Stake finding module, stake body and cleaning system

Abstract

The present disclosure provides a pile searching module, a pile body and a cleaning system, and relates to the technical field of smart home. The pile searching module comprises a mounting frame, at least one signal and limiting piece, at least one mounting hole is formed on the mounting frame, and a signal lamp is arranged in the mounting hole; the limiting piece is arranged on the mounting frame and at least partially located at one end of the signal lamp to form limiting for the signal lamp to exit from the mounting hole. The pile searching module provided by the present disclosure can enable the cleaning equipment to accurately search for piles.

Description

Technical Field

[0001] This disclosure relates to the field of smart home technology, and more specifically, to a locator module, a locator body, and a cleaning system. Background Technology

[0002] As society continues to develop and people's living standards improve, cleaning robots are becoming increasingly popular in households due to their time-saving and labor-saving nature compared to traditional manual cleaning. Typically, self-propelled cleaning equipment needs to be used in conjunction with its designated docking station, which allows the floor scrubber to be positioned. Therefore, it is essential to ensure that the self-propelled cleaning equipment can accurately locate the docking station.

[0003] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content

[0004] The purpose of this disclosure is to provide a pile-finding module, a pile body, and a cleaning system that enables cleaning equipment to accurately locate piles.

[0005] According to one aspect of this disclosure, a pile-finding module is provided, the pile-finding module comprising: Mounting bracket, wherein at least one mounting hole is formed on the mounting bracket; At least one signal light, the signal light being disposed in the mounting hole; A limiting member is provided on the mounting bracket and is at least partially located at one end of the signal light to limit the signal light from exiting the mounting hole.

[0006] In one exemplary embodiment of this disclosure, the pile-finding module further includes: The circuit board, and the indicator light is electrically connected to the circuit board.

[0007] In one exemplary embodiment of this disclosure, the signal light includes an LED and a pin. The LED is disposed in the mounting hole and electrically connected to the circuit board via the pin. At least a portion of the limiting member is located at the end of the LED connected to the pin to limit the LED from exiting the mounting hole.

[0008] In one exemplary embodiment of this disclosure, the pin includes a first bent segment and a second bent segment, the first bent segment connecting the LED bead and the second bent segment, and the second bent segment connecting the first bent segment and the circuit board; the extending directions of the first bent segment and the second bent segment intersect.

[0009] In one exemplary embodiment of this disclosure, the circuit board is parallel to the axis of the mounting hole; the first bent segment extends along the axis, and the second bent segment extends along a first direction, which is perpendicular to the axis.

[0010] In one exemplary embodiment of this disclosure, the mounting bracket has a plurality of mounting holes, the pile-finding module includes a plurality of signal lights, and the plurality of signal lights are respectively disposed in the plurality of mounting holes; the limiting member has portions respectively located at one end of the plurality of signal lights to limit the plurality of signal lights from exiting the mounting holes.

[0011] In one exemplary embodiment of this disclosure, the limiting member is detachably connected to the mounting bracket.

[0012] In one exemplary embodiment of this disclosure, the limiting member is engaged with the mounting bracket.

[0013] In an exemplary embodiment of this disclosure, a first snap-fit ​​structure and a first limiting structure are provided between the mounting bracket and the limiting member. The limiting member is snap-fitted to the mounting bracket along the axial direction of the mounting hole through the first snap-fit ​​structure, and is limitedly connected to the mounting bracket in a first direction and a second direction through the first limiting structure; the first direction and the second direction are perpendicular to the axial direction.

[0014] In an exemplary embodiment of this disclosure, the first snap-fit ​​structure includes a first elastic snap-fit ​​protrusion and a limiting snap-fit ​​protrusion, one of which is disposed on the mounting bracket and the other is disposed on the limiting member; the limiting member moves toward the mounting bracket along the axial direction to engage the first elastic snap-fit ​​protrusion with the limiting snap-fit ​​protrusion, so as to at least form a limitation on the movement of the limiting member away from the mounting bracket along the axial direction.

[0015] In an exemplary embodiment of this disclosure, the limiting protrusion includes a first limiting portion located in the axial direction and a second limiting portion located below the first limiting portion along the first direction. The first limiting portion is used to engage with the first elastic protrusion to limit the movement of the limiting member away from the mounting bracket along the axial direction. The second limiting portion is used to limit the first elastic protrusion to move downward along the first direction.

[0016] In an exemplary embodiment of this disclosure, the first limiting structure includes a first limiting protrusion and a first limiting groove. One of the first limiting protrusion and the first limiting groove is disposed on the limiting member, and the other is disposed on the mounting bracket. The limiting member moves towards the mounting bracket along the axial direction, which enables the first limiting protrusion to be located in the first limiting groove, so that the limiting member and the mounting bracket are connected in a limiting manner in the first direction and the second direction.

[0017] In one exemplary embodiment of this disclosure, a second snap-fit ​​structure and a second limiting structure are provided between the mounting bracket and the limiting member. The limiting member is snap-fitted to the mounting bracket along a first direction through the second snap-fit ​​structure, and is connected to the mounting bracket in a second direction and the axial direction of the mounting hole through the second limiting structure. The first direction and the second direction are perpendicular to the axial direction.

[0018] In one exemplary embodiment of this disclosure, the second snap-fit ​​structure includes a second elastic snap-fit ​​protrusion and a snap-fit ​​hole, one of which is disposed on the mounting bracket and the other is disposed on the limiting member; the limiting member moves toward the mounting bracket along the first direction so that the second elastic snap-fit ​​protrusion is located in the snap-fit ​​hole, so that the limiting member snaps with the mounting bracket along the first direction.

[0019] In one exemplary embodiment of this disclosure, the second limiting structure includes a second limiting protrusion and a second limiting groove, one of which is disposed on the limiting member and the other is disposed on the mounting bracket; the limiting member moves toward the mounting bracket along the axial direction so that the second limiting protrusion is located in the second limiting groove, thereby enabling the limiting member and the mounting bracket to be connected in the second direction and the axial direction.

[0020] In one exemplary embodiment of this disclosure, the mounting bracket is provided with a third limiting groove, the pin passes through the third limiting groove along a first direction, the third limiting groove forms a limiting effect on the pin in a second direction, and the first direction and the second direction are perpendicular to the axial direction of the mounting hole.

[0021] In one exemplary embodiment of this disclosure, the lamp bead includes a lamp bead body and a lamp holder. The lamp holder is located at one end of the lamp bead body that connects to the pin. The lamp holder protrudes at least partially from the outer peripheral surface of the lamp bead body along the axial direction of the lamp bead. The lamp holder is located outside the mounting hole, and at least a portion of the lamp holder protruding from the outer peripheral surface of the lamp bead body is located axially between the mounting bracket and the limiting member in the mounting hole.

[0022] In one exemplary embodiment of this disclosure, a positioning part is provided on the outer peripheral surface of the lamp holder, and the lamp holder is connected to the mounting bracket through the positioning part. In one exemplary embodiment of this disclosure, in the axial direction of the mounting hole, the limiting member abuts against one end of the lamp bead connected to the pin, or the gap between the limiting member and one end of the lamp bead connected to the pin is less than 3mm.

[0023] In one exemplary embodiment of this disclosure, the circuit board is positioned and assembled with the mounting bracket, and is detachably connected.

[0024] In an exemplary embodiment of this disclosure, the mounting frame has a plurality of mounting holes, the pile-finding module includes a plurality of signal lights, each of which is correspondingly disposed in one of the plurality of mounting holes; the pile-finding module includes a plurality of limiting members, each of which is connected to the mounting frame and is correspondingly disposed in one of the plurality of signal lights, and each of the limiting members has a portion located at one end of the corresponding signal light, so as to limit the plurality of signal lights from exiting the mounting holes.

[0025] According to another aspect of this disclosure, a pile body is provided, which includes the aforementioned pile-finding module.

[0026] According to another aspect of this disclosure, a cleaning system is provided, the cleaning system comprising: Cleaning equipment; The aforementioned pile body is used to connect with the cleaning equipment.

[0027] In one exemplary embodiment of this disclosure, the cleaning device is a self-propelled cleaning device, and the cleaning device includes a pile return module, which is used to interact with the pile finding module to assist the cleaning device in docking with the pile body.

[0028] The locator module disclosed herein, during long-term use, when the signal light is subjected to an outward force along the axial direction of the mounting hole, the limiting component will directly block the movement of the signal light, preventing the optical axis of the signal light from deviating, thereby ensuring the signal transmission / reception accuracy of the signal light. This ensures that the cleaning equipment can accurately locate the signal light and avoids functional problems such as locator failure and low locator efficiency caused by optical axis deviation of the signal light, thus improving the user experience.

[0029] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0030] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0031] Figure 1 A schematic diagram of a cleaning system provided in one embodiment of this disclosure.

[0032] Figure 2 This is a schematic diagram of a cleaning device being piled up according to an embodiment of the present disclosure.

[0033] Figure 3 A schematic diagram of a cleaning device provided in one embodiment of this disclosure.

[0034] Figure 4 This is a schematic diagram of a pile-finding module provided in one embodiment of the present disclosure.

[0035] Figure 5 This is a schematic diagram of the rear side of a pile-finding module provided in one embodiment of the present disclosure.

[0036] Figure 6 This is a schematic diagram of the bottom of a pile-finding module provided in one embodiment of the present disclosure.

[0037] Figure 7 An exploded view of a pile-finding module provided in one embodiment of this disclosure.

[0038] Figure 8 This is a schematic diagram of the top of a pile-finding module provided in one embodiment of the present disclosure.

[0039] Figure 9 This is a schematic diagram of a mounting bracket provided in one embodiment of the present disclosure.

[0040] Figure 10 This is a schematic diagram of a limiting member provided in one embodiment of the present disclosure.

[0041] Figure 11 This is a schematic diagram of a signal light being assembled on a mounting bracket according to an embodiment of the present disclosure.

[0042] Figure 12 This is a schematic diagram of a pile-finding module provided for another embodiment of this disclosure.

[0043] Figure 13 A schematic diagram of a mounting bracket provided for another embodiment of this disclosure.

[0044] Figure 14 A schematic diagram of a limiting member provided for another embodiment of this disclosure.

[0045] Figure 15 This is a schematic diagram of a traffic light provided in one embodiment of the present disclosure.

[0046] Figure 16 This is a schematic diagram of a traffic light from another perspective, provided as an embodiment of the present disclosure.

[0047] Explanation of reference numerals in the attached figures: 10. Pile body; 20. Cleaning equipment; 21. Equipment body; 22. Pile return module; 30. Pile locating module; 31. Mounting frame; 311. Mounting hole; 312. Limiting bracket protrusion; 3121. First limiting part; 3122. Second limiting part; 313. First limiting groove; 314. Locking hole; 315. Second limiting groove; 316. Third limiting groove; 317. Positioning post; 32. Signal light; 321. LED bead; 3211 3212 Lamp bead body; 3213 Lamp holder; 3214 Positioning part; 322 Pin; 3221 First bending section; 3222 Second bending section; 33 Circuit board; 331 Positioning hole; 34 Limiting member; 341 First elastic locking protrusion; 342 Second elastic locking protrusion; 343 Second limiting protrusion; 344 Main body; 345 Connecting arm; 35 Screw; X, Second direction; Y, Axial direction; Z, First direction. Detailed Implementation

[0048] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0049] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0050] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0051] Embodiments of this disclosure provide a cleaning system, such as Figures 1-3 As shown, the cleaning system includes a docking station 10 and a cleaning device 20. The cleaning device 20 can be, for example, a mopping robot, a sweeping robot, or a combined sweeping and mopping robot; the cleaning device 20 may include a device body 21, a drive module, a sensing module, a control module, a cleaning module, an energy module, and a human-machine interaction module. The docking station 10 is used to dock the cleaning device 20, allowing it to be placed on the station. The cleaning device 20 can perform functions such as charging, self-cleaning, docking, sewage discharge, water replenishment, and dust collection on the docking station 10.

[0052] In some embodiments, the cleaning device 20 is configured to automatically move along a target direction on a driving surface, which can be the surface to be cleaned by the cleaning device 20. If the cleaning device 20 is a sweeping and mopping robot, then the cleaning device 20 operates on the ground.

[0053] In some embodiments, the drive module may include a drive wheel assembly. The drive module can control both the left and right wheels simultaneously. For more precise control of the machine's movement, the drive module preferably includes a left drive wheel assembly and a right drive wheel assembly. The left and right drive wheel assemblies are symmetrically arranged along a transverse axis defined by the device body 21. In some embodiments, to enable the cleaning device 20 to move more stably or with greater mobility on the ground, the cleaning device 20 may include one or more steering wheels. The steering wheels may be driven wheels or drive wheels, and their structural forms include, but are not limited to, casters. The steering wheels may be located in front of the drive wheel assembly, and a drive motor provides power to the drive wheel assembly and / or the steering wheels.

[0054] In some embodiments, the cleaning device 20 may be a self-propelled cleaning device. The sensing module may include a position determination device located above the device body 21, a buffer located on the forward portion of the device body 21, and a cliff sensor and ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer, and other sensing devices located at the bottom of the device body 21, providing the control module with various position and motion state information of the device body 21. For example, the forward portion of the device body 21 is provided with a buffer. During the cleaning process, when the drive wheel assembly propels the cleaning device 20 to walk on the ground, the buffer detects one or more objects in the travel path of the cleaning device 20 via a sensor module, such as a collision sensor. The cleaning device 20 can pass through the objects detected by the collision sensor, such as steps, obstacles, or walls, and the control drive structure makes the cleaning device 20 respond to the objects, such as stepping over steps.

[0055] In some embodiments, the control module can combine distance and speed information fed back from sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current working state of the robot vacuum cleaner, such as climbing stairs, crossing thresholds, walking on carpets, being on a cliff, stuck above or below, having a full dustbin, or being picked up. It will also provide specific next action strategies for different situations, making the cleaning device 20 work more in line with the user's requirements and providing a better user experience. Furthermore, the control module can plan the most efficient and reasonable cleaning path and cleaning method based on real-time map information drawn using SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device 20.

[0056] In some embodiments, the energy module may include a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit is charged by connecting to a charging station via charging electrodes located on the side or bottom of the device.

[0057] In some embodiments, the human-machine interface module may include buttons on the main control panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which display the current status of the machine or the available function options to the user; and it may also include a mobile client application. For path navigation cleaning equipment, the mobile client can display a map of the environment where the equipment is located, as well as the machine's position, and can provide users with richer and more user-friendly functions.

[0058] In some embodiments, the cleaning module may include a dry cleaning module, or a dry and wet cleaning module. The dry cleaning module may include a roller brush assembly, side brushes, etc., while the wet cleaning module may include cleaning components, a water tank, etc. The cleaning components in the wet cleaning module may be mopping components, such as roller mops or belt mops, for mopping and washing the surface to be cleaned.

[0059] When the cleaning equipment 20 needs to return to the pile body 10 for self-cleaning, to perform dust collection, or to return to the pile body 10 after completing its cleaning task, the cleaning equipment 20 can move to the docking position on the pile body 10 by self-propelled movement. For example, the cleaning equipment 20 may be located in the cleaning tank of the pile body 10, the charging terminal of the cleaning equipment 20 may be connected to the charging terminal of the pile body 10, and the outlet of the dust bag on the cleaning equipment 20 may be connected to the inlet of the dust collection duct on the pile body 10.

[0060] In some embodiments, the cleaning device 20 is equipped with a return-to-pile module 22, and the pile body 10 is equipped with a pile-finding module 30. The return-to-pile module 22 of the cleaning device 20 interacts with the pile-finding module 30 on the pile body 10 to correct the travel direction of the cleaning device 20, thereby enabling the cleaning device 20 to accurately dock with the pile body 10 along the correct route. The return-to-pile module 22 and the pile-finding module 30 may be equipped with infrared receivers and infrared transmitters. Since the pile body 10 is fixedly positioned at a predetermined location, for example, infrared rays at a preset angle can be emitted by the infrared transmitter in the pile-finding module 30. The cleaning device 20 receives this infrared ray through the infrared receiver in the return-to-pile module 22, and uses the angle between the infrared ray and the cleaning device 20 to help determine whether the travel direction of the cleaning device 20 is accurate, thereby correcting the travel route so that the cleaning device 20 can travel to the pile body 10 along the correct route. It is understandable that the pile body 10 can also be a base station, that is, the base station can dock with the cleaning equipment 20. The base station can park the cleaning equipment 20 so that the cleaning equipment 20 can perform functions such as charging, self-cleaning, docking, sewage discharge, water replenishment, and dust collection on the base station. The base station can be equipped with a pile-finding module 30. The pile-returning module 22 of the cleaning equipment 20 interacts with the pile-finding module 30 on the base station to correct the driving direction of the cleaning equipment 20, so that the cleaning equipment 20 can accurately dock with the base station according to the correct route.

[0061] The infrared emitter of the pile-finding module 30 is typically an infrared LED. When installing the LED 321 on the pile body 10, the pins 322 of the LED 321 need to be fixed first, and then the LED 321 is soldered onto the circuit board 33. However, during the installation process, the pins 322 need to be bent to solder to the circuit board 33, causing accumulated bending stress on the pins 322 of the LED 321. During long-term use, the pins 322 deform due to the release of bending stress, causing the LED 321 to shift under the influence of the pin deformation. This leads to the optical axis of the LED 321 becoming misaligned and inaccurate, and in severe cases, it may even cause the LED 321 to fall out of the mounting hole 311. Therefore, when the pile return module 22 of the pile body 10 interacts with the pile return module 22 of the cleaning device 20, the optical axis misalignment of the LED 321 will cause the pile return module 22 to malfunction, preventing the cleaning device 20 from accurately docking with the pile body 10 and affecting the user experience.

[0062] In response, this disclosure provides a pile-finding module, such as... Figures 4-9 As shown, the pile finding module 30 includes: a mounting frame 31, a limiting member 34, and at least one signal light 32. At least one mounting hole 311 is formed on the mounting frame 31, and the signal light 32 is disposed in the mounting hole 311. The limiting member 34 is disposed on the mounting frame 31 and is at least partially located at one end of the signal light 32 to limit the signal light 32 from exiting the mounting hole 311.

[0063] In the long-term use of the pile-finding module 30 provided in this disclosure, when the signal light 32 is subjected to an outward force along the axial direction Y of the mounting hole 311, the limiting member 34 will directly block the movement of the signal light 32, preventing the optical axis of the signal light 32 from deviating, thereby ensuring the signal transmission / reception accuracy of the signal light 32, thus ensuring that the cleaning equipment 20 can accurately find the pile, avoiding functional problems such as pile-finding failure and low pile-finding efficiency caused by the optical axis deviation of the signal light 32, and improving the user experience.

[0064] The pile-finding module 30 also includes a circuit board 33, and the signal light 32 is electrically connected to the circuit board 33 so that the signal light 32 can transmit or receive signals through the circuit board 33.

[0065] The signal light 32 includes an LED 321 and a pin 322. The LED 321 is disposed in the mounting hole 311 and is electrically connected to the circuit board 33 through the pin 322. The limiting member 34 is disposed on the mounting bracket 31 and is at least partially located at one end of the LED 321 connecting to the pin 322, so as to limit the LED 321 from exiting the mounting hole 311.

[0066] The pin 322 includes a first bent segment 3221 and a second bent segment 3222. The first bent segment 3221 connects the LED bead 321 and the second bent segment 3222, and the second bent segment 3222 connects the first bent segment 3221 and the circuit board 33. The extension directions of the first bent segment 3221 and the second bent segment 3222 intersect.

[0067] The circuit board 33 is parallel to the axial direction Y of the mounting hole 311, meaning that the large surfaces of the circuit board 33 on its upper and lower sides along its thickness direction are parallel to the axial direction Y of the mounting hole 311. The first bent section 3221 extends along the axial direction Y, and the second bent section 3222 extends along the first direction Z, which is perpendicular to the axial direction Y. The pins 322 pass through the two bent sections to be soldered to the circuit board 33 located below the mounting bracket 31 along the first direction Z.

[0068] In some embodiments, such as Figures 7-9 As shown, the mounting bracket 31 has multiple mounting holes 311. The pile-finding module 30 includes multiple indicator lights 32, each corresponding to one of the mounting holes 311. A limiting member 34 has portions located at one end of each of the indicator lights 32 to limit their exit from the mounting holes 311. Specifically, the limiting member 34 has portions located at one end of the connection pins 322 of each of the LED beads 321 to limit their exit from the mounting holes 311. To ensure signal coverage and improve pile-finding accuracy, multiple indicator lights 32 (such as infrared LEDs) are often required, and these LEDs 321 must maintain a preset angle and spacing to work collaboratively. A single limiting member 34 can limit the movement of multiple LEDs 321, simplifying the installation process. Furthermore, the structural uniformity of the single limiting member 34 ensures consistent limiting directions for each LED bead 321.

[0069] It is understood that the pile-finding module 30 may include multiple limiting members 34, each of which is connected to the mounting bracket 31 and is correspondingly set with multiple indicator lights 32. Each limiting member 34 has a portion located at one end of the corresponding indicator light 32 to limit the exit of the multiple indicator lights 32 from the mounting hole 311. That is, each limiting member 34 has a portion located at one end of the connection pin 322 of the corresponding LED bead 321; or, each limiting member 34 is correspondingly set with at least one indicator light 32. Each limiting member 34 corresponds to only one LED bead 321. When a certain LED bead 321 fails, only the corresponding limiting member 34 needs to be removed for repair. Other limiting members 34 and LED beads 321 are not affected, avoiding the failure of the limiting or positional displacement of other normal LED beads 321 due to the repair of a single LED bead 321, and improving the convenience of maintenance.

[0070] In some embodiments, the limiting member 34 is detachably connected to the mounting bracket 31. During the module production and assembly process, the LED bead 321 can be first installed in the mounting hole 311 of the mounting bracket 31 for preliminary positioning and adjustment. After ensuring the accurate position of the LED bead 321, the limiting member 34 is then connected and fixed to the mounting bracket 31 to limit the LED bead 321. If problems such as LED bead 321 position deviation, poor soldering of pin 322, or improper fit between the limiting member 34 and LED bead 321 are found during the assembly process, the limiting member 34 can be easily disassembled to adjust or repair the LED bead 321 or pin 322, reducing the operational difficulty in the assembly process, improving assembly accuracy, and increasing production efficiency. Meanwhile, during the product's service life, when the limit component 34 is damaged or the LED bead 321 malfunctions (such as the LED bead 321 aging or being damaged and needing replacement), the user or maintenance personnel do not need to disassemble the entire pile-finding module 30. They only need to remove the limit component 34 from the mounting bracket 31 to directly repair or replace the faulty component. The maintenance operation is simple and convenient, which greatly shortens the maintenance time, reduces the interference and damage risk to other normal components during the maintenance process, and reduces the manpower and material costs required for maintenance.

[0071] The limiting member 34 is engaged with the mounting bracket 31. This engagement structure, through the inherent structural design of the limiting member 34 and the mounting bracket 31 (e.g., bosses, slots, elastic buckles), allows for quick and easy engagement by simply aligning the limiting member 34 with the preset position on the mounting bracket 31 and applying pressure or force. This eliminates the need for any external tools, improving production efficiency and making it particularly suitable for the large-scale, automated production of the pile-finding module 30. It effectively reduces labor and time costs on the production line. Furthermore, the engagement structure provides a reliable fixation for the limiting member 34 and the mounting bracket 31. Even during the use of the pile-finding module 30, despite vibrations and impacts from the sweeping robot, the engagement structure maintains a stable connection, ensuring that the limiting member 34 continuously and reliably limits the LED bead 321, preventing the LED bead 321 from losing its constraint and deviating from the preset angle due to the limiting member 34 becoming loose. In addition, the snap-fit ​​structure ensures a stable connection while facilitating subsequent disassembly, making the maintenance or replacement of the LED 321 and the limiting component 34 more efficient, further reducing maintenance costs and improving the economic efficiency of product maintenance.

[0072] In some embodiments, such as Figures 8-11As shown, a second snap-fit ​​structure and a second limiting structure are provided between the mounting bracket 31 and the limiting member 34. The limiting member 34 is snapped into the mounting bracket 31 along the first direction Z through the second snap-fit ​​structure, and is also connected to the mounting bracket 31 in the second direction X and the axial direction Y of the mounting hole 311 through the second limiting structure; the first direction Z, the second direction X, and the axial direction Y are perpendicular to each other. The limiting member 34 is snapped into the mounting bracket 31 along the height direction of the mounting bracket 31. Through the combination of the second snap-fit ​​structure and the second limiting structure, a three-dimensional fixation of the limiting member 34 is formed in three perpendicular directions: the axial direction Y, the first direction Z, and the second direction X, thereby improving the limiting effect on the lamp bead 321.

[0073] In some embodiments, such as Figure 9 and Figure 10 As shown, the second snap-fit ​​structure includes a second elastic snap-fit ​​protrusion 342 and a snap-fit ​​hole 314. One of the second elastic snap-fit ​​protrusion 342 and the snap-fit ​​hole 314 is provided on the mounting bracket 31, and the other is provided on the limiting member 34; for example, the second elastic snap-fit ​​protrusion 342 is provided on the limiting member 34, and the snap-fit ​​hole 314 is provided on the mounting bracket 31. The limiting member 34 moves towards the mounting bracket 31 along the first direction Z, so that the second elastic snap-fit ​​protrusion 342 is located in the snap-fit ​​hole 314, so as to at least form a limitation for the limiting member 34 to move away from the mounting bracket 31 along the first direction Z. When the limiting member 34 is assembled with the mounting bracket 31 along the first direction Z, the elastic snap-fit ​​protrusion first undergoes compression or bending deformation, and returns to its original shape after entering the snap-fit ​​hole 314, thus achieving a stable snap-fit. The deformation characteristics of the second elastic snap-fit ​​protrusion 342 mean that the snap-fit ​​process does not require excessive external force. The operator only needs to apply a moderate pushing force to complete the assembly, without the need for tools to knock or forcibly press. The inner wall of the locking hole 314 forms a rigid block against the second elastic locking protrusion 342. When the limiting member 34 attempts to move away from the mounting bracket 31 along the first direction Z, the elastic locking protrusion will fit tightly against the inner wall of the locking hole 314. The locking hole 314 withstands external force through a rigid structure, preventing the limiting member 34 from displacing. It can withstand a large external force, avoid the locking structure from loosening, and ensure the long-term stable connection of the limiting member 34.

[0074] Among them, such as Figure 9 and Figure 10 As shown, the limiting member 34 has two second elastic locking protrusions 342 on the side near the mounting bracket 31 in the axial Y direction, and the mounting bracket 31 has two corresponding locking holes 314. The number and position of the second elastic locking protrusions 342 and locking holes 314 can be adjusted according to the actual structure, and this disclosure does not limit this.

[0075] In some embodiments, such as Figure 9 and Figure 10As shown, the second limiting structure includes a second limiting protrusion 343 and a second limiting groove 315. One of the second limiting protrusion 343 and the second limiting groove 315 is disposed on the limiting member 34, and the other is disposed on the mounting bracket 31. The limiting member 34 moves towards the mounting bracket 31 along the axial direction Y, so that the second limiting protrusion 343 is located in the second limiting groove 315, thereby enabling the limiting member 34 and the mounting bracket 31 to be connected in the second direction X and the axial direction Y. The cooperation between the second limiting protrusion 343 and the second limiting groove 315 is achieved through physical structural interlocking, forming a constraint in the second direction X and the axial direction Y. When the limiting member 34 is assembled with the mounting bracket 31 along the first direction Z, the second limiting protrusion 343 will first contact the opening end of the second limiting groove 315. The inner wall of the second limiting groove 315 guides the second limiting protrusion 343 to slide into the groove along the first direction Z, which can quickly complete the alignment.

[0076] Among them, such as Figure 9 and Figure 10 As shown, the limiting member 34 has second limiting protrusions 343 on both sides of the second direction X, and the mounting bracket 31 has corresponding second limiting grooves 315 on both sides, forming a limiting assembly between the limiting member 34 and the mounting bracket 31 in the second direction X. The extension direction of the second limiting grooves 315 can be the first direction Z. The number and position of the second limiting protrusions 343 and the second limiting grooves 315 can be adjusted according to the actual structure, and this disclosure does not impose any limitations on this.

[0077] In some embodiments, such as Figures 12-14 As shown, a first snap-fit ​​structure and a first limiting structure are provided between the mounting bracket 31 and the limiting member 34. The limiting member 34 is snapped into the mounting bracket 31 along the axial direction Y of the mounting hole 311 through the first snap-fit ​​structure, and is also limited to the mounting bracket 31 in the first direction Z and the second direction X through the first limiting structure. The first direction Z and the second direction X are perpendicular to the axial direction Y. The first direction Z can be the height direction of the mounting bracket 31, and the second direction X can be the width direction of the mounting bracket 31. The combination of the first snap-fit ​​structure and the first limiting structure forms a three-dimensional fixation in three perpendicular directions: the axial direction Y, the first direction Z, and the second direction X, thereby improving the limiting effect on the LED bead 321.

[0078] In some embodiments, such as Figures 12-14As shown, the first snap-fit ​​structure includes a first elastic snap-fit ​​protrusion 341 and a limiting snap-fit ​​protrusion 312. One of the first elastic snap-fit ​​protrusion 341 and the limiting snap-fit ​​protrusion 312 is provided on the mounting bracket 31, and the other is provided on the limiting member 34; for example, the limiting member 34 is provided with the first elastic snap-fit ​​protrusion 341, and the mounting bracket 31 is provided with the limiting snap-fit ​​protrusion 312. The limiting member 34 moves towards the mounting bracket 31 along the axial direction Y, which enables the first elastic snap-fit ​​protrusion 341 and the limiting snap-fit ​​protrusion 312 to snap together, so as to at least form a limitation that prevents the limiting member 34 from moving away from the mounting bracket 31 along the axial direction Y. The snap-fit ​​is achieved by the first elastic snap-fit ​​protrusion 341 and the limiting snap-fit ​​protrusion 312. Only moderate pressure is needed to push the limiting member 34 to complete the snap-fit, without the need for tools, reducing the intensity of the assembly operation. After snap-fit, the first elastic snap-fit ​​protrusion 341 will continuously apply a certain pre-tightening force to the limiting snap-fit ​​protrusion 312. This pre-tightening force ensures that the two are always tightly fitted, avoiding the formation of gaps due to long-term vibration.

[0079] It is understandable that the limiting protrusion 312 can be the limiting hole 314, and the first elastic protrusion 341 can be deformed and located in the limiting hole 314 to realize the engagement between the limiting member 34 and the mounting bracket 31.

[0080] Among them, such as Figure 13 As shown, the limiting protrusion 312 includes a first limiting portion 3121 located in the axial direction Y and a second limiting portion 3122 located below the first limiting portion 3121 (near the side of the circuit board 33) in the first direction Z. The first limiting portion 3121 is used to engage with the first elastic protrusion 341 to limit the movement of the limiting member 34 away from the mounting bracket 31 in the axial direction Y. The second limiting portion 3122 is used to limit the movement of the first elastic protrusion 341 downward in the first direction Z (near the side of the circuit board 33). The first limiting portion 3121 forms the limitation between the limiting protrusion 312 and the first elastic protrusion 341 in the axial direction Y, and the second limiting portion 3122 forms the limitation between the limiting protrusion 312 and the first elastic protrusion 341 in the first direction Z, thus preventing the positional displacement of the limiting member 34 in the first direction Z.

[0081] Among them, such as Figure 14As shown, the limiting member 34 includes a main body 344 and connecting arms 345 connecting both sides of the main body 344, forming an overall U-shaped structure. The main body 344 extends along the second direction X, and the connecting arms 345 on both sides extend along the axial direction Y. Each end of the connecting arms 345 away from the main body 344 may be provided with a first elastic locking protrusion 341, which acts as an elastic arm to adjust the position of the first elastic locking protrusion 341 after being pressed. The mounting bracket 31 is provided with two corresponding limiting locking protrusions 312. The connecting arms 345 on both sides are engaged with the portions of the mounting bracket 31 where the two limiting locking protrusions 312 are located, forming a limiting assembly between the limiting member 34 and the mounting bracket 31 in the second direction X. The number and position of the first elastic locking protrusions 341 and the limiting locking protrusions 312 can be adjusted according to the actual structure, and this disclosure does not impose any limitations on this.

[0082] In some embodiments, such as Figure 13 and Figure 14 As shown, the first limiting structure includes a first limiting protrusion and a first limiting groove 313. One of the first limiting protrusion and the first limiting groove 313 is provided on the limiting member 34, and the other is provided on the mounting bracket 31; for example, the limiting member 34 is provided with a first limiting protrusion, and the mounting bracket is provided with a first limiting groove 313. The limiting member 34 moves towards the mounting bracket 31 along the axial direction Y, so that the first limiting protrusion is located in the first limiting groove 313, thereby enabling the limiting member 34 and the mounting bracket 31 to be connected in the first direction Z and the second direction X. The opening of the first limiting groove 313 faces the axial direction Y and is parallel to the snap-fit ​​direction of the limiting member 34. During the snap-fit ​​process between the limiting member 34 and the mounting bracket, the first limiting protrusion can be located in the first limiting groove 313.

[0083] Among them, such as Figure 14 As shown, the first limiting protrusion is, for example, a part of the limiting member 34, such as the main body 344 of the limiting member 34, rather than a protrusion structure independently provided on the main body. The first limiting groove 313 may be located on the part where the two connecting arms 345 hold the mounting bracket 31, so that the main body 344 of the limiting member 34 can be located in the first limiting groove 313 during the process of the limiting member 34 engaging with the mounting bracket.

[0084] In some embodiments, such as Figure 15 and Figure 16As shown, the LED bead 321 includes an LED bead body 3211 and an LED holder 3212. The LED holder 3212 is located at one end of the LED bead body 3211 connected to the pin 322. The LED holder 3212 protrudes at least partially from the outer peripheral surface of the LED bead body 3211 along the axial direction Y of the LED bead 321. The LED holder 3212 is located outside the mounting hole 311, and at least part of the LED holder 3212 protruding from the outer peripheral surface of the LED bead body 3211 is located between the mounting bracket 31 and the limiting member 34 in the axial direction Y of the mounting hole 311. The mounting bracket 31 and the limiting member 34 clamp the protruding part of the LED holder 3212 in the axial direction Y. The limiting member 34 prevents the LED holder 3212 from moving outward along the axial direction Y through its own structure, and the mounting bracket 31 prevents the LED holder 3212 from moving inward along the axial direction Y. The two cooperate to fix the LED holder 3212 in a preset position in the axial direction Y, thereby fixing the LED bead body 3211.

[0085] It is understandable that the lamp chip body 3211 and the lamp holder 3212 can be a single molded structure, meaning the lamp wick can be directly connected to the pin 322 and encapsulated within the lamp chip body 3211. Alternatively, the lamp wick can be mounted on the lamp holder 3212 and encapsulated within the lamp chip body 3211.

[0086] Among them, such as Figure 16 As shown, a positioning part 3213 is provided on the outer peripheral surface of the lamp holder 3212. The lamp holder 3212 is positioned and assembled with the mounting bracket 31 in the circumferential direction of the lamp bead 321 through the positioning part 3213. The positioning part 3213 can be designed as a plane, protrusion, or groove on the outer peripheral surface of the lamp holder 3212. The corresponding mounting bracket 31 is designed with a matching groove, protrusion, or plane, and the two cooperate to form a circumferential interlock. For example, when the lamp holder 3212 is installed, the plane fits into the plane groove, restricting the rotation of the lamp bead 321 around the Y-axis. The matching structure of the positioning part 3213 and the mounting bracket 31 can serve as an assembly guide. By simply aligning the positioning part 3213 of the lamp holder 3212 with the matching structure of the mounting bracket 31, the circumferential positioning of the lamp bead 321 can be quickly completed without repeatedly adjusting the angle of the lamp bead 321, thus improving assembly efficiency.

[0087] In some embodiments, in the axial Y direction of the mounting hole 311, the limiting member 34 abuts against one end of the connecting pin 322 of the lamp bead 321, or the gap between the limiting member 34 and one end of the connecting pin 322 of the lamp bead 321 is less than 3mm, for example, less than 3mm, 2.5mm, 2mm, 1.5mm, 1mm, 0.5mm, etc. When the gap between the limiting member 34 and the lamp bead 321 is less than 3mm, the axial Y movement range of the lamp bead 321 is compressed to a minimum (≤3mm), significantly reducing the wobbling amplitude of the lamp bead 321. Even if the module is subjected to severe vibration, the axial Y displacement of the lamp bead 321 is limited to a safe range. When the limiting member 34 abuts against the lamp bead 321, the lamp bead 321 has no room to move in the axial Y direction, thus achieving fixation to ensure the accuracy of the optical axis.

[0088] In some embodiments, such as Figure 11 As shown, the mounting bracket 31 is provided with a third limiting groove 316. The pin 322 passes through the third limiting groove 316 along the first direction Z. The third limiting groove 316 limits the pin 322 in the second direction X. The first direction Z, the second direction X, and the axial direction Y of the mounting hole 311 are perpendicular to each other. The third limiting groove 316 extends through the first direction Z. After the pin 322 passes through the third limiting groove 316, the two side walls of the third limiting groove 316 constrain the pin 322, limiting the displacement of the pin 322 in the second direction X. In addition, during the assembly process, the third limiting groove 316 can serve as a mounting guide structure for the pin 322. The worker only needs to insert the pin 322 into the groove along the first direction Z to quickly position it to the welding position without repeatedly adjusting the angle of the pin 322.

[0089] When the lamp bead 321 includes multiple pins 322, multiple third limiting slots 316 can be correspondingly provided on the mounting bracket 31 so that each third limiting slot 316 is provided with a pin 322.

[0090] In some embodiments, such as Figure 6 and Figure 7 As shown, the circuit board 33 and mounting bracket 31 are positioned and assembled, and are detachably connected. Detachable connections (such as screw connections or snap-fit ​​connections) simplify operation and improve assembly efficiency. The positioning structure provides a clear alignment reference for the assembly of the circuit board 33, enabling rapid assembly. Precise positioning ensures that the pins 322 of the LED bead 321 maintain good contact with the pads on the circuit board 33, preventing poor contact between the pins 322 and the pads due to misalignment of the circuit board 33, thus ensuring reliable electrical connections.

[0091] The mounting bracket 31 may be provided with multiple positioning posts 317 at its bottom, and the circuit board 33 may be provided with multiple positioning holes 331. The circuit board 33 and the mounting bracket 31 can be positioned and connected through the positioning posts 317 and the positioning holes 331.

[0092] The bottom of the mounting bracket 31 may be provided with screw holes. After the circuit board 33 is positioned and connected to the mounting bracket 31, for example, after the positioning post 317 is located in the positioning hole 331, the circuit board 33 is then fixedly connected to the mounting bracket 31 by screws 35.

[0093] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A pile searching module, characterized in that, include: Mounting bracket (31), wherein at least one mounting hole (311) is formed on the mounting bracket (31); At least one signal light (32) is disposed in the mounting hole (311); A limiting member (34) is provided on the mounting bracket (31) and is at least partially located at one end of the signal light (32) to limit the exit of the signal light (32) from the mounting hole (311).

2. The staking module of claim 1, wherein, The pile-finding module (30) also includes: Circuit board (33), the signal light (32) is electrically connected to the circuit board (33).

3. The pile-finding module according to claim 2, characterized in that, The signal light (32) includes an LED (321) and a pin (322). The LED (321) is disposed in the mounting hole (311) and is electrically connected to the circuit board (33) through the pin (322). At least a portion of the limiting member (34) is located at the end of the LED (321) connected to the pin (322) to limit the LED (321) from exiting the mounting hole (311).

4. The pile-finding module according to claim 3, characterized in that, The pin (322) includes a first bent segment (3221) and a second bent segment (3222). The first bent segment (3221) connects the LED bead (321) and the second bent segment (3222). The second bent segment (3222) connects the first bent segment (3221) and the circuit board (33). The extension directions of the first bent segment (3221) and the second bent segment (3222) intersect.

5. The pile-finding module according to claim 4, characterized in that, The circuit board (33) is parallel to the axial direction (Y) of the mounting hole (311); the first bent segment (3221) extends along the axial direction (Y), and the second bent segment (3222) extends along the first direction (Z), which is perpendicular to the axial direction (Y).

6. The pile-finding module according to claim 1, characterized in that, The mounting bracket (31) has a plurality of mounting holes (311), and the pile-finding module (30) includes a plurality of signal lights (32), which are respectively disposed in the plurality of mounting holes (311); the limiting member (34) has portions located at one end of the plurality of signal lights (32) to limit the retraction of the plurality of signal lights (32) from the mounting holes (311).

7. The pile-finding module according to claim 1, characterized in that, The limiting member (34) is detachably connected to the mounting bracket (31).

8. The pile-finding module according to claim 7, characterized in that, The limiting member (34) is engaged with the mounting bracket (31).

9. The pile-finding module according to claim 8, characterized in that, A first snap-fit ​​structure and a first limiting structure are provided between the mounting bracket (31) and the limiting member (34). The limiting member (34) is snap-fitted to the mounting bracket (31) along the axial direction (Y) of the mounting hole (311) through the first snap-fit ​​structure, and is limitedly connected to the mounting bracket (31) in the first direction (Z) and the second direction (X) through the first limiting structure. The first direction (Z) and the second direction (X) are perpendicular to the axial direction (Y).

10. The pile-finding module according to claim 9, characterized in that, The first snap-fit ​​structure includes a first elastic snap-fit ​​protrusion (341) and a limiting snap-fit ​​protrusion (312). One of the first elastic snap-fit ​​protrusion (341) and the limiting snap-fit ​​protrusion (312) is disposed on the mounting bracket (31), and the other is disposed on the limiting member (34). The limiting member (34) moves towards the mounting bracket (31) along the axial direction (Y) so that the first elastic snap-fit ​​protrusion (341) and the limiting snap-fit ​​protrusion (312) snap together, thereby at least forming a limitation that restricts the movement of the limiting member (34) away from the mounting bracket (31) along the axial direction (Y).

11. The pile-finding module according to claim 10, characterized in that, The limiting protrusion (312) includes a first limiting portion (3121) located on the axial direction (Y) and a second limiting portion (3122) located below the first limiting portion (3121) along the first direction (Z). The first limiting portion (3121) is used to engage with the first elastic protrusion (341) to limit the movement of the limiting member (34) away from the mounting bracket (31) along the axial direction (Y). The second limiting portion (3122) is used to limit the first elastic protrusion (341) to move downward along the first direction (Z).

12. The pile-finding module according to claim 9, characterized in that, The first limiting structure includes a first limiting protrusion and a first limiting groove (313). One of the first limiting protrusion and the first limiting groove (313) is disposed on the limiting member (34), and the other is disposed on the mounting bracket (31). The limiting member (34) moves towards the mounting bracket (31) along the axial direction (Y) so that the first limiting protrusion is located in the first limiting groove (313), so that the limiting member (34) and the mounting bracket (31) are connected in the first direction (Z) and the second direction (X) for upper limit connection.

13. The pile-finding module according to claim 8, characterized in that, A second snap-fit ​​structure and a second limiting structure are provided between the mounting bracket (31) and the limiting member (34). The limiting member (34) is snap-fitted to the mounting bracket (31) along the first direction (Z) through the second snap-fit ​​structure, and is connected to the mounting bracket (31) in the second direction (X) and the axial direction (Y) of the mounting hole (311) through the second limiting structure. The first direction (Z), the second direction (X) and the axial direction (Y) are perpendicular to each other.

14. The pile-finding module according to claim 13, characterized in that, The second snap-fit ​​structure includes a second elastic snap-fit ​​protrusion (342) and a snap-fit ​​hole (314). One of the second elastic snap-fit ​​protrusion (342) and the snap-fit ​​hole (314) is provided on the mounting bracket (31), and the other is provided on the limiting member (34). The limiting member (34) moves towards the mounting bracket (31) along the first direction (Z) so that the second elastic snap-fit ​​protrusion (342) is located in the snap-fit ​​hole (314), so as to at least form a limitation on the movement of the limiting member (34) away from the mounting bracket (31) along the first direction (Z).

15. The pile-finding module according to claim 13, characterized in that, The second limiting structure includes a second limiting protrusion (343) and a second limiting groove (315). One of the second limiting protrusion (343) and the second limiting groove (315) is disposed on the limiting member (34), and the other is disposed on the mounting bracket (31). The limiting member (34) moves towards the mounting bracket (31) along the axial direction (Y) so that the second limiting protrusion (343) is located in the second limiting groove (315), so that the limiting member (34) and the mounting bracket (31) are connected in the second direction (X) and the axial direction (Y).

16. The pile-finding module according to claim 3, characterized in that, The mounting bracket (31) is provided with a third limiting groove (316), and the pin (322) passes through the third limiting groove (316) along the first direction (Z). The third limiting groove (316) forms a limit on the pin (322) in the second direction (X). The first direction (Z), the second direction (X) and the axial direction (Y) of the mounting hole (311) are perpendicular to each other.

17. The pile-finding module according to claim 3, characterized in that, The lamp bead (321) includes a lamp bead body (3211) and a lamp holder (3212). The lamp holder (3212) is located at one end of the lamp bead body (3211) that connects to the pin (322). The lamp holder (3212) protrudes at least partially from the outer peripheral surface of the lamp bead body (3211) along the axial direction (Y) of the lamp bead (321). The lamp holder (3212) is located outside the mounting hole (311), and at least a portion of the lamp holder (3212) protruding from the outer peripheral surface of the lamp bead body (3211) is located between the mounting bracket (31) and the limiting member (34) along the axial direction (Y) of the mounting hole (311).

18. The pile-finding module according to claim 17, characterized in that, The lamp holder (3212) is provided with a positioning part (3213) on its outer peripheral surface. The lamp holder (3212) is positioned and assembled with the mounting bracket (31) on the upper circumference of the lamp bead (321) through the positioning part (3213).

19. The pile-finding module according to claim 3, characterized in that, In the axial direction (Y) of the mounting hole (311), the limiting member (34) abuts against one end of the lamp bead (321) connected to the pin (322), or the gap between the limiting member (34) and one end of the lamp bead (321) connected to the pin (322) is less than 3mm.

20. The pile-finding module according to claim 2, characterized in that, The circuit board (33) is positioned and assembled with the mounting bracket (31) and can be detachably connected.

21. The pile-finding module according to claim 1, characterized in that, The mounting frame (31) has a plurality of mounting holes (311), and the pile-finding module (30) includes a plurality of signal lights (32), which are respectively disposed in the plurality of mounting holes (311); the pile-finding module (30) includes a plurality of limiting members (34), each limiting member (34) is connected to the mounting frame (31) and is respectively disposed in correspondence with the plurality of signal lights (32), and each limiting member (34) has a portion located at one end of the corresponding signal light (32) to limit the plurality of signal lights (32) from exiting the mounting holes (311).

22. A pile body, characterized in that, Includes the pile-finding module (30) as described in any one of claims 1 to 21.

23. A cleaning system, characterized in that, include: Cleaning equipment (20); The pile body (10) of claim 22 is used for docking with the cleaning equipment (20).

24. The cleaning system according to claim 23, characterized in that, The cleaning device (20) is a self-propelled cleaning device. The cleaning device (20) includes a pile return module (22), which is used to interact with the pile search module (30) to assist the cleaning device (20) in docking with the pile body (10).

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