Lidar assembly, cleaning device and cleaning system

Abstract

Disclosed in the present application are a LiDAR assembly, a cleaning device and a cleaning system. The LiDAR assembly comprises a LiDAR housing, a LiDAR main body and a light-absorbing member. An opening is provided in the upper side of the LiDAR housing located in the direction of the height of the LiDAR assembly, and a window is provided in part of the outer peripheral surface of the LiDAR housing. The LiDAR main body passes through the opening in a liftable manner and is at least partially located in the LiDAR housing. When the LiDAR main body is in a lowered state, at least part of the region of the LiDAR main body corresponds to the window in terms of position. The light-absorbing member is arranged at the window. The light-absorbing member is provided at the window of the LiDAR housing in the present application, thereby reducing different degrees of laser scattering and reflection at the window when the LiDAR main body emits laser outward through the window, and thus reducing the generation of stray light, and improving the measurement accuracy and reliability of the LiDAR assembly.

Description

LiDAR components, cleaning devices and cleaning systems Cross-references to related applications

[0001] This application claims priority to Chinese patent application No. 202422536659.0, filed on October 18, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning equipment technology, and in particular to a lidar component, cleaning device and cleaning system. Background Technology

[0003] Intelligent cleaning devices are being used more and more widely in daily life and industry, with more and more users using them to replace manual cleaning of various indoor and outdoor surfaces.

[0004] With the continuous development of technology, how to improve the measurement accuracy and reliability of lidar components in intelligent cleaning devices has become one of the research topics in the industry. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides a highly accurate and reliable lidar component, cleaning device, and cleaning system.

[0006] This application is achieved through the following technical solution.

[0007] A first aspect of this application provides a lidar assembly, the lidar assembly comprising:

[0008] The lidar housing has an opening on the upper side along the height direction of the lidar assembly, and a window is formed in a portion of the outer peripheral surface of the lidar housing.

[0009] A lidar main body, the lidar main body being vertically and retractably inserted through the opening and at least partially located within the lidar housing, wherein, in the lowered state, at least a portion of the lidar main body corresponds to the position of the window; and

[0010] A light-absorbing element is disposed in the window.

[0011] In some embodiments, the light-absorbing element and the lidar housing are formed as an integral structural component.

[0012] In some embodiments, the integral structural component is an injection-molded structural component;

[0013] The material of the lidar housing may be the same as or different from the material of the light-absorbing element; and / or

[0014] The color of the lidar housing may be the same as or different from the color of the light-absorbing component.

[0015] In some embodiments, the light-absorbing element includes a light-absorbing layer coated on the inner peripheral wall of the window.

[0016] In some embodiments, the light-absorbing layer comprises a black light-absorbing varnish layer.

[0017] In some embodiments, the window is arc-shaped, and the central angle of the arc-shaped window is in the range of 110° to 130°.

[0018] In some embodiments, the lidar assembly further includes a drive device and a linkage mechanism, the linkage mechanism connecting the lidar body and the drive device respectively, and the drive device driving the lidar body to move up and down by driving the linkage mechanism.

[0019] In some embodiments, the linkage mechanism includes a first link, a second link, a third link, and a fourth link;

[0020] Wherein, the first connecting rod is connected to the output shaft of the drive device, one end of the second connecting rod is hinged to the first connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod and one end of the fourth connecting rod respectively, the other end of the third connecting rod is hinged to the side of the lidar housing away from the opening, and the other end of the fourth connecting rod is hinged to the lidar body.

[0021] The axial direction of the output shaft is perpendicular to the height direction of the lidar component.

[0022] In some embodiments, the lidar body includes a light-transmitting cover and a top cover, the light-transmitting cover being vertically and vertically inserted through the opening, and the top cover covering the light-transmitting cover;

[0023] Specifically, in a projection plane perpendicular to the height direction of the lidar component, the projected area of ​​the top cover is larger than the projected area of ​​the opening, and the projected area of ​​the opening is located within the projected area of ​​the top cover.

[0024] A second aspect of this application provides a cleaning apparatus, the cleaning apparatus comprising:

[0025] shell; and

[0026] The lidar assembly described in the first aspect of this application is at least partially located within the housing.

[0027] A third aspect of this application provides a cleaning system comprising:

[0028] Clean base stations; and

[0029] The cleaning device described in the second aspect of this application is docked at the cleaning base station when the cleaning device is not performing cleaning operations.

[0030] Technical effects of this application

[0031] The lidar unit of this embodiment can be raised and lowered along the height of the lidar unit, thus improving environmental adaptability and enabling detection in relatively low spaces. Furthermore, because a light-absorbing component is provided at the window of the lidar housing, the scattering and emission of laser light at the window when the lidar unit emits or receives laser light are reduced, thereby reducing stray light generation and improving the measurement accuracy and reliability of the lidar unit. Attached Figure Description

[0032] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0033] Figure 1 is a three-dimensional structural diagram of the lidar component in a lowered state according to some embodiments of this application;

[0034] Figure 2 is a three-dimensional structural diagram of the lidar component in the raised state provided in some embodiments of this application;

[0035] Figure 3 is a three-dimensional structural diagram of the lidar housing provided in some embodiments of this application;

[0036] Figure 4 is a three-dimensional structural schematic diagram of the lidar housing provided in some embodiments of this application from another perspective;

[0037] Figure 5 is a schematic cross-sectional view of the lidar component in a lowered state according to some embodiments of this application;

[0038] Figure 6 is a schematic cross-sectional view of a lidar component in a raised state according to some embodiments of this application.

[0039] Explanation of reference numerals in the attached drawings: 1. LiDAR housing; 11. Opening; 12. Window; 2. LiDAR main body; 21. Light-transmitting cover; 22. Top cover; 3. Light-absorbing component; 4. Drive unit; 41. Output shaft; 5. Linkage mechanism; 51. First link; 52. Second link; 53. Third link; 54. Fourth link; 100. LiDAR assembly. Detailed Implementation

[0040] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having” and any variations thereof are intended to cover non-exclusive inclusion.

[0042] In the description of the embodiments of this application, technical terms such as "first," "second," and "third" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0043] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0044] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0045] In the description of the embodiments of this application, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0046] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0047] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical term "contact" should be interpreted broadly, and can be direct contact, contact through an intermediate medium layer, contact between two contacting parties with substantially no interaction force, or contact between two contacting parties with interaction force.

[0048] The following describes some embodiments of this application in detail with reference to Figures 1 to 6.

[0049] Figure 1 is a three-dimensional structural diagram of a lidar component in a lowered state according to some embodiments of this application; Figure 2 is a three-dimensional structural diagram of a lidar component in a raised state according to some embodiments of this application; Figure 3 is a three-dimensional structural diagram of a lidar housing according to some embodiments of this application; Figure 4 is a three-dimensional structural diagram of a lidar housing from another perspective according to some embodiments of this application; Figure 5 is a schematic cross-sectional view of a lidar component in a lowered state according to some embodiments of this application; Figure 6 is a schematic cross-sectional view of a lidar component in a raised state according to some embodiments of this application.

[0050] As shown in Figures 1 and 2, the first aspect of this application provides a lidar assembly 100, which includes a lidar housing 1, a lidar body 2, and a light-absorbing element 3.

[0051] The lidar component 100 is a type of sensing component used to detect surrounding obstacles and environmental information. Taking a cleaning device as an example, the lidar component 100 plays an important role in the cleaning device's mapping, navigation, and obstacle avoidance operations.

[0052] In some embodiments, the lidar component 100 can perform distance detection.

[0053] The lidar housing 1 is the external protective housing of the lidar assembly 100, used to house various functional components that enable the lidar assembly 100 to perform its functions. In some embodiments, the lidar housing 1 houses the lidar body 2.

[0054] In some embodiments, the lidar housing 1 may be made of plastic. The plastic material includes, but is not limited to, ABS plastic (Acrylonitrile Butadiene Styrene). ABS plastic is a high-strength, tough, and easy-to-process material with good insulation properties, and is almost unaffected by temperature and humidity, making it suitable for use in most environments.

[0055] Of course, those skilled in the art should understand that the lidar housing 1 can also be made of any other suitable material.

[0056] The lidar main body 2 is a crucial component for realizing the functions of the lidar assembly 100. Although not shown in the figure, the lidar main body 2 typically includes a laser emitting unit and a laser receiving unit, which are used to emit laser light and receive the returned laser light, respectively. By measuring the time from laser emission to reception, the distance between itself and obstacles in front is calculated, and an environmental model is derived through algorithm processing.

[0057] As shown in Figures 3 and 4, the lidar housing 1 has an opening 11 on the upper side along the height direction of the lidar assembly 100, and the lidar body 2 is vertically and vertically inserted through the opening 11 and is at least partially located inside the lidar housing 1.

[0058] The "upper side" here refers to the side of the lidar assembly 100 that is away from the cleaning surface being cleaned by the cleaning device along the height direction.

[0059] The shape of the opening 11 is not limited, as long as it allows the lidar main body 2 to pass through.

[0060] The phrase "at least a portion of the lidar body 2 is located inside the lidar housing 1" means that the lidar body 2 may have a portion of its area located inside the lidar housing 1, or the entire area may be located inside the lidar housing 1.

[0061] In some embodiments, a seal may be provided at the opening 11 of the lidar housing 1, thereby reducing the possibility of dust, foreign objects and other impurities entering the lidar body 2 and improving the reliability and stability of the lidar assembly 100.

[0062] In this embodiment, the lidar body 2 can be lowered when encountering low-lying areas, thereby reducing the overall height of the lidar assembly 100. This facilitates the lidar assembly 100's entry into and detection of low-lying areas. In more open areas, the lidar body 2 can be raised, allowing the lidar assembly 100 to perceive the surrounding environment from all angles, increasing detection accuracy. Therefore, because the lidar body 2 can be raised and lowered within the opening 11 of the lidar housing 1, the lidar assembly 100 can adapt to different environments and scenarios, resulting in a wider range of applications and greater flexibility.

[0063] As shown in Figure 1, a window 12 is formed on a portion of the outer periphery of the lidar housing 1. When the lidar body 2 is in a lowered state, at least a portion of the lidar body 2 corresponds to the position of the window 12, so that the lidar body 2, which is in a lowered state and located inside the lidar housing 1, can emit laser light outward through the window 12 and receive the returned laser light through the window 12, thereby sensing and detecting the surrounding environment.

[0064] Due to the limited size of the window 12, the laser emitted by the lidar body 2 in the lowered state or the laser reflected back to the lidar body 2 may be scattered and reflected to varying degrees at the window, thereby generating a large amount of stray light. This stray light enters the laser receiving unit of the lidar body 2 through the optical path, causing the laser receiving unit to saturate prematurely, thus affecting the measurement accuracy and reliability of the lidar component 100.

[0065] Therefore, in this embodiment of the application, the lidar component 100 also includes a light-absorbing element 3, which is disposed at the window 12. The light-absorbing element 3 can absorb the reflected laser light, reduce the generation of stray light, and thus improve the measurement accuracy and reliability of the lidar component 100.

[0066] In some embodiments, the light-absorbing element 3 can be disposed around the inner peripheral wall of the window 12. In some embodiments, the surrounding can be a full-encirclement surrounding, a semi-encirclement surrounding, or a surrounding with any layout.

[0067] In some embodiments of this application, the light-absorbing element 3 and the lidar housing 1 are formed as an integral structural component. This reduces the number of parts, simplifies assembly, and thus improves production efficiency and saves production costs.

[0068] In some embodiments of this application, the light-absorbing element 3 and the lidar housing 1 are integral structural components that are injection molded. The material of the lidar housing 1 is the same as or different from that of the light-absorbing element 3, and / or the color of the lidar housing 1 is the same as or different from that of the light-absorbing element 3.

[0069] One-piece structural components are injection-molded structural components made using injection molding technology. Injection molding technology has a fast production speed and high efficiency, and is suitable for products with complex shapes. Therefore, it is possible to stably and quickly manufacture one-piece structural components of different shapes according to actual needs.

[0070] Of course, those skilled in the art should understand that in some other embodiments, the integrated structure of the light-absorbing element 3 and the lidar housing 1 can also be made by any other suitable process.

[0071] In this embodiment of the application, the material of the lidar housing 1 and the material of the light-absorbing component 3 may be the same or different, and the color of the lidar housing 1 and the color of the light-absorbing component 3 may be the same or different.

[0072] Under normal circumstances, black has a large absorption coefficient for light signals. Therefore, when laser light comes into contact with the light-absorbing component 3 made of black material, it will not be reflected or the reflectivity will be extremely low. Thus, it can effectively reduce the interference of stray light on the lidar body 2 and improve the detection accuracy of the lidar component 100.

[0073] Those skilled in the art should understand that the integrated structural component of the present application embodiment can be entirely black, or only the light-absorbing component 3 can be black, and the lidar housing 1 can be white or any other suitable color, as long as it can reduce the generation of stray light at the window 12.

[0074] In some embodiments, when the materials or colors of the lidar housing 1 and the light-absorbing component 3 are different, the lidar housing 1 and the light-absorbing component 3 can be made into an integral structural component by a two-shot molding process.

[0075] In some embodiments of this application, the light-absorbing element 3 includes a light-absorbing layer coated on the inner peripheral wall of the window 12.

[0076] The light-absorbing component 3 can be a light-absorbing layer, which is a separate structure from the lidar housing 1. It is coated on the inner peripheral wall of the window 12 through a coating process, thereby also reducing stray light.

[0077] Those skilled in the art should understand that the embodiments of this application do not specifically limit the connection method between the light-absorbing layer and the inner peripheral wall of the window 12. In some other embodiments, the light-absorbing layer can also be disposed on the inner peripheral wall of the window 12 by any other suitable process such as spraying or bonding.

[0078] As shown in Figures 3 and 4, in this embodiment, the light-absorbing layer is coated on the entire circumference of the inner peripheral wall of the window 12; that is, the light-absorbing layer is coated at all locations on the inner peripheral wall of the window 12. In some other embodiments, the light-absorbing layer may be coated only on a portion of the inner peripheral wall of the window 12.

[0079] In some embodiments of this application, the light-absorbing layer includes a black light-absorbing paint layer. The black light-absorbing paint layer can absorb almost all light signals, so that the inner peripheral wall of the window 12 hardly reflects any light. This can better reduce the influence of stray light on the lidar body 2 and improve the measurement accuracy and reliability of the lidar component 100.

[0080] Of course, those skilled in the art should understand that in some other embodiments, the light-absorbing layer may also be made of any other suitable material, as long as it can reduce or eliminate the light reflected or scattered by window 12.

[0081] In some embodiments of this application, the window 12 is arc-shaped. The arc-shaped window 12 can improve the transmittance of the laser, reduce optical path errors, and improve the ranging capability of the edge field of view, thereby further improving the ranging accuracy of the lidar component 100.

[0082] In some embodiments, the curvature of the central region of the arc-shaped window 12 may be less than the curvature of the regions on both sides of the window 12, which helps to improve the ranging capability of the edge field of view.

[0083] Of course, those skilled in the art will understand that in some other embodiments, window 12 may also be in any other suitable shape.

[0084] In this embodiment of the application, the central angle of the arc-shaped window 12 is in the range of 110° to 130°.

[0085] In some embodiments, the central angle of the arc-shaped window 12 can be 110°, 111°, 112°, 113°, 114°, 115°, 116°, 117°, 118°, 119°, 120°, 121°, 122°, 123°, 124°, 125°, 126°, 127°, 128°, 129°, or 130°.

[0086] With the central angle of the arc window 12 within a suitable range, the ranging accuracy of the lidar body 2 can be higher, the field of view wider, and the anti-interference capability stronger.

[0087] In some embodiments of this application, the lidar assembly 100 further includes a drive device 4 and a linkage mechanism 5. The linkage mechanism 5 connects the lidar body 2 and the drive device 4 respectively. The drive device 4 drives the lidar body 2 to move up and down by driving the linkage mechanism 5.

[0088] Drive unit 4 is a device that provides power.

[0089] In some embodiments, the drive device 4 includes, but is not limited to, a drive motor.

[0090] The linkage mechanism 5 is a transmission mechanism that can transmit the power provided by the drive device 4 to the lidar body 2, thereby realizing the lifting and lowering of the lidar body 2.

[0091] The linkage mechanism 5 has a simple structure, is easy to process, has high wear resistance, and can realize a variety of motion forms.

[0092] The lidar body 2 of this application embodiment can be installed in the opening 11 in a liftable manner through the cooperation of the drive device 4 and the linkage mechanism 5, so that the lidar body 2 can be raised or lowered for different detection environments, thereby increasing the application range of the lidar component 100 and enabling the lidar component 100 to be applied to more different scenarios and environments.

[0093] In some embodiments of this application, as shown in Figures 5 and 6, the linkage mechanism 5 includes a first link 51, a second link 52, a third link 53, and a fourth link 54. The first link 51 is connected to the output shaft 41 of the drive device 4. One end of the second link 52 is hinged to the first link 51, and the other end of the second link 52 is hinged to one end of the third link 53 and one end of the fourth link 54, respectively. The other end of the third link 53 is hinged to the side of the lidar housing 1 away from the opening 11, and the other end of the fourth link 54 is hinged to the lidar body 2. The axial direction of the output shaft 41 is perpendicular to the height direction of the lidar assembly 100.

[0094] The linkage mechanism 5 in this embodiment includes four links, which, through their cooperation, convert the rotational motion of the drive device 4 into the reciprocating motion of the lidar body 2 along the height direction of the lidar assembly 100. Specifically, the first link 51 is connected to the output shaft 41 of the drive device 4 and rotates with the rotation of the output shaft 41, thereby transmitting the power of the drive device 4 to the second link 52, causing the second link 52 to rotate. The second link 52 transmits the motion of the first link 51 to the third link 53 and the fourth link 54, thereby causing the third link 53 and the fourth link 54 to rotate respectively. The third link 53 is hinged to the side of the lidar housing 1 away from the opening 11, thereby providing some support for the fourth link 54. The fourth link 54 can transmit the motion of the second link 52 to the lidar body 2, thereby realizing the lifting and lowering of the lidar body 2. This four-bar linkage mechanism in this embodiment can transmit the power of the drive device 4 to the lidar body 2 more smoothly, thus making the lifting and lowering of the lidar body 2 more stable and reliable.

[0095] Of course, those skilled in the art should understand that in some other embodiments, the linkage mechanism 5 may also include more or fewer linkages, as long as it can achieve the lifting and lowering of the lidar body 2.

[0096] In some embodiments of this application, when the output shaft 41 of the drive device 4 rotates clockwise, the lidar body 2 can be lowered through the opening, and when the output shaft 41 of the drive device 4 rotates counterclockwise, the lidar body 2 can be raised through the opening.

[0097] In some other embodiments of this application, when the output shaft 41 of the driving device 4 rotates clockwise, the lidar body 2 is raised through the opening, and when the output shaft 41 of the driving device 4 rotates counterclockwise, the lidar body 2 is lowered through the opening.

[0098] In some embodiments of this application, the lidar body 2 includes a light-transmitting cover 21 and a top cover 22. The light-transmitting cover 21 is vertically and vertically inserted through the opening 11, and the top cover 22 covers the light-transmitting cover 21.

[0099] The light-transmitting cover 21 is a protective cover for the main body 2 of the lidar, which can protect the laser emitting unit and laser receiving unit inside.

[0100] In this embodiment, the light-transmitting cover 21 is generally cylindrical. In some other embodiments, the light-transmitting cover 21 may also be any other suitable shape.

[0101] In some embodiments, the light-transmitting cover 21 may be made of a light-transmitting material. In some embodiments, the light-transmitting material may be PC (polycarbonate), resin, etc. This application does not specifically limit the material of the light-transmitting cover, as long as it can transmit laser light.

[0102] The top cover 22 is placed on the side of the light-transmitting cover 21 away from the lidar housing 1, thereby sealing the light-transmitting cover 21 from the outside and reducing the possibility of external dust, foreign objects, etc. entering the lidar body 2.

[0103] Furthermore, in the projection plane perpendicular to the height of the lidar assembly 100, the projected area of ​​the top cover 22 is larger than the projected area of ​​the opening 11, and the projected area of ​​the opening 11 is located within the projected area of ​​the top cover 22. Therefore, when the lidar body 2 is in the lowered state, the top cover 22 can support the outer periphery of the lidar housing 1 and completely cover the opening 11. This further reduces the possibility of external dust, foreign objects, etc., entering the lidar housing 1 through the opening 11, improving the protection of components located inside the lidar housing 1, thus extending the service life of components and improving the stability and reliability of the lidar assembly 100.

[0104] The second aspect of this application provides a cleaning device including a housing and a lidar assembly 100 as described in the first aspect of this application, the lidar assembly 100 being at least partially located within the housing.

[0105] A cleaning device is a device used to clean surfaces that need to be cleaned. Cleaning devices include, but are not limited to, robotic vacuum cleaners, robotic mops, robotic vacuum and mop combos, or robotic window cleaners. Surfaces to be cleaned include, but are not limited to, floors, ceilings, glass, tabletops, or the surfaces of other objects and components.

[0106] The housing is the external protective casing of the cleaning device, and the interior of the housing is used to house the functional components that enable the various functions of the cleaning device. In some embodiments, the functional components may include drive components, sensing components, dust boxes, or liquid storage tanks, etc.

[0107] The lidar component 100 is a type of sensing component. The location of the lidar component 100 within the housing of the cleaning device is not limited. In some embodiments, the lidar component 100 may be disposed at the front, middle, or rear of the housing. This application does not specifically limit the number of lidar components 100; in some embodiments, only one lidar component 100 may be provided, or multiple lidar components 100 (two or more) may be provided.

[0108] The third aspect of this application provides a cleaning system, which includes a cleaning base station and the cleaning device described in the second aspect of this application, wherein the cleaning device is docked at the cleaning base station when the cleaning device is not performing cleaning operations.

[0109] A cleaning base station is a fixed component of a cleaning system, typically serving as a charging, maintenance, and storage center for cleaning equipment. When cleaning equipment is not performing cleaning operations, it is docked at the cleaning base station.

[0110] In some other embodiments, the clean base station also includes scheduling and control functions.

[0111] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and all should be covered within the scope of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way.

Claims

1. A lidar component, characterized in that, The lidar component includes: The lidar housing has an opening on the upper side along the height direction of the lidar assembly, and a window is formed in a portion of the outer peripheral surface of the lidar housing. A lidar main body, the lidar main body being vertically and retractably inserted through the opening and at least partially located within the lidar housing, wherein, in the lowered state, at least a portion of the lidar main body corresponds to the position of the window; and A light-absorbing element is disposed at the window.

2. The lidar component according to claim 1, characterized in that, The light-absorbing component and the lidar housing are integrated into a single structural component.

3. The lidar component according to claim 2, characterized in that, The integrated structural component is an injection-molded structural component; The material of the lidar housing may be the same as or different from the material of the light-absorbing element; and / or The color of the lidar housing may be the same as or different from the color of the light-absorbing component.

4. The lidar component according to claim 1, characterized in that, The light-absorbing element includes a light-absorbing layer, which is coated on the inner peripheral wall of the window.

5. The lidar component according to claim 4, characterized in that, The light-absorbing layer includes a black light-absorbing paint layer.

6. The lidar component according to claim 1, characterized in that, The window is arc-shaped, and the central angle of the arc-shaped window is in the range of 110° to 130°.

7. The lidar component according to any one of claims 1 to 6, characterized in that, The lidar assembly also includes a drive device and a linkage mechanism. The linkage mechanism connects the lidar body and the drive device, respectively. The drive device drives the linkage mechanism to raise and lower the lidar body.

8. The lidar component according to claim 7, characterized in that, The linkage mechanism includes a first link, a second link, a third link, and a fourth link; Wherein, the first connecting rod is connected to the output shaft of the drive device, one end of the second connecting rod is hinged to the first connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod and one end of the fourth connecting rod respectively, the other end of the third connecting rod is hinged to the side of the lidar housing away from the opening, and the other end of the fourth connecting rod is hinged to the lidar body. The axial direction of the output shaft is perpendicular to the height direction of the lidar component.

9. The lidar assembly according to any one of claims 1 to 6, characterized in that, The lidar body includes a light-transmitting cover and a top cover. The light-transmitting cover is vertically and retractably inserted through the opening, and the top cover is placed over the light-transmitting cover. Specifically, in a projection plane perpendicular to the height direction of the lidar component, the projected area of ​​the top cover is larger than the projected area of ​​the opening, and the projected area of ​​the opening is located within the projected area of ​​the top cover.

10. A cleaning device, characterized in that, The cleaning device includes: shell; and The lidar assembly according to any one of claims 1 to 9, wherein the lidar assembly is at least partially located within the housing.

11. A cleaning system, characterized in that, The cleaning system includes: Clean base stations; and The cleaning device of claim 10, when not performing cleaning operations, is docked at the cleaning base station.

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