Cleaning equipment and cleaning system

Abstract

The embodiment of the utility model provides cleaning equipment and a cleaning system.The cleaning equipment comprises a shell, a laser radar, a lifting device, a main control board and a cable, the laser radar comprises a shell and a laser ranging module, and the lifting device is used for driving the laser ranging module to ascend and descend in the height direction of the cleaning equipment; an opening is formed in one side, in the first direction, of the shell, a first wire clamping groove is formed in the outer surface of the shell and faces the opening, one end of the cable is connected with the laser ranging module, and a part of the cable penetrates out of the shell from the opening and is clamped in the first wire clamping groove. According to the cleaning equipment provided by the invention, the part, between the laser ranging module and the first wire clamping groove, of the cable cannot be bent, and when the end, connected with the laser ranging module, of the cable moves up and down along with the laser ranging module, the part, between the laser ranging module and the first wire clamping groove, of the cable can extend linearly or be in a natural falling state; the abrasion probability of the cable is reduced, and the service life of the cable is prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning equipment 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] In the related technology, taking the cleaning equipment as a cleaning robot as an example, the cleaning robot includes a laser radar, a lifting device and a main control board. The lifting device can drive the laser radar to rise and fall to adapt to different home environments. The laser radar and the main control board are connected by a cable. When the laser radar is raised and lowered, the cable will also rise and fall accordingly. Multiple lifting and lowering can easily cause a high cable damage rate and a short service life. Utility Model Content

[0004] In view of this, the embodiments of the present application hope to provide a cleaning device and a cleaning system to reduce the wear rate of the cable and extend the service life of the cable.

[0005] To achieve the above objectives, the technical solution of the embodiment of the present application is implemented as follows:

[0006] The present invention provides a cleaning device, comprising:

[0007] case;

[0008] a laser radar, at least partially disposed in the housing, the laser radar comprising an outer shell and a laser ranging module, at least partially disposed in the outer shell;

[0009] a lifting device, disposed in the housing, for driving the laser ranging module to rise and fall along the height direction of the cleaning device so that a portion of the laser ranging module extends to the outside of the housing or retracts into the housing;

[0010] a main control board, disposed in the housing, for controlling the operation of the cleaning device;

[0011] A cable, through which the laser ranging module and the main control board establish a conductive path;

[0012] The shell is provided with an opening on one side along the first direction, and a first wire clamping groove is provided on the outer surface of the shell. The first wire clamping groove is arranged toward the opening, one end of the cable is connected to the laser ranging module, and a part of the cable passes through the shell from the opening and is clamped in the first wire clamping groove, wherein the first direction intersects with the height direction.

[0013] In some embodiments, the connection position between the cable and the laser ranging module is a first position, and the laser ranging module has a raised state and a lowered state. In the lowered state, in the plane projection perpendicular to the first direction, the position of the first cable clamping slot is higher than the first position.

[0014] In some embodiments, the laser ranging module has a raised state and a lowered state. In the lowered state, the portion of the cable between the first cable clamping slot and the laser ranging module extends in a straight line.

[0015] In some embodiments, the connection position between the cable and the laser ranging module is a first position, the position of the cable at the center of the portion in the first wire clamping slot is a second position, the laser ranging module has a raised state and a lowered state, and the size of the line connecting the first position and the second position in the lowered state is larger than the size of the line connecting the first position and the second position in the raised state.

[0016] In some embodiments, the housing is further provided with a second wire clamping slot, the cable includes a first sub-segment and a second sub-segment connected to each other, the end of the first sub-segment away from the second sub-segment is connected to the laser ranging module, a portion of the first sub-segment is clamped in the first wire clamping slot, a portion of the second sub-segment is clamped in the second wire clamping slot, and the end of the second sub-segment away from the first wire clamping slot is connected to the main control board.

[0017] In some embodiments, the housing includes a main body and an extension structure, at least a portion of the laser ranging module is disposed on the main body, one end of the extension structure is connected to the edge of the opening, and the other end extends along a first direction, and the first wire clamping slot is disposed at an end of the extension structure away from the opening.

[0018] In some embodiments, the extension structure includes a base and two limiting parts, the base is formed with a through groove, the through groove passes through the base along the second direction, one end of the two limiting parts is respectively connected to the top wall of the through groove and the bottom wall of the through groove, and the other end extends downwardly at an angle away from the base and close to the opening, and the space between the through groove and the two limiting parts defines the first wire clamping groove, wherein the first direction, the second direction and the height direction intersect with each other.

[0019] In some embodiments, the two limiting portions extend in the second direction and away from one end of the base toward each other to form a stopping structure, and the stopping structure is used to stop the cable.

[0020] In some embodiments, the two limiting portions are formed along the first direction and close to one end of the opening to form an entrance of the first wire clamping groove;

[0021] The two stop structures are spaced apart to form a gap, and the cable is inserted into the first wire clamping slot through the entrance and the gap; or the two stop structures are connected to each other, and the cable is inserted into the first wire clamping slot through the entrance.

[0022] In some embodiments, the lifting device includes a driving mechanism and a transmission structure, the driving mechanism is connected to the side of the extension structure away from the opening, the power output shaft of the driving mechanism passes through the extension structure and is connected to the transmission structure, and the end of the transmission structure away from the power output shaft is passed through the opening and connected to the laser ranging module.

[0023] In some embodiments, the housing includes a partition portion, which separates the opening into a first opening and a second opening along the height direction. The first opening is arranged on the top side of the second opening for allowing the cable to pass through, and the second opening is used for allowing the transmission structure to pass through.

[0024] In some embodiments, the transmission structure includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, one end of the first connecting rod is rotatably connected to the power output shaft, the other end of the first connecting rod is rotatably connected to the second connecting rod, the end of the second connecting rod away from the first connecting rod passes through the opening and is rotatably connected to the third connecting rod and the fourth connecting rod respectively, the third connecting rod and the fourth connecting rod are arranged in the outer shell, the end of the third connecting rod away from the second connecting rod is rotatably connected to the bottom wall of the outer shell, and the end of the fourth connecting rod away from the second connecting rod is rotatably connected to the laser ranging module.

[0025] In some embodiments, the laser ranging module includes a laser emitting unit, a laser receiving unit and a bracket, the laser emitting unit and the laser receiving unit are arranged on the bracket and electrically connected to the cable, and the fourth connecting rod is rotatably connected to one end of the bracket away from the laser emitting unit and the laser receiving unit.

[0026] In some embodiments, the laser ranging module further includes a light-transmitting cover, which is disposed on the top side of the bracket and at least partially protrudes from the top surface of the housing.

[0027] The present invention provides a cleaning system, comprising:

[0028] Clean base stations;

[0029] And the cleaning equipment described in any embodiment of the present application, the cleaning base station is used for docking the cleaning equipment.

[0030] In the cleaning device provided by the embodiment of the present application, the first cable trough is arranged toward the opening, so that the portion of the cable between the laser ranging module and the first cable trough will not bend. When the end of the cable connected to the laser ranging module moves with the laser ranging module, the portion of the cable between the laser ranging module and the first cable trough can extend in a straight line or hang naturally, reducing the chance of cable wear and extending the service life of the cable. In addition, the first cable trough can secure the cable, increasing the stability of the cable arrangement. In this way, while not affecting the raising and lowering of the laser ranging module, the connection reliability between the cable and the main control board is also increased, allowing the cleaning device to better adapt to various furniture environments while maintaining efficient cleaning, thereby increasing the operating reliability of the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of a portion of the structure of a cleaning device according to an embodiment of the present application;

[0032] Figure 2 for Figure 1 Schematic diagram of the cooperation between the laser radar and the lifting device, wherein the laser radar is in the raised state;

[0033] Figure 3 for Figure 2 An enlarged structural diagram of point A is shown;

[0034] Figure 4 for Figure 2 Another structural schematic diagram of the structure shown;

[0035] Figure 5 for Figure 1 Another schematic diagram of the cooperation between the laser radar and the lifting device is shown, wherein the laser radar is in a descending state;

[0036] Figure 6 Schematic diagram comparing the laser radar and cable in the raised and lowered states according to one embodiment of the present application.

[0037] Description of Reference Numerals

[0038] 1- Cleaning equipment;

[0039] 10-housing;

[0040] 11-LiDAR; 111-Housing; 111b-First Wire Card Slot; 111c-Second Wire Card Slot; 111d-Opening; 111e-First Opening; 111f-Second Opening; 1111-Main Body; 1112-Extension Structure; 11121-Base; 11122-Limiting Portion; 11123-Stop Structure; 1112a-Through Slot; 1112b-Notch; 1113-Spacer; 112-Laser Ranging Module; 1121-Bracket; 11211-Supporting Base; 11212-Mounting Base; 1122-Light-Transmitting Cover; 113-Elastic Member;

[0041] 12-lifting device; 121-driving mechanism; 122-transmission structure; 1221-first connecting rod; 1222-second connecting rod; 1223-third connecting rod; 1224-fourth connecting rod;

[0042] 13-Cable. DETAILED DESCRIPTION

[0043] In the description of the embodiments of the present application, it should be noted that the terms "height direction", "up", "down", "top", "bottom", "left", "right", "front", "back", etc. indicate directions or positional relationships based on the directions 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 and operated in a specific orientation. Therefore, they cannot be understood as limitations on the embodiments of the present application.

[0044] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0045] An embodiment of the present application provides a cleaning device 1 .

[0046] It is understandable that the cleaning device 1 can be a sweeping robot, a sweeping and mopping machine, or other cleaning robots that meet the requirements, and there is no limitation here.

[0047] The cleaning device 1 can be used to automatically clean dust, hair, etc. on the ground. In the case that the cleaning device 1 is provided with a mop, the cleaning device 1 can perform a mopping operation on the ground after cleaning the ground.

[0048] Illustratively, an embodiment of the present application further provides a cleaning system, which includes a cleaning base station and the cleaning device 1 of any embodiment of the present application, and the cleaning base station is used for docking the cleaning device 1 .

[0049] In other words, the cleaning base station can provide a docking location for the cleaning device 1, so that the cleaning device 1 can be stored in the cleaning base station after completing the cleaning work. Of course, the cleaning base station can also provide corresponding services for the cleaning device 1. For example, the functions of the cleaning base station include charging, dust removal, cleaning, drying, and disinfecting the cleaning device 1.

[0050] See also Figures 1 to 6 The cleaning device 1 includes a shell 10, a laser radar 11, a lifting device 12, a main control board and a cable 13.

[0051] The shell 10 is used to provide a storage space for the components of the cleaning equipment 1. At least part of the laser radar 11, the lifting device 12, the main control board and the cable 13 are arranged in the shell 10. The shell 10 can effectively protect them to avoid being exposed to the outside, impact and loss.

[0052] Illustratively, the shell 10 is disc-shaped, so that the cleaning device 1 can rotate and adjust its direction in a narrow space, thereby increasing the flexibility of the cleaning device 1. At the same time, the cleaning components of the cleaning device 1 can be evenly distributed at the bottom of the shell 10 to improve cleaning efficiency.

[0053] The laser radar 11 is a radar system that detects target position, speed, and other characteristic quantities by emitting laser beams. Specifically, the laser radar 11 can detect obstacles and surrounding environment information around the cleaning device 1 to achieve high efficiency and accuracy in automated cleaning.

[0054] The laser radar 11 includes a housing 111 and a laser ranging module 112 , and at least a portion of the laser ranging module 112 is disposed in the housing 111 .

[0055] Specifically, the housing 111 is used to provide an installation space for the laser ranging module 112. The laser ranging module 112 can determine the distance to the obstacle by emitting a laser beam and measuring the time it takes for the laser to be emitted back, thereby achieving obstacle avoidance.

[0056] The lifting device 12 is disposed in the housing 10 and is used to drive the laser ranging module 112 to rise and fall along the height direction of the cleaning device 1 so that a portion of the laser ranging module 112 extends to the outside of the housing 10 or retracts into the housing 10 .

[0057] It is understandable that due to the height limit of the cleaning equipment, it is difficult for the cleaning equipment to enter low areas for cleaning, leaving blind spots for cleaning. In this embodiment, when encountering a low area, the lifting device 12 drives the laser ranging module 112 to partially descend and retract into the housing 10, thereby reducing the height of the cleaning device 1, allowing the cleaning device 1 to smoothly enter hard-to-reach areas for cleaning; in open spaces, the lifting device 12 drives the laser ranging module 112 to partially rise, causing the laser ranging module 112 to partially extend outside the housing 10, thereby facilitating the laser radar 11 to perceive the surrounding environment in all directions, increasing the accuracy of navigation, and increasing the flexibility of the cleaning device 1.

[0058] Therefore, the cooperation between the lifting device 12 and the laser radar 11 can enable the cleaning device 1 to better adapt to various furniture environments while maintaining efficient cleaning. Whether it is a low space or a complex obstacle, it can be effectively handled, thereby improving the user's home experience.

[0059] The main control board is disposed in the housing 10 and is used to control the operation of the cleaning device 1 .

[0060] Specifically, the main control board can control the operating time, operating mode, etc. of the cleaning device 1 and provide power to other components.

[0061] The laser ranging module 112 and the main control board establish a conductive path through the cable 13.

[0062] Specifically, the cable 13 connects the laser ranging module 112 and the main control board to form a conductive path, thereby achieving electrical connection between the laser ranging module 112 and the main control board.

[0063] It is understandable that the number of cables 13 is not limited and may be one or more.

[0064] An opening 111d is provided on one side of the shell 111 along the first direction, and a first wire clamping groove 111b is provided on the outer surface of the shell 111. The first wire clamping groove 111b is arranged toward the opening 111d. One end of the cable 13 is connected to the laser ranging module 112, and a portion of the cable 13 passes through the shell 111 from the opening 111d and is clamped in the first wire clamping groove 111b. The first direction intersects with the height direction.

[0065] That is, one end of the cable 13 is connected to the laser ranging module 112 , and the other end is connected to the main control board through the opening 111 d and the first cable clamping groove 111 b .

[0066] It should be noted that the first wire clamping groove 111b is set towards the opening 111d, which means that the cable 13 does not need to be bent from the laser ranging module 112 to the first wire clamping groove 111b and can be in a natural state. When the laser ranging module 112 is raised or lowered, the chance of wear is small.

[0067] It should be noted that a portion of the cable 13 is clamped in the first wire clamping groove 111b, which means that the first wire clamping groove 111b can constrain the portion of the cable 13 located in the first wire clamping groove 111b, and the portion of the cable 13 located in the first wire clamping groove 111b is determined. When the end of the cable 13 connected to the laser ranging module 112 is raised and lowered as the laser ranging module 112 is raised and lowered, the portion of the cable 13 located between the laser ranging module 112 and the first wire clamping groove 111b moves to adapt to changes in different heights. The portion of the cable 13 located in the first wire clamping groove 111b and the portion of the cable 13 located between the first wire clamping groove 111b and the main control board can remain stationary, thereby increasing the setting reliability of the cable 13.

[0068] The first direction may be any direction intersecting with the height direction. For example, the first direction may be perpendicular to the height direction.

[0069] It is understandable that in the related art, the cable groove is provided on the outer shell, and the cable needs to be bent after passing through the outer shell before it can be passed through the cable groove. When the end of the cable connected to the laser ranging module moves up and down with the laser ranging module, the bending part of the cable and the edge of the cable groove rub against each other as they move. After multiple rises and falls, the cable is prone to breakage due to wear and tear, and the service life of the cable is short.

[0070] In the cleaning device 1 provided in the embodiment of the present application, the first wire-clip groove 111b is arranged toward the opening 111d. The portion of the cable 13 between the laser ranging module 112 and the first wire-clip groove 111b will not be bent. When the end of the cable 13 connected to the laser ranging module 112 moves with the laser ranging module 112, the portion of the cable 13 between the laser ranging module 112 and the first wire-clip groove 111b can extend in a straight line or naturally hang down, thereby reducing the chance of wear on the cable 13 and extending the service life of the cable 13. In addition, the first wire-clip groove 111b can secure the cable 13 and increase the stability of the arrangement of the cable 13. In this way, while not affecting the lifting and lowering of the laser ranging module 112, the connection reliability of the cable 13 and the main control board is also increased, making it easier for the cleaning device 1 to better adapt to various furniture environments while maintaining efficient cleaning, thereby increasing the working reliability of the cleaning device 1.

[0071] For some examples, see Figure 6The connection position between the cable 13 and the laser ranging module 112 is the first position B1. The laser ranging module 112 has a raised state and a lowered state. In the lowered state, in the plane projection perpendicular to the first direction, the position of the first wire clamping groove 111b is higher than the first position B1.

[0072] It should be noted that the raised state refers to the state when the laser ranging module 112 is raised to the highest position under the drive of the lifting device 12. At this time, the size of the cleaning equipment 1 along the height direction is the largest, and the connection position of the cable 13 and the laser ranging module 112, that is, the first position B1 is also in the highest state; the lowered state refers to the state when the laser ranging module 112 is lowered to the lowest position under the drive of the lifting device 12. At this time, the size of the cleaning equipment 1 along the height direction is the smallest, and the connection position of the cable 13 and the laser ranging module 112, that is, the first position B1 is also in the lowest state.

[0073] In this embodiment, in the descending state, the position of the first wire clamping groove 111b is higher than the first position. At this time, the cable 13 will be naturally guided upward, and in the process of the laser ranging module 112 moving from the descending state to the ascending state, the first position B1 gradually rises, and the height difference between the first position B1 and the first wire clamping groove 111b gradually decreases. The cable 13 can gradually tend to be horizontal, reducing the probability of friction and wear of the cable 13. Therefore, the cable 13 can maintain a natural and good state in different working states of the laser ranging module 112, thereby increasing the routing reliability of the cable 13.

[0074] For some examples, see Figure 6 In the descending state, the portion of the cable 13 between the first cable clamping groove 111b and the laser ranging module 112 extends in a straight line.

[0075] That is, when the laser ranging module 112 is lowered to its lowest position, the cable 13 remains in a straight line between the laser ranging module 112 and the first cable clamping slot 111b, which can reduce the stress caused by bending of the cable 13 and reduce the chance of wear of the cable 13. The straight line also increases the stability of the cable 13, reduces the possibility of contact between the cable 13 and other components, and prevents shaking, thereby increasing the structural stability of the cable 13 in the lowered state. Furthermore, it is also convenient to determine the length of the cable 13 that needs to be arranged between the first cable clamping slot 111b and the laser ranging module 112 based on the straight line state of the cable 13 in the lowered state, further increasing the structural reliability of the cleaning device 1.

[0076] For some examples, see Figure 6The connection position between the cable 13 and the laser ranging module 112 is the first position B1, the center position of the portion of the cable 13 located in the first wire clamping groove 111b is the second position B2, and the connecting line size L1 between the first position B1 and the second position B2 in the lowered state is greater than the connecting line size L2 between the first position B1 and the second position B2 in the raised state.

[0077] That is, the height difference between the first wire clamping groove 111b and the first position in the raised state is greater than the height difference in the lowered position.

[0078] In this embodiment, when the laser ranging module 112 is in a descending state, the connection size between the first position and the second position is as close as possible to the length of the corresponding part of the cable 13. In this way, the larger connection size can facilitate the natural extension of the cable 13, reducing the probability of wear and shaking of the cable 13. In the process of the laser ranging module 112 switching from the descending state to the ascending state, the cable 13 can have sufficient margin to rise with the laser ranging module 112, increasing the slack of the cable 13. With the setting of the smaller connection size, the corresponding part of the cable 13 will not be over-tightened, which facilitates the cable 13 to be in a more natural state, thereby increasing the routing reliability of the cable 13.

[0079] In an embodiment where the portion of the cable 13 between the first clamping groove 111 b and the laser ranging module 112 extends straight in the lowered state, the length of the line connecting the first position and the second position in the lowered state is adapted to the length of the portion corresponding to the cable 13 .

[0080] For example, the line connecting the first position and the second position in the raised state can be perpendicular to the height direction. Thus, in the raised state, there is almost no height difference between the first wire clamping groove 111b and the first position, which increases the naturalness of the routing of the cable 13 and reduces the chance of wear of the cable 13.

[0081] The angle β between the dimension L1 of the line connecting the first position B1 and the second position B2 in the lowered state and the dimension L2 of the line connecting the first position B1 and the second position B2 in the raised state can be considered as the angle at which the cable 13 swings when it is raised or lowered with the laser ranging module 112. The angle β can be no more than 30°. A smaller swing angle can increase the life of the cable 13 and reduce the chance of scratching the cable. In some embodiments, the angle β can be no more than 15°, for example, 14°, 12°, 11°, 8°, 5°, etc.

[0082] For some examples, see Figures 2 to 6The housing 111 is also provided with a second wire-card slot 111c. The cable 13 includes a first sub-segment and a second sub-segment connected to each other. The end of the first sub-segment away from the second sub-segment is connected to the laser ranging module 112. Part of the first sub-segment is clamped in the first wire-card slot 111b, and part of the second sub-segment is clamped in the second wire-card slot 111c. The end of the second sub-segment away from the first wire-card slot 111b is connected to the main control board.

[0083] It is understandable that the second wire-holding groove 111c may not face the opening 111d. When the first sub-segment rises and falls with the laser ranging module 112, the second sub-segment can be further kept stable by the second wire-holding groove 111c.

[0084] In this embodiment, the provision of the second wire clamping groove 111c can further constrain the cable 13, so that the layout of the cable 13 is more reasonable and reliable under the cooperation of the first wire clamping groove 111b and the second wire clamping groove 111c. In addition, the segmented clamping method of the cable 13 can also increase the layout stability of the cable 13 from the laser ranging module 112 to the main control board.

[0085] For example, in a plane projection perpendicular to the first direction, the second wire clamping slot 111c is located higher than the first wire clamping slot 111b, facilitating reasonable layout of the cables 13 between the first wire clamping slot 111b and the main control board.

[0086] The specific structure of the housing 111 is not limited.

[0087] For some examples, see Figure 2 and Figure 3 The housing 111 includes a main body 1111 and an extension structure 1112. At least a portion of the laser ranging module 112 is disposed in the main body 1111. One end of the extension structure 1112 is connected to the edge of the opening 111d, and the other end extends along the first direction. The first wire clamping groove 111b is disposed at the end of the extension structure 1112 away from the opening 111d.

[0088] In this embodiment, the provision of the extension structure 1112 can provide a passage for the cable 13 from the inside to the outside of the main body 1111, and provide support and protection for the cable 13. The first cable clamping groove 111b is provided at the end of the extension structure 1112 away from the opening 111d, which can facilitate the cable 13 to have sufficient space to accommodate the lifting and lowering of the laser ranging module 112, and can also reduce the probability of friction and wear between the cable 13 and the edge of the opening 111d or other components.

[0089] For some examples, see Figure 2 and Figure 3The extension structure 1112 includes a base 11121 and two limiting portions 11122. The base 11121 is formed with a through slot 1112a, which penetrates the base 11121 along the second direction. One end of the two limiting portions 11122 is respectively connected to the top wall of the through slot 1112a and the bottom wall of the through slot 1112a, and the other end extends downwardly at an angle away from the base 11121 and close to the opening 111d. The space between the through slot 1112a and the two limiting portions 11122 defines a first wire clamping groove 111b, wherein the first direction, the second direction and the height direction intersect with each other.

[0090] In this embodiment, the inclined extension of the two limiting portions 11122 allows the cable 13 to transition smoothly when entering the first cable retaining groove 111b, reducing the chance of bending or twisting of the cable 13. Furthermore, the inclined design helps reduce the contact area between the cable 13 and the limiting portions 11122, reducing friction and wear, and increasing the reliability of the lifting and lowering of the cable 13. The cable 13 can exit the first cable retaining groove 111b through the through groove 1112a and connect to the main control board. The through groove 1112a extends through the base 11121 in the second direction, facilitating the change of the cable 13's direction, reducing wear on the cable 13 while facilitating the optimization of the cable 13's layout.

[0091] For some examples, see Figure 3 The two limiting portions 11122 extend along the second direction and away from one end of the base 11121 toward each other to form a stopping structure 11123, which is used to stop the cable 13.

[0092] In this embodiment, the provision of the stop structure 11123 can facilitate the fixation of the cable 13 in the first cable retaining groove 111b, reducing the probability of the cable 13 moving and falling out of the first cable retaining groove 111b during the lifting and lowering process of the laser ranging module 112.

[0093] In some embodiments, one end of the two limiting portions 11122 along the first direction and close to the opening 111 d forms an entrance of the first wire-locking groove 111 b .

[0094] It is understandable that the entrance here refers to the slot on one side of the first wire clamping slot 111 b closest to the laser ranging module 112 , that is, the starting position where the cable 13 enters the first wire clamping slot 111 b .

[0095] See also Figure 3 The two stop structures 11123 are spaced apart to form a gap 1112b, and the cable 13 is clamped into the first clamping groove 111b through the entrance and the gap 1112b.

[0096] In this embodiment, the notch 1112b can help the cable 13 enter the first wire clamping groove 111b smoothly, reduce the probability of the cable 13 needing to bend during the process of being clamped into the first wire clamping groove 111b, and increase the installation reliability of the cable 13. The stop structure 11123 stops the cable 13, increasing the stability of the cable 13 in the first wire clamping groove 111b.

[0097] In some other embodiments, the two stopping structures 11123 are connected to each other, and the cable 13 passes through the entrance into the first cable clamping groove 111 b.

[0098] In this embodiment, the two stop structures 11123 are interconnected to form a continuous structure, which can increase the restraining force on the portion of the cable 13 in the first cable clamping groove 111b, thereby reducing the probability of the cable 13 swinging or moving due to the lifting and lowering of the laser ranging module 112, or even falling out of the first cable clamping groove 111b.

[0099] The specific structure of the lifting device 12 is not limited.

[0100] For some examples, see Figure 2 、 Figure 4 and Figure 5 The lifting device 12 includes a driving mechanism 121 and a transmission structure 122. The driving mechanism 121 is connected to the side of the extension structure 1112 away from the opening 111d. The power output shaft of the driving mechanism 121 passes through the extension structure 1112 and is connected to the transmission structure 122. The end of the transmission structure 122 away from the power output shaft is passed through the opening 111d and is connected to the laser ranging module 112.

[0101] Specifically, the driving mechanism 121 is used to provide power and transmit the power to the transmission structure 122 through the power output shaft. The transmission structure 122 is used to transmit the power of the driving mechanism 121 to the laser ranging module 112, thereby realizing the lifting and lowering of the laser ranging module 112.

[0102] The specific structure of the driving mechanism 121 is not limited. For example, the driving mechanism 121 may be a stepping motor.

[0103] In this embodiment, the laser ranging module 112 is driven by the cooperation of the driving mechanism 121 and the transmission structure 122. The driving mechanism 121 is arranged outside the main body 1111 and is connected to the side of the extension structure 1112 facing away from the outlet 111d. The driving mechanism 121 is installed in the space on the side of the extension structure 1112 facing away from the outlet 111d, which can be reasonably laid out and increase the structural compactness of the cleaning equipment 1. The transmission structure 122 can convert the power provided by the driving mechanism 121 into a motion form suitable for driving the laser ranging module 112 to rise and fall. For example, the transmission structure 122 can convert the rotational power provided by the driving mechanism 121 into linear motion, thereby driving the laser ranging module 112 to rise and fall.

[0104] For some examples, see Figure 2 and Figure 3 The housing 111 includes a partition 1113, which divides the opening 111d into a first opening 111e and a second opening 111f along the height direction. The first opening 111e is arranged on the top side of the second opening 111f for the cable 13 to pass through, and the second opening 111f is used for the transmission structure 122 to pass through.

[0105] In this embodiment, the spacer 1113 is provided to separate the opening 111d into a first opening 111e and a second opening 111f, which can reduce the probability of interference between the transmission structure 122 and the cable 13 during installation or lifting, and further improve the stability of the cable 13 during lifting.

[0106] The specific structure of the transmission structure 122 is not limited.

[0107] For some examples, see Figure 4 and Figure 5 The transmission structure 122 includes a first connecting rod 1221, a second connecting rod 1222, a third connecting rod 1223 and a fourth connecting rod 1224. One end of the first connecting rod 1221 is rotatably connected to the power output shaft, and the other end of the first connecting rod 1221 is rotatably connected to the second connecting rod 1222. The end of the second connecting rod 1222 away from the first connecting rod 1221 passes through the opening 111d and is rotatably connected to the third connecting rod 1223 and the fourth connecting rod 1224 respectively. The third connecting rod 1223 and the fourth connecting rod 1224 are arranged in the shell 111, and the end of the third connecting rod 1223 away from the second connecting rod 1222 is rotatably connected to the bottom wall of the shell 111, and the end of the fourth connecting rod 1224 away from the second connecting rod 1222 is rotatably connected to the laser ranging module 112.

[0108] In this embodiment, the design of the first link 1221, the second link 1222, the third link 1223 and the fourth link 1224 constitutes a four-bar linkage. The first link 1221 transmits the power of the driving mechanism 121 to the second link 1222. The rotation of the first link 1221 drives the second link 1222 to rotate. The second link 1222 transmits the movement of the first link 1221 to the third link 1223 and the fourth link 1224. The rotation of the second link 1222 drives the third link 1223 and the fourth link 1224 respectively. The connecting rod 1223 and the fourth connecting rod 1224 rotate, and the connection between the third connecting rod 1223 and the bottom wall of the shell 111 can provide a fulcrum support for the lifting and lowering action of the fourth connecting rod 1224. The fourth connecting rod 1224 transmits the movement of the second connecting rod 1222 to the laser ranging module 112, thereby realizing the lifting and lowering of the laser ranging module 112. The cooperation of the four-bar mechanism can not only realize the lifting and lowering of the laser ranging module 112, but also increase the stability of the laser ranging module 112 during the lifting process.

[0109] In some embodiments, the laser ranging module 112 includes a laser emitting unit, a laser receiving unit and a bracket 1121. The laser emitting unit and the laser receiving unit are arranged on the bracket 1121 and are electrically connected to the cable 13. The fourth connecting rod 1224 is rotatably connected to one end of the bracket 1121 away from the laser emitting unit and the laser receiving unit.

[0110] Specifically, the laser emitting unit is used to emit laser signals, and the laser receiving unit is used to receive reflected laser signals, thereby achieving distance measurement. The cable 13 can provide power to the laser emitting unit and the laser receiving unit.

[0111] The bracket 1121 is used to provide support for the laser emitting unit and the laser receiving unit. The fourth connecting rod 1224 drives the bracket 1121 to rise and fall, thereby driving the laser emitting unit and the laser receiving unit to rise and fall, and isolates the laser emitting unit and the laser receiving unit from the fourth connecting rod 1224, thereby increasing the lifting stability of the laser ranging module 112.

[0112] For some examples, see Figure 4 and Figure 5 The laser radar 11 also includes at least one elastic member 113, the bracket 1121 includes a support seat 11211 and at least one mounting seat 11212, the laser emitting unit and the laser receiving unit are supported on the support seat 11211, one end of the mounting seat 11212 is connected to the bottom of the support seat 11211, the fourth connecting rod 1224 is rotatably connected to the mounting seat 11212 at one end away from the third connecting rod 1223, and the elastic member 113 is arranged between the mounting seat 11212 and the support seat 11211.

[0113] The elastic member 113 is used to: in the process of the fourth link 1224 driving the bracket 1121 to switch from the lowered state to the raised state, when the angle between the third link 1223 and the fourth link 1224 is 180°, apply a downward force to the fourth link 1224, so that the angle between the third link 1223 and the fourth link 1224 is less than 180°.

[0114] It should be noted that the angle α between the third link 1223 and the fourth link 1224 is the angle between a side of the fourth link 1224 close to the third link 1223 and a side of the third link 1223 close to the fourth link 1224 .

[0115] It can be understood that in the process of the fourth link 1224 driving the bracket 1121 to switch from the lowered state to the raised state, the angle between the fourth link 1224 and the third link 1223 gradually increases. When the angle between the fourth link 1224 and the third link 1223 is 180 degrees, it can be equivalent to a dead point position. The fourth link 1224 is difficult to overcome the resistance and continue to rotate smoothly. At this time, the fourth link 1224 and the third link 1223 are almost in a straight line. The support of the fourth link 1224 on the bracket 1121 and the support of the third link 1223 on the fourth link 1224 are minimal. When the laser radar 11 is subjected to external impact, it is easy for the bracket 1121 to drop suddenly, thereby causing the laser ranging module 112 to drop suddenly, affecting the operation of the laser ranging module 112 or increasing the probability of damage to the laser ranging module 112.

[0116] In this embodiment, the setting of the elastic member 113 can apply a force to the fourth link 1224 when the angle between the third link 1223 and the fourth link 1224 is 180 degrees, so that the fourth link 1224 rotates back a certain angle, avoiding the occurrence of the dead point phenomenon, so that the four-bar linkage can operate smoothly during the entire lifting process, thereby increasing the lifting reliability of the laser ranging module 112 and the working reliability of the four-bar linkage.

[0117] For some examples, see Figure 2 and Figure 4 The laser ranging module 112 further includes a light-transmitting cover 1122 . The light-transmitting cover 1122 is disposed on the top side of the bracket 1121 and at least partially protrudes from the top surface of the housing 111 .

[0118] In this embodiment, the light-transmitting cover 1122 is arranged on the top side of the bracket 1121, which can protect the laser emitting unit and the laser receiving unit. At least part of the light-transmitting cover 1122 protrudes from the top surface of the outer shell 111. When the lifting device 12 drives the laser ranging module 112 to rise, the light-transmitting cover 1122 can extend to the outside of the shell 10, thereby facilitating the smooth emission and reception of the laser signal, thereby improving the working reliability of the cleaning equipment 1.

[0119] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine different embodiments or examples described in the present application and features of different embodiments or examples without contradiction.

[0120] The foregoing description is merely a preferred embodiment of the present application and is not intended to limit the present application. Persons skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A cleaning device, characterized in that: include: case; a laser radar, at least partially disposed in the housing, the laser radar comprising an outer shell and a laser ranging module, at least partially disposed in the outer shell; a lifting device, disposed in the housing, for driving the laser ranging module to rise and fall along the height direction of the cleaning device so that a portion of the laser ranging module extends to the outside of the housing or retracts into the housing; a main control board, disposed in the housing, for controlling the operation of the cleaning device; A cable, through which the laser ranging module and the main control board establish a conductive path; The shell is provided with an opening on one side along the first direction, and a first wire clamping groove is provided on the outer surface of the shell. The first wire clamping groove is arranged toward the opening, one end of the cable is connected to the laser ranging module, and a part of the cable passes through the shell from the opening and is clamped in the first wire clamping groove, wherein the first direction intersects with the height direction.

2. The cleaning device according to claim 1, characterized in that The connection position between the cable and the laser ranging module is a first position. The laser ranging module has a raised state and a lowered state. In the lowered state, in a plane projection perpendicular to the first direction, the position of the first cable clamping slot is higher than the first position.

3. The cleaning device according to claim 1, characterized in that The laser ranging module has a raised state and a lowered state. In the lowered state, the portion of the cable between the first cable clamping slot and the laser ranging module extends in a straight line.

4. The cleaning device according to claim 1, characterized in that The connection position between the cable and the laser ranging module is a first position, the position of the cable at the center of the portion in the first wire clamping slot is a second position, the laser ranging module has a raised state and a lowered state, and the size of a line connecting the first position and the second position in the lowered state is greater than the size of a line connecting the first position and the second position in the raised state.

5. The cleaning device according to claim 1, characterized in that The housing is also provided with a second wire clamping slot, and the cable includes a first sub-segment and a second sub-segment connected to each other, the end of the first sub-segment away from the second sub-segment is connected to the laser ranging module, a part of the first sub-segment is clamped in the first wire clamping slot, a part of the second sub-segment is clamped in the second wire clamping slot, and the end of the second sub-segment away from the first wire clamping slot is connected to the main control board.

6. The cleaning device according to claim 1, characterized in that The housing includes a main body and an extension structure. At least a portion of the laser ranging module is arranged in the main body. One end of the extension structure is connected to the edge of the opening, and the other end extends along a first direction. The first wire clamping groove is arranged at the end of the extension structure away from the opening.

7. The cleaning device according to claim 6, characterized in that The extension structure includes a base and two limiting parts, the base is formed with a through slot, the through slot passes through the base along the second direction, one end of the two limiting parts is respectively connected to the top wall and the bottom wall of the through slot, and the other end extends downwardly in a direction away from the base and close to the opening, and the space between the through slot and the two limiting parts defines the first wire clamping slot, wherein the first direction, the second direction and the height direction intersect each other.

8. The cleaning device according to claim 7, characterized in that The two limiting portions extend in a second direction and away from one end of the base toward each other to form a stopping structure, and the stopping structure is used to stop the cable.

9. The cleaning device according to claim 8, characterized in that One end of the two limiting portions along the first direction and close to the opening forms an entrance of the first wire clamping groove; The two stop structures are spaced apart to form a gap, and the cable is inserted into the first cable slot through the entrance and the gap; Alternatively, the two stopping structures are connected to each other, and the cable passes through the inlet and enters the first cable slot.

10. The cleaning device according to claim 6, characterized in that The lifting device includes a driving mechanism and a transmission structure. The driving mechanism is connected to the side of the extension structure away from the opening. The power output shaft of the driving mechanism passes through the extension structure and is connected to the transmission structure. The end of the transmission structure away from the power output shaft is passed through the opening and connected to the laser ranging module.

11. The cleaning device according to claim 10, characterized in that The housing includes a partition portion, which divides the opening into a first opening and a second opening along a height direction. The first opening is arranged on the top side of the second opening for allowing the cable to pass through, and the second opening is used for allowing the transmission structure to pass through.

12. The cleaning device according to claim 10, characterized in that The transmission structure includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, one end of the first connecting rod is rotatably connected to the power output shaft, the other end of the first connecting rod is rotatably connected to the second connecting rod, the end of the second connecting rod away from the first connecting rod passes through the opening and is rotatably connected to the third connecting rod and the fourth connecting rod respectively, the third connecting rod and the fourth connecting rod are arranged in the outer shell, the end of the third connecting rod away from the second connecting rod is rotatably connected to the bottom wall of the outer shell, and the end of the fourth connecting rod away from the second connecting rod is rotatably connected to the laser ranging module.

13. The cleaning device according to claim 12, characterized in that The laser ranging module includes a laser emitting unit, a laser receiving unit and a bracket. The laser emitting unit and the laser receiving unit are arranged on the bracket and are electrically connected to the cable. The fourth connecting rod is rotatably connected to one end of the bracket away from the laser emitting unit and the laser receiving unit.

14. The cleaning device according to claim 13, characterized in that The laser ranging module further includes a light-transmitting cover, which is disposed on the top side of the bracket and at least partially protrudes from the top surface of the housing.

15. A cleaning system, characterized in that: include: Clean base stations; And the cleaning device according to any one of claims 1 to 14, wherein the cleaning base station is used for docking the cleaning device.

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