LIDAR SYSTEM, CLEANING DEVICE AND CLEANING SYSTEM

Abstract

A lidar assembly comprising a lidar housing, a lidar main body, and a receiver element. An opening is formed on the upper face of the lidar housing along the vertical direction of the lidar assembly. The lidar main body is configured to be lifted through the opening so as to protrude from it and is at least partially located within the lidar housing. A gap is formed between the lidar main body and the opening in a horizontal plane that includes the opening. The receiver element is located within the lidar housing, is positioned on the lidar main body, and extends along the circumferential direction of the lidar main body. A projection area of ​​at least a portion of the receiver element overlaps a projection area of ​​this gap in a plane projecting perpendicular to the vertical direction of the lidar assembly. (See Figure 1 for abbreviations.)

Description

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

[0001] The present invention relates to the technical field of cleaning devices, and in particular to 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 devices to replace manual cleaning operations on various surfaces to be cleaned indoors and outdoors.

[0003] With the continuous development of technologies, improving the reliability and stability 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 technical problem mentioned above, the present invention proposes a lidar assembly, a cleaning device and a cleaning system offering high reliability and good stability.

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

[0006] A first aspect of the present invention relates to a lidar assembly. The lidar assembly comprises: - a lidar housing, an opening being formed on an upper side of the lidar housing along a vertical direction of the lidar assembly; - a lidar main body, the lidar main body being configured to be lifted through an opening so as to protrude from it and being at least partially arranged within the lidar housing, and a space being formed between the lidar main body and the opening in a horizontal plane including the opening; and a receiving element, the receiving element being arranged in the lidar housing, being disposed on the lidar main body and extending in a circumferential direction of the lidar main body, and a projection area of ​​at least a portion of the receiving element overlapping a projection area of ​​said space in a projection plane perpendicular to the vertical direction of the lidar assembly.

[0007] According to one particular embodiment, the main body of the lidar comprises a base and a light-transmitting cover, the light-transmitting cover being disposed on the base; and the receiving element being arranged on the base and extending in a circumferential direction from the light-transmitting cover.

[0008] According to a particular embodiment, the receiving element is formed as an integral structural element with the base.

[0009] According to a particular embodiment, at least a portion of a wall surface of the base is recessed towards a side away from the opening in the vertical direction of the lidar assembly in order to form a recessed portion, the recessed portion is an annular recessed portion extending around an outer periphery of the light-transmitting cover, and the annular recessed portion defines the receiving element.

[0010] According to a particular embodiment, the lidar housing comprises an upper housing wall provided with the opening; A prominent rib is formed on the base, extending towards one side of the opening in the vertical direction of the lidar assembly, and the prominent rib is arranged on an outer periphery of the recessed portion; and when the main body of the lidar is in an upright state, the protruding rib is in contact with an inner wall of the upper wall of the housing.

[0011] According to a particular embodiment, the main body of the lidar further comprises an upper cover, one side of the cover transmitting light away from the base being covered by the upper cover, a projection area of ​​the upper cover being greater than a projection area of ​​the aperture in the projection plane perpendicular to the vertical direction of the lidar assembly, and a projection area of ​​the aperture being located in a projection area of ​​the upper cover; and at least one first positioning part is formed on the upper cover, at least one second positioning part is formed on an inner periphery of the opening, and the first positioning part and the second positioning part fit together when the main body of the lidar is in a lowered state.

[0012] According to a particular embodiment, the first positioning part comprises a first inclined guide surface, and the second positioning part comprises a second inclined guide surface; and along the vertical direction of the lidar assembly, from a side close to the opening to a side far from the opening, the first inclined guide surface is inclined upwards relative to the horizontal plane including the opening, and from a side far from the top cover to a side close to the top cover, the second inclined guide surface is inclined upwards relative to the horizontal plane including the opening.

[0013] According to a particular embodiment, a plurality of first positioning parts and a plurality of second positioning parts are provided, the first positioning parts of the plurality of first positioning parts are spaced from each other in a circumferential direction of the upper cover, and the second positioning parts of the plurality of second positioning parts are spaced from each other in a circumferential direction of the opening; the number of first positioning parts of the plurality of first positioning parts being equal to the number of second positioning parts of the plurality of second positioning parts, and one position of each first positioning part corresponding to one position of each second positioning part.

[0014] According to one particular embodiment, the base is formed as a single injection-molded structural element with the light-transmitting cover.

[0015] A second aspect of the present invention relates to a cleaning device comprising: a housing, and a lidar assembly according to the first aspect of the present invention, the lidar assembly being at least partially located in said 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, the cleaning device being moored to the cleaning base station when the cleaning device is not performing a cleaning operation.

[0017] The main body of the lidar assembly according to the embodiments of the present invention can be raised or lowered in the vertical direction of the lidar assembly. It therefore exhibits better adaptability to the environment and can scan a relatively low space. Furthermore, since the lidar assembly includes the receiver element, impurities such as dust and foreign matter that fall into the lidar housing through the gap can fall into the receiver element, thus reducing the possibility of these impurities entering the main body of the lidar. This helps protect the sensitive optical and electronic assemblies inside the main body of the lidar, reduces performance degradation and failures caused by contamination, and improves the reliability and stability of the lidar assembly. 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 diagram representing the three-dimensional structure of a lidar assembly in a raised state according to certain embodiments of the present invention;

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

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

[0022] [Fig.4] is a diagram representing the three-dimensional structure of a base, of a a light-transmitting cover and a receiving element according to certain embodiments of the present invention;

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

[0024] [Fig.6] is a partially enlarged diagram of the lidar housing shown in [Fig.3].

[0025] Numerical references: 1, lidar housing; 1a, upper wall of the housing; 11, opening; 111, second positioning part; 1111, second inclined guide surface; 12, window; 2, lidar main body; 21, base; 211, protruding rib; 22, light-transmitting cover; 23, upper cover; 231, first positioning part; 2311, first inclined guide surface; 3, receiving 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 the figures. The following embodiments serve only to illustrate more clearly the technical solutions of the present invention and are therefore only examples, and 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 to describe specific embodiments and are not intended to limit the present invention. The terms "include", "comprise", "have" and all their variations in the present invention are intended to cover non-exclusive inclusions.

[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 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 embodiment" means that a specific function, structure, or feature described in relation to the embodiments may be included in at least one embodiment of the present invention. References to the word in the context of the invention do not necessarily refer to the same embodiment, nor to embodiments that are distinct from or mutually exclusive alternatives to 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 represents an association relationship between associated objects, indicating that three possible relationships can exist. For example, "A and / or B" can represent: the existence of A alone, the simultaneous existence of A and B, and the existence of B alone. Furthermore, the character " / " generally indicates an "or" relationship between the associated objects before and after the " / ".

[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," "circumferential," and others, are those represented in the image, and others are those illustrated based on the figures, and are intended simply to describe embodiments of the present invention and to simplify the description rather than to indicate or imply that the indicated device or element must have a specific orientation and be configured, operated, and used in accordance with that specific orientation. These relationships shall not be interpreted as a limitation of the embodiments of the present invention.

[0032] In the description of embodiments of the present invention, unless otherwise clearly specified and limited, the technical terms "mount", "interconnect", "connect", "fix" and similar terms shall be understood in their meaning These terms can be, for example, a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection, an indirect connection via an intermediary, 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 can be understood 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 understood in a broad sense 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 diagram of a three-dimensional structure of a lidar assembly in a raised state according to certain embodiments of the present invention; [Fig. 2] is a schematic diagram of a three-dimensional structure of a lidar assembly in a lowered state according to certain embodiments of the present invention; [Fig. 3] is a schematic diagram of a three-dimensional structure of a lidar housing according to certain embodiments of the present invention; [Fig. 4] is a schematic diagram of a three-dimensional structure of a base, a light-transmitting cover, and a receiving element according to certain embodiments of the present invention; [Fig. 5] is a schematic cross-sectional view of a lidar assembly in a raised state according to certain embodiments of the present invention; and [Fig. 6] is a partially enlarged schematic diagram of the lidar housing illustrated in [Fig. 3].

[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 main body 2, and a receiving element 3.

[0037] The lidar 100 assembly is a type of detection assembly and is configured to detect surrounding obstacles and environmental information. Taking a cleaning device 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 100 assembly can perform distance detection.

[0039] The lidar 1 housing is an external protective housing for the lidar 100 assembly. It is configured to accommodate various functional components that perform the functions of the lidar 100 assembly. In some cases, the lidar 1 housing contains the main body of lidar 2.

[0040] In some cases, the housing of the lidar 1 may be made of plastic. Plastic includes, but is not limited to, acrylonitrile butadiene styrene (ABS) plastic. ABS plastic is a material that exhibits high strength, good rigidity, and ease of manufacturing. 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 housing of lidar 1 can also be made of any other suitable material.

[0042] The main body of lidar 2 is an important element for the realization of the functions of the lidar 100 assembly. Although it is not shown in the figure, the main body of lidar 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 a distance between the main body of lidar and an obstacle in front as a function of the time elapsed between the emission and reception of the laser beam, and obtaining an environment model through algorithmic processing.

[0043] As shown in [Fig.3], an opening 11 is formed on an upper side of the lidar 1 housing in the vertical direction of the lidar assembly 100, and the main body of the lidar 2 is configured to be lifted through the opening 11 so as to protrude from it and is at least partially located in the lidar 1 housing.

[0044] The upper side here refers to a side away from a cleaning surface which is cleaned by the cleaning device in the vertical direction of the lidar assembly 100.

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

[0046] The fact that at least part of the main body of lidar 2 is in the housing of lidar 1 means that part of the main body of lidar 2 may be in the housing of lidar 1, or that all parts of the main body of lidar may be in the housing of lidar 1.

[0047] In embodiments of the present invention, the main body of the lidar 2, when it encounters a relatively low area, can be lowered, thereby reducing the height of the lidar 100 assembly and allowing the lidar 100 assembly to enter and scan the low area. In a relatively open region, the main body of the lidar 2 can be raised, enabling the lidar 100 assembly to globally detect the surrounding medium and improve detection accuracy. Therefore, since the main body of the lidar 2 is configured to be raised through the opening 11 of the lidar 1 housing so as to protrude from it, the lidar 100 assembly 100 can adapt to different environments and scenarios, thus expanding the scope of application and improving flexibility.

[0048] As shown in Figures 1 to 3, a window 12 is formed on a part of the outer peripheral surface of the lidar 1 housing. When the lidar 2 main body is lowered, at least a part of the lidar 2 main body corresponds to the position of the window 12, so that the lowered lidar 2 main body, located in the lidar 1 housing, can emit a laser beam outwards through the window 12 and receive a laser beam reflected through the window 12, thus enabling the environment to be detected.

[0049] In some embodiments, the inner peripheral wall of the window 12 is covered with a light-absorbing layer, so that the reflected laser beam can be absorbed by the light-absorbing element, thereby reducing the production of stray light and further improving the accuracy and reliability of the measurement of the lidar assembly 100.

[0050] In the embodiments of this document, the material of the light-absorbing layer is not specifically limited, as long as the stray light reflected or scattered by the window 12 can be reduced or eliminated.

[0051] In embodiments of the present invention, a space is formed between the main body of the lidar 2 and the aperture 11 in the horizontal plane where the aperture 11 is located, so that the housing of the lidar 1 is less likely to be in contact with the main body of the lidar 2 during a process in which the main body of the lidar 2 is raised or lowered, thereby reducing the possibility of damaging the main body of the lidar 2 due to friction and sliding, reducing the possibility of negatively affecting an optical path of the main body of the lidar 2 due to scratches, and improving the accuracy and reliability of the measurement of the main body of the lidar 2.

[0052] Since there is a gap between the lidar 2 main body and the aperture 11, impurities such as dust from outside and foreign matter can enter the lidar 1 housing through said gap and then into the lidar 2 main body. This can contaminate optical elements such as a laser emission unit and a laser reception unit in the lidar 2 main body, so that the performance of the lidar 2 main body is degraded, the measurement accuracy is affected and the elements may be damaged, which affects the service life of the lidar assembly 100.

[0053] Therefore, as shown in Figures 1 and 4, the lidar assembly 100 according to the embodiments of the present invention also includes a receiver element 3. The receiver element 3 is located in the housing of the lidar 1, is disposed on the main body of the lidar 2, and extends in the circumferential direction of the main body of the lidar 2. A projection area of ​​at least a portion of the element Receiver 3 overlaps a projection area of ​​space in a projection plane perpendicular to the vertical direction of the lidar assembly 100. In this way, impurities such as dust and foreign matter entering the lidar housing 1 through the gap can fall into receiver 3 and be temporarily stored there, making them less likely to penetrate the lidar main body 2. This helps protect the sensitive optical and electronic components inside the lidar main body 2, reduces performance degradation and failures caused by contamination, and improves the reliability and stability of the lidar assembly 100. It also helps extend the lifespan of the lidar assembly 100.

[0054] Furthermore, since the receiving element 3 is disposed on the main body of the lidar 2, the receiving element 3 can be raised or lowered at the same time as the main body of the lidar 2, so that the receiving element 3 can accommodate impurities falling into the housing of the lidar 1 through said space when the main body of the lidar 2 is in the raised state, in the lowered state and during the raising or lowering operation, thus reducing the possibility of impurities entering the main body of the lidar 2.

[0055] In some embodiments, the receiving element 3 can be formed as an integral structural element with the main body of the lidar 2, thus reducing the number of components and assembly costs.

[0056] In other embodiments, the receiving element 3 can be removably arranged on the main body of the lidar 2, which facilitates the cleaning of impurities such as dust and foreign matter in the receiving element 3 by a user.

[0057] In some embodiments, a sensor may be placed in the receiving element 3 to detect the number of impurities lodged in the receiving element 3, and when an overload of impurities in the receiving element 3 is detected, an alarm signal is generated to remind the user to clean the impurities in the receiving element 3 in a timely manner.

[0058] The alarm signal includes, but is not limited to, a visual alarm signal such as a flashing indicator light, an auditory alarm signal such as a beeping alarm, etc.

[0059] In certain embodiments of the present invention, the aperture 11 is substantially circular. The space between the main body of the lidar 2 and the aperture 11 is substantially annular. The receiving element 3 is also substantially annular. In certain embodiments of the present invention, in the projection plane perpendicular to the vertical direction of the lidar assembly 100, a projection area of ​​the receiving element 3 is larger than a projection area of ​​the space, and a projection area of ​​the space falls completely within a projection zone of the receiving element 3. In this way, dust and impurities falling into the lidar 1 housing through the annular space can all fall into the annular receiving element 3, thus further reducing the possibility of these impurities entering the main body of the lidar 2.

[0060] Of course, those skilled in the art should understand that in other embodiments, in the projection plane perpendicular to the vertical direction of the lidar assembly 100, the projection zone of the receiving element 3 may also be equal to the projection zone of said space, and the projection zone of the receiving element 3 may only partially overlap the projection zone of said space. Furthermore, the shape of the receiving element 3 is not limited in the embodiments of the present invention.In some embodiments, the receiving element 3 may also have any other suitable shape, such as a semi-annular shape, which may be specifically defined according to the shape, position and size of the actual space.

[0061] Furthermore, in certain embodiments of the present invention, in the horizontal direction of the horizontal plane where the opening 11 is located, the width of the receiving element 3 is 2 mm. In certain other embodiments, the width of the receiving element 3 may also be any other suitable dimension, such as 1 mm, 1.5 mm, 2.5 mm, 3 mm, and the like, which may be specifically defined according to the dimension of the gap.

[0062] As shown in Figures 1, 2 and 5, the main body of the lidar 2 according to the embodiments of the present invention is configured to be raised through the opening 11 so as to protrude from it by the cooperation of the drive mechanism 4 and the connecting rod mechanism 5, so that the main body of the lidar 2 can be raised or lowered according to different detection environments, thereby increasing the application range of the lidar assembly 100, and allowing the lidar assembly 100 to be applied to more different scenarios and environments.

[0063] The drive device 4 is a device that provides energy.

[0064] In some embodiments, the drive device 4 includes, but is not limited to, a drive motor.

[0065] The connecting rod mechanism 5 is a transmission mechanism which can transmit the power supplied by the drive mechanism 4 to the main body of the lidar 2, thus achieving the lifting and lowering of the main body of the lidar 2.

[0066] The connecting rod mechanism 5 comprises a simple structure, is easy to process and exhibits high wear resistance. In addition, it can achieve different forms of movement.

[0067] As shown in [Fig. 5], 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 unit 4, one end of the second connecting rod 52 is mounted in pivot joint on the first connecting rod 51, the other end of the second connecting rod 52 is articulated on one end of the third connecting rod 53 and on one end of the fourth connecting rod 54, respectively, the other end of the third connecting rod 53 is articulated on one side of the lidar 1 housing away from the opening 11, the other end of the fourth connecting rod 54 is articulated on the main body of the lidar 2, and an axial direction of the output shaft 41 is perpendicular to the vertical direction of the lidar assembly 100.

[0068] The linkage mechanism 5 according to embodiments of the present invention comprises four linkages, and the rotational movement of the drive mechanism 4 can be converted into a reciprocating movement of the main body of the lidar 2 in the vertical direction of the lidar assembly 100 through the cooperation 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, thus transmitting the power of the drive unit 4 to the second linkage 52 to drive 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, thus driving the pivoting of the third linkage 53 and the fourth linkage 54, respectively.The third connecting rod 53 is mounted via a pivot joint on the side of the lidar housing 1 away from 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 main body of the lidar 2, thereby achieving the raising and lowering of the main body of the lidar 2. This four-connecting-rod mechanism according to the embodiments of the present invention can transmit the power of the drive mechanism 4 to the main body of the lidar 2 in a more regular manner, thus enabling the raising and lowering of the main body of the lidar 2, and improving reliability.

[0069] Of course, those skilled in the art should 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 main body of the lidar 2 can be achieved.

[0070] In certain embodiments of the present invention, when the output shaft 41 of the drive device 4 rotates clockwise, the main body of the lidar 2 can be lowered through the opening, and when the output shaft 41 of the drive device 4 rotates counterclockwise, the main body of the lidar 2 can be raised through the opening.

[0071] In some other embodiments, it may also be that when the output shaft 41 of the drive unit 4 rotates clockwise, the main body of the lidar 2 is raised through the opening, and when the output shaft 41 of the drive unit 4 rotates counterclockwise, the main body of the lidar 2 is lowered through the opening.

[0072] As shown in [Fig.4], in certain embodiments of the present invention, the main body of the lidar 2 comprises a base 21 and a light-transmitting cover 22, and the light-transmitting cover 22 is supported by the base 21. The receiving element 3 is disposed on the base 21 and extends in the circumferential direction of the light-transmitting cover 22.

[0073] The base 21 is a support structure for the main body of the lidar 2. The light-transmitting cover 22 is supported by the base 21. In addition, an optical element such as a laser emitting unit and a laser receiving unit, as well as an electrical element in the main body of the lidar 2, are located in the light-transmitting cover 22 and carried by the base 21.

[0074] The light-transmitting cover 22 is an external protective cover for the main body of the lidar 2 and can protect the optical element such as the laser emitting unit and the laser receiving unit as well as the electrical element inside the main body of the lidar.

[0075] In some embodiments of the present invention, the light-transmitting cover 22 is substantially cylindrical in shape. In other embodiments, the light-transmitting cover 22 may also have any other suitable shape.

[0076] In certain embodiments, the light-transmitting cover 22 may be made of a light-transmitting material. In some cases, the light-transmitting material may be a plastic (polycarbonate), a resin, or a similar material. The material of the light-transmitting cover 22 is not specifically limited in the embodiments of the present invention, as long as the material can transmit the laser.

[0077] In certain embodiments of the present invention, the receiving element 3 is formed as an integral structural element with the base 21, thus reducing the number of components and assembly costs.

[0078] More specifically, as shown in [Fig.4], at least a portion of the surface of the wall of the base 21 is hollowed out towards a side away from the opening 11 in the vertical direction of the lidar assembly 100 to form a recessed portion, the recessed portion is an annular hollowed portion which extends around the outer periphery of the light-transmitting cover 22, and the annular hollowed portion defines the receiving element 3.

[0079] Of course, persons skilled in the art should understand that in other embodiments, the receiving element 3 and the base 21 can also be separate structures and be removably mounted on the base 21. In addition, the recessed part can have any other suitable shape, such as a semi-annular shape.

[0080] As shown in Figures 3 to 5, in certain embodiments of the present invention, the lidar 1 housing comprises an upper wall of the housing la provided with an opening 11. A projecting rib 211 is formed on the base 21. The projecting rib 211 extends towards one side of the opening 11 in the vertical direction of the lidar assembly 100, and the projecting rib 211 is disposed on the outer periphery of the recessed portion. When the main body of the lidar 2 is lifted, the projecting rib 211 is in contact with the inner wall of the upper wall of the housing la.

[0081] In some cases, the protruding rib 211 can be formed as an integral structural element with the recessed part.

[0082] In other cases, the protruding rib 211 and the hollowed part may be separate structures then assembled.

[0083] Thanks to the protruding rib 211, the depth of the receiving element 3 can be increased, so that the receiving element 3 can accommodate more impurities, and the possibility that the impurities fall from the receiving element 3 due to a rebound on contact with the lower wall of the receiving element 3 can be reduced, thus further reducing the possibility that the impurities penetrate into the main body of the lidar 2, and improving the reliability and stability of the lidar 100 assembly.

[0084] In certain embodiments of the present invention, in the vertical direction of the lidar assembly 100, the depth of the receiving element 3 is approximately 2 mm. In certain other embodiments, the depth of the receiving element 3 may also be any other suitable dimension, such as 1 mm, 1.5 mm, 2.5 mm, 3 mm, and others.

[0085] The upper wall of the housing refers to an upper part of the housing of the lidar 1, on which an opening 11 is formed to allow the main body 2 of the lidar to be raised or lowered.

[0086] When the main body of the lidar 2 is raised, the protruding rib 211 is in contact with the inner wall of the upper wall of the housing la. Consequently, the receiving element 3 can substantially close the gap, so that impurities falling into the housing of the lidar 1 through the gap can substantially fall completely into the receiving element 3, thus reducing the possibility of impurities entering the main body of the lidar 2, and improving the reliability and stability of the lidar assembly 100.

[0087] In some cases, a sealing element can be formed on the protruding rib 211. When the main body of the lidar 2 is lifted, the protruding rib 211 is in sealing contact with the inner wall of the upper wall of the housing la via the sealing element, thus ensuring the sealing of the lidar assembly 100, further reducing the entry of dust and moisture and improving the reliability of the lidar assembly 100.

[0088] The material of the sealing element is not specifically limited in the embodiments of the present invention, as long as the sealing element can fit hermetically against the inner wall of the upper wall of the housing la.

[0089] In some embodiments, the sealing element is an elastic element.

[0090] In some embodiments of the present invention, the main body of the lidar 2 also includes an upper cover 23, one side of the light-transmitting cover 22 away from the base 21 is covered by the upper cover 23, a projection area of ​​the upper cover 23 is greater than a projection area of ​​the aperture 11 in the projection plane perpendicular to the vertical direction of the lidar assembly 100, and a projection area of ​​the aperture 11 is located in a projection area of ​​the upper cover 23.

[0091] The upper cover 23 can close the light-transmitting cover 22 on the outside, thus reducing the possibility of dust from the outside, foreign matter or other things entering directly into the main body of the lidar 2. In addition, when the main body of the lidar 2 is lowered, the upper cover 23 can rest on the outer peripheral surface of the upper wall la of the lidar housing 1 and completely cover the opening 11.This can directly reduce the possibility of external dust, foreign matter or other particles entering the lidar 1 housing through the opening 11, so that external dust, foreign matter or other particles are less likely to enter the lidar 2 main body, thereby improving the protection of the components located in the lidar 1 housing and the lidar 2 main body, helping to extend the service life of the components and improving the stability and reliability of the lidar 100 assembly.

[0092] As shown in Figures 1 and 3, at least a first positioning portion 231 is formed on the upper cover 23, at least a second positioning portion 111 is formed on the inner periphery of the opening 11, and the first positioning portion 231 and the second positioning portion 111 fit together when the main body of the lidar 2 is in the lowered state.

[0093] Consequently, the positioning and assembly of the upper cover 23 and the opening 11 can be facilitated, so that when the main body of the lidar 2 is in the lowered state, the upper cover 23 can maintain a relatively fixed position such that the first positioning portion 231 fits into the second positioning portion 111, thus preventing the main body of lidar 2 from shaking or rotating at the opening 11. This improves the stability and reliability of the measurements of the main body of lidar 2 in the lowered state.

[0094] As shown in Figures 5 and 6, in certain embodiments of the present invention, the first positioning part 231 comprises a first inclined guide surface 2311, and the second positioning part 111 comprises a second inclined guide surface 1111. In the vertical direction of the lidar assembly 100, from a side close to the opening 11 to a side far from the opening 11, the first inclined guide surface 2311 is inclined upwards with respect to the horizontal plane comprising the opening 11, and from a side far from the upper cover 23 to a side close to the upper cover 23, the first inclined guide surface is inclined upwards with respect to the horizontal plane where the opening 11 is located.

[0095] The first inclined guide surface 2311 and the second inclined guide surface 1111, which are in the form of a slope, can provide a certain guiding effect to guide the first positioning portion 231 to fit the second positioning portion 111, so that the first positioning portion 231 can enter the second positioning portion 111 more smoothly, and the first positioning portion 231 can slide out of the second positioning portion 111 more smoothly, thus allowing the upper cover 23 to fit better into the opening 11, and furthermore allowing a smoother lifting and lowering of the main body of the lidar 2.

[0096] The angles of inclination of the first inclined guide surface 2311 and of the second inclined guide surface 1111 with respect to the horizontal plane where the opening 11 is located are not specifically limited in the embodiments of the present invention, as long as the angles of inclination of the first inclined guide surface 2311 and of the second inclined guide surface 1111 are the same.

[0097] In certain embodiments of the present invention, a plurality of first positioning portions 231 and a plurality of second positioning portions 111 are provided. The first positioning portions of the plurality of first positioning portions 231 are spaced from each other in the circumferential direction of the upper cover 23, and the second positioning portions of the plurality of second positioning portions 111 are spaced from each other in the circumferential direction of the opening 11. The number of first positioning portions 231 is identical to the number of second positioning portions 111, and a position of each first Positioning portion 231 corresponds to a position of every second positioning portion 111.

[0098] Consequently, the positioning and degree of assembly of the upper cover 23 and the opening 11 can be further improved, so that the main body of the lidar 2 is in a lowered state, and the main body of the lidar 2 is less likely to shake relative to the opening, thus improving the accuracy and stability of the measurement of the main body of the lidar 2.

[0099] In some embodiments of the present invention, the number of first positioning portions 231 and the number of second positioning portions 111 are both 8. In other embodiments, the number of first positioning portions 231 and the number of second positioning portions 111 may be less than or greater than 8. The number of first positioning portions 231 and the number of second positioning portions 111 are not specifically limited in the embodiments of the present invention, and may be defined according to the actual situation.

[0100] In certain embodiments of the present invention, the base 21 is formed as an integral injection-molded structural element with the light-transmitting cover 22.

[0101] In certain embodiments of the present invention, the base 21 is formed as an integral structural element with the light-transmitting cover 22, and the integral structural element is an injection-molded structural element manufactured by injection molding. The injection molding process offers high production speed and efficiency, and is applicable to products with complex shapes. Therefore, the integral structural element in various forms can be manufactured reliably and rapidly according to actual requirements.

[0102] Of course, persons skilled in the art should understand that in other embodiments, the integral structural element of the base 21 and the light-transmitting cover 22 can also be manufactured by any other suitable process.

[0103] In some embodiments, since the materials of the light-transmitting cover 22 and the base 21 are different, the integral structural element can be manufactured by a two-stage molding process.

[0104] Of course, those skilled in the art will understand that in other embodiments, the base 21 and the light-transmitting cover 22 can also be separate structures and then assembled by any suitable means such as snap-fitting and gluing.

[0105] 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.

[0106] 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 glass washing robot, or similar. The surface to be cleaned includes, but is not limited to, a floor, a ceiling, a window, a desk, or the surfaces of other objects and components.

[0107] The housing is an external 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.

[0108] The lidar 100 assembly is a type of detection assembly. The position of the lidar 100 assembly within the cleaning device housing is not limited. In some cases, the lidar 100 assembly can be placed at the front, middle, or rear of the housing. The number of lidar 100 assemblies is not specifically limited in the embodiments of the present invention. In some embodiments, a single lidar 100 assembly may be provided. In other embodiments, a plurality of lidar 100 assemblies (two or more) may also be provided.

[0109] 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, and the cleaning device is configured to be docked to the cleaning base station when the cleaning device is not performing a cleaning operation.

[0110] The cleaning base station is a fixed part of the cleaning system and is generally used as a charging, maintenance, and storage center for the cleaning device. The cleaning device is docked to the cleaning base station when it is not performing the cleaning operation.

[0111] In other embodiments, the cleaning base station also includes a programming and control function.

[0112] The above examples serve only to illustrate the technical solutions of the present invention, without however limiting them. Although the present invention has been described in detail with reference to previous embodiments, those skilled in the art should understand that they can still modify the technical solutions defined in the previous embodiments, or make equivalent substitutions for some or all 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, an opening being formed on an upper side of the lidar housing along a vertical direction of the lidar assembly; - a lidar main body, the lidar main body being configured to be lifted through an opening so as to protrude from it and being at least partially arranged in the lidar housing, and a gap being formed between the lidar main body and the opening in a horizontal plane including the opening; and a receiver element, the receiver element being arranged in the lidar housing, being disposed on the lidar main body and extending along a circumferential direction of the lidar main body, and a projection area of ​​at least a portion of the receiver element overlapping a projection area of ​​said gap in a projection plane perpendicular to the vertical direction of the lidar assembly.

2. Lidar assembly according to claim 1, wherein the main body of the lidar comprises a base and a light-transmitting cover, the light-transmitting cover being disposed on the base; and the receiving element being disposed on the base and extending in a circumferential direction from the light-transmitting cover.

3. Lidar assembly according to claim 2, wherein the receiving element is formed as an integral structural element with the base.

4. Lidar assembly according to claim 3, wherein at least a portion of a wall surface of the base is recessed towards a side away from the opening in the vertical direction of the lidar assembly to form a recessed portion, the recessed portion is an annular recessed portion extending around an outer periphery of the light-transmitting cover, and the annular recessed portion defines the receiving element.

5. Lidar assembly according to claim 4, wherein the lidar housing comprises an upper housing wall provided with the opening; a projecting rib is formed on the base, the projecting rib extends to one side of the opening in the vertical direction of the lidar assembly, and the projecting rib is disposed on an outer periphery of the recessed portion; and when the body The main lidar is in an up position, the protruding rib is in contact with an inner wall of the upper wall of the housing.

6. Lidar assembly according to any one of claims 2 to 5, wherein the main body of the lidar further comprises a top cover, one side of the cover transmitting light away from the base being covered by the top cover, a projection area of ​​the top cover being greater than a projection area of ​​the aperture in the projection plane perpendicular to the vertical direction of the lidar assembly, and a projection area of ​​the aperture being located in a projection area of ​​the top cover; and at least a first positioning part is formed on the top cover, at least a second positioning part is formed on an inner periphery of the aperture, and the first positioning part and the second positioning part fit together when the main body of the lidar is in a lowered state.

7. Lidar assembly according to claim 6, wherein the first positioning part comprises a first inclined guide surface, and the second positioning part comprises a second inclined guide surface; and along the vertical direction of the lidar assembly, from a side near the opening to a side far from the opening, the first inclined guide surface is inclined upwards with respect to the horizontal plane comprising the opening, and from a side far from the top cover to a side near the top cover, the second inclined guide surface is inclined upwards with respect to the horizontal plane comprising the opening.

8. A lidar assembly according to claim 6, wherein a plurality of first positioning parts and a plurality of second positioning parts are provided, the first positioning parts of the plurality of first positioning parts are spaced from each other in a circumferential direction around the top cover, and the second positioning parts of the plurality of second positioning parts are spaced from each other in a circumferential direction around the opening; the number of first positioning parts of the plurality of first positioning parts being equal to the number of second positioning parts of the plurality of second

9.

10.

11. positioning parts, and a position of each first positioning part corresponding to a position of each second positioning part. Lidar assembly according to claim 2, wherein the base is formed as a single injection-molded structural element with the light-transmitting cover. Cleaning device comprising: a housing and a lidar assembly according to any one of claims 1 to 9, the lidar assembly being at least partially located in said housing. Cleaning system comprising a cleaning base station and a cleaning device according to claim 10, the cleaning device being docked to the cleaning base station when the cleaning device is not performing a cleaning operation.