Cleaning device and cleaning system

Abstract

The present application provides a cleaning device and a cleaning system. The cleaning device comprises a housing, a lidar, a lifting / lowering apparatus, a main control board, and a cable. The lidar comprises a casing and a laser ranging module. The lifting / lowering apparatus is used for driving the laser ranging module to move up and down along a height direction of the cleaning device. An opening is provided on one side of the casing along a first direction, a first wire slot is provided on an outer surface of the casing, the first wire slot faces the opening, one end of the cable is connected to the laser ranging module, and a part of the cable extends out of the casing through the opening and is fitted into the first wire slot. In the cleaning device provided in the present application, the portion of the cable between the laser ranging module and the first wire slot will not experience bending, and when the end of the cable connected to the laser ranging module moves up and down along with the laser ranging module, the portion of the cable between the laser ranging module and the first wire slot can extend linearly or is naturally hang down, thereby reducing the probability of abrasion of the cable and prolonging the service life of the cable.

Description

A cleaning device and cleaning system

[0001] Cross-reference to related applications

[0002] This application claims priority and benefit to Chinese Patent Application No. 202422536714.6, filed on October 18, 2024, the entire contents of which are hereby incorporated by reference. Technical Field

[0003] This disclosure relates to the field of cleaning equipment technology, and more particularly to a cleaning device and cleaning system. Background Technology

[0004] 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.

[0005] In related technologies, taking cleaning equipment as an example, a cleaning robot includes a lidar, a lifting device, and a main control board. The lifting device can drive the lidar to move up and down to adapt to different home environments. The lidar and the main control board are connected by a cable. When the lidar moves up and down, the cable also moves up and down. Repeated movements can easily lead to a high cable damage rate and a short service life. Summary of the Invention

[0006] In view of this, the present disclosure aims to provide a cleaning device and cleaning system that reduces cable wear and extends cable life.

[0007] To achieve the above objectives, the technical solution of this disclosure embodiment is implemented as follows:

[0008] This disclosure provides a cleaning device, comprising: a housing; a lidar, at least partially disposed within the housing, the lidar including a casing and a laser ranging module, at least partially disposed within the casing; a lifting device disposed within the housing, for driving the laser ranging module to move up and down along the height direction of the cleaning device, such that a portion of the laser ranging module extends out of the housing or retracts into the housing; a main control board disposed within the housing, for controlling the operation of the cleaning device; and a cable, through which the laser ranging module and the main control board establish a conductive path; wherein, the casing has an opening on one side along a first direction, and the outer surface of the casing has a first wire-locking groove facing the opening, one end of the cable is connected to the laser ranging module, and a portion of the cable passes through the opening and is locked in the first wire-locking groove, wherein the first direction intersects the height direction.

[0009] In some implementations, the connection position between the cable and the laser ranging module is a first position. The laser ranging module has a raised state and a lowered state. In the lowered state, the position of the first cable slot is higher than the first position in the plane projection perpendicular to the first direction.

[0010] In some implementations, the laser ranging module has a raised state and a lowered state, wherein in the lowered state, the portion of the cable located between the first cable slot and the laser ranging module extends in a straight line.

[0011] In some implementations, the connection position between the cable and the laser ranging module is a first position, the center position of the portion of the cable located in the first cable slot is a second position, the laser ranging module has a raised state and a lowered state, and the connection length between the first position and the second position in the lowered state is greater than the connection length between the first position and the second position in the raised state.

[0012] In some implementations, the housing is further provided with a second cable slot, and the cable includes a first segment and a second segment connected to each other. The end of the first segment away from the second segment is connected to the laser ranging module. A portion of the first segment is locked in the first cable slot, a portion of the second segment is locked in the second cable slot, and the end of the second segment away from the first cable slot is connected to the main control board.

[0013] In some embodiments, the housing includes a main body and an extension structure, at least a portion of the laser ranging module is disposed in the main body, one end of the extension structure is connected to the edge of the opening, the other end extends along a first direction, and the first wire slot is disposed at the end of the extension structure away from the opening.

[0014] In some embodiments, the extension structure includes a base and two limiting portions. The base has a through groove that extends through the base along a second direction. One end of each of the two limiting portions is connected to the top wall and bottom wall of the through groove, respectively, and the other end extends downward at an angle away from the base and closer to the opening. The space between the through groove and the two limiting portions defines the first wire-locking groove, wherein the first direction, the second direction, and the height direction intersect each other.

[0015] In some embodiments, the two limiting portions extend in a direction toward each other along a second direction and at one end away from the base to form a stop structure for stopping the cable.

[0016] In some embodiments, the two limiting portions are formed as the entrance to the first wire-locking groove at one end along the first direction and near the opening; the two stop structures are spaced apart to form a notch, and the cable is inserted into the first wire-locking groove through the entrance and the notch; or, the two stop structures are connected to each other, and the cable passes through the entrance into the first wire-locking groove.

[0017] In some embodiments, the lifting device includes a drive mechanism and a transmission structure. The drive mechanism is connected to the side of the extension structure opposite to the opening. The power output shaft of the drive mechanism passes through the extension structure and is connected to the transmission structure. The end of the transmission structure away from the power output shaft passes through the opening and is connected to the laser ranging module.

[0018] In some embodiments, the housing includes a spacer that divides the opening along the height direction into a first opening and a second opening, the first opening being disposed on the top side of the second opening for a cable to pass through, and the second opening for the transmission structure to pass through.

[0019] In some embodiments, the transmission structure includes a first link, a second link, a third link, and a fourth link. One end of the first link is rotatably connected to the power output shaft, and the other end of the first link is rotatably connected to the second link. The end of the second link away from the first link passes through the opening and is rotatably connected to the third link and the fourth link, respectively. The third link and the fourth link are disposed inside the housing. The end of the third link away from the second link is rotatably connected to the bottom wall of the housing, and the end of the fourth link away from the second link is rotatably connected to the laser ranging module.

[0020] In some implementations, the laser ranging module includes a laser emitting unit, a laser receiving unit, and a bracket. The laser emitting unit and the laser receiving unit are mounted on the bracket and electrically connected to the cable. The fourth link is rotatably connected to the end of the bracket opposite to the laser emitting unit and the laser receiving unit.

[0021] In some implementations, the laser ranging module further includes a light-transmitting cover that covers the top side of the bracket and at least partially protrudes from the top surface of the housing.

[0022] This disclosure provides a cleaning system, including: a cleaning base station; and a cleaning device as described in any embodiment of this disclosure, wherein the cleaning base station is used for the cleaning device to dock.

[0023] The cleaning device provided in this embodiment features a first cable tray facing the opening. This prevents the cable from bending between the laser ranging module and the first cable tray. When the end of the cable connected to the laser ranging module moves up and down with the laser ranging module, the cable between the laser ranging module and the first cable tray can extend in a straight line or hang naturally, reducing the likelihood of cable wear and extending its lifespan. Furthermore, the first cable tray can secure the cable, increasing its stability. Thus, without affecting the raising and lowering of the laser ranging module, it also increases the reliability of the connection between the cable and the main control board, allowing the cleaning device to maintain efficient cleaning while better adapting to various furniture environments, thereby increasing the operational reliability of the cleaning device. Attached Figure Description

[0024] Figure 1 is a partial structural schematic diagram of a cleaning device according to an embodiment of the present disclosure;

[0025] Figure 2 is a schematic diagram of the cooperation between the lidar and the lifting device shown in Figure 1, wherein the lidar is in the raised state;

[0026] Figure 3 is an enlarged structural diagram of point A in Figure 2;

[0027] Figure 4 is another structural schematic diagram of the structure shown in Figure 2;

[0028] Figure 5 is another schematic diagram of the cooperation between the lidar and the lifting device shown in Figure 1, in which the lidar is in a descending state;

[0029] Figure 6 is a comparative schematic diagram of a lidar and cable in a raised and lowered state according to an embodiment of the present disclosure.

[0030] Explanation of reference numerals in the attached drawings: 1-Cleaning equipment; 10-Housing housing; 11-LiDAR; 111-Outer shell; 111b-First wire-locking groove; 111c-Second wire-locking groove; 111d-Opening; 111e-First opening; 111f-Second opening; 1111-Main body; 1112-Extension structure; 11121-Base; 11122-Limiting part; 11123-Stop structure; 1112a-Through groove; 1112b-Notch; 1113-Gap part; 112-Laser ranging module; 1121-Bracket; 11211-Support base; 11212-Mounting base; 1122-Light-transmitting cover; 113-Elastic element; 12-Lifting device; 121-Drive mechanism; 122-Transmission structure; 1221-First connecting rod; 1222-Second connecting rod; 1223- Third link; 1224-Fourth link; 13-Cable. Detailed Implementation

[0031] In the description of the embodiments of this disclosure, it should be noted that the terms "height direction", "up", "down", "top", "bottom", "left", "right", "front", "back", 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 disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this disclosure.

[0032] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] This disclosure provides a cleaning device 1.

[0034] It is understood that cleaning equipment 1 can be a robot vacuum cleaner, a robot vacuum and mop combo, or other cleaning robots that meet the requirements, and there are no restrictions here.

[0035] The cleaning device 1 can be used to automatically sweep dust and hair off the ground. When the cleaning device 1 is equipped with a mop, it can mop the ground after sweeping.

[0036] For example, this disclosure also provides a cleaning system, which includes a cleaning base station and a cleaning device 1 according to any embodiment of this disclosure. The cleaning base station is used for the cleaning device 1 to dock.

[0037] In other words, the cleaning base station can provide a docking location for the cleaning equipment 1, so that the cleaning equipment 1 can be housed in the cleaning base station after completing the cleaning work. Of course, the cleaning base station can also provide corresponding services for the cleaning equipment 1. For example, the functions of the cleaning base station include at least one of charging, dust removal, cleaning, drying and disinfection of the cleaning equipment 1.

[0038] Please refer to Figures 1 to 6. The cleaning device 1 includes a housing 10, a lidar 11, a lifting device 12, a main control board, and cables 13.

[0039] The housing 10 provides a space for the components of the cleaning equipment 1. At least part of the lidar 11, the lifting device 12, the main control board and the cable 13 are housed in the housing 10. The housing 10 can effectively protect them from being exposed to the outside and subjected to impact and damage.

[0040] For example, the housing 10 is disc-shaped to facilitate the rotation and orientation adjustment of the cleaning device 1 in a narrow space, thereby increasing the flexibility of the cleaning device 1. At the same time, the cleaning components of the cleaning device 1 can be evenly distributed on the bottom of the housing 10 to improve cleaning efficiency.

[0041] The lidar 11 is a radar system that detects target position, velocity, and other characteristic quantities by emitting laser beams. Specifically, the lidar 11 can detect obstacles and surrounding environment information around the cleaning equipment 1 to achieve high efficiency and accuracy in automated cleaning.

[0042] The lidar 11 includes a housing 111 and a laser ranging module 112, at least a portion of which is disposed within the housing 111.

[0043] Specifically, the housing 111 provides installation space for the laser ranging module 112, which can determine the distance to the obstacle by emitting a laser beam and measuring the time it takes for the laser to reflect back, thereby achieving obstacle avoidance.

[0044] The lifting device 12 is disposed inside the housing 10 and is used to drive the laser ranging module 112 to move up and down along the height direction of the cleaning equipment 1, so that part of the laser ranging module 112 extends out of the housing 10 or retracts into the housing 10.

[0045] Understandably, due to the height limitations of cleaning equipment, it is difficult for the equipment to access low-lying areas, leaving cleaning blind spots. In this embodiment, when encountering low-lying areas, the lifting device 12 drives a portion of the laser ranging module 112 to descend and retract into the housing 10, thereby reducing the height of the cleaning equipment 1 and allowing it to easily access hard-to-reach areas for cleaning. In open spaces, the lifting device 12 drives a portion of the laser ranging module 112 to rise, extending a portion of the module outside the housing 10. This facilitates the lidar 11's all-around perception of the surrounding environment, increasing navigation accuracy and the flexibility of the cleaning equipment 1.

[0046] Therefore, the combination of the lifting device 12 and the lidar 11 enables the cleaning equipment 1 to maintain efficient cleaning while better adapting to various furniture environments. Whether it is a low space or a complex obstacle, it can be effectively handled, thus improving the user's home experience.

[0047] The main control board is located inside the housing 10 and is used to control the operation of the cleaning equipment 1.

[0048] Specifically, the main control board can control the operating time and operating mode of the cleaning equipment 1, and provide power to other components.

[0049] The laser ranging module 112 and the main control board establish a conductive path through the cable 13.

[0050] Specifically, cable 13 connects the laser ranging module 112 to the main control board to form a conductive path, thereby realizing the electrical connection between the laser ranging module 112 and the main control board.

[0051] Understandably, there is no limit to the number of cables 13; there can be one or more.

[0052] The outer casing 111 has an opening 111d on one side along the first direction, and a first wire-locking groove 111b is provided on the outer surface of the outer casing 111. The first wire-locking groove 111b is positioned facing the opening 111d. One end of the cable 13 is connected to the laser ranging module 112, and a portion of the cable 13 passes through the opening 111d out of the outer casing 111 and is locked in the first wire-locking groove 111b. The first direction intersects with the height direction.

[0053] In other words, one end of the cable 13 is connected to the laser ranging module 112, and the other end is connected to the main control board after passing through the opening 111d and the first cable slot 111b.

[0054] It should be noted that the orientation of the first cable slot 111b toward the opening 111d means that the cable 13 does not need to be bent in the part from the laser ranging module 112 to the first cable slot 111b, and can be in a natural state, so that the probability of wear is small when the laser ranging module 112 moves up and down.

[0055] It should be noted that the part of the cable 13 being secured within the first cable slot 111b means that the first cable slot 111b can constrain the portion of the cable 13 located within it. The portion of the cable 13 within the first cable slot 111b is determined. When the end of the cable 13 connected to the laser ranging module 112 rises and falls with the laser ranging module 112, the portion of the cable 13 located between the laser ranging module 112 and the first cable slot 111b moves to adapt to changes in height. The portion of the cable 13 located within the first cable slot 111b and the portion of the cable 13 located between the first cable slot 111b and the main control board can remain stationary, thus increasing the reliability of the cable 13's installation.

[0056] The first direction can be any direction that intersects the height direction; for example, the first direction can be perpendicular to the height direction.

[0057] Understandably, in related technologies, the cable is designed with a cable slot on the outer casing. After the cable passes through the casing, it needs to be bent before it can be inserted into the cable slot. When the end of the cable connected to the laser ranging module moves up and down with the laser ranging module, the bent part of the cable rubs against the edge of the cable slot as it moves. After repeated raising and lowering, the cable is prone to breakage due to wear, resulting in a short service life.

[0058] The cleaning device 1 provided in this embodiment has a first cable tray 111b facing the opening 111d. The cable 13 will not bend between the laser ranging module 112 and the first cable tray 111b. When the end of the cable 13 connected to the laser ranging module 112 moves up and down with the laser ranging module 112, the portion of the cable 13 between the laser ranging module 112 and the first cable tray 111b can extend in a straight line or hang naturally, reducing the probability of wear and tear on the cable 13 and extending its service life. Furthermore, the first cable tray 111b can fix the cable 13, increasing the stability of the cable 13's arrangement. Thus, without affecting the raising and lowering of the laser ranging module 112, the connection reliability between the cable 13 and the main control board is also increased, allowing the cleaning device 1 to maintain efficient cleaning while better adapting to various furniture environments, increasing the operational reliability of the cleaning device 1.

[0059] In some embodiments, please refer to FIG6. The connection position between the cable 13 and the laser ranging module 112 is the first position B1. The laser ranging module 112 has a raised state and a lowered state. In the lowered state, in the plane projection perpendicular to the first direction, the position of the first cable slot 111b is higher than the first position B1.

[0060] It should be noted that the raised state refers to the state when the laser ranging module 112 is raised to the highest position under the drive of the lifting device 12. At this time, the size of the cleaning device 1 along the height direction is the largest, and the connection position of the cable 13 and the laser ranging module 112, i.e., the first position B1, is also in the highest state. The lowered state refers to the state when the laser ranging module 112 is lowered to the lowest position under the drive of the lifting device 12. At this time, the size of the cleaning device 1 along the height direction is the smallest, and the connection position of the cable 13 and the laser ranging module 112, i.e., the first position B1, is also in the lowest state.

[0061] In this embodiment, in the descending state, the position of the first cable slot 111b is higher than the first position B1. At this time, the cable 13 will be naturally guided upward. As the laser ranging module 112 moves from the descending state to the ascending state, the first position B1 gradually rises, and the height difference between the first position B1 and the first cable slot 111b gradually decreases. The cable 13 can gradually become horizontal, reducing the probability of friction and wear on the cable 13. Thus, the cable 13 can maintain a natural and good condition in different working states of the laser ranging module 112, increasing the reliability of the cable 13 routing.

[0062] In some embodiments, referring to FIG6, in the lowered state, the portion of cable 13 located between the first cable slot 111b and the laser ranging module 112 extends in a straight line.

[0063] In other words, when the laser ranging module 112 descends to its lowest position, the cable 13 remains straight between the laser ranging module 112 and the first cable clamping groove 111b. This reduces stress on the cable 13 caused by bending, lowers the probability of cable wear, and increases the stability of the cable 13, reducing the possibility of contact between the cable 13 and other components. It also prevents swaying, increasing the structural stability of the cable 13 in its descending state. Furthermore, it facilitates determining the required length of the cable 13 between the first cable clamping groove 111b and the laser ranging module 112 based on its straightness in the descending state, further increasing the structural reliability of the cleaning equipment 1.

[0064] In some embodiments, please refer to FIG6, the connection position of cable 13 and laser ranging module 112 is the first position B1, and the position of the center of the portion of cable 13 located in the first cable slot 111b is the second position B2. The connection length L1 between the first position B1 and the second position B2 in the lowered state is greater than the connection length L2 between the first position B1 and the second position B2 in the raised state.

[0065] In other words, the height difference between the first cable slot 111b and the first position B1 in the raised state is less than the height difference in the lowered state.

[0066] In this embodiment, when the laser ranging module 112 is in the descending state, the connection length between the first position B1 and the second position B2 is as close as possible to the length of the corresponding part of the cable 13. In this way, the larger connection length can facilitate the natural extension of the cable 13, reducing the probability of cable 13 wear and shaking. During the process of the laser ranging module 112 switching from the descending state to the ascending state, the cable 13 can have sufficient slack to rise with the laser ranging module 112, increasing the slack of the cable 13. With the smaller connection length, the corresponding part of the cable 13 will not be overstretched, making it easier for the cable 13 to be in a more natural state, increasing the reliability of the cable 13 routing.

[0067] In an embodiment where the portion of cable 13 located between the first cable slot 111b and the laser ranging module 112 extends in a straight line in the descending state, the length of the line connecting the first position B1 and the second position B2 in the descending state is adapted to the length of the corresponding portion of cable 13.

[0068] For example, the line connecting the first position B1 and the second position B2 in the raised state can be perpendicular to the height direction. In this way, in the raised state, there is almost no height difference between the first cable slot 111b and the first position B1, which increases the naturalness of the cable 13 routing and reduces the probability of cable 13 wear.

[0069] The angle β between the line length L1 connecting the first position B1 and the second position B2 in the descending state and the line length L2 connecting the first position B1 and the second position B2 in the rising state can be considered as the angle at which the cable 13 swings as it rises and falls with the laser ranging module 112. The angle β can not exceed 30°. A smaller swing angle helps to increase the lifespan of the cable 13 and reduce the chance of cable scratches. In some embodiments, the angle β can not exceed 15°, for example, 14°, 12°, 11°, 8°, 5°, etc.

[0070] In some embodiments, please refer to Figures 2 to 6. The housing 111 is also provided with a second cable slot 111c. The cable 13 includes a first sub-segment and a second sub-segment connected to each other. The end of the first sub-segment away from the second sub-segment is connected to the laser ranging module 112. A portion of the first sub-segment is locked in the first cable slot 111b, and a portion of the second sub-segment is locked in the second cable slot 111c. The end of the second sub-segment away from the first cable slot 111b is connected to the main control board.

[0071] It is understandable that the second wire slot 111c may not face the opening 111d. When the first segment rises and falls with the laser ranging module 112, the second segment can maintain a stable state under the locking action of the second wire slot 111c.

[0072] In this embodiment, the setting of the second cable slot 111c can further constrain the cable 13, thereby making the cable 13 more reasonably and reliably laid out with the cooperation of the first cable slot 111b and the second cable slot 111c. In addition, the segmented cable 13 can also increase the layout stability of the cable 13 from the laser ranging module 112 to the main control board.

[0073] For example, in a plane projection perpendicular to the first direction, the position of the second cable slot 111c is higher than the position of the first cable slot 111b, which facilitates the reasonable layout of the cable 13 at the positions of the first cable slot 111b and the main control board.

[0074] The specific structure of the outer shell 111 is not limited.

[0075] In some embodiments, please refer to Figures 2 and 3. The housing 111 includes a main body 1111 and an extension structure 1112. At least a portion of the laser ranging module 112 is disposed within the main body 1111. One end of the extension structure 1112 is connected to the edge of the opening 111d, and the other end extends along a first direction. A first wire slot 111b is disposed at the end of the extension structure 1112 away from the opening 111d.

[0076] In this embodiment, the extension structure 1112 provides a channel for the cable 13 from the inside to the outside of the main body 1111, and provides support and protection for the cable 13. The first cable slot 111b is located at the end of the extension structure 1112 away from the opening 111d, which allows the cable 13 to have enough space to accommodate the lifting and lowering of the laser ranging module 112, and also reduces the probability of friction and wear between the cable 13 and the edge of the opening 111d or other components.

[0077] In some embodiments, please refer to Figures 2 and 3. The extension structure 1112 includes a base 11121 and two limiting portions 11122. The base 11121 has a through groove 1112a that extends through the base 11121 along a second direction. One end of each of the two limiting portions 11122 is connected to the top wall and bottom wall of the through groove 1112a, respectively, and the other end extends downward at an angle away from the base 11121 and closer to the opening 111d. The space between the through groove 1112a and the two limiting portions 11122 defines a first wire-locking groove 111b, wherein the first direction, the second direction, and the height direction intersect each other.

[0078] In this embodiment, the inclined extension of the two limiting parts 11122 allows the cable 13 to smoothly transition when entering the first cable clamping groove 111b, reducing the probability of the cable 13 bending or twisting. Simultaneously, the inclined design also helps reduce the contact area between the cable 13 and the limiting parts 11122, reducing friction and wear, and increasing the reliability of the cable 13's lifting and lowering. The cable 13 can exit the first cable clamping groove 111b and connect to the main control board through the through groove 1112a. The through groove 1112a extends through the base 11121 in the second direction, facilitating changes in the cable 13's direction, reducing cable 13 wear, and optimizing the cable 13's layout.

[0079] In some embodiments, referring to FIG3, two limiting portions 11122 extend in a direction toward each other along a second direction and away from the base 11121 to form a stop structure 11123, which is used to stop the cable 13.

[0080] In this embodiment, the stop structure 11123 facilitates the fixing of the cable 13 in the first cable slot 111b, reducing the probability that the cable 13 will move and come out of the first cable slot 111b during the lifting and lowering process of the laser ranging module 112.

[0081] In some embodiments, the two limiting portions 11122 are formed as the entrance to the first wire-locking groove 111b at one end along the first direction and near the opening 111d.

[0082] It is understandable that the entry point here refers to the slot on the side of the first cable slot 111b closest to the laser ranging module 112, which is the starting position where the cable 13 enters the first cable slot 111b.

[0083] Please refer to Figure 3. Two stop structures 11123 are spaced apart to form a notch 1112b. The cable 13 is inserted into the first cable slot 111b through the inlet and the notch 1112b.

[0084] In this embodiment, the notch 1112b helps the cable 13 to smoothly enter the first cable clamping groove 111b, reduces the probability that the cable 13 needs to be bent during the process of being clamped into the first cable clamping groove 111b, and increases the installation reliability of the cable 13. The stop structure 11123 stops the cable 13 and increases the stability of the cable 13 in the first cable clamping groove 111b.

[0085] In other embodiments, the two stop structures 11123 are interconnected, and the cable 13 passes through the inlet into the first cable slot 111b.

[0086] In this embodiment, the two stop structures 11123 are connected to each other to form a continuous structure. This increases the constraint force on the part of the cable 13 in the first cable clamping groove 111b, reducing the probability that the cable 13 will swing or move due to the lifting and lowering of the laser ranging module 112, or even come out of the first cable clamping groove 111b.

[0087] The specific structure of the lifting device 12 is not limited.

[0088] In some embodiments, please refer to Figures 2, 4 and 5. The lifting device 12 includes a drive mechanism 121 and a transmission structure 122. The drive mechanism 121 is connected to the side of the extension structure 1112 away from the opening 111d. The power output shaft of the drive mechanism 121 passes through the extension structure 1112 and is connected to the transmission structure 122. The end of the transmission structure 122 away from the power output shaft passes through the opening 111d and is connected to the laser ranging module 112.

[0089] Specifically, the drive mechanism 121 is used to provide power and transmit the power to the transmission structure 122 through the power output shaft. The transmission structure 122 is used to transmit the power of the drive mechanism 121 to the laser ranging module 112, thereby realizing the lifting and lowering of the laser ranging module 112.

[0090] The specific structure of the drive mechanism 121 is not limited. For example, the drive mechanism 121 can be a stepper motor.

[0091] In this embodiment, the laser ranging module 112 is driven by the cooperation of the drive mechanism 121 and the transmission structure 122. The drive mechanism 121 is located outside the main body 1111 and is connected to the side of the extension structure 1112 opposite to the opening 111d. The drive mechanism 121 is installed in the space on the side of the extension structure 1112 opposite to the opening 111d, which allows for a reasonable layout and increases the structural compactness of the cleaning equipment 1. The transmission structure 122 can convert the power provided by the drive mechanism 121 into a motion form suitable for driving the laser ranging module 112 to rise and fall. For example, the transmission structure 122 can convert the rotational power provided by the drive mechanism 121 into linear motion, thereby driving the laser ranging module 112 to rise and fall.

[0092] In some embodiments, referring to Figures 2 and 3, the housing 111 includes a spacer 1113 that divides the opening 111d along the height direction into a first opening 111e and a second opening 111f. The first opening 111e is disposed on the top side of the second opening 111f for the cable 13 to pass through, and the second opening 111f is for the transmission structure 122 to pass through.

[0093] In this embodiment, the partition 1113 divides the opening 111d into a first opening 111e and a second opening 111f, which can reduce the probability of interference between the transmission structure 122 and the cable 13 during installation or lifting, and further improve the stability of the cable 13 during lifting.

[0094] The specific construction of the transmission structure 122 is not limited.

[0095] In some embodiments, please refer to Figures 4 and 5. The transmission structure 122 includes a first link 1221, a second link 1222, a third link 1223, and a fourth link 1224. One end of the first link 1221 is rotatably connected to the power output shaft, and the other end of the first link 1221 is rotatably connected to the second link 1222. The end of the second link 1222 away from the first link 1221 passes through the opening 111d and is rotatably connected to the third link 1223 and the fourth link 1224, respectively. The third link 1223 and the fourth link 1224 are disposed inside the housing 111. The end of the third link 1223 away from the second link 1222 is rotatably connected to the bottom wall of the housing 111, and the end of the fourth link 1224 away from the second link 1222 is rotatably connected to the laser ranging module 112.

[0096] In this embodiment, the design of the first link 1221, the second link 1222, the third link 1223, and the fourth link 1224 constitutes a four-bar linkage. The first link 1221 transmits the power of the drive mechanism 121 to the second link 1222. The rotation of the first link 1221 drives the second link 1222 to rotate. The second link 1222 transmits the motion of the first link 1221 to the third link 1223 and the fourth link 1224. The rotation of the second link 1222 drives the third link 1223 and the fourth link 1224 to rotate. The rotation of link 1223 and the fourth link 1224, and the connection between the third link 1223 and the bottom wall of the outer casing 111, provide a fulcrum for the lifting and lowering action of the fourth link 1224. The fourth link 1224 transmits the movement of the second link 1222 to the laser ranging module 112, thereby realizing the lifting and lowering of the laser ranging module 112. The cooperation of the four-bar linkage not only realizes the lifting and lowering of the laser ranging module 112, but also increases the stability of the laser ranging module 112 during the lifting and lowering process.

[0097] In some embodiments, the laser ranging module 112 includes a laser emitting unit, a laser receiving unit, and a bracket 1121. The laser emitting unit and the laser receiving unit are mounted on the bracket 1121 and electrically connected to the cable 13. A fourth link 1224 is rotatably connected to one end of the bracket 1121 away from the laser emitting unit and the laser receiving unit.

[0098] Specifically, the laser emitting unit is used to emit laser signals, and the laser receiving unit is used to receive the reflected laser signals, thereby enabling distance measurement. Cable 13 provides power to both the laser emitting unit and the laser receiving unit.

[0099] The bracket 1121 is used to support the laser emitting unit and the laser receiving unit. The fourth link 1224 drives the bracket 1121 to lift and lower, thereby driving the laser emitting unit and the laser receiving unit to lift and lower, and isolates the laser emitting unit and the laser receiving unit from the fourth link 1224, increasing the lifting and lowering stability of the laser ranging module 112.

[0100] In some embodiments, referring to Figures 4 and 5, the lidar 11 further includes at least one elastic element 113, the bracket 1121 includes a support base 11211 and at least one mounting base 11212, the laser emitting unit and the laser receiving unit are supported on the support base 11211, one end of the mounting base 11212 is connected to the bottom of the support base 11211, one end of the fourth link 1224 away from the third link 1223 is rotatably connected to the mounting base 11212, and the elastic element 113 is disposed between the mounting base 11212 and the support base 11211.

[0101] The elastic element 113 is used to apply a downward force to the fourth link 1224 when the angle between the third link 1223 and the fourth link 1224 is 180° during the process of the fourth link 1224 driving the support 1121 to switch from the lowering state to the raising state, so that the angle between the third link 1223 and the fourth link 1224 is less than 180°.

[0102] It should be noted that the included angle α between the third link 1223 and the fourth link 1224 is the angle between the side of the fourth link 1224 closest to the third link 1223 and the side of the third link 1223 closest to the fourth link 1224.

[0103] Understandably, during the process of the fourth link 1224 driving the bracket 1121 to switch from the lowering state to the raising state, the angle between the fourth link 1224 and the third link 1223 gradually increases. When the angle between the fourth link 1224 and the third link 1223 is 180 degrees, it can be considered a dead point position. The fourth link 1224 has difficulty overcoming resistance to continue rotating smoothly. At this time, the fourth link 1224 and the third link 1223 are almost in a straight line. The support force of the fourth link 1224 on the bracket 1121 and the support force of the third link 1223 on the fourth link 1224 are minimal. When the lidar 11 is subjected to external impact, the bracket 1121 is prone to suddenly drop, which in turn causes the laser ranging module 112 to suddenly drop, affecting the operation of the laser ranging module 112 or increasing the probability of damage to the laser ranging module 112.

[0104] In this embodiment, the elastic element 113 can apply a force to the fourth link 1224 when the angle between the third link 1223 and the fourth link 1224 is 180 degrees, causing the fourth link 1224 to rotate back a certain angle, avoiding the occurrence of dead point phenomenon, so that the four-bar linkage can work smoothly throughout the lifting process, increasing the lifting reliability of the laser ranging module 112 and the working reliability of the four-bar linkage.

[0105] In some embodiments, referring to Figures 2 and 4, the laser ranging module 112 further includes a light-transmitting cover 1122, which covers the top side of the bracket 1121 and at least partially protrudes from the top surface of the housing 111.

[0106] In this embodiment, the light-transmitting cover 1122 is installed on the top side of the bracket 1121 to protect the laser emitting unit and the laser receiving unit. At least part of the light-transmitting cover 1122 protrudes from the top surface of the housing 111. When the lifting device 12 drives the laser ranging module 112 to rise, the light-transmitting cover 1122 can extend to the outside of the housing 10, thereby facilitating the smooth emission and reception of laser signals and improving the working reliability of the cleaning equipment 1.

[0107] In the description of this disclosure, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this disclosure. In this disclosure, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, those skilled in the art can combine different embodiments or examples described in this disclosure, as well as features of different embodiments or examples, without contradiction.

[0108] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A cleaning device, characterized in that, include: case; A lidar, at least partially disposed within the housing, the lidar comprising a housing and a laser ranging module, at least partially disposed within the housing; A lifting device, disposed within the housing, is used to drive the laser ranging module to move up and down along the height direction of the cleaning equipment, so that a portion of the laser ranging module extends out of the housing or retracts into the housing; The main control board, located inside the housing, is used to control the operation of the cleaning equipment; The laser ranging module and the main control board are connected by a cable, which forms a conductive path. The outer casing has an opening on one side along the first direction, and a first wire-locking groove is provided on the outer surface of the outer casing. The first wire-locking groove is oriented toward the opening. One end of the cable is connected to the laser ranging module, and a portion of the cable passes through the opening and is locked in the first wire-locking groove. The first direction intersects with the height direction.

2. The cleaning equipment according to claim 1, characterized in that, The connection position between the cable and the laser ranging module is the first position. The laser ranging module has a raised state and a lowered state. In the lowered state, in the projection along the plane perpendicular to the first direction, the position of the first cable slot is higher than the first position.

3. The cleaning equipment according to claim 1 or 2, characterized in that, The laser ranging module has a raised state and a lowered state. In the lowered state, the portion of the cable located between the first cable slot and the laser ranging module extends in a straight line.

4. The cleaning equipment according to any one of claims 1 to 3, characterized in that, The connection position between the cable and the laser ranging module is the first position, and the center position of the portion of the cable located in the first cable slot is the second position. The laser ranging module has a raised state and a lowered state. The connection length between the first position and the second position in the lowered state is greater than the connection length between the first position and the second position in the raised state.

5. The cleaning equipment according to any one of claims 1 to 4, characterized in that, The outer casing is also provided with a second cable slot. The cable includes a first sub-segment and a second sub-segment connected to each other. The end of the first sub-segment away from the second sub-segment is connected to the laser ranging module. A portion of the first sub-segment is locked in the first cable slot, and a portion of the second sub-segment is locked in the second cable slot. The end of the second sub-segment away from the first cable slot is connected to the main control board.

6. The cleaning equipment according to any one of claims 1 to 5, characterized in that, The housing includes a main body and an extension structure. At least a portion of the laser ranging module is disposed within the main body. One end of the extension structure is connected to the edge of the opening, and the other end extends along a first direction. The first wire slot is disposed at the end of the extension structure away from the opening.

7. The cleaning equipment according to claim 6, characterized in that, The extension structure includes a base and two limiting portions. The base has a through groove that extends through the base along a second direction. One end of each of the two limiting portions is connected to the top wall and bottom wall of the through groove, respectively, and the other end extends downward at an angle away from the base and closer to the opening. The space between the through groove and the two limiting portions defines the first wire-locking groove, wherein the first direction, the second direction, and the height direction intersect each other.

8. The cleaning equipment according to claim 7, characterized in that, The two limiting portions extend in a direction toward each other along a second direction and away from the base to form a stop structure for stopping the cable.

9. The cleaning equipment according to claim 8, characterized in that, The two limiting portions are formed at one end along the first direction and near the opening as the entrance of the first wire-locking groove; The two stop structures are spaced apart to form a gap, and the cable is inserted into the first cable slot through the inlet and the gap; Alternatively, the two stop structures are connected to each other, and the cable passes through the inlet into the first cable slot.

10. The cleaning equipment according to any one of claims 6 to 9, characterized in that, The lifting device includes a drive mechanism and a transmission structure. The drive mechanism is connected to the side of the extension structure away from the opening. The power output shaft of the drive mechanism passes through the extension structure and is connected to the transmission structure. The end of the transmission structure away from the power output shaft passes through the opening and is connected to the laser ranging module.

11. The cleaning equipment according to claim 10, characterized in that, The housing includes a spacer that divides the opening along the height direction into a first opening and a second opening. The first opening is located on the top side of the second opening and is used for cables to pass through. The second opening is used for the transmission structure to pass through.

12. The cleaning equipment according to claim 10 or 11, characterized in that, The transmission structure includes a first link, a second link, a third link, and a fourth link. One end of the first link is rotatably connected to the power output shaft, and the other end of the first link is rotatably connected to the second link. The end of the second link away from the first link passes through the opening and is rotatably connected to the third link and the fourth link, respectively. The third link and the fourth link are disposed inside the housing. The end of the third link away from the second link is rotatably connected to the bottom wall of the housing, and the end of the fourth link away from the second link is rotatably connected to the laser ranging module.

13. The cleaning equipment according to claim 12, characterized in that, The laser ranging module includes a laser emitting unit, a laser receiving unit, and a bracket. The laser emitting unit and the laser receiving unit are mounted on the bracket and electrically connected to the cable. The fourth link is rotatably connected to the end of the bracket opposite to the laser emitting unit and the laser receiving unit.

14. The cleaning equipment according to claim 13, characterized in that, The laser ranging module also includes a light-transmitting cover, which is disposed on the top side of the bracket and at least partially protrudes from the top surface of the outer shell.

15. A cleaning system, characterized in that, include: Clean base stations; And the cleaning equipment according to any one of claims 1-14, wherein the cleaning base station is used for the cleaning equipment to dock.

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