Lidar assembly, cleaning device and cleaning system

Abstract

A LiDAR assembly, a cleaning device and a cleaning system. The LiDAR assembly comprises a LiDAR shell (10), a LiDAR main body (20) and a first sealing member (30), wherein an accommodating space is formed inside the LiDAR shell (10), and an opening (10a) is provided on the top side of the LiDAR shell (10); in the top-bottom direction, the LiDAR main body (20) passes through the opening (10a) in a liftable manner, and at least part of the region of the LiDAR main body (20) is located in the accommodating space; and the first sealing member (30) is arranged at the opening (10a) and extends in the circumferential direction of the opening (10a), and the edge of the first sealing member (30) is in contact with the outer peripheral surface of the LiDAR main body (20). The cleaning device comprises a housing and the LiDAR assembly, the LiDAR assembly being arranged on the housing. The cleaning system comprises a cleaning base station and the cleaning device. The LiDAR assembly has high reliability.

Description

A lidar component, cleaning device and cleaning system Cross-references to related applications

[0001] This application claims priority to Chinese patent application No. 202422531802.7, 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, improving the reliability and stability of lidar components has become a key research topic in the industry. However, in related technologies, dust and foreign objects can easily enter the lidar body during its raising and lowering process, leading to low reliability. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides a highly 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 internal accommodating space and an opening on its top side;

[0009] The lidar body, along its top-to-bottom direction, is vertically and vertically inserted into the opening, and at least a portion of the lidar body is located within the receiving space; and

[0010] A first seal is disposed at the opening and extends circumferentially along the opening, with the edge of the first seal contacting the outer peripheral surface of the lidar body.

[0011] In one embodiment, the lidar body includes a light-transmitting cover, a laser emitting unit, and a laser receiving unit, wherein the laser emitting unit and the laser receiving unit are located inside the light-transmitting cover;

[0012] The first sealing element is an elastic element, and the edge of the first sealing element contacts and tightly fits the outer peripheral surface of the light-transmitting cover; and / or,

[0013] The first sealing element is an annular sealing element extending around the outer periphery of the light-transmitting cover, and the inner edge of the first sealing element contacts and fits tightly with the outer peripheral surface of the light-transmitting cover.

[0014] In one embodiment, the first seal is inclined downward relative to the horizontal surface where the opening is located, along a direction from the side of the first seal that contacts the outer peripheral surface of the lidar body to the side of the first seal that is away from the lidar body.

[0015] In one embodiment, the tilt angle of the first seal is greater than or equal to 10° and less than or equal to 20°.

[0016] In one embodiment, the first seal and the lidar housing are formed as an integral structural component; and / or,

[0017] The lidar housing includes a top wall having the opening; the lidar body includes a base, the lidar body is supported on the base, and the lidar assembly further includes a second seal, the second seal being disposed on the base and extending circumferentially around the lidar body;

[0018] When the lidar body is in the raised state, the second seal is in sealing contact with the inner wall surface of the top wall of the shell.

[0019] In one embodiment, the lidar assembly further includes a driving device, which includes a drive motor and a linkage mechanism. The linkage mechanism connects the lidar body and the drive motor, respectively, so that the drive motor drives the linkage mechanism to raise and lower the lidar body.

[0020] In one embodiment, a portion of the outer peripheral surface of the lidar housing is open to form a ranging window; when the lidar body is in a lowered state, at least a portion of the lidar body corresponds to the position of the ranging window; and / or,

[0021] The lidar body includes a light-transmitting cover and a top cap covering the top side of the light-transmitting cover. A portion of the top cap protrudes from the outer peripheral surface of the light-transmitting cover to form a protrusion. When the lidar body is in a lowered state, the protrusion is connected to the first sealing member.

[0022] In one embodiment, the inner peripheral wall of the ranging window is coated with a light-absorbing layer.

[0023] A second aspect of this application provides a cleaning device comprising a housing and a lidar assembly as described in any of the above embodiments, the lidar assembly being disposed on the housing.

[0024] A third aspect of this application provides a cleaning system, which includes a cleaning base station and the cleaning device described in the above embodiments.

[0025] This application provides a lidar assembly, including a lidar housing, a lidar body, and a first sealing member. The lidar housing has an internal accommodating space, and an opening is provided on its top side. The lidar body is vertically and flexibly inserted into the opening along the top-to-bottom direction, with at least a portion of the lidar body located within the accommodating space. The first sealing member is disposed at the opening and extends circumferentially along the opening, with its edge contacting the outer peripheral surface of the lidar body. On one hand, the lidar body's vertical insertion into the opening of the lidar housing allows for detection in relatively low-lying spaces, thereby increasing the application range of the lidar assembly and enabling it to adapt to more diverse environments and scenarios. On the other hand, by providing a first sealing member circumferentially around the opening of the lidar housing, the possibility of dust, foreign objects, and other impurities entering the lidar body can be effectively reduced, helping to protect sensitive internal optical and electronic components, reducing performance degradation and malfunctions due to contamination, and resulting in higher reliability and better stability for the lidar assembly. Attached Figure Description

[0026] Figure 1 is a structural schematic diagram of the lidar component in the raised state according to an embodiment of this application, where the first sealing element is not shown in the figure;

[0027] Figure 2 is a cross-sectional view of the lidar component in Figure 1;

[0028] Figure 3 is a cross-sectional view of the lidar component in Figure 1 from another perspective;

[0029] Figure 4 is a schematic diagram of the structure of some components of the lidar module in Figure 1;

[0030] Figure 5 is a structural schematic diagram of the lidar component in the lowered state according to one embodiment of the application;

[0031] Figure 6 is a cross-sectional view of the lidar component in Figure 5;

[0032] Figure 7 is a structural schematic diagram of the lidar component in one embodiment of the application from another perspective.

[0033] Explanation of reference numerals in the attached drawings: 10, lidar housing; 10a, opening; 10b, ranging window; 11, top wall of the housing; 20, lidar body; 21, light-transmitting cover; 22, top cap; 30, first seal; 40, second seal; 50, drive device; 51, drive motor; 52, connecting rod structure; 521, first connecting rod; 522, second connecting rod; 523, first support rod; 524, second support rod. Detailed Implementation

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] In the description of the embodiments of this application, the technical terms "top" and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in Figure 1. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to 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.

[0040] 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.

[0041] 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.

[0042] One embodiment of this application provides a lidar assembly. Please refer to Figures 1-7. The lidar assembly includes a lidar housing 10, a lidar body 20, and a first sealing element 30.

[0043] The lidar housing 10 has an internal accommodating space, and an opening 10a is provided on the top side of the lidar housing 10.

[0044] Along the top-bottom direction shown in Figure 1, the lidar body 20 is vertically and vertically inserted into the opening 10a, and at least a portion of the lidar body 20 is located within the accommodating space.

[0045] The first seal 30 is disposed at the opening 10a and extends circumferentially along the opening 10a, and the edge of the first seal 30 contacts the outer peripheral surface of the lidar body 20.

[0046] In another embodiment of this application, a cleaning device is provided, which includes a housing and a lidar component according to any embodiment of this application, wherein the lidar component is disposed on the housing.

[0047] Another embodiment of this application provides a cleaning system, which includes a cleaning base station and a cleaning device according to any embodiment of this application. Therefore, the cleaning system can provide efficient and automated cleaning services, improving the efficiency and quality of cleaning work.

[0048] Specifically, in this application embodiment, the lidar component is disposed within a cleaning device, which is part of a cleaning system. The type of cleaning system is not limited. For ease of description, this application uses a robotic vacuum cleaner as an example of a cleaning system.

[0049] LiDAR components provide cleaning devices with precise environmental awareness, helping them navigate and position themselves effectively in the workspace, enabling them to avoid obstacles and perform cleaning tasks more efficiently and safely.

[0050] Specifically, the location of the lidar component within the housing of the cleaning device is not limited. In some embodiments, the lidar component is located at the front, top, or side of the housing.

[0051] The number of lidar components installed on the cleaning device is not limited. In some embodiments, the number of lidar components is one or more. By installing multiple lidar components, all-around environmental perception can be provided.

[0052] A cleaning base station is a fixed part of a cleaning system, typically serving as a charging, maintenance, and storage center for cleaning equipment.

[0053] In other embodiments, the clean base station also includes scheduling and control functions.

[0054] Specifically, the accommodating space refers to the space inside the lidar housing 10, which can be used to accommodate the lidar body 20 and other structures.

[0055] An opening 10a is provided on the top side of the lidar housing 10, which allows the lidar body 20 to move in the top-bottom direction.

[0056] The shape of the opening 10a is not limited, as long as it allows the lidar body 20 to pass through.

[0057] The material of the lidar housing 10 is not limited. In some embodiments, the lidar housing 10 is made of plastic.

[0058] It should be noted that the top and bottom direction of the lidar body 20 refers to the top and bottom direction when the cleaning device is in operation, which is actually the direction perpendicular to the cross section of the opening 10a.

[0059] The phrase "at least part of the lidar body 20 is located within the containment space" means that the lidar body 20 may have a partial area or a complete area located within the containment space.

[0060] The first sealing element 30 is disposed at the opening 10a, and the forming method of the first sealing element 30 and the opening 10a is not limited.

[0061] In some embodiments, the first seal 30 and the lidar housing 10 are separate structural components, with the first seal 30 embedded into the edge of the opening 10a of the lidar housing 10 and formed in an embedded manner with the opening 10a.

[0062] In other embodiments, the first seal 30 and the lidar housing 10 are formed as an integral structural component, thereby reducing the assembly steps of the first seal 30, thus improving production efficiency and saving costs. For example, the opening 10a of the first seal 30 and the lidar housing 10 are double-shot molded.

[0063] One embodiment of this application provides a lidar assembly, including a lidar housing 10, a lidar body 20, and a first sealing member 30. The lidar housing 10 has an internal accommodating space, and an opening 10a is formed on its top side. The lidar body 20 is vertically and flexibly inserted into the opening 10a along the top-to-bottom direction, with at least a portion of the lidar body 20 located within the accommodating space. The first sealing member 30 is disposed at the opening 10a and extends circumferentially along the opening 10a, with its edge contacting the outer peripheral surface of the lidar body 20. On one hand, the lidar body 20's vertical insertion into the opening 10a of the lidar housing 10 allows for detection in relatively low-lying spaces, thereby increasing the application range of the lidar assembly and enabling it to adapt to more diverse environments and scenarios. On the other hand, by providing a first seal 30 circumferentially at the opening 10a of the lidar housing 10, the possibility of dust, foreign objects and other impurities entering the lidar body 20 can be effectively reduced, which helps to protect the sensitive internal optical and electronic components, reduce performance degradation and failures caused by contamination, and make the lidar components more reliable and more stable.

[0064] In one embodiment, please refer to Figures 1, 2 and 3. The lidar body 20 includes a light-transmitting cover 21, a laser emitting unit and a laser receiving unit, which are located inside the light-transmitting cover 21.

[0065] The first sealing element 30 is an elastic element, and its edge contacts and tightly fits the outer peripheral surface of the light-transmitting cover 21. Therefore, on the one hand, the tight fit between the first sealing element 30 and the light-transmitting cover 21 provides a tighter seal, effectively preventing dust and foreign objects from entering the lidar body 20. On the other hand, by making the first sealing element 30 an elastic element, vibration and impact can be absorbed to a certain extent, reducing damage to the lidar body 20, thereby increasing the reliability of the lidar assembly.

[0066] Specifically, the light-transmitting cover 21 is used to protect the lidar body 20 while allowing at least part of the laser to pass through.

[0067] The material of the light-transmitting cover 21 is not limited, as long as it allows laser light to pass through. In some embodiments, the light-transmitting cover 21 is made of resin.

[0068] The laser emitting unit is the component in the lidar main body 20 responsible for emitting lasers.

[0069] The laser receiving unit is the component in the lidar main body 20 responsible for receiving the reflected laser signals.

[0070] The material of the first sealing element 30 is not limited, as long as the first sealing element 30 is an elastic element. In some embodiments, the first sealing element 30 is made of soft rubber.

[0071] In one embodiment, please refer to Figure 4. The lidar body 20 includes a light-transmitting cover 21, a laser emitting unit, and a laser receiving unit, which are located inside the light-transmitting cover 21.

[0072] The first sealing element 30 is an annular sealing element extending around the outer periphery of the light-transmitting cover 21. The inner edge of the first sealing element 30 contacts and tightly fits the outer peripheral surface of the light-transmitting cover 21. This further improves the sealing performance of the lidar assembly and helps reduce environmental damage to the internal components of the lidar.

[0073] Specifically, the inner edge of the annular first seal 30 contacts and tightly fits the outer peripheral surface of the light-transmitting cover 21, and the outer edge of the annular first seal 30 is fixed at the opening 10a of the lidar housing 10. When the lidar body 20 moves up and down relative to the opening 10a of the lidar housing 10 along the top-bottom direction, the outer peripheral surface of the light-transmitting cover 21 will drive the inner edge of the first seal 30 to move to a certain extent along the direction of movement of the lidar body 20. This ensures that whether the lidar body 20 is rising or falling, the first seal 30 can scrape against the light-transmitting cover 21, always maintaining an effective seal on the lidar body 20.

[0074] In one embodiment, referring to FIG4, the first seal 30 is inclined downward relative to the horizontal surface where the opening 10a is located, along the direction from the side of the first seal 30 that contacts the outer peripheral surface of the lidar body 20 to the side of the first seal 30 that is away from the lidar body 20.

[0075] In other words, the side of the first seal 30 that contacts the outer peripheral surface of the lidar body 20 is higher, while the other side of the first seal 30 (i.e., the side of the first seal 30 facing away from the lidar body 20) is lower, thus forming a downward-sloping surface. Therefore, by tilting the first seal 30, foreign objects falling on it can slide off, preventing dust, moisture, and other foreign objects from entering when the lidar body 20 moves, further improving the sealing performance of the lidar body 20.

[0076] Specifically, the tilt angle of the first seal 30 is unlimited.

[0077] In some embodiments, the tilt angle of the first seal 30 is greater than or equal to 10° and less than or equal to 20°. In some embodiments, the tilt angle of the first seal 30 is 10°, 15°, or 20°. This avoids both excessively large tilt angles that could weaken the sealing effect and excessively small tilt angles that could allow dust, moisture, or other foreign matter to accumulate on the first seal 30.

[0078] In one embodiment, referring to Figures 1, 2, 5, 6, and 7, the lidar housing 10 includes a top wall 11 with an opening 10a. The lidar body 20 includes a base on which the lidar body 20 is supported. The lidar assembly also includes a second seal 40 disposed on the base and extending circumferentially around the lidar body 20.

[0079] When the lidar body 20 is in the raised state, the second seal 40 makes sealing contact with the inner wall surface of the housing top wall 11. Thus, by having the second seal 40 contact the inner wall surface of the housing top wall 11 when the lidar body 20 is raised, a seal is provided for the lidar assembly, preventing dust and moisture from entering, thereby further improving the reliability of the lidar assembly.

[0080] Specifically, the top wall 11 refers to the top part of the lidar housing 10, which has an opening 10a so that the lidar body 20 can be raised and lowered.

[0081] The base serves as the support structure for the main body 20 of the lidar.

[0082] The second seal 40 is provided on the base. When the lidar body 20 is in the raised state, the second seal 40 of the base seals with the inner wall surface of the top wall 11 of the shell to prevent foreign objects such as dust and moisture from entering the lidar body 20.

[0083] The material of the second seal 40 is not limited, as long as it can seal against the inner wall surface of the top wall 11 of the housing to seal the lidar body 20. In some embodiments, the second seal 40 is an elastic element.

[0084] In one embodiment, referring to Figures 2 and 6, the lidar assembly further includes a drive device 50. The drive device 50 includes a drive motor 51 and a linkage mechanism. The linkage mechanism connects the lidar body 20 and the drive motor 51, allowing the drive motor 51 to drive the linkage mechanism to raise and lower the lidar body 20. Thus, through the cooperation of the drive motor 51 and the linkage mechanism, the lidar body 20 can be raised and lowered within the opening 10a of the lidar housing 10, enabling detection in relatively low spaces. This increases the application range of the lidar assembly, allowing it to adapt to more diverse environments and scenarios.

[0085] Specifically, the linkage mechanism includes a first connecting rod 521, a second connecting rod 522, a first support rod 523, and a second support rod 524. One end of the first support rod 523 is connected to the base, and the other end is connected to the second support rod 524. The other end of the second support rod 524 is fixed to the lidar housing 10. The connection point between the first support rod 523 and the second support rod 524 is a rotation point. Changes in the position of the rotation point will change the angle formed by the first support rod 523 and the second support rod 524, thereby driving the lidar body 20 to move up or down.

[0086] One end of the first connecting rod 521 is connected to the drive motor 51, and the other end is connected to the second connecting rod 522. The other end of the second connecting rod 522 is connected to the rotation point. When the drive motor 51 starts and drives the first connecting rod 521, the first connecting rod 521 transmits power to the second connecting rod 522, which causes the position of the rotation point to change, thereby driving the lidar body 20 to rise and fall.

[0087] In one embodiment, referring to Figures 4 and 5, a portion of the outer peripheral surface of the lidar housing 10 is opened to form a ranging window 10b.

[0088] When the lidar body 20 is in a lowered state, at least a portion of the lidar body 20 corresponds to the position of the ranging window 10b. Therefore, by opening a portion of the outer peripheral surface of the lidar housing 10 to form the ranging window 10b, the lidar body 20 can emit or receive laser light through the ranging window 10b when in the lowered state, allowing the lidar body 20 to adapt to different measurement needs and environmental conditions.

[0089] Specifically, the ranging window 10b is an opening 10a on the lidar housing 10. The fact that at least a portion of the lidar body 20 corresponds to the position of the ranging window 10b means that the ranging window 10b allows the lidar body 20 to emit and receive laser beams so that the lidar body 20 can perform distance measurement.

[0090] In some embodiments, the position and size of the ranging window 10b can be fixed and integrally formed with the lidar housing 10.

[0091] In other embodiments, the size or position of the ranging window 10b can be adjusted to suit different measurement needs or environmental conditions.

[0092] In one embodiment, referring to Figures 1 and 2, the lidar body 20 includes a light-transmitting cover 21 and a top cap 22 covering the top side of the light-transmitting cover 21. A portion of the top cap 22 protrudes from the outer peripheral surface of the light-transmitting cover 21 to form a protrusion. When the lidar body 20 is in a lowered state, the protrusion engages with the first sealing member 30. This further prevents dust and foreign objects from entering the interior of the lidar body 20.

[0093] Specifically, the top cap 22 is installed on the top of the light-transmitting cover 21, and a portion of the top cap 22 extends beyond the outer edge of the light-transmitting cover 21, thus forming a protrusion. When the lidar body 20 is in the lowered state, the protrusion and the first sealing member 30 are in contact and sealed together.

[0094] It should be noted that the protrusion is the outer edge area of ​​the top cap 22 along the circumference. Depending on the actual situation, it may be a partial area of ​​the top cap 22 along the circumference that protrudes to form the protrusion. Of course, in some embodiments, the entire area of ​​the top cap 22 along the circumference may protrude to form the protrusion, and the protrusion may have a ring structure to better seal and cooperate with the first sealing member 30.

[0095] In one embodiment, a light-absorbing layer is coated on the inner peripheral wall of the ranging window 10b. Thus, by coating the light-absorbing layer, the layer can absorb the laser light reflected back from the inner peripheral wall of the ranging window 10b, thereby reducing the interference of reflected light from the ranging window 10b on the lidar body 20 and improving the measurement accuracy of the lidar body 20.

[0096] Specifically, the type of material for the light-absorbing layer is not limited. It simply needs to reduce or eliminate light reflected or scattered by the outer casing.

[0097] 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 assembly, comprising: The lidar component includes: The lidar housing has an internal accommodating space and an opening on its top side; The lidar body, along its top-to-bottom direction, is vertically and vertically inserted into the opening, and at least a portion of the lidar body is located within the receiving space; and A first seal is disposed at the opening and extends circumferentially along the opening, with the edge of the first seal contacting the outer peripheral surface of the lidar body.

2. The lidar assembly of claim 1, wherein, The lidar body includes a light-transmitting cover, a laser emitting unit, and a laser receiving unit, with the laser emitting unit and the laser receiving unit located inside the light-transmitting cover. The first sealing element is an elastic element, and the edge of the first sealing element contacts and tightly fits the outer peripheral surface of the light-transmitting cover; and / or, The first sealing element is an annular sealing element extending around the outer periphery of the light-transmitting cover, and the inner edge of the first sealing element contacts and fits tightly with the outer peripheral surface of the light-transmitting cover.

3. The lidar assembly of claim 1, wherein, Along a direction from the side of the first seal that contacts the outer peripheral surface of the lidar body to the side of the first seal that is away from the lidar body, the first seal is inclined downward relative to the horizontal surface where the opening is located.

4. The lidar assembly of claim 3, wherein, The tilt angle of the first seal is greater than or equal to 10° and less than or equal to 20°.

5. The lidar assembly of any of claims 1-4, wherein, The first sealing element and the lidar housing are formed as an integral structural component; and / or, The lidar housing includes a top wall having the opening; the lidar body includes a base, the lidar body is supported on the base, and the lidar assembly further includes a second seal, the second seal being disposed on the base and extending circumferentially around the lidar body; When the lidar body is in the raised state, the second seal is in sealing contact with the inner wall surface of the top wall of the shell.

6. The lidar assembly of any one of claims 1-4, wherein, The lidar assembly also includes a drive device, which includes a drive motor and a linkage mechanism. The linkage mechanism connects the lidar body and the drive motor, respectively, so that the drive motor drives the linkage mechanism to raise and lower the lidar body.

7. The lidar assembly of any one of claims 1-4, wherein, A portion of the outer peripheral surface of the lidar housing is open to form a ranging window; when the lidar body is in a lowered state, at least a portion of the lidar body corresponds to the position of the ranging window; and / or, The lidar body includes a light-transmitting cover and a top cap covering the top side of the light-transmitting cover. A portion of the top cap protrudes from the outer peripheral surface of the light-transmitting cover to form a protrusion. When the lidar body is in a lowered state, the protrusion is connected to the first sealing member.

8. The lidar assembly of claim 7, wherein, The inner peripheral wall of the ranging window is coated with a light-absorbing layer.

9. A cleaning device characterized by The cleaning device includes a housing and a lidar assembly as described in any one of claims 1-8, the lidar assembly being disposed on the housing.

10. A cleaning system characterized by, The cleaning system includes a cleaning base station and the cleaning device as described in claim 9.

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