Automatic pool cleaning apparatus and lidar therefor

Abstract

The application provides a pool automatic cleaning device and a laser radar thereof. The laser radar comprises a shell, a light-transmitting area is arranged on the shell, and the light-transmitting area is arranged as a plane; and a ranging assembly is arranged in the shell, and the ranging assembly can emit and receive laser signals through the light-transmitting area of the shell.

Description

Technical Field

[0001] This application relates to the field of lidar technology, and in particular to automatic water tank cleaning equipment and its lidar. Background Technology

[0002] When a laser beam travels from one medium (such as the casing of a lidar system) into another (such as water), the laser beam refracts due to the difference in refractive indices between the two media. If the lidar casing is curved, the laser beam will refract at the casing surface as it travels from the inside to the outside, similar to passing through a concave lens. This effect causes the laser beam to diverge, resulting in the focal point of the laser signal being off-target, thus affecting the accuracy of ranging. Even with a planar casing, the laser beam will refract as it exits, and this refraction may exhibit different amounts of offset in different directions. This effect can cause the laser signal path to deviate, especially at the edges or corners of the casing, resulting in greater deviations towards the outer edges. Utility Model Content

[0003] According to one aspect of this disclosure, a lidar for an automatic pool cleaning device is provided, comprising: a housing having a light-transmitting area, the light-transmitting area being planar; and a ranging component disposed within the housing, the ranging component being capable of emitting and receiving laser signals through the light-transmitting area of ​​the housing.

[0004] Furthermore, the lidar of the automatic pool cleaning equipment also includes a rotating base, wherein the rotating base is connected to the housing and the ranging component respectively, and the rotating base can drive the housing and the ranging component to rotate synchronously.

[0005] Furthermore, the lidar of the automatic pool cleaning equipment also includes a base assembly, wherein the base assembly is provided with a drive motor, the drive motor being used to drive the rotating base to rotate.

[0006] Furthermore, the ranging component includes a laser emitter and a laser receiver, wherein the laser emitter and the laser receiver are disposed opposite to the light-transmitting area of ​​the housing.

[0007] Furthermore, the plane corresponding to the light-transmitting area is perpendicular to the horizontal plane or the angle between the plane and the horizontal plane is within a preset angle range.

[0008] Furthermore, a first induction coil is provided on the rotating base, and the base assembly also includes a second induction coil; wherein the first induction coil and the second induction coil are arranged correspondingly to each other, and the ranging component is powered by the second induction coil and the first induction coil.

[0009] Furthermore, the ranging component also includes a first communication module, and the base component also includes a second communication module, wherein the first communication module is capable of data communication with the second communication module.

[0010] Furthermore, the lidar of the automatic pool cleaning device also includes: a first sealing ring disposed between the rotating base and the housing, for preventing external liquid from entering the housing and contacting the ranging component.

[0011] Furthermore, the base assembly includes a sealing assembly for sealing components within the base assembly.

[0012] According to another aspect of this disclosure, an automatic pool cleaning device is provided, comprising: the lidar described in any of the preceding claims.

[0013] The embodiments described in this application have the following beneficial effects:

[0014] The lidar of the automatic pool cleaning equipment provided in this application performs distance measurement in water. The distance measurement component can emit and receive laser signals through the light-transmitting area of ​​the housing. The laser emitter and laser receiver are arranged opposite to the light-transmitting area of ​​the housing. The light-transmitting area is set as a plane, which can effectively reduce the influence of laser refraction between different media on the distance measurement accuracy of the automatic pool cleaning equipment. This makes the distance measurement data obtained by the lidar in water more accurate and improves the working performance of the automatic pool cleaning equipment in the underwater environment. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The accompanying drawings in the following description are merely exemplary embodiments of this disclosure.

[0016] Figure 1 This is a schematic cross-sectional view of the lidar of the automatic water tank cleaning equipment of this application. Figure 1 ;

[0017] Figure 2 This is a schematic cross-sectional view of the lidar unit of the automatic water tank cleaning device of this application, showing its upper and lower sections separated. Figure 1 ;as well as

[0018] Figure 3 This is a schematic diagram of the structure of the lidar in the automatic water tank cleaning device of this application. Figure 1 .

[0019] Figure label:

[0020] 100. LiDAR; 200. Rotating module; 201. Housing; 204. First communication module; 205. First induction coil; 206. Bearing; 207. First sealing ring; 208. Rotating base; 209. Motor magnet; 210. Light-transmitting area; 220. Ranging component; 221. Laser receiver; 222. Laser emitter; 300. Base assembly; 301. Base base; 302. Enclosed cover; 303. Motor waterproof coil; 304. Second sealing ring; 305. Second induction coil; 306. Second communication module. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] This application provides an automatic pool cleaning device and its lidar. It is understood that the automatic pool cleaning device is capable of cleaning a pool. The pool is, for example, a pool-shaped structure. The pool-shaped structure can be a swimming pool, a water storage tank, a spa pool, a water tank, a water reservoir, etc. The automatic pool cleaning device can be a device such as an automatic cleaning machine or a pool cleaning robot, capable of cleaning the pool-shaped structure. This application does not limit the specific presentation of the automatic pool cleaning device or the pool-shaped structure, as long as the principle of this application is achieved. In the following description, unless otherwise specified, a robot will be used as an example of the automatic pool cleaning device, and a swimming pool will be used as an example of a pool or pool-shaped structure.

[0023] The automatic water tank cleaning equipment and its lidar are described in detail below with reference to the attached diagram.

[0024] Figure 1 This is a schematic cross-sectional view of the lidar of the automatic water tank cleaning equipment of this application. Figure 1 ; Figure 2 This is a schematic cross-sectional view of the lidar unit of the automatic water tank cleaning device of this application, showing its upper and lower sections separated. Figure 1 .like Figure 1 and Figure 2As shown, the lidar 100 of the automatic pool cleaning device of this application includes a rotating module 200 and a base assembly 300. The rotating module 200 includes: a housing 201, a first communication module 204, a first induction coil 205, a bearing 206, a first sealing ring 207, a rotating base 208, a motor magnet 209, a light-transmitting area 210, a ranging component 220, a laser receiver 221, and a laser emitter 222; the base assembly 300 includes: a base 301, a sealing cover 302, a motor waterproof coil 303, a second sealing ring 304, a second induction coil 305, and a second communication module 306.

[0025] Specifically, the lidar of the automatic pool cleaning device of this application includes: a housing 201, on which a light-transmitting area 210 is provided, the light-transmitting area 210 being set as a plane; and a ranging component 220, which is disposed inside the housing 201, the ranging component 220 being able to emit and receive laser signals through the light-transmitting area 210 of the housing 201.

[0026] Figure 3 This is a schematic diagram of the structure of the lidar in the automatic water tank cleaning device of this application. Figure 1 The term "shell 201" refers to the protective structure of the lidar. The shell 201 protects the internal electronic and optical components of the lidar from physical damage such as impact and vibration; the shell 201 can also provide environmental protection, such as waterproofing and dustproofing.

[0027] like Figure 1 and Figure 3 As shown, the light-transmitting area 210 can be set on the upper part of the housing 201, and the light-transmitting area 210 is set in correspondence with the ranging component 220.

[0028] like Figure 3 As shown, the light-transmitting area 210 can be set as a plane, which can avoid the laser signal being refracted when passing through the housing 201, thus affecting the ranging result. According to the refraction principle between the specific material of the housing 201 and water, the light-transmitting area 210 can also be set as an inwardly concave arc surface or an outwardly convex arc surface, as long as the technical principle of this application can be achieved.

[0029] The light-transmitting area 210 serves as a window for laser signal transmission and reception. It must ensure that laser signal transmission and reception are not obstructed, while minimizing the impact of the external environment on the laser path. The light-transmitting area 210 is typically made of transparent materials, such as optical-grade plastic or glass. These materials need to have sufficient strength while maintaining high transmittance of the laser signal.

[0030] The ranging component 220 can be disposed within the housing 201, and the ranging component 220 is capable of emitting and receiving laser signals through the light-transmitting area 210 of the housing 201. It should be noted that the above description of the ranging component 220 is merely exemplary. The ranging component 220 will be further described below with reference to specific examples.

[0031] like Figure 1 and Figure 2 As shown, the ranging component 220 may include a laser emitter 222 and a laser receiver 221, wherein the laser emitter 222 and the laser receiver 221 are disposed opposite to the light-transmitting area 210 of the housing 201.

[0032] The laser emitter 222 generates and emits laser signals, and the laser receiver 221 receives laser signals reflected from an object. Both the laser emitter 222 and the laser receiver 221 are housed within the housing 201 and protected by it. The laser emitter 222 and the laser receiver 221 can emit and receive laser signals through the light-transmitting area 210 of the housing 201. The laser signal is emitted by the laser emitter 222, transmitted through the light-transmitting area 210 into the water, then encounters an object and is reflected back. This laser signal is then received again by the laser receiver 221 through the same light-transmitting area 210. This alignment of the laser signal with the light-transmitting area reduces refraction and divergence of the laser signal during transmission between the housing 201 of the lidar 100 and the water, improving the accuracy and reliability of the measurement data.

[0033] The laser emitter 222 and the laser receiver 221 are located on the same side of the light-transmitting area 210 and are positioned opposite to it. The laser emitter 222 and the laser receiver 221 can be perpendicular to the light-transmitting area 210 or form a certain angle with it, depending on specific requirements. In the longitudinal direction, the laser emitter 222 can be located below the laser receiver 221 (e.g., ...). Figure 2 As shown), the laser emitter 222 can also be located above the laser receiver 221.

[0034] The plane corresponding to the light-transmitting area 210 can be perpendicular to the horizontal plane or the angle between it and the horizontal plane can be within a preset angle range.

[0035] The plane corresponding to the light-transmitting area 210 is, for example, the surface on the outer casing 201 where the light-transmitting area 210 is located. Figure 3As shown, the outer shell 201 is generally arc-shaped, and a planar area, namely the light-transmitting area 210, is provided on the arc-shaped outer shell 201. The outer shell can be in the shape of a square column, and the light-transmitting area 210 is located on one surface of the square column-shaped outer shell. The outer shell 201 can also be made into other shapes, such as a polyhedron, and the plane corresponding to the light-transmitting area 210 can be selected according to different outer shell shapes, as long as the technical principle of this application can be realized.

[0036] The plane corresponding to the light-transmitting area 210 is perpendicular to the horizontal plane or the angle between the plane and the horizontal plane is within a preset angle range (e.g., between 70° and 100°). For example, if the plane corresponding to the light-transmitting area 210 is perpendicular to the horizontal plane, and the laser signal emitted by the laser emitter 222 is perpendicular to the light-transmitting area 210, then when the laser signal penetrates the light-transmitting area 210 and is incident into the water, the transmission path of the laser signal does not bend or deflect, thus the measured laser signal data is more accurate. Furthermore, the perpendicularity of the plane corresponding to the light-transmitting area 210 to the horizontal plane avoids incident light with most of the reflection angle, ensuring that the lidar receives a valid signal, rather than interfering reflected light.

[0037] For example, the angle between the plane corresponding to the light-transmitting area 210 and the horizontal plane can be 70°-100° within a preset angle range. When the laser signal emitted by the laser emitter 222 along the horizontal plane penetrates the light-transmitting area 210 and enters the water, the transmission path of the laser signal experiences less bending or deflection (i.e., less refraction), enabling the lidar to measure the distance and position of the target more accurately.

[0038] The lidar of the automatic water tank cleaning equipment may also include: a rotating base 208, wherein the rotating base 208 is connected to the housing 201 and the ranging component 220 respectively, and the rotating base 208 can drive the housing 201 and the ranging component 220 to rotate synchronously.

[0039] The rotating base 208 can be rotated by a drive motor. The rotating base 208 can support other components of the rotating module 200 located on it, such as the ranging component 220 and the housing 201. The rotating base 208 can also be connected to the bottom base assembly 300; for example, the rotating base 208 can be connected to the base base 301 and other components of the base. The connection method between the rotating base 208 and the bottom base assembly 300 (e.g., base base 301) can be snap-fit, plug-in, etc. The base assembly 300 will be described below.

[0040] The rotation of the rotating base 208 causes the housing 201 and the ranging component 220 to rotate synchronously. Due to the synchronous rotation between the housing 201 and the ranging component 220, the light-transmitting area 210 also rotates synchronously with the ranging component 220. Therefore, during the rotation of the rotating base 208, the laser emitter 222 can emit laser signals in different directions as the rotating base 208 rotates, and the laser receiver 221 can receive laser signals reflected back from different directions as the rotating base 208 rotates. Through the rotational movement of the rotating base 208, the laser signals emitted by the ranging component 220 of the lidar can cover a larger area, thereby enabling omnidirectional scanning and measurement of the pool. Furthermore, at all angles, the ranging component 220 maintains the same working condition for the corresponding medium, without any obstruction points, thus enabling omnidirectional detection of the distance to objects in different media. The rotating base 208 can control the detection angle or detection direction; for example, the rotating base 208 can rotate at a specific angle, allowing the lidar to measure in a specific direction, improving the accuracy and reliability of the measurement data. Through the rotation of the base 208, the lidar can help the robot achieve autonomous navigation and plan the optimal cleaning path.

[0041] The lidar of the automatic pool cleaning equipment also includes: a base assembly 300, wherein the base assembly 300 is provided with a drive motor, which is used to drive the rotating base 208 to rotate.

[0042] The base assembly 300 can be used to support and secure the rotating module 200. For example... Figure 1 and Figure 2 As shown, the base assembly 300 can be used to support and fix the rotating base 208 in the rotating module 200. At least a portion of a drive motor can be disposed in the base assembly 300, and another portion of the drive motor is disposed in the rotating module 200. The drive motor can directly provide rotational power, outputting torque through the motor shaft. Specifically, the drive motor can include a motor magnet 209 and a waterproof motor coil 303. The motor magnet 209 can generate a stable magnetic field in the drive motor, which interacts with the current in the waterproof motor coil 303 to generate torque, thereby causing the drive motor to drive the rotating base 208 to rotate. The direction of rotation of the motor is determined by the direction of the current in the motor magnet 209 and the waterproof motor coil 303.

[0043] The waterproof coil 303 for motors provides waterproof functionality, preventing water intrusion that could cause short circuits or damage to drive motors operating underwater or in humid environments. This waterproof coil 303 typically employs special insulating materials and sealing technologies. In addition to being waterproof, the waterproof coil 303 can also resist the effects of high temperatures and corrosive environments, usually achieved through the use of suitable insulating materials and coatings.

[0044] The rotating base 208 can connect to the ranging component 220 of the lidar (e.g., the laser emitter 222 and the laser receiver 221) and the bearing 206. The drive motor can provide power to the rotating base 208 so that the rotating base 208 can rotate. The bearing 206 can reduce the rotational friction of the rotating base 208, so that the rotating base 208 rotates smoothly and has accurate concentricity.

[0045] It should be noted that, Figure 1 and Figure 2 The positions of the motor magnet 209 and the motor waterproof coil 303 shown are merely exemplary. In practice, the waterproof coil can also be placed in the rotating module 200 and the motor magnet can be placed in the base assembly 300, as long as the principle of driving the motor can be achieved.

[0046] The rotating base 208 is provided with a first induction coil 205, and the base assembly 300 also includes a second induction coil 305; wherein the first induction coil 205 and the second induction coil 305 are arranged correspondingly to each other, and the ranging assembly 220 is powered by the second induction coil 305 and the first induction coil 205.

[0047] The first induction coil 205 and the second induction coil 305 interact to achieve the transmission of electrical energy. The first induction coil 205 can be mounted on the rotating base 208 and rotates with it. The second induction coil 305 is fixed inside the base assembly 300 and can be arranged in a ring, for example. The first induction coil 205 and the second induction coil 305 are arranged correspondingly to each other, for example, overlapping each other. The second induction coil 305 can be connected to an external power source and serve as an energy transmitter. For example, when a high-frequency current is applied to the second induction coil 305, it can generate an alternating magnetic field. The rotating first induction coil 205 can cut magnetic field lines and generate an induced current, which can power the ranging component 220 (this current, after rectification and voltage regulation, can power the ranging component 220).

[0048] The ranging component 220 also includes a first communication module 204, and the base component 300 also includes a second communication module 306. The first communication module 204 is capable of data communication with the second communication module 306.

[0049] The first communication module 204 can be located within the ranging component 220 on the rotating base 208. The first communication module 204 can send ranging data (such as point cloud data and obstacle coordinates), receive control commands from the second communication module 306 (such as scanning frequency adjustment), and provide feedback on the status of the lidar (such as temperature and battery level). The second communication module 306 can be located on the base 301 (fixed end). The second communication module 306 can receive ranging data and forward it to the controller, send control commands to the first communication module 204, and monitor the stability of the communication link. The functional descriptions of the first communication module 204 and the second communication module 306 above are merely illustrative and not intended to exhaustively list their functions.

[0050] For example, the lidar of the automatic pool cleaning equipment scans the pool wall to generate point cloud data of the pool wall. The first communication module 204 (rotating side) can transmit the point cloud data to the second communication module 306 (fixed side) in real time. The second communication module 306 forwards the data to the processor for building an environmental map and planning the cleaning path.

[0051] The lidar 100 may further include: a first sealing ring 207 disposed between the rotating base 208 and the housing 201, for preventing external liquid from entering the housing 201 and contacting the ranging component 220.

[0052] The first sealing ring 207 of the lidar is a key component ensuring reliable operation of the lidar in underwater environments. The shape of the first sealing ring 207 matches the shape of the outer shell 201. For example, if the outer shell 201 is cylindrical, the first sealing ring 207 is annular and surrounds the rotating module 200, physically isolating it to prevent external liquids and gases from seeping into the interior of the outer shell 201, protecting the ranging components 220 (such as the laser emitter 222 and the laser receiver 221) from damage by water, dust, or other corrosive media. Specifically, the first sealing ring 207 serves a waterproof and dustproof function, preventing external liquids (water, oil) and particles from entering the lidar. For example, during installation, the first sealing ring 207 can be compressed into the groove between the rotating base 208 and the outer shell 201. When the rotating base 208 rotates, the first sealing ring 207 can tightly adhere to the outer shell 201, preventing water from seeping in axially or radially. When the external water pressure increases, the first sealing ring 207 deforms further, increasing the contact pressure. Even if the temperature difference in the water is too large and the lidar of the automatic water cleaning equipment is fatigued, the first sealing ring 207 can still maintain its sealing performance.

[0053] The base assembly 300 may also include a sealing assembly for sealing components in the base assembly 300.

[0054] The sealing assembly in the lidar base assembly 300 is a core protective component that ensures reliable operation of the device in harsh environments (such as underwater, high humidity, and dusty conditions). A multi-stage sealing design prevents external media intrusion, protecting internal precision components (such as drive motors, circuit boards, and sensors) from damage. The sealing assembly in the base assembly 300 may include a sealing cover 302 and a second sealing ring 304.

[0055] The second sealing ring 304 can be an elastic, ring-shaped component used to form a seal between base components, preventing the intrusion of pool liquids or the leakage of gas from the lidar. Specifically, in an underwater environment, the second sealing ring 304 can prevent water from seeping into the base assembly 300, protecting the internal electronic and optical components. In applications requiring pressure resistance, the second sealing ring 304 can withstand the pressure, ensuring the lidar operates normally under high pressure.

[0056] The material of the enclosure 302 can be metal, plastic, or composite material; no specific material limitation is made here. The material of the enclosure 302 should be considered based on the required level of protection and cost. The enclosure 302 is a protective shell covering a portion of the base assembly to provide additional protection. The enclosure 302 can protect the base from physical damage such as impact and scratches; the enclosure 302 can provide additional environmental protection such as waterproofing, dustproofing, and corrosion resistance. The sealing assembly can be implemented in the following ways: by mechanically compressing the second sealing ring 304 to make it adhere tightly to the surface of the base base 301 or the enclosure 302 to form a seal; by using adhesive to fix the second sealing ring 304 to the base base 301 or the enclosure 302 to ensure a sealing effect; or by using clips or latches to fix the enclosure 302 to the base assembly 300 for easy installation and removal. No limitation is made here on the sealing method of the sealing assembly, as long as a seal can be achieved in this application.

[0057] As can be seen, the rotating module 200 and the base assembly 300 adopt independent sealing structures. Even if a gap appears between the rotating module 200 and the base assembly 300 when the rotating module 200 rotates, allowing external liquid to enter, the rotating module 200 and the base assembly 300 are sealed separately, preventing liquid from entering the interior of the rotating module 200 and the base assembly 300, thus ensuring that the lidar 100 has better waterproof performance.

[0058] This application provides an automatic water tank cleaning device, which includes the lidar described in any of the preceding claims. This automatic water tank cleaning device can clean at least one of the tank bottom, tank walls, and water surface.

[0059] The automatic pool cleaning device provided in this application, because it includes the lidar of the automatic pool cleaning device described in any of the above claims, has all the beneficial effects of the lidar of the automatic pool cleaning device described in any of the above claims, which will not be repeated here.

[0060] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0061] 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. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0063] In this application, unless otherwise stated, directional terms such as "up" and "down" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" are generally used in relation to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this application.

[0064] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope described in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A lidar for automatic water tank cleaning equipment, characterized in that, include: The outer casing (201) has a light-transmitting area (210) provided thereon, and the light-transmitting area (210) is set as a plane; A ranging component (220) is disposed inside the housing (201). The ranging component (220) is capable of emitting and receiving laser signals through the light-transmitting area (210) of the housing (201).

2. The lidar according to claim 1, characterized in that, Also includes: A rotating base (208) is connected to the outer shell (201) and the ranging component (220) respectively, and the rotating base (208) can drive the outer shell (201) and the ranging component (220) to rotate synchronously.

3. The lidar according to claim 2, characterized in that, Also includes: A base assembly (300) is provided with a drive motor, which is used to drive the rotating base (208) to rotate.

4. The lidar according to claim 1, wherein, The ranging component (220) includes: A laser emitter (222) and a laser receiver (221) are provided opposite to the light-transmitting area (210) of the housing (201).

5. The lidar according to claim 1, wherein, The plane corresponding to the light-transmitting area (210) is perpendicular to the horizontal plane or the angle between the plane and the horizontal plane is within a preset angle range.

6. The lidar according to claim 3, wherein, The rotating base (208) is provided with a first induction coil (205), and the base assembly (300) further includes a second induction coil (305); wherein the first induction coil (205) and the second induction coil (305) are arranged correspondingly to each other, and the ranging assembly (220) is powered by the second induction coil (305) and the first induction coil (205).

7. The lidar according to claim 3, wherein, The ranging component (220) further includes a first communication module (204), and the base component (300) further includes a second communication module (306). The first communication module (204) is capable of data communication with the second communication module (306).

8. The lidar according to claim 2, characterized in that, Also includes: A first sealing ring (207) is disposed between the rotating base (208) and the housing (201) to prevent external liquid from entering the housing (201) and coming into contact with the ranging component (220).

9. The lidar according to claim 3, wherein, The base assembly (300) includes a sealing assembly for sealing components in the base assembly (300).

10. An automatic water tank cleaning device, characterized in that, include: One or more lidars according to any one of claims 1-9.

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