Cleaning equipment and cleaning system

Abstract

The utility model discloses cleaning equipment and a cleaning system. The cleaning equipment comprises a shell, wherein a containing part is arranged on one side of the shell in the first direction; the first distance measuring part is arranged in the accommodating part and is used for mapping positioning and obstacle avoidance; the second distance measuring part is arranged in the accommodating part and is used for close-distance obstacle avoidance; the distance measuring light of the first distance measuring part and the distance measuring light of the second distance measuring part penetrate through the shell in the first direction, and the first direction is the advancing direction of the cleaning equipment.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of electrical appliances, and particularly relates to a cleaning device and a cleaning system. BACKGROUND

[0002] In modern cleaning operations, efficient and intelligent cleaning devices have become important tools for maintaining a clean environment in various places. Such cleaning devices, such as floor cleaning robots and automatic floor washing machines, use distance measuring components to measure distances, achieve autonomous navigation, obstacle avoidance, and precise cleaning, and improve cleaning efficiency and quality.

[0003] However, in the prior art, the distance measuring component protrudes from the top of the cleaning device, affecting the passability of the cleaning device. SUMMARY

[0004] To solve the technical problem that the distance measuring component protrudes from the top of the cleaning device, affecting the passability of the cleaning device, the present application provides a cleaning device and a cleaning system.

[0005] In a first aspect of the present application, a cleaning device is provided, comprising: a housing having a receiving portion on one side in a first direction; a first distance measuring component disposed in the receiving portion for mapping positioning and obstacle avoidance; and a second distance measuring component disposed in the receiving portion for close-range obstacle avoidance; wherein, in the first direction, the ranging light of the first distance measuring component and the ranging light of the second distance measuring component both pass through the housing, and the first direction is the direction of travel of the cleaning device.

[0006] In some embodiments, the first distance measuring component and the second distance measuring component are disposed in directions intersecting the first direction.

[0007] In some embodiments, in a second direction, the second distance measuring component is disposed on one side of the first distance measuring component, and the second direction is a horizontal direction perpendicular to the first direction.

[0008] In some embodiments, in the second direction, at least part of the projection of the first distance measuring component falls on the transmitter and the receiver.

[0009] In some embodiments, the second distance measuring component comprises a transmitter and a receiver disposed in sequence and used in cooperation in a third direction, and the third direction is a vertical direction, and in the third direction, the first distance measuring component is disposed between the transmitter and the receiver.

[0010] In some embodiments, a partition is provided between the first distance measuring component and the second distance measuring component.

[0011] In some embodiments, the housing has a receiving cavity configured as the receiving portion.

[0012] In some embodiments, the housing is provided with a mounting configured as the receiving portion.

[0013] In some embodiments, the cleaning device further comprises a third ranging element provided in the receiving portion for assisting in mapping and positioning; wherein ranging light rays of the third ranging element pass through the housing and are emitted in a direction opposite to the first direction.

[0014] In some embodiments, the third ranging element is located at the top of the receiving portion.

[0015] In some embodiments, the second ranging element is located in the first direction; along the second direction, the first ranging element is located on one side of the second ranging element; wherein the second direction is a horizontal direction perpendicular to the first direction.

[0016] In some embodiments, the cleaning device further comprises a processor provided in the housing and electrically connected to the first ranging element and the second ranging element.

[0017] In some embodiments, the housing has a light-transmitting region, along the first direction, a projection of the first ranging element on the housing at least partially overlaps with the light-transmitting region, and a projection of the second ranging element on the housing at least partially overlaps with the light-transmitting region.

[0018] In some embodiments, the light-transmitting region comprises at least one of a transparent structure and a hollow structure.

[0019] In a second aspect of the present application, a cleaning system is provided, comprising the cleaning device.

[0020] The cleaning device provided according to one or more embodiments of the present application has a housing provided with a receiving portion on one side along a first direction, and a first ranging element and a second ranging element are both provided in the receiving portion, that is, the first ranging element and the second ranging element are integrated at the same position of the housing, thereby saving space, effectively utilizing every inch of area in limited space, reducing the volume of the entire device, making the entire device more compact, and achieving the first ranging element and the second ranging element.

[0021] Since the first direction is the direction of travel of the cleaning device, the first ranging element and the second ranging element do not protrude from the top of the housing, avoiding the occupation of height space and not increasing the height of the housing, so that the cleaning device can easily pass through low or narrow areas, improving the passability.

[0022] Since the ranging light of the first ranging member and the ranging light of the second ranging member both pass through the shell along the first direction, during the cleaning process of the cleaning device, the ranging light of the first ranging member and the ranging light of the second ranging member are both emitted along the first direction, so that the first ranging member and the second ranging member can detect obstacles in the direction of travel of the cleaning device in real time along the emitted ranging light, ensuring that the cleaning device can react in time, such as slowing down, turning or stopping, when encountering obstacles, thereby avoiding collisions. By continuously detecting by the first ranging member and the second ranging member in the direction of travel of the cleaning device, accurate distance information can be provided to the cleaning device, which helps the device to plan a more accurate cleaning path and ensure that each corner is effectively cleaned.

[0023] The first ranging member is used for mapping positioning and obstacle avoidance, focusing on mapping positioning and long-distance obstacle avoidance, and can provide more extensive environmental information to help the cleaning device construct an accurate environmental map, so that the cleaning device can more accurately position itself during the cleaning process, thereby planning a more effective cleaning path.

[0024] The second ranging member is used for short-distance obstacle avoidance and can quickly respond to obstacles in front, ensuring that the cleaning device can stop or turn in time when approaching obstacles, thereby avoiding collisions and improving the safety and reliability of the cleaning device in complex environments.

[0025] The first ranging member and the second ranging member can perform different ranging work, realizing the division of labor between the first ranging member and the second ranging member, enabling them to measure distances for their respective tasks, accurately measure distances and reduce errors. Moreover, since the first ranging member and the second ranging member emit ranging light for different tasks, they can maintain relatively consistent ranging performance at different distances and in different environments, thereby improving the accuracy and consistency of ranging. At the same time, without complex optical path design, the overall system complexity is reduced, the design and maintenance difficulty is reduced, and the cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0027] Figure 1 A structural schematic diagram of a cleaning device in one or more embodiments of the present application is shown.

[0028] Figure 2 A side view of the cleaning device of Figure 1 is shown.

[0029] Figure 3a front view of the cleaning device of Figure 1

[0030] Figure 4 a first arrangement schematic diagram of the first ranging member and the second ranging member in the cleaning device is shown. Figure 1

[0031] Figure 5 a second arrangement schematic diagram of the first ranging member and the second ranging member in the cleaning device is shown. Figure 1

[0032] Figure 6 a structure schematic diagram of the mounting member of the cleaning device is shown. Figure 1

[0033] Figure 7 a rear view of the mounting member of the cleaning device is shown. Figure 4

[0034] Figure 8 a third arrangement schematic diagram of the first ranging member and the second ranging member in the cleaning device is shown. Figure 1

[0035] Figure 9 a first direction arrangement schematic diagram of the first ranging member and the second ranging member in the cleaning device is shown. Figure 8

[0036] Figure 10 a connection schematic diagram of the first ranging member and the second ranging member with the processor in the cleaning device is shown. Figure 1

[0037] Legend of reference signs:

[0038] 10 - housing, 11 - containing part, 12 - containing cavity, 13 - light transmission area; 20 - first ranging member; 30 - second ranging member, 31 - transmitter, 32 - receiver; 40 - partition member; 50 - mounting member, 51 - first chamber, 52 - second chamber, 521 - first sub-chamber, 522 - second sub-chamber, 53 - third chamber; 60 - third ranging member; 70 - processor. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0040] ​​​​​​​​Moreover, the reference numerals and / or the reference letters in the various examples can be repeated with differing referencing types (e.g., reference numerals 102 and 802) for the sake of simplicity and clarity, in order to facilitate an understanding thereof. Furthermore, the applicants herein provide illustrations and descriptions of various specific implementations. However, one skilled in the art will readily appreciate that the other implementations can be applied, and / or other materials can be used.

[0041] In the related art, in order to enhance the positioning accuracy and obstacle detection capability of the device, a ranging member is usually installed on the top of the device to more widely scan the surrounding environment, obtain accurate spatial information, and thus achieve accurate navigation and obstacle avoidance. However, the ranging member protrudes from the top of the device, which inevitably increases the overall height of the cleaning device, not only increasing the external dimensions of the device, but also directly leading to a decrease in the passability of the device when passing through low spaces (such as the bottom of furniture, near the threshold, etc.).

[0042] Based on the above technical problems, the present application provides an air conditioner, which aims to at least partially solve the technical problem of the ranging member protruding from the top of the cleaning device, affecting the passability of the cleaning device.

[0043] The design idea of the present application is to arrange the first ranging member and the second ranging member in the accommodating portion along the travel direction of the cleaning device, thereby reducing the height of the cleaning device and improving the passability of the cleaning device.

[0044] Based on the above design idea, in a first aspect of the present application, the embodiments of the present application provide a cleaning device 1000. In combination with Figure 1 , Figure 2 and Figure 3 , the cleaning device 1000 comprises a housing 10, a second ranging member 20, and a third ranging member 30. The housing 10 is provided with an accommodating portion 11 on one side along a first direction. The first ranging member 20 is arranged in the accommodating portion 11 and is used for mapping positioning and obstacle avoidance. The second ranging member 30 is arranged in the accommodating portion 11 and is used for close-range obstacle avoidance. Wherein, along the first direction, the ranging light of the first ranging member 20 and the ranging light of the second ranging member 30 both pass through the housing 10, and the first direction is the travel direction of the cleaning device 1000.

[0045] The first ranging member 20 can be an LDS (Laser Distance Sensor, laser ranging sensor).

[0046] The second ranging member 30 can be a line laser module.

[0047] The housing 10 is provided with a receiving portion 11 on one side in the first direction, and the first distance measuring element 20 and the second distance measuring element 30 are both arranged in the receiving portion 11, that is, the first distance measuring element 20 and the second distance measuring element 30 are integrated at the same position of the housing 10, saving space, and each inch of space can be more effectively utilized in the limited space, reducing the volume of the entire device, making the entire device more compact, and achieving the first distance measuring element 20 and the second distance measuring element 30.

[0048] Since the first direction is the direction of travel of the cleaning device 1000, the first distance measuring element 20 and the second distance measuring element 30 do not protrude from the top of the housing 10, avoiding the occupation of height space and not increasing the height of the housing 10, so that the cleaning device 1000 can easily pass through low or narrow areas, improving the passability.

[0049] The first distance measuring element 20 is used for mapping positioning and obstacle avoidance, focusing on mapping positioning and long-distance obstacle avoidance, and can provide more extensive environmental information to help the cleaning device 1000 construct an accurate environmental map, so that the cleaning device 1000 can more accurately position itself during cleaning, thereby planning a more effective cleaning path.

[0050] The second distance measuring element 30 is used for close-range obstacle avoidance, which can quickly respond to obstacles in front, ensuring that the cleaning device 1000 can stop or turn in time when approaching obstacles to avoid collisions, improving the safety and reliability of the cleaning device 1000 in complex environments.

[0051] The first distance measuring element 20 and the second distance measuring element 30 can perform different distance measuring work, achieving the division of labor of the first distance measuring element 20 and the second distance measuring element 30, and can measure distance for their respective tasks, accurately measure distance, reduce error, and because the first distance measuring element 20 and the second distance measuring element 30 emit distance measuring light for different tasks, they can maintain relatively consistent distance measuring performance at different distances and in different environments, thereby improving the accuracy and consistency of distance measurement, while not requiring complex optical path design, reducing the complexity of the overall system, reducing the difficulty of design and maintenance, and reducing costs.

[0052] Since the first distance measuring element 20 is used for mapping positioning and obstacle avoidance, and the second distance measuring element 30 is used for close-range obstacle avoidance, the first distance measuring element 20 and the second distance measuring element 30 can perform different distance measuring work, achieving the division of labor of the first distance measuring element 20 and the second distance measuring element 30, and can measure distance for their respective tasks, thereby improving the accuracy and consistency of distance measurement, while not requiring complex optical path design, reducing the complexity of the overall system, reducing the difficulty of design and maintenance, and reducing costs.

[0053] In order to achieve mapping positioning and obstacle avoidance, the included angle between the distance measuring light of the first distance measuring element 30 and the ground is greater than 0°.

[0054] Combination Figure 1 In some embodiments, the housing 10 is cylindrical, and along the travel direction of the cleaning device 1000, the projection of the receiving portion 11 on the housing 10 completely overlaps with the curved surface of the housing 10, so that the receiving portion 11 does not protrude from the top or bottom of the housing 10.

[0055] Furthermore, the housing 11 is located inside the housing 10, making full use of the space inside the housing 10, which makes the overall structure of the cleaning device 1000 more compact.

[0056] Combination Figure 1 , Figure 2 and Figure 3 In some embodiments, in order to facilitate the installation and arrangement of the first ranging member 20 and the second ranging member 30, the first ranging member 20 and the second ranging member 30 are arranged along directions intersecting the first direction, which can effectively utilize the space of the receiving part 11, avoid mutual interference, and thus simplify the installation process.

[0057] Combination Figure 4 In some embodiments, in order to reduce the height space occupied by the first and second ranging elements 30 in the housing 10, the second ranging element 30 is disposed on one side of the first ranging element 20 along the second direction, which is a horizontal direction perpendicular to the first direction. That is, the first ranging element 20 and the first ranging element 30 are arranged side by side in the second direction, and the first and second ranging elements 30 no longer jointly occupy the vertical space of the housing 10. This reduces the height space requirement of the first and second ranging elements 30 in the housing 10, avoids increasing the height of the housing 10, and allows the cleaning equipment 1000 to easily pass through low or narrow areas, improving its passability.

[0058] Combination Figure 4 In some embodiments, in order to further reduce the height space occupied by the first and second rangefinders 30 in the housing 10, at least a portion of the projection of the first rangefinder 20 falls on the second rangefinder 30 along the second direction. That is, in the horizontal direction, the first rangefinder 20 and the second rangefinder 30 at least partially overlap, and the height space occupied by the first and second rangefinders 30 is minimized. This can further reduce the height space required by both inside the housing 10, further reducing the height of the housing 10, so that the cleaning device 1000 can easily pass through low or narrow areas, improving passability.

[0059] Specifically, the second ranging device 30 includes a transmitter 31 and a receiver 32 arranged sequentially and used in cooperation along a third direction, which is a vertical direction. At least a portion of the projection of the first ranging device 20 falls on the transmitter 31 and the receiver 32. The third direction can be the axial direction of the housing 10.

[0060] Furthermore, the transmitter 31 and receiver 32 of the second ranging device 30 are arranged sequentially along a third direction and used in conjunction with each other, realizing the vertical arrangement of the transmitter 31 and receiver 32, which can reduce the space occupied by the transmitter 31 and receiver 32 in the housing 10 in the horizontal direction.

[0061] Combination Figure 5 In some embodiments, in order to reduce the space occupied by the first ranging element 30 and the second ranging element 30 in the second direction of the housing 10, the second ranging element 30 includes a transmitter 31 and a receiver 32 arranged sequentially and used in cooperation along a third direction, the third direction being the vertical direction. The first ranging element 20 is disposed between the transmitter 31 and the receiver 32. That is, the first ranging element 20 and the first ranging element 30 are arranged side by side in the third direction, and the first ranging element 30 and the second ranging element 30 no longer jointly occupy the space of the housing 10 in the second direction, thereby reducing the space requirement of the first ranging element 30 and the second ranging element 30 in the second direction of the housing 10, reducing the size of the housing 10, and realizing the miniaturization of the cleaning device 1000.

[0062] For example, when the second ranging device 30 is a line laser module, the transmitter 31 can be the infrared lamp of the line laser module, and the receiver 32 can be the IR (infrared) camera of the line laser module. The infrared lamp emits infrared light to illuminate the object, and the infrared light is diffusely reflected and received by the IR camera to form a video image for ranging.

[0063] Specifically, the transmitter 31 is located below the receiver 32. The ranging light emitted by the transmitter 31 can be tilted downward relative to the horizontal plane and hit the ground, so that the ranging light can cover the short distance area between the transmitter 31 and the ground and be reflected back, so that the receiver 32 can receive the reflected ranging light and accurately detect obstacles on the ground near the transmitter 31. When the ranging light encounters an obstacle on the ground, the cleaning device 100 can make an obstacle avoidance reaction in time, realizing the short-range obstacle avoidance of the cleaning device 1000.

[0064] Combination Figure 3In some embodiments, to avoid crosstalk between the ranging light rays of the first ranging device 20 and the second ranging device 30, a separator 40 is provided between the first ranging device 20 and the second ranging device 30. The separator 40 physically isolates the first ranging device 20 and the second ranging device 30, ensuring that the ranging light rays emitted by the first ranging device 20 and the second ranging device 30 do not interfere with each other. Physical isolation can effectively prevent crosstalk of ranging light rays and ensure that the first ranging device 20 and the second ranging device 30 can independently and accurately complete the ranging task.

[0065] Specifically, the second ranging device 30 includes a transmitter 31 and a receiver 32 arranged sequentially along a third direction and used in cooperation, and the first ranging device 20 is provided with a separator 40 between itself and the transmitter 31 and the receiver 32.

[0066] Of course, in some other embodiments, in order to avoid crosstalk between the ranging light rays of the first ranging device 20 and the second ranging device 30, the wavelengths of the ranging light rays of the first ranging device 20 and the second ranging device 30 are different. That is, the ranging light rays of the first ranging device 20 and the second ranging device 30 have different physical characteristics, making it difficult for them to couple or affect each other. When the ranging light rays of the first ranging device 20 and the second ranging device 30 propagate in space, they will not interfere with each other, thereby ensuring the accuracy of the ranging.

[0067] Combination Figure 3 In some embodiments, in order for the receiving portion 11 to accommodate the first ranging member 20 and the second ranging member 30, the housing 10 has a receiving cavity 12, which is configured as the receiving portion 11, so that the first ranging member 20 and the second ranging member 30 can both be integrated into the receiving cavity 12, which is compact and reduces the space occupied inside the housing 10.

[0068] Since the first ranging element 20 and the second ranging element 30 are both installed in the receiving cavity 12, the cavity wall of the receiving cavity 12 provides physical protection for the first ranging element 20 and the second ranging element 30, preventing them from being directly impacted by the external environment. This can extend the service life of the first ranging element 20 and the second ranging element 30 and improve the stability and reliability of the system.

[0069] Combination Figure 6 and Figure 7In some embodiments, in order for the receiving portion 11 to accommodate the first ranging member 20 and the second ranging member 30, a mounting member 50 is provided inside the housing 10. The mounting member 50 is configured as the receiving portion 11 so that both the first ranging member 20 and the second ranging member 30 can be mounted on the mounting member 50. The mounting member 50 supports the first ranging member 20 and the second ranging member 30, ensuring the stability of the installation of the first ranging member 20 and the second ranging member 30.

[0070] Combination Figure 6 Furthermore, the mounting component 50 has a first chamber 51 and a second chamber 52. The first ranging component 20 is disposed in the first chamber 51 and is accommodated by the first chamber 51. The second ranging component 30 is disposed in the second chamber 52 and is accommodated by the second chamber 52. This ensures that the first ranging component 20 and the second ranging component 30 do not share a cavity, allowing the first ranging component 20 and the second ranging component 30 to be flexibly arranged.

[0071] Combination Figure 6 and Figure 7 Specifically, along the second direction, the first chamber 51 is located on one side of the second chamber 52, so that along the second direction, the second ranging element 30 is located on one side of the first ranging element 20.

[0072] Combination Figure 6 and Figure 7 Along the second direction, at least a portion of the projection of the first chamber 51 falls on the second chamber 52, so that along the second direction, at least a portion of the projection of the first rangefinder 20 falls on the second rangefinder 30.

[0073] The second chamber 52 includes a first sub-chamber 521 and a second sub-chamber 522 arranged sequentially along a third direction, so as to realize that the transmitter 31 and receiver 32 of the second rangefinder 30 are arranged sequentially along a third direction.

[0074] Along the third direction, the first chamber 51 is disposed between the first sub-chamber 521 and the second sub-chamber 522, so that along the third direction, the first ranging element 20 is disposed between the transmitter 31 and the receiver 32.

[0075] For example, the partition 40 may be the cavity wall of the first chamber 51 and / or the cavity wall of the second chamber 52, or it may be a separate component, i.e., the partition 40 is connected to the mounting member 50 and located between the first chamber 51 and the second chamber 52.

[0076] It is understood that the second chamber 52 includes a first sub-chamber 521 and a second sub-chamber 522, and a partition 40 is provided between the first chamber 51 and the first sub-chamber 521 and the second sub-chamber 522.

[0077] Combination Figure 1 ,Figure 4 and Figure 5 In some embodiments, to further ensure accuracy, the cleaning device 1000 further includes a third ranging element 60. The third ranging element 60 is disposed in the receiving portion 11 and is used to assist in mapping and positioning. The ranging light rays of the third ranging element 60 pass through the housing 10 and are emitted in a direction opposite to the first direction.

[0078] The third ranging device 60 can cover a completely different spatial range than the first ranging device 20 and the second ranging device 30. The third ranging device 60 can provide ranging information from different directions, allowing the cleaning device 1000 to acquire ranging information from two distinct directions, thus more accurately determining its position in three-dimensional space and improving mapping and positioning accuracy. Furthermore, in complex or irregular environments, ranging information from a single direction may not be sufficient for accurate positioning. The addition of the third ranging device 60 enables the cleaning device 1000 to cope with more diverse environments, improving its applicability in various scenarios.

[0079] For example, the third rangefinder can be an RGB (red-greed-blue) camera, which can capture and process images, and obtain images of various colors by changing the three color channels of red (R), green (G), and blue (B) and superimposing them, so as to achieve auxiliary mapping and positioning.

[0080] In some embodiments, to ensure the accuracy of the distance measurement by the third rangefinder 60, the third rangefinder is located at the top of the receiving portion 11. This reduces the possibility that the ranging light beam of the third rangefinder 60 may be blocked or interfered with by the housing 10 during transmission and reception, resulting in more accurate and reliable distance measurement data from the third rangefinder 60, thereby improving the accuracy and reliability of the overall system. Furthermore, the top position of the receiving portion 11 allows the ranging light beam of the third rangefinder 60 to be emitted downwards or further, thus covering a wider spatial area and ensuring complete auxiliary mapping and accurate positioning.

[0081] Combination Figure 7 When the mounting member 50 is configured as the receiving part 11, the mounting member 50 has a third chamber 53, the third ranging member 50 is installed in the third chamber 53, and the third ranging member 60 is accommodated by the third chamber 53, thus ensuring the stability of the installation of the third ranging member 60.

[0082] Combination Figure 8 and Figure 9In some embodiments, to increase the field of view coverage of the first rangefinder 20, the second rangefinder 30 is located in a first direction. Along a second direction, the first rangefinder 20 is located to one side of the second rangefinder 30. The second direction is a horizontal direction perpendicular to the first direction. For example, the field of view of the first rangefinder 20 is greater than 90° and less than or equal to 270°.

[0083] Since the first rangefinder 20 is located on one side of the second rangefinder 30 along the second direction, the field of view of the first rangefinder 20 covers the front and part of the side of the housing 10, increasing the coverage range of the field of view of the first rangefinder 20. This allows the first rangefinder 20 to detect obstacles in front of and / or to the side of the housing 10 earlier, thus providing sufficient time to adjust the movement trajectory of the cleaning device 1000 to avoid collisions and improve cleaning efficiency. Moreover, the increased coverage range of the field of view of the first rangefinder 20 ensures the comprehensive environmental perception capability of the cleaning device 1000, enabling the cleaning device 1000 to plan its navigation path more accurately.

[0084] Combination Figure 10 In some embodiments, to process the ranging signals from the first ranging device 20 and the second ranging device 30, the cleaning device 1000 further includes a processor 70. The processor 70 is disposed within the housing 10 and electrically connected to the first ranging device 20 and the second ranging device 30. The processor 70 can receive and process the ranging signals from the first ranging device 20 and the second ranging device 30 to control the operation of the cleaning device 1000. For example, the processor 70 can be an MCU (Microcontroller Unit) or an AP (Application Processor).

[0085] The processor 10 is the motherboard processor of the cleaning equipment. In other words, the first measuring element 20 and the second measuring element 30 do not have independent processors, which saves processors inside the first measuring element 20 and the second measuring element 30, reduces costs, and makes the software version easier to manage and maintain.

[0086] The ranging signals from the first ranging device 20 and the second ranging device 30 are directly transmitted to the processor 70, where they are directly calculated. In other words, the first ranging device 20 and the second ranging device 30 share a single processor 70, resulting in a small delay in ranging signal processing, which is beneficial for the fusion processing of multiple ranging signals.

[0087] Of course, when the cleaning device 100 includes a third ranging device 60, the third ranging device 60 is electrically connected to the processor 70. The processor 70 can receive the ranging signal from the third ranging device 30 and process it. Under the coordinated action of receiving the ranging signal from the first ranging device 20 and the ranging signal from the second ranging device 30, the processor 70 controls the operation of the cleaning device 1000.

[0088] Combination Figure 3 In some embodiments, in order to ensure that the ranging light rays of the first ranging element 20 and the second ranging element 30 both pass through the housing 10, the housing 10 has a light-transmitting area 13. Along the first direction, the projection of the first ranging element 20 on the housing 10 at least partially overlaps with the light-transmitting area 13, and the projection of the second ranging element 30 on the housing 10 at least partially overlaps with the light-transmitting area 13. This allows the ranging light rays of the first ranging element 20 and the second ranging element 30 to directly pass through the light-transmitting area 13 and penetrate the housing 10, reducing the reflection and scattering of light inside the housing 10, reducing ranging errors, improving ranging accuracy, and enabling the cleaning device 1000 to perceive the surrounding environment more accurately.

[0089] Specifically, the light-transmitting area 13 includes at least one transparent structure and a hollow structure, which allows the ranging light rays of the first ranging element 20 and the second ranging element 30 to pass through the light-transmitting area 13 almost unobstructed. At the same time, it also allows the reflected ranging light rays to be received by the first ranging element 20 and the second ranging element 30 almost unobstructed, ensuring the detection accuracy of the first ranging element 20 and the second ranging element 30.

[0090] For example, when the light-transmitting area 13 includes a transparent structure, the light-transmitting area can be transparent glass or a transparent plastic part. When the light-transmitting area 13 includes a hollow structure, the light-transmitting area can be a through groove.

[0091] A second aspect of this application provides a cleaning system, including the aforementioned cleaning equipment.

[0092] In some embodiments, the cleaning equipment may be a floor scrubber, a robot vacuum cleaner, a sweeping machine, etc., and this application does not impose any limitations.

[0093] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0094] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0095] It should be noted that all directional indications in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0096] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0097] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0098] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0099] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0100] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A cleaning device, characterized in that, include: The housing has a receiving portion on one side along the first direction; The first ranging device is located in the receiving part and is used for mapping, positioning and obstacle avoidance; The second ranging device is located in the receiving part and is used for close-range obstacle avoidance; In this process, along the first direction, the ranging light rays from the first ranging device and the second ranging device both pass through the housing. The first direction is the travel direction of the cleaning equipment, and the angle between the ranging light rays from the first ranging device and the ground is greater than 0°.

2. The cleaning equipment according to claim 1, characterized in that, The first rangefinder and the second rangefinder are arranged along directions intersecting the first direction.

3. The cleaning equipment according to claim 2, characterized in that, Along the second direction, the second ranging element is disposed on one side of the first ranging element, and the second direction is a horizontal direction perpendicular to the first direction.

4. The cleaning equipment according to claim 3, characterized in that, Along the second direction, at least a portion of the projection of the first rangefinder falls onto the second rangefinder.

5. The cleaning equipment according to claim 2, characterized in that, The second ranging device includes a transmitter and a receiver arranged sequentially and used in cooperation along a third direction, wherein the third direction is a vertical direction, and the first ranging device is disposed between the transmitter and the receiver along the third direction.

6. The cleaning equipment according to any one of claims 1-5, characterized in that, A separator is provided between the first ranging element and the second ranging element.

7. The cleaning device according to any one of claims 1-5, wherein the housing has a receiving cavity, the receiving cavity being configured as the receiving portion.

8. The cleaning device according to any one of claims 1-5, wherein the housing is provided with a mounting member, the mounting member being configured as the receiving portion.

9. The cleaning equipment according to any one of claims 1-5, characterized in that, The cleaning equipment also includes: The third ranging component is located in the receiving part and is used to assist in mapping and positioning; The ranging light of the third ranging device passes through the housing and is emitted in a direction opposite to the first direction.

10. The cleaning equipment according to claim 9, characterized in that, The third ranging element is located at the top of the receiving part.

11. The cleaning equipment according to any one of claims 1-5, characterized in that: The second rangefinder is located in the first direction; Along the second direction, the first rangefinder is located on one side of the second rangefinder; The second direction is a horizontal direction perpendicular to the first direction.

12. The cleaning equipment according to any one of claims 1-5, characterized in that, The cleaning equipment also includes: The processor is located inside the housing and is electrically connected to the first rangefinder and the second rangefinder.

13. The cleaning equipment according to any one of claims 1-5, characterized in that, The housing has a light-transmitting area. Along the first direction, the projection of the first rangefinder on the housing at least partially overlaps with the light-transmitting area, and the projection of the second rangefinder on the housing at least partially overlaps with the light-transmitting area.

14. The cleaning equipment according to claim 13, characterized in that, The light-transmitting area includes at least one of a transparent structure and a hollow structure.

15. A cleaning system, characterized in that, Includes the cleaning equipment as described in any one of claims 1-14.

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