LIDAR SYSTEM, CLEANING DEVICE AND CLEANING SYSTEM

Abstract

The present invention relates to a lidar assembly, a cleaning apparatus, and a cleaning system. The lidar assembly comprises a lidar housing, a lidar body, and a light-absorbing element. An opening is formed on one upper side of the lidar housing along a vertical axis of the lidar assembly, and a window is formed on a portion of an outer peripheral surface of the lidar housing. The lidar body passes through the opening and is at least partially located within the lidar housing. When the lidar body is lowered, at least a portion of the lidar body corresponds to the position of the window. The light-absorbing element is arranged within the window. (See Figure 1 for abbreviations.)

Description

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

[0001] This disclosure 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 techniques, the way to improve the accuracy and reliability of the measurement of a lidar assembly of an intelligent cleaning device is one of the research topics in the industry. Summary of the present invention

[0004] To solve the aforementioned technical problem, the present disclosure provides a lidar assembly, a cleaning device and a cleaning system, with high accuracy and good reliability.

[0005] This disclosure 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 an opening is formed on an upper side of the lidar housing along a vertical direction of the lidar assembly, and a window is formed on a part of an outer peripheral surface of the lidar housing; - a lidar body, wherein the lidar body passes through the aperture and is at least partially arranged within the lidar housing, and when the lidar body is in a lowered state, at least a portion of the lidar body corresponds to the position of the window; and - a light-absorbing element arranged in the window.

[0007] In some embodiments, the light-absorbing element and the lidar housing are formed as a single structural element.

[0008] In some embodiments, the structural element is an injection-molded structural element; the material of the lidar housing being the same as or different from that of the light-absorbing element; and / or the color of the lidar housing being the same as or different from that of the light-absorbing element.

[0009] In some embodiments, the light-absorbing element comprises a light-absorbing layer, and the light-absorbing layer is applied to an inner peripheral wall of the window.

[0010] In some embodiments, the light-absorbing layer comprises a black light-absorbing paint layer.

[0011] In some embodiments, the window is arched, and the opening angle of the arched window is between 110° and 130°.

[0012] In some embodiments, the lidar assembly further includes a drive device and a connecting rod mechanism; the connecting rod mechanism being connected to the lidar body and the drive device, and the drive device controls the raising and lowering of the lidar body by actuating the connecting rod mechanism.

[0013] In some embodiments, the linkage mechanism comprises a first linkage, a second linkage, a third linkage and a fourth linkage; the first linkage being connected to an output shaft of the drive device; one end of the second linkage being mounted in pivot joint on the first linkage, the other end of the second linkage being mounted in pivot joint on one end of the third linkage and at one end of the fourth linkage, the other end of the third linkage being mounted in pivot joint on the side of the lidar housing distal to the opening, and the other end of the fourth linkage being mounted in pivot joint on the lidar body; the axial direction of the output shaft being perpendicular to the vertical direction of the lidar assembly.

[0014] In some embodiments, the lidar body includes a light-transmitting cover and an upper cover; the light-transmitting cover being configured to be lifted by passing through the opening, and the upper cover covering the light-transmitting cover; in which, in a projection plane perpendicular to the vertical direction of the lidar assembly, the projection area of ​​the upper cover is larger than that of the aperture, and the projection area of ​​the aperture is located within the projection area of ​​the upper cover.

[0015] A second aspect of the present invention relates to a cleaning apparatus, comprising: - a case; and - a lidar assembly according to the first aspect of the present invention, wherein the lidar assembly is at least partially arranged in the housing.

[0016] A third aspect of the present invention relates to a cleaning system comprising: - a cleaning base station; and - a cleaning device according to the second aspect of the present invention, wherein when the cleaning device is not performing a cleaning operation, the cleaning device is docked to the cleaning base station

[0017] The lidar body of the lidar assembly according to the embodiments of the present invention can be raised and lowered along the vertical direction of the lidar assembly, thus providing better adaptability to its environment and the ability to operate in a space with a lowered ceiling. Furthermore, the window of the lidar housing according to the present invention is provided with a light-absorbing element, so that the scattering and emission of a laser beam to varying degrees at the window can be reduced when the lidar body emits the laser beam outwards through the window, thereby reducing the generation of stray light and improving the accuracy and reliability of the lidar assembly's measurement. Brief description of the figures

[0018] By reading the detailed description of the preferred embodiments below, various additional advantages and benefits will become clear to those skilled in the art. The figures are provided solely for the purpose of illustrating the preferred embodiments and shall not be construed as limiting the scope of the present invention. Furthermore, the same components are designated by the same reference numerals in all the figures. In the figures:

[0019] [Fig.1] is a schematic view of the three-dimensional structure of a lidar assembly in the lowered state according to certain embodiments of the present invention;

[0020] [Fig.2] is a schematic view of the three-dimensional structure of a lidar assembly in the state observed according to certain embodiments of the present invention;

[0021] [Fig.3] is a schematic view of the three-dimensional structure of a lidar housing according to certain embodiments of the present invention;

[0022] [Fig.4] is a schematic view of the three-dimensional structure of a lidar housing from another point of view according to certain embodiments of the present invention;

[0023] [Fig.5] is a schematic cross-sectional view of a lidar assembly in the lowered state according to certain embodiments of the present invention; and

[0024] [Fig.6] is a schematic cross-sectional view of a lidar assembly in the surveyed state according to certain embodiments of the present invention.

[0025] Numerical references: 1, lidar housing; 11, aperture; 12, window; 2, lidar body; 21, light-transmitting cover; 22, top cover; 3, light-absorbing element; 4, drive device; 41, output shaft; 5, connecting rod mechanism; 51, first connecting rod; 52, second connecting rod; 53, third connecting rod; 54, fourth connecting rod; 100, lidar assembly. Description of examples of achievements

[0026] Embodiments of the technical solutions of the present invention will be described in detail below with reference to Figures 1 to 6. 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.

[0027] 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.

[0028] 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.

[0029] 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 other embodiments. Those skilled in the art will understand, both explicitly and implicitly, that the embodiments described herein may be combined with other embodiments.

[0030] In the description of embodiments of the present invention, the term "and / or" simply denotes an association relationship between related objects, indicating that three possible relationships may exist. For example, "A and / or B" can 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 related objects before and after.

[0031] In the description of embodiments of the present invention, the orientation or position relationships indicated by the technical terms "length", "width", "Thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "upper", "lower", "inside", "outside", "clockwise", "counterclockwise", and others, are those illustrated according to the angle of inclination. The terms "right", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and other similar terms are those illustrated on the basis of the figures, are simply intended to facilitate and simplify the description of the 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 in that specific direction, and shall not be interpreted as limiting the embodiments of the present invention.

[0032] 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.

[0033] 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.

[0034] Certain embodiments of the present invention will be described in detail below with reference to Figures 1 to 6.

[0035] [Fig. 1] is a schematic view of the three-dimensional structure of a lidar assembly in a lowered state according to certain embodiments of the present invention; [Fig. 2] is a schematic view of the three-dimensional structure of a lidar assembly in a raised state according to certain embodiments of the present invention; [Fig. 3] is a schematic view of the three-dimensional structure of a lidar housing according to certain embodiments of the present invention; [Fig. 4] is a schematic view of the three-dimensional structure of a lidar housing from another point of view according to certain embodiments of the present invention; [Fig. 5] is a schematic cross-sectional view of a lidar assembly in a lowered state according to certain embodiments of the present invention; and [Fig. 6] is a schematic cross-sectional view of a lidar assembly in a recorded state according to certain embodiments of the present invention.

[0036] As shown in Figures 1 and 2, a first aspect of the present invention relates to a lidar assembly 100. The lidar assembly 100 comprises a lidar housing 1, a lidar body 2 and a light-absorbing element 3.

[0037] The lidar 100 assembly is a type of detection assembly configured to detect surrounding obstacles and environmental information. Taking a cleaning robot as an example, the lidar 100 assembly plays an important role in the operating conditions of the cleaning device, including mapping, navigation, and obstacle avoidance.

[0038] In some cases, the lidar assembly 100 can perform distance detection.

[0039] The lidar housing 1 is an external protective housing for the lidar assembly 100 and is configured to house functional components that perform various functions of the lidar assembly 100. In some embodiments, the lidar housing 1 houses the lidar body 2.

[0040] In some embodiments, the lidar housing 1 may be made of a plastic material. The plastic material includes, but is not limited to, acrylonitrile butadiene styrene (ABS) plastic. ABS plastic is a very strong, rigid, and easy-to-manufacture material. Furthermore, it has good insulating properties, is relatively unaffected by temperature and humidity, and can be used in most environments.

[0041] Of course, those skilled in the art will understand that the lidar 1 housing may also be made of any other suitable material.

[0042] The lidar body 2 is an important component for performing the functions of the lidar assembly 100. Although not shown in the figure, the lidar body 2 generally comprises a laser emission unit and a laser reception unit, which are respectively configured to emit a laser beam and receive a reflected laser beam, thus calculating the distance between the lidar body and an obstacle in front as a function of the time elapsed between the emission and reception of the laser beam, and acquiring an environment model through algorithmic processing.

[0043] As shown in Figures 3 and 4, an opening 11 is formed on an upper side of the lidar 1 housing along the vertical direction of the lidar assembly 100, and the lidar 2 body is configured to be lifted by passing through the opening 11 and is at least partially located in the lidar 1 housing.

[0044] The upper side here refers to a distal side with respect to the surface which is cleaned by the cleaning device along the vertical direction of the lidar assembly 100.

[0045] The shape of the opening 11 is not limited, as long as the lidar body 2 can pass through.

[0046] The fact that the lidar body 2 is at least partially located in the lidar housing 1 means that some regions of the lidar body 2 may be located in the lidar housing 1, or that all regions of the lidar body may be located in the lidar housing 1.

[0047] In some embodiments, the opening 11 of the lidar 1 housing can be provided with a sealing element, thus reducing the possibility of impurities such as dust and foreign matter entering the lidar 2 body, thereby improving the reliability and stability of the lidar 100 assembly.

[0048] In embodiments of the present invention, the lidar body 2, when it encounters a region with a lowered ceiling, can be in a lowered state, thus reducing the overall height of the lidar assembly 100, and further enabling the lidar assembly 100 to penetrate the region with the lowered ceiling for detection. In a relatively open region, the lidar body 2 can be raised, allowing the lidar assembly 100 to globally detect the surrounding environment and improve detection accuracy. Consequently, since the lidar body 2 passes through the opening 11 of the lidar housing 1 when it is raised, the lidar assembly 100 adapts to different environments and scenarios, thus broadening its range of applications and improving its flexibility.

[0049] As shown in [Fig.1], a window 12 is formed on a part of the outer peripheral surface of the lidar housing 1. When the lidar body 2 is in the lowered state, at least a part of the lidar body 2 corresponds to the position of the window 12, so that in the lowered state, the lidar body 2 located in the lidar housing 1 can emit a laser beam outwards through the window 12 and receive a laser beam reflected through the window 12, which allows the surrounding environment to be detected and scanned.

[0050] Due to the limited size of the window 12, the laser beam emitted by the lidar body 2 in its lowered state, or the laser beam reflected back to the lidar body 2, can scatter and reflect to varying degrees on the window, thus generating a large amount of stray light. This stray light enters the laser receiver unit of the lidar body 2 via an optical path and causes pre-saturation of the laser receiver unit, which affects the accuracy and reliability of the measurement of the lidar assembly 100.

[0051] Therefore, in one embodiment of the present invention, the lidar assembly 100 further comprises a light-absorbing element 3. The light-absorbing element 3 is arranged in the window 12, so that the reflected laser can be absorbed by the light-absorbing element 3, thereby reducing the generation of stray light and further improving the accuracy and reliability of the measurement of the lidar assembly 100.

[0052] In some embodiments, the light-absorbing element 3 can be arranged around an inner peripheral wall of the window 12. In some embodiments, the surrounding arrangement can be a complete enclosure, a partial enclosure, or any other configuration.

[0053] In certain embodiments of the present invention, the light-absorbing element 3 and the lidar housing 1 are formed as a single structural element. Consequently, the number of components can be reduced, as well as the assembly difficulty, thereby improving production efficiency and reducing production costs.

[0054] In certain embodiments of the present invention, the structural element of the light-absorbing element 3 and of the lidar housing 1 is an injection-molded structural element. The material of the lidar housing 1 is the same as or different from that of the light-absorbing element 3, and / or the color of the lidar housing 1 is the same as or different from that of the light-absorbing element 3.

[0055] The integral structural element is an injection-molded structural element, manufactured using an injection molding process. The injection molding process offers high production speed and efficiency, and is applicable to products with complex shapes. Therefore, the structural element in various forms can be manufactured repeatedly and quickly according to actual requirements.

[0056] Of course, those skilled in the art will understand that, according to other embodiments, the structural element of the light-absorbing element 3 and of the lidar housing 1 can also be manufactured by any other suitable process.

[0057] In one embodiment of the present invention, the material of the lidar housing 1 may be identical or different from that of the light-absorbing element 3, and / or the color of the lidar housing 1 may be identical or different from that of the light-absorbing element 3.

[0058] In general, the color black has a high absorption coefficient for the light beam, so that when the laser beam comes into contact with the light-absorbing element 3 made of black material, the laser beam is practically not reflected, or the reflection is extremely low. Therefore, the interference of stray light with the lidar body 2 can be effectively reduced, and the detection accuracy of the lidar assembly 100 can be improved.

[0059] Those skilled in the art will understand that the structural element according to embodiments of the present invention may be black in its entirety, or that only the light-absorbing element 3 may be black, and that the lidar housing 1 may be white or any other suitable color, as long as the generation of stray light at the window 12 can be reduced.

[0060] In some embodiments, when the material or color of the lidar housing 1 is different from that of the light-absorbing element 3, the lidar housing 1 and the light-absorbing element 3 can be formed into a structural element by a two-step molding process.

[0061] In certain embodiments of the present invention, the light-absorbing element 3 comprises a light-absorbing layer, and the light-absorbing layer is applied to an inner peripheral wall of the window 12.

[0062] The light-absorbing element 3 can be a light-absorbing layer which is separated from the lidar housing 1 and applied to the inner peripheral wall of the window 12 by a coating process, thus further reducing stray light.

[0063] Those skilled in the art will understand that in embodiments of the present invention, the method of connecting the light-absorbing layer to the inner peripheral wall of the window 12 is not specifically limited. In some other embodiments, the light-absorbing layer can also be arranged on the inner peripheral wall of the window 12 by any other suitable method, such as spraying or gluing.

[0064] As shown in Figures 3 and 4, in one embodiment of the present invention, the light-absorbing layer is applied over the entire circumference of the inner peripheral wall of the window 12. In other words, every portion of the inner peripheral wall of the window 12 is covered with the light-absorbing layer. In other embodiments, only a portion of the regions of the inner peripheral wall of the window 12 may be covered with the light-absorbing layer.

[0065] In certain embodiments of the present invention, the light-absorbing layer comprises a black light-absorbing paint layer. The black light-absorbing paint layer can absorb almost all light beams, so that the inner peripheral wall of the window 12 reflects almost no light, which considerably reduces the impact of stray light on the lidar body 2, and improves the accuracy and reliability of the measurements of the lidar assembly 100.

[0066] Of course, those skilled in the art will understand that in some other embodiments, the light-absorbing layer can also be made of any other suitable material, as long as the light reflected or diffused by the window 12 can be reduced or eliminated.

[0067] In certain embodiments of the present invention, the window 12 is arc-shaped. The arc-shaped window 12 can improve the transmission of light from the laser beam, reduce optical path error, and improve the distance detection capability at the edge of the field of view, thus improving the distance detection accuracy of the lidar assembly 100.

[0068] In some embodiments, the curvature of the central region of the arc-shaped window 12 may be less than the curvatures of the regions located on either side of the window 12, which makes it possible to improve the distance detection capability at the edge of the field of vision.

[0069] Of course, those skilled in the art will understand that in other embodiments, the window 12 may also have any other suitable shape.

[0070] In one embodiment of the present invention, the opening angle of the arc-shaped window 12 is between 110° and 130°.

[0071] In some embodiments, the opening angle of the arc-shaped window 12 can be 110°, 111°, 112°, 113°, 114°, 115°, 116°, 117°, 118°, 119°, 120°, 121°, 122°, 123°, 124°, 125°, 126°, 127°, 128°, 129°, or 130°.

[0072] The configuration of the arc-shaped window opening angle 12 within a suitable range enables the lidar body 2 to achieve greater distance detection accuracy, a wider field of view angle, and stronger anti-interference capability.

[0073] In certain embodiments of the present invention, the lidar assembly 100 further comprises a drive device 4 and a connecting rod mechanism 5; the connecting rod mechanism 5 is connected to the lidar body 2 and to the drive device 4, and the drive device 4 controls the raising and lowering of the lidar body 2 by actuating the connecting rod mechanism 5.

[0074] The drive device 4 is a device that provides energy.

[0075] In some embodiments, the drive device 4 includes, but is not limited to, a drive motor.

[0076] The connecting rod mechanism 5 is a transmission mechanism which can transmit the power supplied by the drive mechanism 4 to the lidar body 2, thus allowing the lifting and lowering of the lidar body 2.

[0077] The connecting rod mechanism 5 is characterized by a simple structure, ease of processing and high resistance to wear, as well as the possibility of achieving different modes of movement.

[0078] The lidar body 2 according to the embodiments of the present invention can be raised and pass through the opening 11 by the coordination of the drive mechanism 4 and the connecting rod mechanism 5, so that the lidar body 2 can be raised or lowered according to different detection environments, thereby increasing the application range of the lidar assembly 100, and allowing the application of the lidar assembly 100 to more different scenarios and environments.

[0079] In certain embodiments of the present invention, as shown in Figures 5 and 6, the connecting rod mechanism 5 comprises a first connecting rod 51, a second connecting rod 52, a third connecting rod 53, and a fourth connecting rod 54, where the first connecting rod 51 is connected to an output shaft 41 of the drive mechanism 4, one end of the second connecting rod 52 is mounted in a pivot joint on the first connecting rod 51, the other end of the second connecting rod 52 is mounted in a pivot joint on one end of the third connecting rod 53 and at one end of the fourth connecting rod 54, the other end of the third connecting rod 53 is mounted in a pivot joint on the side of the lidar housing 1 distal to the opening 11, and the other end of the fourth connecting rod 54 is mounted in a pivot joint on the lidar body 2, and the axial direction of the output shaft 41 is perpendicular to the vertical direction of the lidar assembly 100.

[0080] The linkage mechanism 5 according to embodiments of the present invention comprises four linkages, and the rotational movement of the drive device 4 can be converted into translational movement of the lidar body 2 along the vertical direction of the lidar assembly 100 by means of the coordination of the four linkages. More specifically, the first linkage 51 is connected to the output shaft 41 of the drive unit 4 and can pivot with the rotation of the output shaft 41, thereby transmitting the power of the drive unit 4 to the second linkage 52 and causing the pivoting of the second linkage 52. The second linkage 52 transmits the movement of the first linkage 51 to the third linkage 53 and the fourth linkage 54, thereby causing the pivoting of the third linkage 53 and the fourth linkage 54.The third connecting rod 53 is mounted via a pivot joint on the side of the lidar housing 1 distal to the opening 11, thus providing some support to the fourth connecting rod 54. The fourth connecting rod 54 can transmit the movement of the second connecting rod 52 to the lidar body 2, thereby achieving the raising and lowering of the lidar body 2. This connecting rod mechanism according to the embodiments of the present invention can transmit the power of the drive mechanism 4 to the lidar body 2 more smoothly, thus allowing for smoother raising and lowering of the lidar body 2 and improving reliability.

[0081] Of course, those skilled in the art will understand that in other embodiments, the linkage mechanism 5 may also include more or fewer linkages, as long as the lifting and lowering of the lidar body 2 can be achieved.

[0082] In certain embodiments of the present invention, when the output shaft 41 of the drive device 4 rotates clockwise, the lidar body 2 can be lowered through the opening, and when the output shaft 41 of the drive device 4 rotates counterclockwise, the lidar body 2 can be raised through the opening.

[0083] In certain other embodiments of the present invention, it may also be that when the output shaft 41 of the drive device 4 rotates in the When the output shaft 41 of the drive device 4 rotates counterclockwise, the lidar body 2 is lowered through the opening.

[0084] In certain embodiments of the present invention, the lidar body 2 comprises a light-transmitting cover 21 and an upper cover 22. The light-transmitting cover 21 passes through the opening 11 so as to be able to be lifted, and the upper cover 22 covers the light-transmitting cover 21.

[0085] The light transmission cover 21 is a protective cover for the lidar body 2 and can protect the laser emitting unit, the laser receiving unit, etc. inside the lidar body.

[0086] In one embodiment of the present invention, the light-transmitting cover 21 is substantially cylindrical. In other embodiments, the light-transmitting cover 21 may also have any other suitable shape.

[0087] In some embodiments, the light-transmitting cover 21 may be made of a light-transmitting material. In some embodiments, the light-transmitting material may be a polycarbonate (PC) type material, a resin material, or a similar material. In the embodiments of the present invention, the material of the light-transmitting cover is not specifically limited, as long as the material can be traversed by the laser beam.

[0088] The upper cover 22 covers the side of the light-transmitting cover 21 distal to the lidar housing 1, so that the light-transmitting cover 21 can be closed from the outside, thus reducing the possibility of external dust, foreign matter or other things entering the lidar body 2.

[0089] Furthermore, in a projection plane perpendicular to the vertical direction of the lidar assembly 100, the projection area of ​​the upper cover 22 is larger than that of the aperture 11, and the projection area of ​​the aperture 11 is located within the projection area of ​​the upper cover 22. Therefore, when the lidar body 2 is in the lowered state, the upper cover 22 can be supported on the outer peripheral surface of the lidar housing 1 and can completely cover the aperture 11. This can further reduce the possibility of external dust, foreign matter, or other particles entering the lidar housing 1 through the aperture 11, thus improving the protection of the components located within the lidar housing 1, helping to extend the service life of the components and improving the stability and reliability of the lidar assembly 100.

[0090] A second aspect of the present invention relates to a cleaning device. The cleaning device comprises a housing and the lidar 100 assembly according to the first aspect of the present invention, and the lidar 100 assembly is at least partially located in the housing.

[0091] The cleaning device is a device configured to clean a surface to be cleaned. The cleaning device includes, but is not limited to, a sweeping robot, a cleaning robot, a combined sweeping and cleaning robot, a window cleaning robot, and the like. The surface to be cleaned includes, but is not limited to, a floor, a ceiling, a window, a desk, and the surfaces of other objects and components.

[0092] The housing is an outer protective enclosure for the cleaning device, and the interior of the housing is configured to accommodate functional components that perform various functions of the cleaning device. In some cases, the functional component may include a drive assembly, a detection assembly, a dust container, a liquid storage tank, etc.

[0093] The lidar 100 assembly is a type of sensor. The position of the lidar 100 assembly within the housing of the cleaning device is not limited. In some embodiments, the lidar 100 assembly can be arranged at the front, middle, or rear of the housing. In the embodiments of the present invention, the number of lidar 100 assemblies is not specifically limited. In some embodiments, a single lidar 100 assembly may be provided, or a plurality of lidar 100 assemblies (two or more).

[0094] A third aspect of the present invention relates to a cleaning system. The cleaning system comprises a cleaning base station and the cleaning device according to the second aspect of the present invention. When the cleaning device is not performing a cleaning operation, it is docked to the cleaning base station.

[0095] 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. When the cleaning device is not performing the cleaning operation, it is docked to the cleaning base station.

[0096] In other embodiments, the cleaning base station also includes a programming and control function.

[0097] The above examples are solely for the purpose of illustrating, but not limiting, the technical solutions of the present invention. Although the present invention has been described in detail with reference to previous embodiments, those skilled in the art will understand that they can further 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. 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, in which an opening is formed on an upper side of the lidar housing along a vertical direction of the lidar assembly, and a window is formed on a portion of an outer peripheral surface of the lidar housing; - a lidar body, in which the lidar body passes through the opening and is at least partially arranged in the lidar housing, and when the lidar body is in a lowered state, at least a portion of the lidar body corresponds to the position of the window; and - a light-absorbing element arranged in the window.

2. Lidar assembly according to claim 1, wherein the light-absorbing element and the lidar housing are formed as a single structural element.

3. Lidar assembly according to claim 2, wherein the structural element is an injection-molded structural element; the material of the lidar housing being the same as or different from that of the light-absorbing element; and / or the color of the lidar housing being the same as or different from that of the light-absorbing element.

4. Lidar assembly according to claim 1, wherein the light-absorbing element comprises a light-absorbing layer, and the light-absorbing layer is applied to an inner peripheral wall of the window.

5. Lidar assembly according to claim 4, wherein the light-absorbing layer comprises a black light-absorbing paint layer.

6. Lidar assembly according to claim 1, wherein the window is arc-shaped, and an opening angle of the arc-shaped window is between 110° and 130°.

7. Lidar assembly according to any one of claims 1 to 6, wherein the lidar assembly further comprises a drive device and a connecting rod mechanism; the connecting rod mechanism being connected to the lidar body and the drive device, and the drive device controls the raising and lowering of the lidar body by actuating the connecting rod mechanism.

8. Lidar assembly according to claim 7, wherein the linkage mechanism comprises a first link, a second link, a third link and a fourth link; the first link being connected to an output shaft of the drive device; one end of the second link being mounted in a pivot joint on the first link, the other end of the second link being mounted in a pivot joint on one end of the third link and at one end of the fourth link, the other end of the third link being mounted in a pivot joint on the side of the lidar housing distal to the opening, and the other end of the fourth link being mounted in a pivot joint on the lidar body; the axial direction of the output shaft being perpendicular to the vertical direction of the lidar assembly.

9. Lidar assembly according to any one of claims 1 to 6, wherein the lidar body comprises a light-transmitting cover and a top cover; the light-transmitting cover being configured to be lifted by passing through the opening, and the top cover covering the light-transmitting cover; wherein in a projection plane perpendicular to the vertical direction of the lidar assembly, the projection area of ​​the top cover is larger than that of the opening, and the projection area of ​​the opening is located in the projection area of ​​the top cover.

10. Cleaning apparatus, comprising: - a housing; and - a lidar assembly according to any one of claims 1 to 9, wherein the lidar assembly is at least partially arranged in the housing.

11. Cleaning system comprising: - a cleaning base station; and - a cleaning device according to claim 10, wherein when the cleaning device is not performing a cleaning operation, the cleaning device is docked to the cleaning base station.

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