Laser radar assembly, cleaning device and cleaning system

Abstract

The embodiment of the utility model provides a laser radar assembly, a cleaning device and a cleaning system. The laser radar assembly comprises a laser radar shell, a laser radar body and a first sealing piece. A containing space is formed in the laser radar shell, and an opening is formed in the top side of the laser radar shell. In the top-bottom direction, the laser radar body is arranged in the opening in a liftable and penetrating mode, and at least part of the laser radar body is located in the containing space. The first sealing piece is arranged at the opening and extends in the circumferential direction of the opening, and the edge of the first sealing piece makes contact with the outer circumferential face of the laser radar body. The cleaning device comprises a shell and a laser radar assembly, and the laser radar assembly is arranged on the shell. The cleaning system comprises a cleaning base station and a cleaning device. The laser radar assembly provided by the embodiment of the utility model is high in reliability.

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 has become a research topic in the industry. However, in related technologies, dust and foreign matter can easily enter the interior of the LiDAR body during the lifting and lowering process, thereby reducing the reliability of the LiDAR body. Utility Model Content

[0004] In order to solve the above technical problems, the present application provides a highly reliable laser radar component, a cleaning device and a cleaning system.

[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 a receiving space is formed inside the laser radar housing and an opening is formed on the top side of the laser radar housing;

[0008] A laser radar body, which is arranged in a liftable manner in the opening along the top-bottom direction, and at least a portion of the laser radar body is located within the accommodating space;

[0009] A first sealing member is provided at the opening and extends along the circumference of the opening, and an edge of the first sealing member contacts the outer peripheral surface of the laser radar body.

[0010] In one embodiment, the laser radar body includes a light-transmitting cover, a laser emitting unit and a laser receiving unit, and the laser emitting unit and the laser receiving unit are located in the light-transmitting cover;

[0011] The first sealing member is an elastic member, and the edge of the first sealing member contacts and closely fits with the outer peripheral surface of the light-transmitting cover; and / or,

[0012] The first sealing member is an annular sealing member extending around the outer circumference of the light-transmitting cover body. The inner edge of the first sealing member contacts and tightly fits with the outer circumference of the light-transmitting cover body.

[0013] In one embodiment, the first sealing member is inclined downward relative to the horizontal plane where the opening is located, from the side in contact with the outer peripheral surface of the laser radar body to the side away from the laser radar body.

[0014] In one embodiment, the inclination angle of the first sealing member is greater than or equal to 10° and less than or equal to 20°.

[0015] In one embodiment, the first sealing member and the laser radar housing are formed as an integral structural member; and / or,

[0016] The laser radar housing includes a top wall having the opening; the laser radar body includes a base, the laser radar body is supported by the base, and the laser radar assembly further includes a second sealing member, the second sealing member is provided on the base and extends around the circumference of the laser radar body;

[0017] When the laser radar body is in a raised state, the second sealing member is in sealing contact with the inner wall surface of the shell top wall.

[0018] In one embodiment, the laser radar assembly further includes a driving device, which includes a driving motor and a connecting rod mechanism, wherein the connecting rod mechanism is respectively connected to the laser radar body and the driving motor, so that the driving motor drives the connecting rod mechanism to drive the laser radar body to rise and fall.

[0019] In one embodiment, a portion of the outer peripheral surface of the laser radar housing is opened to form a ranging window, and when the laser radar body is in a lowered state, at least a portion of the laser radar body corresponds to the position of the ranging window; and / or,

[0020] The laser radar body includes a light-transmitting cover body and a top cap covering the top side of the light-transmitting cover body. A partial area of ​​the top cap protrudes from the outer peripheral surface of the light-transmitting cover body to form a protrusion. When the laser radar body is in a lowered state, the protrusion is connected to the first sealing member.

[0021] In one embodiment, the inner peripheral wall of the ranging window is coated with a light absorbing layer.

[0022] A second aspect of the present application provides a cleaning device, which includes a shell and a laser radar component according to any one of the above embodiments, wherein the laser radar component is arranged on the shell.

[0023] A third aspect of the present application provides a cleaning system, which includes a cleaning base station and the cleaning device described in the above embodiment.

[0024] An embodiment of the present application provides a laser radar assembly, comprising a laser radar housing, a laser radar body, and a first sealing member. A storage space is formed inside the laser radar housing, and an opening is provided on the top side of the laser radar housing. Along the top-bottom direction, the laser radar body can be lifted and lowered through the opening, and at least a portion of the laser radar body is located within the storage space. A first sealing member is provided at the opening and extends along the circumference of the opening, with the edge of the first sealing member contacting the outer peripheral surface of the laser radar body. On the one hand, the laser radar body can be lifted and lowered through the opening of the laser radar housing, allowing detection in relatively low spaces, thereby increasing the application range of the laser radar assembly and enabling it to adapt to more different environments and scenarios. On the other hand, by providing the first sealing member circumferentially around the opening of the laser radar housing, the possibility of impurities such as dust and foreign matter entering the laser radar body can be effectively reduced, helping to protect sensitive internal optical and electronic components, reducing performance degradation and failures caused by contamination, and making the laser radar assembly more reliable and more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic structural diagram of a laser radar assembly in an embodiment of the present application in a raised state, wherein the first sealing member is not shown;

[0026] Figure 2 for Figure 1 A cross-sectional view of the lidar assembly in FIG;

[0027] Figure 3 for Figure 1 A cross-sectional view of the lidar assembly from another perspective;

[0028] Figure 4 for Figure 1 A schematic diagram of the structure of some components of the laser radar component;

[0029] Figure 5 A schematic diagram of the structure of a laser radar assembly in a lowered state in an embodiment of the application;

[0030] Figure 6 for Figure 5 A cross-sectional view of the lidar assembly in FIG;

[0031] Figure 7 This is a structural diagram of the laser radar component in one embodiment of the application from another perspective.

[0032] Description of Reference Numerals

[0033] 10. LiDAR housing; 10a. Opening; 10b. Ranging window; 11. Housing top wall; 20. LiDAR body; 21. Transparent cover; 22. Top cap; 30. First sealing member; 40. Second sealing member; 50. Driving device; 51. Driving motor; 52. Connecting rod structure; 521. First connecting rod; 522. Second connecting rod; 523. First support rod; 524. Second support rod. DETAILED DESCRIPTION

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] In the description of the embodiments of the present application, the orientation or position relationship indicated by the technical terms "top" and "bottom" is based on the attached Figure 1The orientation or positional relationship shown is only for the convenience of describing the embodiments of the present application and simplifying the description, and does 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, and therefore should not be understood as a limitation on the embodiments of the present application.

[0040] 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.

[0041] 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.

[0042] An embodiment of the present application provides a laser radar component. Figure 1-Figure 7 The laser radar assembly includes a laser radar housing 10, a laser radar body 20 and a first sealing member 30.

[0043] An accommodating space is formed inside the laser radar housing 10 , and an opening 10 a is opened on the top side of the laser radar housing 10 .

[0044] Along the top-bottom direction, the laser radar body 20 can be lifted and lowered through the opening 10a, and at least a portion of the laser radar body 20 is located in the accommodating space.

[0045] The first sealing member 30 is provided at the opening 10 a and extends along the circumferential direction of the opening 10 a , and an edge of the first sealing member 30 contacts the outer peripheral surface of the laser radar body 20 .

[0046] In another embodiment of the present application, a cleaning device is provided. The cleaning device includes a shell and a laser radar component of any embodiment of the present application, and the laser radar component is arranged on the shell.

[0047] In another embodiment of the present application, a cleaning system is provided, which includes a cleaning base station and a cleaning device according to any embodiment of the present application. Thus, the cleaning system can provide efficient and automated cleaning services, thereby improving the efficiency and quality of cleaning work.

[0048] Specifically, the laser radar assembly of the embodiment of the present application is disposed within the cleaning device, which is part of the cleaning system. The type of cleaning system is not limited. For ease of description, this application describes the cleaning system as a sweeping robot.

[0049] The lidar component can provide the cleaning device with precise environmental perception capabilities, helping it to effectively navigate and position itself in the workspace, enabling it to avoid obstacles and perform cleaning tasks more efficiently and safely.

[0050] Specifically, the position of the laser radar component on the housing of the cleaning device is not limited. For example, the laser radar component is arranged at the front, top or side of the housing.

[0051] The number of LiDAR assemblies installed on the cleaning device is not limited. For example, one or more LiDAR assemblies can be installed. By installing multiple LiDAR assemblies, all-round environmental perception can be provided.

[0052] A cleaning base station is a fixed part of the cleaning system and usually serves as a charging, maintenance and storage center for cleaning equipment.

[0053] In other embodiments, the cleaning base station also includes scheduling and control functions.

[0054] Specifically, the accommodating space refers to the space inside the laser radar housing 10, which can be used to accommodate the laser radar body 20 and other structures.

[0055] An opening 10 a is formed on the top side of the laser radar housing 10 . The opening 10 a allows the laser radar body 20 to move in the top-bottom direction.

[0056] The shape of the opening 10 a is not limited as long as it can allow the laser radar body 20 to pass through.

[0057] The material of the laser radar housing 10 is not limited. For example, the material of the laser radar housing 10 is plastic.

[0058] It should be noted that the top and bottom directions of the laser radar body 20 refer to the top and bottom directions when the cleaning device is in a working state, which is actually a direction perpendicular to the cross section of the opening 10a.

[0059] At least a portion of the laser radar body 20 is located in the accommodation space means that the laser radar body 20 may be partially located in the accommodation space or the entire area is located in the accommodation space.

[0060] The first sealing member 30 is disposed at the opening 10 a , and the molding methods of the first sealing member 30 and the opening 10 a are not limited.

[0061] For example, the first sealing component and the laser radar housing 10 are split structural components, and the first sealing component 30 is embedded in the edge of the opening 10a of the laser radar housing 10 and is embedded in the opening 10a.

[0062] For example, the first sealing member 30 and the laser radar housing 10 are formed as an integral structure, thereby reducing the number of assembly steps for the first sealing member 30 , thereby improving production efficiency and saving costs. For example, the first sealing member and the opening 10 a of the laser radar housing 10 are formed by double-shot molding.

[0063] An embodiment of the present application provides a laser radar assembly, comprising a laser radar housing 10, a laser radar body 20 and a first sealing member 30. A accommodating space is formed inside the laser radar housing 10, and an opening 10a is provided on the top side of the laser radar housing 10. Along the top-bottom direction, the laser radar body 20 can be lifted and lowered through the opening 10a, and at least a portion of the laser radar body 20 is located within the accommodating space. The first sealing member 30 is disposed at the opening 10a and extends along the circumference of the opening 10a, and the edge of the first sealing member 30 contacts the outer peripheral surface of the laser radar body 20. On the one hand, the laser radar body 20 can be lifted and lowered through the opening 10a of the laser radar housing 10, and can detect relatively low spaces, thereby increasing the application range of the laser radar assembly and enabling it to adapt to more different environments and scenarios. On the other hand, by arranging a first seal 30 circumferentially around the opening 10a of the laser radar housing 10, the possibility of dust, foreign matter and other impurities entering the laser radar body 20 can be effectively reduced, which helps to protect sensitive internal optical and electronic components, reduce performance degradation and failures caused by contamination, and make the laser radar components more reliable and stable.

[0064] In one embodiment, please refer to Figure 1 、 Figure 2 and Figure 3 The laser radar body 20 includes a light-transmitting cover 21 , a laser emitting unit and a laser receiving unit, and the laser emitting unit and the laser receiving unit are located inside the light-transmitting cover 21 .

[0065] The first seal 30 is an elastic member, and its edge contacts and tightly fits the outer circumference of the light-transmitting cover 21. This tight fit provides a tighter seal, effectively preventing dust and foreign matter from entering the interior of the LiDAR body 20. Furthermore, by making the first seal 30 an elastic member, it can absorb vibration and shock to a certain extent, reducing damage to the LiDAR body 20 and ultimately increasing the reliability of the LiDAR assembly.

[0066] Specifically, the light-transmitting cover 21 is used to protect the laser radar body 20 while allowing at least part of the laser to pass through.

[0067] The material of the light-transmitting cover 21 is not limited as long as it can transmit the laser light. For example, the material of the light-transmitting cover 21 is a resin material.

[0068] The laser emitting unit is the component in the laser radar body 20 that is responsible for emitting laser light.

[0069] The laser receiving unit is a component in the laser radar body 20 that is responsible for receiving the reflected laser signal.

[0070] The material of the first sealing member 30 is not limited, as long as the first sealing member 30 is an elastic member. For example, the material of the first sealing member is a soft rubber material.

[0071] In one embodiment, please refer to Figure 4 The laser radar body 20 includes a light-transmitting cover 21 , a laser emitting unit and a laser receiving unit, and the laser emitting unit and the laser receiving unit are located inside the light-transmitting cover 21 .

[0072] The first seal 30 is an annular seal extending around the outer circumference of the light-transmitting housing 21. The inner edge of the first seal 30 contacts and tightly fits the outer circumference of the light-transmitting housing 21. This further improves the sealing performance of the LiDAR assembly and helps reduce damage to the internal components of the LiDAR from environmental factors.

[0073] Specifically, the inner edge of the annular first seal 30 contacts and tightly fits the outer circumferential surface of the light-transmitting cover 21, and the outer edge of the annular first seal 30 is fixed to the opening 10a of the laser radar housing 10. When the laser radar body 20 is raised or lowered relative to the opening 10a of the laser radar housing 10 in the top-bottom direction, the outer circumferential surface of the light-transmitting cover 21 will drive the inner edge of the first seal assembly to move a certain amount along the direction of movement of the laser radar body 20. As a result, whether the laser radar body 20 is rising or falling, the first seal 30 can scrape the light-transmitting cover 21, always maintaining an effective seal on the laser radar body 20.

[0074] In one embodiment, please refer to Figure 4 From the side in contact with the outer peripheral surface of the laser radar body 20 to the side away from the laser radar body 20, the first sealing member 30 is inclined downward relative to the horizontal plane where the opening 10a is located.

[0075] That is, the side of the first sealing member 30 that contacts the outer circumference of the laser radar body 20 is higher, while the other side of the first sealing member 30 is lower, thereby forming a downwardly inclined surface. Thus, by slanting the first sealing member, foreign matter that falls on the first sealing member 30 can slide off, thereby preventing foreign matter such as dust and moisture from entering the laser radar body 20 when it moves, further improving the sealing performance of the laser radar body 20.

[0076] Specifically, the inclination angle of the first sealing member 30 is not limited.

[0077] Exemplarily, the inclination angle of the first sealing member 30 is greater than or equal to 10° and less than or equal to 20°. For example, the inclination angle of the first sealing member 30 is 10°, 15°, or 20°. This prevents a weakened sealing effect caused by an excessively large inclination angle, while also preventing accumulation of foreign matter such as dust and moisture on the first sealing member 30 due to a too small inclination angle.

[0078] In one embodiment, please refer to Figure 1 、 Figure 2 、 Figure 5 、 Figure 6 and Figure 7 The laser radar housing 10 includes a top wall 11 having an opening 10a. The laser radar body 20 includes a base, on which the laser radar body 20 is supported. The laser radar assembly further includes a second seal, which is disposed on the base and extends around the circumference of the laser radar body 20.

[0079] When the laser radar body 20 is in the raised state, the second sealing member is in sealing contact with the inner wall surface of the housing top wall 11. Thus, when the laser radar body 20 is raised, the second sealing member contacts the inner wall surface of the housing top wall 11, providing a seal for the laser radar assembly, preventing dust and moisture from entering, thereby further improving the reliability of the laser radar assembly.

[0080] Specifically, the shell top wall 11 refers to the top part of the laser radar housing 10, and an opening 10a is provided on it so that the laser radar body 20 can be raised and lowered.

[0081] The base is a supporting structure for the laser radar body 20 .

[0082] The second sealing member is arranged on the base. When the laser radar body 20 is in a raised state, the second sealing component 40 of the base is sealed with the inner wall surface of the shell top wall 11 to prevent foreign matter such as dust and moisture from entering the laser radar body 20.

[0083] The material of the second sealing member is not limited, as long as it can be sealed with the inner wall surface of the housing top wall 11 to seal the laser radar body 20. For example, the second sealing member is an elastic member.

[0084] In one embodiment, please refer to Figure 2 and Figure 6 The laser radar assembly also includes a drive device 50, which includes a drive motor 51 and a connecting rod mechanism. The connecting rod mechanism connects the laser radar body 20 and the drive motor 51 respectively, so that the drive motor 51 drives the connecting rod mechanism to drive the laser radar body 20 to rise and fall. Thus, through the cooperation of the drive motor 51 and the connecting rod mechanism, the laser radar body 20 can be lifted and lowered through the opening 10a of the laser radar housing 10, allowing detection in relatively low spaces. This expands the application range of the laser radar assembly, making it adaptable to more diverse environments and scenarios.

[0085] Specifically, the linkage mechanism includes a first connecting rod 521, a second connecting rod 522, a first support rod 523, and a second support rod 524. One end of the first support rod 523 is connected to the base, and the other end is connected to the second support rod 524. The other end of the second support rod 524 is fixed to the laser radar housing 10. The connection point between the first support rod 523 and the second support rod 524 is a rotation point. Changes in the position of the rotation point will cause the angle formed by the first support rod 523 and the second support rod 524 to change, thereby driving the laser radar body 20 to rise or fall.

[0086] One end of the first connecting rod 521 is connected to the drive motor 51, and the other end is connected to the second connecting rod 522. The other end of the second connecting rod 522 is connected to the rotation point. When the drive motor 51 is turned on and drives the first connecting rod 521, the first connecting rod 521 transmits power to the second connecting rod 522, causing the position of the rotation point to change, thereby driving the laser radar body 20 to rise and fall.

[0087] In one embodiment, please refer to Figure 4 and Figure 5 A portion of the outer peripheral surface of the laser radar housing 10 is opened to form a ranging window 10b.

[0088] When the laser radar body 20 is in the lowered state, at least a portion of the laser radar body 20 corresponds to the position of the ranging window 10b. Thus, by opening a portion of the outer circumference of the laser radar housing 10 to form the ranging window 10b, laser light can be emitted or received through the ranging window 10b when the laser radar body 20 is in the lowered state, allowing the laser radar body 20 to adapt to different measurement requirements and environmental conditions.

[0089] Specifically, the ranging window 10b is the opening 10a on the laser radar housing 10, and at least a partial area of ​​the laser radar body 20 corresponds to the position of the ranging window 10b, which means that the ranging window 10b allows the laser radar body 20 to emit and receive laser beams so as to facilitate the laser radar body 20 to perform distance measurement.

[0090] The position and size of the ranging window 10b can be fixed and formed integrally with the laser radar housing 10.

[0091] In other embodiments, the size or position of the ranging window 10b can be adjusted to adapt to different measurement requirements or environmental conditions.

[0092] In one embodiment, please refer to Figure 1 and Figure 2 The laser radar body 20 includes a light-transmitting cover 21 and a top cap 22 covering the top of the light-transmitting cover 21. A portion of the top cap 22 protrudes from the outer circumference of the light-transmitting cover 21 to form a protrusion. When the laser radar body 20 is in the lowered state, the protrusion engages with the first sealing member 30. This further prevents dust and foreign matter from entering the interior of the laser radar body 20.

[0093] Specifically, the top cap 22 is mounted on top of the light-transmitting housing 21, with a portion of the top cap 22 extending beyond the outer edge of the light-transmitting housing 21, thereby forming a protrusion. When the laser radar body 20 is in the lowered state, the protrusion and the first sealing member 30 are in contact with each other and form a seal.

[0094] It should be noted that the protrusion is the outer edge area of ​​the top cap 22 along the circumference. Depending on the actual situation, the protrusion can be formed by protruding from a portion of the circumference of the top cap 22. Of course, in some embodiments, the protrusion can also be formed by protruding from the entire circumference of the top cap 22, and the protrusion can be annular in structure to better seal with the first sealing member 30.

[0095] In one embodiment, the inner wall of the ranging window 10b is coated with a light-absorbing layer. Thus, by coating the light-absorbing layer, the light-absorbing layer can absorb laser light reflected from the inner wall of the ranging window 10b, thereby reducing the interference of the reflected light from the ranging window 10b on the laser radar body 20 and improving the measurement accuracy of the laser radar body 20.

[0096] Specifically, the material type of the light absorbing layer is not limited, as long as it can reduce or eliminate the light reflected or scattered by the housing.

[0097] 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 a receiving space is formed inside the laser radar housing and an opening is formed on the top side of the laser radar housing; A laser radar body, which is arranged in a liftable manner in the opening along the top-bottom direction, and at least a portion of the laser radar body is located within the accommodating space; A first sealing member is provided at the opening and extends along the circumference of the opening, and an edge of the first sealing member contacts the outer peripheral surface of the laser radar body.

2. The laser radar assembly according to claim 1, characterized in that The laser radar body includes a light-transmitting cover, a laser emitting unit and a laser receiving unit, wherein the laser emitting unit and the laser receiving unit are located in the light-transmitting cover; The first sealing member is an elastic member, and the edge of the first sealing member contacts and closely fits with the outer peripheral surface of the light-transmitting cover; and / or, The first sealing member is an annular sealing member extending around the outer circumference of the light-transmitting cover body. The inner edge of the first sealing member contacts and tightly fits with the outer circumference of the light-transmitting cover body.

3. The laser radar assembly according to claim 1, characterized in that The first sealing member is inclined downward relative to a horizontal plane where the opening is located, from a side in contact with an outer peripheral surface of the laser radar body to a side away from the laser radar body.

4. The laser radar assembly according to claim 3, characterized in that The inclination angle of the first sealing member is greater than or equal to 10° and less than or equal to 20°.

5. The laser radar assembly according to any one of claims 1 to 4, characterized in that: The first sealing member and the laser radar housing are formed as an integral structural member; and / or, The laser radar housing includes a top wall having the opening; the laser radar body includes a base, the laser radar body is supported by the base, and the laser radar assembly further includes a second sealing member, the second sealing member is provided on the base and extends around the circumference of the laser radar body; When the laser radar body is in a raised state, the second sealing member is in sealing contact with the inner wall surface of the shell top wall.

6. The laser radar assembly according to any one of claims 1 to 4, characterized in that: The laser radar assembly also includes a driving device, which includes a driving motor and a connecting rod mechanism. The connecting rod mechanism is respectively connected to the laser radar body and the driving motor, so that the driving motor drives the connecting rod mechanism to drive the laser radar body to rise and fall.

7. The laser radar assembly according to any one of claims 1 to 4, characterized in that: A portion of the outer peripheral surface of the laser radar housing is opened to form a ranging window, and when the laser radar body is in a lowered state, at least a portion of the laser radar body corresponds to the position of the ranging window; and / or, The laser radar body includes a light-transmitting cover body and a top cap covering the top side of the light-transmitting cover body. A partial area of ​​the top cap protrudes from the outer peripheral surface of the light-transmitting cover body to form a protrusion. When the laser radar body is in a lowered state, the protrusion is connected to the first sealing member.

8. The laser radar assembly according to claim 7, characterized in that The inner peripheral wall of the ranging window is coated with a light absorbing layer.

9. A cleaning device, characterized in that: The cleaning device includes a shell and the laser radar component according to any one of claims 1 to 8, and the laser radar component is arranged on the shell.

10. A cleaning system, characterized in that: The cleaning system comprises a cleaning base station and the cleaning device according to claim 9.

Images