Laser radar assembly, cleaning device and cleaning system

Abstract

The utility model discloses a laser radar assembly, a cleaning device and a cleaning system. The laser radar assembly comprises a laser radar housing, a laser radar main body and an accommodating member. An opening is formed in the upper side of the laser radar shell in the height direction of the laser radar assembly. The laser radar body penetrates through the opening in a lifting mode and is at least partially located in the laser radar shell, and a gap is formed between the laser radar body and the opening in the horizontal plane where the opening is located. The containing part is located in the laser radar shell, arranged on the laser radar body and extends in the circumferential direction of the laser radar body, and in a projection plane perpendicular to the height direction of the laser radar assembly, the projection area of at least part of the containing part is overlapped with the projection area of the gap. According to the embodiment of the invention, the laser radar assembly comprises the accommodating part, and the projection area of the accommodating part is overlapped with the projection area of the gap, so that the possibility that impurities enter the interior of the laser radar body can be effectively reduced, and the reliability and the stability are higher.

Description

Technical Field

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

[0002] Intelligent cleaning devices are being used more and more widely in life and industry, and more and more users are using them to replace manual cleaning of various indoor and outdoor surfaces.

[0003] With the continuous development of technology, how to improve the reliability and stability of lidar components is one of the research topics in the industry. Utility Model Content

[0004] In order to solve the above technical problems, the present application provides a laser radar component, a cleaning device and a cleaning system with high reliability and good stability.

[0005] This application is implemented through the following technical solutions.

[0006] A first aspect of the present application provides a laser radar assembly, the laser radar assembly comprising:

[0007] A laser radar housing, wherein the laser radar housing has an opening on an upper side along a height direction of the laser radar component;

[0008] a laser radar body, the laser radar body being liftably disposed through the opening and at least partially located within the laser radar housing, with a gap formed between the laser radar body and the opening in a horizontal plane where the opening is located; and

[0009] A receiving piece is located in the laser radar housing, is provided on the laser radar body, and extends along the circumferential direction of the laser radar body. In a projection plane perpendicular to the height direction of the laser radar component, at least part of the projection area of ​​the receiving piece overlaps with the projection area of ​​the gap.

[0010] In some embodiments, the laser radar body includes a base and a light-transmitting cover, and the light-transmitting cover is supported on the base;

[0011] The receiving piece is arranged on the base and extends along the circumferential direction of the light-transmitting cover.

[0012] In some embodiments, the receiving member and the base are formed as an integral structure.

[0013] In some embodiments, at least a portion of the wall surface of the base is recessed along the height direction of the laser radar component toward a side away from the opening to form a recessed portion, and the recessed portion is an annular recessed portion extending around the outer periphery of the light-transmitting cover body, and the annular recessed portion defines the receiving piece.

[0014] In some embodiments, the laser radar housing includes a housing top wall having the opening;

[0015] A convex rib is formed on the base, the convex rib extends along the height direction of the laser radar assembly toward one side of the opening, and the convex rib is arranged on the outer periphery of the recessed portion;

[0016] When the laser radar body is in a raised state, the rib contacts the inner wall of the shell top wall.

[0017] In some embodiments, the laser radar body further comprises a top cover, the top cover being provided on a side of the light-transmitting cover away from the base, and in a projection plane perpendicular to the height direction of the laser radar assembly, a projection area of ​​the top cover is larger than a projection area of ​​the opening, and the projection area of ​​the opening is located within the projection area of ​​the top cover;

[0018] At least one first positioning portion is formed on the top cover, and at least one second positioning portion is formed on the inner periphery of the opening. When the laser radar body is in a lowered state, the first positioning portion and the second positioning portion cooperate with each other.

[0019] In some embodiments, the first positioning portion includes a first guiding slope, and the second positioning portion includes a second guiding slope;

[0020] Along the height direction of the laser radar assembly, from the side close to the opening to the side away from the opening, the first guide slope is inclined upward relative to the horizontal plane where the opening is located, and from the side away from the top cover to the side close to the top cover, the second guide slope is inclined upward relative to the horizontal plane where the opening is located.

[0021] In some embodiments, the number of the first positioning portion and the number of the second positioning portion are both plural, the plurality of first positioning portions are arranged at intervals along the circumferential direction of the top cover, and the plurality of second positioning portions are arranged at intervals along the circumferential direction of the opening;

[0022] The number of the plurality of first positioning parts is the same as the number of the plurality of second positioning parts, and the positions of the first positioning parts correspond to the positions of the second positioning parts.

[0023] In some embodiments, the base and the light-transmitting cover are formed as an integral injection-molded structure.

[0024] A second aspect of the present application provides a cleaning device, comprising:

[0025] housing; and

[0026] The laser radar component described in the first aspect of the present application is at least partially located within the shell.

[0027] A third aspect of the present application provides a cleaning system, comprising:

[0028] Cleaning base stations; and

[0029] The cleaning device described in the second aspect of the present application is docked at the cleaning base station when the cleaning device is not performing a cleaning operation.

[0030] Utility model effect

[0031] The laser radar body of the laser radar assembly of the embodiment of the present application can be raised and lowered along the height direction of the laser radar assembly, thereby having better environmental adaptability and being able to detect relatively low spaces. In addition, because the laser radar assembly includes a receiving piece, dust, foreign matter, and other impurities that fall into the laser radar housing through gaps will fall into the receiving piece, thereby reducing the possibility of these impurities entering the laser radar body, helping to protect the sensitive optical and electronic components inside the laser radar body, reducing performance degradation and failures caused by contamination, and making the laser radar assembly more reliable and more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference numerals are used throughout the drawings to denote the same components. In the drawings:

[0033] Figure 1 A schematic diagram of the three-dimensional structure of a laser radar assembly in a raised state provided in some embodiments of the present application;

[0034] Figure 2 A schematic diagram of the three-dimensional structure of a laser radar assembly in a lowered state provided in some embodiments of the present application;

[0035] Figure 3 A schematic diagram of the three-dimensional structure of a laser radar housing provided in some embodiments of the present application;

[0036] Figure 4 A schematic diagram of the three-dimensional structure of a base, a light-transmitting cover, and a receiving member provided in some embodiments of the present application;

[0037] Figure 5 A schematic cross-sectional view of a raised state of a laser radar assembly provided for some embodiments of the present application;

[0038] Figure 6 for Figure 3 A partially enlarged schematic diagram of the lidar housing is shown.

[0039] Description of Reference Numerals

[0040] 1. Laser radar housing; 1a. Shell top wall; 11. Opening; 111. Second positioning portion; 1111. Second guide slope; 12. Window; 2. Laser radar body; 21. Base; 211. Raised rib; 22. Transparent cover; 23. Top cover; 231. First positioning portion; 2311. First guide slope; 3. Receiving part; 4. Driving device; 41. Output shaft; 5. Connecting rod mechanism; 51. First connecting rod; 52. Second connecting rod; 53. Third connecting rod; 54. Fourth connecting rod; 100. Laser radar assembly. DETAILED DESCRIPTION

[0041] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit this application; the terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions.

[0043] In the description of the embodiments of this application, the technical terms "first," "second," "third," etc. are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise specifically defined.

[0044] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0045] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0046] In the description of the embodiments of the present application, the orientations or positional relationships indicated by technical terms such as "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", and "circumferential" are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be understood as limitations on the embodiments of the present application.

[0047] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0048] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, the technical term "contact" should be understood in a broad sense, and can be direct contact, contact through an intermediate medium layer, contact with essentially no interaction force between the two contacting parties, or contact with interaction force between the two contacting parties.

[0049] Below, refer to Figures 1 to 6 Some embodiments of the present application are described in detail.

[0050] Figure 1 A schematic diagram of the three-dimensional structure of a laser radar assembly in a raised state provided in some embodiments of the present application; Figure 2 A schematic diagram of the three-dimensional structure of a laser radar assembly in a lowered state provided in some embodiments of the present application; Figure 3 A schematic diagram of the three-dimensional structure of a laser radar housing provided in some embodiments of the present application; Figure 4 A schematic diagram of the three-dimensional structure of a base, a light-transmitting cover, and a receiving member provided in some embodiments of the present application; Figure 5 A schematic cross-sectional view of a raised state of a laser radar assembly provided for some embodiments of the present application; Figure 6 for Figure 3 A partially enlarged schematic diagram of the lidar housing is shown.

[0051] like Figure 1 and Figure 2 As shown, the first aspect of the present application provides a laser radar component 100, which includes a laser radar housing 1, a laser radar body 2 and a receiving part 3.

[0052] The laser radar component 100 is a type of sensing component used to detect surrounding obstacles and surrounding environmental information. Taking a cleaning device as an example, the laser radar component 100 plays an important role in mapping, navigation, obstacle avoidance and other working conditions of the cleaning device.

[0053] Exemplarily, the laser radar assembly 100 can perform distance detection.

[0054] The laser radar housing 1 is the external protective shell of the laser radar component 100, which is used to accommodate various functional components that realize the functions of the laser radar component 100, such as the laser radar body 2.

[0055] For example, the laser radar housing 1 can be made of a plastic material. The plastic material includes but is not limited to ABS plastic (Acrylonitrile Butadiene Styrene). ABS plastic is a material with high strength, good toughness, and easy processing. It also has good insulation properties and is almost unaffected by temperature and humidity, making it suitable for use in most environments.

[0056] Of course, those skilled in the art should understand that the laser radar housing 1 can also be made of any other suitable material.

[0057] The LiDAR main unit 2 is a key component for realizing the functions of the LiDAR assembly 100. Although not shown in the figure, the LiDAR main unit 2 generally includes a laser emitting unit and a laser receiving unit, which are used to transmit laser light and receive returned laser light, respectively. The LiDAR main unit calculates the distance to the obstacle ahead based on the time from laser emission to laser reception, and then uses algorithmic processing to generate an environmental model.

[0058] The laser radar housing 1 is provided with an opening 11 on the upper side along the height direction of the laser radar component 100 . The laser radar body 2 can be raised and lowered through the opening 11 and is at least partially located inside the laser radar housing 1 .

[0059] The upper side here refers to the side facing away from the cleaning surface along the height direction of the laser radar component 100.

[0060] The shape of the opening 11 is not limited as long as it can allow the laser radar body 2 to pass through.

[0061] At least a portion of the laser radar body 2 is located within the laser radar shell 1, which means that the laser radar body 2 may be partially located within the laser radar shell 1, or the entire area may be located within the laser radar shell 1.

[0062] In the embodiment of the present application, when the laser radar body 2 encounters a relatively low area, it can be in a lowered state, thereby reducing the height of the entire laser radar assembly 100, and making it easier for the laser radar assembly 100 to enter the low area and detect the low area. In a relatively open area, the laser radar body 2 can be in a raised state, so that the laser radar assembly 100 can perceive the surrounding environment in all directions and increase the detection accuracy. Therefore, since the laser radar body 2 can be raised and lowered to pass through the opening 11 of the laser radar housing 1, the laser radar assembly 100 can adapt to different environments and scenarios, with a wider range of applications and higher flexibility.

[0063] like Figures 1 to 3 As shown, a window 12 is formed in a partial area of ​​the outer peripheral surface of the laser radar housing 1. When the laser radar body 2 is in a lowered state, at least a partial area of ​​the laser radar body 2 corresponds to the position of the window 12, so that the laser radar body 2 located in the laser radar housing 1 in the lowered state can emit laser light outward through the window 12 and receive the returned laser light through the window 12, thereby sensing and detecting the surrounding environment.

[0064] In some embodiments, the inner wall of the window 12 is coated with a light-absorbing layer, so that the reflected laser can be absorbed by the light-absorbing layer, reducing the generation of stray light, thereby improving the measurement accuracy and reliability of the laser radar assembly 100.

[0065] The embodiment of the present application does not impose any specific limitation on the material of the light absorbing layer, as long as it can reduce or eliminate the stray light reflected or scattered by the window 12.

[0066] In the embodiment of the present application, a gap is formed between the laser radar body 2 and the opening 11 in the horizontal plane where the opening 11 is located. As a result, when the laser radar body 2 is raised and lowered, the laser radar housing 1 is not easy to come into contact with the laser radar body 2, thereby reducing the possibility of damage to the laser radar body 2 due to friction and slippage, and reducing the possibility of adverse effects on the optical path of the laser radar body 2 due to scratches, thereby improving the measurement accuracy and reliability of the laser radar body 2.

[0067] However, due to the presence of a gap between the laser radar body 2 and the opening 11, external dust, foreign matter and other impurities may enter the laser radar housing 1 through the gap, and then enter the laser radar body 2, and may further contaminate optical components such as the laser emitting unit and the laser receiving unit in the laser radar body 2, causing the performance of the laser radar body 2 to decline, affecting the measurement accuracy, and may also cause damage to the components, thereby affecting the service life of the laser radar assembly 100.

[0068] Therefore, if Figure 1 and Figure 4 As shown, the laser radar assembly 100 of the embodiment of the present application further includes a receiving member 3, which is located in the laser radar housing 1, is provided on the laser radar body 2, and extends along the circumferential direction of the laser radar body 2. In a projection plane perpendicular to the height direction of the laser radar assembly 100, at least part of the projection area of ​​the receiving member 3 overlaps with the projection area of ​​the gap. In this way, dust, foreign matter and other impurities that enter the laser radar housing 1 through the gap will fall into the receiving member 3 and be temporarily stored in the receiving member 3, making it difficult for them to enter the interior of the laser radar body 2. This helps to protect the sensitive optical and electronic components inside the laser radar body 2, reduces performance degradation and failures due to contamination, makes the laser radar assembly 100 more reliable and more stable, and helps to increase the service life of the laser radar assembly 100.

[0069] Moreover, since the receiving part 3 is provided on the laser radar body 2, the receiving part 3 can be raised and lowered together with the laser radar body 2, so that the laser radar body 2 can receive impurities that fall into the laser radar housing 1 through the gap through the receiving part 3 in the raised state, the lowered state and the process of raising and lowering, thereby reducing the possibility of impurities entering the laser radar body 2.

[0070] For example, the receiving component 3 can be formed into an integrated structural component with the laser radar body 2, thereby reducing the number of parts and components and lowering assembly costs.

[0071] As another example, the receiving part 3 can be detachably provided on the laser radar body 2 , thereby facilitating the user to clean dust, foreign matter and other impurities in the receiving part 3 .

[0072] In some embodiments, a sensor may be provided in the receiving container 3 for detecting the amount of impurities contained in the receiving container 3 , and when the receiving container 3 is full, an alarm signal is issued to remind the user to clean the impurities in the receiving container 3 in time.

[0073] Alarm signals include but are not limited to visual alarm signals such as flashing indicator lights and auditory alarm signals such as sound alarms.

[0074] In the embodiment of the present application, the opening 11 is generally circular, the gap between the laser radar body 2 and the opening 11 is generally annular, and the receiving member 3 is also generally annular. In a projection plane perpendicular to the height direction of the laser radar assembly 100, the projected area of ​​the receiving member 3 is larger than the projected area of ​​the gap, and the projected area of ​​the gap falls completely within the projected area of ​​the receiving member 3. In this way, dust and impurities that fall into the laser radar housing 1 from various parts of the annular gap will fall into the annular receiving member 3, further reducing the possibility of these impurities entering the laser radar body 2.

[0075] Of course, those skilled in the art will appreciate that in some other embodiments, within a projection plane perpendicular to the height direction of the LiDAR assembly 100, the projected area of ​​the receiving member 3 may be equal to the projected area of ​​the gap, or the projected area of ​​the receiving member 3 may only partially overlap with the projected area of ​​the gap. Furthermore, the present embodiment does not limit the shape of the receiving member 3; the receiving member 3 may also be any other suitable shape, such as a semi-circular shape, and may be specifically configured based on the shape, position, and size of the actual gap.

[0076] In addition, for example, in the embodiment of the present application, the width of the receiving member 3 is 2 mm along the horizontal direction of the horizontal plane where the opening 11 is located. In some other embodiments, the width of the receiving member 3 can also be 1 mm, 1.5 mm, 2.5 mm, 3 mm, or any other suitable size, which can be specifically set according to the size of the gap.

[0077] like Figure 1 、 Figure 2 and Figure 5 As shown, the laser radar body 2 of the embodiment of the present application is arranged in the opening 11 in a liftable manner through the cooperation of the driving device 4 and the connecting rod mechanism 5, so that the laser radar body 2 can be raised or lowered according to different detection environments, thereby increasing the application range of the laser radar component 100 and enabling the laser radar component 100 to be applied to more different scenarios and environments.

[0078] The driving device 4 is a device that provides power.

[0079] Exemplarily, the driving device 4 includes but is not limited to a driving motor.

[0080] The connecting rod mechanism 5 is a transmission mechanism that can transmit the power provided by the driving device 4 to the laser radar body 2, thereby realizing the lifting and lowering of the laser radar body 2.

[0081] The connecting rod mechanism 5 has a simple structure, is easy to process, has high wear resistance, and can realize various motion forms.

[0082] like Figure 5As shown, the connecting rod mechanism 5 includes a first connecting rod 51, a second connecting rod 52, a third connecting rod 53 and a fourth connecting rod 54, wherein the first connecting rod 51 is connected to the output shaft 41 of the driving device 4, one end of the second connecting rod 52 is hinged to the first connecting rod 51, and the other end of the second connecting rod 52 is hinged to one end of the third connecting rod 53 and one end of the fourth connecting rod 54 respectively, the other end of the third connecting rod 53 is hinged to the side of the laser radar housing 1 away from the opening 11, and the other end of the fourth connecting rod 54 is hinged to the laser radar body 2, and the axial direction of the output shaft 41 is perpendicular to the height direction of the laser radar assembly 100.

[0083] The linkage mechanism 5 in the embodiment of the present application includes four links, which, through the cooperation of the four links, can convert the rotational motion of the drive device 4 into reciprocating motion of the laser radar body 2 along the height direction of the laser radar assembly 100. Specifically, the first link 51 is connected to the output shaft 41 of the drive device 4 and can rotate with the rotation of the output shaft 41, thereby transmitting the power of the drive device 4 to the second link 52, driving the second link 52 to rotate. The second link 52 transmits the motion of the first link 51 to the third link 53 and the fourth link 54, thereby driving the third link 53 and the fourth link 54 to rotate respectively. The third link 53 is hinged to the side of the laser radar housing 1 away from the opening 11, thereby providing some support for the fourth link 54. The fourth link 54 can transmit the motion of the second link 52 to the laser radar body 2, thereby achieving the lifting and lowering of the laser radar body 2. This four-bar linkage mechanism in the embodiment of the present application can more smoothly transmit the power of the drive device 4 to the laser radar body 2, thereby making the lifting and lowering of the laser radar body 2 more stable and more reliable.

[0084] Of course, those skilled in the art should understand that in some other embodiments, the connecting rod mechanism 5 may also include a greater or lesser number of connecting rods, as long as the lifting and lowering of the laser radar body 2 can be achieved.

[0085] For example, in an embodiment of the present application, when the output shaft 41 of the driving device 4 rotates clockwise, the laser radar body 2 can be lowered through the opening, and when the output shaft 41 of the driving device 4 rotates counterclockwise, the laser radar body 2 can be raised through the opening.

[0086] As an example, in some other embodiments, when the output shaft 41 of the driving device 4 rotates clockwise, the laser radar body 2 is raised through the opening, and when the output shaft 41 of the driving device 4 rotates counterclockwise, the laser radar body 2 is lowered through the opening.

[0087] like Figure 4As shown, in some embodiments of the present application, the laser radar body 2 includes a base 21 and a light-transmitting cover 22, and the light-transmitting cover 22 is supported on the base 21. The receiving member 3 is provided on the base 21 and extends along the circumferential direction of the light-transmitting cover 22.

[0088] The base 21 is the supporting structure of the laser radar body 2, the light-transmitting cover 22 is supported on the base 21, and the optical components such as the laser emitting unit, laser receiving unit and the like in the laser radar body 2 as well as the electrical components are located in the light-transmitting cover 22 and are carried on the base 21.

[0089] The light-transmitting cover 22 is the external protective cover of the laser radar body 2, which can protect the optical components and electrical components inside it, such as the laser emitting unit and the laser receiving unit.

[0090] In the embodiment of the present application, the light-transmitting cover 22 is substantially cylindrical. In some other embodiments, the light-transmitting cover 22 may also be in any other suitable shape.

[0091] For example, the light-transmitting cover 22 may be made of a light-transmitting material, such as PC (polycarbonate) material, resin material, etc. The present embodiment does not impose any specific limitation on the material of the light-transmitting cover 22 , as long as it can transmit laser light.

[0092] In some embodiments of the present application, the receiving member 3 and the base 21 are formed as an integral structural member, thereby reducing the number of parts and components and lowering assembly costs.

[0093] Specifically, if Figure 4 As shown, at least part of the wall surface of the base 21 is recessed along the height direction of the laser radar assembly 100 toward the side away from the opening 11 to form a recessed portion, which is an annular recessed portion extending around the outer periphery of the transparent cover body 22, and the annular recessed portion defines the receiving part 3.

[0094] Of course, those skilled in the art will appreciate that in some other embodiments, the receiving member 3 may be a separate structure from the base 21 and detachably mounted on the base 21. In addition, the recess may also be in any other suitable shape, such as a semi-circular shape.

[0095] like Figures 3 to 5 As shown, in some embodiments of the present application, the laser radar housing 1 includes a top wall 1a having an opening 11. A rib 211 is formed on the base 21. The rib 211 extends along the height of the laser radar assembly 100 toward one side of the opening 11 and is disposed on the periphery of the recessed portion. When the laser radar body 2 is in the raised position, the rib 211 contacts the inner wall of the top wall 1a.

[0096] Exemplarily, the rib 211 and the recessed portion may be formed as an integral structural member.

[0097] As another example, the rib 211 and the recessed portion may be separate structures and then assembled together.

[0098] Due to the provision of the rib 211, the depth of the container 3 can be increased, thereby facilitating the container 3 to accommodate more impurities, and can also reduce the possibility of impurities rebounding and falling out of the container 3 when they contact the bottom wall of the container 3, further reducing the possibility of impurities entering the laser radar body 2, and improving the reliability and stability of the laser radar assembly 100.

[0099] For example, in the embodiment of the present application, the depth of the receiving member 3 is approximately 2 mm along the height direction of the laser radar assembly 100. In some other embodiments, the depth of the receiving member 3 may also be 1 mm, 1.5 mm, 2.5 mm, 3 mm, or any other suitable size.

[0100] The housing top wall 1 a refers to the top portion of the laser radar housing 1 , and is provided with an opening 11 so that the laser radar body 2 can be raised and lowered.

[0101] When the laser radar body 2 is in a raised state, the rib 211 contacts the inner wall of the shell top wall 1a, so that the receiving part 3 can basically close the gap, so that impurities falling into the laser radar shell 1 from the gap can basically completely fall into the receiving part 3, reducing the possibility of impurities entering the laser radar body 2 and improving the reliability and stability of the laser radar assembly 100.

[0102] In some embodiments, a seal may be formed on the rib 211. When the laser radar body 2 is in a raised state, the rib 211 forms a sealed contact with the inner wall of the shell top wall 1a through the seal, thereby providing a seal for the laser radar component 100, further reducing the entry of dust and moisture, and further improving the reliability of the laser radar component 100.

[0103] The embodiment of the present application does not impose any specific limitation on the material of the sealing member, as long as it can be sealed with the inner wall of the shell top wall 1a.

[0104] Exemplarily, the sealing member is an elastic member.

[0105] In some embodiments of the present application, the laser radar body 2 also includes a top cover 23, which is arranged on the side of the transparent cover 22 away from the base 21. In the projection plane perpendicular to the height direction of the laser radar assembly 100, the projection area of ​​the top cover 23 is larger than the projection area of ​​the opening 11, and the projection area of ​​the opening 11 is located within the projection area of ​​the top cover 23.

[0106] The top cover 23 can seal the light-transmitting cover 22 on the outside, reducing the possibility of external dust, foreign matter, etc. directly entering the interior of the laser radar body 2. Moreover, when the laser radar body 2 is in the lowered state, the top cover 23 can be supported on the outer peripheral surface of the shell top wall 1a of the laser radar housing 1 and can completely cover the opening 11, which can directly reduce the possibility of external dust, foreign matter, etc. entering the laser radar housing 1 through the opening 11, thereby making it more difficult for external dust, foreign matter, etc. to enter the interior of the laser radar body 2, improving the protection of the components located in the laser radar housing 1 and the laser radar body 2, which is conducive to increasing the service life of the components and improving the stability and reliability of the laser radar assembly 100.

[0107] like Figure 1 and Figure 3 As shown, at least one first positioning portion 231 is formed on the top cover 23, and at least one second positioning portion 111 is formed on the inner periphery of the opening 11. When the laser radar body 2 is in the lowered state, the first positioning portion 231 and the second positioning portion 111 cooperate with each other.

[0108] In this way, the positioning and assembly of the top cover 23 and the opening 11 can be facilitated, so that the laser radar body 2 is in a lowered state. The top cover 23 can maintain a fixed relative position through the cooperation of the first positioning part 231 and the second positioning part 111, so that the laser radar body 2 will not shake or rotate at the opening 11, which is beneficial to improve the measurement stability and reliability of the laser radar body 2 when the laser radar body 2 is in the lowered state.

[0109] like Figure 5 and Figure 6 As shown, in some embodiments of the present application, the first positioning portion 231 includes a first guiding slope 2311, and the second positioning portion 111 includes a second guiding slope 1111. Along the height direction of the laser radar assembly 100, from the side close to the opening 11 to the side away from the opening 11, the first guiding slope 2311 is inclined upward relative to the horizontal plane where the opening 11 is located, and from the side away from the top cover 23 to the side close to the top cover 23, the second guiding slope 1111 is inclined upward relative to the horizontal plane where the opening 11 is located.

[0110] The inclined first guide slope 2311 and the second guide slope 1111 can play a certain guiding role, used to guide the cooperation between the first positioning part 231 and the second positioning part 111, so that the first positioning part 231 can enter the second positioning part 111 more smoothly, and the first positioning part 231 can slide out of the second positioning part 111 more smoothly, so that the top cover 23 and the opening 11 can cooperate better, and then the lifting and lowering of the laser radar body 2 can be smoother.

[0111] The embodiment of the present application does not specifically limit the inclination angles of the first guiding slope 2311 and the second guiding slope 1111 relative to the horizontal plane where the opening 11 is located, as long as the inclination angles of the first guiding slope 2311 and the second guiding slope 1111 are the same.

[0112] In some embodiments of the present application, the number of the first positioning portions 231 and the number of the second positioning portions 111 are both multiple, the multiple first positioning portions 231 are arranged at intervals along the circumference of the top cover 23, and the multiple second positioning portions 111 are arranged at intervals along the circumference of the opening 11. The number of the multiple first positioning portions 231 is the same as the number of the multiple second positioning portions 111, and each first positioning portion 231 corresponds to the position of each second positioning portion 111 respectively.

[0113] In this way, the positioning and assembly degree of the top cover 23 and the opening 11 can be further improved, so that the laser radar body 2 is in a lowered state, and the laser radar body 2 is less likely to shake relative to the opening, further improving the measurement accuracy and stability of the laser radar body 2.

[0114] In the embodiment of the present application, the number of the first positioning portions 231 and the second positioning portions 111 are both 8. In some other embodiments, the number of the first positioning portions 231 and the second positioning portions 111 can be less or more. The embodiment of the present application does not specifically limit the number of the first positioning portions 231 and the second positioning portions 111, and can be set according to actual conditions.

[0115] In some embodiments of the present application, the base 21 and the light-transmitting cover 22 are formed as an integral injection-molded structure.

[0116] In the embodiment of the present application, the base 21 and the light-transmitting cover body 22 are an integral structural component, and the integral structural component is an injection-molded structural component made by an injection molding process. The injection molding process has a fast production speed and high efficiency, and is suitable for products with complex shapes. Therefore, it is possible to stably and quickly manufacture integral structural components of different forms according to actual needs.

[0117] Of course, those skilled in the art should understand that in some other embodiments, the integrated structure of the base 21 and the light-transmitting cover 22 may also be made by any other suitable process.

[0118] For example, since the transparent cover 22 and the base 21 are made of different materials, the integrated structural member can be manufactured by a double-injection molding process.

[0119] Of course, those skilled in the art should understand that in some other embodiments, the base 21 and the light-transmitting cover 22 may also be separate structures, and then assembled together by any suitable means such as snap connection and bonding.

[0120] The second aspect of the present application provides a cleaning device, which includes a shell and the laser radar component 100 described in the first aspect of the present application, and the laser radar component 100 is at least partially located in the shell.

[0121] A cleaning device is a device used to clean a surface. Examples of cleaning devices include, but are not limited to, robot vacuums, robot mops, integrated sweeper-mop robots, and glass cleaning robots. Surfaces to be cleaned include, but are not limited to, floors, ceilings, glass, tabletops, and other surfaces.

[0122] The housing is the outer protective shell of the cleaning device, and the interior of the housing is used to accommodate the functional components that realize the various functions of the cleaning device. Functional components may include a drive component, a sensor component, a dust box, or a liquid storage tank, etc.

[0123] The laser radar assembly 100 is a type of sensing assembly. The position of the laser radar assembly 100 within the cleaning device housing is not limited. For example, it can be located at the front, middle, or rear of the housing. The embodiments of this application do not specifically limit the number of laser radar assemblies 100. For example, only one laser radar assembly 100 may be provided, or multiple (two or more) laser radar assemblies 100 may be provided.

[0124] The third aspect of the present application provides a cleaning system, which includes a cleaning base station and the cleaning device described in the second aspect of the present application. When the cleaning device is not performing a cleaning operation, the cleaning device is docked at the cleaning base station.

[0125] The Cleaning Base Station is a fixed part of the cleaning system, usually serving as a charging, maintenance and storage center for cleaning equipment. When the cleaning equipment is not cleaning, it is docked at the Cleaning Base Station.

[0126] In some other embodiments, the cleaning base station also includes scheduling and control functions.

[0127] The above embodiments are intended only to illustrate the technical solutions of the present application, and are not intended to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they may modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. Such modifications or replacements do not deviate from the essence of the corresponding technical solutions and are intended to be included in the scope of the present application. In particular, as long as there is no structural conflict, the various technical features described in the various embodiments may be combined in any manner.

Claims

1. A laser radar component, characterized in that: The laser radar assembly includes: A laser radar housing, wherein the laser radar housing has an opening on an upper side along a height direction of the laser radar assembly; a laser radar body, the laser radar body being liftably disposed through the opening and at least partially located within the laser radar housing, with a gap formed between the laser radar body and the opening in a horizontal plane where the opening is located; and A receiving piece is located in the laser radar housing, is provided on the laser radar body, and extends along the circumferential direction of the laser radar body. In a projection plane perpendicular to the height direction of the laser radar component, at least part of the projection area of ​​the receiving piece overlaps with the projection area of ​​the gap.

2. The laser radar assembly according to claim 1, characterized in that The laser radar body includes a base and a light-transmitting cover, and the light-transmitting cover is supported on the base; The receiving piece is arranged on the base and extends along the circumferential direction of the light-transmitting cover.

3. The laser radar assembly according to claim 2, characterized in that The receiving member and the base are formed as an integral structural member.

4. The laser radar assembly according to claim 3, characterized in that At least part of the wall surface of the base is recessed along the height direction of the laser radar component toward a side away from the opening to form a recessed portion, and the recessed portion is an annular recessed portion extending around the outer circumference of the light-transmitting cover body, and the annular recessed portion defines the receiving piece.

5. The laser radar assembly according to claim 4, characterized in that The laser radar housing includes a housing top wall having the opening; A convex rib is formed on the base, the convex rib extends along the height direction of the laser radar assembly toward one side of the opening, and the convex rib is arranged on the outer periphery of the recessed portion; When the laser radar body is in a raised state, the rib contacts the inner wall of the shell top wall.

6. The laser radar assembly according to any one of claims 2 to 5, characterized in that: The laser radar body further includes a top cover, which is provided on a side of the light-transmitting cover away from the base. In a projection plane perpendicular to the height direction of the laser radar assembly, the projection area of ​​the top cover is larger than the projection area of ​​the opening, and the projection area of ​​the opening is located within the projection area of ​​the top cover. At least one first positioning portion is formed on the top cover, and at least one second positioning portion is formed on the inner periphery of the opening. When the laser radar body is in a lowered state, the first positioning portion and the second positioning portion cooperate with each other.

7. The laser radar assembly according to claim 6, characterized in that The first positioning portion includes a first guiding inclined surface, and the second positioning portion includes a second guiding inclined surface; Along the height direction of the laser radar assembly, from the side close to the opening to the side away from the opening, the first guide slope is inclined upward relative to the horizontal plane where the opening is located, and from the side away from the top cover to the side close to the top cover, the second guide slope is inclined upward relative to the horizontal plane where the opening is located.

8. The laser radar assembly according to claim 6, characterized in that The number of the first positioning portion and the number of the second positioning portion are both plural, the plurality of first positioning portions are arranged at intervals along the circumferential direction of the top cover, and the plurality of second positioning portions are arranged at intervals along the circumferential direction of the opening; The number of the plurality of first positioning portions is the same as the number of the plurality of second positioning portions, and each of the first positioning portions corresponds to a position of each of the second positioning portions.

9. The laser radar assembly according to claim 2, characterized in that: The base and the light-transmitting cover are formed as an integral injection-molded structural component.

10. A cleaning device, characterized in that: The cleaning device comprises: housing; and The laser radar assembly according to any one of claims 1 to 9, wherein the laser radar assembly is at least partially located within the housing.

11. A cleaning system, characterized in that: The cleaning system comprises: Cleaning base stations; and The cleaning device according to claim 10 is docked at the cleaning base station when the cleaning device is not performing a cleaning operation.

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