CN218500628U

CN218500628U - Cleaning device and system

Info

Publication number: CN218500628U
Application number: CN202222346054.6U
Authority: CN
Inventors: 赵德钢; 于禄平
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2022-09-02
Filing date: 2022-09-02
Publication date: 2023-02-21
Anticipated expiration: 2032-09-02

Abstract

The present disclosure provides a cleaning apparatus and system, the cleaning apparatus including: 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 group receives the pile signal.

Description

Cleaning device and system

Technical Field

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

Background

In modern life, cleaning machines people are more and more popular, and convenience is brought to family life, and the cleaning machines people comprise sweeping robots, mopping robots, sweeping and mopping integrated robots and the like. In the prior art, some cleaning robots are additionally provided with structures or functions such as automatic charging, automatic dust collection and the like, so that the cleaning robots are more intelligent. But simultaneously, whether cleaning machines people can be accurate seek automatic charging stake or automatic dust collection stake, it is vital to cleaning machines people.

Disclosure of Invention

According to a specific embodiment of the present disclosure, there is provided a cleaning apparatus including:

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.

In some embodiments, the pile finding module comprises a signal window configured to receive the pile signal, wherein the stray light elimination structure is disposed at an edge position of the signal window.

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

In some embodiments, the stray light eliminating structure is an inclined surface surrounding the signal window, wherein the inclined surface is a rough surface.

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

In some embodiments, the stray light elimination structure is an inclined surface surrounding the signal window, wherein the inclined surface is provided with a light absorption layer.

In some embodiments, the stray light eliminating structure is an inclined surface surrounding the signal window, wherein the inclined surface is provided with a light extinction structure.

In some embodiments, the light extinction structure includes a micro-protrusion disposed on the inclined surface.

In some embodiments, the micro-bumps comprise at least one of: an arc-shaped protrusion, a conical protrusion or a prismatic protrusion.

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

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

According to a specific embodiment of the present disclosure, there is provided a cleaning system comprising: a cleaning base station and a cleaning device as claimed in any one of the preceding claims.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty. In the drawings:

fig. 1 is a schematic structural view of an automatic cleaning apparatus according to some embodiments of the present disclosure.

Fig. 2 is a schematic view of a bottom structure of an automatic cleaning apparatus of some embodiments of the present disclosure.

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

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

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

Detailed Description

To make the objects, technical solutions and advantages of the present disclosure clearer, the present disclosure will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present disclosure, rather than all embodiments. All other embodiments, which can be derived by one of ordinary skill in the art from the embodiments disclosed herein without making any creative effort, shall fall within the scope of protection of the present disclosure.

The terminology used in the embodiments of the disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in the disclosed embodiments and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.

It should be understood that the term "and/or" as used herein is merely a relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B, may represent: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.

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

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising a" does not exclude the presence of another, identical element in a commodity or a device comprising the element.

Alternative embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

Fig. 1-2 are schematic structural views illustrating an automatic cleaning apparatus according to an exemplary embodiment, as shown in fig. 1-2, the automatic cleaning apparatus may be a vacuum suction robot, a floor mopping/brushing robot, a window climbing robot, or the like, and the automatic cleaning apparatus may include a moving platform 100, a sensing system 120, a control system 130, a driving system 140, a cleaning module 150, an energy system 160, and a human-computer interaction system 170. Wherein:

the mobile platform 100 may be configured to automatically move along a target direction on the operation surface. The operating surface may be a surface to be cleaned by the automatic cleaning device. In some embodiments, the robotic cleaning device may be a floor-mopping robot, and the robotic cleaning device operates on a floor surface, the floor surface being the operating surface; the automatic cleaning equipment can also be a window cleaning robot, and the automatic cleaning equipment works on the outer surface of the glass of the building, wherein the glass is the operation surface; the automatic cleaning device may also be a pipe cleaning robot, and the automatic cleaning device works on the inner surface of the pipe, where the inner surface of the pipe is the operation surface. The following description in this application is given by way of example of a mopping robot, purely for the sake of illustration.

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 can automatically and adaptively make operation decisions according to unexpected environmental inputs; the non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but may execute established programs or operate according to certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction may be autonomously determined by the robotic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set systematically 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 sensing system 120 includes a position determining 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 and an ultrasonic sensor (not shown), an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown), an odometer (not shown), and other sensing devices located at the bottom of the mobile platform, and provides various position information and motion state information of the machine to the control system 130.

To describe the behavior of the automatic cleaning device more clearly, the following directional definitions are made: the robotic cleaning device may travel over the floor through various combinations of movement relative to the following three mutually perpendicular axes defined by the mobile platform 100: a transverse axis Y, a front-rear axis X, and a central vertical axis Z. The forward driving direction along the forward-rearward axis X is denoted as "forward", and the rearward driving direction along the forward-rearward axis X is denoted as "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 robotic cleaning device. Wherein the robotic cleaning device is rotatable about a Y-axis. "pitch up" when the forward portion of the robotic cleaning device is tilted upward and the rearward portion is tilted downward, and "pitch down" when the forward portion of the robotic cleaning device is tilted downward and the rearward portion is tilted upward. Additionally, the robotic cleaning device may be rotatable about the Z-axis. In the forward direction of the automatic cleaning apparatus, when the automatic cleaning apparatus is tilted to the right side of the X axis, it turns to the right, and when the automatic cleaning apparatus is tilted to the left side of the X axis, it turns to the left.

As shown in fig. 2, cliff sensors 123 for preventing the automatic cleaning apparatus from falling when the automatic cleaning apparatus is retreated are provided on the bottom of the moving platform 100 and in front of and behind the driving wheel assemblies 141, so that the automatic cleaning apparatus can be prevented from being damaged. The foregoing "front" refers to the same side with respect to the traveling direction of the automatic cleaning apparatus, and the foregoing "rear" refers to the opposite side with respect to the traveling direction of the automatic cleaning apparatus.

Specific types of position determining devices 121 include, but are not limited to, cameras, laser distance measuring devices (LDS).

The various components of the sensing system 120 may operate independently or together to achieve a more accurate function. The cliff sensor 123 and the ultrasonic sensor are used for identifying the surface to be cleaned so as to determine the physical characteristics of the surface to be cleaned, including the surface material, the cleaning degree and the like, and can be combined with a camera, a laser ranging device and the like for more accurate judgment.

For example, it may be determined whether the surface to be cleaned is a carpet by the ultrasonic sensor, and if the ultrasonic sensor determines that the surface to be cleaned is a carpet material, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.

The forward portion 111 of the mobile platform 100 is provided with a bumper 122, the bumper 122 detects one or more events (or objects) in the travel path of the robotic cleaning device via a sensor system, such as an infrared sensor, as the robotic cleaning device is propelled across the floor by the drive wheel assembly 141 during cleaning, and the robotic cleaning device can respond to the events (or objects), such as an obstacle, a wall, by controlling the drive wheel assembly 141 to cause the robotic cleaning device to respond to the events (or objects), such as a distance from the obstacle, as detected by the bumper 122.

The control system 130 is disposed on a circuit board in the mobile platform 100, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, an application processor, and the application processor is configured to receive sensed environmental information of the plurality of sensors transmitted from the sensing system 120, draw an instantaneous map of the environment in which the automatic cleaning apparatus is located using a positioning algorithm, such as SLAM, based on obstacle information fed back from the position determination device, and the like, and autonomously determine a travel path based on the environmental information and the environmental map, and then control the driving system 140 to perform operations, such as forward, backward, and/or steering, based on the autonomously determined travel path. Further, the control system 130 can also determine whether to start the cleaning module 150 for cleaning operation according to the environmental information and the environmental map.

Specifically, the control system 130 may comprehensively determine what working state the sweeper is currently in by combining the distance information and the speed information fed back by the buffer 122, the cliff sensor 123, the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer and other sensing devices, for example, when the distance information and the speed information are passed through a threshold, the sweeper is positioned at the cliff, the upper side or the lower side of the working state is clamped, the dust box is full, the sweeper is taken up and the like, and further, specific next-step action strategies are provided according to different conditions, so that the working of the automatic cleaning device better meets the requirements of an owner, and better user experience is achieved. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning mode based on the instant map information drawn by the SLAM, and the cleaning efficiency of the automatic cleaning equipment is greatly improved.

Drive system 140 may execute drive commands to steer the robotic cleaning device across the floor based on specific distance and angle information, such as x, y, and theta components. As shown in fig. 2, drive system 140 includes a drive wheel assembly 141, and drive system 140 may control both the left and right wheels, preferably drive system 140 includes left and right drive wheel assemblies, respectively, for more precise control of the machine's motion. The left and right drive wheel assemblies are symmetrically disposed along a lateral axis defined by the mobile platform 100.

In order to provide more stable movement or greater mobility of the robotic cleaning device over the floor surface, the robotic cleaning device may include one or more steering assemblies 142, the steering assemblies 142 may be driven wheels or driving wheels, and the steering assemblies 142 may be configured to include, but are not limited to, universal wheels, and the steering assemblies 142 may be positioned in front of the driving wheel assemblies 141.

Energy source system 160 includes rechargeable batteries such as nickel metal hydride batteries and lithium batteries. The charging battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the single chip microcomputer control circuit. The main machine is connected with the base station for charging through a charging electrode arranged on the side or the lower part of the machine body.

The human-computer interaction system 170 comprises keys on a panel of the host computer, and the keys are used for a user to select functions; the machine control system can further comprise a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; and a mobile phone client program can be further included. For the path navigation type cleaning equipment, a map of the environment where the equipment is located and the position of a machine can be displayed for a user at a mobile phone client, and richer and more humanized function items can be provided for the user.

As shown in fig. 2, the cleaning module 150 may comprise a dry cleaning module.

The dry cleaning module comprises a dust box, a fan and a main brush module. The main brush module rotates or swings back and forth near the ground, so that the garbage on the ground is swept to the front of an air duct opening between the main brush module and the dust box, and then the garbage is generated by the fan and passes through the dust box to be sucked into the dust box through the air with suction. The Dust removal capability of the sweeper can be represented by a sweeping efficiency DPU (Dust pick up efficiency), and the sweeping efficiency DPU is influenced by the wind power utilization rate of an air duct formed by a Dust suction port, a Dust box, a fan, an air outlet and connecting parts among the Dust suction port, the Dust box, the fan, the air outlet and the Dust box, the type and the power of the fan, and is a complicated system design problem. Compared with the common plug-in dust collector, the improvement of the dust removal capability is more significant for cleaning automatic cleaning equipment with limited energy. Because the improvement of the dust removal capability directly and effectively reduces the energy requirement, namely the machine which can clean the ground of 80 square meters by charging once can be developed into the machine which can clean 180 square meters or more by charging once. And the service life of the battery with reduced charging times is greatly increased, so that the frequency of replacing the battery by a user is reduced. More intuitively and importantly, the improvement of the dust removal capability is the most obvious and important user experience, and the user can directly draw a conclusion whether the sweeping/wiping is clean. The dry cleaning module may also include an edge brush having an axis of rotation that is angled relative to the floor for moving debris into the roller brush area of the cleaning module 150.

After cleaning or in the cleaning process, the automatic cleaning device needs to return to the base station for garbage recovery or charging, in the process, the automatic cleaning device needs to accurately find a pile signal sent by the base station, when the automatic cleaning device is communicated with the base station, the automatic cleaning device serves as a signal receiving end to receive the signal sent by the base station, and in the alignment process of the automatic cleaning device and the base station, the automatic cleaning device does not want to receive too many stray interference signals.

According to a specific embodiment of the present disclosure, there is provided a cleaning apparatus including: a mobile platform 100 configured to automatically move on an operation surface; the pile searching module 200 is arranged on one side of the mobile platform and is configured to receive pile signals and then identify the position of a base station; a stray light cancellation structure 300 configured to cancel an interference signal of the pile signal when the pile finding module 200 receives the pile signal.

Cleaning device and basic station separation setting, when cleaning device need charge or dump rubbish, with basic station butt joint, when cleaning device cleans, clean the operation with the basic station separation. The base station comprises an infrared transmitting device for transmitting infrared signals. It will be appreciated that when the cleaning apparatus needs to return to the base station, the cleaning apparatus needs to receive the infrared signals transmitted by the base station for positioning, pile finding and pile setting operations.

The stray light eliminating structure is arranged around the signal receiving and transmitting window of the automatic cleaning equipment, and when the pile searching module receives the pile signal, the stray light eliminating structure can eliminate an interference signal of the pile signal, so that the automatic cleaning equipment can more accurately receive the signal transmitted by the base station, accurately identify the position of the base station, and accurately return to the base station to perform self-cleaning or charging.

As shown in fig. 3, the cleaning apparatus includes a pile searching module 200, and the pile searching module 200 is disposed at one side of the mobile platform, as shown in fig. 1, for example, at a front side, a rear side, or an oblique side of the moving platform 100 in the forward direction, and is configured to receive an infrared signal emitted by a base station. When the cleaning equipment needs to return to the base station, the controller controls the pile searching module 200 to search for the infrared signal near the base station, and when the pile searching module 200 receives the infrared signal, the cleaning equipment is guided to be in butt joint with the base station according to the infrared signal, and after the cleaning equipment is in butt joint with the base station, the cleaning equipment can be in two-way communication with the base station.

In some embodiments, the pile-searching module 200 includes a signal window, for example, an infrared receiving unit and an infrared emitting unit are disposed in the signal window for receiving and emitting infrared signals, where the received infrared signals may be signals emitted from a base station, the light source emitting the infrared signals may be an infrared LED, a line light source, and the like, and the light source receiving the infrared signals may be an infrared sensor, such as an infrared CCD, and it is understood that the signal is not limited to infrared signals, and may be a visible light signal or other radio frequency signals, as long as communication is achieved. The signal window may be formed by an optical lens or a highly transparent material transmitting a signal with a desired wavelength, and the stray light eliminating structure 300 is disposed at an edge position of the signal window, for example, disposed around the signal window, where the surrounding may be a full-surrounding type surrounding or a half-surrounding type surrounding or any local surrounding, and generally, the signal window is surrounded by the stray light eliminating structure 300 to form a concave window structure for receiving and transmitting signals.

In some embodiments, the stray light elimination structure 300 is an inclined plane surrounding the signal window, the inclined plane may be an inclined plane inclined in a range of 70-90 degrees for collecting signals emitted by the base station, and normally, optical signals with unwanted wavelengths are filtered through the signal window, and signals emitted by the base station can be sensed by a normal incidence signal window, so that the cleaning device and the base station are in matched communication.

In some embodiments, the stray light eliminating structure 300 is an inclined plane surrounding the signal window, wherein the inclined plane is black or semi-transparent black, and since the black has a large absorption coefficient for the light signal, the pile signal is incident on the black or semi-transparent black inclined plane, and then is not totally reflected, or has a very low reflectivity, and therefore the intensity entering the signal window is lower than the sensed threshold, and thus is not considered to be a valid pile signal, and the controller does not control the cleaning device to dock according to the signal.

In some embodiments, the stray light elimination structure 300 is an inclined surface surrounding the signal window, wherein the inclined surface is provided with a light absorbing layer, for example, a light absorbing material is painted or a light absorbing layer is attached, and after the pile signal is injected into the inclined surface with the light absorbing layer, most of the light is absorbed without reflection, or the reflectivity is extremely low, so that the intensity entering the signal window is lower than a sensed threshold value, and thus the pile signal is not considered to be a valid pile signal, and the controller does not control the cleaning device to be docked according to the signal.

In some embodiments, the stray light eliminating structure 300 is a slope surrounding the signal window, wherein the slope is provided with a light extinction structure. In some embodiments, the light extinction structure includes a micro-protrusion disposed on the inclined surface. In some embodiments, the micro-protrusions comprise at least one of: an arc-shaped protrusion, a conical protrusion or a prismatic protrusion. The extinction structure with the plurality of micro protrusions arranged on the inclined surface can also greatly reduce the reflectivity of pile signals on the inclined surface, so that the intensity entering a signal window is lower than a sensed threshold value, the pile signals cannot be considered to be effective pile signals, and the controller cannot control the cleaning equipment to be in butt joint according to the signals.

In some embodiments, the stray light cancellation 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 arranged to be a vertical plane perpendicular to the plane of the window, the energy of pile signals emitted from the side of the cleaning device entering the signal window is greatly reduced. Thus, the intensity of the incoming signal window will be below the sensed threshold and thus not be considered a valid pile signal and the controller will not control the cleaning device to dock in accordance with that signal.

In some embodiments, as shown in fig. 3, the moving platform 100 includes a water tank 400 for containing cleaning water, the water tank 400 is often disposed at the rear side of the moving platform 100, the water tank 400 and the moving platform 100 are detachable structures or integrated structures, and the stray light eliminating structure 300 is integrally formed or separately formed with the water tank 400, that is, the stray light eliminating structure 300 may be integrally formed as a surrounding inclined surface or a vertical surface when the water tank 400 is manufactured, or may be provided with an inclined surface or a vertical surface around the signal window by means of adhesion or clamping, which is not limited thereto.

According to the automatic cleaning equipment provided by the disclosure, the stray light eliminating structure is arranged around the signal receiving and transmitting window and can be one or combination of the above embodiments, when the pile searching module receives the pile signal, the stray light eliminating structure can eliminate interference signals of the pile signal, such as the pile signal incident in the inclined direction, so that the automatic cleaning equipment can more accurately receive the signal in the correct direction emitted by the base station, accurately identify the position of the base station based on the signal in the correct direction, and accurately return to the base station for self-cleaning or charging.

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

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 cleaning base main body 720, configured to collect garbage in a dust box of an automatic cleaning apparatus, is disposed on the cleaning base 710. The cleaning base station base 710 includes a dust collection port 711 and a conductive strip, the dust collection port 711 is configured to be docked with a port of a main brush module of the automatic cleaning device, garbage in a dust box of the automatic cleaning device enters the cleaning base station main body 720 through the dust collection port 711, and the conductive strip is configured to charge the cleaning device entering the cleaning base station base 710. In some embodiments, as shown in fig. 4, a sealing rubber pad 714 is further disposed around the dust collection port 711, and is used for sealing the dust collection port 711 after being abutted against a port of a main brush module of the automatic cleaning device, so as to prevent leakage of garbage. The main body 720 of the cleaning base station is provided with a signal transmitting port 721 for transmitting a pile signal to the outside for the cleaning device to capture and communicate, so as to realize accurate docking between the cleaning device and the base station.

Fig. 5 is a schematic view of a situation after the automatic cleaning device returns to the cleaning base station according to some embodiments of the present disclosure, as shown in fig. 5, when the mobile platform 100 of the automatic cleaning device, such as the sweeping robot, returns to the cleaning base station 700 after sweeping is completed, the automatic cleaning device moves 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 in butt joint with the dust collection port 711, so as to transfer the garbage in the dust box of the automatic cleaning device into the garbage bag of the cleaning base station, or so that the charging conductive sheet of the base station is in butt joint with the charging port of the cleaning device and then charges.

Finally, it should be noted that: the embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A cleaning apparatus, comprising:

a moving platform configured to move on the operation surface;

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.