CN218500628U - Cleaning device and system - Google Patents

Abstract

The present disclosure provides a cleaning device and system. The cleaning device includes: a mobile platform configured to move on an operation surface; The location of the base station; the stray light elimination structure configured to eliminate the interference signal of the stub signal when the stub finding module receives the stub signal.

Description

Cleaning equipment and systems

technical field

The present disclosure relates to the technical field of cleaning robots, and in particular, to a cleaning device and system.

Background technique

In modern life, cleaning robots are becoming more and more popular, bringing convenience to family life. Cleaning robots include sweeping robots, mopping robots, and integrated sweeping and dragging robots. In the prior art, some cleaning robots have added structures or functions such as automatic charging and automatic dust collection to make the cleaning robots more intelligent. But at the same time, whether the cleaning robot can accurately find the automatic charging pile or the automatic dust collection pile is very important for the cleaning robot.

Contents of the invention

According to a specific embodiment of the present disclosure, the present disclosure provides a cleaning device, comprising:

a mobile platform configured to move on the operating surface;

A pile-finding module, arranged on one side of the mobile platform, configured to receive a pile signal transmitted by a base station to identify the location of the base station;

The stray light elimination structure is configured to eliminate the interference signal of the stub signal when the stub finding module receives the stub signal.

In some embodiments, the stump finding module includes a signal window configured to receive the stub signal, wherein the stray light eliminating structure is disposed at an edge of the signal window.

In some embodiments, the stray light elimination structure is disposed around the signal window.

In some embodiments, the stray light elimination structure is a slope surrounding the signal window, wherein the slope is a rough surface.

In some embodiments, the stray light elimination structure is a slope surrounding the signal window, wherein the slope is black or semi-transparent black.

In some embodiments, the stray light elimination structure is a slope surrounding the signal window, wherein the slope is provided with a light absorbing layer.

In some embodiments, the stray light elimination structure is a slope surrounding the signal window, wherein the slope is provided with a light extinction structure.

In some embodiments, the matting structure includes micro-protrusions disposed on the slope.

In some embodiments, the micro-protrusions include at least one of the following: arc-shaped protrusions, tapered protrusions or prismatic protrusions.

In some embodiments, the stray light elimination structure is a vertical surface surrounding the signal window, wherein the vertical surface is perpendicular to the signal window.

In some embodiments, the mobile platform includes a water tank, and the stray light elimination structure is formed integrally or separately from the water tank.

According to a specific embodiment of the present disclosure, the present disclosure provides a cleaning system, including: a cleaning base station and the cleaning equipment as described in any one of the above items.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure. Apparently, the drawings in the following description are only some embodiments of the present disclosure, and those skilled in the art can obtain other drawings according to these drawings without creative efforts. In the attached picture:

Fig. 1 is a schematic structural diagram of an automatic cleaning device according to some embodiments of the present disclosure.

Fig. 2 is a schematic diagram of a bottom structure of an automatic cleaning device according to some embodiments of the present disclosure.

Fig. 3 is a schematic structural diagram of a signal window of an automatic cleaning device according to some embodiments of the present disclosure.

Fig. 4 is a schematic perspective view of a clean base station according to some embodiments of the present disclosure.

Fig. 5 is a schematic structural diagram of a cleaning system according to some embodiments of the present disclosure.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present disclosure, not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present disclosure.

Terms used in the embodiments of the present disclosure are for the purpose of describing specific embodiments only, and are not intended to limit the present disclosure. The singular forms "a", "said" and "the" used in the embodiments of this disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates otherwise, "a plurality" Generally contain at least two.

It should be understood that the term "and/or" used herein is only an association relationship describing associated objects, which means that there may be three relationships, for example, A and/or B, which may mean that A exists alone, and A and B exist simultaneously. B, there are three situations of B alone. In addition, the character "/" in this article generally indicates that the contextual objects are an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used for description in the embodiments of the present disclosure, these should not be limited to these terms. These terms are used only to distinguish. For example, without departing from the scope of the embodiments of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that an article or arrangement comprising a list of elements includes not only those elements but also includes items not expressly listed. other elements of the product, or elements inherent in the product or device. Without further limitations, an element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the article or device comprising said element.

Optional embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings.

Figure 1-Figure 2 is a schematic structural diagram of an automatic cleaning device according to an exemplary embodiment, as shown in Figure 1-Figure 2, the automatic cleaning device can be a vacuum robot or a floor mopping/scrubbing robot , can also be a window climbing robot, etc. The automatic cleaning equipment can include a mobile platform 100, a perception system 120, a control system 130, a drive system 140, a cleaning module 150, an energy system 160 and a human-computer interaction system 170. in:

The mobile platform 100 may be configured to automatically move in a target direction on the operating surface. The operation surface may be the surface to be cleaned by the automatic cleaning equipment. In some embodiments, the automatic cleaning equipment can be a mopping robot, and the automatic cleaning equipment works on the ground, and the ground is the operating surface; the automatic cleaning equipment can also be a window cleaning robot, and the automatic cleaning equipment works on the ground Working on the outer surface of the glass, the glass is the operating surface; the automatic cleaning equipment can also be a pipeline cleaning robot, and the automatic cleaning equipment works on the inner surface of the pipeline, and the inner surface of the pipeline is the operating surface. Purely for the sake of demonstration, the following description in this application takes a mopping robot as an example.

In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; the non-autonomous mobile platform itself cannot make adaptive decisions based on unexpected environmental inputs. Operational decision-making, but it can execute established procedures or operate according to certain logic. Correspondingly, when the mobile platform 100 is an autonomous mobile platform, the target direction can be determined by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a rearward portion 110 .

The perception system 120 includes a position determination device 121 located above the mobile platform 100, a buffer 122 located at the forward portion 111 of the mobile platform 100, a cliff sensor 123 located at the bottom of the mobile platform, an ultrasonic sensor (not shown), an infrared sensor (not shown in the figure), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure), odometer (not shown in the figure) and other sensors The device provides various position information and motion state information of the machine to the control system 130.

In order to more clearly describe the behavior of the autonomous cleaning device, the following orientation definitions are made: The autonomous cleaning device can travel on the ground through various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: the transverse axis Y, Front and rear axis X and central vertical axis Z. The forward driving direction along the front-rear axis X is designated "forward" and the rearward driving direction along the front-rear axis X is designated "rearward". The transverse axis Y extends substantially along the axis defined by the center point of the drive wheel assembly 141 between the right and left wheels of the automatic cleaning device. Wherein, the automatic cleaning device can rotate around the Y axis. A self-cleaning device is "pitched" when the forward part is sloped upwards and the rearward part is sloped downwards, and "pitched" is when the forward part of the automatic cleaning device is sloped downwards and the rearward part is sloped upwards. In addition, the automatic cleaning device can rotate around the Z axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device tilts to the right of the X-axis, it is a "right turn", and when the automatic cleaning device tilts to the left of the X-axis, it is a "left turn".

As shown in Figure 2, on the bottom of the mobile platform 100 and at the front and rear of the drive wheel assembly 141, a cliff sensor 123 is provided, and the cliff sensor is used to prevent the automatic cleaning device from falling when it retreats, thereby preventing the automatic cleaning device from being damaged. damage. The aforementioned "front" refers to the side in the same direction of travel relative to the automatic cleaning device, and the aforementioned "rear" refers to the side opposite to the direction of travel of the automatic cleaning device.

Specific types of the location determination device 121 include but are not limited to cameras and laser distance measuring devices (LDS).

Each component in the perception system 120 can operate independently or jointly to achieve the purpose function more accurately. The surface to be cleaned is identified by the cliff sensor 123 and the ultrasonic sensor to determine the physical characteristics of the surface to be cleaned, including surface material, cleanliness, etc., and can be combined with cameras, laser distance measuring devices, etc. to make more accurate judgments.

For example, the ultrasonic sensor can be used to determine whether the surface to be cleaned is a carpet. If the ultrasonic sensor determines that the surface to be cleaned is made of carpet, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.

The forward part 111 of the mobile platform 100 is provided with a buffer 122. During the cleaning process, when the driving wheel assembly 141 pushes the automatic cleaning device to walk on the ground, the buffer 122 detects that the automatic cleaning device is in the driving path through a sensor system, such as an infrared sensor. One or more events (or objects), the automatic cleaning device can pass through the events (or objects) detected by the buffer 122, such as obstacles, walls, and control the driving wheel assembly 141 so that the automatic cleaning device can respond to the event (or an object) to respond, such as moving away from an obstacle.

The control system 130 is arranged on the circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory. The device is configured to receive the environmental information sensed by the multiple sensors from the perception system 120, and use a positioning algorithm, such as SLAM, to draw an instant map of the environment where the automatic cleaning device is located according to the obstacle information fed back by the position determining device. , and autonomously determine a driving route according to the environmental information and the environmental map, and then control the drive system 140 to perform operations such as forward, backward and/or steering according to the autonomously determined driving route. Further, the control system 130 may also decide whether to activate the cleaning module 150 to perform cleaning operations according to the environmental information and the environmental map.

Specifically, the control system 130 can combine the distance information and speed information fed back by the buffer 122, the cliff sensor 123, and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices to comprehensively judge that the sweeper is currently in What kind of working status, such as over the threshold, on the carpet, on the cliff, stuck above or below, full of dust box, picked up, etc., will also give specific next action strategies for different situations, so that automatic cleaning The work of the device is more in line with the requirements of the owner and has a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, greatly improving the cleaning efficiency of automatic cleaning equipment.

Drive system 140 may execute drive commands to steer the autonomous cleaning device across the ground based on specific distance and angular information, such as x, y, and theta components. As shown in Figure 2, the drive system 140 includes a drive wheel assembly 141, the drive system 140 can control the left wheel and the right wheel at the same time, in order to control the movement of the machine more accurately, preferably the drive system 140 includes a left drive wheel assembly and a right drive wheel components. The left and right drive wheel assemblies are arranged symmetrically along the transverse axis defined by the mobile platform 100 .

In order for the automatic cleaning equipment to move more stably on the ground or have a stronger movement ability, the automatic cleaning equipment can include one or more steering assemblies 142, and the steering assembly 142 can be a driven wheel or a driving wheel, and its structural form Including but not limited to universal wheels, the steering assembly 142 may be located in front of the driving wheel assembly 141 .

Energy system 160 includes rechargeable batteries, such as NiMH and Lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit. The host is charged by connecting with the base station through the charging electrodes arranged on the side or bottom of the fuselage.

The human-computer interaction system 170 includes buttons on the panel of the host computer, which are used for the user to select functions; and may also include a display screen and/or an indicator light and/or a horn, and the display screen, the indicator light and the horn show the user the current state of the machine or Functional options; may also include mobile phone client programs. For path-guided cleaning equipment, the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, and can provide users with more abundant and humanized functional items.

As shown in FIG. 2 , the cleaning module 150 may include a dry cleaning module.

The dry cleaning module includes a dust box, a fan, and a main brush module. The main brush module rotates or swings back and forth near the ground, sweeping the garbage on the ground to the front of the air duct between the main brush module and the dust box, and then sucked into the dust box by the suction gas generated by the fan and passing through the dust box. The dust removal ability of the sweeper can be characterized by the garbage cleaning efficiency DPU (Dust pickup efficiency). The impact, affected by the type and power of the fan, is a complex system design issue. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is more meaningful for cleaning automatic cleaning equipment with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is to say, the original machine that can clean 80 square meters of ground with one charge can evolve to clean 180 square meters or more with one charge. And the service life of the battery with reduced charging times will also be greatly increased, so that the frequency of user replacement of the battery will also be reduced. More intuitively and importantly, the improvement of the dust removal ability is the most obvious and important user experience, and the user will directly draw the conclusion of whether the sweeping/wiping is clean. The dry cleaning module may also include a side brush having an axis of rotation that is angled relative to the ground for moving debris into the area of the roller brush of the cleaning module 150 .

After cleaning or during cleaning, the automatic cleaning equipment needs to return to the base station for garbage collection or charging. During this process, the automatic cleaning equipment needs to accurately find the pile signal sent by the base station. When the automatic cleaning equipment communicates with the base station, it automatically The cleaning device acts as a signal receiving terminal to receive signals from the base station. During the alignment process between the automatic cleaning device and the base station, the automatic cleaning device does not want to receive too many stray interference signals. For example, if the automatic cleaning device is on the side of the base station, The signal is reflected to the receiving end in the window through the edge of the signal receiving window, and the automatic cleaning equipment will enter the base station obliquely from the side of the base station, resulting in the misalignment of the charging port or the misalignment of the garbage collection port after entering the base station, resulting in failure to complete the return process. tasks to the base station.

According to a specific embodiment of the present disclosure, a cleaning device is provided, including: a mobile platform 100 configured to automatically move on the operation surface; a pile-finding module 200 set on one side of the mobile platform and configured to receive a pile signal The position of the base station is identified; the stray light elimination structure 300 is configured to eliminate the interference signal of the stub signal when the stub finding module 200 receives the stub signal.

The cleaning equipment is set separately from the base station. When the cleaning equipment needs to be charged or dumped, it is docked with the base station. When the cleaning equipment is cleaning, it is separated from the base station for cleaning operations. The base station includes an infrared emitting device for emitting infrared signals. It can be understood that when the cleaning equipment needs to return to the base station, the cleaning equipment needs to receive the infrared signal emitted by the base station to perform operations such as positioning, pile finding, and pile loading.

The stray light elimination structure is set around the signal transceiver window of the automatic cleaning equipment. When the pile-finding module receives the pile signal, the stray light elimination structure can eliminate the interference signal of the pile signal, so that the automatic cleaning equipment can receive more accurately The signal emitted by the base station, and accurately identify the location of the base station, so as to accurately return to the base station for self-cleaning or charging.

As shown in FIG. 3 , the cleaning equipment includes a pile-finding module 200, which is arranged on one side of the mobile platform, as shown in FIG. Side or oblique to the side, etc., used to receive the infrared signal emitted by the base station. When the cleaning equipment needs to return to the base station, the controller controls the pile-finding module 200 to search for infrared signals near the base station, and when the pile-finding module 200 receives the infrared signal, it guides the cleaning equipment to dock with the base station according to the infrared signal. After the equipment is docked with the base station, the cleaning equipment can communicate with the base station in two directions.

In some embodiments, the pile-finding module 200 includes a signal window, for example, an infrared receiving unit and an infrared emitting unit are arranged in the signal window for receiving and transmitting infrared signals, wherein the received infrared signals can be transmitted from the base station signal, the light source emitting infrared signal can be infrared LED, line light source, etc., and the receiving infrared signal can be infrared sensor, such as infrared CCD, understandably, not limited to infrared signal, can be visible light signal or other radio frequency signal, as long as it can To achieve communication. The signal window can be formed by an optical lens or a high light-transmitting material that transmits the required wavelength signal, and the stray light elimination structure 300 is arranged at the edge of the signal window, for example, it is arranged around the signal window, and the surrounding can be fully enclosed Surrounding or semi-enclosing surrounding or any partial surrounding, usually, the signal window is surrounded by the stray light elimination structure 300 to form a concave window structure, which is used for signal transmission and reception.

In some embodiments, the stray light elimination structure 300 is an inclined plane surrounding the signal window, and the inclined plane may be an inclined plane in the range of 70-90 degrees for collecting signals transmitted by the base station. The optical signal of the required wavelength is filtered through the signal window, and the signal emitted by the base station can be sensed by the normal incident signal window to realize the matching communication between the cleaning device and the base station. However, when the pile signal is injected into the slope surrounding the signal window, it will be The signal light of the pile is reflected to the signal window, and it will also be sensed by the sensor in the signal window, so that the cleaning equipment can locate the position of the base station. Inaccurate, can not achieve complete alignment of the cleaning equipment and the base station, therefore, it is necessary to eliminate the pile signal reflected by the slope, as an implementation, the slope can be set as a rough surface, after the pile signal is injected into the rough slope, a Diffuse reflection, the light signal of diffuse reflection will be emitted in all directions, which will inevitably reduce the intensity of entering the signal window, so that it is lower than the perceived threshold, so that it will not be considered as a valid pile signal, and the controller will not control the cleaning The device connects according to this signal.

In some embodiments, the stray light elimination structure 300 is an inclined plane surrounding the signal window, wherein the inclined plane is black or semi-transparent black. Since black has a large absorption coefficient for optical signals, the stub signal is injected into the black Or behind the semi-transparent black slope, total reflection will not occur, or the reflectivity is extremely low, so the intensity entering the signal window will be lower than the perceived threshold, so it will not be considered as a valid pile signal, the controller The cleaning device will not be controlled to dock according to the signal.

In some embodiments, the stray light elimination structure 300 is a slope surrounding the signal window, wherein the slope is provided with a light-absorbing layer, such as painting with a light-absorbing material or pasting a light-absorbing layer, and the stake signal is injected with a light-absorbing layer After the inclined surface, most of the light is absorbed without reflection, or the reflectivity is extremely low, so the intensity entering the signal window will be lower than the perceived threshold, so it will not be considered as a valid pile signal, control The device will not control the cleaning device to dock according to the signal.

In some embodiments, the stray light elimination structure 300 is a slope surrounding the signal window, wherein the slope is provided with a light extinction structure. In some embodiments, the matting structure includes micro-protrusions disposed on the slope. In some embodiments, the micro-protrusions include at least one of the following: arc-shaped protrusions, tapered protrusions or prismatic protrusions. Setting multiple micro-raised extinction structures on the slope will also greatly reduce the reflectivity of the pile signal on the slope. Therefore, the intensity of the signal entering the window will be lower than the perceived threshold, so it will not be considered as an effective pile. signal, the controller will not control the cleaning equipment to dock according to the signal.

In some embodiments, the stray light elimination structure 300 is a vertical surface surrounding the signal window, wherein the vertical surface is perpendicular to the signal window. When the structure surrounding the signal window is set as a vertical plane perpendicular to the plane of the window, the energy of the pile signal emitted from the side of the cleaning device into the signal window will be greatly reduced. Therefore, the intensity of entering the signal window will be lower than the perceived threshold, so it will not be considered as an effective pile signal, and the controller will not control the cleaning device to dock according to the signal.

In some embodiments, as shown in FIG. 3 , the mobile platform 100 includes a water tank 400 for containing cleaning water. The water tank 400 is often arranged on the rear side of the mobile platform 100. The water tank 400 and the mobile platform 100 are detachable structures or One-piece structure, the stray light elimination structure 300 and the water tank 400 are integrally formed or separately formed, that is, the stray light elimination structure 300 can form a surrounding inclined surface or a vertical surface integrally when making the water tank 400, or it can be formed in the signal There is no limitation on setting inclined or vertical surfaces around the window by pasting or snapping.

For the automatic cleaning equipment provided by the present disclosure, the stray light elimination structure is set around the signal transceiving window, which can be one or a combination of the above-mentioned embodiments. When the pile-finding module receives the pile signal, the stray light elimination structure It can eliminate the interference signal of the pile signal, such as the pile signal injected in the oblique direction, so that the automatic cleaning equipment can more accurately receive the signal in the correct direction emitted by the base station, and accurately identify the position of the base station based on the signal in the correct direction. So as to accurately return to the base station for self-cleaning or charging.

According to a specific embodiment of the present disclosure, the present disclosure provides a cleaning system, including: a cleaning base station and the cleaning equipment as described in any one of the above items.

Fig. 4 is a schematic structural diagram of a cleaning base station provided by some embodiments of the present disclosure. A cleaning base station 700 is configured to provide garbage collection and/or automatic charging for automatic cleaning equipment.

As shown in FIG. 4 , the cleaning base station 700 includes a cleaning base station base 710 and a cleaning base station main body 720 . The main body 720 of the cleaning base station is configured to collect the garbage in the dust box of the automatic cleaning device, which is arranged on the base 710 of the cleaning base station. The cleaning base station base 710 includes a dust collection port 711 and a conductive sheet. The dust collection port 711 is configured to be connected to the port of the main brush module of the automatic cleaning device, and the garbage in the dust box of the automatic cleaning device enters the main body of the cleaning base station 720 through the dust collection port 711 Inside, the conductive pads are configured to charge cleaning equipment that enters the base 710 of the cleaning base station. In some embodiments, as shown in Figure 4, a sealing rubber pad 714 is also provided around the dust collection port 711, which is used to seal the dust collection port 711 after docking with the port of the main brush module of the automatic cleaning device to prevent leakage of garbage . The main body 720 of the cleaning base station is provided with a signal transmitting port 721, which is used to transmit a pile signal to the outside for communication after the cleaning equipment captures it, so as to realize accurate docking between the cleaning equipment and the base station.

Fig. 5 is a schematic diagram of the scene after the automatic cleaning device returns to the cleaning base station provided by some embodiments of the present disclosure. As shown in Fig. 5, when the mobile platform 100 of the automatic cleaning device, such as a sweeping robot, returns to the cleaning base station 700 after cleaning, The automatic cleaning device will move to the cleaning base station base 710 along the X direction, so that the port of the main brush module of the automatic cleaning device is docked with the dust collection port 711, so as to transfer the garbage in the dust box of the automatic cleaning device to the garbage of the cleaning base station In the bag, or connect the charging conductive sheet of the base station with the charging interface of the cleaning device to charge.

Finally, it should be noted that each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be described in the foregoing embodiments The recorded technical solutions are modified, or some of the technical features are replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims (12)

1. A cleaning apparatus, comprising:

a moving platform configured to move on the operation surface;

the pile searching module is arranged on one side of the mobile platform and is configured to receive a pile signal transmitted by a base station so as to identify the position of the base station;

and the stray light eliminating structure is configured to eliminate an interference signal of the pile signal when the pile searching module receives the pile signal.

2. The cleaning apparatus of claim 1, wherein the pile finding module comprises a signal window configured to receive the pile signal, wherein the stray light cancellation structure is disposed at an edge position of the signal window.

3. The cleaning apparatus defined in claim 2 wherein the stray light elimination structure is disposed around the signal window.

4. The cleaning apparatus defined in claim 3, wherein the stray light cancellation structure is a bevel surrounding the signal window, wherein the bevel is a roughened surface.

5. The cleaning apparatus as claimed in claim 3, wherein the stray light elimination structure is a slope surrounding the signal window, wherein the slope is black or semi-transparent black.

6. A cleaning device as claimed in claim 3, characterized in that the stray light elimination structure is a slope surrounding the signal window, wherein the slope is provided with a light absorbing layer.

7. The cleaning apparatus as claimed in claim 3, wherein the stray light elimination structure is a slope surrounding the signal window, wherein the slope is provided with a light extinction structure.

8. The cleaning apparatus defined in claim 7, wherein the light extinction structure comprises a micro-protrusion disposed on the angled surface.

9. The cleaning apparatus as recited in claim 8, wherein the micro-protrusions comprise at least one of: an arc-shaped protrusion, a conical protrusion or a prismatic protrusion.

10. The cleaning apparatus defined in claim 3, wherein the stray light cancellation structure is a vertical surface surrounding the signal window, wherein the vertical surface is perpendicular to the signal window.

11. The cleaning apparatus as claimed in claim 1, wherein the moving platform includes a water tank, the stray light elimination structure being integrally or separately formed with the water tank.

12. A cleaning system, comprising: a cleaning base station and a cleaning device as claimed in any one of claims 1 to 11.

Images