Cleaning equipment and cleaning system

Abstract

The utility model relates to cleaning equipment and a cleaning system. The cleaning equipment comprises an equipment body and a laser ranging assembly. An accommodating space is formed in the equipment main body; the laser ranging assembly comprises a laser ranging module and a light-transmitting plate; the laser ranging module is arranged in the accommodating space, the laser ranging module is used for transmitting and receiving detection light, and the laser ranging module can rotate around a first direction; the light-transmitting plate is arranged on the light-emitting side of the laser ranging module and can transmit the detection light, a non-vertical first included angle is formed between the light-transmitting plate and the first reference plane, and the first reference plane is a plane formed when the optical axis of the laser ranging module rotates around a first direction. Through the arrangement, reflection of the light-transmitting plate to the detection signal can be reduced, the detection signal reflected by the light-transmitting plate is prevented from returning to the laser ranging module, the detection signal reflected by the light-transmitting plate can be prevented from interfering with the laser ranging module, and therefore the obstacle detection and ranging performance of the cleaning equipment can be improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of cleaning equipment manufacturing, in particular to a cleaning equipment and a cleaning system. BACKGROUND

[0002] In the technical field of cleaning equipment manufacturing, the obstacle detection accuracy and the ranging accuracy of the existing cleaning equipment are poor, which seriously affects the use performance.

[0003] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. CONTENT OF THE UTILITY MODEL

[0004] The present disclosure aims to provide a cleaning equipment and a cleaning system. The cleaning equipment and the cleaning system have good obstacle detection and ranging performance and use performance.

[0005] In one aspect, the present disclosure provides a cleaning equipment, comprising:

[0006] a device body, a containing space being formed in the device body;

[0007] a laser ranging assembly, the laser ranging assembly comprising a laser ranging module and a light-transmitting plate; the laser ranging module is arranged in the containing space, the laser ranging module is used for emitting and receiving detection light, and the laser ranging module is capable of rotating around a first direction; the light-transmitting plate is arranged on the light-emitting side of the laser ranging module and is capable of transmitting the detection light, the light-transmitting plate and a first reference plane have a first included angle which is non-perpendicular, and the first reference plane is a plane formed by the rotation of the optical axis of the laser ranging module around the first direction.

[0008] In an exemplary embodiment of the present disclosure, the light-transmitting plate has a first edge and a second edge, the first edge and the second edge being edges of the light-transmitting plate at two ends along the first direction respectively;

[0009] In the direction of emission of the detection light, the first edge is closer to the laser ranging module relative to the second edge; or, in the direction of emission of the detection light, the second edge is closer to the laser ranging module relative to the first edge.

[0010] In an exemplary embodiment of the present disclosure, the first included angle is an acute angle formed by the intersection of the light-transmitting plate and the first reference plane, the first included angle being greater than or equal to 75° and less than or equal to 89°.

[0011] In an exemplary embodiment of the present disclosure, the laser ranging assembly further comprises:

[0012] The protective shell is provided with a cavity with a light transmission opening, and the laser ranging module is arranged in the cavity, and the light transmission plate is connected with the protective shell.

[0013] In an example embodiment of the present disclosure, the protective shell comprises a first protective plate and a second protective plate arranged oppositely, and the first protective plate and the second protective plate are both perpendicular to the first direction, and the light transmission opening is located between the first protective plate and the second protective plate.

[0014] In an example embodiment of the present disclosure, the light transmission plate is provided with at least one connecting plate, the connecting plate is connected with the light transmission plate, and the connecting plate at least partially extends to the protective shell and is connected with the protective shell.

[0015] In an example embodiment of the present disclosure, the light transmission plate is provided with a first connecting plate and a second connecting plate; the first connecting plate at least partially extends to the first protective plate and is connected with the first protective plate; and the second connecting plate at least partially extends to the second protective plate and is connected with the second protective plate.

[0016] In an example embodiment of the present disclosure, the cavity comprises a containing cavity and a light emitting cavity, at least part of the laser ranging module is arranged in the containing cavity, the light transmission opening is arranged on the side of the light emitting cavity away from the containing cavity, and in the length direction of the light transmission piece, the length of the light emitting cavity is greater than the length of the containing cavity.

[0017] In an example embodiment of the present disclosure, the protective shell further comprises:

[0018] The anti-reflection structure is arranged in the light emitting cavity, and at least part of the anti-reflection structure is arranged opposite to the light transmission piece to absorb the reflected probe light of the light transmission plate.

[0019] In an example embodiment of the present disclosure, the protective shell further comprises:

[0020] The third protective plate connects the first protective plate and the second protective plate and encloses the light emitting cavity with the first protective plate and the second protective plate; and the anti-reflection structure is arranged on at least one of the first protective plate, the second protective plate and the third protective plate.

[0021] In an example embodiment of the present disclosure, the anti-reflection structure is a light-absorbing coating and / or an anti-reflection structure piece.

[0022] In an example embodiment of the present disclosure, the device body comprises:

[0023] A base;

[0024] a support structure disposed on the base;

[0025] a top cover connected with the support structure, and a containing space is formed between the base and the top cover, and the laser ranging assembly is disposed in the containing space.

[0026] In an exemplary embodiment of the present disclosure, the support structure comprises:

[0027] an outer side plate, the outer side plate is provided with a light-transmitting hole, the light-transmitting plate is embedded in the outer side plate, and the light-transmitting hole can expose at least part of the light-outgoing surface of the light-transmitting plate.

[0028] In an exemplary embodiment of the present disclosure, the light-outgoing surface of the light-transmitting plate is a circular arc surface.

[0029] In an exemplary embodiment of the present disclosure, the laser ranging module is a laser radar.

[0030] In another aspect of the present disclosure, a cleaning system is provided, comprising:

[0031] a base station;

[0032] a cleaning device, the cleaning device being any one of the cleaning devices described above, and the cleaning device being capable of docking with the base station.

[0033] The technical solutions provided by the present disclosure can achieve the following beneficial effects:

[0034] The cleaning device provided by the present disclosure comprises a device main body and a laser ranging assembly. The laser ranging assembly can comprise a light-transmitting plate and a laser ranging module. The laser ranging module is used for emitting and receiving probe light, and the laser ranging module is capable of rotating around a first direction. The light-transmitting plate is disposed on the light-outgoing side of the laser ranging module and is capable of transmitting the probe light. The light-transmitting plate and a first reference plane can have a first included angle which is not perpendicular. The first reference plane can be perpendicular to the first direction. In this way, the probe light reflected by the light-transmitting plate can be avoided or reduced from returning to the laser ranging module, and the interference of the probe light reflected by the light-transmitting plate on the laser ranging module can also be avoided or reduced. Therefore, the detection accuracy of the laser ranging module can be improved, the obstacle detection and ranging performance of the cleaning device can be improved, and the use performance of the cleaning device can be greatly improved.

[0035] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0036] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, further serve to explain the principles of the present disclosure. It is to be understood that the drawings are only schematic, and that they do not purport to be to scale with respect to one another. The embodiments will be described with reference to the drawings in conjunction with a detailed description.

[0037] Figure 1 A structural schematic diagram of a cleaning device according to an exemplary embodiment of the present disclosure is shown;

[0038] Figure 2 A structural schematic diagram of a laser ranging module according to an exemplary embodiment of the present disclosure is shown;

[0039] Figure 3 A structural schematic diagram of a laser ranging module according to an exemplary embodiment of the present disclosure is shown;

[0040] Figure 4 A structural schematic diagram of a laser ranging module according to an exemplary embodiment of the present disclosure is shown;

[0041] Figure 5 A structural schematic diagram of a laser ranging module according to an exemplary embodiment of the present disclosure is shown;

[0042] Figure 6 A structural schematic diagram of a laser ranging module according to an exemplary embodiment of the present disclosure is shown; Figure 2 A structural schematic diagram of a laser ranging module according to an exemplary embodiment of the present disclosure is shown;

[0043] Figure 7 A structural schematic diagram of a laser ranging module according to an exemplary embodiment of the present disclosure is shown;

[0044] Figure 8 A structural schematic diagram of a laser ranging module according to an exemplary embodiment of the present disclosure is shown.

[0045] BRIEF DESCRIPTION OF DRAWINGS

[0046] 01, cleaning device;

[0047] 1, laser ranging assembly; 11, protective shell; 111, cavity; 1111, accommodating cavity; 1112, light emitting cavity; 112, light transmitting opening; 113, positioning structure; 1131, first positioning structure; 1132, second positioning structure; 114, first protective plate; 115, second protective plate; 116, reinforcing piece; 117, first protective part; 1171, protective protrusion; 1172, cover plate; 1173, electrical via; 118, second protective part; 119, anti-reflection structure; 120, connecting lug; 12, laser ranging module; 121, main body part; 122, detection part; 123, first reference plane; 124, third protective plate; 13, light transmitting piece; 131, light transmitting plate; 1311, light transmitting area; 1312, peripheral area; 132, connecting plate; 1321, first connecting plate; 1322, second connecting plate; 133, reinforcing protrusion;

[0048] 2, device main body; 21, base; 22, support structure; 221, outer side plate; 2211, light transmitting hole; 23, top cover; 24, traveling mechanism; 25, cleaning piece.

[0049] X, first direction. DETAILED DESCRIPTION

[0050] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings; however, these embodiments can be implemented in many different forms and should not be construed as limited to the embodiments set forth in this disclosure. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art, and the example embodiments will fully meet the objects and advantages thereof. Like reference numerals refer to like elements throughout the several views of the drawings, and description of these will be omitted.

[0051] Although relative terms are used herein, such as "upper", "lower", to describe one component's relative positions to another component of a figure, these terms are used herein for convenience only and are not intended to limit the scope of the disclosure or to imply that the illustrated example has one-particular orientation. It is to be understood that if the device of the figure were turned over, such that the "upper" component would become the "lower" component, then such terminology would apply thereto. When a structure is "on" another structure, it can mean that the structure is formed integrally with the other structure or that the structure is "directly" on the other structure or that the structure is "indirectly" on the other structure via another structure.

[0052] The terms "one", "a", "an", "the", "said", are used to indicate the presence of one or more elements / components / etc.; the terms "include" and "has" are used to indicate an open-ended inclusion; and the terms "first" and "second" etc. are used only as labels, not as a limitation on the number of objects.

[0053] As Figures 1 to 8 shown, the present disclosure first provides a cleaning device 01, which can be a robot vacuum cleaner, a scrubber, a dust collector, a sweeping and mopping integrated machine, etc. The cleaning device 01 can include a laser ranging assembly 1 and a device main body 2.

[0054] The device main body 2 can be provided with a cleaning piece 25, and the device main body 2 forms a containing space. The cleaning piece 25 can be used to clean the surface to be cleaned, and the cleaning piece 25 can be a roller brush, an edge brush, a water outlet piece, a mopping piece, etc.

[0055] In some embodiments, as Figure 1 shown, the device main body 2 can include a base 21, the cleaning piece 25 can be arranged on the base 21, and the base 21 can be further provided with a walking mechanism 24, and the cleaning device 01 can move by the walking mechanism 24.

[0056] The device main body 2 can further include a support structure 22. The support structure 22 can be arranged on the base 21 to serve as the main force bearing structure of the device main body 2, thereby improving the structural strength of the device main body 2. The support structure 22 can be arranged around the edge of the base 21 to improve its carrying capacity and further improve the structural strength of the device main body 2. Meanwhile, the support structure 22 can be used as the anti-collision structure of the device main body 2 to protect the various components located in the device main body 2 and reduce the damage probability of the various components located in the device main body 2.

[0057] The device main body 2 can further include a top cover 23. The top cover 23 can be connected with the support structure 22, and the containing space is formed between the base 21 and the top cover 23.

[0058] In some embodiments, the support structure 22 and the top cover 23 can be an integrated structure, that is, the support structure 22 and the top cover 23 can be formed at the same time by an integrated manufacturing process, so as to improve the connection strength between the support structure 22 and the top cover 23. Alternatively, the support structure 22 and the base 21 can be an integrated structure, that is, the support structure 22 and the base 21 can be formed at the same time by an integrated manufacturing process, so as to improve the connection strength between the support structure 22 and the base 21.

[0059] In some embodiments, the support structure 22 can include an outer side plate 221, which can be located at the front side of the support structure 22. The front side of the support structure 22 can be the side of the support structure 22 close to the forward direction of the cleaning device 01

[0060] In some embodiments, the cleaning device 01 can further comprise a collision detection member movably connected to the front side of the device body 02, for example, the collision detection member can be movably connected to the side of the outer side plate 211 facing away from the accommodation space. In this way, the collision detection member can be used as a collision prevention structure of the cleaning device 01 to protect the device body 02 and reduce the probability of damage to the device body 02 when the cleaning device 01 is hit.

[0061] The laser ranging assembly 1 can be used for obstacle detection and ranging, and can be arranged in the accommodation space so that the laser ranging assembly 1 is embedded in the device body 2, so as to protect the laser ranging assembly 1 by the device body 2 and reduce the probability of damage to the laser ranging assembly 1 caused by external forces.

[0062] In some embodiments, as shown in Figure 1 and Figure 2 , the laser ranging assembly 1 can comprise a laser ranging module 12. The laser ranging module 12 can emit detection light and can receive detection light reflected back by external objects to determine the obstacle situation in the external environment and the distance between the laser ranging module 12 and the obstacle.

[0063] The laser ranging module 12 can be a laser radar to improve the detection accuracy of the laser ranging module 12, so as to improve the obstacle avoidance capability of the cleaning device 01 using the laser ranging assembly 1. However, the laser ranging module 12 can also be other ranging modules capable of emitting detection light.

[0064] As shown in Figure 2 , the laser ranging module 12 can comprise a main body part 121 and a detection part 122. The main body part 121 can be used for connecting or mounting the laser ranging module 12 with other structural members, and the detection part 122 can be connected with the main body part 121 for emitting and receiving detection light. The detection part 122 can comprise a transmitting unit and a receiving unit. The transmitting unit can be used for emitting detection light, and the receiving unit can be used for receiving detection light reflected back by obstacles in the external environment.

[0065] As shown in Figure 2 and Figure 3 , the laser ranging module 12 can rotate around the first direction X to increase the detection range of the laser ranging module 12 and further improve the obstacle avoidance capability of the cleaning device 01 using the laser ranging assembly 1. When the laser ranging module 12 rotates around the first direction X, the optical axis of the laser ranging module 12 can rotate around the first direction X. The path swept by the optical axis when rotating can form a plane, which can be a first reference plane 123. The first reference plane 123 can be perpendicular to the first direction X, or the first reference plane 123 can not be perpendicular to the first direction X.

[0066] In some embodiments, the detection unit 122 can rotate independently around a first direction X. That is, when the laser ranging module 12 needs to change its detection orientation, the main body 121 can remain stationary, while the detection unit 122 can rotate relative to the main body 121. This configuration improves the flexibility of the laser ranging module 12's rotation, allowing it to rotate easily even as the cleaning device 01 moves. Furthermore, when the main body 121 remains stationary and only the detection unit 122 rotates, the inertia generated by the laser ranging module 12 during rotation can be reduced. This reduces the impact of the inertia on the normal movement and obstacle crossing of the cleaning device 01, ensuring precise positioning of the cleaning device 01 even as the laser ranging module 12 rotates.

[0067] In this embodiment, the main body 121 may include at least a drive motor, and the detection part 122 may be connected to the rotor of the drive motor so that the drive motor can drive the detection part 122 to rotate.

[0068] In other embodiments, the laser ranging module 12 can rotate as a whole around the first direction X. That is, the main body 121 and the detection part 122 can be fixedly connected. When the laser ranging module 12 needs to change the detection orientation, the main body 121 and the detection part 122 can rotate synchronously. This setting can improve the rotation stability of the laser ranging module 12 and avoid the detection part 122 from shaking during the rotation process, which would affect the accuracy of its emission and reception of detection light. Therefore, the detection accuracy of the laser ranging module 12 can be further improved.

[0069] like Figure 3 and Figure 4 As shown, the laser ranging component 1 may further include a light-transmitting plate 131, which can be disposed on the light-emitting side of the laser ranging module 12 to protect the laser ranging module 12. Furthermore, the light-transmitting plate 131 can transmit the detection light emitted by the laser ranging module 12, thereby preventing the light-transmitting component 13 from blocking the detection light emitted by the laser ranging module 12, thus further ensuring the normal detection operation of the laser ranging module 12.

[0070] The first included angle a between the light-transmitting plate 131 and the first reference plane 123 can be an included angle between a first reference line on the light-transmitting plate 131 and the first reference plane 123, the first reference line being an intersection line of an inner surface of the light-transmitting plate 131 and a second reference plane, the second reference plane being parallel to the first direction X. That is, it can be understood that the light-transmitting plate 131 is arranged obliquely. In this way, it can be avoided or reduced that the reflected probe light of the light-transmitting plate 131 returns to the laser ranging module 12, and thus it can be avoided or reduced that the reflected probe light interferes with the laser ranging module 12, and thus the detection accuracy of the laser ranging module 12 can be improved, the obstacle detection performance of the cleaning equipment 01 can be improved, and thus the use performance of the cleaning equipment 01 can be greatly improved.

[0071] The first included angle a can be greater than or equal to 75° and less than or equal to 89°. For example, the first included angle a can be 75°, 76°, 77°, 78°, 79°, 80°, 81°, 82°, 83°, 84°, 85°, 86°, 87°, 88°, 88.5°, 89°, etc. In this way, it can be ensured that the light-transmitting plate 131 has a sufficient inclination angle to achieve the effect of avoiding or reducing the reflected probe light of the light-transmitting plate 131 returning to the laser ranging module 12. At the same time, in this way, it can also avoid the problem that the setting height of the light-transmitting plate 131 is reduced due to the excessive inclination angle of the light-transmitting plate 131, and thus it can be ensured that the probe light has a large enough exit range, so as to ensure the detection range of the laser ranging module 12 and the detection accuracy and use performance of the laser ranging assembly 1.

[0072] The light-transmitting plate can have a first edge and a second edge, and the first edge and the second edge can be edges of the light-transmitting plate at two ends along the first direction X. In the exit direction Y of the probe light, the first edge of the light-transmitting plate 131 can be closer to the laser ranging module 12 relative to the second edge of the light-transmitting plate 131, that is, the light-transmitting plate 131 can be inclined from the first edge to the second edge in a direction away from the laser ranging module 12. Alternatively, in the exit direction Y of the probe light, the second edge of the light-transmitting plate 131 can be closer to the laser ranging module 12 relative to the first edge of the light-transmitting plate 131, that is, the light-transmitting plate 131 can be inclined from the first edge to the second edge in a direction close to the laser ranging module 12.

[0073] In some embodiments, the outer side plate 221 can be provided with a light-transmitting hole 2211, the light-transmitting plate 131 can be embedded in the outer side plate 221, and the light-transmitting hole 2211 can expose at least part of the light-transmitting surface of the light-transmitting plate 131 to ensure the light-transmitting capability of the light-transmitting plate 131 and avoid the outer side plate 221 affecting the normal detection work of the laser ranging assembly 1, so as to ensure the obstacle avoidance capability of the cleaning equipment 01.

[0074] In some embodiments, the collision detection member can be provided with a through hole capable of exposing at least part of the light exit surface of the light transmission plate 131 to ensure the light transmission capability of the light transmission plate 131 and avoid affecting the normal detection work of the laser ranging assembly 1, thereby ensuring the obstacle avoidance capability of the cleaning device 01.

[0075] In some embodiments, as shown in Figures 3 to 8 The laser ranging assembly 1 can further include a protective shell 11 provided with a cavity 111 with a light transmission opening 112, and the laser ranging module 12 can be arranged in the cavity 111 to be protected by the protective shell 11, thereby avoiding damage to the laser ranging module 12 when the laser ranging assembly 1 is subjected to external force, and improving the service life and use reliability of the laser ranging assembly 1. At the same time, the detection light emitted by the laser ranging module 12 can be emitted through the light transmission opening 112, thereby ensuring the normal detection work of the laser ranging module 12 and avoiding the influence of the protective shell 11 on the detection work of the laser ranging module 12.

[0076] The light transmission plate 131 can be connected with the protective shell 11 and block the light transmission opening 112, thereby making the cavity 111 a closed chamber by using the light transmission plate 131 to prevent dust, hair, liquid and other impurities in the external environment from entering the cavity 111, and to avoid contamination of the laser ranging module 12 by dust, hair, liquid and other impurities, thereby further improving the service life and use reliability of the laser ranging module 12 and further improving the service life and use reliability of the laser ranging assembly 1.

[0077] In some embodiments, as shown in Figures 3 to 8As shown, the light-transmitting plate 131 can be arranged opposite to the light-transmitting opening 112 for transmitting the probe light emitted by the laser ranging module 12. The light-transmitting plate 131 is provided with at least one connecting plate 132, which can be connected with the light-transmitting plate 131 so that the light-transmitting plate 131 and the connecting plate 132 constitute the light-transmitting piece 13. The connecting plate 132 can extend at least partially into the protective shell 11 and be connected with the protective shell 11, so as to realize the connection between the light-transmitting plate 131 and the protective shell 11. By arranging the connecting plate 132 and extending the connecting plate 132 at least partially into the protective shell 11, the connecting area of the light-transmitting plate 131 can be increased, the light-transmitting plate 131 can be conveniently connected with the protective shell 11, and the connection stability between the light-transmitting plate 131 and the protective shell 11 can be improved. Meanwhile, such an arrangement can also improve the structural strength of the light-transmitting plate 131, so as to improve the anti-collision capability of the light-transmitting plate 131, reduce the probability of deformation of the light-transmitting plate 131, ensure that the light-transmitting plate 131 can always maintain the original shape, and improve the use reliability and manufacturability of the laser ranging assembly 1. In addition, such an arrangement can also improve the sealing effect of the light-transmitting plate 131 on the light-transmitting opening 112, further reduce the probability of impurities such as dust, hair and liquid in the external environment entering the cavity 111, and further improve the service life and use reliability of the laser ranging assembly 1.

[0078] The light-transmitting plate 131 can be provided with a first connecting plate 1321 and a second connecting plate 1322. The first connecting plate 1321 can be connected to the first edge of the light-transmitting plate 131, and the second connecting plate 1322 can be connected to the second edge of the light-transmitting plate 131, so as to increase the connection points and the connection area between the light-transmitting piece 13 and the protective shell 11, and further improve the connection stability between the light-transmitting plate 131 and the protective shell 11.

[0079] In addition, since the first edge and the second edge are located at two ends of the light-transmitting plate 131 along the first direction X, by the above arrangement, the first connecting plate 1321 and the second connecting plate 1322 can both extend along the length direction of the light-transmitting plate 131, so as to further increase the length and the connection area of the first connecting plate 1321 and the second connecting plate 1322, and further improve the connection stability between the light-transmitting piece 13 and the protective shell 11, and further improve the structural strength of the light-transmitting piece 13 and the sealing effect on the light-transmitting opening 112.

[0080] The protective shell 11 can be located at least partially between the first connecting plate 1321 and the second connecting plate 1322, so as to avoid the first connecting plate 1321 and the second connecting plate 1322 extending into the cavity 111, and avoid affecting the emission of the probe light. Meanwhile, such an arrangement can further improve the structural strength of the light-transmitting plate 131 and the sealing effect on the light-transmitting opening 112.

[0081] In some embodiments, the light-transmitting piece 13 can be a one-piece structure, i.e., the light-transmitting plate 131 and the connecting plate 132 can be directly formed by a one-piece process to be connected as one piece, without the need to separately manufacture the light-transmitting plate 131 and the connecting plate 132 and then connect the light-transmitting plate 131 and the connecting plate 132 by riveting, bonding or other connection methods to form the light-transmitting piece 13. In this way, the connection points between the light-transmitting plate 131 and the connecting plate 132 can be reduced, so that the connection strength between the light-transmitting plate 131 and the connecting plate 132 can be improved, thereby improving the structural strength of the light-transmitting piece 13.

[0082] However, the light-transmitting piece 13 can also be a split structure, i.e., the light-transmitting plate 131 and the connecting plate 132 can be separately manufactured and then connected by riveting, bonding or other connection methods to form the light-transmitting piece 13. In this way, the manufacturing difficulty of the light-transmitting piece 13 can be reduced.

[0083] In some embodiments, as shown in Figs. 1 and 2, the light-transmitting plate 131 can be a one-piece structure, i.e., the light-transmitting plate 131 and the connecting plate 132 can be directly formed by a one-piece process to be connected as one piece, without the need to separately manufacture the light-transmitting plate 131 and the connecting plate 132 and then connect the light-transmitting plate 131 and the connecting plate 132 by riveting, bonding or other connection methods to form the light-transmitting piece 13. In this way, the connection points between the light-transmitting plate 131 and the connecting plate 132 can be reduced, so that the connection strength between the light-transmitting plate 131 and the connecting plate 132 can be improved, thereby improving the structural strength of the light-transmitting piece 13. Figure 3 and Figure 4 In some embodiments, as shown in Figs. 1 and 2, the outer surface of the light-transmitting plate 131 can be provided with at least one reinforcing protrusion 133, and the outer surface of the light-transmitting plate 131 can be the side of the light-transmitting plate 131 facing away from the laser ranging module 12. In this way, the reinforcing protrusion 133 can be used as a reinforcing rib of the light-transmitting plate 131 to further improve the structural strength of the light-transmitting plate 131, further reduce the probability of deformation of the light-transmitting plate 131, and improve the manufacturability of the light-transmitting piece 13. At the same time, since the reinforcing protrusion 133 protrudes from the light-transmitting plate 131, the light-transmitting plate 131 can be protected by the reinforcing protrusion 133, so that when the light-transmitting piece 13 collides with an obstacle, the reinforcing protrusion 133 is preferentially collided, and the light-transmitting plate 131 is not collided, thereby reducing the probability of damage to the light-transmitting plate 131, and thus ensuring that the light-transmitting plate 131 can always normally transmit the probe light to ensure the normal detection work of the laser ranging module 12 and improve the service life and use reliability of the laser ranging assembly 1.

[0084] Further, the light-transmitting plate 131 can include a light-transmitting area 1311 and a peripheral area 1312, and the peripheral area 1312 at least partially surrounds the light-transmitting area 1311. The reinforcing protrusion 133 can be located in the peripheral area 1312 to avoid blocking the light-transmitting area 1311, thereby avoiding affecting the normal emission of the probe light and ensuring the normal detection work of the laser ranging module 12.

[0085] In some embodiments, the reinforcing protrusion 133 can extend along the length direction of the light-transmitting piece 13, which can improve the protection range of the reinforcing protrusion 133 and further reduce the probability of damage to the light-transmitting plate 131.

[0086] The reinforcing protrusion 133 can also have multiple reinforcing protrusions to further improve the protection effect on the light-transmitting plate 131, but is not limited thereto, and the outer surface of the light-transmitting plate 131 can also be provided with only one reinforcing protrusion 133.

[0087] The first connecting plate 1321 and the second connecting plate 1322 can be connected to the part of the light-transmitting plate 131 located in the peripheral area 1312, and the reinforcing protrusion 133 can be located at the corresponding position of the first connecting plate 1321 and / or the second connecting plate 1322. However, the reinforcing protrusion 133 can also be provided without corresponding to the first connecting plate 1321 and / or the second connecting plate 1322. The selection and arrangement can be made according to actual needs.

[0088] It should be noted that the disclosure does not specifically limit the protruding size of the reinforcing protrusion 133, which can be selected and arranged according to actual conditions.

[0089] In some embodiments, as shown in Figures 3 to 8 The protective shell 11 can include a positioning structure 113. The positioning structure 113 can be positioned and matched with the first connecting plate 1321 and / or the second connecting plate 1322 to position the first connecting plate 1321 and the second connecting plate 1322 when they are connected to the protective shell 11, to ensure the positional accuracy of the first connecting plate 1321 and the second connecting plate 1322, and to ensure the connection effect between the first connecting plate 1321 and the second connecting plate 1322 and the protective shell 11.

[0090] The protective shell 11 can have a first protective plate 114 and a second protective plate 115 arranged opposite to each other, and the first protective plate 114 and the second protective plate 115 can be perpendicular to the first direction X. The light-transmitting opening 112 of the protective shell 11 can be located between the first protective plate 114 and the second protective plate 115. The first connecting plate 1321 can extend at least partially to the first protective plate 114 and be connected to the first protective plate 114. The second connecting plate 1322 can extend at least partially to the second protective plate 115 and be connected to the second protective plate 115.

[0091] In some embodiments, the acute angle formed between the first protective plate 114 and the light-transmitting plate 131 can be 75° to 89°, for example: 75°, 76°, 77°, 78°, 79°, 80°, 81°, 82°, 83°, 84°, 85°, 86°, 87°, 88°, 88.5°, 89°, etc. The acute angle formed between the second protective plate 115 and the light-transmitting plate 131 can also be 75° to 89°, for example: 75°, 76°, 77°, 78°, 79°, 80°, 81°, 82°, 83°, 84°, 85°, 86°, 87°, 88°, 88.5°, 89°, etc. In this way, the light-transmitting plate 131 can have a sufficient inclination angle to avoid or reduce the reflected probe light of the light-transmitting plate 131 from returning to the laser ranging module 12.

[0092] The positioning structure 113 can include a first positioning structure 1131 and a second positioning structure 1132. The first positioning structure 1131 can be arranged on the first protective plate 114, and the first positioning structure 1131 can be positioned and matched with the first connecting plate 1321. The second positioning structure 1132 can be arranged on the second protective plate 115, and the second positioning structure 1132 can be positioned and matched with the second connecting plate 1322. By arranging the first positioning structure 1131 and the second positioning structure 1132, the first connecting plate 1321 and the second connecting plate 1322 can be positioned respectively, the positioning accuracy of the positioning structure 113 to the first connecting plate 1321 and the second connecting plate 1322 can be improved, and the connection effect between the first connecting plate 1321 and the second connecting plate 1322 and the protective shell 11 can be further ensured.

[0093] In some embodiments, the first positioning structure 1131 can be a first stop rib, and the first stop rib and the first connecting plate 1321 can be located on the side of the first protective plate 114 away from the second protective plate 115. The first stop rib can stop the edge of the first connecting plate 1321 to realize the positioning and matching of the first connecting plate 1321 and the first stop rib.

[0094] Alternatively, the first positioning structure 1131 can be a first positioning groove, which can be arranged on the side of the first protective plate 114 close to the light-transmitting plate 131 and / or the side of the first protective plate 114 away from the second protective plate 115. At least part of the first connecting plate 1321 can be located in the first positioning groove to realize the positioning and matching of the first connecting plate 1321 and the first positioning structure 1131.

[0095] In some embodiments, the second positioning structure 1132 can be a second stop rib, and the second stop rib and the second connecting plate 1322 can be located on the side of the second protective plate 115 away from the first protective plate 114, and the second stop rib can stop the edge of the second connecting plate 1322 to realize the positioning cooperation of the second connecting plate 1322 and the second positioning structure 1132.

[0096] Alternatively, the second positioning structure 1132 can be a second positioning groove, and the second positioning groove can be arranged on the side of the second protective plate 115 close to the light-transmitting plate 131 and / or the side of the second protective plate 115 away from the first protective plate 114, and at least part of the second connecting plate 1322 can be located in the second positioning groove to realize the positioning cooperation of the second connecting plate 1322 and the second positioning structure 1132.

[0097] As shown in Figure 5 , the protective shell 11 can further include a reinforcing member 116. The reinforcing member 116 can be a reinforcing rib, but is not limited thereto. The reinforcing member 116 can be arranged on at least one side of the first protective plate 114 facing the second protective plate 115, and / or the reinforcing member 116 can be arranged on at least one side of the second protective plate 115 facing the first protective plate 114, so as to improve the structural strength of the protective shell 11, and can be used to absorb the reflected probe light in the cavity 111, so as to avoid the reflected probe light in the cavity 111 from returning to the laser ranging module 12, thereby further avoiding the interference of the reflected probe light on the laser ranging module 12, and further improving the detection accuracy of the laser ranging module 12.

[0098] The reinforcing member 116 can be provided in plurality, and the plurality of reinforcing members 116 can be arranged at intervals, so as to further improve the structural strength of the protective shell 11 and further improve the ability of the protective shell 11 to absorb the reflected probe light in the cavity 111. The specific number of the reinforcing member 116 is not limited in the present disclosure.

[0099] In some embodiments, as shown in Figure 5 and Figure 7 , the cavity 111 can include a receiving cavity 1111 and a light-emitting cavity 1112. At least part of the laser ranging module 12 can be arranged in the receiving cavity 1111, and the light-transmitting opening 112 can be arranged on the side of the light-emitting cavity 1112 away from the receiving cavity 1111. In the length direction of the light-transmitting member 13, the length of the light-emitting cavity 1112 can be greater than the length of the receiving cavity 1111. In this way, the emission range of the probe light can be increased, so that the laser ranging module 12 can have a larger detection range, and the detection capability and use performance of the laser ranging assembly 1 can be improved.

[0100] As shown in Figure 3 , Figures 5 to 8As shown, the protective shell 11 can include a first protective part 117 and a second protective part 118. The first protective part 117 is formed with a receiving cavity 1111, and the main body part 121 and at least part of the detection part 122 can be located in the receiving cavity 1111, so as to provide a mounting position for the laser ranging module 12 by the first protective part 117, and the main body part 121 can be protected by the first protective part 117.

[0101] The second protective part 118 can be provided with a light emitting cavity 1112. In this way, the light transmission opening 112 can be arranged only at the position corresponding to the detection part 122, and no light transmission opening 112 is arranged at the position corresponding to the main body part 121, so as to reduce the width of the light transmission piece 13 blocking the light transmission opening 112 as much as possible, and reduce the manufacturing cost of the laser ranging assembly 1 while ensuring that the detection signal can be normally emitted.

[0102] Further, the thickness of the first protective part 117 can be greater than the thickness of the second protective part 118. In this way, the protection capability of the first protective part 117 can be improved, and the protection capability of the laser ranging module 12 can be further improved. In this way, the height space occupied by the second protective part 118 can be reduced as much as possible, so as to realize the miniaturization of the laser ranging assembly 1, and the internal space utilization rate of the cleaning equipment 01 can be improved, the arrangement of other components in the cleaning equipment 01 is facilitated, and the miniaturization of the cleaning equipment 01 is realized.

[0103] In some embodiments, the first protective part 117 can include a protective protrusion 1171 protruding from the second protective part in the thickness direction, which can be the same as the first direction X. The side of the protective protrusion 1171 away from the second protective part 118 can be provided with a cover plate 1172. In this way, the receiving cavity 1111 can be shielded by the cover plate 1172, and the probability of dust, hair, liquid and other impurities entering the receiving cavity 1111 through the side of the protective protrusion 1171 away from the second protective part 118 can be reduced, and the pollution of the laser ranging module 12 by dust, hair, liquid and other impurities can be further avoided.

[0104] Further, as shown, Figure 8 The cover plate 1172 can be provided with an electrical via hole 1173, and the laser ranging module 12 can be electrically connected to other components through the electrical via hole 1173.

[0105] In some embodiments, the side of the protective shell 11 away from the light transmission piece 13 can be provided with at least one connecting lug 120 for fixing the laser ranging assembly, so as to connect the laser ranging assembly 1 and the equipment main body 2 of the cleaning equipment 01 by the connecting lug 120, and improve the connection strength and stability between the laser ranging assembly 1 and the equipment main body 2.

[0106] In some embodiments, as shown,Figure 5 As shown, the protective shell 11 can further include an anti-reflection structure 119. The anti-reflection structure 119 can be arranged in the light-emitting cavity 1112, and at least part of the anti-reflection structure 119 is arranged opposite to the light-transmitting piece 13, so as to absorb the reflected probe light of the light-transmitting piece 13, avoid the reflected probe light of the light-transmitting piece 13 and the probe light reflected in the light-emitting cavity 1112 from returning to the laser ranging module 12, thereby further avoiding the interference of the reflected probe light on the laser ranging module 12, and further improving the detection accuracy of the laser ranging module 12.

[0107] In some embodiments, the protective shell 11 can further include a third protective plate 124, which can be connected to the first protective plate 114 and the second protective plate 115, and form the light-emitting cavity 1112 together with the first protective plate 114 and the second protective plate 115. At least one of the first protective plate 114, the second protective plate 115 and the third protective plate 124 can be provided with the anti-reflection structure 119.

[0108] The anti-reflection structure 119 can be an anti-reflection coating, that is, the anti-reflection coating can be coated on the inner surface of at least one of the first protective plate 114, the second protective plate 115 and the third protective plate 124. However, the anti-reflection structure 119 can also be an anti-reflection structure, such as a reinforcing piece, a sponge, a felt, a rough surface, etc., that is, the anti-reflection structure can be arranged on the inner surface of at least one of the first protective plate 114, the second protective plate 115 and the third protective plate 124.

[0109] Meanwhile, the anti-reflection structure 119 can also include an anti-reflection coating and an anti-reflection structure, for example, the anti-reflection structure 119 can include a sponge and a reinforcing piece 116, or the anti-reflection structure 119 can include a sponge and an anti-reflection coating, etc., so as to improve the anti-reflection performance of the anti-reflection structure 119 by using multiple elements with anti-reflection capability.

[0110] In some embodiments, the light-transmitting plate 131 can have a circular arc-shaped light-emitting surface, so as to increase the angle range of the probe light transmitted by the light-transmitting plate 131, so that the laser ranging module 12 can have a larger detection range, and the detection capability and use performance of the laser ranging assembly 1 can be improved.

[0111] The edge of the protective shell 11 at the light-transmitting opening 112 can also be circular arc-shaped, so as to cooperate with the circular arc-shaped light-transmitting plate 131. However, the edge of the protective shell 11 at the light-transmitting opening 112 can also not be circular arc-shaped.

[0112] The present disclosure also provides a cleaning system. As shown in Figures 1 to 8As shown, the cleaning system comprises a base station and a cleaning device 01. The cleaning device 01 can be the cleaning device 01 described above, and the cleaning device 01 can be docked with the base station. The base station can charge, water and clean the cleaning device 01, or suck out the dirt stored in the cleaning device 01.

[0113] It should be noted that the specific structure and beneficial effects of the cleaning device 01 have been described in detail in the above embodiments, so in this embodiment, the specific structure and beneficial effects of the cleaning device 01 will not be described again, and reference can be made to the specific description in the above embodiments, which are all within the protection scope of the present disclosure.

[0114] The cleaning system provided by the present disclosure comprises the cleaning device 01 described above, which comprises a laser ranging assembly 1 and a device main body 2. The laser ranging assembly 1 can be arranged in the accommodation space of the device main body 2 to protect the laser ranging assembly 1 by the device main body 2, so as to avoid damaging the laser ranging assembly 1 when the cleaning device 01 is subjected to external force, thereby improving the service life and use reliability of the cleaning device 01.

[0115] The laser ranging assembly 1 can comprise a light-transmitting plate 131 and a laser ranging module 12, and the light-transmitting plate 131 can be arranged on the light-emitting side of the laser ranging module 12 to protect the laser ranging module 12. In addition, the light-transmitting plate 131 can transmit the probe light emitted by the laser ranging module 12, so as to avoid the light-transmitting plate 131 from blocking the probe light emitted by the laser ranging module 12, thereby further ensuring the normal detection work of the laser ranging module 12.

[0116] In the laser ranging assembly 1, the light-transmitting plate 131 and the first reference plane 123 can have a first included angle a which is not perpendicular, that is, it can be understood that the light-transmitting plate 131 is arranged obliquely. In this way, the reflection ability of the light-transmitting plate 131 to the probe light can be weakened, so as to avoid the reflection of the probe light by the light-transmitting plate 131 back to the laser ranging module 12, thereby avoiding the interference of the reflected probe light to the laser ranging module 12, and further improving the detection accuracy of the laser ranging module 12 and the obstacle detection performance of the cleaning device 01, thereby greatly improving the use performance of the cleaning device 01.

[0117] Other embodiments of the present disclosure will be readily apparent to those skilled in the art upon considering the specification and practice of the utility model disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptive changes of the present disclosure that follow the general principles of the present disclosure and include common knowledge or conventional technical means in the art that are not disclosed by the present disclosure. The specification and examples are only considered as exemplary, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A cleaning apparatus, characterized by, The device comprises: a device body, a receiving space is formed in the device body; a laser ranging assembly, the laser ranging assembly comprises a laser ranging module and a light-transmitting plate; the laser ranging module is arranged in the receiving space, the laser ranging module is used for emitting and receiving probe light, and the laser ranging module can rotate around a first direction; the light-transmitting plate is arranged on the light-emitting side of the laser ranging module and can transmit the probe light, the light-transmitting plate and a first reference plane have a first included angle which is not perpendicular, and the first reference plane is a plane formed by the rotation of the optical axis of the laser ranging module around the first direction.

2. The cleaning apparatus of claim 1, wherein, The light-transmitting plate has a first edge and a second edge, the first edge and the second edge are edges of the light-transmitting plate at two ends along the first direction respectively; In the direction of the probe light, the first edge is closer to the laser ranging module relative to the second edge; or, in the direction of the probe light, the second edge is closer to the laser ranging module relative to the first edge.

3. The cleaning apparatus according to claim 1 or 2, characterized in that, The first included angle is an acute angle formed by the intersection of the light-transmitting plate and the first reference plane, the first included angle is greater than or equal to 75° and less than or equal to 89°.

4. The cleaning apparatus according to claim 1 or 2, characterized in that, The laser ranging assembly further comprises: a protective shell, a cavity with a light-transmitting opening is arranged in the protective shell, the laser ranging module is arranged in the cavity, and the light-transmitting plate is connected with the protective shell.

5. The cleaning apparatus of claim 4, wherein, The protective shell comprises: oppositely arranged first and second protective plates, the first and second protective plates are perpendicular to the first direction, and the light-transmitting opening is located between the first and second protective plates.

6. The cleaning apparatus of claim 5, wherein, At least one connecting plate is arranged on the light-transmitting plate, the connecting plate is connected with the light-transmitting plate, and the connecting plate at least partially extends to the protective shell and is connected with the protective shell.

7. The cleaning apparatus of claim 6, wherein, The light-transmitting plate is provided with a first connecting plate and a second connecting plate; the first connecting plate at least partially extends to the first protective plate and is connected with the first protective plate; the second connecting plate at least partially extends to the second protective plate and is connected with the second protective plate.

8. The cleaning apparatus of claim 5, wherein, The cavity comprises a receiving cavity and a light-emitting cavity, at least part of the laser ranging module is arranged in the receiving cavity, the light-transmitting opening is arranged on the side of the light-emitting cavity away from the receiving cavity, and in the length direction of the light-transmitting piece, the length of the light-emitting cavity is greater than the length of the receiving cavity.

9. The cleaning apparatus of claim 8, wherein, The protective shell further comprises: an anti-reflection structure, arranged in the light-emitting cavity, and at least part of the anti-reflection structure is arranged opposite to the light-transmitting piece, so as to absorb the probe light reflected by the light-transmitting plate.

10. The cleaning apparatus of claim 9, wherein, The protective shell further comprises: a third protective plate, the third protective plate connects the first and second protective plates and surrounds the light-emitting cavity with the first and second protective plates; the anti-reflection structure is arranged on at least one of the first, second and third protective plates.

11. The cleaning apparatus of claim 9, wherein, The anti-reflection structure is a light-absorbing coating and / or an anti-reflection structure piece.

12. The cleaning apparatus of claim 1 or 2, wherein, The device body comprises: a base; a support structure arranged on the base; A top cover is connected with the support structure, and a containing space is formed between the base and the top cover, and the laser ranging assembly is arranged in the containing space.

13. The cleaning apparatus of claim 12, wherein, The support structure comprises: An outer side plate is provided with a light-transmitting hole, the light-transmitting plate is embedded in the outer side plate, and the light-transmitting hole can expose at least part of the light-outgoing surface of the light-transmitting plate.

14. The cleaning apparatus of claim 1 or 2, wherein, The light-outgoing surface of the light-transmitting plate is a circular arc surface.

15. A cleaning system characterized by, Comprise: A base station; A cleaning device, which is the cleaning device according to any one of claims 1 to 14, and which is capable of docking with the base station.

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