Cleaning device

Abstract

Provided in the present application is a cleaning device, comprising a body, a laser radar assembly, a lifting assembly and an interaction assembly, wherein the body comprises an upper cover; the lifting assembly is connected to the laser radar assembly, so as to drive the laser radar assembly to extend from or retract into the body; at least part of the laser radar assembly can extend from the upper cover; and the interaction assembly is arranged on the part of the laser radar assembly located outside the body. In the cleaning device of the present application, by means of arranging the interaction assembly on the part of the laser radar assembly located outside the upper cover, the space on the upper cover of the cleaning device can be saved on, and the arrangement of other components is not affected; moreover, the interaction distance between a user and the interaction assembly is also shortened, which is conducive to improving the user experience.

Description

Cleaning device

[0001] Cross-reference to related applications

[0002] This application claims the benefit of Chinese Patent Application No. 202420827530.2, filed on April 19, 2024, and Chinese Patent Application No. 202420827568.X, filed on April 19, 2024, the contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of cleaning devices, and in particular to a cleaning device. BACKGROUND

[0004] In recent years, with the improvement of people's living standards, household cleaning has gradually entered the era of automation and intelligence. The cleaning device emerging as the times require can liberate people from household cleaning work, effectively reduce people's work burden in household cleaning, and alleviate people's tiredness during household cleaning.

[0005] In the related art, an interactive component is further arranged on the cleaning device, and a user can interact with the cleaning device by contacting the interactive component, so that the cleaning device performs corresponding actions according to the user's instructions, thereby improving the user's experience.

[0006] However, in the related art, the interactive component is usually arranged on the upper cover of the cleaning device, and the interactive component occupies the internal space of the machine body, affecting the arrangement of other components on or in the cleaning device. SUMMARY

[0007] In order to overcome the above-mentioned defects in the related art, the purpose of the present application is to provide a cleaning device, which arranges the interactive component on the laser radar component, thereby saving the space of the upper cover of the cleaning device and not affecting the arrangement of other components in the machine body.

[0008] The present application provides a cleaning device, which comprises a machine body, a laser radar component, a lifting component and an interactive component, the machine body comprises an upper cover, the lifting component is connected with the laser radar component to drive the laser radar component to extend out of or retract into the machine body.

[0009] At least part of the laser radar component can extend out of the upper cover, and the interactive component is arranged on the part of the laser radar component located outside the machine body.

[0010] The application can save the space of the upper cover of the cleaning device by arranging the interactive component on the laser radar component outside the upper cover, without affecting the arrangement of other components, and further shortens the interaction distance between the user and the interactive component, thereby improving the user experience. Arranging the interactive component on the laser radar component can save the space inside the body, thereby facilitating the installation and arrangement of other parts in the cleaning device.

[0011] In a possible implementation, the interactive component is located on a side of the laser radar component away from the upper cover.

[0012] The application can further shorten the interaction distance between the user and the interactive component by arranging the interactive component on the side of the laser radar component away from the upper cover, thereby improving the user experience.

[0013] In a possible implementation, the interactive component includes a shell and an interactive piece, the shell is arranged on the laser radar component, and the interactive piece is arranged at an end of the shell away from the laser radar component, and the interactive piece is used for human-computer interaction.

[0014] The application can facilitate the interaction between the user and the interactive piece by arranging the interactive piece at the end of the shell away from the laser radar component, thereby improving the user experience.

[0015] In a possible implementation, the shell further includes a third circuit board, and the interactive piece is physically connected or communicatively connected to the third circuit board.

[0016] The application can provide a basis for the interactive piece to realize human-computer interaction by arranging the third circuit board in the shell and connecting the interactive piece to the third circuit board through physical connection or communication connection.

[0017] In a possible implementation, the shell includes a top plate, a side wall, and a bottom plate, the top plate and the bottom plate are respectively located at two ends of the side wall, the top plate, the side wall, and the bottom plate jointly form a cavity for accommodating the third circuit board, the bottom plate is connected to the laser radar component, the third circuit board is arranged in the cavity and located on the bottom plate, and the interactive piece is arranged on the top plate.

[0018] In a possible implementation, the third circuit board is clamped between the top plate and the bottom plate, the third circuit board is lapped on the bottom plate, the bottom plate is provided with a plurality of fixing columns, the third circuit board is provided with a plurality of through holes, the top plate is provided with a plurality of fixing holes, the plurality of fixing columns, the plurality of through holes, and the plurality of fixing holes are one-to-one corresponding, the fixing columns are arranged in the corresponding through holes, and a fastener is connected to the corresponding fixing column after passing through the fixing hole.

[0019] The third circuit board is arranged between the top plate and the bottom plate, so that the stability of the third circuit board in the shell is ensured. The top plate and the bottom plate of the shell are fixedly connected by fasteners, so that the third circuit board is clamped between the top plate and the bottom plate, and the stability of the third circuit board is ensured.

[0020] In a possible implementation, the shell includes a bottom plate, the third circuit board is arranged on the bottom plate, and a wire passing hole is further arranged on the bottom plate, and the lead of the third circuit board is connected to the mainboard of the cleaning device after passing through the wire passing hole.

[0021] The lead of the third circuit board is connected to the mainboard of the cleaning device, so that the communication connection between the third circuit board and the mainboard of the cleaning device is realized. The wire passing hole is arranged on the bottom plate and is not easy to be found by a user, so that the appearance of the interactive assembly can be ensured to be beautiful.

[0022] In a possible implementation, in a plane parallel to the bottom plate, a projection of the laser radar assembly is located in a projection range of the bottom plate, and the wire passing hole is arranged on a portion of the bottom plate located outside the projection range of the laser radar assembly.

[0023] The laser radar assembly includes a laser radar, a laser radar shell, and a motor base, the laser radar is located in the laser radar shell, the laser radar shell is located between the interactive assembly and the motor base, and the lead is connected to the mainboard of the cleaning device along the laser radar shell and the motor base.

[0024] The lead is arranged outside the laser radar shell and the motor base, so that interference between the lead and the laser radar can be avoided, and normal use of the laser radar assembly is ensured.

[0025] In a possible implementation, an outer side of the laser radar shell and the motor base is further provided with a shielding cover, a wire routing space is formed between the shielding cover and the laser radar shell and the motor base, part of the lead is located in the wire routing space, an outlet hole is further arranged at an end of the shielding cover away from the bottom plate, and the lead is connected to the mainboard of the cleaning device after passing through the outlet hole.

[0026] The lead is arranged between the shielding cover and the laser radar shell and the motor base, so that the appearance can be improved.

[0027] In a possible implementation, at least two spaced apart wire winding columns are further arranged in the wire routing space, two ends of the wire winding column are connected to the shielding cover and the motor base respectively, and the lead is arranged between the two wire winding columns.

[0028] The application sets a winding column to change the direction of the lead wire, so as to facilitate the connection of the lead wire to the mainboard of the cleaning device.

[0029] In a possible implementation, the interaction assembly comprises a shell, and a detection assembly is arranged on the shell and used to detect whether the laser radar assembly collides.

[0030] The application arranges the detection assembly on the interaction assembly to avoid the collision between the laser radar assembly and other objects, so as to prevent the laser radar assembly from being damaged and prolong the service life.

[0031] In a possible implementation, the laser radar assembly comprises a laser radar shell, at least one clamping column is arranged on the laser radar shell, at least one clamping groove is arranged on the bottom plate, the clamping column and the clamping groove correspond to each other, the clamping column is inserted into the corresponding clamping groove and can slide along the clamping groove.

[0032] The shell further comprises a top plate, the detection assembly is arranged between the top plate and the bottom plate, the detection assembly is in communication connection with the third circuit board, a first limiting rib is arranged on the laser radar shell, the first limiting rib is located inside the interaction assembly after penetrating through the bottom plate, and the detection assembly can abut against the first limiting rib when the interaction assembly slides along the laser radar shell.

[0033] The application enables the interaction assembly to slide on the laser radar shell by inserting the clamping column into the corresponding clamping groove, and the detection assembly can abut against the first limiting rib during the movement, so as to trigger the detection assembly, and the detection assembly can feed back the impact information to enable the cleaning device to perform the corresponding obstacle avoidance strategy.

[0034] In a possible implementation, a second limiting rib is further arranged on the top plate, the second limiting rib is located above the detection assembly, and the second limiting rib can abut against the first limiting rib when the interaction assembly continues to slide along the laser radar shell after the detection assembly abuts against the first limiting rib, so as to relatively lock the interaction assembly and the laser radar shell.

[0035] The application sets the second limiting rib to limit the sliding distance of the interaction assembly on the laser radar shell.

[0036] In a possible implementation, the detection assembly comprises a microswitch, one detection assembly is arranged in the interaction assembly, and the detection assembly is located at the front end of the interaction assembly in the advancing direction of the machine body.

[0037] Alternatively, two detection assemblies are arranged in the interaction assembly, and the two detection assemblies are respectively located at the left end and the right end of the interaction assembly in the advancing direction of the machine body.

[0038] In a possible implementation, the interaction piece includes a plurality of keys, and the plurality of keys are arranged on a side of the interaction piece away from the laser radar assembly; and / or,

[0039] The interaction piece includes a touch screen, and the interaction piece is in communication connection with the third circuit board.

[0040] The application sets keys or a touch screen on the interaction piece to facilitate human-computer interaction through clicking or touch sliding.

[0041] In a possible implementation, the machine body is internally provided with a receiving cavity, at least part of the laser radar assembly is located in the receiving cavity, the receiving cavity is provided with an opening communicating with the surface of the machine body, and the laser radar assembly is driven by the lifting assembly to be movable relative to the receiving cavity to extend or retract the opening.

[0042] The receiving cavity is internally provided with a first sealing structure, and the laser radar assembly includes a second sealing structure, and at least when the laser radar assembly extends or retracts the opening, the first sealing structure and the second sealing structure are sealingly abutted.

[0043] The application sets a first sealing structure in the receiving cavity and a second sealing structure on the laser radar assembly, and the first sealing structure can be abutted with the second sealing structure after the laser radar assembly extends or retracts the opening on the machine body. It can be understood that, since the laser radar assembly is movably arranged in the receiving cavity, the second sealing structure on the laser radar assembly also moves with the laser radar assembly; when the laser radar assembly extends the opening, part of the second sealing structure is sealingly connected with the first sealing structure; when the laser radar assembly retracts the opening, another part of the second sealing structure is sealingly connected with the first sealing structure; so that the laser radar assembly and the machine body are sealed in the above manner, the probability of impurities such as water or dust from the outside entering the inside of the cleaning equipment is reduced, and the waterproof and dustproof performance of the cleaning equipment is improved.

[0044] The embodiment drives the laser radar assembly to move by the lifting assembly, so that the laser radar assembly extends or retracts the opening along the receiving cavity.

[0045] In a possible implementation, when the laser radar assembly is located in the machine body, the first sealing structure and the second sealing structure are sealingly abutted.

[0046] The application makes the first sealing structure and the second sealing structure sealingly abutted when the laser radar assembly is located in the machine body, so as to ensure that the laser radar assembly and the machine body have good sealing property in this state, and prevent impurities such as water or dust from the outside from entering the inside of the cleaning equipment.

[0047] In a possible implementation, the first sealing structure comprises an inner wall of the accommodating cavity; and the second sealing structure comprises a laser radar shell of the laser radar assembly, and a cross-sectional shape of the laser radar shell is matched with a cross-sectional shape of the accommodating cavity along a moving direction of the laser radar assembly.

[0048] The laser radar shell of the laser radar assembly and the inner wall of the accommodating cavity are matched in the cross-sectional shape, so that the laser radar shell can always abut against the inner wall of the accommodating cavity when the laser radar assembly moves, so that the laser radar assembly and the accommodating cavity are in a zero-fit state (i.e., in mutual contact and abutment), thereby reducing the probability of impurities such as water or dust from the outside entering the inside of the cleaning device, and improving the waterproof and dustproof performance of the cleaning device.

[0049] In a possible implementation, a first flange is arranged around the laser radar shell of the laser radar assembly, and the first flange always abuts against the inner wall of the accommodating cavity when the laser radar assembly moves along the accommodating cavity.

[0050] The first flange that always abuts against the inner wall of the accommodating cavity can ensure that no gap is generated between the laser radar assembly and the accommodating cavity when the laser radar assembly moves along the accommodating cavity, thereby avoiding impurities such as water or dust from the outside entering the inside of the cleaning device, and protecting the waterproof and dustproof performance of the cleaning device.

[0051] In a possible implementation, the first flange is located at one end of the laser radar shell away from the opening.

[0052] The first flange is arranged at one end of the laser radar shell away from the opening, so that the first flange cannot move to the outside of the body when the laser radar assembly moves along the accommodating cavity, thereby avoiding impurities such as water or dust from the outside entering the inside of the cleaning device, and protecting the waterproof and dustproof performance of the cleaning device.

[0053] In a possible implementation, the inner wall of the accommodating cavity comprises a first cavity wall and a second cavity wall connected to each other, the first cavity wall extends along the moving direction of the laser radar assembly, and the second cavity wall gradually inclines outward from a side away from the opening to a side close to the opening.

[0054] The inner wall of the accommodating cavity is arranged in a structure comprising a vertical first cavity wall and an inclined second cavity wall, and the second cavity wall gradually inclines to a side away from the inner wall of the accommodating cavity in a direction toward the opening, so that the size of the accommodating cavity close to the opening gradually increases, thereby facilitating the movement of the laser radar assembly in the accommodating cavity.

[0055] In a possible implementation, the first cavity wall is a cylindrical cavity wall, and the second cavity wall is a circular truncated cone cavity wall.

[0056] In a possible implementation, the laser radar shell is further provided with a second flange, and the second flange and the first flange are arranged at intervals along the moving direction of the laser radar assembly.

[0057] After the lifting assembly drives the laser radar assembly to retract into the opening, the second flange abuts against the second cavity wall.

[0058] By arranging the second flange, and after the laser radar assembly retracts into the opening, the second flange abuts against the second cavity wall, a sealed connection structure can be formed by the second flange and the second cavity wall, and in combination with the sealed connection structure between the first flange and the inner wall of the accommodating cavity, the sealing performance between the laser radar assembly and the accommodating cavity can be further improved, the probability of impurities such as water or dust from the outside entering the inside of the cleaning equipment is reduced, and the waterproof and dustproof performance of the cleaning equipment is improved.

[0059] In a possible implementation, the second flange has a matching surface that matches and abuts against the second cavity wall, and the matching surface is part of a conical surface.

[0060] In a possible implementation, when the lifting assembly drives the laser radar assembly to extend out of the opening, the second flange is located outside the machine body.

[0061] In a possible implementation, the first sealing structure includes a sealing ring, and at least part of the sealing ring is located in the accommodating cavity; and the second sealing structure includes a first flange and a second flange arranged at intervals along the moving direction of the laser radar assembly.

[0062] After the lifting assembly drives the laser radar assembly to extend out of the opening, the first flange abuts against the sealing ring.

[0063] After the lifting assembly drives the laser radar assembly to retract into the opening, the second flange abuts against the sealing ring.

[0064] By arranging the sealing ring in the accommodating cavity, and arranging the first flange and the second flange on the laser radar assembly, after the laser radar assembly extends out of the opening, the first flange abuts against the sealing ring, so that the laser radar assembly and the machine body are in sealed connection; and after the laser radar assembly retracts into the opening, the second flange abuts against the sealing ring, so that the laser radar assembly and the machine body are in sealed connection. In this way, the probability of impurities such as water or dust from the outside entering the inside of the cleaning equipment can be reduced, and the waterproof and dustproof performance of the cleaning equipment is improved.

[0065] In a possible implementation, the sealing ring is detachably arranged in the machine body, so that the installation and subsequent maintenance and replacement are facilitated.

[0066] The machine body comprises an upper lidar shell and a gland, the upper lidar shell comprises an upper lidar shell upper cover, the accommodating cavity is connected with the upper lidar shell upper cover, the gland is arranged on the upper lidar shell upper cover, and the sealing ring is sealingly connected between the upper lidar shell upper cover and the gland.

[0067] In a possible implementation, the accommodating cavity is further provided with a mounting portion at one end of the upper lidar shell upper cover, the mounting portion is connected with the outer wall of the accommodating cavity, and the mounting portion is provided with a mounting groove;

[0068] The sealing ring comprises a first portion and a second portion, the first portion is arranged in the mounting groove, and the second portion is connected with the first portion and extends into the accommodating cavity.

[0069] The first portion of the sealing ring is arranged in the mounting groove to realize detachable connection between the sealing ring and the accommodating cavity, and the second portion of the sealing ring extends into the accommodating cavity to realize sealing of the lidar assembly.

[0070] In a possible implementation, the first portion is further provided with a fixing groove, and the gland is provided with a fixing protrusion on one side facing the sealing ring, and the fixing protrusion is arranged in the fixing groove.

[0071] The fixing protrusion is arranged on the gland, and the fixing protrusion is arranged in the fixing groove of the first portion, so that the stability of assembly of the sealing ring between the upper lidar shell upper cover and the gland is improved.

[0072] In a possible implementation, the lidar assembly is further provided with an interaction assembly, the interaction assembly has a shell, and the second flange is surrounded by the shell of the interaction assembly.

[0073] The shell of the interaction assembly is arranged as the second flange, which is conducive to reducing the number of parts on the lidar assembly.

[0074] In a possible implementation, the lifting assembly comprises a first base and a driving device, the first base is fixed in the machine body, the driving device is arranged on the first base, and the driving device is connected with the lidar assembly, so that the driving device can drive the lidar assembly to move along the accommodating cavity to extend or retract the opening.

[0075] The first base is arranged to fix the lifting assembly to the machine body, thereby improving the stability of the lifting assembly, and the first base can also support the laser radar assembly, thereby improving the stability of the laser radar assembly. The driving device is arranged to provide power for the laser radar assembly, so that the laser radar assembly can move along the accommodating cavity.

[0076] In a possible implementation, the laser radar assembly comprises a laser radar and a second base, the laser radar is arranged on the second base, the second base is arranged on the first base, and the second base is movably connected to the first base. The driving device is connected to the second base, and the driving device can drive the second base to move along the accommodating cavity to extend or retract the opening.

[0077] The second base can support the laser radar, thereby improving the stability of the laser radar. The movable connection between the second base and the first base ensures that the laser radar assembly can move relative to the first base.

[0078] In a possible implementation, the laser radar assembly further comprises a first optical coupling detection mechanism and a second optical coupling detection mechanism arranged along the height direction of the cleaning device, the second base is provided with a shielding mechanism, and the driving device can drive the laser radar assembly to switch between a first position and a second position,

[0079] When the laser radar assembly is located at the first position, the shielding mechanism shields the first optical coupling detection mechanism.

[0080] When the laser radar assembly is located at the second position, the shielding mechanism shields the second optical coupling detection mechanism.

[0081] The first optical coupling detection mechanism and the second optical coupling detection mechanism are arranged in the laser radar assembly, and the shielding mechanism is arranged on the second base, so that the shielding mechanism can cooperate with the first optical coupling detection mechanism and the second optical coupling detection mechanism to obtain the height information of the laser radar assembly, and then the driving device can be controlled to stop driving the laser radar assembly.

[0082] In a possible implementation, the second base comprises a sliding block, and the shielding mechanism is arranged on the sliding block. The laser radar assembly further comprises an outer cover, the outer cover is located on the first base, and the first optical coupling detection mechanism and the second optical coupling detection mechanism are arranged on the outer cover and spaced apart along the height direction of the cleaning device.

[0083] In a possible implementation, the driving device comprises a motor, a crank and a connecting rod, an output end of the motor is connected with the crank, the crank is further connected with a first end of the connecting rod, and a second end of the connecting rod is connected with the second base.

[0084] The outer cover further comprises a plurality of guide rails, and the sliding block is sleeved on the guide rails and can slide along the guide rails.

[0085] By arranging the plurality of guide rails in the outer cover and enabling the sliding block to slide along the guide rails, the sliding block can be precisely calibrated to prevent the laser radar assembly from deviating when being lifted or lowered.

[0086] In a possible implementation, the driving device comprises a first driving unit and a second driving unit, the first driving unit is configured to drive the second base to extend out of the opening, and the second driving unit is configured to drive the second base to retract into the opening.

[0087] The first driving unit is arranged to enable the laser radar assembly to extend out of the opening along the accommodating cavity, and the second driving unit is arranged to enable the laser radar assembly to retract into the opening along the accommodating cavity.

[0088] In a possible implementation, the first driving unit comprises an elastic member, two ends of the elastic member are respectively abutted on the first base and the second base, and the elastic force of the elastic member is directed to a direction in which the first base and the second base are away from each other.

[0089] The elastic member of the present application is in a compressed state when the laser radar assembly retracts into the opening, and when it is required to extend the laser radar assembly out of the opening, the compression force of the elastic member is removed, and the elastic member is driven out of the opening by the elastic restoring force of the elastic member.

[0090] In a possible implementation, the second driving unit comprises a motor, a wheel disc and a rope, the wheel disc is sleeved on an output shaft of the motor, a first end of the rope is connected with the wheel disc, a second end of the rope is connected with the laser radar after passing through the second base, and the wheel disc is configured to rotate under the driving of the motor to enable the rope to be wound on the wheel disc and pull the laser radar to move towards the wheel disc.

[0091] When the motor of the present application rotates, it can drive the wheel disc to rotate, thereby winding the rope on the wheel disc. Since the rope is connected to the laser radar, the laser radar can be pulled to move towards the first base side, thereby making the laser radar assembly retract into the opening. In a possible implementation, the main machine support is arranged in the machine body, the laser radar assembly is located above the main machine support, the battery pack and the edge brush assembly are also arranged in the machine body, the laser radar assembly, the battery pack and the edge brush assembly are all located at the front end of the machine body in the forward direction, and the battery pack and the edge brush assembly are respectively located on the left and right sides of the laser radar assembly; the edge brush assembly can extend out of or retract into the machine body.

[0092] The present application arranges the battery pack and the edge brush assembly on the left and right sides of the laser radar assembly respectively, so that the weights of the left and right sides of the cleaning device are basically consistent, without the need to arrange counterweights, thereby saving costs.

[0093] In a possible implementation, the main board of the cleaning device includes a first circuit board arranged in the machine body, the main machine support is arranged between the first circuit board and the battery pack, and the lead of the interaction assembly is electrically connected with the first circuit board.

[0094] The present application arranges the first circuit board at the front end in the forward direction of the machine body, thereby facilitating the processing of high-speed signals such as cameras, radars and ultrasonic waves.

[0095] In a possible implementation, the main board of the cleaning device further includes a second circuit board arranged in the machine body, the second circuit board is located at the rear end of the machine body in the forward direction, and the first circuit board is in communication connection with the second circuit board.

[0096] In a possible implementation, the lower part of the machine body is further provided with a universal wheel and a rolling brush, the rolling brush is located at the middle part of the machine body in the forward direction, and the universal wheel is arranged close to the front end of the machine body in the forward direction.

[0097] In a possible implementation, the lower part of the machine body is further provided with a universal wheel and a rolling brush, the rolling brush is located at the middle part of the machine body in the forward direction, and the universal wheel is arranged close to the rear end of the machine body in the forward direction.

[0098] The machine body is further provided with a counterweight, the counterweight is arranged close to the rear end of the machine body in the forward direction, and the center of gravity of the machine body is located on the machine body between the rolling brush and the universal wheel.

[0099] The present application arranges the center of gravity of the machine body at the rear half of the machine body, according to the principle of lever, the force arm is reduced, the rolling brush can exert greater force on the ground during cleaning, which is conducive to improving the cleaning effect and cleaning efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0100] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or the related art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0101] Fig. 1 is a structural diagram of a cleaning device provided by an embodiment of the present application;

[0102] Fig. 2 is a structural diagram of Fig. 1 from another perspective;

[0103] Fig. 3 is a connection structure diagram of a laser radar assembly and an interaction assembly provided by an embodiment of the present application;

[0104] Fig. 4 is a B-B sectional view of Fig. 3;

[0105] Fig. 5 is an exploded view of Fig. 3;

[0106] Fig. 6 is an A-A sectional view of Fig. 1;

[0107] Fig. 7 is a partial enlarged view of A part in Fig. 6;

[0108] Fig. 8 is a structural diagram of a cleaning device in a second state provided by an embodiment of the present application;

[0109] Fig. 9 is a C-C sectional view of Fig. 8;

[0110] Fig. 10 is a partial enlarged view of B part in Fig. 9;

[0111] Fig. 11 is a structural diagram of a cleaning device in a first state provided by another embodiment of the present application;

[0112] Fig. 12 is a D-D sectional view of Fig. 11;

[0113] Fig. 13 is a partial enlarged view of C part in Fig. 12;

[0114] Fig. 14 is a structural diagram of a cleaning device in a second state provided by another embodiment of the present application;

[0115] Fig. 15 is an E-E sectional view of Fig. 14;

[0116] Fig. 16 is a partial enlarged view of D part in Fig. 15;

[0117] Fig. 17 is an exploded view of a laser radar assembly and a lifting assembly provided by an embodiment of the present application;

[0118] Fig. 18 is a connection structure diagram of a motor, a wheel disc and a rope provided by an embodiment of the present application;

[0119] Fig. 19 is a cross-sectional view of a laser radar assembly and a lifting assembly according to another embodiment of the present application, in a first position;

[0120] Fig. 20 is a cross-sectional view of a laser radar assembly and a lifting assembly according to another embodiment of the present application, in a second position;

[0121] Fig. 21 is a cross-sectional view of a cleaning apparatus according to still another embodiment of the present application, in a direction;

[0122] Fig. 22 is a structural diagram of a cleaning apparatus according to still another embodiment of the present application, with a portion of a housing removed;

[0123] Fig. 23 is a bottom view of a cleaning apparatus according to still another embodiment of the present application;

[0124] Fig. 24 is a cross-sectional view of a cleaning apparatus according to yet another embodiment of the present application, in a direction.

[0125] 10-cleaner; 20-dust box assembly; 30-roller; 40-castor; 50-rolling brush; 100-machine body; 101-upper laser assembly shell upper cover; 102-pressing cover; 1021-fixing protrusion; 110-upper cover; 120-main machine support; 130-battery pack; 140-side brush assembly; 150-first circuit board; 160-second circuit board; 170-counterweight; 180-housing cavity; 181-inner wall of housing cavity; 1811-first cavity wall; 1812-second cavity wall; 182-mounting part; 200-laser radar assembly; 201-first optocoupler detection mechanism; 202-second optocoupler detection mechanism; 203-outer cover; 204-guide rail; 210-clamping column; 220-laser radar shell; 221-first limiting rib; 230-winding column; 240-laser radar; 250-motor base; 260-first flange; 270-second flange; 300-interaction assembly; 310-outer cover; 311-top plate; 3111-fixing hole; 3112-first mounting hole; 3113-second limiting rib; 312-side wall; 313-bottom plate; 3131-clamping groove; 3132-fixing column; 3133-threading hole; 320-interaction piece; 321-body; 322-flange; 323-protrusion; 330-third circuit board; 331-through hole; 332-key spring; 340-decorative cover; 341-second mounting hole; 350-flexible pad; 360-lead wire; 370-detection assembly; 380-second base; 381-threading through hole; 382-second guide hole; 383-occlusion mechanism; 400-lifting assembly; 410-first base; 411-first guide hole; 420-elastic piece; 430-motor; 440-wheel disc; 441-first recess; 442-second recess; 450-rope; 451-rope body; 452-first fixing block; 453-second fixing block; 460-guide column; 470-crank; 480-linkage; 500-sealing ring; 510-first part; 520-second part; 600-occlusion cover; 610-wire outlet hole. DETAILED DESCRIPTION

[0126] In order to make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will be used to clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application.

[0127] Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0128] As described in the background, in the related art, the interactive component is generally arranged on the surface of the cleaning device (e.g., exposed on the upper cover of the body), and part of the parts of the interactive component is arranged inside the body. The interactive component occupies a certain space, which affects the arrangement of other components on or in the cleaning device.

[0129] Therefore, the embodiments of the present application aim to provide a cleaning device, so as to save the space of the upper cover of the cleaning device, without affecting the arrangement of other components, and further shorten the interaction distance between the user and the interactive component, which is beneficial to improve the user experience. Arranging the interactive component on the laser radar component makes the interactive component not occupy the space inside the cleaning device, which is beneficial to the installation and arrangement of other parts in the cleaning device.

[0130] The content of the embodiments of the present application will be described in detail below with reference to the accompanying drawings, so that those skilled in the art can understand the content of the present application in more detail.

[0131] FIG. 1 is a structural diagram of a cleaning device according to an embodiment of the present application; FIG. 2 is a structural diagram of FIG. 1 from another perspective; FIG. 3 is a connection structure diagram of a laser radar component and an interactive component according to an embodiment of the present application; FIG. 4 is a B-B sectional view of FIG. 3; and FIG. 5 is an exploded view of FIG. 3.

[0132] Referring to FIGS. 1-5, the present embodiment provides a cleaning device, which can be a cleaning robot, such as a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, etc. The cleaning device includes a body 100, which can have various shapes. In order to balance stability and suitability for cleaning in various scenarios, such as under a bed, etc., the body 100 is usually in a cylindrical shape, a D-column shape, a quadrangular prism shape, etc. Correspondingly, the outline of the body 100 is a circular outline, a D-shaped outline, or a rectangular outline, etc. The range of the outline of the body 100 can be determined according to the projection of the body 100 on a horizontal plane. One side of the body 100 is provided with a laser radar component 200, which can determine the distance between itself and an obstacle, so as to determine the relative position and achieve positioning. The other side of the body 100 is further provided with a cleaning element 10, a dust box component 20, a roller 30, and a universal wheel 40. The cleaning element 10, for example, can be a sweeping brush, a mop, etc. When the body 100 moves, the cleaning element 10 can rotate, so as to remove dirt on the ground. The dust box component 20 is arranged behind the moving direction of the cleaning element 10, so as to accommodate the dirt swept by the cleaning element 10. The rollers 30 are all or partially arranged outside the body 100, so as to contact the ground and drive the body 100 to move. For example, the rollers 30 can be driven by a driving motor arranged inside the body 100, or the rollers 30 can be internally provided with a hub motor, and the driving wheels 210 can be self-driven by the built-in hub motor. The universal wheels 40 can be used in cooperation with the rollers 30, so as to achieve the steering of the cleaning device.

[0133] The body 100 comprises an upper cover 110, which is an end cover away from the ground when the cleaning device is in use. The cleaning device further comprises a laser radar assembly 200, at least part of which is located outside the upper cover 110. Optionally, the laser radar assembly 200 can be fixedly arranged outside the upper cover 110, so as to determine the distance between the laser radar assembly 200 and an obstacle and realize positioning. Alternatively, a lifting assembly can be arranged in the body 100 and connected to the laser radar assembly 200, so as to drive the laser radar assembly 200 to extend out of or retract into the body. The liftable laser radar assembly 200 enables the body 100 to have a variable size, so as to be applicable to a scene with a lower height.

[0134] The cleaning device of the embodiment further comprises an interaction assembly 300, which is arranged on the part of the laser radar assembly 200 located outside the body 100; that is, the interaction assembly 300 is located outside the upper cover 110.

[0135] The embodiment saves the space of the upper cover 110 of the cleaning device by arranging the interaction assembly 300 on the laser radar assembly 200 located outside the upper cover 110, without affecting the arrangement of other components, and further shortens the interaction distance between the user and the interaction assembly 300, which is conducive to improving the user experience. Arranging the interaction assembly 300 on the laser radar assembly 200 enables the interaction assembly 300 not to occupy the space inside the body 100, which is conducive to the installation and arrangement of other components in the cleaning device.

[0136] In some embodiments, the interaction assembly 300 of the embodiment can be located on the side of the laser radar assembly 200 away from the upper cover 110.

[0137] The embodiment further shortens the interaction distance between the user and the interaction assembly 300 by arranging the interaction assembly 300 on the side of the laser radar assembly 200 away from the upper cover 110, so as to improve the user experience.

[0138] Please refer to FIGS. 3 and 4. In some embodiments, the interaction assembly 300 comprises a shell 310 and an interaction piece 320. The shell 310 is arranged on the laser radar assembly 200, and the interaction piece 320 is arranged at the end of the shell 310 away from the laser radar assembly 200, and the interaction piece 320 is used for human-computer interaction.

[0139] The embodiment facilitates the interaction between the user and the interaction piece 320 by arranging the interaction piece 320 at the end of the shell 310 away from the laser radar assembly 200, so as to improve the user experience.

[0140] In some embodiments, the housing 310 further comprises a third circuit board 330, and the interactive component 320 is physically or communicatively connected to the third circuit board 330.

[0141] The embodiment provides a basis for the interactive component 320 to realize human-computer interaction by arranging the third circuit board 330 in the housing 310 and connecting the interactive component 320 to the third circuit board 330 through physical or communicative connection.

[0142] Specifically, the housing 310 comprises a top plate 311, a side wall 312, and a bottom plate 313, the top plate 311 and the bottom plate 313 are respectively located at two ends of the side wall 312, and the top plate 311, the side wall 312, and the bottom plate 313 jointly form a cavity for accommodating the third circuit board 330. The bottom plate 313 is connected to the laser radar assembly 200, the third circuit board 330 is arranged in the cavity and located on the bottom plate 313, and the interactive component 320 is arranged on the top plate 311.

[0143] In some embodiments, the bottom plate 313 of the embodiment is detachably arranged on the laser radar assembly 200.

[0144] The embodiment facilitates the installation and subsequent maintenance and replacement of the interactive assembly 300 by detachably arranging the bottom plate 313 on the laser radar assembly 200.

[0145] Please continue to refer to FIG. 5. Specifically, one of the laser radar assembly 200 and the bottom plate 313 is provided with a plurality of clamping columns 210, and the other is provided with a plurality of clamping grooves 3131, the plurality of clamping columns 210 and the plurality of clamping grooves 3131 correspond one-to-one and are clamped and fixed, so that the laser radar assembly 200 and the bottom plate 313 are detachably connected. For example, the clamping column 210 of the embodiment is arranged at the top of the laser radar assembly 200, and the clamping groove 3131 is arranged on the bottom plate 313.

[0146] In some embodiments, the third circuit board 330 of the embodiment is clamped between the top plate 311 and the bottom plate 313.

[0147] The embodiment guarantees the stability of the third circuit board 330 in the housing 310 by clamping the third circuit board 330 between the top plate 311 and the bottom plate 313.

[0148] Please continue to refer to FIG. 4 and FIG. 5, in particular, the third circuit board 330 is overlapped on the bottom plate 313. The bottom plate 313 is provided with a plurality of fixing columns 3132, the third circuit board 330 is provided with a plurality of through holes 331, the top plate 311 is provided with a plurality of fixing holes 3111, the plurality of fixing columns 3132, the plurality of through holes 331 and the plurality of fixing holes 3111 are one-to-one corresponding, the fixing column 3132 is arranged in the corresponding through hole 331, and the fastener is connected to the corresponding fixing column 3132 after penetrating through the fixing hole 3111. Exemplarily, the fixing column 3132 in the embodiment can be provided with a threaded hole, and the fastener can be a screw. The screw is connected to the threaded hole after penetrating through the fixing hole 3111, so as to connect and fix the top plate 311 and the bottom plate 313. After connection, the third circuit board 330 is clamped between the top plate 311 and the bottom plate 313.

[0149] The top plate 311 and the bottom plate 313 of the shell 310 are fixedly connected by the fastener in the embodiment, so as to clamp the third circuit board 330 between the top plate 311 and the bottom plate 313, and ensure the stability of the third circuit board 330.

[0150] In some embodiments, the interactive piece 320 in the embodiment can be detachably connected to the top plate 311.

[0151] The interactive piece 320 is detachably arranged on the top plate 311 in the embodiment, so as to facilitate the installation and disassembly of the interactive piece 320, and facilitate subsequent maintenance and replacement.

[0152] Please continue to refer to FIG. 4 and FIG. 5, in particular, the top plate 311 is provided with a first mounting hole 3112, and the side of the top plate 311 away from the bottom plate 313 is further provided with a mounting groove. The mounting groove is provided with a decorative cover 340, the decorative cover 340 is provided with a second mounting hole 341 corresponding to the first mounting hole 3112, and the interactive piece 320 is located in the first mounting hole 3112 and the second mounting hole 341. The interactive piece 320 includes a body 321 and a flange 322, the flange 322 is arranged at one end of the body 321 facing the bottom plate 313, and the decorative cover 340 is overlapped on the side of the flange 322 away from the bottom plate 313, so as to clamp the interactive piece 320 on the top plate 311 by the decorative cover 340.

[0153] The decorative cover 340 is arranged in the mounting groove in the embodiment, and the decorative cover 340 is overlapped on the flange 322 of the interactive piece 320, so as to clamp the interactive piece 320 on the top plate 311 by the decorative cover 340, thereby realizing the detachable connection between the interactive piece 320 and the top plate 311.

[0154] In some embodiments, a flexible pad 350 is further arranged between the third circuit board 330 and the interactive component 320, and a projection of the first mounting hole 3112 is located within a projection range of the flexible pad 350 in a plane parallel to the third circuit board 330. That is, the flexible pad 350 of the present embodiment can completely cover the first mounting hole 3112. The flexible pad 350 can be clamped between the top plate 311 and the bottom plate 313.

[0155] The present embodiment buffers the impact force between the interactive component 320 and the third circuit board 330 by arranging the flexible pad 350, which is conducive to prolonging the service life of the interactive component 320 and the third circuit board 330. The flexible pad 350 covers the first mounting hole 3112, so that a sealed structure is formed between the flexible component and the shell 310, preventing external water, dust and other impurities from entering the interactive assembly 300.

[0156] In some embodiments, the flexible pad 350 of the present embodiment can be selected as a rubber pad or a silica gel pad.

[0157] Please continue to refer to FIG. 3 and FIG. 5, in some embodiments, the bottom plate 313 of the present embodiment is further provided with a wire passing hole 3133, and the lead 360 of the third circuit board 330 is connected to the mainboard of the cleaning equipment after passing through the wire passing hole 3133.

[0158] The present embodiment realizes the communication connection between the third circuit board 330 and the mainboard of the cleaning equipment by connecting the lead 360 of the third circuit board 330 to the mainboard of the cleaning equipment. The wire passing hole 3133 is arranged on the bottom plate 313, which is not easy to be found by users, and can ensure the aesthetic appearance of the interactive assembly 300.

[0159] In some embodiments, in a plane parallel to the bottom plate 313, a projection of the lidar assembly 200 of the present embodiment is located within a projection range of the bottom plate 313, that is, the bottom plate 313 of the present embodiment can completely cover the lidar assembly 200. The wire passing hole 3133 is arranged on a portion of the bottom plate 313 which is located outside the projection range of the lidar assembly 200.

[0160] The lidar assembly 200 comprises a lidar 240, a lidar shell 220 and a motor base 250, the lidar 240 is located in the lidar shell 220, the lidar shell 220 is located between the interactive assembly 300 and the motor base 250, and the lead 360 is connected to the mainboard of the cleaning equipment along the lidar shell 220 and the motor base 250.

[0161] The present embodiment avoids the interference between the lead 360 and the lidar assembly 200 by arranging the lead 360 outside the lidar shell 220, so as to ensure the normal use of the lidar assembly 200.

[0162] In some embodiments, the outer side of the lidar shell 220 and the motor base 250 is further provided with a shielding cover 600, the shielding cover 600 and the lidar shell 220 and the motor base 250 form a wiring space therebetween, part of the lead 360 is located in the wiring space, and the end of the shielding cover 600 away from the bottom plate 313 is further provided with a wire outlet hole 610, and the lead 360 is connected to the mainboard of the cleaning equipment after passing through the wire outlet hole 610.

[0163] The embodiment sets the lead 360 between the shielding cover 600 and the lidar shell 220 and the motor base 250, so that the lead 360 is not exposed, which is beneficial to improve the aesthetics. The shielding cover 600 can also protect the lead 360 to prevent the lead 360 from being damaged.

[0164] In some embodiments, at least two spaced apart winding columns 230 are further provided in the wiring space of the embodiment, the two ends of the winding column 230 are connected to the shielding cover 600 and the motor base 250 respectively, and the lead 360 is arranged between the two winding columns 230. The embodiment changes the direction of the lead 360 by arranging the winding column 230, so as to facilitate the connection of the lead 360 to the mainboard of the cleaning equipment.

[0165] Exemplarily, the winding column 230 of the embodiment can be provided with a fixing hole arranged in the axial direction, and a fastener is connected to the fixing hole after passing through the shielding cover 600, so as to connect the shielding cover 600 and the motor base 250.

[0166] As shown in FIG. 4, in one possible embodiment, the interaction piece 320 of the embodiment includes a plurality of keys, and the plurality of keys are arranged on the side of the interaction piece 320 away from the lidar assembly 200. A plurality of key springs 332 are arranged between the interaction piece 320 and the third circuit board 330, and the key is configured to deform the key spring 332 when subjected to a pressing force, so as to make the third circuit board 330 generate a trigger signal. Exemplarily, the key spring 332 can be a pot spring arranged on the third circuit board 330, and when the key is not pressed, the key spring 332 is in a free state; when the key is pressed, the key spring 332 is deformed to one side of the third circuit board 330, so as to make the third circuit board 330 generate a trigger signal; and after the key is released, the key spring 332 can restore to the free state under the action of its own elastic force.

[0167] The embodiment sets the key on the interaction piece 320, and sets the key spring 332 between the interaction piece 320 and the third circuit board 330, so that the user can deform the key spring 332 by pressing the key, so as to make the third circuit board 330 generate a trigger signal to realize human-computer interaction.

[0168] Further, the interactive piece 320 of the embodiment is further provided with a plurality of protrusions 323 on the side of the laser radar assembly 200, the plurality of protrusions 323 correspond to the plurality of key elastic sheets 332 one by one, and the key is pressed to drive the corresponding protrusion 323 to abut on the corresponding key elastic sheet 332, so that the third circuit board 330 generates a trigger signal.

[0169] In another possible embodiment, the interactive piece 320 of the embodiment includes a touch screen, and the interactive piece 320 is in communication connection with the third circuit board 330, for example, the interactive piece 320 and the third circuit board 330 can be communicated through a cable.

[0170] In the embodiment, the interactive piece 320 is a touch screen, and the user can realize human-computer interaction by clicking or sliding the touch screen.

[0171] Please continue to refer to FIG. 3, the motor is arranged in the motor base 250, and the output end of the motor is connected with the laser radar 240, so as to drive the laser radar 240 to rotate in the laser radar shell 220.

[0172] In the embodiment, the laser radar 240 is limited to rotate in the laser radar shell 220, so as to avoid the user from directly contacting the rotating laser radar 240, and the safety is improved.

[0173] As shown in FIG. 4 and FIG. 5, further, the interactive assembly 300 of the embodiment includes a shell 310, and the shell 310 is provided with a detection assembly 370 for detecting whether the laser radar assembly 200 collides.

[0174] In the embodiment, the detection assembly 370 is arranged on the interactive assembly 300, so as to avoid the laser radar assembly 200 from colliding with other objects, thereby avoiding the damage of the laser radar assembly 200 and prolonging the service life.

[0175] Specifically, the laser radar shell 220 of the embodiment is provided with a plurality of clamping columns 210, and the bottom plate 313 is provided with a plurality of clamping grooves 3131, the plurality of clamping columns 210 correspond to the plurality of clamping grooves 3131 one by one, and the clamping column 210 is inserted into the corresponding clamping groove 3131 and can slide along the clamping groove 3131.

[0176] The detection assembly 370 is arranged between the top plate 311 and the bottom plate 313 of the shell 310, the detection assembly 370 is in communication connection with the third circuit board 330, the laser radar shell 220 is provided with a first limiting rib 221, the first limiting rib 221 passes through the bottom plate 313 and is located inside the interactive assembly 300, and when the interactive assembly 300 slides along the laser radar shell 220, the detection assembly 370 can abut on the first limiting rib 221.

[0177] The embodiment makes the interactive assembly 300 slide on the laser radar shell 220 by inserting the clamping column 210 into the corresponding clamping groove 3131; the detection assembly 370 can abut against the first limiting rib 221 during the movement process, so as to trigger the detection assembly 370, and the detection assembly 370 can feed back the impact information to make the cleaning device perform the corresponding obstacle avoidance strategy. The top plate 311 of the embodiment is further provided with a second limiting rib 3113 located above the detection assembly 370; when the interactive assembly 300 continues to slide along the laser radar shell 220 after the detection assembly 370 abuts against the first limiting rib 221, the second limiting rib 3113 can be driven to abut against the first limiting rib 221, so as to relatively lock the interactive assembly 300 and the laser radar shell 220.

[0178] The embodiment sets the second limiting rib 3113 to limit the sliding distance of the interactive assembly 300 on the laser radar shell 220.

[0179] Exemplarily, the detection assembly 370 of the embodiment includes a microswitch, and the interactive assembly 300 can be provided with one detection assembly 370 located at the front end of the interactive assembly 300 in the advancing direction of the machine body 100.

[0180] Alternatively, the interactive assembly 300 can be provided with two detection assemblies 370 located at the left and right ends of the interactive assembly 300 in the advancing direction of the machine body 100.

[0181] FIG. 6 is an A-A sectional view of FIG. 1; FIG. 7 is a partial enlarged view of part A in FIG. 6; FIG. 8 is a structural diagram of a cleaning device in a second state according to an embodiment of the present application; FIG. 9 is a C-C sectional view of FIG. 8; FIG. 10 is a partial enlarged view of part B in FIG. 9; FIG. 11 is a structural diagram of a cleaning device in a first state according to another embodiment of the present application; FIG. 12 is a D-D sectional view of FIG. 11; FIG. 13 is a partial enlarged view of part C in FIG. 12; FIG. 14 is a structural diagram of a cleaning device in a second state according to another embodiment of the present application; FIG. 15 is an E-E sectional view of FIG. 14; FIG. 16 is a partial enlarged view of part D in FIG. 15; FIG. 17 is an exploded view of a laser radar assembly and a lifting assembly according to an embodiment of the present application; and FIG. 18 is a connection structure diagram of a motor, a wheel disc and a rope according to an embodiment of the present application.

[0182] Please refer to FIGS. 1-2 and 6-18, the machine body 100 of the embodiment is provided with a receiving cavity 180 connected with the machine body 100 and extending towards the inside of the machine body 100, at least part of the laser radar assembly 200 is located in the receiving cavity 180, the receiving cavity 180 is provided with an opening communicating with the surface of the machine body 100, and the laser radar assembly 200 is movably arranged relative to the receiving cavity 180 to extend out of or retract into the opening.

[0183] Exemplarily, the accommodating cavity 180 of the embodiment is generally cylindrical, and the outer shape of the laser radar assembly 200 is also generally cylindrical, for example, both can be generally cylindrical, thereby facilitating the lifting of the laser radar assembly 200 in the accommodating cavity 180. The laser radar assembly 200 can be driven by an external force (such as manual pressing or pulling by a user) to realize the movement relative to the accommodating cavity 180; or the laser radar assembly 200 can be driven by a mechanical device to realize the movement relative to the accommodating cavity 180.

[0184] As shown in FIGS. 6, 9, 12 and 15, the body 100 of the embodiment is further provided with a lifting assembly 400, the lifting assembly 400 is connected with the laser radar assembly 200, and the lifting assembly 400 can drive the laser radar assembly 200 to move along the accommodating cavity 180 to extend or retract the opening. The specific structure of the lifting assembly 400 can be determined according to actual needs.

[0185] Further, the accommodating cavity 180 of the embodiment is provided with a first sealing structure, and the laser radar assembly 200 is provided with a second sealing structure. After the lifting assembly 400 drives the laser radar assembly 200 to extend or retract the opening, the first sealing structure and the second sealing structure abut each other, so that the laser radar assembly 200 and the accommodating cavity 180 are sealingly connected, to prevent water, dust and other impurities from the outside into the body 100, and to improve the waterproof and dustproof performance of the cleaning device.

[0186] The embodiment sets the first sealing structure in the accommodating cavity 180 and sets the second sealing structure on the laser radar assembly 200. At least when the lifting assembly 400 drives the laser radar assembly 200 to extend or retract the opening on the body 100, the first sealing structure can abut the second sealing structure. It can be understood that, since the laser radar assembly 200 is movably arranged in the accommodating cavity 180, the second sealing structure on the laser radar assembly 200 will also move with the laser radar assembly 200. When the laser radar assembly 200 extends out of the opening, part of the second sealing structure is sealingly connected with the first sealing structure. When the laser radar assembly 200 retracts into the opening, another part of the second sealing structure is sealingly connected with the first sealing structure. Thus, the laser radar assembly 200 and the body 100 are sealingly connected in the above manner, the probability of water or dust and other impurities from the outside entering the cleaning device is reduced, and the waterproof and dustproof performance of the cleaning device is improved.

[0187] Exemplarily, when the laser radar assembly 200 is located in the body 100, the first sealing structure and the second sealing structure are sealingly abutted, so as to ensure that the laser radar assembly 200 and the body 100 have good sealing property in this state, and prevent water or dust and other impurities from the outside from entering the cleaning device.

[0188] Please continue to refer to FIGS. 1-10, in one possible embodiment, the first sealing structure of the present embodiment includes the inner wall 181 of the accommodating cavity, and the second sealing structure includes the laser radar shell 220 of the laser radar assembly, and the cross-sectional shape of the laser radar shell 220 is matched with the cross-sectional shape of the accommodating cavity 180 along the moving direction of the laser radar assembly 200. For example, when the laser radar shell 220 of the laser radar assembly and the inner wall 181 of the accommodating cavity are both substantially cylindrical, the cross-section of the laser radar shell 220 and the cross-section of the inner wall 181 of the accommodating cavity are both substantially circular along the moving direction of the laser radar assembly 200, and the outer diameter of the cross-section of the laser radar shell is substantially equal to the inner diameter of the inner wall 181 of the accommodating cavity, so as to ensure that the laser radar shell 220 can abut against the inner wall 181 of the accommodating cavity, and the zero-fitting state is realized.

[0189] The present embodiment matches the cross-sectional shape of the laser radar shell 220 of the laser radar assembly with the cross-sectional shape of the inner wall 181 of the accommodating cavity, so that when the laser radar assembly 200 moves, the laser radar shell 220 can always abut against the inner wall 181 of the accommodating cavity, thereby realizing the zero-fitting state between the laser radar assembly 200 and the accommodating cavity 180 (i.e., the mutual abutment), so as to reduce the probability of impurities such as water or dust from the outside entering the inside of the cleaning device, and improve the waterproof and dustproof performance of the cleaning device.

[0190] In some embodiments, the laser radar shell 220 of the present embodiment is provided with a first flange 260 surrounding the laser radar shell 220, and the first flange 260 always abuts against the inner wall 181 of the accommodating cavity when the laser radar assembly 200 moves along the accommodating cavity 180.

[0191] The present embodiment can ensure that no gap is generated between the laser radar assembly 200 and the accommodating cavity 180 when the laser radar assembly 200 moves along the accommodating cavity 180 by providing the first flange 260 always abutting against the inner wall 181 of the accommodating cavity, so as to avoid impurities such as water or dust from the outside entering the inside of the cleaning device, and protect the waterproof and dustproof performance of the cleaning device.

[0192] In some embodiments, the first flange 260 of the present embodiment is located at the end of the laser radar shell 220 away from the opening.

[0193] The present embodiment can ensure that the first flange 260 does not move to the outside of the body 100 when the laser radar assembly 200 moves along the accommodating cavity 180 by arranging the first flange 260 at the end of the laser radar shell 220 away from the opening, so as to avoid impurities such as water or dust from the outside entering the inside of the cleaning device, and protect the waterproof and dustproof performance of the cleaning device.

[0194] Please continue to refer to FIG. 7 and FIG. 10, in some embodiments, the inner wall 181 of the accommodating cavity of the present embodiment comprises a first cavity wall 1811 and a second cavity wall 1812 connected to each other, the first cavity wall 1811 extends along the moving direction of the laser radar assembly 200, and the second cavity wall 1812 gradually inclines outward from the side far away from the opening to the side close to the opening.

[0195] The inner wall 181 of the accommodating cavity of the present embodiment is arranged in a manner comprising the vertical first cavity wall 1811 and the inclined second cavity wall 1812, and the second cavity wall 1812 gradually inclines to the side away from the inner wall 181 of the accommodating cavity in the direction of the side close to the opening, so that the size of the accommodating cavity 180 close to the opening gradually increases, thereby facilitating the movement of the laser radar assembly 200 in the accommodating cavity 180.

[0196] Further, the first cavity wall 1811 of the present embodiment can be a cylindrical cavity wall, and the second cavity wall 1812 can be a circular truncated cone cavity wall.

[0197] In some embodiments, the laser radar shell 220 of the present embodiment is further provided with a second flange 270, and the second flange 270 and the first flange 260 are arranged in a spaced manner along the moving direction of the laser radar assembly 200. After the lifting assembly 400 drives the laser radar assembly 200 to retract into the opening, the second flange 270 abuts against the second cavity wall 1812.

[0198] The present embodiment sets the second flange 270, and after the laser radar assembly 200 retracts into the opening, the second flange 270 abuts against the second cavity wall 1812, so that a sealed connection structure can be formed by the second flange 270 and the second cavity wall 1812, and the sealing performance between the laser radar assembly 200 and the accommodating cavity 180 can be further improved by combining the sealed connection structure between the first flange 260 and the inner wall 181 of the accommodating cavity, thereby reducing the probability of impurities such as water or dust from the outside entering the inside of the cleaning equipment, and improving the waterproof and dustproof performance of the cleaning equipment.

[0199] Further, the second flange 270 has a matching surface for abutting against the second cavity wall 1812, and the matching surface is part of a conical surface, thereby ensuring that the second flange 270 can tightly fit with the second cavity wall 1812 after the laser radar assembly 200 retracts into the opening.

[0200] It can be understood that when the lifting assembly 400 of the present embodiment drives the laser radar assembly 200 to be in the state of extending out of the opening, the second flange 270 is located outside the machine body 100.

[0201] Please continue to refer to FIGS. 11-16, in another possible embodiment, the first sealing structure of the embodiment includes a sealing ring 400, at least part of the sealing ring 400 is located in the accommodating cavity 180; the second sealing structure includes a first flange 260 and a second flange 270 which are arranged at intervals along the moving direction of the laser radar assembly 200. The same as in the above-mentioned embodiment, the first flange 260 and the second flange 270 of the embodiment can be arranged on the laser radar housing 220 of the laser radar assembly 200. The sealing ring 400 is generally annular, the outer diameter of the first flange 260 and the outer diameter of the second flange 270 can be equal, and the inner diameter of the sealing ring 400 is generally equal to the outer diameter of the first flange 260 and the outer diameter of the second flange 270.

[0202] When the lifting assembly 400 drives the laser radar assembly 200 to extend out of the opening, the first flange 260 abuts against the sealing ring 400, thereby preventing external water, dust and other impurities from entering the inside of the machine body 100 through the sealing connection structure of the first flange 260 and the sealing ring 400.

[0203] When the lifting assembly 400 drives the laser radar assembly 200 to retract into the opening, the second flange 270 abuts against the sealing ring 400, thereby preventing external water, dust and other impurities from entering the inside of the machine body 100 through the sealing connection structure of the second flange 270 and the sealing ring 400.

[0204] The embodiment achieves sealing connection between the laser radar assembly 200 and the machine body 100 by arranging the sealing ring 400 in the accommodating cavity 180 and arranging the first flange 260 and the second flange 270 on the laser radar assembly 200; when the laser radar assembly 200 extends out of the opening, the first flange 260 abuts against the sealing ring 400, thereby achieving sealing connection between the laser radar assembly 200 and the machine body 100; when the laser radar assembly 200 retracts into the opening, the second flange 270 abuts against the sealing ring 400, thereby achieving sealing connection between the laser radar assembly 200 and the machine body 100. In the above-mentioned manner, the embodiment can reduce the probability of impurities such as water or dust from the outside entering the inside of the cleaning equipment, and improve the waterproof and dustproof performance of the cleaning equipment.

[0205] In some embodiments, the sealing ring 400 of the embodiment can be detachably arranged in the machine body 100, thereby facilitating installation and subsequent maintenance and replacement.

[0206] As shown in FIGS. 13 and 16, optionally, the machine body 100 of the embodiment includes an upper laser radar housing and a gland 102, the upper laser radar housing includes an upper laser assembly housing cover 101, the accommodating cavity 180 is connected with the upper laser assembly housing cover 101, the gland 102 is arranged on the upper laser assembly housing cover 101, and the sealing ring 400 is sealingly connected between the upper laser assembly housing cover 101 and the gland 102.

[0207] Further, the accommodating cavity 180 is provided with a mounting portion 182 at one end of the upper laser assembly shell upper cover 101, the mounting portion 182 is connected with the outer wall of the accommodating cavity 180, and the mounting portion 182 is provided with a mounting groove.

[0208] The sealing ring 400 includes a first portion 510 and a second portion 520, the first portion 510 is located in the mounting groove, and the second portion 520 is connected with the first portion 510 and extends into the accommodating cavity 180.

[0209] In the embodiment, the first portion 510 of the sealing ring 400 is arranged in the mounting groove, so as to realize detachable connection between the sealing ring 400 and the accommodating cavity 180; the second portion 520 of the sealing ring 400 extends into the accommodating cavity 180, so as to realize sealing of the laser radar assembly 200.

[0210] Further, the first portion 510 of the embodiment is further provided with a fixing groove, and the side of the gland 102 facing the sealing ring 400 is provided with a fixing protrusion 1021, the fixing protrusion 1021 is inserted into the fixing groove.

[0211] In the embodiment, the fixing protrusion 1021 is arranged on the gland 102, and the fixing protrusion 1021 is inserted into the fixing groove of the first portion 510, so as to improve the stability of assembly of the sealing ring 400 between the upper laser assembly shell upper cover 101 and the gland 102.

[0212] In some embodiments, the sealing ring 400 of the embodiment can be a thermoplastic polyurethane rubber ring, and the thermoplastic polyurethane rubber ring has good wear resistance, which is beneficial to prolong the service life of the sealing ring 400.

[0213] As shown in FIGS. 7, 10, 13 and 16, in some embodiments, the laser radar assembly 200 of the embodiment is further provided with an interaction assembly 300, the interaction assembly 300 can include any one of a key, a touch screen, and the like, and a user can interact with a cleaning device through the interaction assembly 300, so as to improve the user experience. The interaction assembly 300 has a shell, and the second flange 270 can be surrounded by the shell of the interaction assembly 300.

[0214] In the embodiment, the shell of the interaction assembly 300 is arranged as the second flange 270, which is beneficial to reduce the number of components on the laser radar assembly 200.

[0215] As shown in FIGS. 17 and 18, in some embodiments, the lifting assembly 400 of the embodiment includes a first base 410 and a driving device, the first base 410 is fixed in the machine body 100, the driving device is arranged on the first base 410, and the driving device is connected with the laser radar assembly 200, the driving device can drive the laser radar assembly 200 to move along the accommodating cavity 180 to extend out of or retract into the opening.

[0216] Optionally, the first base 410 of the embodiment can be fixed in the machine body 100 by welding, riveting, screw connection or bolt connection, and the driving device can be fixed to the first base 410 by welding, riveting, screw connection or bolt connection.

[0217] The embodiment fixes the lifting assembly 400 to the machine body 100 by the first base 410, improves the stability of the lifting assembly 400, and the first base 410 can also support the laser radar assembly 200 to improve the stability of the laser radar assembly 200. The driving device is arranged to provide power for the laser radar assembly 200, so that the laser radar assembly 200 can move along the accommodating cavity 180.

[0218] In some embodiments, the laser radar assembly 200 includes a laser radar 250 and a second base 380, the laser radar 250 is arranged on the second base 380, the second base 380 is arranged on the first base 410, and the second base 380 is movably connected to the first base 410. The driving device is connected to the second base 380, and the driving device can drive the second base 380 to move along the accommodating cavity 180 to extend or retract the opening.

[0219] The second base 380 can support the laser radar 250 and improve the stability of the laser radar 250. The movable connection between the second base 380 and the first base 410 ensures that the laser radar assembly 200 can move relative to the first base 410.

[0220] In some embodiments, the driving device includes a first driving unit and a second driving unit, the first driving unit is used to drive the second base 380 to extend the opening, and the second driving unit is used to drive the second base 380 to retract the opening.

[0221] The first driving unit is arranged to realize the extension of the laser radar assembly 200 along the accommodating cavity 180 out of the opening, and the second driving unit is arranged to realize the retraction of the laser radar assembly 200 along the accommodating cavity 180 into the opening.

[0222] Exemplarily, the first driving unit includes an elastic member 420, both ends of the elastic member 420 abut on the first base 410 and the second base 380 respectively, and the elastic force of the elastic member 420 points to the direction in which the first base 410 and the second base 380 move away from each other.

[0223] The elastic member 420 of the embodiment is in a compressed state when the laser radar assembly 200 is retracted into the opening, and when it is necessary to extend the laser radar assembly 200 out of the opening, the compression force of the elastic member 420 is removed, and the elastic member 420 is lowered to abut against the opening under the action of the elastic restoring force of the elastic member 420.

[0224] Exemplarily, the second driving unit includes a motor 430, a wheel disc 440, and a rope 450. The wheel disc 440 is sleeved on an output shaft of the motor 430. A first end of the rope 450 is connected to the wheel disc 440, and a second end of the rope 450 is connected to the laser radar 250 after passing through the second base 380. The wheel disc 440 is configured to rotate under the driving of the motor 430, so as to wind the rope 450 on the wheel disc 440 and pull the laser radar 250 to move toward the wheel disc 440.

[0225] When the motor 430 of the embodiment rotates, the wheel disc 440 can be driven to rotate, so as to wind the rope 450 on the wheel disc 440. Since the rope 450 is connected to the laser radar 250, the laser radar 250 can be pulled to move toward the first base 410, so as to retract the laser radar assembly 200 into the opening.

[0226] Please continue to refer to FIG. 18. Specifically, the rope 450 of the embodiment includes a rope body 451 and first and second fixing blocks 452 and 453 arranged at two ends of the rope body 451. The wheel disc 440 is provided with a first groove 441 and a second groove 442. The first groove 441 is arranged on a side surface of the wheel disc 440 and extends along a radial direction of the wheel disc 440. The second groove 442 extends along a circumferential direction of the wheel disc 440, and the first groove 441 and the second groove 442 are in communication. The first fixing block 452 is located in the first groove 441, and the second groove 442 is used to accommodate the rope body 451. The second base 380 is provided with a wire passing hole 381, and the second fixing block 453 passes through the wire passing hole 381 and is connected to the laser radar 250.

[0227] The first and second fixing blocks 452 and 453 are arranged at two ends of the rope 450, so as to facilitate the connection of the rope 450 with the wheel disc 440 and the laser radar 250. The first fixing block 452 can be fixed in the first groove 441 arranged along the axial direction of the wheel disc 440, and the rope 450 corresponds to the second groove 442 arranged along the radial direction of the wheel disc 440, so as to be wound in the second groove 442 when the wheel disc 440 rotates.

[0228] In some embodiments, the embodiment further comprises a plurality of guide posts 460, one of the first base 410 and the second base 380 is provided with a plurality of first guide holes 411, and the other is provided with a plurality of second guide holes 382. In the embodiment, the first guide holes 411 are arranged on the first base 410, the second guide holes 382 are arranged on the second base 380, the plurality of guide posts 460 correspond to the plurality of first guide holes 411 and the plurality of second guide holes 382 one by one, the first end of the guide post 460 is fixedly connected with the corresponding first guide hole 411, and the second end of the guide post 460 passes through the second guide hole 382. When the driving device drives the second base 380 to move along the accommodating cavity 180, the guide post 460 can move relative to the second guide hole 382, so as to realize the lifting guiding action on the laser radar 250.

[0229] The embodiment realizes the guidance during the lifting of the laser radar 250 by arranging the plurality of guide posts 460. The arrangement of the plurality of guide posts 460 can also improve the stability of the connection between the first base 410 and the second base 380.

[0230] FIG. 19 is a cross-sectional view of the laser radar assembly and the lifting assembly provided by another embodiment of the application in a first position; and FIG. 20 is a cross-sectional view of the laser radar assembly and the lifting assembly provided by another embodiment of the application in a second position.

[0231] Please refer to FIGS. 19 and 20. In some embodiments, the laser radar assembly 200 further comprises a first optical coupling detection mechanism 201 and a second optical coupling detection mechanism 202 arranged along the height direction of the cleaning device, and the second base 380 is provided with a shielding mechanism 383. The driving device can drive the laser radar assembly 200 to switch between the first position and the second position.

[0232] The first position and the second position can be two limit positions in the lifting and lowering process of the laser radar assembly 200, for example, the first position is the lowest position, and the second position is the highest position. When the laser radar assembly 200 is located at the first position, the shielding mechanism 383 shields the first optical coupling detection mechanism 201; so that the information that the laser radar assembly 200 is in the lowest position can be obtained through the cooperation of the shielding mechanism 383 and the first optical coupling detection mechanism 201. When the laser radar assembly 200 is located at the second position, the shielding mechanism 383 shields the second optical coupling detection mechanism 202; so that the information that the laser radar assembly 200 is in the highest position can be obtained through the cooperation of the shielding mechanism 383 and the second optical coupling detection mechanism 202.

[0233] The first light coupling detection mechanism 201 and the second light coupling detection mechanism 202 are arranged in the laser radar assembly 200, and the shielding mechanism 383 is arranged on the second base 380, so that the height information of the laser radar assembly 200 is obtained by the shielding mechanism 383 cooperating with the first light coupling detection mechanism 201 and the second light coupling detection mechanism 202, and then the driving device can be controlled to stop driving the laser radar assembly 200.

[0234] Exemplarily, the second base 380 of the embodiment includes a sliding block, and the shielding mechanism 383 is arranged on the sliding block. The laser radar assembly 200 further includes a cover 203, and the cover 203 is arranged on the first base 410. The first light coupling detection mechanism 201 and the second light coupling detection mechanism 202 are arranged on the cover 203 in the height direction of the cleaning device.

[0235] The driving device includes a motor (not shown in the figure), a crank 470 and a connecting rod 480. The output end of the motor is connected with the crank 470. For example, the motor can be provided with a reduction box, so that the crank 470 can be directly driven by the output shaft. The crank 470 is further connected with the first end of the connecting rod 480, and the second end of the connecting rod 480 is connected with the second base 380.

[0236] The embodiment adopts a crank and sliding block mechanism. When the cleaning device is normally used, the laser radar assembly 200 is lifted by the connecting rod 480 and is in a “dead point” position. When it needs to be lowered, the motor is started to drive the crank 470 to rotate, and then the connecting rod 480 and the sliding block are lowered. When it needs to be lifted, the motor is reversed, and the crank 470 lifts the laser radar assembly 200.

[0237] The cover 203 of the embodiment further includes a plurality of guide rails 204, and the sliding block is sleeved on the guide rails and can slide along the guide rails.

[0238] The embodiment arranges a plurality of guide rails 204 in the cover 203, and makes the sliding block slide along the guide rails 204, so that the sliding block can be accurately calibrated to prevent the laser radar assembly 200 from deviating when being lifted or lowered.

[0239] FIG. 21 is a sectional view of the cleaning device provided by another embodiment of the application in one direction. As shown in FIG. 21, the main machine support 120 is arranged in the body 100 of the embodiment, and the laser radar assembly 200 is arranged above the main machine support 120. The battery pack 130 and the side brush assembly 140 are further arranged in the body 100. The laser radar assembly 200, the battery pack 130 and the side brush assembly 140 are all arranged at the front end of the body 100 in the forward direction, and the battery pack 130 and the side brush assembly 140 are respectively arranged on the left and right sides of the laser radar assembly 200. The side brush assembly 140 can be extended out of or retracted into the body 100.

[0240] The battery pack 130 and the edge brush assembly 140 are respectively arranged on the left and right sides of the laser radar assembly 200, so that the weights of the left and right sides of the cleaning equipment are basically consistent, and a counterweight is not needed, thereby saving cost.

[0241] FIG. 22 is a structural diagram of the cleaning equipment according to another embodiment of the present application, with a part of the shell hidden. Please continue to refer to FIGS. 21 and 22, the main board of the cleaning equipment includes a first circuit board 150 arranged in the machine body 100, the first circuit board 150 is located on the main machine support 120 and arranged above the battery pack 130, and the lead wire 360 of the interaction assembly 300 is electrically connected with the first circuit board 150.

[0242] The present application arranges the main machine support 120 between the first circuit board 150 and the battery pack 130, so that the main machine support 120 separates the first circuit board 150 and the battery pack 130 to form a separate heat dissipation space, so that the two can respectively dissipate heat, and the superposition of heat between the battery pack 130 and the first circuit board 150 is reduced.

[0243] The present embodiment arranges the first circuit board 150 at the front end of the machine body 100 in the forward direction, so as to facilitate processing of high-speed signals such as cameras, radars, and ultrasonic waves.

[0244] Exemplarily, the main board of the cleaning equipment further includes a second circuit board 160 arranged in the machine body 100, the second circuit board 160 is located at the rear end of the machine body 100 in the forward direction, and the first circuit board 150 is in communication connection with the second circuit board 160.

[0245] FIG. 23 is a bottom view of the cleaning equipment according to another embodiment of the present application. As shown in FIG. 23, the lower part of the machine body 100 of the present embodiment is further provided with a universal wheel 40 and a rolling brush 50, the rolling brush 50 is located at the middle part of the machine body 100 in the forward direction, and the universal wheel 40 is arranged close to the front end of the machine body 100 in the forward direction.

[0246] FIG. 24 is a sectional view of the cleaning equipment according to another embodiment of the present application in a direction. As shown in FIG. 24, the lower part of the machine body 100 of the present embodiment is further provided with a universal wheel 40 and a rolling brush 50, the rolling brush 50 is located at the middle part of the machine body 100 in the forward direction, and the universal wheel 40 is arranged close to the rear end of the machine body 100 in the forward direction.

[0247] The machine body 100 is further provided with a counterweight 170, the counterweight 170 is arranged close to the rear end of the machine body 100 in the forward direction, and the center of gravity of the machine body 100 is located on the machine body 100 between the rolling brush 50 and the universal wheel 40.

[0248] The center of gravity of the machine body 100 is arranged at the rear half of the machine body 100, according to the principle of lever, the force arm is reduced, the rolling brush 50 can exert greater force on the ground during cleaning, which is conducive to improving the cleaning effect and cleaning efficiency.

[0249] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, which are only for convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0250] In the present application, unless otherwise clearly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0251] It should be noted that in the description of the present application, the terms "first", "second" are only used for the convenience of describing different parts, and cannot be understood as indicating or implying the sequence relationship, relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first", "second" can include at least one of the features.

[0252] The embodiments or implementations in the present application are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the embodiments can be referred to each other.

[0253] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0254] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning apparatus, characterized by, The machine body, the laser radar assembly, the lifting assembly and the interaction assembly, the machine body includes an upper cover, the lifting assembly is connected with the laser radar assembly to drive the laser radar assembly to extend or retract into the machine body; At least part of the laser radar assembly can extend out of the upper cover, and the interaction assembly is arranged on the part of the laser radar assembly located outside the machine body.

2. The cleaning apparatus of claim 1, wherein, The interaction assembly is located on the side of the laser radar assembly away from the upper cover.

3. The cleaning apparatus of claim 2, wherein, The interaction assembly includes a shell and an interaction piece, the shell is arranged on the laser radar assembly, and the interaction piece is arranged at the end of the shell away from the laser radar assembly, and the interaction piece is used for human-computer interaction.

4. The cleaning apparatus of claim 3, wherein, The shell further has a third circuit board, and the interaction piece is physically connected or communicatively connected to the third circuit board.

5. The cleaning apparatus of claim 4, wherein, The shell includes a top plate, a side wall and a bottom plate, the top plate and the bottom plate are respectively located at two ends of the side wall, the top plate, the side wall and the bottom plate jointly enclose a cavity for accommodating the third circuit board, the bottom plate is connected to the laser radar assembly, the third circuit board is arranged in the cavity and on the bottom plate, and the interaction piece is arranged on the top plate.

6. The cleaning apparatus of claim 5, wherein, One of the laser radar assembly and the bottom plate is provided with a plurality of clamping columns, and the other is provided with a plurality of clamping grooves, the plurality of clamping columns and the plurality of clamping grooves correspond to each other and are clamped and fixed, so that the laser radar assembly and the bottom plate are detachably connected.

7. The cleaning apparatus of claim 6, wherein, The third circuit board is clamped between the top plate and the bottom plate, the third circuit board is overlapped on the bottom plate, the bottom plate is provided with a plurality of fixing columns, the third circuit board is provided with a plurality of through holes, the top plate is provided with a plurality of fixing holes, the plurality of fixing columns, the plurality of through holes and the plurality of fixing holes correspond to each other, the fixing columns are arranged in the corresponding through holes, and fasteners are connected to the corresponding fixing columns after passing through the fixing holes.

8. The cleaning apparatus of claim 4, wherein, The shell includes a bottom plate, the third circuit board is arranged on the bottom plate, the bottom plate is further provided with a wire passing hole, and the lead of the third circuit board is connected to the mainboard of the cleaning equipment after passing through the wire passing hole.

9. The cleaning apparatus of claim 8, wherein, In a plane parallel to the bottom plate, the projection of the laser radar assembly is located in the projection range of the bottom plate, and the wire passing hole is arranged on the part of the bottom plate located outside the projection range of the laser radar assembly. The laser radar assembly includes a laser radar, a laser radar shell and a motor base, the laser radar is located in the laser radar shell, the laser radar shell is located between the interaction assembly and the motor base, and the lead is connected to the mainboard of the cleaning equipment along the laser radar shell and the motor base.

10. The cleaning apparatus of claim 9, wherein, The outer side of the laser radar shell and the motor base is further provided with a shielding cover, a wire space is formed between the shielding cover and the laser radar shell and the motor base, part of the lead is located in the wire space, one end of the shielding cover away from the bottom plate is further provided with a wire outlet hole, and the lead is connected to the mainboard of the cleaning equipment after passing through the wire outlet hole.

11. The cleaning apparatus of claim 10, wherein, The wire space is further provided with at least two spaced winding columns, both ends of the winding column are connected with the shielding cover and the motor base respectively, and the lead wire is arranged between the two winding columns.

12. The cleaning apparatus of claim 5, wherein, The interaction assembly comprises a shell, and a detection assembly is arranged on the shell, and the detection assembly is used for detecting whether the laser radar assembly collides.

13. The cleaning apparatus of claim 12, wherein, The laser radar assembly comprises a laser radar shell, at least one clamping column is arranged on the laser radar shell, at least one clamping groove is arranged on the bottom plate, the clamping column and the clamping groove are in one-to-one correspondence, the clamping column is inserted into the corresponding clamping groove and can slide along the clamping groove. The shell further comprises a top plate, the detection assembly is arranged between the top plate and the bottom plate, a first limiting rib is arranged on the laser radar shell, the first limiting rib is located inside the interaction assembly after penetrating through the bottom plate, and when the interaction assembly slides along the laser radar shell, the detection assembly can abut against the first limiting rib.

14. The cleaning apparatus of claim 13, wherein, A second limiting rib is further arranged on the top plate, the second limiting rib is located above the detection assembly, and when the interaction assembly continues to slide along the laser radar shell after abutting against the first limiting rib, the second limiting rib can abut against the first limiting rib, so that the interaction assembly and the laser radar shell are relatively locked.

15. The cleaning apparatus of claim 14, wherein, The detection assembly comprises a micro switch, one detection assembly is arranged in the interaction assembly, and the detection assembly is located at the front end of the interaction assembly in the advancing direction of the machine body. Alternatively, two detection assemblies are arranged in the interaction assembly, and the two detection assemblies are located at two ends of the interaction assembly in the advancing direction of the machine body.

16. A cleaning apparatus as claimed in any one of claims 4 to 15, wherein, The interaction component comprises a plurality of keys, and the plurality of keys are arranged on the side of the interaction component away from the laser radar assembly. The interaction component comprises a touch screen, and the interaction component is in communication connection with the third circuit board.

17. The cleaning apparatus of claim 1, wherein, The machine body is provided with a containing cavity, at least part of the laser radar assembly is located in the containing cavity, the containing cavity is provided with an opening communicating with the surface of the machine body, and the laser radar assembly can be moved relative to the containing cavity by the lifting assembly to extend or retract the opening. The containing cavity is provided with a first sealing structure, the laser radar assembly comprises a second sealing structure, and at least during the process that the laser radar assembly extends or retracts the opening, the first sealing structure and the second sealing structure are sealingly abutted.

18. The cleaning apparatus of claim 17, wherein, When the laser radar assembly is located in the machine body, the first sealing structure and the second sealing structure are sealingly abutted.

19. The cleaning apparatus of claim 18, wherein, The first sealing structure comprises the inner wall of the containing cavity, and the second sealing structure comprises the laser radar shell of the laser radar assembly. In the moving direction of the laser radar assembly, the cross-sectional shape of the laser radar shell is matched with the cross-sectional shape of the containing cavity.

20. The cleaning apparatus of claim 19, wherein, The laser radar shell is provided with a first flange surrounding the laser radar shell, and when the laser radar assembly moves along the containing cavity, the first flange is always abutted against the inner wall of the containing cavity.

21. The cleaning apparatus of claim 20, wherein, The first flange is located at the end of the laser radar shell away from the opening.

22. The cleaning apparatus of claim 20, wherein, The inner wall of the accommodating cavity comprises a first cavity wall and a second cavity wall connected with each other, the first cavity wall extends along the moving direction of the laser radar assembly, and the second cavity wall gradually inclines outward from a side far away from the opening to a side close to the opening.

23. The cleaning apparatus of claim 22, wherein, The first cavity wall is a cylindrical cavity wall, and the second cavity wall is a circular truncated cone cavity wall.

24. The cleaning apparatus of claim 23, wherein, The laser radar shell is further provided with a second flange, and the second flange and the first flange are arranged at intervals along the moving direction of the laser radar assembly. After the lifting assembly drives the laser radar assembly to retract into the opening, the second flange abuts against the second cavity wall.

25. The cleaning apparatus of claim 24, wherein, The second flange has a matching surface matched with the second cavity wall, and the matching surface is part of a conical surface.

26. The cleaning apparatus of claim 24, wherein, When the lifting assembly drives the laser radar assembly to be in the state of extending out of the opening, the second flange is located outside the machine body.

27. The cleaning apparatus of claim 17, wherein, The first sealing structure comprises a sealing ring, and at least part of the sealing ring is located in the accommodating cavity; the second sealing structure comprises a first flange and a second flange arranged at intervals along the moving direction of the laser radar assembly; After the lifting assembly drives the laser radar assembly to extend out of the opening, the first flange abuts against the sealing ring; After the lifting assembly drives the laser radar assembly to retract into the opening, the second flange abuts against the sealing ring.

28. The cleaning apparatus of claim 27, wherein, The sealing ring is detachably arranged in the machine body. The machine body comprises an upper laser radar shell and a gland, the upper laser radar shell comprises an upper laser radar shell cover, the accommodating cavity is connected with the upper laser radar shell cover, the gland is arranged on the upper laser radar shell cover, and the sealing ring is sealingly connected between the upper laser radar shell cover and the gland.

29. The cleaning apparatus of claim 28, wherein, The accommodating cavity is further provided with a mounting portion at one end close to the upper laser radar shell cover, the mounting portion is connected with the outer wall of the accommodating cavity, and a mounting groove is arranged in the mounting portion. The sealing ring comprises a first part and a second part, the first part is located in the mounting groove, and the second part is connected with the first part and extends into the accommodating cavity.

30. The cleaning apparatus of claim 29, wherein, The first part is further provided with a fixing groove, and a fixing protrusion is arranged on a side of the gland close to the sealing ring, the fixing protrusion is inserted into the fixing groove.

31. A cleaning apparatus as claimed in any one of claims 24 to 30, wherein, The laser radar assembly is further provided with an interactive assembly, the interactive assembly has a shell, and the second flange is surrounded by the shell of the interactive assembly.

32. The cleaning apparatus of claim 18, wherein, The lifting assembly comprises a first base and a driving device, the first base is fixed in the machine body, the driving device is arranged on the first base, the driving device is connected with the laser radar assembly, and the driving device can drive the laser radar assembly to move along the accommodating cavity to extend or retract out of the opening.

33. The cleaning apparatus of claim 32, wherein, The laser radar assembly comprises a laser radar and a second base, the laser radar is arranged on the second base, the second base is arranged on the first base, the second base is movably connected with the first base, the driving device is connected with the second base, and the driving device can drive the second base to move along the accommodating cavity to extend or retract out of the opening.

34. The cleaning apparatus of claim 33, wherein, The laser radar assembly further comprises a first light coupling detection mechanism and a second light coupling detection mechanism arranged along a height direction of the cleaning device, the second base is provided with a shielding mechanism, and the driving device can drive the laser radar assembly to switch between a first position and a second position, When the laser radar assembly is located at the first position, the shielding mechanism shields the first light coupling detection mechanism; When the laser radar assembly is located at the second position, the shielding mechanism shields the second light coupling detection mechanism.

35. The cleaning apparatus of claim 34, wherein, The second base comprises a sliding block, and the shielding mechanism is arranged on the sliding block; the laser radar assembly further comprises an outer cover, the outer cover is arranged on the first base, and the first light coupling detection mechanism and the second light coupling detection mechanism are arranged on the outer cover and spaced apart along the height direction of the cleaning device.

36. The cleaning apparatus of claim 35, wherein, The driving device comprises a motor, a crank and a connecting rod, the output end of the motor is connected with the crank, the crank is further connected with the first end of the connecting rod, and the second end of the connecting rod is connected with the second base. The outer cover is further provided with a plurality of guide rails, the sliding block is sleeved on the guide rails and can slide along the guide rails.

37. The cleaning apparatus of claim 33, wherein, The driving device comprises a first driving unit and a second driving unit, the first driving unit is used to drive the second base to extend out of the opening, and the second driving unit is used to drive the second base to retract into the opening.

38. The cleaning apparatus of claim 37, wherein, The first driving unit comprises an elastic member, two ends of the elastic member are respectively abutted on the first base and the second base, and the elastic force of the elastic member is directed away from the first base and the second base.

39. The cleaning apparatus of claim 38, wherein, The second driving unit comprises a motor, a wheel disc and a rope, the wheel disc is sleeved on the output shaft of the motor, the first end of the rope is connected with the wheel disc, the second end of the rope is connected with the laser radar after penetrating through the second base, and the wheel disc is configured to rotate under the driving of the motor, so that the rope is wound on the wheel disc and pulls the laser radar to move towards the wheel disc.

40. The cleaning apparatus of claim 1, wherein, The main machine support is arranged in the machine body, the laser radar assembly is located above the main machine support, the battery pack and the edge brush assembly are further arranged in the machine body, the laser radar assembly, the battery pack and the edge brush assembly are located at the front end in the forward direction of the machine body, and the battery pack and the edge brush assembly are respectively located on the left and right sides of the laser radar assembly; the edge brush assembly can extend out of or retract into the machine body.

41. The cleaning apparatus of claim 40, wherein, The main board of the cleaning device comprises a first circuit board arranged in the machine body, the main machine support is arranged between the first circuit board and the battery pack, and the lead of the interaction assembly is electrically connected with the first circuit board.

42. The cleaning apparatus of claim 41, wherein, The main board of the cleaning device further comprises a second circuit board arranged in the machine body, the second circuit board is located at the rear end in the forward direction of the machine body, and the first circuit board is in communication connection with the second circuit board.

43. A cleaning apparatus as claimed in any one of claims 40-42, wherein, The lower part of the machine body is further provided with a universal wheel and a rolling brush, the rolling brush is located at the middle part in the forward direction of the machine body, and the universal wheel is arranged close to the front end in the forward direction of the machine body.

44. The cleaning apparatus of any one of claims 40-42, wherein, The lower part of the machine body is also provided with universal wheels and a rolling brush, the rolling brush is located at the middle part of the machine body in the advancing direction, and the universal wheels are arranged close to the rear end of the machine body in the advancing direction; The machine body is also provided with a counterweight, which is arranged close to the rear end of the machine body in the advancing direction, and the center of gravity of the machine body is located on the machine body between the rolling brush and the universal wheels.

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