LIDAR SYSTEM, CLEANING DEVICE AND CLEANING SYSTEM

Abstract

The present invention relates to a lidar assembly comprising a lidar housing, a lidar body, and a first sealing element. A receiving space is provided in the lidar housing, and an opening is made on one of the upper sides of the lidar housing. The lidar body passes through the opening so that it can be lifted in the up-down direction, and at least a portion of the lidar body is located within the receiving space. The first sealing element is arranged at the opening and extends in a circumferential direction around the opening, and an edge of the first sealing element is in contact with an outer peripheral surface of the lidar body. (See Figure 2 for abbreviations.)

Description

Title of the invention: LIDAR ASSEMBLY, CLEANING DEVICE AND CLEANING SYSTEM technical field

[0001] The present invention relates to the field of cleaning device technology, and in particular a lidar assembly, a cleaning device and a cleaning system. Technological background

[0002] Intelligent cleaning devices are increasingly used in everyday life and in industry. A growing number of users are turning to these intelligent cleaning devices to replace manual cleaning operations on various surfaces to be cleaned both indoors and outdoors.

[0003] With the continuous development of technologies, improving the reliability and stability of a lidar assembly is a research topic in the industry. However, in the prior art, dust and foreign matter can easily penetrate the interior of a lidar body during a lifting and lowering operation, resulting in low reliability of the lidar body. Summary of the present invention

[0004] In order to solve the aforementioned technical problems, the present invention relates to a lidar assembly, a cleaning device and a high-reliability cleaning system.

[0005] The present invention is implemented by the following technical solutions.

[0006] A first aspect of the present invention relates to a lidar assembly comprising: - a lidar housing, in which a receiving space is provided and an opening is made on an upper face of the lidar housing; - a lidar body that can be lifted and configured to be raised by passing through said opening in a vertical direction, at least part of the lidar body being located in the receiving space; and - a first sealing element arranged at the opening and extending in a circumferential direction of the opening, an edge of the first sealing element being in contact with an external peripheral surface of the lidar body.

[0007] In one embodiment, the lidar body comprises a light-transmitting cover, a laser emission unit and a laser reception unit, the laser emission unit and the laser reception unit being located in the light-transmitting cover; the first sealing element is an elastic element, one edge of the first sealing element being in contact and with a tight fit with an external peripheral surface of the light-transmitting cover; and / or The first sealing element is an annular sealing element extending around an outer periphery of the light-transmitting cover, an inner edge of the first sealing element being in contact with a tight fit with the outer peripheral surface of the light-transmitting cover.

[0008] In one embodiment, the first sealing element is inclined downwards with respect to a horizontal plane on which the opening is located, in a direction going from the side of the first sealing element in contact with the outer peripheral surface of the lidar body towards the side of the first sealing element opposite the lidar body.

[0009] In one embodiment, the angle of inclination of the first sealing element is greater than or equal to 10° and less than or equal to 20°.

[0010] In one embodiment, the first sealing element and the lidar housing are formed in a single element; and / or the lidar housing includes a top housing wall provided with the opening; the lidar body includes a base, and the lidar body is supported by the base; the lidar assembly further includes a second sealing element, the second sealing element being arranged on the base and extending in a circumferential direction from the lidar body; when the lidar body is in an upright state, the second sealing element is in tight contact with an inner wall surface of the upper wall of the housing.

[0011] In one embodiment, the lidar assembly further includes a drive device comprising a drive motor and a connecting rod mechanism, the connecting rod mechanism being connected separately to the lidar body and the drive motor, such that the drive motor actuates the raising and lowering of the lidar body by driving the connecting rod mechanism.

[0012] In one embodiment, a portion of an outer peripheral surface of the lidar housing is open to form a distance sensing window, at least a portion of the lidar body being in a position corresponding to the position of the distance sensing window when the lidar body is in a lowered state; and / or The lidar body comprises the light-transmitting cover and a top cap covering the upper face of the light-transmitting cover, a portion of the top cap extending beyond the outer peripheral surface of the light-transmitting cover to form a protruding part, and when the body lidar is in a lowered state, the protruding part is engaged in the first sealing element.

[0013] In one embodiment, an internal peripheral wall of the distance detection window is covered with a light-absorbing layer

[0014] A second aspect of the present invention relates to a cleaning device, comprising a housing and the lidar assembly according to the first aspect of the present invention, in which the lidar assembly is arranged on the housing.

[0015] A third aspect of the present invention relates to a cleaning system, comprising a cleaning base station and the cleaning device according to the second aspect of the present invention.

[0016] Embodiments of the present invention relate to a lidar assembly, comprising a lidar housing, a lidar body, and a first sealing element. A receiving space is formed in the lidar housing, and an opening is formed on one of the upper sides of the lidar housing. The lidar body passes through the opening so that it can be lifted in the up-down direction, and at least a portion of the lidar body is located within the receiving space. The first sealing element is arranged at the opening and extends in a circumferential direction around the opening, and an edge of the first sealing element is in contact with an outer peripheral surface of the lidar body.On the one hand, the lidar body can be lifted through the lidar housing opening and can detect in areas with lowered ceilings, thus increasing the lidar assembly's application range and allowing it to be adapted to a wider variety of environments and scenarios. On the other hand, thanks to the placement of the first sealing element in the circumferential direction of the lidar housing opening, the possibility of impurities such as dust and foreign matter entering the lidar body can be effectively reduced, thereby helping to protect the sensitive optical and electronic assemblies inside, reducing performance degradation and failures caused by contamination, and making the lidar assembly more reliable and stable. Brief description of the figures

[0017] [Fig-1] is a schematic view of a lidar assembly in the raised state according to an embodiment of the present invention, where the first sealing element is not shown;

[0018] [Fig.2] is a cross-sectional view of the lidar assembly of [Fig.1];

[0019] [Fig.3] is a cross-sectional view of the lidar assembly of [Fig.1] from another point of view ;

[0020] [Fig.4] is a schematic view of some components of the lidar assembly of the [Fig.l];

[0021] [Fig.5] is a schematic view of a lidar assembly in a lowered state according to a mode of realization of the present invention;

[0022] [Fig.6] is a cross-sectional view of the lidar assembly of [Fig.5]; and

[0023] [Fig.7] is a schematic view of a lidar assembly from another point of view according to a embodiment of the present invention.

[0024] Numerical references: 10, lidar housing; 10a, opening; 10b, distance sensing window; 11, upper wall of the housing; 20, lidar body; 21, light-transmitting cover; 22, upper cap; 30, first sealing element; 40, second sealing element; 50, drive device; 51, drive motor; 52, connecting rod mechanism; 521, first connecting rod; 522, second connecting rod; 523, first support connecting rod; 524, second support connecting rod. Description of examples of achievements

[0025] Embodiments of the technical solutions of the present invention will be described in detail below with reference to Figures 1 to 7. The following embodiments serve only to illustrate more clearly the technical solutions of the present invention and are therefore given only by way of example, but are not intended to limit the scope of protection of the present invention.

[0026] Unless otherwise defined, all technical and scientific terms used herein shall have the same meaning as that commonly understood by persons skilled in the art to which the present invention relates. The terms used herein serve only to illustrate specific embodiments and are not intended to limit the present invention. The terms "include," "have," and any variations thereof in the present invention are intended to be inclusive and non-exclusive.

[0027] In the description of embodiments of this document, the technical terms "first," "second," "third," and others are used solely to distinguish different objects and shall not be interpreted as indicating or implying the relative importance or implicitly indicating the number, specific order, or primary and secondary relationship of the technical features indicated. In the description of embodiments of the present invention, unless otherwise clearly and specifically defined, the term "plurality" refers to two or more.

[0028] The reference to an "implementation" means that a specific function, structure, or feature described in the embodiments may be included in at least one embodiment of the present invention. The expression, as used in various contexts of the specification, does not necessarily refer to the same embodiment, nor to an independent or alternative embodiment that is mutually exclusive of the others. achievements. Those skilled in the art will explicitly and implicitly appreciate that the embodiments described here can be combined with other embodiments.

[0029] In the description of embodiments of the present invention, the term "and / or" simply denotes an association relationship between associated objects, indicating that three possible relationships may exist. For example, "A and / or B" may indicate: the presence of A alone, the simultaneous presence of A and B, and the presence of B alone. Furthermore, the character " / " generally indicates an "or" relationship between the associated objects before and after.

[0030] In the description of embodiments of the present invention, the orientation or position relationships indicated by the technical terms "up", "down", and others, are those shown on the basis of [Fig. 1]. They are simply intended to facilitate and simplify the description of embodiments of the present invention rather than to indicate or imply that the indicated apparatus or element must comprise a specific direction and be structured and operated according to that specific direction, and shall not be interpreted as limiting the embodiments of the present invention.

[0031] In the description of embodiments of the present invention, unless otherwise clearly indicated and defined, the technical terms "mount," "interconnect," "connect," and "fix" shall be interpreted broadly. For example, they may refer to a fixed connection, a detachable connection, or an integrated connection; or a mechanical connection or an electrical connection; or a direct connection, an indirect connection via an intermediary, or an internal communication between two elements or an interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in embodiments of the present invention may be interpreted under specific conditions.

[0032] In the description of embodiments of the present invention, unless otherwise clearly indicated and defined, the technical term "contact" shall be interpreted broadly and may be direct contact, contact via an intermediate layer, contact without interaction force between the two elements in contact or contact with an interaction force between the two elements in contact.

[0033] One embodiment of the present invention relates to a lidar assembly. With reference to Figures 1 to 7, the lidar assembly comprises a lidar housing 10, a lidar body 20 and a first sealing element 30.

[0034] A receiving space is provided in the lidar housing 10, and an opening 10a is made on an upper side of the lidar housing 10.

[0035] The lidar body 20 can be lifted by passing through the opening 10a in the up-down direction illustrated in [Fig. 1], and at least part of the lidar body 20 is arranged in the receiving space.

[0036] The first sealing element 30 is arranged at the opening 10a and extends in a circumferential direction of the opening 10a, and an edge of the first sealing element 30 is in contact with an external peripheral surface of the lidar body 20.

[0037] Another embodiment of the present invention relates to a cleaning device. The cleaning device comprises a housing and the lidar assembly according to any one of the embodiments of the present invention, and the lidar assembly is arranged on the housing.

[0038] Another embodiment of the present invention relates to a cleaning system. The cleaning system comprises a cleaning base station and the cleaning apparatus according to any one of the embodiments of the present invention. The cleaning system can therefore provide efficient and automated cleaning services and improve the efficiency and quality of cleaning work.

[0039] More specifically, the lidar assembly according to the embodiments of the present invention is arranged in the cleaning device, and the cleaning device forms part of the cleaning system. The type of cleaning system is not limited. For ease of description, the cleaning system is described as a cleaning robot in this document.

[0040] The lidar assembly can provide accurate environmental sensing capability for the cleaning device, and help the cleaning device to navigate and position itself effectively in the workspace, so that the cleaning device can avoid obstacles and perform cleaning tasks with improved efficiency and safety.

[0041] In particular, the position in which the lidar assembly is arranged on the housing of the cleaning device is not limited. In some embodiments, the lidar assembly is arranged on a front, top, or side part of the housing.

[0042] The number of lidars arranged on the cleaning device is also unlimited. In some cases, the number of lidars is greater than or equal to one. Arranging a plurality of lidar arrays ensures complete environmental detection.

[0043] The cleaning base station is a static part of the cleaning system and is generally used as a charging, maintenance and storage center for the cleaning device.

[0044] In other embodiments, the cleaning base station also includes a programming and control function.

[0045] More specifically, the receiving space refers to the space inside the lidar housing 10 and can be configured to accommodate the lidar body 20 and other structures.

[0046] The opening 10a is made on the upper side of the lidar housing 10, and the formation of the opening 10a allows the lidar body 20 to move in the up-down direction.

[0047] The shape of the opening 10a is not limited, as long as the lidar body 20 can pass through it.

[0048] The material of the lidar 10 housing is not limited. In some embodiments, the lidar 10 housing is made of plastic.

[0049] It should be noted that the up-down direction of the lidar body 20 refers to the up-down direction when the cleaning device is in an operating state, and is in fact a direction perpendicular to the cross-section of the opening 10a.

[0050] The fact that at least a part of the lidar body 20 is located in the receiving space means that some of the regions of the lidar body 20 may be located in the receiving space, or that all the regions of the lidar body may be located in the receiving space.

[0051] The first sealing element 30 is arranged at the opening 10a, and the method of forming the first sealing element 30 and the opening 10a is not limited.

[0052] In some embodiments, the first sealing element 30 and the lidar housing 10 are separate structural elements, and the first sealing element 30 is embedded in an edge of the opening 10a of the lidar housing 10 and is formed with the opening 10a by incorporation.

[0053] In other embodiments, the first sealing element 30 and the lidar housing 10 are formed as a single structural element, thereby reducing the assembly steps of the first sealing element 30 and thus improving production efficiency and profitability. For example, the first sealing element 30 and the opening 10a of the lidar housing 10 are formed by two-stage molding.

[0054] One embodiment of the present invention relates to a lidar assembly, comprising a lidar housing 10, a lidar body 20, and a first sealing element 30. A receiving space is provided in the lidar housing 10, and an opening 10a is made on an upper side of the lidar housing 10. The lidar body 20 can be lifted by passing through the opening 10a in an up-down direction, and at least a portion of the lidar body 20 is located in the receiving space. The first sealing element 30 is arranged at the opening 10a and extends along the first direction of the opening 10a, and an edge of the first sealing element 30 is in contact with an outer peripheral surface of the lidar body 20. On the one hand, the lidar body 20 can be lifted by passing through the opening 10a of the lidar housing 10, it can detect a space with a lowered ceiling, thus increasing the application range of the lidar assembly and allowing it to be adapted to a greater number of different environments and scenarios. Furthermore, thanks to the arrangement of the first sealing element 30 in the circumferential direction of the opening 10a of the lidar housing 10, the possibility of impurities such as dust and foreign matter entering the lidar body 20 can be effectively reduced, thus helping to protect the sensitive optical and electronic assemblies inside, reducing performance degradation and failures caused by contamination, and making the lidar assembly more reliable and stable.

[0055] In one embodiment, with reference to Figures 1, 2 and 3, the lidar body 20 comprises a light-transmitting cover 21, a laser emitting unit and a laser receiving unit, the laser emitting unit and the laser receiving unit being arranged in the light-transmitting cover 21.

[0056] The first sealing element 30 is an elastic element, and an edge of the first sealing element 30 is in contact and tightly fitted with an outer peripheral surface of the light-transmitting cover 21. Therefore, on the one hand, thanks to the tight fit between the first sealing element 30 and the light-transmitting cover 21, it is possible to ensure a seal against finer particles, effectively preventing dust and foreign bodies from entering the lidar body 20. On the other hand, by configuring the first sealing element 30 as an elastic element, vibrations and shocks can be absorbed to a certain extent, which reduces damage to the lidar body 20 and thus makes the lidar assembly more reliable.

[0057] More specifically, the light-transmitting cover 21 is configured to protect the lidar body 20 and allow the passage of at least a portion of a laser beam.

[0058] The material of the light-transmitting cover 21 is not limited, as long as the light-transmitting cover can transmit a laser beam. In some embodiments, the light-transmitting cover 21 is made of a resin material.

[0059] The laser emission unit is an assembly in the body of lidar 20 configured to emit a laser beam.

[0060] The laser receiving unit is an assembly in the lidar body 20 configured to receive a reflected laser beam.

[0061] The material of the first sealing element 30 is not limited, as long as the first sealing element 30 is an elastic element. In some cases, the first sealing element 30 is made of a flexible rubber material.

[0062] In one embodiment, with reference to [Fig.4], the lidar body 20 comprises a light-transmitting cover 21, a laser emitting unit and a laser receiving unit, and the laser emitting unit and the laser receiving unit are located in the light-transmitting cover 21.

[0063] The first sealing element 30 is an annular sealing element that extends around an outer periphery of the light transmission cover 21, and an inner edge of the first sealing element 30 is in contact and with a tight fit with the outer peripheral surface of the light transmission cover 21. Therefore, the sealing performance of the lidar assembly can be further improved, which helps to reduce damage caused by environmental factors to the internal assemblies of a lidar.

[0064] More specifically, the inner edge of the first annular sealing element 30 is in contact and tightly fitted with the outer peripheral surface of the light-transmitting cover 21, and an outer edge of the first annular sealing element 30 is integral with the opening 10a of the lidar housing 10. When the lidar body 20 is raised and lowered relative to the opening 10a of the lidar housing 10 in the up-down direction, the outer peripheral surface of the light-transmitting cover 21 actuates the inner edge of the first sealing element 30 so that it moves to a certain extent in the direction of movement of the lidar body 20. Consequently, the first sealing element 30 can scrape the light-transmitting cover 21 and still maintain an effective seal with the lidar body 20 during the lifting or lowering operations of the lidar body 20.

[0065] In one embodiment, with reference to [Fig.4], the first sealing element 30 is inclined downwards with respect to a horizontal plane on which the opening 10a is located in a direction going from the side of the first sealing element 30 in contact with the outer peripheral surface of the lidar body 20 towards the side of the first sealing element 30 facing the distal part of the lidar body 20.

[0066] In other words, the side of the first sealing element 30 in contact with the outer peripheral surface of the lidar body 20 is higher, while the other side of the first sealing element 30 (i.e., the side of the first sealing element 30 distal to the lidar body 20) is lower, thus forming a downward-sloping surface. Consequently, thanks to the inclined arrangement of the first sealing element 30, foreign bodies can easily slide off when they fall onto the first sealing element 30, thereby preventing foreign bodies such as dust and moisture from entering when the lidar body 20 moves, and further improving the sealing performance of the lidar body 20.

[0067] More specifically, the angle of inclination of the first sealing element 30 is not limited.

[0068] In some cases, the angle of inclination of the first sealing element 30 is greater than or equal to 10° and less than or equal to 20°. In some embodiments, the angle of inclination of the first sealing element 30 is 10°, 15°, or 20°. Consequently, on the one hand, it is possible to prevent the sealing effect from being weakened due to an excessive angle of inclination and, on the other hand, it is possible to prevent foreign bodies such as dust and moisture from accumulating on the first sealing element 30 due to an insufficient angle of inclination.

[0069] In one embodiment, with reference to Figures 1, 2, 5, 6, and 7, the lidar housing 10 comprises an upper housing wall 11 having an opening 10a. The lidar body 20 comprises a base, and the lidar body 20 is supported by the base. The lidar assembly further comprises a second sealing element 40, and the second sealing element 40 is arranged on the base and extends in a circumferential direction around the lidar body 20.

[0070] When the lidar body 20 is in a raised state, the second sealing element 40 is in tight contact with an inner wall surface of the upper wall of the housing 11. Therefore, the second sealing element 40 is in contact with the inner wall surface of the upper wall of the housing 11 when the lidar body 20 is raised, so as to ensure the sealing of the lidar assembly and to prevent dust and moisture from entering, thus further improving the reliability of the lidar assembly.

[0071] More specifically, the upper wall of the housing 11 refers to the upper part of the lidar housing 10, on which an opening 10a is provided, so that the lidar body 20 can be raised or lowered.

[0072] The base is a support structure for the lidar body 20.

[0073] The second sealing element 40 is arranged on the base. When the lidar body 20 is lifted, the second sealing element 40 of the base is in tight contact with the surface of the inner wall of the upper wall of the housing 11 in order to prevent foreign bodies such as dust and moisture from entering the lidar body 20.

[0074] The material of the second sealing element 40 is not limited, as long as the second sealing element can fit the surface of the inner wall of the upper wall of the housing 11 to seal the lidar body 20. In some cases, the second sealing element 40 is an elastic element.

[0075] In one embodiment, with reference to Figures 2 and 6, the lidar assembly further comprises a drive device 50, where the drive device 50 comprises a drive motor 51 and a connecting rod mechanism, and the connecting rod mechanism is connected separately to the lidar body 20 and the drive motor 51, so that the drive motor 51 actuates the raising and lowering of the lidar body 20 by driving the connecting rod mechanism. Therefore, through the cooperation of the drive motor 51 and the connecting rod mechanism, the lidar body 20 can be raised through the opening 10a of the lidar housing 10 and can scan a space with a lowered ceiling, thus increasing the application range of the lidar system and allowing the lidar system to be adapted to a greater number of different environments and scenarios.

[0076] More specifically, the linkage mechanism comprises a first linkage 521, a second linkage 522, a first support linkage 523, and a second support linkage 524. One end of the first support linkage 523 is connected to the base, the other end of the first support linkage is connected to the second support linkage 524, and the other end of the second support linkage 524 is connected to the lidar housing 10. The point of connection between the first support linkage 523 and the second support linkage 524 is a pivot point, and changing the position of the pivot point changes the included angle formed by the first support linkage 523 and the second support linkage 524, thus causing the lidar body 20 to be raised and lowered.

[0077] One end of the first connecting rod 521 is connected to the drive motor 51, and the other end is connected to the second connecting rod 522. The other end of the second connecting rod 522 is connected via a pivot joint to the pivot point. When the drive motor 51 is started and drives the first connecting rod 521, the first connecting rod 521 transmits power to the second connecting rod 522, which in turn causes the pivot point to change position, thus raising and lowering the lidar body 20.

[0078] In one embodiment, with reference to Figures 4 and 5, a portion of an outer peripheral surface of the lidar housing 10 is opened to form a distance detection window 10b.

[0079] When the lidar body 20 is in a lowered state, at least a part of the lidar body 20 is located facing the position of the distance detection window 10b. Therefore, by opening a part of the outer peripheral surface of the lidar housing 10 to form the distance detection window 10b, a laser beam can exit or enter through the distance detection window 10b when the lidar body 20 is in the lowered state, so that the lidar body 20 can adapt to different measurement requirements and environmental conditions.

[0080] More specifically, the distance sensing window 10b is the opening 10a on the lidar housing 10, and at least a part of the lidar body 20 corresponding to the position of the distance sensing window 10b refers to the fact that the window distance detection 10b allows the lidar body 20 to emit and receive a laser beam, in order to facilitate distance measurement of the lidar body 20.

[0081] In some embodiments, the position and size of the distance detection window 10b can be fixed, and the distance detection window 10b can be formed integrally with the lidar housing 10.

[0082] In other cases, the size or position of the distance detection window 10b can be adjusted to suit different measurement requirements or environmental conditions.

[0083] In one embodiment, with reference to Figures 1 and 2, the lidar body 20 comprises the light transmission cover 21 and an upper cap 22 covering an upper side of the light transmission cover 21, a portion of the upper cap 22 protrudes from the outer peripheral surface of the light transmission cover 21 to form a protruding part, and when the lidar body 20 is in the lowered state, the protruding part is engaged in the first sealing element 30. Consequently, it is possible to further prevent dust and foreign bodies from entering the lidar body 20.

[0084] More specifically, the upper cap 22 is mounted on an upper portion of the light-transmitting cover 21, and a portion of the upper cap 22 extends beyond a peripheral edge of the light-transmitting cover 21, thus forming a protruding portion. When the lidar body 20 is lowered, the protruding portion and the first sealing element 30 are fixed to each other and are in tight contact with each other.

[0085] It should be noted that the protruding portion is an area of ​​the outer edge of the upper cap 22 in a circumferential direction. Depending on the actual situation, a portion of the upper cap 22 may protrude in the circumferential direction to form the protruding portion. In some embodiments, the entire area of ​​the upper cap 22 may protrude in the circumferential direction to form the protruding portion, and the protruding portion may include an annular structure for improved sealing with the first sealing element 30.

[0086] In one embodiment, an inner peripheral wall of the distance detection window 10b is coated with a light-absorbing layer. Therefore, by applying a light-absorbing layer, the light-absorbing layer can absorb a laser reflected from the inner peripheral wall of the distance detection window 10b, thus reducing the interference of the light reflected from the distance detection window 10b with the lidar body 20, and improving the measurement accuracy of the lidar body 20.

[0087] In particular, the material of the light-absorbing layer is not limited, as long as the light reflected or scattered by the housing can be reduced or eliminated.

[0088] The above examples are intended solely to illustrate the technical solutions of the present invention, but not to limit them. Although the present invention has been described in detail with reference to previous embodiments, those skilled in the art will understand that they can still modify the technical solutions described in the previous embodiments, or make equivalent substitutions for all or part of the technical features. However, such modifications or substitutions do not deviate from the essence of the corresponding technical solutions within the scope of the technical solutions in the embodiments of the present invention, and fall within the scope of the present invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict.

Claims

Demands

1. Lidar assembly, comprising: - a lidar housing (10), in which a receiving space is provided and an opening (10a) is made on a top face of the lidar housing (10); - a lidar body (20) configured to be lifted by passing through said opening (10a) in a vertical direction, at least a part of the lidar body (20) being located in the receiving space; and - a first sealing element (30) arranged at the opening (10a) and extending in a circumferential direction of the opening, an edge of the first sealing element (30) being in contact with an outer peripheral surface of the lidar body (20).

2. Lidar assembly according to claim 1, wherein the lidar body (20) comprises a light-transmitting cover (21), a laser emitting unit and a laser receiving unit, the laser emitting unit and the laser receiving unit being located in the light-transmitting cover (21); the first sealing element (30) is an elastic element, an edge of the first sealing element being in contact and with a tight fit with an outer peripheral surface of the light-transmitting cover (21); and / or the first sealing element (30) is an annular sealing element extending around an outer periphery of the light-transmitting cover (21), an inner edge of the first sealing element (30) being in contact with a tight fit with the outer peripheral surface of the light-transmitting cover (21).

3. Lidar assembly according to claim 1, wherein the first sealing element (30) is inclined downwards with respect to a horizontal plane on which the opening (10a) is located, in a direction going from the side of the first sealing element (30) in contact with the outer peripheral surface of the lidar body (20) to the side of the first sealing element (30) opposite the lidar body (20).

4. Lidar assembly according to claim 3, wherein an inclination angle of the first sealing element (30) is greater than or equal to 10° and less than or equal to 20°.

5. Lidar assembly according to any one of claims 1 to 4, wherein the first sealing element (30) and the lidar housing (10) are formed in a single element; and / or the lidar housing (10) comprises a housing top wall provided with the opening (10a); the lidar body (20) comprises a base, and the lidar body (20) is supported by the base; the lidar assembly further comprising a second sealing element (40), the second sealing element (40) being arranged on the base and extending in a circumferential direction from the lidar body (20); when the lidar body (20) is in a raised state, the second sealing element (40) is in sealing contact with an inner wall surface of the housing top wall (11).

6. Lidar assembly according to any one of claims 1 to 4, further comprising a drive device (50) including a drive motor (51) and a connecting rod mechanism, the connecting rod mechanism being connected separately to the lidar body (20) and to the drive motor (51), such that the drive motor (51) actuates the raising and lowering of the lidar body (20) by driving the connecting rod mechanism.

7. Lidar assembly according to any one of claims 1 to 4, wherein a portion of an outer peripheral surface of the lidar housing (10) is open to form a distance sensing window (10b), at least a portion of the lidar body (20) being in a position corresponding to the position of the distance sensing window (10b) when the lidar body is in a lowered state; and / or the lidar body (20) comprises the light-transmitting cover (21) and an upper cap (22) covering the upper face of the light-transmitting cover (21), a portion of the upper cap (22) protruding from the outer peripheral surface of the light-transmitting cover (21) to form a protruding portion, and when the lidar body (20) is in a lowered state, the protruding portion is engaged in the first sealing element (30).

8. Lidar assembly according to claim 7, wherein an internal peripheral wall of the distance sensing window (10b) is coated with a light-absorbing layer.

9. Cleaning device, comprising a housing and the lidar assembly according to any one of claims 1 to 8, wherein the lidar assembly is arranged on the housing.

10. Cleaning system, comprising a cleaning base station and the cleaning device according to claim 9.

Images