limit the sliding distance of the interactive component 240 on the laser radar housing 210 .

[0209] Exemplarily, a micro switch 247 is provided in the interactive component 240 of this embodiment, and the micro switch 247 is located at the front end of the interactive component 240 along the forward direction of the body 100;

[0210] Alternatively, two micro switches 247 are provided in the interactive component 240 of the present embodiment, and the two micro switches 247 are respectively located at the left and right ends of the interactive component 240 along the forward direction of the body 100 .

[0211] Fig.21 A cross-sectional view of a cleaning device provided in another embodiment of the present application along one direction. Fig.21As shown, a main frame bracket 120 is provided in the body 100 of this embodiment, and a laser radar 250 component is located above the main frame bracket 120. A battery pack 130 and a side brush assembly 140 are also provided in the body 100. The laser radar assembly 200, the battery pack 130, and the side brush assembly 140 are all located at the front end of the forward direction of the body 100, and the battery pack 130 and the side brush assembly 140 are respectively located on the left and right sides of the laser radar assembly 200; the side brush assembly 140 can be extended or retracted into the body 100.

[0212] In this embodiment, the battery pack 130 and the side brush assembly 140 are respectively arranged on the left and right sides of the laser radar assembly 200, so that the weight of the left and right sides of the cleaning equipment is basically the same, and there is no need to set a counterweight, thereby saving costs.

[0213] Fig. 22 This is a simplified structural diagram of a cleaning device provided in another embodiment of the present application with part of the outer shell hidden. Please continue to refer to Fig.21 and Fig. 22 The mainboard of the cleaning device includes a first circuit board 150 disposed in the body 100 . The first circuit board 150 is located on the main frame 120 and is disposed above the battery pack 130 . The lead 246 of the interactive component 240 is electrically connected to the first circuit board 150 .

[0214] In this embodiment, the first circuit board 150 is arranged at the front end of the body 100 in the forward direction, so as to facilitate processing of high-speed signals such as cameras, radars, and ultrasonic waves.

[0215] Exemplarily, the mainboard of the cleaning device further includes a second circuit board 160 disposed in the body 100 , the second circuit board 160 is located at the rear end of the forward direction of the body 100 , and the first circuit board 150 is communicatively connected with the second circuit board 160 .

[0216] Fig.23 This is a bottom view of a cleaning device provided by another embodiment of the present application. Fig.23 As shown, the lower part of the body 100 of this embodiment is also provided with a universal wheel 40 and a roller brush 50. The roller brush 50 is located in the middle of the forward direction of the body 100, and the universal wheel 40 is arranged near the front end of the forward direction of the body 100.

[0217] Fig.24 A cross-sectional view of a cleaning device provided in another embodiment of the present application along one direction. Fig.24 As shown, the lower part of the body 100 of this embodiment is also provided with a universal wheel 40 and a roller brush 50. The roller brush 50 is located in the middle of the forward direction of the body 100, and the universal wheel 40 is arranged near the rear end of the forward direction of the body 100.

[0218] A counterweight 170 is further provided in the machine body 100 . The counterweight 170 is arranged near the rear end of the machine body 100 in the forward direction. The center of gravity of the machine body 100 is located on the machine body 100 between the roller brush 50 and the universal wheel 40 .

[0219] In this embodiment, the center of gravity of the body 100 is set in the rear half of the body 100. According to the lever principle, the lever arm is reduced, and the roller brush 50 can exert a greater force on the ground during cleaning, which is beneficial to improving the cleaning effect and cleaning efficiency.

[0220] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0221] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0222] It should be noted that in the description of this application, the terms "first" and "second" are only used to facilitate the description of different components, and cannot be understood as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0223] The various embodiments or implementation methods in the present application are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0224] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0225] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning device, characterized in that: The device comprises a body and a laser radar component, wherein the body is provided with a housing cavity, at least part of the laser radar component is located in the housing cavity, the housing cavity is provided with an opening communicating with the surface of the body, and the laser radar component is movably arranged relative to the housing cavity to extend out of or retract into the opening; A first sealing structure is provided in the accommodating cavity, and the laser radar component includes a second sealing structure. At least when the laser radar component is extended or retracted into the opening, the first sealing structure is in sealing contact with the second sealing structure.

2. The cleaning device according to claim 1, characterized in that When the laser radar assembly is located within the body, the first sealing structure is in sealing contact with the second sealing structure.

3. The cleaning device according to claim 2, characterized in that: It also includes a lifting component, which is connected to the laser radar component. The lifting component can drive the laser radar component to move along the accommodating cavity to extend or retract the opening.

4. The cleaning device according to claim 3, characterized in that: The first sealing structure includes an inner wall of the accommodating cavity, and the second sealing structure includes a laser radar housing of the laser radar assembly; Along the moving direction of the laser radar component, the cross-sectional shape of the laser radar housing is adapted to the cross-sectional shape of the accommodating cavity.

5. The cleaning device according to claim 4, characterized in that The laser radar housing is provided with a first flange surrounding the laser radar housing. When the laser radar component moves along the accommodating cavity, the first flange always abuts against the inner wall of the accommodating cavity.

6. The cleaning device according to claim 5, characterized in that The first flange is located at an end of the laser radar housing away from the opening.

7. The cleaning device according to claim 5, characterized in that The inner wall of the accommodating cavity includes a first cavity wall and a second cavity wall which are connected to each other. The first cavity wall extends along the moving direction of the laser radar assembly, and the second cavity wall gradually tilts outward from a side away from the opening to a side close to the opening.

8. The cleaning device according to claim 7, characterized in that The first cavity wall is a cylindrical cavity wall, and the second cavity wall is a truncated cone cavity wall.

9. The cleaning device according to claim 8, characterized in that The laser radar housing is also provided with a second flange, and the second flange and the first flange are arranged at intervals along the moving direction of the laser radar assembly; After the lifting assembly drives the laser radar assembly to retract into the opening, the second flange abuts against the second cavity wall.

10. The cleaning device according to claim 9, characterized in that The second flange has a matching surface that abuts against the second cavity wall, and the matching surface is a part of a conical surface.

11. The cleaning device according to claim 9, characterized in that When the lifting assembly drives the laser radar assembly to be in a state of extending out of the opening, the second flange is located outside the body.

12. The cleaning device according to claim 1, characterized in that The first sealing structure includes a sealing ring, at least part of which is located in the accommodating cavity; the second sealing structure includes a first flange and a second flange spaced apart along the moving direction of the laser radar assembly; The cleaning device further comprises a lifting assembly, and after the lifting assembly drives the laser radar assembly to extend out of the opening, the first flange abuts against the sealing ring; After the lifting assembly drives the laser radar assembly to retract into the opening, the second flange abuts against the sealing ring.

13. The cleaning device according to claim 12, characterized in that The sealing ring is detachably arranged in the body; The body includes an upper laser radar shell and a pressure cover, the upper laser radar shell includes an upper cover, the accommodating cavity is connected to the upper cover, the pressure cover is arranged on the upper cover, and the sealing ring is sealed between the upper cover and the pressure cover.

14. The cleaning device according to claim 13, characterized in that A mounting portion is further provided at one end of the accommodating cavity facing the upper cover, the mounting portion is connected to the outer wall of the accommodating cavity, and a mounting groove is provided in the mounting portion; The sealing ring includes a first part and a second part, the first part is located in the installation groove, and the second part is connected to the first part and extends into the accommodating cavity.

15. The cleaning device according to claim 14, characterized in that The first part is also provided with a fixing groove, and the side of the gland facing the sealing ring is provided with a fixing protrusion, and the fixing protrusion is inserted into the fixing groove.

16. The cleaning device according to any one of claims 9 to 15, characterized in that: The laser radar component is also provided with an interactive component, the interactive component has a shell, and the second flange is surrounded by the shell of the interactive component.

17. The cleaning device according to claim 3, characterized in that The lifting assembly includes a first base and a driving device, wherein the first base is fixed in the body, the driving device is arranged on the first base, and the driving device is connected to the laser radar assembly, and the driving device can drive the laser radar assembly to move along the accommodating cavity to extend or retract the opening.

18. The cleaning device according to claim 17, characterized in that The laser radar assembly includes a laser radar and a second base, the laser radar is arranged on the second base, the second base is arranged on the first base, and the second base is movably connected to the first base, the driving device is connected to the second base, and the driving device can drive the second base to move along the accommodating cavity to extend or retract the opening.

19. The cleaning device according to claim 18, characterized in that The laser radar assembly also includes a first optical coupling detection mechanism and a second optical coupling detection mechanism arranged along the height direction of the cleaning device. A shielding mechanism is provided on the second base. The driving device can drive the laser radar assembly to switch between the first position and the second position. Wherein, when the laser radar assembly is located at the first position, the shielding mechanism shields the first optical coupling detection mechanism; When the laser radar assembly is located at the second position, the shielding mechanism shields the second optical coupling detection mechanism.

20. The cleaning device according to claim 19, characterized in that The second base includes a slider, and the shielding mechanism is arranged on the slider; the laser radar assembly also includes an outer cover, which is located on the first base, and the first optical coupling detection mechanism and the second optical coupling detection mechanism are arranged on the outer cover at intervals along the height direction of the cleaning equipment.

21. The cleaning device according to claim 20, characterized in that The driving device comprises a motor, a crank and a connecting rod, the output end of the motor is connected to the crank, the crank is also connected to the first end of the connecting rod, and the second end of the connecting rod is connected to the second base; A plurality of guide rails are also arranged in the outer cover, and the sliding block is sleeved on the plurality of guide rails and can slide along the guide rails.

22. The cleaning device according to claim 18, characterized in that The driving device includes a first driving unit and a second driving unit. The first driving unit is used to drive the second base to extend out of the opening, and the second driving unit is used to drive the second base to retract into the opening.

23. The cleaning device according to claim 22, characterized in that The first driving unit includes an elastic member, two ends of which are respectively in contact with the first base and the second base, and the elastic force of the elastic member points in a direction in which the first base and the second base move away from each other.

24. The cleaning device according to claim 23, characterized in that The second driving unit includes a motor, a wheel and a rope. The wheel is mounted on the output shaft of the motor. The first end of the rope is connected to the wheel. The second end of the rope passes through the second base and is connected to the laser radar. The wheel is configured to rotate when driven by the motor so that the rope is wrapped around the wheel and pulls the laser radar toward the wheel.

25. The cleaning device according to claim 1, characterized in that A main frame bracket is provided in the body, and the laser radar component is located above the main frame bracket. A battery pack and a side brush component are also provided in the body. The laser radar component, the battery pack and the side brush component are all located at the front end of the forward direction of the body, and the battery pack and the side brush assembly are respectively located on the left and right sides of the laser radar component; the side brush assembly can extend or retract into the body.

26. The cleaning device according to claim 25, characterized in that The mainboard of the cleaning device includes a first circuit board arranged in the body, the first circuit board is located on the main frame and arranged above the battery pack, and the cleaning device also includes an interactive component, the leads of the interactive component are electrically connected to the first circuit board.

27. The cleaning device according to claim 26, characterized in that The main board of the cleaning device further comprises a second circuit board arranged in the body, the second circuit board is located at the rear end of the forward direction of the body, and the first circuit board is communicatively connected with the second circuit board.

28. The cleaning device according to any one of claims 25 to 27, characterized in that: The lower part of the machine body is also provided with a universal wheel and a roller brush, wherein the roller brush is located in the middle part of the forward direction of the machine body, and the universal wheel is arranged close to the front end of the forward direction of the machine body.

29. The cleaning device according to any one of claims 25 to 27, characterized in that: The lower part of the machine body is also provided with a universal wheel and a roller brush, the roller brush is located in the middle of the forward direction of the machine body, and the universal wheel is arranged near the rear end of the forward direction of the machine body; A counterweight block is also provided in the machine body, and the counterweight block is arranged close to the rear end of the machine body in the forward direction. The center of gravity of the machine body is located on the machine body between the roller brush and the universal wheel.

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