Cleaning device and system

Abstract

The embodiments of the present invention relate to a cleaning device and a cleaning system. The cleaning device comprises a housing, a lidar, a lifting mechanism, a main control board, and a cable. The lidar comprises a housing and a laser rangefinder assembly, and the lifting mechanism is configured to raise and lower the laser rangefinder assembly vertically within the cleaning device. An opening is formed on one side of the housing in a first direction, a first cable retention groove is formed on an external surface of the housing, the first cable retention groove is oriented towards the opening, one end of the cable is connected to the laser rangefinder assembly, and a portion of the cable extends from the housing through the opening and is clipped into the first cable retention groove. (See Figure 6 for abbreviations.)

Description

Title of the invention: Cleaning device and system technical field

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

[0003] In the prior art, if we take the example of a robotic cleaner as a cleaning device, it comprises a lidar, a lifting device, and a main control board. The lifting device can actuate the raising and lowering of the lidar to adapt to different home environments. The lidar is connected to the main control board by a cable. When the lidar is raised and lowered, the cable also performs raising and lowering operations accordingly. Repeated raising and lowering operations tend to cause a high rate of cable deterioration and reduce its service life. Summary of the present invention

[0004] Therefore, the embodiments of the present invention are intended to provide a cleaning device and system to reduce the wear rate of the cable and to extend its service life.

[0005] In order to achieve the above objective, the technical solutions of the embodiments of the present invention are implemented as follows:

[0006] According to a first aspect, the present invention relates to a cleaning device. The cleaning device comprises: a housing; a lidar, at least partially arranged in the housing, the lidar comprising a housing and a laser ranging assembly, at least part of the laser ranging assembly being arranged in the housing; a lifting mechanism, arranged in the housing and configured to drive the raising and lowering of the laser rangefinder assembly in a vertical direction of the cleaning device, such that part of the laser rangefinder assembly extends out of the housing or retracts into the housing; a main control board, arranged in the housing and configured to control operations of the cleaning device; and a cable establishing an electrical connection between the laser rangefinder module and the main control board, wherein an opening is formed on one side of the housing in a first direction, a first cable retaining groove being arranged on an external surface of the housing, the first cable retaining groove being arranged in the direction of the opening, one end of the cable being connected to the laser rangefinder assembly, and a portion of the cable exiting the housing through the opening being held in the first cable retaining groove, the first direction crossing the vertical direction.

[0007] According to one embodiment, a connection position between the cable and the laser rangefinder assembly corresponds to a first position, the laser rangefinder assembly comprising a raised state and a lowered state, and in the lowered state, in a planar projection perpendicular to the first direction, a position of the first cable retaining groove is higher than the first position.

[0008] According to one embodiment, a portion of the cable located between the first cable retaining groove and the laser rangefinder assembly extending in a straight line in the lowered state.

[0009] According to one embodiment, the connection position between the cable and the laser rangefinder assembly corresponds to the first position, a position of a center of a part of the cable located in the first cable retaining groove corresponds to a second position, the laser rangefinder assembly comprises a raised state and a lowered state, a dimension of a connection line between the first position and the second position in the lowered state being greater than a dimension of a connection line between the first position and the second position in the raised state.

[0010] According to one embodiment, a second cable retaining groove is further formed on the housing, the cable comprising a first sub-section and a second sub-section connected together, one end of the first sub-section away from the second sub-section being connected to the laser rangefinder assembly, a part of the first sub-section being retained in the first cable retaining groove, a part of the second sub-section being retained in the second cable retaining groove, and one end of the second sub-section away from the first cable retaining groove being connected to the main control board.

[0011] According to one embodiment, the housing comprises a main body and an extension structure, at least a portion of the laser rangefinder assembly being arranged in the main body, one end of the extension structure being connected to an edge of the opening, the other end of the extension structure extending in the first direction, and the first cable retaining groove being arranged at one end of the extension structure away from the opening.

[0012] According to one embodiment, the extension structure comprises a base and two branches, the base comprising a through groove which passes through it in a second direction, one end of each of the two branches being connected respectively to an upper wall and a lower wall of the through groove, the other end extending obliquely downwards in a direction away from the base and towards the opening, and a space between the through groove and the two branches defining the first cable retaining groove, in which the first direction, the second direction and the height direction are intersecting with each other.

[0013] According to one embodiment, the two branches extend towards each other in the second direction and away from the end of the base to include a stopping structure, said stopping structure being adapted to retain the cable.

[0014] According to one embodiment, the ends of the two branches along the first direction and close to the opening are formed as an inlet of the first cable retaining groove; two stop structures are spaced apart to form a notch, and the cable is held in the first cable retaining groove via the inlet and the notch; or the two stop structures are connected to each other, and the cable is introduced into the first cable retaining groove via the inlet.

[0015] According to one embodiment, the lifting mechanism comprises a drive mechanism and a transmission chain, the drive mechanism is connected to one side of the extended structure opposite the opening, a motor output shaft of the drive mechanism passes through the extended structure and is connected to the transmission chain, and one end of the transmission chain opposite the motor output shaft is provided in the opening in a penetrating manner and is connected to the laser rangefinder assembly.

[0016] According to one embodiment, the housing includes an interleaving part, the interleaving part dividing the opening into a first opening and a second opening in the vertical direction, the first opening being arranged on an upper side of the second opening to allow passage of the cable, and the second opening being configured to be traversed by the transmission chain.

[0017] According to one embodiment, the transmission chain comprises a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod; one end of the first connecting rod is connected by a pivot joint to the engine output shaft, and the other end of the first connecting rod is connected by a pivot joint to the second connecting rod; one end of the second connecting rod, further from the first connecting rod, passes through the opening and is connected by a pivot joint to the third and fourth connecting rods, respectively; and the third and fourth connecting rods are arranged inside the housing, one end of the third The connecting rod furthest from the second connecting rod is connected in a pivot joint with a lower wall of the housing, and one end of the fourth connecting rod furthest from the second connecting rod is connected in a pivot joint with the laser rangefinder assembly.

[0018] According to one embodiment, the laser rangefinder assembly comprises a laser emitting unit, a laser receiving unit and a support, the laser emitting unit and the laser receiving unit being arranged on the support and electrically connected to the cable, and the fourth link being connected in a pivot joint with one end of the support opposite to the laser emitting unit and the laser receiving unit.

[0019] According to one embodiment, the laser rangefinder assembly also includes a light-transmitting cover, the light-transmitting cover covering an upper face of the support and extending at least partially beyond an upper surface of the housing.

[0020] One embodiment of the present invention relates to a cleaning system. The cleaning system comprises: a cleaning base station; and the cleaning device according to the first aspect of the present invention, wherein the cleaning base station is configured for docking the cleaning device.

[0021] According to the cleaning device provided in the embodiments of the present invention, the first cable retaining groove is oriented towards the opening, and a portion of the cable between the laser rangefinder assembly and the first cable retaining groove does not bend. When one end of the cable connected to the laser rangefinder assembly moves during the raising or lowering of the laser rangefinder assembly, the portion of the cable located between the laser rangefinder assembly and the first cable retaining groove can extend in a straight line or fall naturally, thus reducing the likelihood of cable wear and extending its service life. Furthermore, the first cable retaining groove can immobilize the cable, thereby improving the stability of the cable arrangement.In this way, the reliability of the connection between the cable and the main control board is also improved without affecting the raising and lowering of the laser rangefinder assembly, so that the cleaning device can better adapt to various furniture environments while maintaining effective cleaning, thus improving the operating reliability of the cleaning device. Brief description of the figures

[0022] [Fig. 1] is a diagram representing a partial structure of a cleaning device according to an embodiment of the present invention;

[0023] [Fig.2] is a diagram representing the coordination between a lidar represented on the [Fig.l] and a lifting device, the lidar being in a raised state;

[0024] [Fig.3] is an enlarged structural diagram of part A shown in [Fig.2];

[0025] [Fig.4] is another structural diagram of a structure represented on [Fig.2];

[0026] [Fig.5] is another diagram illustrating the coordination between the lidar shown on the [Fig.l] and a lifting device, the lidar being in a lowered state;

[0027] [Fig.6] is a comparison diagram of a lidar and a cable in a raised state and in a lowered state according to an embodiment of the present invention.

[0028] Description of reference numbers:

[0029] 1 - cleaning device;

[0030] 10 - housing;

[0031] 11-Lidar; 111-Shell; 111b-First cable retention groove; 111c- second cable retention groove; 11 Id-opening; 11 le-first opening; 11 If-second opening; 1111-main body part; 1112-extension structure; 11121-base; 11122-branch; 11123-stop structure; 1112a-through groove; 1112b-notch; 1113 - intermediate part; 112 - laser rangefinder assembly; 1121 - bracket; 11211 - support seat; 11212 - mounting seat; 1122 - light-transmitting cover; 113 - elastic element;

[0032] 12 - lifting device; 121 - drive mechanism; 122 - structure of transmission; 1221 - first connecting rod; 1222 - second connecting rod; 1223 - third connecting rod; 1224 - fourth connecting rod; and

[0033] 13 - cable. Description of examples of achievements

[0034] In the description of embodiments of the present invention, it should be noted that the orientations or positional relationships indicated by terms such as "height direction", "upper", "lower", "top", "bottom", "left", "right", "front" and "back" are those shown in the drawings and are intended solely to facilitate and simplify the description of embodiments of the present invention rather than to indicate or imply that the indicated device or element must follow a specific orientation and be structured and operate according to that specific orientation, and should not be interpreted as limiting embodiments of the present invention.

[0035] Furthermore, it should be noted that, in the description of the present invention, unless explicitly stated otherwise or limited, the terms "mount," "interconnect," and "connect" are to be understood in their broadest sense. For example, they may refer to a fixed connection, a detachable connection, or an integral connection; or a mechanical or electrical connection; or a direct connection, an indirect connection via an intermediary, or internal communication between two elements. For those in the trade, the specific meanings of the above-mentioned terms in this disclosure may be understood based on specific conditions.

[0036] One embodiment of the present invention relates to a cleaning device 1.

[0037] It is understood that the cleaning device 1 may be a sweeping robot, a machine combining sweeping and washing, or any other cleaning robot meeting the required criteria, without this being limiting.

[0038] The cleaning device 1 can be configured to automatically clean dust, hair, and other debris from the floor. If the cleaning device 1 is equipped with a mop, it can wipe the floor after cleaning.

[0039] By way of illustration, one embodiment of the present invention also provides a cleaning system. The cleaning system comprises a cleaning base station and the cleaning device 1 according to any embodiment of the present invention. The cleaning base station is configured for docking the cleaning device 1.

[0040] In other words, the cleaning base station can provide a docking position for the cleaning device 1, so that the cleaning device 1 is housed in the cleaning base station once cleaning is complete. Of course, the cleaning base station can also provide corresponding services for the cleaning device 1. By way of example, the functions of the cleaning base station include at least one of the following: loading, dusting, cleaning, drying, and disinfecting the cleaning device 1.

[0041] With reference to figures 1 to 6, the cleaning device 1 comprises a housing 10, a lidar 11, a lifting mechanism 12, a main control board and a cable 13.

[0042] The housing 10 is configured to provide storage space for the components of the cleaning device 1. At least part of the lidar 11, the lifting mechanism 12, the main control board and the cable 13 are arranged in the housing 10. The housing 10 can effectively protect these components from exposure, shocks and loss.

[0043] For example, the housing 10 is disc-shaped to facilitate rotation and adjustment of the direction of the cleaning device 1 in a confined space, thus improving the flexibility of the cleaning device 1. In addition, the cleaning assembly of the cleaning device 1 can be evenly distributed at the bottom of the housing 10 to improve cleaning efficiency.

[0044] The lidar 11 is a radar system that detects characteristic quantities such as the position and velocity of a target by emitting a laser beam. More specifically, the lidar 11 can detect information relating to obstacles around the cleaning device 1 and the surrounding environment, in order to perform efficient and precise automatic cleaning.

[0045] The lidar 11 comprises a housing 111 and a laser rangefinder assembly 112. At least a portion of the laser rangefinder assembly 112 is arranged in the housing 111.

[0046] More specifically, the housing 111 is configured to provide a mounting space for the laser rangefinder assembly 112, and the laser rangefinder assembly 112 can determine the distance to the obstacle by emitting a laser beam and measuring the time it takes for the laser to be reflected back, thus enabling obstacles to be avoided.

[0047] The lifting mechanism 12 is arranged in the housing 10 and is configured to drive the raising and lowering of the laser rangefinder assembly 112 in the direction of the height of the cleaning device 1, such that part of the laser rangefinder assembly 112 extends out of the housing 10 or retracts into the housing 10.

[0048] It can be understood that, due to the height limitation of the cleaning device, it is difficult for it to access a low area for cleaning, leaving an uncovered cleaning area. In the embodiment, when it encounters a low area, the lifting mechanism 12 causes a part of the laser rangefinder assembly 112 to lower and retract into the housing 10, in order to reduce the height of the body of the cleaning device 1, thus allowing the cleaning device 1 to enter without difficulty into an area that is difficult to access for cleaning.In an open space, the lifting mechanism 12 causes a portion of the laser rangefinder assembly 112 to be raised, so that this portion of the laser rangefinder assembly 112 extends out of the housing 10, thereby facilitating omnidirectional perception of the surrounding environment by the lidar 11, improving navigation accuracy and enhancing the flexibility of the cleaning device 1.

[0049] Consequently, the coordination between the lifting mechanism 12 and the lidar 11 allows the cleaning device 1 to better adapt to various furnished environments while maintaining optimal cleaning efficiency. Low spaces and complex obstacles can be efficiently addressed, thus improving the user's household experience.

[0050] The main control board is arranged in the housing 10 and is configured to control the operation of the cleaning device 1.

[0051] More specifically, the main control board can control the operating time, operating mode or other parameters of the cleaning device 1 and supply electrical power to other components.

[0052] An electrical connection is established between the laser rangefinder device 112 and the main control board via cable 13.

[0053] More specifically, the cable 13 connects the laser rangefinder assembly 112 to the main control board in order to form an electrical connection, thus establishing an electrical connection between the laser rangefinder assembly 112 and the main control board.

[0054] It is evident that the number of cables 13 is not limited. One or more cables may be supplied.

[0055] An opening 11 Id is arranged on one side of the housing 111 in the first direction. The outer surface of the housing 111 is provided with a first cable retention groove 111b, and the first cable retention groove 111b is arranged towards the opening 11 Id. One end of the cable 13 is connected to the laser rangefinder assembly 112, and a portion of the cable 13 exits the housing 111 through the opening 11 Id and is retained in the first cable retention groove 111b. The first direction and the height direction are intersecting.

[0056] In other words, one end of the cable 13 is connected to the laser rangefinder assembly 112, and the other end is connected to the main control board after passing through the opening 11 Id and the first cable retaining groove 111b.

[0057] It should be noted that the statement "the first cable retaining groove 111b is arranged in the direction of the opening 11 Id" means that the portion of the cable 13 running from the laser rangefinder assembly 112 to the first cable retaining groove 111b does not need to be bent and can remain in its resting state. This design reduces the risk of wear when raising and lowering the laser rangefinder assembly 112.

[0058] It should be noted that the expression "a portion of the cable 13 is held in the first cable retaining groove 111b" means that the first cable retaining groove 111b can constrain a portion of the cable 13 located in the first cable retaining groove 111b, and that the portion of the cable 13 located in the first cable retaining groove 111b is immobilized. When one end of the cable 13 connected to the laser rangefinder assembly 112 moves up and down with the raising or lowering of the laser rangefinder assembly 112, a portion of the cable 13 located between the laser rangefinder assembly 112 and the first cable retaining groove 111b moves to accommodate the changes in height. The portion of cable 13 located in the first cable retaining groove 111b and the portion of cable 13 located between the first cable retaining groove 111b and the main control board can remain stationary.In this way, the reliability of the cable 13 arrangement is improved.

[0059] The first direction can be any direction intersecting the vertical direction. For example, the first direction can be perpendicular to the vertical direction.

[0060] It can be understood that, in the prior art, the cable retention groove is arranged on the housing, and that the cable must bend after exiting the housing in order to be housed in the cable retention groove in a protruding manner. When one end of the cable connected to the laser rangefinder assembly moves with the raising or lowering of the laser rangefinder assembly, the bent portion of the cable rubs against the edge of the cable retention groove during the movement. After repeated raising or lowering operations, the cable is likely to crack due to wear, which reduces its service life.

[0061] According to the cleaning device 1 provided in the embodiment of the present invention, the first cable retaining groove 111b is oriented towards the opening 11 Id, and the portion of the cable 13 between the laser rangefinder assembly 112 and the first cable retaining groove 111b does not bend. When the end of the cable 13 connected to the laser rangefinder assembly 112 moves with the raising or lowering of the laser rangefinder assembly 112, the portion of the cable 13 between the laser rangefinder assembly 112 and the first cable retaining groove 111b can extend in a straight line or fall back naturally, thus reducing the probability of wear on the cable 13 and extending the service life of the cable 13. In addition, the first cable retaining groove 111b can secure the cable 13, thereby improving the stability of the cable 13 arrangement.In this way, the reliability of the connection between cable 13 and the main control board is also improved without affecting the raising and lowering of the laser rangefinder assembly 112, so that the cleaning device 1 can better adapt to various furniture environments while maintaining effective cleaning, thus improving the operating reliability of the cleaning device 1.

[0062] In certain embodiments, with reference to [Fig. 6], the connection position between the cable 13 and the laser rangefinder assembly 112 is a first position B1, and the laser rangefinder assembly 112 comprises a raised state and a lowered state. In the lowered state, in a planar projection perpendicular to the first direction, the position of the first cable retaining groove 111b is higher than the first position Bl.

[0063] It should be noted that the raised state refers to the state in which the laser rangefinder assembly 112 is raised to its highest position by the action of the lifting mechanism 12. In this case, the cleaning device 1 has its largest dimension in the vertical direction, and the connection position between the cable 13 and the laser rangefinder assembly 112, i.e., the first position B1, is also in its highest position. high position. The lowered state refers to the state in which the laser rangefinder assembly 112 is lowered to the lowest position under the action of the lifting mechanism 12. In this case, the cleaning device 1 comprises the smallest dimension in the vertical direction, and the connection position between the cable 13 and the laser rangefinder assembly 112, i.e. the first position Bl, is also in its lowest position.

[0064] In these embodiments, in the lowered state, the position of the first cable retaining groove 111b is higher than the first position B1. In this case, the cable 13 is naturally guided upwards. During the movement of the laser rangefinder assembly 112 from the lowered to the raised state, the first position B1 is gradually raised, the height difference between the first position B1 and the first cable retaining groove 111b is gradually reduced, and the cable 13 can gradually become horizontal, thus reducing the probability of friction and wear on the cable 13, so that the cable 13 can maintain its satisfactory resting state when the laser rangefinder assembly 112 is in different operating states, thereby improving the reliability of the cable 13's wiring.

[0065] In certain embodiments, with reference to [Fig.6], in the lowered state, the part of the cable 13 located between the first cable retaining groove 111b and the laser rangefinder assembly 112 extends along a straight line.

[0066] In other words, when the laser rangefinder assembly 112 is lowered to its lowest position, the portion of the cable 13 located between the laser rangefinder assembly 112 and the first cable retaining groove 111b remains in an upright position. This reduces the stress caused by bending of the cable 13 and decreases the likelihood of cable 13 wear. The upright position also improves the stability of the cable 13, reduces the possibility of contact between the cable 13 and other components, and prevents jerking, thus improving the structural stability of the cable 13 in the lowered position. Furthermore, the upright position of the cable 13 in the lowered position determines the length of cable 13 that must be arranged between the first cable retaining groove 111b and the laser rangefinder assembly 112, further improving the structural reliability of the cleaning device 1.

[0067] In certain embodiments, with reference to [Fig.6], the connection position between the cable 13 and the laser rangefinder assembly 112 corresponds to a first position Bl, the position of the center of the part of the cable 13 located in the first cable retaining groove 111b corresponds to a second position B2, and the length L1 of the segment connecting the first position Bl to the second position B2 in the lowered state is greater than the length L2 of the segment connecting the first position Bl to the second position B2 in the raised state.

[0068] In other words, the height difference between the first cable retaining groove 111b and the first position B1 in the raised state is less than the height difference in the lowered state.

[0069] In these embodiments, when the laser rangefinder assembly 112 is in the lowered state, the length of the segment connecting the first position B1 to the second position B2 is as close as possible to the length of the portion corresponding to the cable 13. In this way, a relatively large length of the connecting line can facilitate the natural extension of the cable 13 and reduce the likelihood of wear and jerking of the cable 13. During operations in which the laser rangefinder assembly 112 moves from the lowered state to the raised state, the cable 13 can include sufficient slack to move upward with the laser rangefinder assembly 112, which increases the slack of the cable 13. By defining a relatively short length for this segment, the portion corresponding to the cable 13 is not overstretched, which helps the cable 13 maintain a relatively free state and improves the reliability of the cable 13 wiring.

[0070] In an embodiment where the part of the cable 13 located between the first cable retaining groove 111b and the laser rangefinder assembly 112 extends along a straight line in the lowered state, the dimension of the segment connecting the first position B1 to the second position B2 in the lowered state is adapted to the length of the part corresponding to the cable 13.

[0071] By way of illustration, the segment connecting the first position B1 to the second position B2 in the raised state can be perpendicular to the vertical direction. In this way, in the raised state, there is practically no difference in height between the first cable retaining groove 111b and the first position B1, which allows for more natural cable routing of the cable 13 and reduces the probability of wear on the cable 13.

[0072] The angle [3] between the segment connecting the first position B1 to the second position B2 in the lowered state and of length L1 and the segment connecting the first position B1 to the second position B2 in the raised state and of length L2 can be considered as the angle along which the cable 13 pivots during the raising and lowering of the laser rangefinder assembly 112. The angle [3] cannot exceed 30°, and a pivot angle of relatively small amplitude facilitates increasing the life of the cable 13 and reducing the probability of cable friction. In some embodiments, the angle [3] cannot exceed 15°, for example 14°, 12°, 11°, 8° or 5°

[0073] In some embodiments, with reference to Figures 2 to 6, the housing 111 is further provided with a second cable retaining groove 11, and the cable 13 comprises a first sub-section and a second sub-section connected to each other.One end of the first subsection away from the second subsection is connected to the laser rangefinder assembly 112, part of the first subsection. is held in the first cable retaining groove 111b, part of the second subsection is held in the second cable retaining groove 111e, and one end of the second subsection away from the first cable retaining groove 111b is connected to the main control board.

[0074] It can be understood that the second cable retaining groove 111c may not be oriented towards the opening 11 Id. When the first subsection moves up and down with the raising or lowering of the laser rangefinder assembly 112, the second subsection can maintain a more stable position under the holding action of the second cable retaining groove 111c.

[0075] In these embodiments, thanks to the arrangement of the second cable retaining groove 111e, the cable 13 can be further constrained, making its arrangement more efficient and reliable through the coordination of the first cable retaining groove 111b and the second cable retaining groove 11e. Furthermore, the segmented cable retention method for 13 can also improve the stability of the cable 13 arrangement between the laser rangefinder assembly 112 and the main control board.

[0076] By way of illustration, in the planar projection perpendicular to the first direction, the position of the second cable retaining groove 111c is higher than the position of the first cable retaining groove 111b, which facilitates a judicious arrangement of the portion of the cable 13 between the first cable retaining groove 111b and the main control board.

[0077] The following description of the specific structure of the housing 111 is not limiting.

[0078] In certain embodiments, with reference to Figures 2 and 3, the housing 111 includes a main body 1111 and an extension structure 1112. At least a portion of the laser rangefinder assembly 112 is arranged in the main body 1111, one end of the extension structure 1112 is connected to the edge of the opening 11 Id, the other end of the extension structure extends in the first direction, and the first cable retaining groove 111b is arranged at one end of the extension structure 1112 away from the opening 11 Id.

[0079] In these embodiments, thanks to the arrangement of the extension structure 1112, a passage from the inside to the outside of the main body 1111 can be provided for the cable 13, and support and protection are provided for the cable 13. The first cable retaining groove 111b is arranged at the end of the extension structure 1112 away from the opening 11 Id, which allows the cable 13 to have sufficient space to accommodate the raising and lowering of the laser rangefinder assembly 112, and can also reduce the probability of friction and wear between the cable 13 and the edge of the opening 11 Id or other components.

[0080] In certain embodiments, with reference to Figures 2 and 3, the extension structure 1112 comprises a base 11121 and two arms 11122. A through groove 1112a is formed on the base 11121, and the through groove 1112a passes through the base 11121 in the second direction. One end of each of the two arms 11122 is connected respectively to the upper wall of the through groove 1112a and to the lower wall of the through groove 1112a, the other end extending obliquely downwards in a direction away from the base 11121 and towards the opening 111d. The space between the through groove 1112a and the two arms 11122 defines the first cable retaining groove 111b. The first direction, the second direction, and the vertical direction intersect.

[0081] In these embodiments, the two arms 11122 are arranged to extend obliquely, so that the cable 13 can easily pass through the first cable retaining groove 111b, thereby reducing the risk of bending or twisting the cable 13. Furthermore, the oblique design can also help reduce the contact area between the cable 13 and the arm 11122, thereby reducing friction and wear, and improving the reliability of the cable 13's up-and-down movement. The cable 13 can be connected to the main control board via the through groove 1112a after exiting the first cable retaining groove 111b, and the through groove 1112a passes through the base 11121 in the second direction, which helps to change the orientation of the cable 13 and optimize the cable 13 layout while reducing cable 13 wear.

[0082] In some embodiments, with reference to [Fig.3], the two branches 11122 extend in the second direction towards each other at an end far from the base 11121 to form stop structures 11123. The stop structures 11123 are configured to stop the cable 13.

[0083] In these embodiments, thanks to the arrangement of the stop structure 11123, the fixing of the cable 13 in the first cable retaining groove 111b can be facilitated, thus reducing the probability that the cable 13 will move and disengage from the first cable retaining groove 111b during the lifting and lowering operations of the laser rangefinder assembly 112.

[0084] In some embodiments, the ends of the two branches 11122 along the first direction and located near the opening 11 Id are formed as an entry to the first cable retaining groove 111b.

[0085] It can be understood that the entry here refers to a groove opening on one side of the first cable retaining groove 111b closest to the laser rangefinder assembly 112, i.e. the starting position where the cable 13 enters the first cable retaining groove 111b.

[0086] With reference to [Fig.3], two stop structures 11123 are spaced apart to form a notch 1112b, and the cable 13 is held in the first cable retaining groove 111b via the inlet and notch 1112b.

[0087] In these embodiments, the notch 1112b can help the cable 13 to easily enter the first cable retaining groove 111b, reduce the likelihood that the cable 13 will have to be bent when inserted into the first cable retaining groove 111b and improve the reliability of the cable 13 assembly. The stop structures 11123 stop the cable 13, thus improving the stability of the cable 13 in the first cable retaining groove 111b.

[0088] In other embodiments, the two stop structures 11123 are connected to each other, and the cable 13 enters the first cable retaining groove 111b via the inlet.

[0089] In these embodiments, the two retaining structures 11123 are connected to each other to form a continuous structure. In this way, the portion of the cable 13 in the first cable retaining groove 111b can be retained, thus reducing the probability that the cable 13 will oscillate or move due to the raising or lowering of the laser rangefinder assembly 112, or even disengage from the first cable retaining groove 111b.

[0090] The following description of the specific structure of the lifting mechanism 12 is not limiting.

[0091] In certain embodiments, with reference to Figures 2, 4 and 5, the lifting mechanism 12 comprises a drive mechanism 121 and a transmission chain 122. The drive mechanism 121 is connected to one side of the extension structure 1112 opposite the opening 11 Id, a motor output shaft of the drive mechanism 121 passes through the extension structure 1112 and is connected to the transmission chain 122, and one end of the transmission chain 122 opposite the motor output shaft is provided in the opening 11 Id in a penetrating manner and is connected to the laser rangefinder assembly 112.

[0092] More specifically, the drive mechanism 121 is configured to supply power and transmit this power to the transmission chain 122 via the motor output shaft. The transmission chain 122 is configured to transmit power from the drive mechanism 121 to the laser rangefinder assembly 112, thereby enabling the raising and lowering of the laser rangefinder assembly 112.

[0093] The specific structure of the drive mechanism 121 is not limited. For example, the drive mechanism 121 may be a stepper motor.

[0094] In these embodiments, the laser rangefinder assembly 112 is driven by the coordination between the drive mechanism 121 and the transmission chain 122. The drive mechanism 121 is arranged outside the main body 1111 is connected to the side of the extension structure 1112 opposite the opening 11 Id, and the drive mechanism 121 is mounted using the space on the side of the extension structure 1112 opposite the opening 11 Id, so as to achieve a sensible arrangement, thus improving the structural compactness of the cleaning device 1. The transmission chain 122 can convert the power supplied by the drive mechanism 121 into a form of motion suitable for driving the raising or lowering of the laser rangefinder assembly 112. For example, the transmission chain 122 can convert the rotational power supplied by the drive mechanism 121 into linear motion, thus driving the raising or lowering of the laser rangefinder assembly 112.

[0095] In certain embodiments, with reference to Figures 2 and 3, the housing 111 comprises an interlayer portion 1113, the interlayer portion 1113 dividing the opening 11Id into a first opening 11le and a second opening 11If in the vertical direction. The first opening 111e is disposed on the upper side of the second opening 11If to allow passage of the cable 13, and the second opening 11If is configured so that the transmission structure 122 passes through it.

[0096] In these embodiments, thanks to the presence of the intercalated part 1113, the opening 11 Id is divided into a first opening 11 le and a second opening 11 If, which reduces the probability of interference between the transmission chain 122 and the cable 13 during assembly or lifting and lowering operations, and further improves the stability of the cable 13 during lifting and lowering operations.

[0097] The following description of the specific structure of the transmission chain 122 is not limiting.

[0098] In certain embodiments, with reference to Figures 4 and 5, the transmission chain 122 comprises a first connecting rod 1221, a second connecting rod 1222, a third connecting rod 1223 and a fourth connecting rod 1224. One end of the first connecting rod 1221 is connected by a pivot joint with the motor output shaft, and the other end of the first connecting rod 1221 is connected by a pivot joint with the second connecting rod 1222. One end of the second connecting rod 1222 away from the first connecting rod 1221 passes through the opening 11 Id and is connected by a pivot joint with the third connecting rod 1223 and the fourth connecting rod 1224, respectively.The third connecting rod 1223 and the fourth connecting rod 1224 are arranged inside the housing 111, one end of the third connecting rod 1223 away from the second connecting rod 1222 is connected by pivot joint to the lower wall of the housing 111, and one end of the fourth connecting rod 1224 away from the second connecting rod 1222 is connected by pivot joint to the laser rangefinder assembly 112.

[0099] In these embodiments, the design of the first connecting rod 1221, the second connecting rod 1222, the third connecting rod 1223 and the fourth connecting rod 1224 allows a four-linkage mechanism to be formed. The first linkage 1221 transmits the power of the drive mechanism 121 to the second linkage 1222, the rotation of the first linkage 1221 causes the rotation of the second linkage 1222, the second linkage 1222 transmits the movement of the first linkage 1221 to the third linkage 1223 and the fourth linkage 1224, and the rotation of the second linkage 1222 causes the third linkage 1223 and the fourth linkage 1224 to rotate respectively. The connection between the third connecting rod 1223 and the lower wall of the housing 111 can provide pivot support for the lifting and lowering operations of the fourth connecting rod 1224, and the fourth connecting rod 1224 transmits the movement of the second connecting rod 1222 to the laser rangefinder assembly 112, thus enabling the lifting and lowering of the laser rangefinder assembly 112.Thanks to the coordination of the four-link mechanism, the stability of the 112 laser rangefinder assembly during the lifting and lowering process can also be improved while allowing the lifting and lowering of the 112 laser rangefinder assembly.

[0100] In some embodiments, the laser rangefinder assembly 112 comprises a laser emitting unit, a laser receiving unit and a support 1121. The laser emitting unit and the laser receiving unit are arranged on the support 1121 and are electrically connected to the cable 13, and the fourth connecting rod 1224 is connected in a pivot joint with one end of the support 1121 opposite to the laser emitting unit and the laser receiving unit.

[0101] More specifically, the laser emitting unit is configured to emit a laser signal, and the laser receiving unit is configured to receive the reflected laser signal, thus enabling distance measurement. Cable 13 can supply electrical power to both the laser emitting unit and the laser receiving unit.

[0102] The support 1121 is configured to provide support for the laser emitting unit and the laser receiving unit. The fourth connecting rod 1224 causes the support 1121 to be raised and lowered, thereby causing the laser emitting unit and the laser receiving unit to be raised and lowered, and isolates the laser emitting unit and the laser receiving unit from the fourth connecting rod 1224, thus improving the raising and lowering stability of the laser rangefinder assembly 112.

[0103] In certain embodiments, with reference to Figures 4 and 5, the lidar 11 also includes at least one elastic element 113, the support 1121 includes a support base 11211 and at least one mounting base 11212, the laser emitting unit and the laser receiving unit are supported on the support base 11211, one end of the mounting base 11212 is connected to the lower part of the support base 11211, one end of the fourth connecting rod 1224 is away from the third connecting rod 1223 is connected in pivot joint with mounting base 11212, and elastic element 113 is arranged between mounting base 11212 and support base 11211.

[0104] The elastic element 113 is configured to: during the process in which the fourth connecting rod 1224 causes the support 1121 to move from the lowered state to the raised state, apply a downward force to the fourth connecting rod 1224 when the included angle between the third connecting rod 1223 and the fourth connecting rod 1224 is 180°, such that the included angle between the third connecting rod 1223 and the fourth connecting rod 1224 is less than 180°.

[0105] It should be noted that the included angle a between the third connecting rod 1223 and the fourth connecting rod 1224 is the included angle between a side of the fourth connecting rod 1224 close to the third connecting rod 1223 and a side of the third connecting rod 1223 close to the fourth connecting rod 1224.

[0106] It can be understood that, during the process by which the fourth connecting rod 1224 drives the support 1121 from the lowered state to the raised state, the angle between the fourth connecting rod 1224 and the third connecting rod 1223 gradually increases. When the angle between the fourth connecting rod 1224 and the third connecting rod 1223 is 180 degrees, this can be equivalent to a dead center position, and the fourth connecting rod 1224 has difficulty overcoming the resistance and continues to rotate smoothly. However, in this case, the fourth connecting rod 1224 and the third connecting rod 1223 are almost in a straight line, and the support provided by the fourth connecting rod 1224 to the support 1121 and the support force provided by the third connecting rod 1223 to the fourth connecting rod 1224 are minimized.When the lidar 11 is subjected to an external impact, the support 1121 is likely to fall suddenly, causing the laser rangefinder assembly 112 to fall abruptly, which affects the operation of the laser rangefinder assembly 112 or increases the risk of damage to the laser rangefinder assembly 112.

[0107] In these embodiments, thanks to the arrangement of the elastic element 113, a force can be applied to the fourth connecting rod 1224 when the angle between the third connecting rod 1223 and the fourth connecting rod 1224 is 180 degrees, such that the fourth connecting rod 1224 pivots backward by a certain angle. This avoids the occurrence of the dead spot phenomenon, so that the four-connecting-rod mechanism can operate smoothly during lifting and lowering operations, thus improving the lifting and lowering reliability of the laser rangefinder assembly 112 and the operating reliability of the four-connecting-rod mechanism.

[0108] In some embodiments, with reference to Figures 2 and 4, the laser rangefinder assembly 112 also includes a light-transmitting cover 1122. The light-transmitting cover 1122 covers the upper face of the support 1121 and protrudes at least partially from the upper surface of the housing 111.

[0109] In these embodiments, the light-transmitting cover 1122 covers the upper face of the support 1121 and can protect the laser emitting unit and the laser receiving unit. At least a portion of the light-transmitting cover 1122 extends beyond the upper surface of the housing 111. When the lifting mechanism 12 raises the laser rangefinder assembly 112, the light-transmitting cover 1122 can extend out of the housing 10, thus facilitating smooth laser signal transmission and reception and improving the operational reliability of the cleaning device 1.

[0110] In the description of the present invention, the reference terms "an embodiment," "certain embodiments," "an example," "a specific example," "certain examples," or similar terms mean that the specific features, structures, materials, or properties described with reference to the embodiments or examples are included in at least one embodiment or example of embodiments of the present invention. In this disclosure, the schematic description of the above terms does not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or properties described may be appropriately combined in one or more embodiments or examples.Furthermore, various embodiments or examples and features of various embodiments or examples described in this disclosure may be combined by those skilled in the art without contradiction.

[0111] The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, various modifications and adaptations can be made to the present invention. All modifications, equivalent substitutions, improvements, and other similar measures carried out in the spirit and principle of the present invention fall within the scope of the present invention.

Claims

Demands

1. Cleaning device, comprising: a housing; a lidar, at least partially arranged in the housing, the lidar comprising a casing and a laser rangefinder assembly, at least a portion of the laser rangefinder assembly being arranged in the casing; a lifting mechanism, arranged in the housing and configured to drive the lifting and lowering of the laser rangefinder assembly in a vertical direction of the cleaning device, such that a portion of the laser rangefinder assembly extends out of the housing or retracts into the housing; a main control board, arranged in the housing and configured to control operations of the cleaning device;and a cable establishing an electrical connection between the laser rangefinder module and the main control board, wherein an opening is formed on one side of the housing in a first direction, a first cable retaining groove being arranged on an external surface of the housing, the first cable retaining groove being arranged in the direction of the opening, one end of the cable being connected to the laser rangefinder assembly, and a portion of the cable exiting the housing through the opening being held in the first cable retaining groove, the first direction intersecting the vertical direction.

2. Cleaning device according to claim 1, wherein a connection position between the cable and the laser rangefinder assembly corresponds to a first position, the laser rangefinder assembly comprising a raised state and a lowered state, and in the lowered state, in a planar projection perpendicular to the first direction, a position of the first cable retaining groove is higher than the first position.

3. Cleaning device according to claim 2, wherein a portion of the cable located between the first cable retaining groove and the laser rangefinder assembly extends in a straight line in the lowered state.

4. Cleaning device according to claim 2 or 3, wherein the connection position between the cable and the laser rangefinder assembly corresponds to the first position, a position of a center of a portion of the cable located in the first cable retaining groove corresponds to a second position, the laser rangefinder assembly comprises a raised state and a lowered state, a dimension of a connecting line between the first position and the second position in the lowered state being greater than a dimension of a connecting line between the first position and the second position in the raised state.

5. Cleaning device according to any one of claims 1 to 4, wherein a second cable retaining groove is further formed on the housing, the cable comprising a first subsection and a second subsection connected together, one end of the first subsection away from the second subsection being connected to the laser rangefinder assembly, a portion of the first subsection being retained in the first cable retaining groove, a portion of the second subsection being retained in the second cable retaining groove, and one end of the second subsection away from the first cable retaining groove being connected to the main control board.

6. Cleaning device according to any one of claims 1 to 5, wherein the housing comprises a main body and an extension structure, at least a portion of the laser rangefinder assembly being arranged in the main body, one end of the extension structure being connected to an edge of the opening, the other end of the extension structure extending in the first direction, and the first cable retaining groove being arranged at one end of the extension structure away from the opening.

7. A cleaning device according to claim 6, wherein the extending structure comprises a base and two arms, the base comprising a through groove which passes through it in a second direction, one end of each of the two arms being connected respectively to an upper wall and a lower wall of the through groove, the other end extending obliquely downwards in a direction away from the base and towards the opening, and a space between the through groove and the two arms defining the first cable retention groove, in in which the first direction, the second direction and the height direction are intersecting with each other.

8. Cleaning device according to claim 7, wherein the two arms extend towards each other in the second direction and away from the end of the base to comprise a stopping structure, said stopping structure being adapted to retain the cable.

9. Cleaning device according to claim 8, wherein the ends of the two arms along the first direction and near the opening are formed as an inlet to the first cable retaining groove; two stop structures are spaced apart to form a notch, and the cable is retained in the first cable retaining groove via the inlet and the notch; or the two stop structures are connected to each other, and the cable is introduced into the first cable retaining groove via the inlet.

10. Cleaning device according to any one of claims 6 to 9, wherein the lifting mechanism comprises a drive mechanism and a transmission chain, the drive mechanism is connected to one side of the extension structure opposite the opening, a motor output shaft of the drive mechanism passes through the extension structure and is connected to the transmission chain, and one end of the transmission chain opposite the motor output shaft is provided in the opening in a penetrating manner and is connected to the laser rangefinder assembly.

11. Cleaning device according to claim 10, wherein the housing includes an interleaving part, the interleaving part dividing the opening into a first opening and a second opening in the vertical direction, the first opening being arranged on an upper side of the second opening to permit passage of the cable, and the second opening being configured to be traversed by the transmission chain.

12. A cleaning device according to claim 10 or 11, wherein the transmission chain comprises a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod; one end of the first connecting rod is connected by a pivot joint to the motor output shaft, and the other end of the first connecting rod is connected by a pivot joint to the second connecting rod; one end of the second connecting rod, away from the first connecting rod, passes through the opening and is connected by a pivot joint to the third connecting rod and the fourth connecting rod, respectively; and the third connecting rod and the fourth connecting rod are arranged inside the housing, one end of the third connecting rod away from the second connecting rod is connected in a pivot joint with a lower wall of the housing, and one end of the fourth connecting rod away from the second connecting rod is connected in a pivot joint with the laser rangefinder assembly.

13. Cleaning device according to claim 12, wherein the laser rangefinder assembly comprises a laser emitting unit, a laser receiving unit and a bracket, the laser emitting unit and the laser receiving unit being arranged on the bracket and electrically connected to the cable, and the fourth connecting rod being connected in a pivot joint with one end of the bracket opposite the laser emitting unit and the laser receiving unit.

14. Cleaning device according to claim 13, wherein the laser rangefinder assembly also includes a light-transmitting cover, the light-transmitting cover covering an upper face of the support and extending at least partially from an upper surface of the housing.

15. Cleaning system, comprising: a cleaning base station; and the cleaning device according to any one of claims 1 to 14, wherein the cleaning base station is configured for docking the cleaning device.

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