Cleaning equipment and optical assembly

Abstract

The utility model relates to the technical field of cleaning equipment, and provides cleaning equipment and an optical assembly, and the cleaning equipment comprises a shell, a light beam emitting part and a light beam refraction part. The light beam emitting part is arranged on the shell, and the light beam emitting part is configured to emit a navigation light beam; the light beam refraction piece is configured to change the direction of the navigation light beam so as to deflect the navigation light beam into an obstacle avoidance light beam; the light beam refraction piece has a first state in a light path of the light beam emission piece and a second state deviating from the light path of the light beam emission piece. The cleaning equipment and the optical assembly are high in space utilization rate and low in manufacturing cost.

Description

Technical Field

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

[0002] In related technologies, the navigation and obstacle avoidance functions of cleaning equipment such as sweeping robots are realized by setting corresponding sensors. This method will increase the manufacturing cost of the cleaning equipment, and the setting of corresponding sensors and related auxiliary parts will reduce the space utilization rate within the cleaning equipment. Utility Model Content

[0003] In view of this, embodiments of the present application hope to provide a cleaning device and an optical component with high space utilization and low cost.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0005] The present application discloses a cleaning device, comprising:

[0006] case;

[0007] a light beam emitting element, disposed on the housing, wherein the light beam emitting element is configured to emit a navigation light beam;

[0008] a beam refraction element, the beam refraction element being configured to change the direction of the navigation beam so as to deflect the navigation beam into an obstacle avoidance beam;

[0009] The beam refraction element has a first state in the optical path of the beam emission element and a second state deviating from the optical path of the beam emission element.

[0010] In one embodiment, the light beam emitting component includes a housing, a light beam emitting module and a rotating shaft, the light beam emitting module is used to emit the navigation beam, the light beam emitting module is arranged in the housing, the housing is rotatable with the shell through the rotating shaft and / or the light beam emitting component is rotatable with the housing through the rotating shaft, so that the light beam refraction component can switch between the first state and the second state.

[0011] In one embodiment, the cleaning device includes a movable adjustment member, and the movable adjustment member is configured to drive the light beam emitting member and / or the light beam refraction member to move.

[0012] In one embodiment, the movable adjustment member includes:

[0013] a first driving member;

[0014] A transmission member is connected to the light beam refraction member, and the transmission member is configured to be able to drive the light beam refraction member to move along a first direction or a second direction under the drive of the first driving member, wherein the first direction intersects with the second direction.

[0015] In one embodiment, the beam refraction member and the beam emission member are arranged along the second direction, and the cleaning device has a connected state. In the connected state, the first driving member is configured to drive the transmission member and drive the beam refraction member to move along the second direction, so that the beam refraction member is connected to the beam emission member and rotates synchronously; and / or,

[0016] The cleaning device has a disengaged state, in which the first driving member drives the transmission member to move along the second direction and drives the beam refraction member to separate from the beam emission member.

[0017] In one embodiment, a buckle is formed on one of the beam refraction member and the beam emission member, and a slot is formed on one of the beam refraction member and the beam emission member, and the buckle is engaged with the slot.

[0018] In one embodiment, the transmission member includes a first rod member that is telescopic along a first direction and a second rod member that is telescopic along a second direction, one end of the second rod member is connected to the driving shaft of the first driving member, the other end of the second rod member is connected to one end of the first rod member, and the other end of the first rod member is connected to the beam refraction member.

[0019] In one embodiment, the beam refraction member covers a first emission angle of the beam emission member in the first state, and the first emission angle is between 100° and 140°.

[0020] In one embodiment, when the beam refraction element is in the first state, part of the navigation beam can pass through the beam refraction element without being refracted, and another part of the navigation beam can be deflected by the beam refraction element into the obstacle avoidance beam.

[0021] In one embodiment, the beam refraction member has a hollow area and a refraction area. When the beam refraction member is in the first state, a portion of the navigation beam can pass through the hollow area, and another portion of the navigation beam is deflected into the obstacle avoidance beam through the refraction area.

[0022] In one embodiment, the beam refraction element includes a plurality of deflection areas, and the obstacle-avoiding light beams deflected by different deflection areas have different emission directions.

[0023] In one embodiment, the plurality of deflection regions are arranged along a first direction, and the beam refracting element is configured to be movable along the first direction relative to the beam emitting element.

[0024] In one embodiment, the refractive indices of different deflection regions are different; and / or,

[0025] The light beam refraction element has an incident surface and an exit surface, and the angles between the incident surface and the exit surface corresponding to different deflection zones are different.

[0026] In one embodiment, the cleaning device includes a controller configured to control the beam deflecting member to reciprocate along the first direction at a set frequency.

[0027] In one embodiment, the beam refraction member has an incident surface and an exit surface;

[0028] The navigation beam is incident from the incident surface, emerges from the exit surface and is deflected upward to become the obstacle avoidance beam; or,

[0029] The navigation light beam is incident from the incident surface, emerges from the emergent surface and is deflected downward to become the obstacle avoidance light beam.

[0030] In one embodiment, the light beam emitting element is an LDS laser radar or a multi-line radar; and / or the light beam refraction element is a prism.

[0031] Another aspect of the present application discloses an optical assembly, comprising:

[0032] a light beam emitting element, wherein the light beam emitting element is configured to emit a navigation light beam;

[0033] a beam refraction member, the beam refraction member being configured to refract the navigation beam to deflect it into an obstacle avoidance beam;

[0034] The beam refraction element has a first state in the optical path of the beam emission element and a second state deviating from the optical path of the beam emission element.

[0035] In one embodiment, the light beam emitting component includes a housing, a light beam emitting module and a rotating shaft, the light beam emitting module is used to emit the navigation beam, the light beam emitting module is arranged in the housing, the housing is rotatable with the shell through the rotating shaft and / or the light beam emitting component is rotatable with the housing through the rotating shaft, so that the light beam refraction component can switch between the first state and the second state.

[0036] In one embodiment, when the beam refraction element is in the first state, part of the navigation beam can pass through the beam refraction element without being refracted, and another part of the navigation beam can be deflected by the beam refraction element into the obstacle avoidance beam.

[0037] In one embodiment, the beam refraction element includes a plurality of deflection areas, and the obstacle-avoiding light beams deflected by different deflection areas have different emission directions.

[0038] The present application discloses a cleaning device and optical assembly. By providing a beam deflector, the device acts on a navigation beam and changes its transmission direction, deflecting it into an obstacle-avoidance beam. This eliminates the need for dedicated obstacle-avoidance sensors, enabling the cleaning device to avoid obstacles. This reduces the manufacturing cost of the cleaning device, improving its economics. Furthermore, since dedicated obstacle-avoidance sensors are not required, the space utilization within the housing is improved, leaving more space for component installation and reducing installation complexity.

[0039] The beam refraction component has a first state in which it is in the optical path of the beam emitting component and a second state deviating from the optical path of the beam emitting component. When the beam refraction component is in the first state, the beam refraction component can deflect the navigation beam to form an obstacle avoidance beam, and the obstacle avoidance beam can act on obstacles in the forward direction of the cleaning equipment to achieve an obstacle avoidance function; when the beam refraction component is in the second state, the beam refraction component can deviate from the optical path of the beam emitting component. At this time, the beam refraction component will not affect the transmission direction of the navigation beam, and the navigation beam can directly act on obstacles in the forward direction of the cleaning equipment to achieve a navigation function. In this way, by changing the state of the beam refraction component to deflect or avoid the navigation beam, the flexibility is strong and more information can be obtained about obstacles in the forward direction of the cleaning equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic structural diagram of a light beam emitting element, a light beam refraction element, and an adjustment element provided in an embodiment of the present application, wherein the light beam refraction element is in a first state and is separated from the light beam emitting element;

[0041] Figure 2 A schematic structural diagram of a light beam emitting element, a light beam refraction element, and an adjustment element provided in another embodiment of the present application, wherein the light beam refraction element is in a first state and is connected to the light beam emitting element;

[0042] Figure 3 A schematic structural diagram of a light beam emitting element, a light beam refraction element, and a light beam receiving element provided in yet another embodiment of the present application, wherein the light beam refraction element is in a first state;

[0043] Figure 4A schematic structural diagram of a light beam refraction element provided in yet another embodiment of the present application;

[0044] Figure 5 A schematic structural diagram of a light beam refraction element provided in yet another embodiment of the present application;

[0045] Figure 6 A schematic structural diagram of a light beam refraction element provided in yet another embodiment of the present application.

[0046] Description of Reference Numerals

[0047] 1. Beam emitting element; 11. Casing; 12. Rotating axis; 13. Beam emitting module; 2. Beam refracting element; 2a. Hollow area; 2b. Refraction area; 2c. Incident surface; 2d. Exit surface; 21. Deflection area; 3. Adjusting element; 31. Driving element; 32. Transmission element; 321. First rod; 322. Second rod; 4. Receiving element; A. Obstacle avoidance beam; B. Navigation beam; C. Buckle; D. Slot. DETAILED DESCRIPTION

[0048] It should be noted that, unless there is a conflict, the embodiments and technical features in the embodiments of this application can be combined with each other, and the detailed description in the specific implementation method should be understood as an explanation of the purpose of this application and should not be regarded as an improper restriction on this application.

[0049] The present application is further described in detail below with reference to the accompanying drawings and specific embodiments. The descriptions of "first", "second", etc. in the embodiments of the present application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly including at least one feature. In the description of the embodiments of the present application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0050] On the one hand, the embodiment of the present application provides a cleaning device. Figures 1 to 6 The cleaning device includes a housing, a beam emitting element 1, and a beam refraction element 2. The beam emitting element 1 is disposed within the housing and is configured to emit a navigation beam B. The beam refraction element 2 is configured to change the direction of the navigation beam B to deflect it into an obstacle avoidance beam A. The beam refraction element 2 has a first state in which it is in the optical path of the beam emitting element 1 and a second state that is deviated from the optical path of the beam emitting element 1.

[0051] Exemplarily, the light beam emitting element 1 may be disposed on the top surface or the front surface of the housing.

[0052] It should be noted that down may refer to a direction toward the ground, and up is the opposite of down.

[0053] It should be noted that the light beam emitter 1 of the cleaning equipment often emits a navigation light beam B in a fixed direction, such as the horizontal direction. After emission, the object to be measured in the fixed direction can be detected, but obstacles that deviate from the emission direction of the navigation light beam B cannot be detected.

[0054] Refraction is the phenomenon that the direction of a light beam changes when it passes from one medium to another.

[0055] Obstacle avoidance refers to the ability of a cleaning device to detect and avoid obstacles while moving.

[0056] Navigation refers to the cleaning equipment sensing the surrounding environment, drawing a map, planning a path, and moving according to the planned path.

[0057] By providing the housing, the components located inside the housing, such as the light beam emitting component 1 and the light beam refraction component 2 , can be protected to a certain extent, thereby increasing their service life.

[0058] By setting up a light beam emitter 1, the navigation light beam B emitted by the light beam emitter 1 can act on obstacles in the forward direction of the cleaning equipment, so as to realize the navigation function of the cleaning equipment and construct a more detailed layout map, so as to better plan the cleaning path and reduce repeated cleaning or missing certain areas.

[0059] By providing a beam deflector 2, it can act on the navigation beam B and change its transmission direction, deflecting it into the obstacle avoidance beam A. This allows the cleaning device to avoid obstacles without requiring a dedicated obstacle avoidance sensor. This, on the one hand, reduces the manufacturing cost of the cleaning device, improving economic efficiency. On the other hand, since no dedicated obstacle avoidance sensor is required, it improves space utilization within the housing, leaving more space for component installation and reducing installation difficulty.

[0060] It is understandable that in order to process the reflected signal of the light beam to obtain obstacle avoidance information and navigation information, it can be processed by a light receiving element and a signal processing element known in the art.

[0061] The cleaning equipment provided by the present application is characterized in that the beam refraction element 2 has a first state in which it is in the optical path of the beam emitting element 1 and a second state deviating from the optical path of the beam emitting element 1. When the beam refraction element 2 is in the first state, the beam refraction element 2 can deflect the navigation beam B to form an obstacle avoidance beam A, which can act on obstacles in the forward direction of the cleaning equipment, such as above or below, to achieve an obstacle avoidance function; when the beam refraction element 2 is in the second state, the beam refraction element 2 can deviate from the optical path of the beam emitting element 1. At this time, the beam refraction element 2 will not affect the transmission direction of the navigation beam B, and the navigation beam B can directly act on obstacles in the forward direction of the cleaning equipment to achieve a navigation function. In this way, by changing the state of the beam refraction element 2 to deflect or avoid the navigation beam B, the flexibility is strong and more information can be obtained.

[0062] For example, in one embodiment, when the cleaning device is provided with an obstacle avoidance sensor, providing the beam refraction element 2 can add additional information for obstacle avoidance, making obstacle avoidance more accurate.

[0063] For example, in one embodiment, the light beam emitting element 1 and the light beam refraction element 2 can be provided in the same module, thereby improving the space utilization of the cleaning equipment. Of course, the light beam emitting element 1 and the light beam refraction element 2 can also be provided in separate modules, thereby facilitating maintenance and replacement.

[0064] Exemplarily, in one embodiment, the cleaning device may be a sweeping robot.

[0065] In one embodiment, the beam refraction element 2 is a prism. For example, the prism can be a triangular prism. Using a prism as a beam refraction element allows, on the one hand, precise optical path control due to its geometric shape, to form an obstacle-avoiding beam A at a specific angle. On the other hand, the prism offers excellent optical performance and physical stability, making the beam refraction element 2 less susceptible to deformation during extended use and providing excellent operational stability. Furthermore, the prism offers low absorptivity and high transmittance, which can reduce dispersion to a certain extent and improve detection results.

[0066] In one embodiment, the light beam emitter 1 is an LDS laser radar. Using an LDS laser radar as the light beam emitter 1 makes the light beam emitter 1 insensitive to light changes. This allows the cleaning device to operate normally, day or night, and even in low-light conditions, with high reliability.

[0067] In one embodiment, the beam emitter 1 is a multi-line radar. Using a multi-line radar as the beam emitter 1 can emit multiple laser beams to obtain vertical depth information, providing three-dimensional environmental perception for the cleaning equipment. This can then provide the cleaning equipment with more detailed environmental information, improving the cleaning efficiency of the cleaning equipment.

[0068] In one embodiment, please refer to Figure 3 The beam emitting component 1 includes a shell 11, a beam emitting module 13 and a rotating shaft 12. The beam emitting module 13 is used to emit the navigation beam B. The beam emitting module 13 is arranged in the shell 11. The shell 11 can be rotatably arranged with the shell through the rotating shaft 12 to switch the beam refraction component 2 between the first state and the second state.

[0069] The switching between the first state and the second state can be achieved by, for example, rotating the light beam emitting element 1. For example, the first state can be when the light beam emitting module 13 rotates to a position where the light beam refraction element 2 deflects the navigation light beam B, and the second state can be when the light beam emitting module 13 rotates to another position where the light beam refraction element 2 does not refract.

[0070] Exemplarily, the casing 11 is formed with a rotating hole, one end of the rotating shaft 12 is connected to the shell, and the other end of the rotating shaft 12 is inserted into the rotating hole, so that the shell can be rotatably connected to the casing 11, and the light beam emitting module 13 is arranged in the casing 11.

[0071] Thus, by providing the enclosure 11, the light beam emitting module 13 and the rotating shaft 12 located therein can be protected, thereby increasing their service life. The enclosure 11 is rotatably arranged with the housing via the rotating shaft 12, enabling relative rotation between the light beam refractor 2 and the light beam emitting module 13, while the relative position between the light beam refractor 2 and the light beam emitting member 1 can be set to remain fixed. On the one hand, this allows the light beam emitting module 13 to have more emission angles and obtain more environmental information; on the other hand, by rotating the light beam emitting module 13, the light beam refractor 2 can be switched between the first state and the second state, achieving obstacle avoidance and / or navigation functions, with a high degree of automation and strong flexibility.

[0072] In one embodiment, the light beam emitting component 1 includes a housing 11, a light beam emitting module 13 and a rotating shaft 12. The light beam emitting module 13 is used to emit a navigation beam B. The light beam emitting module 13 is arranged in the housing 11. The light beam emitting module 13 can be rotatably arranged with the housing 11 through the rotating shaft 12 to switch the light beam refraction component 2 between the first state and the second state.

[0073] Illustratively, the housing 11 is formed with a rotation hole, one end of the rotation shaft 12 is connected to the light beam emitting module 13, and the other end of the rotation shaft 12 is inserted into the rotation hole. The rotation shaft 12 rotates to drive the light beam emitting module 13 to rotate.

[0074] In this way, relative rotation between the beam refraction member 2 and the beam emitting module 13 can also be achieved, and the relative position between the beam refraction member 2 and the beam emitting member 1 can be set to be fixed, which not only enables the beam emitting module 13 to have more emission angles, but also allows the beam refraction member 2 to switch between the first state and the second state to achieve obstacle avoidance and / or navigation functions, with a high degree of automation and strong flexibility.

[0075] Exemplarily, in one embodiment, the cleaning device includes a second driving member, which can be a motor or an electric motor. The second driving member is used to drive the rotating shaft 12 to rotate. By controlling its speed and direction, the light beam emitting module 13 can be driven to rotate along the rotating shaft 12, and then the light beam refraction member 2 can be switched between the first state and the second state, with a high degree of automation.

[0076] For example, in one embodiment, please refer to Figure 3 The shape of the enclosure 11 is not limited. For example, the shape of the enclosure 11 can be cylindrical.

[0077] For example, in one embodiment, please refer to Figure 3 The receiving component 4 and the signal processing component can both be arranged in the housing 11. The receiving component 4 is used to receive the light beam reflected from the object to be measured, and the signal processing component can process the light beam to obtain obstacle avoidance information and navigation information.

[0078] Exemplarily, in one embodiment, the cleaning device includes a cleaning component, which is at least partially located in a shell and is used to clean the outside world. The part of the cleaning component located outside the shell can clean the ground to be cleaned based on the detection data between signal processing, thereby improving the cleaning efficiency.

[0079] Illustratively, in one embodiment, the cleaning device includes a rotating adjustment member, which is configured to drive the beam emitting member 1 and / or the beam refraction member 2 to rotate, so as to switch the beam refraction member 2 between the first state and the second state.

[0080] For example, by providing a rotary adjustment member, the beam emitting member 1 can be driven to rotate while the beam refracting member 2 remains stationary, the beam refracting member 2 can be driven to rotate while the beam emitting member 1 remains stationary, or both can be driven to rotate simultaneously, with one rotating at a lower speed than the other. In this way, by providing a rotary adjustment member, the beam refracting member 2 can be positioned within or offset from the optical path of the beam emitting member 1, enabling the cleaning device to switch between obstacle avoidance and navigation, resulting in a high degree of automation and enhanced flexibility.

[0081] In one embodiment, the cleaning device includes a movable adjustment member 3 , which is configured to drive the light beam emitting member 1 and / or the light beam refraction member 2 to move.

[0082] Exemplarily, the movable adjustment member 3 can drive the light beam emitting member 1 and / or the light beam refractive member 2 to move horizontally or vertically, and the horizontal or vertical movement can be achieved by the movable adjustment member 3 alone or in combination with other components.

[0083] That is to say, the movable adjusting member 3 can only drive the movement of the light beam emitting member 1, or only drive the movement of the light beam refraction member 2, or can simultaneously drive the position of the light beam emitting member 1 and the light beam refraction member 2 to move. In this way, on the one hand, the light beam emitting member 1 and / or the light beam refraction member 2 can be moved by the movable adjusting member 3, and the position of the light beam emitting member 1 and / or the light beam refraction member 2 can be adjusted to increase the detection range of the obstacle avoidance beam A or the navigation beam B, and further increase the detection accuracy of the cleaning equipment; on the other hand, when there is an obstacle, the position of the light beam emitting member 1 and / or the light beam refraction member 2 can be adjusted by the movable adjusting member 3 to avoid the obstacle; on the other hand, by setting the movable adjusting member 3, the light beam refraction member 2 can be moved into the optical path of the light beam emitting member 1 to deflect the navigation beam B or moved outside the optical path of the light beam emitting member 1 to avoid the navigation beam B.

[0084] Exemplarily, in one embodiment, the shell has a telescopic opening connected to its interior along a first direction, and the movable adjustment member 3 includes a lifting mechanism, which can drive the light beam emitting member 1 to extend out of the telescopic opening along the first direction to scan and sense the surrounding environment. When there is an obstacle in the shell along the first direction, the lifting mechanism can drive the light beam emitting member 1 to retract from the telescopic opening into the shell along the first direction. In this way, the situation where the obstacle collides with the light beam emitting member 1 can be reduced, thereby improving the protection of the light beam emitting member 1.

[0085] It should be noted that the first direction is not limited, for example, the first direction may be an up-down direction.

[0086] In one embodiment, the movable adjustment member 3 includes a first driving member 31 and a transmission member 32. The transmission member 32 is connected to the beam refraction member 2 and is configured to drive the beam refraction member 2 to move along a first direction or a second direction under the drive of the first driving member 31, wherein the first direction intersects the second direction.

[0087] Exemplarily, the driving shaft of the first driving member 31 can be drivably connected to one end of the transmission member 32, and the other end of the transmission member 32 can be connected to the beam refraction member 2. In this way, the first driving member 31 drives the transmission member 32 to drive the beam refraction member 2 to move in the first direction or the second direction. In this way, the first driving member 31 drives the transmission member 32 to drive the beam refraction member 2 to move in the first direction or the second direction, and the position of the beam refraction member 2 can be adjusted to increase the detection range of the obstacle avoidance beam A and further increase the detection accuracy of the cleaning equipment. On the other hand, the multi-directional movement of the beam refraction member 2 can avoid more obstacles. On the other hand, by providing the first driving member 31 and the transmission member 32, the beam refraction member 2 can be moved into the optical path of the beam emitting member 1 to deflect the navigation beam B, or moved outside the optical path of the beam emitting member 1 to avoid the navigation beam B.

[0088] Exemplarily, the second direction can be a horizontal direction. For example, it can be a front-to-back direction or a left-to-right direction. That is, when the beam refractor 2 is in the second state, the navigation beam B can be emitted horizontally. When the beam refractor 2 is in the first state, the navigation beam B is emitted horizontally and then deviates from the horizontal direction through the beam refractor 2 to form the obstacle avoidance beam A.

[0089] For example, in one embodiment, Figure 3 R1 in the figure can be the second direction, and R2 can be the first direction.

[0090] In one embodiment, please refer to Figure 1 and Figure 2 The transmission member 32 includes a first rod member 321 that is telescopic along the first direction and a second rod member 322 that is telescopic along the second direction. One end of the second rod member 322 is connected to the driving shaft of the first driving member 31, and the other end of the second rod member 322 is connected to one end of the first rod member 321. The other end of the first rod member 321 is connected to the beam refraction member 2.

[0091] For example, the transmission member 32 is substantially L-shaped. The first driving member 31 can drive the first rod 321 to extend and retract along a first direction to drive the beam refraction member 2 to move. The first driving member 31 can also drive the second rod 322 to extend and retract along a second direction to drive the beam refraction member 2 to move. This provides high integration, a compact structure, and high space utilization.

[0092] In one embodiment, the beam refraction member 2 and the beam emitting member 1 are arranged along the second direction, and the cleaning device has a connected state. In the connected state, the first driving member 31 is configured to drive the transmission member 32 and drive the beam refraction member 2 to move along the second direction, so that the beam refraction member 2 is connected to the beam emitting member 1 and rotates synchronously.

[0093] For example, the first driving member 31 may drive the second rod 322 to drive the light beam refracting member 2 to move closer to or away from the light beam emitting member 1 along the second direction.

[0094] Here, when the cleaning device is connected and the beam refractor 2 is in the first state, the first driving member 31 can drive the transmission member 32 to move in the second direction and drive the beam refractor 2 to connect with the beam emitting member 1. This allows the beam emitting member 1 and the beam refractor 2 to rotate synchronously, thereby keeping the beam refractor 2 in the optical path of the beam emitting member 1, so that the navigation beam B can be deflected by the beam refractor 2 in real time to form the obstacle avoidance beam A. When the cleaning device is connected and the beam refractor 2 is in the second state, the driving member 31 can drive the transmission member 32 to move in the second direction and drive the beam refractor 2 to connect with the beam emitting member 1. This allows the beam emitting member 1 and the beam refractor 2 to rotate synchronously, thereby keeping the beam refractor 2 out of the optical path of the beam emitting member 1, allowing the navigation beam B to directly act on obstacles in the direction of the cleaning device's advance. This improves the emission stability of the navigation beam B and the obstacle avoidance beam A, thereby improving the reliability and accuracy of the acquired obstacle avoidance and navigation information.

[0095] In one embodiment, please refer to Figure 1 The cleaning device has a disengaged state. In the disengaged state, the first driving member 31 drives the transmission member 32 to move along the second direction and drives the beam refraction member 2 to separate from the beam emission member 1.

[0096] For example, the first driving member 31 may drive the second rod 322 to drive the light beam refracting member 2 to move closer to or away from the light beam emitting member 1 along the second direction.

[0097] Here, by switching to the disengaged state, the beam refraction component 2 can be separated from the beam emission component 1 to meet different beam deflection requirements.

[0098] In one embodiment, please refer to Figure 1 and Figure 2 The beam refraction member 2 and one of the beam emission member 1 form a buckle C, and the beam refraction member 2 and one of the beam emission member 1 form a slot D, and the buckle C is engaged with the slot D.

[0099] For example, the light beam emitting element 1 may be formed with a slot D, and the light beam emitting element 1 may be formed with a buckle C, which is connected to the slot D via the buckle C. This connection between the buckle C and the slot D allows, on the one hand, the design of the slot D and the buckle C to be connected or disconnected without the need for additional tools, making it simple and efficient. On the other hand, when the buckle C is engaged in the slot D, the connection strength between the light beam refracting element 2 and the light beam emitting element 1 is improved, reducing the possibility of accidental detachment and improving the stability of the light beam refracting element 2 when it rotates with the light beam emitting element 1. In another embodiment, the light beam emitting element 1 may be formed with the buckle C and the slot D.

[0100] In one embodiment, when the beam refraction element 2 is in the first state, part of the navigation beam B can pass through the beam refraction element 2 without being refracted, and another part of the navigation beam B can be deflected into the obstacle avoidance beam A by the beam refraction element 2 .

[0101] Here, when the beam refraction element 2 is in the first state, a part of the navigation beam B can directly pass through the beam refraction element 2 and act on the object to be measured in the surrounding environment, while the other part of the navigation beam B can be deflected into the obstacle avoidance beam A after passing through the beam refraction element 2 and act on the object to be measured in the surrounding environment. In this way, not only can the navigation blind spot be reduced, but obstacle avoidance information can also be obtained at the same time, thereby realizing the navigation and obstacle avoidance functions at the same time.

[0102] In one embodiment, please refer to Figure 4 The beam refraction member 2 has a hollow area 2a and a refraction area 2b. When the beam refraction member 2 is in the first state, a part of the navigation beam B can pass through the hollow area 2a, and the other part of the navigation beam B is deflected into the obstacle avoidance beam A through the refraction area 2b.

[0103] Here, when the beam refraction element 2 is in the first state, a part of the navigation beam B can pass through the hollow area 2a and directly act on the object to be measured in the surrounding environment, while another part of the navigation beam B can be deflected into the obstacle avoidance beam A after passing through the refraction area 2b and act on the object to be measured in the surrounding environment. In this way, not only can the navigation blind spot be reduced, but obstacle avoidance information can also be obtained at the same time, thereby realizing the navigation and obstacle avoidance functions at the same time.

[0104] In one embodiment, please refer to Figure 4 and Figure 5Multiple hollow areas 2a and multiple refraction areas 2b are spaced apart. For example, the beam refractor 2 has a comb-shaped configuration. Thus, when the beam refractor 2 is in its first state, a portion of the navigation beam B can pass directly through the gaps between the "teeth" of the comb-shaped beam refractor 2 and directly act on the object to be measured in the surrounding environment, while another portion of the navigation beam B can be deflected by the "teeth" of the comb-shaped beam refractor 2 to form an obstacle avoidance beam A and act on the object to be measured in the surrounding environment. Thus, when the beam refractor 2 is in its first state, after passing through the beam refractor 2, both the navigation beam B and the obstacle avoidance beam A can acquire navigation information, thereby realizing the multifunctional characteristics of the cleaning device.

[0105] In one embodiment, the beam refraction element 2 includes a plurality of deflection regions 21 , and the obstacle-avoiding light beams A deflected by different deflection regions 21 have different emission directions.

[0106] For example, the navigation beam B can be directed to different deflection areas 21 by moving the beam emitting element 1 and / or the beam refraction element 2, or by rotating the beam emitting element 1 and / or the beam refraction element 2. In this way, obstacle avoidance information of the obstacle avoidance beam A in different emitting directions can be obtained to meet different obstacle avoidance needs and improve the obstacle avoidance capability of the cleaning equipment.

[0107] In one embodiment, the plurality of deflection regions 21 are arranged along a first direction, and the beam refraction element 2 is configured to be movable along the first direction relative to the beam emission element 1 .

[0108] For example, the beam refraction member 2 may move in the first direction while the beam emission member 1 remains stationary. Alternatively, the beam emission member 1 may move in the first direction while the beam refraction member 2 remains stationary. Alternatively, both the beam refraction member 2 and the beam emission member 1 may move in the first direction, but at different speeds. For example, the first driving member 31 may drive the first rod 321 to move the beam refraction member 2 in the first direction.

[0109] In this way, obstacle avoidance information of the obstacle avoidance light beam A with different emission angles along the first direction can be obtained to meet different obstacle avoidance requirements and improve the obstacle avoidance capability of the cleaning equipment.

[0110] In one embodiment, the refractive indices of the different deflection zones 21 are different. Because the different deflection zones 21 have different refractive indices, the obstacle avoidance light beams A deflected from the different deflection zones 21 have different emission directions, thereby meeting different obstacle avoidance requirements and improving the obstacle avoidance capability of the cleaning device.

[0111] In one embodiment, please refer to Figure 6 The beam refraction element has an incident surface 2c and an exit surface 2d, and the angles between the incident surface 2c and the exit surface 2d corresponding to different deflection zones 21 are different.

[0112] That is to say, by setting the angle between the incident surface 2c and the exit surface 2d on each deflection area 21 to be different, that is, the slope of the incident surface 2c is different, the angle of the obstacle avoidance light beam A emitted from each deflection area 21, that is, the exit angle, is not the same. In this way, obstacle avoidance information of the obstacle avoidance light beam A with different exit angles along the first direction can be obtained to meet different obstacle avoidance needs and improve the obstacle avoidance capability of the cleaning equipment.

[0113] In one embodiment, the cleaning device includes a controller configured to control the beam deflecting member 2 to reciprocate along the first direction at a set frequency.

[0114] For example, the controller may drive the first rod 321 through the first driving member 31 to drive the light beam refraction member 2 to move back and forth along the first direction.

[0115] In this way, by controlling the beam refraction element 2 to move back and forth along the first direction through the controller, the single-line or few-line beam emitting element 1 can be combined with the beam refraction element 2 to form a multi-line laser radar effect to provide more detailed environmental information.

[0116] For example, in one embodiment, the set frequency can be 40 Hz. For example, the first direction is the up-down direction. In each cycle, the controller controls the beam refractor 2 to rise to block the optical path of the beam emitting element 1. At this time, the beam refractor 2 can deflect the obstacle avoidance beam A downward. The controller controls the beam refractor 2 to descend to avoid the optical path of the beam emitting element 1. At this time, the navigation beam B can be emitted horizontally. The horizontally emitted navigation beam B has the same signal as the downwardly emitted obstacle avoidance beam A. The rise time of the beam refractor 2 is consistent with the fall time of the beam refractor 2. In this way, by performing 40 cycles per second, the single-line beam emitting element 1 can be made to have the effect of a dual-line.

[0117] In one embodiment, the beam refraction element 2 has an incident surface 2c and an exit surface 2d. The navigation beam B is incident from the incident surface 2c, exits from the exit surface 2d, and is deflected downward to become an obstacle avoidance beam A.

[0118] For example, the incident surface 2c and the exit surface 2d are located on either side of the beam refractor 2 along the second direction. The navigation beam B can be incident from the incident surface 2c along the second direction, then exit from the exit surface 2d and deflect downward to become the obstacle avoidance beam A. Thus, on the one hand, the downwardly deflected obstacle avoidance beam A can better detect small obstacles on the surface to be cleaned, such as wires or shoelaces. On the other hand, the downwardly deflected obstacle avoidance beam A helps the cleaning device better detect the edge of stairs or sudden changes in ground height, reducing the risk of falls from height.

[0119] In one embodiment, the beam refraction element 2 has an incident surface 2c and an exit surface 2d. The navigation beam B is incident from the incident surface 2c, exits from the exit surface 2d, and is deflected upward to become an obstacle avoidance beam A.

[0120] For example, the incident surface 2c and the exit surface 2d are located on either side of the beam refractor 2 along the second direction. The navigation beam B can be incident on the incident surface 2c along the second direction, then exit from the exit surface 2d and deflect upward to form the obstacle avoidance beam A. The upwardly deflected obstacle avoidance beam A also constitutes a type of obstacle avoidance. Thus, the upwardly deflected obstacle avoidance beam A can effectively solve the problem of height detection in low spaces, reduce the possibility of contact with the bottom of furniture, and improve the obstacle avoidance capability of the cleaning equipment.

[0121] For example, in one embodiment, the incident surface 2 c of the light beam refraction element 2 may be an arc-shaped surface to adapt to the emission angle of the navigation light beam B of the light beam emission element 1 .

[0122] In one embodiment, the beam refraction element 2 covers the first emission angle of the beam emission element 1 in the first state.

[0123] That is to say, when the light beam emitting element 1 rotates within the first emitting angle, the light beam refraction element 2 can deflect the navigation light beam B to form the obstacle avoiding light beam A, thereby improving the formation efficiency of the obstacle avoiding light beam A.

[0124] In one embodiment, the first emission angle is between 100° and 140°.

[0125] For example, the first emission angle may be 100°, 110°, 120°, 130° or 140°, etc. Thus, by setting a suitable first emission angle, the beam refraction element 2 can deflect the navigation beam B to obtain more environmental information.

[0126] Another aspect of the present application provides an optical component. Figure 3 The optical assembly includes a beam emitter 1 and a beam refractor 2. The beam emitter 1 is configured to emit a navigation beam B. The beam refractor 2 is configured to refract the navigation beam B to form an obstacle avoidance beam A. The beam refractor 2 has a first state in which it is in the optical path of the beam emitter 1 and a second state deviated from the optical path of the beam emitter 1.

[0127] It should be noted that the direction of the navigation beam B emitted by the light beam emitter 1 is often a fixed direction such as the horizontal direction. After emission, the object to be detected in the fixed direction can be detected, but obstacles that deviate from the emission direction of the navigation beam B cannot be detected.

[0128] The optical components provided in the embodiments of the present application can be used not only in cleaning equipment, but also in other equipment that requires obstacle avoidance and navigation, such as cars, robots, etc.

[0129] Refraction is the phenomenon that the direction of a light beam changes when it passes from one medium to another.

[0130] Obstacle avoidance refers to the ability to avoid obstacles.

[0131] Navigation refers to the ability to perceive the surrounding environment, draw maps, plan paths, and move according to the planned paths.

[0132] By setting up the light beam emitting element 1, the navigation light beam B emitted by the light beam emitting element 1 can act on obstacles to achieve the navigation function, that is, a more detailed layout map can be constructed to better plan the moving path.

[0133] By providing a beam deflector 2, it can act on the navigation beam B and change its transmission direction, deflecting it into the obstacle avoidance beam A. This allows obstacle avoidance to be achieved without the need for a dedicated obstacle avoidance sensor. Thus, on the one hand, the use of the beam deflector 2 can reduce the manufacturing cost of the optical assembly, improving economic efficiency. On the other hand, since no dedicated obstacle avoidance sensor is required, the occupancy rate within the optical assembly can be reduced, allowing equipment incorporating the optical assembly provided by the embodiments of the present application to have more installation space for components, reducing the difficulty of installation.

[0134] It is understandable that in order to process the reflected signal of the light beam to obtain obstacle avoidance information and navigation information, the information can be processed by a signal processing component known in the art.

[0135] The cleaning equipment provided by the present application is characterized in that the beam refraction element 2 has a first state in which it is in the optical path of the beam emitting element 1 and a second state deviating from the optical path of the beam emitting element 1. When the beam refraction element 2 is in the first state, the beam refraction element 2 can deflect the navigation beam B to form an obstacle avoidance beam A, which can act on obstacles in the movement direction of the optical component, such as the upper or lower direction, to achieve an obstacle avoidance function; when the beam refraction element 2 is in the second state, the beam refraction element 2 can deviate from the optical path of the beam emitting element 1. At this time, the beam refraction element 2 will not affect the transmission direction of the navigation beam B, and the navigation beam B can directly act on obstacles in the moving direction of the optical component to achieve a navigation function. In this way, by changing the state of the beam refraction element 2 to deflect or avoid the navigation beam B, the flexibility is strong and more information can be obtained.

[0136] In one embodiment, please refer to Figure 3The beam emitting component 1 includes a shell 11, a beam emitting module 13 and a rotating shaft 12. The beam emitting module 13 is used to emit the navigation beam B. The beam emitting module 13 is arranged in the shell 11. The shell 11 can be rotatably arranged with the shell through the rotating shaft 12 to switch the beam refraction component 2 between the first state and the second state.

[0137] The switching between the first state and the second state can be achieved by, for example, rotating the light beam emitting element 1. For example, the first state can be when the light beam emitting module 13 rotates to a position where the light beam refraction element 2 deflects the navigation light beam B, and the second state can be when the light beam emitting module 13 rotates to another position where the light beam refraction element 2 does not refract.

[0138] In one embodiment, when the beam refraction element 2 is in the first state, part of the navigation beam B can pass through the beam refraction element 2 without being refracted, and another part of the navigation beam B can be deflected into the obstacle avoidance beam A by the beam refraction element 2 .

[0139] Here, when the beam refraction element 2 is in the first state, a part of the navigation beam B can directly pass through the beam refraction element 2 and act on the object to be measured in the surrounding environment, while the other part of the navigation beam B can be deflected into the obstacle avoidance beam A after passing through the beam refraction element 2 and act on the object to be measured in the surrounding environment. In this way, not only can the navigation blind spot be reduced, but obstacle avoidance information can also be obtained at the same time, thereby realizing the navigation and obstacle avoidance functions at the same time.

[0140] In one embodiment, please refer to Figure 4 The beam refraction member 2 has a hollow area 2a and a refraction area 2b. When the beam refraction member 2 is in the first state, a part of the navigation beam B can pass through the hollow area 2a, and the other part of the navigation beam B is deflected into the obstacle avoidance beam A through the refraction area 2b.

[0141] Here, when the beam refraction element 2 is in the first state, a part of the navigation beam B can pass through the hollow area 2a and directly act on the object to be measured in the surrounding environment, while another part of the navigation beam B can be deflected into the obstacle avoidance beam A after passing through the refraction area 2b and act on the object to be measured in the surrounding environment. In this way, not only can the navigation blind spot be reduced, but obstacle avoidance information can also be obtained at the same time, thereby realizing the navigation and obstacle avoidance functions at the same time.

[0142] In one embodiment, please refer to Figure 4 and Figure 5Multiple hollow areas 2a and multiple refractive areas 2b are spaced apart. For example, the beam refractor 2 has a comb-tooth shape. Thus, when the beam refractor 2 is in a first state, a portion of the navigation beam B can directly pass through the gaps between the "teeth" of the comb-tooth-shaped beam refractor 2 and directly act on the object to be measured in the surrounding environment, while another portion of the navigation beam B can be deflected by the "teeth" of the comb-tooth-shaped beam refractor 2 to form an obstacle avoidance beam A and act on the object to be measured in the surrounding environment. Thus, when the beam refractor 2 is in the first state, after passing through the beam refractor 2, both the navigation beam B acquires navigation information and the obstacle avoidance beam A acquires obstacle avoidance information, thereby realizing the multifunctional characteristics of the optical component.

[0143] In one embodiment, the beam refraction element 2 includes a plurality of deflection regions 21 , and the obstacle-avoiding light beams A deflected by different deflection regions 21 have different emission directions.

[0144] For example, the navigation beam B can be directed to different deflection areas 21 by moving the beam emitting element 1 and / or the beam refraction element 2, or by rotating the beam emitting element 1 and / or the beam refraction element 2. In this way, obstacle avoidance information of the obstacle avoidance beam A in different emitting directions can be obtained to meet different obstacle avoidance needs and improve the obstacle avoidance capability of the cleaning equipment.

[0145] In one embodiment, the plurality of deflection regions 21 are arranged along a first direction, and the beam refraction element 2 is configured to be movable along the first direction relative to the beam emission element 1 .

[0146] For example, the beam refraction member 2 may move in the first direction while the beam emitting member 1 remains stationary. Alternatively, the beam emitting member 1 may move in the first direction while the beam refraction member 2 remains stationary. Alternatively, both the beam refraction member 2 and the beam emitting member 1 may move in the first direction, but at different speeds. For example, a driving structure within the optical assembly may be used to cause the beam refraction member 2 to move in the first direction.

[0147] In this way, obstacle avoidance information of the obstacle avoidance light beam A with different emission angles along the first direction can be obtained to meet different obstacle avoidance requirements and improve the obstacle avoidance capability of the optical component.

[0148] In one embodiment, the refractive indices of the different deflection zones 21 are different. Because the different deflection zones 21 have different refractive indices, the obstacle avoidance light beams A deflected from the respective deflection zones 21 have different emission directions, thereby meeting different obstacle avoidance requirements and improving the obstacle avoidance capability of the optical component.

[0149] In one embodiment, please refer to Figure 6 The beam refraction element has an incident surface 2c and an exit surface 2d, and the angles between the incident surface 2c and the exit surface 2d corresponding to different deflection zones 21 are different.

[0150] That is to say, by setting the angle between the incident surface 2c and the exit surface 2d on each deflection zone 21 to be different, that is, the slope of the incident surface 2c is different, the angle of the obstacle avoiding light beam A emitted from each deflection zone 21, that is, the exit angle, is not the same. In this way, obstacle avoidance information of the obstacle avoiding light beam A with different exit angles along the first direction can be obtained to meet different obstacle avoidance needs and improve the obstacle avoidance capability of the optical component.

[0151] In one embodiment, the optical assembly includes a controller configured to control the beam deflecting element 2 to move back and forth along the first direction at a set frequency.

[0152] For example, the controller may drive the light beam refraction member 2 to move back and forth along the first direction through a driving structure in the optical assembly.

[0153] In this way, by controlling the beam refraction element 2 to move back and forth along the first direction through the controller, the single-line or few-line beam emitting element 1 can be combined with the beam refraction element 2 to form a multi-line laser radar effect to provide more detailed environmental information.

[0154] For example, in one embodiment, the set frequency can be 40 Hz. For example, the first direction is the up-down direction. In each cycle, the controller controls the beam refractor 2 to rise to block the optical path of the beam emitting element 1. At this time, the beam refractor 2 can deflect the obstacle avoidance beam A downward. The controller controls the beam refractor 2 to descend to avoid the optical path of the beam emitting element 1. At this time, the navigation beam B can be emitted horizontally. The horizontally emitted navigation beam B has the same signal as the downwardly emitted obstacle avoidance beam A. The rise time of the beam refractor 2 is consistent with the fall time of the beam refractor 2. In this way, by performing 40 cycles per second, the single-line beam emitting element 1 can be made to have the effect of a dual-line.

[0155] In one embodiment, the beam refraction element 2 has an incident surface 2c and an exit surface 2d. The navigation beam B is incident from the incident surface 2c, exits from the exit surface 2d, and is deflected upward to become an obstacle avoidance beam A.

[0156] For example, the incident surface 2c and the exit surface 2d are located on either side of the beam refractor 2 along the second direction. The navigation beam B can be incident on the incident surface 2c along the second direction, then exit from the exit surface 2d and deflect upward to form the obstacle avoidance beam A. The upwardly deflected obstacle avoidance beam A also constitutes a type of obstacle avoidance. Thus, the upwardly deflected obstacle avoidance beam A can effectively solve the problem of height detection in low spaces and improve the obstacle avoidance capability of the cleaning equipment.

[0157] In one embodiment, please refer to Figure 3 The beam refraction element 2 has an incident surface 2c and an exit surface 2d. The navigation beam B is incident from the incident surface 2c, exits from the exit surface 2d and deflected downward to become the obstacle avoidance beam A.

[0158] For example, the incident surface 2c and the exit surface 2d are located on either side of the beam deflector 2 along the second direction. The navigation beam B can be incident from the incident surface 2c along the second direction, then exit from the exit surface 2d and deflected downward to become the obstacle avoidance beam A. Thus, the downwardly deflected obstacle avoidance beam A can better detect small obstacles on the road. Furthermore, the downwardly deflected obstacle avoidance beam A facilitates sudden changes in ground height and reduces turbulence.

[0159] For example, in one embodiment, the incident surface 2 c of the light beam refraction element 2 may be an arc-shaped surface to adapt to the emission angle of the navigation light beam B of the light beam emission element 1 .

[0160] In one embodiment, the beam refraction element 2 covers the first emission angle of the beam emission element 1 in the first state.

[0161] That is to say, when the light beam emitting element 1 rotates within the first emitting angle, the light beam refraction element 2 can deflect the navigation light beam B to form the obstacle avoiding light beam A, thereby improving the formation efficiency of the obstacle avoiding light beam A.

[0162] In one embodiment, the first emission angle is between 100° and 140°.

[0163] For example, the first emission angle may be 100°, 110°, 120°, 130° or 140°, etc. Thus, by setting a suitable first emission angle, the beam refraction element 2 can deflect the navigation beam B to obtain more environmental information.

[0164] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, and improvements that fall within the spirit and principles of the present application are intended to be within the scope of protection of the present application.

Claims

1. A cleaning device, characterized in that: include: case; a light beam emitting element, disposed on the housing, wherein the light beam emitting element is configured to emit a navigation light beam; a beam refraction element, the beam refraction element being configured to change the direction of the navigation beam so as to deflect the navigation beam into an obstacle avoidance beam; The beam refraction element has a first state in the optical path of the beam emission element and a second state deviating from the optical path of the beam emission element.

2. The cleaning device according to claim 1, characterized in that The light beam emitting component includes a housing, a light beam emitting module and a rotating shaft. The light beam emitting module is used to emit the navigation beam. The light beam emitting module is arranged in the housing. The housing is rotatable with the shell through the rotating shaft and / or the light beam emitting component is rotatable with the housing through the rotating shaft, so that the light beam refraction component can switch between the first state and the second state.

3. The cleaning device according to claim 1 or 2, characterized in that The cleaning device includes a movable adjustment component, which is configured to drive the light beam emitting component and / or the light beam refraction component to move.

4. The cleaning device according to claim 3, characterized in that The movable adjustment member comprises: a first driving member; A transmission member is connected to the light beam refraction member, and the transmission member is configured to be able to drive the light beam refraction member to move along a first direction or a second direction under the drive of the first driving member, wherein the first direction intersects with the second direction.

5. The cleaning device according to claim 4, characterized in that The beam refraction member and the beam emission member are arranged along the second direction, and the cleaning device is in a connected state. In the connected state, the first driving member is configured to drive the transmission member and drive the beam refraction member to move along the second direction, so that the beam refraction member and the beam emission member are connected and rotate synchronously; and / or, The cleaning device has a disengaged state, in which the first driving member drives the transmission member to move along the second direction and drives the beam refraction member to separate from the beam emission member.

6. The cleaning device according to claim 5, characterized in that A buckle is formed on one of the beam refraction member and the beam emission member, and a slot is formed on one of the beam refraction member and the beam emission member, and the buckle is engaged with the slot.

7. The cleaning device according to claim 5, characterized in that The transmission member includes a first rod member that is telescopic along a first direction and a second rod member that is telescopic along a second direction, one end of the second rod member is connected to the driving shaft of the first driving member, the other end of the second rod member is connected to one end of the first rod member, and the other end of the first rod member is connected to the beam refraction member.

8. The cleaning device according to claim 2, characterized in that The beam refraction member covers a first emission angle of the beam emission member in the first state, and the first emission angle is between 100° and 140°.

9. The cleaning device according to claim 1, characterized in that When the beam refraction element is in the first state, part of the navigation beam can pass through the beam refraction element without being refracted, and another part of the navigation beam can be deflected by the beam refraction element into the obstacle avoidance beam.

10. The cleaning device according to claim 9, characterized in that The beam refraction member has a hollow area and a refraction area. When the beam refraction member is in the first state, a portion of the navigation beam can pass through the hollow area, and another portion of the navigation beam is deflected into the obstacle avoidance beam through the refraction area.

11. The cleaning device according to claim 1, characterized in that The beam refraction element includes a plurality of deflection areas, and the obstacle-avoiding light beams deflected from different deflection areas have different emission directions.

12. The cleaning device according to claim 11, characterized in that The plurality of deflection regions are arranged along a first direction, and the beam refraction element is configured to be movable along the first direction relative to the beam emission element.

13. The cleaning device according to claim 12, characterized in that The refractive index of different deflection regions is different; and / or, The light beam refraction element has an incident surface and an exit surface, and the angles between the incident surface and the exit surface corresponding to different deflection zones are different.

14. The cleaning device according to claim 12, characterized in that The cleaning device includes a controller configured to control the beam refraction member to reciprocate along the first direction at a set frequency.

15. The cleaning device according to claim 1, characterized in that The light beam refraction element has an incident surface and an exit surface; The navigation beam is incident from the incident surface, emerges from the exit surface and is deflected upward to become the obstacle avoidance beam; or, The navigation light beam is incident from the incident surface, emerges from the emergent surface and is deflected downward to become the obstacle avoidance light beam.

16. The cleaning device according to claim 1, characterized in that The light beam emitting component is an LDS laser radar or a multi-line radar; and / or the light beam refraction component is a prism.

17. An optical component, characterized in that: include: a light beam emitting element, wherein the light beam emitting element is configured to emit a navigation light beam; a beam refraction member, the beam refraction member being configured to refract the navigation beam to deflect it into an obstacle avoidance beam; The beam refraction element has a first state in the optical path of the beam emission element and a second state deviating from the optical path of the beam emission element.

18. The optical component according to claim 17, wherein: The light beam emitting component includes a housing, a light beam emitting module and a rotating shaft. The light beam emitting module is used to emit the navigation light beam. The light beam emitting module is arranged in the housing. The housing is rotatable with the shell through the rotating shaft and / or the light beam emitting component is rotatable with the housing through the rotating shaft, so that the light beam refraction component can switch between the first state and the second state.

19. The optical assembly according to claim 17, wherein: When the beam refraction element is in the first state, part of the navigation beam can pass through the beam refraction element without being refracted, and another part of the navigation beam can be deflected by the beam refraction element into the obstacle avoidance beam.

20. The optical assembly according to claim 17, wherein The beam refraction element includes a plurality of deflection areas, and the obstacle-avoiding light beams deflected from different deflection areas have different emission directions.

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