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 a light absorbing member. An opening is formed in the upper side of the laser radar shell in the assembly height direction of the laser radar, and a window is formed in a partial area of the outer circumferential face of the laser radar shell. The laser radar body penetrates through the opening in a lifting mode and is at least partially located in the laser radar shell, and when the laser radar body is in a descending state, at least partial area of the laser radar body corresponds to the position of the window. The light absorbing piece is arranged in the window. The window of the laser radar housing is provided with the light absorption member, so that scattering and emission of laser at the window in different degrees can be reduced when the laser radar body emits the laser outwards through the window, generation of stray light is reduced, and measurement accuracy and reliability of the laser radar assembly are improved.

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 measurement accuracy and reliability 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 accuracy and good reliability.

[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 its upper side along the height direction of the laser radar assembly, and a window is formed in a portion of the outer peripheral surface of the laser radar housing;

[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, wherein 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 window; and

[0009] A light absorbing component is arranged on the window.

[0010] In some embodiments, the light absorbing component and the laser radar housing are formed as an integral structural component.

[0011] In some embodiments, the integrated structural member is an injection-molded structural member;

[0012] The material of the laser radar housing is the same as or different from the material of the light absorbing element; and / or

[0013] The color of the laser radar housing is the same as or different from the color of the light absorbing component.

[0014] In some embodiments, the light absorbing member includes a light absorbing layer, and the light absorbing layer is coated on the inner peripheral wall of the window.

[0015] In some embodiments, the light absorbing layer comprises a black light absorbing paint layer.

[0016] In some embodiments, the window is arc-shaped, and a central angle of the arc-shaped window is in the range of 110° to 130°.

[0017] In some embodiments, the laser radar assembly further includes a driving device and a connecting rod mechanism, wherein the connecting rod mechanism is respectively connected to the laser radar body and the driving device, and the driving device drives the laser radar body to rise and fall by driving the connecting rod mechanism.

[0018] In some embodiments, the linkage mechanism includes a first link, a second link, a third link, and a fourth link;

[0019] Wherein, the first connecting rod is connected to the output shaft of the driving device, one end of the second connecting rod is hinged to the first connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod and one end of the fourth connecting rod respectively, the other end of the third connecting rod is hinged to the side of the laser radar housing away from the opening, and the other end of the fourth connecting rod is hinged to the laser radar body;

[0020] The axial direction of the output shaft is perpendicular to the height direction of the laser radar component.

[0021] In some embodiments, the laser radar body includes a light-transmitting cover and a top cover, wherein the light-transmitting cover is liftably arranged through the opening, and the top cover is arranged on the light-transmitting cover;

[0022] In which, 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.

[0023] A second aspect of the present application provides a cleaning device, comprising:

[0024] housing; and

[0025] The laser radar component described in the first aspect of the present application is at least partially located within the shell.

[0026] A third aspect of the present application provides a cleaning system, comprising:

[0027] Cleaning base stations; and

[0028] 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.

[0029] Utility model effect

[0030] 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 improving environmental adaptability and enabling detection in relatively low spaces. In addition, because the window of the laser radar housing is provided with a light-absorbing member, it can reduce the varying degrees of scattering and reflection of laser light at the window when the laser radar body emits or receives laser light outward through the window, thereby reducing the generation of stray light and improving the measurement accuracy and reliability of the laser radar assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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:

[0032] Figure 1 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;

[0033] Figure 2 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 3 A schematic diagram of the three-dimensional structure of a laser radar housing provided in some embodiments of the present application;

[0035] Figure 4 A schematic diagram of the three-dimensional structure of the laser radar housing from another perspective provided in some embodiments of the present application;

[0036] Figure 5 A schematic cross-sectional view of a lowered state of a laser radar assembly provided for some embodiments of the present application;

[0037] Figure 6 A schematic cross-sectional view of a laser radar assembly in a raised state provided for some embodiments of the present application.

[0038] Description of Reference Numerals

[0039] 1. LiDAR housing; 11. Opening; 12. Window; 2. LiDAR body; 21. Transparent cover; 22. Top cover; 3. Light absorbing element; 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. LiDAR assembly. DETAILED DESCRIPTION

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] Below, refer to Figures 1 to 6 Some embodiments of the present application are described in detail.

[0049] Figure 1 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 2 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 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 the laser radar housing from another perspective provided in some embodiments of the present application; Figure 5 A schematic cross-sectional view of a lowered state of a laser radar assembly provided for some embodiments of the present application; Figure 6 A schematic cross-sectional view of a laser radar assembly in a raised state provided for some embodiments of the present application.

[0050] 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 light absorbing element 3.

[0051] 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.

[0052] Exemplarily, the laser radar assembly 100 can perform distance detection.

[0053] 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.

[0054] 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.

[0055] Of course, those skilled in the art should understand that the laser radar housing 1 can also be made of any other suitable material.

[0056] 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.

[0057] like Figure 3 and Figure 4 As shown, 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 , and 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 .

[0058] The upper side here refers to the side facing away from the cleaning surface along the height direction of the laser radar component 100.

[0059] The shape of the opening 11 is not limited as long as it can allow the laser radar body 2 to pass through.

[0060] 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.

[0061] In some embodiments, a seal may be provided at the opening 11 of the laser radar housing 1 , thereby reducing the possibility of dust, foreign matter and other impurities entering the laser radar body 2 and improving the reliability and stability of the laser radar assembly 100 .

[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 Figure 1 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] Due to the limited size of the window 12, the laser emitted by the laser radar body 2 in the lowered state or the laser reflected back to the laser radar body 2 may be scattered and reflected to varying degrees at the window, thereby generating a large amount of stray light. These stray lights enter the laser receiving unit of the laser radar body 2 through the optical path, causing the laser receiving unit to be saturated prematurely, thereby affecting the measurement accuracy and reliability of the laser radar component 100.

[0065] Therefore, in an embodiment of the present application, the laser radar component 100 also includes a light absorbing element 3, which is arranged in the window 12, so that the reflected laser can be absorbed by the light absorbing element 3, thereby reducing the generation of stray light, and thus improving the measurement accuracy and reliability of the laser radar component 100.

[0066] For example, the light absorbing member 3 can be arranged around the inner peripheral wall of the window 12 , and the surrounding can be, for example, fully surrounded, semi-enclosed, or arranged in any manner.

[0067] In some embodiments of the present application, the light absorbing member 3 and the laser radar housing 1 are formed into an integrated structure, thereby reducing the number of parts and components, lowering the difficulty of assembly, thereby improving production efficiency and saving production costs.

[0068] In some embodiments of the present application, the integrated structural component of the light absorbing component 3 and the laser radar housing 1 is an injection-molded structural component, the material of the laser radar housing 1 is the same as or different from the material of the light absorbing component 3, and / or the color of the laser radar housing 1 is the same as or different from the color of the light absorbing component 3.

[0069] The one-piece structural part is an injection-molded structural part made using the injection molding process. The injection molding process has a fast production speed and high efficiency, and is suitable for products with complex shapes. Therefore, one-piece structural parts of different forms can be manufactured stably and quickly according to actual needs.

[0070] Of course, those skilled in the art should understand that in some other embodiments, the integrated structure of the light absorbing element 3 and the laser radar housing 1 can also be made by any other suitable process.

[0071] In the embodiment of the present application, the material of the laser radar housing 1 and the material of the light absorbing component 3 can be the same or different, and the color of the laser radar housing 1 and the color of the light absorbing component 3 can be the same or different.

[0072] Generally speaking, black has a larger absorption coefficient for light signals. Therefore, when the laser comes into contact with the light-absorbing element 3 made of black material, it will basically not be reflected, or the reflectivity is extremely low. Therefore, it can effectively reduce the interference of stray light on the laser radar body 2 and improve the detection accuracy of the laser radar component 100.

[0073] Those skilled in the art should understand that the integrated structural parts of the embodiment of the present application can be entirely black, or only the light absorbing part 3 can be black, and the laser radar housing 1 can be white or any other suitable color, as long as the generation of stray light at the window 12 can be reduced.

[0074] For example, when the laser radar housing 1 and the light absorbing component 3 are made of different materials or have different colors, the laser radar housing 1 and the light absorbing component 3 can be made into an integral structural component by, for example, a double-shot molding process.

[0075] In some embodiments of the present application, the light absorbing element 3 includes a light absorbing layer, which is coated on the inner peripheral wall of the window 12 .

[0076] The light absorbing element 3 can be a light absorbing layer, which is a separate structure from the laser radar housing 1 and is coated on the inner wall of the window 12 through a coating process, thereby also being able to reduce stray light.

[0077] Those skilled in the art should understand that the embodiment of the present application does not specifically limit the connection method between the light absorbing layer and the inner wall of the window 12. In some other embodiments, the light absorbing layer can also be set on the inner wall of the window 12 by any other suitable process such as spraying, bonding, etc.

[0078] like Figure 3 and Figure 4As shown, in the embodiment of the present application, the light absorbing layer is coated on the entire circumference of the inner peripheral wall of the window 12, that is, the light absorbing layer is coated on each position of the inner peripheral wall of the window 12. In some other embodiments, the light absorbing layer may be coated on only a portion of the inner peripheral wall of the window 12.

[0079] In some embodiments of the present application, the light-absorbing layer includes a black light-absorbing paint layer. The black light-absorbing paint layer can absorb almost all light signals, so that the inner wall of the window 12 hardly reflects any light. This can better reduce the impact of stray light on the laser radar body 2 and improve the measurement accuracy and reliability of the laser radar assembly 100.

[0080] Of course, those skilled in the art should understand that in some other embodiments, the light absorbing layer may also be made of any other suitable material, as long as it can reduce or eliminate the light reflected or scattered by the window 12 .

[0081] In some embodiments of the present application, the window 12 is arc-shaped. The arc-shaped window 12 can improve the transmittance of the laser, reduce the optical path error, and enhance the ranging capability of the edge field of view, thereby further improving the ranging accuracy of the laser radar assembly 100.

[0082] For example, the curvature of the central area of ​​the arc-shaped window 12 may be smaller than the curvature of the areas on both sides of the window 12, which helps to improve the ranging capability of the edge field of view.

[0083] Of course, those skilled in the art will appreciate that in some other embodiments, the window 12 may also be in any other suitable shape.

[0084] In the embodiment of the present application, the central angle of the arc-shaped window 12 is in the range of 110° to 130°.

[0085] Exemplarily, the central angle of the curved window 12 can be 110°, 111°, 112°, 113°, 114°, 115°, 116°, 117°, 118°, 119°, 120°, 121°, 122°, 123°, 124°, 125°, 126°, 127°, 128°, 129° or 130°.

[0086] When the central angle of the arc window 12 is within an appropriate range, the laser radar body 2 can have higher ranging accuracy, a wider field of view, and stronger anti-interference ability.

[0087] In some embodiments of the present application, the laser radar assembly 100 also includes a driving device 4 and a connecting rod mechanism 5. The connecting rod mechanism 5 is respectively connected to the laser radar body 2 and the driving device 4. The driving device 4 drives the laser radar body 2 to rise and fall by driving the connecting rod mechanism 5.

[0088] The driving device 4 is a device that provides power.

[0089] Exemplarily, the driving device 4 includes but is not limited to a driving motor.

[0090] 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.

[0091] The connecting rod mechanism 5 has a simple structure, is easy to process, has high wear resistance, and can realize various motion forms.

[0092] The laser radar body 2 of the embodiment of the present application can be 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.

[0093] In some embodiments of the present application, Figure 5 and Figure 6 As 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] In some embodiments of the present application, the laser radar body 2 includes a light-transmitting cover body 21 and a top cover 22 . The light-transmitting cover body 21 can be raised and lowered through the opening 11 , and the top cover 22 is covered on the light-transmitting cover body 21 .

[0099] The light-transmitting cover 21 is a protective cover for the laser radar body 2 , and can protect the laser emitting unit and the laser receiving unit inside it.

[0100] In the embodiment of the present application, the light-transmitting cover 21 is substantially cylindrical. In some other embodiments, the light-transmitting cover 21 may also be in any other suitable shape.

[0101] For example, the light-transmitting cover 21 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, as long as it can transmit laser light.

[0102] The top cover 22 is arranged on the side of the light-transmitting cover 21 away from the laser radar housing 1 , thereby being able to seal the light-transmitting cover 21 on the outside and reducing the possibility of external dust, foreign matter, etc. entering the interior of the laser radar body 2 .

[0103] In addition, in the projection plane perpendicular to the height direction of the laser radar assembly 100, the projection area of ​​the top cover 22 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 22. Therefore, when the laser radar body 2 is in the lowered state, the top cover 22 can be supported on the outer peripheral surface of the laser radar housing 1 and can completely cover the opening 11. This can further reduce the possibility of external dust, foreign matter, etc. entering the laser radar housing 1 through the opening 11, improve the protection of the components located in the laser radar housing 1, and help to increase the service life of the components and improve the stability and reliability of the laser radar assembly 100.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] In some other embodiments, the cleaning base station also includes scheduling and control functions.

[0111] 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, and a window is formed in a partial area of ​​an outer peripheral surface of the laser radar housing; a laser radar body, the laser radar body being liftably disposed through the opening and at least partially located within the laser radar housing, wherein 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 window; and A light absorbing component is arranged on the window.

2. The laser radar assembly according to claim 1, characterized in that The light absorbing component and the laser radar housing form an integrated structural component.

3. The laser radar assembly according to claim 2, characterized in that The integrated structural part is an injection-molded structural part; The material of the laser radar housing is the same as or different from the material of the light absorbing element; and / or The color of the laser radar housing is the same as or different from the color of the light absorbing component.

4. The laser radar assembly according to claim 1, characterized in that The light absorbing member includes a light absorbing layer, and the light absorbing layer is coated on the inner peripheral wall of the window.

5. The laser radar assembly according to claim 4, characterized in that The light-absorbing layer includes a black light-absorbing paint layer.

6. The laser radar assembly according to claim 1, characterized in that The window is arc-shaped, and a central angle of the arc-shaped window is in the range of 110° to 130°.

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

8. The laser radar assembly according to claim 7, characterized in that The connecting rod mechanism includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; Wherein, the first connecting rod is connected to the output shaft of the driving device, one end of the second connecting rod is hinged to the first connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod and one end of the fourth connecting rod respectively, the other end of the third connecting rod is hinged to the side of the laser radar housing away from the opening, and the other end of the fourth connecting rod is hinged to the laser radar body; The axial direction of the output shaft is perpendicular to the height direction of the laser radar component.

9. The laser radar assembly according to any one of claims 1 to 6, characterized in that: The laser radar body includes a light-transmitting cover and a top cover, wherein the light-transmitting cover is liftably arranged through the opening, and the top cover is arranged on the light-transmitting cover; In which, 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.

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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