CN221060574U - Surface cleaning device - Google Patents

Abstract

The utility model discloses a surface cleaning device, which belongs to the technical field of cleaning equipment and comprises a machine body provided with a cleaning component, a universal wheel arranged at the bottom side of the front part of the machine body, a travelling mechanism for driving the machine body to move and a laser radar arranged at the front part of the machine body, wherein the universal wheel comprises a vertical shaft fixedly arranged at the front part of the machine body and a trundle arranged at the lower end of the vertical shaft through a bracket, and the central axis of the trundle deviates from the central axis of the vertical shaft and has a distance L1 between the central axis and the central axis. The laser radar is arranged right above the universal wheel, and a distance L2 is arranged between the vertical center line where the center of gravity of the laser radar is located and the central axis of the vertical shaft, wherein L2 is less than or equal to L1. The laser radar is reasonably arranged at the position opposite to the universal wheel, so that the stability of the laser radar when the device vibrates is improved, and the smoothness of the laser radar for guiding the cleaning robot to walk is improved.

Description

Surface cleaning device

Technical Field

The utility model relates to the technical field of cleaning equipment, in particular to a surface cleaning device.

Background

With the development of economy and the progress of science and technology, people have higher and higher requirements on life quality, so that intelligent household appliances capable of freeing hands of people are generated. Among them, the cleaning robot, as one of intelligent household cleaning appliances, plays an increasingly important role in the daily life of people. The cleaning robot is generally provided with a radar at the top for acquiring surrounding environment information to establish an environment map for guiding a walking track of the cleaning robot. The more stable the radar, the more accurate the environmental information that gathers, can instruct cleaning robot to carry out cleaning better. Because cleaning robot can produce vibrations because of passing through uneven ground or obstacle crossing in the course of working, this vibrations can influence the stationarity of radar, and then probably lead to the environmental information distortion that the radar gathered, are unfavorable for guaranteeing the accuracy of radar gathered information.

Disclosure of utility model

In order to solve the defects and shortcomings in the prior art, the utility model provides the surface cleaning device, the position of the laser radar relative to the universal wheel is reasonably set, the stability of the laser radar when the device vibrates is improved, and the smoothness of the laser radar guiding the cleaning robot to walk is improved.

In order to achieve the technical purpose, the surface cleaning device provided by the utility model comprises a machine body provided with a cleaning component, a universal wheel arranged at the bottom side of the front part of the machine body, a travelling mechanism for driving the machine body to move and a laser radar arranged at the front part of the machine body, wherein the universal wheel comprises a vertical shaft fixedly arranged at the front part of the machine body and a castor arranged at the lower end of the vertical shaft through a bracket, the central axis of the castor deviates from the central axis of the vertical shaft and has a distance L1, the laser radar is arranged right above the universal wheel, and a distance L2 is arranged between the vertical central line of the center of gravity of the laser radar and the central axis of the vertical shaft, and L2 is less than or equal to L1.

Preferably, the centre of gravity of the surface cleaning apparatus is located at the front of the fuselage.

Preferably, the machine body is provided with a left-right centered middle shaft surface, an offset distance L3 which is not more than 5mm is arranged between the gravity center of the surface cleaning device and the middle shaft surface, and the vertical center line of the laser radar and the central axis of the vertical shaft are both positioned in the range of the offset distance L3.

Preferably, the center of gravity of the surface cleaning device is located behind the central axis of the vertical shaft, and the vertical central line of the laser radar is arranged at the rear position relative to the central axis of the vertical shaft.

Preferably, the front part of the machine body is provided with a balancing weight, and the balancing weight is arranged adjacent to the laser radar.

Preferably, the laser radar is arranged in the machine body, and a window for the laser radar to collect information is arranged on the front side of the machine body.

Preferably, L1 is less than or equal to 20mm.

Preferably, the surface cleaning apparatus comprises a battery disposed within the body, the battery being located behind and adjacent the castor.

Preferably, the battery is provided in a lower portion of the body and is provided adjacent to a bottom wall of the body.

Preferably, the travelling mechanism comprises two travelling wheels which are symmetrically arranged in the middle of the machine body and a travelling motor for driving the travelling wheels, and the battery is positioned between the universal wheels and the travelling wheels in the front-back direction.

After the technical scheme is adopted, the utility model has the following advantages:

1. According to the surface cleaning device provided by the utility model, the casters of the universal wheels can horizontally rotate around the central axis of the vertical shaft as the rotation central line, and because the universal wheels adopt the inelastic structural design, the surface cleaning device is more stable when passing over uneven ground or obstacle surmounting, the laser radar is arranged right above the universal wheels and L2 is less than or equal to L1, so that the gravity center of the laser radar is positioned in the horizontal rotation radius range of the casters, the gravity center of the laser radar is arranged as close as possible to the central axis of the vertical shaft, the shaking amount of the laser radar when the device vibrates can be reasonably reduced, the stability of the laser radar in the walking process of the device is improved, the accuracy of the laser radar for collecting environmental information is improved, and the smoothness of the laser radar guiding device for whole walking is improved.

2. The gravity center of the surface cleaning device is preferably positioned at the front part of the machine body, namely the weight of the front part of the device is larger than that of the rear part of the device, so that the vibration amplitude of the front part of the device when the device passes over uneven ground or surmounting obstacles can be reasonably reduced, the vibration quantity of the laser radar when the device vibrates can be reduced, and the stability of the laser radar when the device vibrates can be further improved.

3. The offset distance L3 between the gravity center of the surface cleaning device and the central axial surface is not more than 5mm, so that the gravity center of the surface cleaning device is arranged as close to the central axial surface of the machine body as possible, the weight of the device can be kept balanced left and right substantially, the stability of the whole device during walking is improved, and the stability of the laser radar during walking of the device is improved. The vertical center line of the laser radar and the center axis of the vertical shaft are both positioned within the range of the offset distance L3, so that the laser radar and the universal wheels can be arranged as close to the center axis surface and the gravity center of the device as possible, and the shaking amount of the laser radar when the device vibrates can be reduced.

4. The center of gravity of the surface cleaning device is positioned behind the central axis of the vertical shaft, and the vertical central line of the laser radar is arranged at the back of the central axis of the vertical shaft, so that the center of gravity of the laser radar is simultaneously close to the integral center of gravity of the device as much as possible, and the shaking amount of the laser radar when the device vibrates can be reasonably reduced.

5. The front portion of the machine body is provided with the balancing weight, the gravity center of the whole device can be arranged forward as much as possible through the balancing weight, and therefore vibration generated when the universal wheels pass over uneven ground or surmount obstacles is reduced, and vibration of the laser radar when the device vibrates is reduced reasonably. The balancing weight is arranged adjacent to the laser radar, and because the inertia effect of the balancing weight is large when the device vibrates, the shaking amount of the laser radar when the device vibrates can be reduced by means of the balancing weight, so that the laser radar can keep stable when the device passes over uneven ground or surmount obstacles.

6. The laser radar is preferably arranged in the machine body, so that the laser radar is prevented from being collided by external objects when the surface cleaning device walks due to the fact that the laser radar protrudes out of the machine body, and the performance stability of the laser radar is guaranteed. In addition, the laser radar is arranged in the machine body, so that the ground clearance of the laser radar can be reasonably reduced, and the shaking amount of the laser radar when the device vibrates can be reduced.

7. The L1 is reasonably arranged, so that the laser radar can be arranged close to the vertical shaft with unchanged position as much as possible. If L1 is more than 20mm, the center of gravity of the laser radar may deviate from the center axis of the vertical shaft far, which is not beneficial to ensuring the stability of the laser radar when the device vibrates.

8. The battery is located behind the universal wheel and is arranged adjacent to the universal wheel, and due to the fact that the weight of the battery is large, the inertia effect of the battery when the device vibrates is large, the shaking amount of the laser radar when the device vibrates can be reduced by means of the battery, and the laser radar can be kept stable when the device passes over uneven ground or is surmounted.

9. The battery is arranged at the lower part of the machine body and is adjacent to the bottom wall of the machine body, the battery is arranged between the universal wheels and the travelling wheels in the front-back direction, the battery is arranged downwards relative to the machine body and is arranged as far as possible, and the weight of the battery is large, so that the gravity center of the whole device can be reasonably reduced relative to the downwards arranged battery, the vibration amplitude of the whole device when passing over uneven ground or obstacle surmounting can be reasonably reduced, and the laser radar can be kept stable in the travelling process of the device.

Drawings

FIG. 1 is a front view of a surface cleaning apparatus of an embodiment;

FIG. 2 is a bottom view of a surface cleaning apparatus of an embodiment;

FIG. 3 is a top view of a surface cleaning apparatus of an embodiment with the top cover removed;

FIG. 4 is a cross-sectional view of a portion of the structure of a surface cleaning apparatus of an embodiment taken along the front-to-rear direction;

FIG. 5 is a partial block diagram of a surface cleaning apparatus according to an embodiment;

fig. 6 is a bottom view of a surface cleaning apparatus of the second embodiment.

In the figure, 100-fuselage, 110-balancing weight, 120-accommodating cavity, 130-window, 140-perspective window, 150-mounting cavity, 160-scraping piece, 170-dirt sucking port, 180-dirt sucking cavity, 200-universal wheel, 210-vertical shaft, 220-bracket, 230-castor, 240-pin shaft, 300-laser radar, 410-battery, 420-control panel, 430-front view module, 510-side brush, 520-side brush motor, 610-suction port piece, 611-dirt sucking port, 620-dust box, 630-dirt sucking fan, 640-rolling brush, 710-rolling brush, 720-cleaning motor, 730-clean water tank, 740-sewage tank, 750-dirt collecting fan, 760-mop and 800-walking wheel.

Detailed Description

The utility model will be further described with reference to the drawings and the specific examples. It is to be understood that the terms "upper," "lower," "left," "right," "longitudinal," "transverse," "inner," "outer," "vertical," "horizontal," "top," "bottom," and the like, as used herein, are merely based on the orientation or positional relationship shown in the drawings and are merely for convenience in describing the present utility model and to simplify the description, and do not indicate or imply that the devices/elements referred to must have or be configured and operated in a particular orientation and therefore should not be construed as limiting the utility model.

Example 1

Referring to fig. 1 to 5, a surface cleaning apparatus according to a first embodiment of the present utility model includes a main body 100 having a cleaning assembly, a universal wheel 200 disposed at a bottom side of a front portion of the main body 100, a traveling mechanism for driving the main body 100 to move, and a lidar 300 disposed at a front portion of the main body 100, wherein the universal wheel 200 includes a vertical shaft 210 fixedly disposed in the front portion of the main body 100 and a caster 230 disposed at a lower end of the vertical shaft 210 through a bracket 220, and a center axis of the caster 230 is offset from a center axis of the vertical shaft 210 by a distance L1 therebetween. The laser radar 300 is arranged right above the universal wheel 200, and a distance L2 is formed between the vertical center line where the center of gravity of the laser radar 300 is located and the central axis of the vertical shaft 210, wherein L2 is less than or equal to L1.

The caster 230 of the universal wheel 200 can rotate horizontally around the central axis of the vertical shaft 210, and because the universal wheel 200 adopts an inelastic structural design, the surface cleaning device is more stable when passing over uneven ground or surmounting obstacles, the laser radar 300 is arranged right above the universal wheel 200 and L2 is less than or equal to L1, so that the center of gravity of the laser radar 300 is positioned in the horizontal rotation radius range of the caster 230, the center of gravity of the laser radar 300 is arranged as close to the central axis of the vertical shaft 210 as possible, the shaking amount of the laser radar 300 when the device vibrates is reduced, the stability of the laser radar 300 in the walking process of the device is improved, the accuracy of collecting environmental information of the laser radar 300 is improved, and the smoothness of the laser radar 300 guiding the whole device for walking is improved.

Referring to fig. 5, in this embodiment, a vertical shaft 210 is axially positioned and erected on the front end of the machine body 100, a bracket 220 is vertically positioned and connected to the lower end of the vertical shaft 210, and a caster 230 is rotatably mounted on the bracket 220 through an axial horizontal pin 240. The caster 230 may rotate horizontally about the center axis of the vertical shaft 210 or vertically about the center axis of the pin 240. In fig. 5, a line a represents the central axis of the vertical shaft 210, a line D represents the central axis of the caster 230, a line B represents the vertical direction in which the point D is located, a point G1 represents the center of gravity of the lidar 300, a line C represents the vertical center line in which the point G1 is located, the distance between the line a and the line B is L1, and the distance between the line a and the line C is L2.

In order to make the center of gravity of the lidar 300 as close to the central axis of the vertical shaft 210 as possible, the distance L1 should not be too large, in this embodiment L1 is not more than 20mm. Specifically, the distance L1 is set to 15mm and the distance L2 is set to 3mm in consideration of the size of the body 100, the size of the universal wheel 200, and the like. It will be appreciated that the distance L1 may be set to other reasonable dimensions of 5mm, 6mm, 7mm, 8mm, 9mm, 11mm, 12mm, 13mm, 14mm, 16mm, 17mm, 18mm, 19mm, 20mm, etc., and the distance L2 may be set smaller than L1 or equal to L1.

Referring to fig. 3, a point G2 represents the center of gravity of the entire cleaning apparatus, a straight line E represents the center line centered front and rear of the main body 100, and the point G2 is located in front of the straight line E, i.e., the center of gravity of the entire surface cleaning apparatus is located in front of the main body 100. The weight of the front part of the device is larger than that of the rear part of the device, so that the vibration amplitude of the front part of the device when the device passes over uneven ground or surmounting obstacles can be reasonably reduced, the vibration of the laser radar 300 during vibration of the device can be reduced, and the stability of the laser radar during vibration of the device can be further improved.

Referring to fig. 3, the main body 100 has a left and right central axis plane P, and the center of gravity G2 of the surface cleaning apparatus has an offset distance L3, L3 is less than or equal to 5mm with respect to the central axis plane P, so that the center of gravity G2 of the surface cleaning apparatus is disposed as close to the central axis plane P of the main body 100 as possible, so that the weight of the apparatus can be substantially balanced left and right, and the stability of the apparatus during walking is improved. In fig. 3, a straight line F represents a straight line in the front-rear direction in which the center of gravity G2 of the entire apparatus is located, and a distance between the straight line F and the center axis P is L3. Specifically, the center of gravity G2 of the surface cleaning apparatus is preferably located on the middle axis P, but the center of gravity G2 of the surface cleaning apparatus may be offset from the middle axis P due to machining errors, installation errors, etc., and the offset distance L3 may be 0, 1mm, 2mm, 3mm, 4mm, 5mm, etc.

The vertical center line C of the laser radar 300 and the central axis A of the vertical shaft 210 are both located within the range of the offset distance L3, so that the laser radar 300 and the universal wheel 200 can be close to the center axis P and the gravity center G2 of the device as much as possible, and the shaking amount of the laser radar 300 when the device vibrates can be reduced. Specifically, the vertical center line C of the laser radar 300 and the central axis a of the vertical shaft 210 are preferably disposed on the middle shaft plane P, but due to processing errors, installation errors, and the like, the vertical center line C of the laser radar 200 and the central axis a of the vertical shaft may be offset with respect to the middle shaft plane P by a distance smaller than the offset distance L3.

Referring to fig. 3, in this embodiment, the center of gravity G2 of the surface cleaning apparatus is located at the rear of the central axis a of the vertical shaft 210, and the vertical central axis C of the lidar 300 is set at a position offset to the central axis a of the vertical shaft 210, so that the center of gravity G1 of the lidar 300 is close to the center of gravity G2 of the entire apparatus as much as possible, which is helpful for reasonably reducing the shaking amount of the lidar 300 when the apparatus vibrates.

In order that the center of gravity G2 of the device as a whole may be located at the front of the fuselage 100, the front of the fuselage 100 is provided with a counterweight 110, the counterweight 110 preferably being located adjacent to the lidar 300. Because the inertia effect of the balancing weight 110 is larger when the device vibrates, the shaking amount of the laser radar 300 when the device vibrates can be reduced by means of the balancing weight 110, so that the laser radar 300 can be kept stable when the device passes over uneven ground or surmount obstacles. In this embodiment, the balancing weights 110 are disposed on both the left and right sides of the lidar 300.

Referring to fig. 5, the surface cleaning apparatus includes a battery 410 provided in the main body 100 for supplying power to the power consuming elements, the battery 410 being located behind the universal wheel 200 and disposed adjacent to the universal wheel 200. Because the weight of the battery 410 is large, the inertia effect of the battery 410 when the device vibrates is large, and the shaking amount of the laser radar 300 when the device vibrates can be reduced by the battery 410, so that the laser radar 300 can be kept stable when the device passes over uneven ground or surmount obstacles. In this embodiment, the lower portion of the machine body 100 is provided with the accommodating cavity 120 located behind the universal wheel 200 and close to the universal wheel 200, and the battery 410 is disposed in the accommodating cavity 120, so that the battery 410 is disposed below the machine body 100, and the gravity center G2 of the whole device can be reasonably reduced, thereby reasonably reducing the vibration amplitude of the whole device when passing over uneven ground or obstacle surmounting.

Referring to fig. 3 and 5, in this embodiment, the lidar 300 is disposed inside the fuselage 100, so as to avoid collision of the lidar 300 by external objects when the surface cleaning apparatus walks due to protruding outside the fuselage 100, and ensure performance stability of the lidar 300. In addition, the laser radar 300 is disposed in the fuselage 100 to reduce the height of the laser radar 300 reasonably, which is helpful for reducing the shaking amount of the laser radar 300 when the device vibrates. The surface cleaning device further comprises a control board 420 arranged in the machine body 100, the control board 420 is arranged above the accommodating cavity 120, a notch for avoiding the laser radar 300 is arranged on the front side of the control board 420, and the laser radar 300 is in signal connection with the control board 420. A forward looking module 430 is also provided in the front end of the fuselage 100, the forward looking module 430 being positioned in front of the lidar 300 and below the lidar 300. Referring to fig. 1, a window 130 for the laser radar 300 to collect information and a perspective window 140 for the front view module 430 to receive signals are provided on a front side wall of the body 100, the window 130 is arc-shaped to ensure an information collection range of the laser radar 300, and the perspective window 140 is provided below the window 130. It is understood that the laser radar 300 may be an existing laser radar, a microwave radar, or the like, which meets the environmental information collection requirement, and the front view module 430 may be an infrared module. It will be appreciated that lidar 300 may also be provided on top of fuselage 100, i.e., lidar 300 may be provided protruding upwardly from the top surface of fuselage 100.

With reference to fig. 2, the travelling mechanism includes two travelling wheels 800 and travelling motors (not shown in the drawing) for driving the travelling wheels 800, the travelling wheels 800 are provided with two travelling wheels 800 which are generally symmetrically distributed about the middle axis P, the travelling motors are also provided with two travelling wheels 800 which are respectively used for driving the two travelling wheels 800, and the two travelling motors are also generally symmetrically distributed about the middle axis P. In order to better realize obstacle surmounting of the whole device, the travelling wheel 800 is preferably arranged on the body 100 in a manner that a suspension and a spring in the prior art can float up and down.

Referring to fig. 2, in the present embodiment, the battery 410 is located between the universal wheel 200 and the travelling wheels 410 in the front-rear direction, and the battery 410 is located between the two travelling wheels 410 in the left-right direction, so that the vibration generated by the two travelling wheels 800 during obstacle surmounting can be properly reduced by the inertia of the battery 410.

Referring to fig. 2, 3 and 4, in this embodiment, the cleaning assembly includes a side brush module, a dust collection module and a dirt collection module distributed from front to back. The side brush module is disposed at the front of the machine body 100 and includes two side brushes 510 and two side brush motors 520 for driving the side brushes 510, the two side brushes 510 are distributed on the left and right sides of the front of the machine body 100 in a manner of being substantially symmetrical about the middle axis P, the two side brush motors 520 are respectively used for driving the two side brushes 510, and the two side brush motors 520 are also distributed in the front of the machine body 100 in a manner of being substantially symmetrical about the middle axis P. The dust collection module is arranged in the middle of the machine body 100 and comprises a suction port piece 610, a dust box 620 and a dust collection fan 630, the suction port piece 610 is arranged at the bottom side of the machine body 100 and is provided with a dust collection port 611, the dust box 620 is detachably arranged on the machine body 100, the dust collection port 611 is communicated with the dust box 620, the dust collection fan 630 is used for providing dust collection suction force to form dust collection air flow flowing from the dust collection port 611 to the dust box 620, and dirt at the bottom of the device can flow into the dust box 620 along with the dust collection air flow to achieve the purpose of dust collection. The dirt collecting assembly is arranged at the rear part of the machine body 100, the rear part of the machine body 100 is provided with a mounting cavity 150 positioned at the rear part of the dust box 620, the dirt collecting module comprises a roller brush 710 arranged in the mounting cavity 150, a cleaning motor 720 used for driving the roller brush 710, a clean water tank 730 used for supplying liquid to the roller brush 710, a dirty water tank 740 used for collecting dirt and a dirt collecting fan 750 used for providing dirt collecting suction force, the cleaning motor 720 drives the roller brush 710 to rotate to wipe the ground, the clean water tank 730 supplies liquid to the roller brush 710 to enable the roller brush 710 to absorb the liquid and wet the ground, a scraping piece 160 used for scraping the roller brush 710 is arranged in the mounting cavity 150, a dirt absorbing port 170 communicated with the dirty water tank 740 is arranged on the cavity wall of the mounting cavity 150, the dirt collecting fan 750 provides suction force to form dirt collecting air flow flowing from the dirt absorbing port 170 to the dirty water tank 740, and dirt such as the dirty liquid scraped by the scraping piece 160 can flow into the dirty water tank 740 to achieve the dirt collecting purpose. Because the interior space of the machine body 100 is compact, the cleaning motor 720 is preferably disposed in the hollow roller brush 710, and the roller brush 710 may be disposed in the installation cavity 150 in a non-detachable manner or may be disposed in the installation cavity 150 in a detachable manner. It will be appreciated that the fresh water tank 730 and the foul water tank 740 are preferably detachably provided to the main body 100. It is understood that the scraping member 160 may be a scraping bar, a scraping tooth, or a combination of a scraping bar and a scraping tooth.

The electrical components of the side brush motor 520, the walking motor, the dust suction fan 630, the cleaning motor 720, the dirt collection fan 750, etc. are controlled by the control board 420, and the battery 410 is used for supplying power to the electrical components. When the device works, the walking motor drives the walking wheel 800 to rotate, so that the whole device walks on the ground, the laser radar 300 collects external environment information through the window 130 and feeds signals back to the control board 420 in the walking process of the device, and the control board 420 can make instructions such as steering, turning around and the like according to the signals fed back by the laser radar 300 and timely change the walking route.

It will be appreciated that the cleaning assembly may also eliminate the provision of a dust extraction module.

Example two

In this embodiment, the cleaning assembly includes a side brush module, a dust collection module and a mop module, which are disposed from front to back, and the side brush module is the same as the first embodiment and is not described here again. The middle part of the machine body 100 is provided with a dust collection cavity 180 positioned behind the battery 410 and between two travelling wheels 800, the dust collection cavity 180 is communicated with a dust box 620, a rolling brush 640 driven by a motor is arranged in the dust collection cavity 180, and the motor drives the rolling brush 640 to rotate to dry and sweep the ground when the device works. The mop module is arranged at the rear part of the machine body 100 and comprises two mops 760 which are symmetrically distributed left and right, a motor for driving the two mops 760 to reversely rotate and a water tank for supplying liquid to the mops 760, wherein the water tank supplies liquid to the mops 760 when the device works so that the mops 760 can absorb liquid and wet, and the motor drives the two mops 760 to reversely rotate when the device works.

Other structures of the second embodiment are the same as those of the first embodiment, and will not be described in detail here.

In addition to the above preferred embodiments, the present utility model has other embodiments, and various changes and modifications may be made by those skilled in the art without departing from the spirit of the utility model, which shall fall within the scope of the utility model as defined in the appended claims.

Claims (10)

1. The utility model provides a surface cleaning device, includes the fuselage that is equipped with cleaning element, locates the universal wheel of the anterior downside of fuselage, is used for driving the running gear of fuselage removal and locates the anterior laser radar of fuselage, and the universal wheel is including the fixed vertical scroll of locating the fuselage anterior and locate the truckle of vertical scroll lower extreme through the support, and the central axis of truckle skew vertical scroll just has distance L1 between the two, its characterized in that, the laser radar locates directly over the universal wheel, has distance L2 between the vertical central line at laser radar's focus place and the central axis of vertical scroll, L2 is less than or equal to L1.

2. A surface cleaning apparatus as claimed in claim 1, wherein the centre of gravity of the surface cleaning apparatus is located in the front of the main body.

3. A surface cleaning apparatus as claimed in claim 1 or claim 2, wherein the main body has a left and right central axis, the centre of gravity of the surface cleaning apparatus and the central axis have an offset distance L3 of no more than 5mm, and the vertical centre line of the lidar and the central axis of the vertical shaft are both within the offset distance L3.

4. A surface cleaning apparatus as claimed in claim 1 or claim 2, wherein the centre of gravity of the surface cleaning apparatus is located rearwardly of the central axis of the vertical shaft, and the vertical centre line of the lidar is located rearwardly of the central axis of the vertical shaft.

5. A surface cleaning apparatus as claimed in claim 1, wherein the front of the body is provided with a counterweight, and the counterweight is disposed adjacent the lidar.

6. A surface cleaning apparatus as claimed in claim 1, wherein the lidar is provided in the body, and a window for the lidar to collect information is provided on the front side of the body.

7. A surface cleaning apparatus as claimed in claim 1, wherein L1 is less than or equal to 20mm.

8. A surface cleaning apparatus as claimed in claim 1 or claim 2 or claim 5 or claim 6 or claim 7, wherein the surface cleaning apparatus comprises a battery disposed within the body, the battery being located behind and adjacent the castor.

9. The surface cleaning apparatus of claim 8 wherein the battery is disposed in a lower portion of the body and adjacent the bottom wall of the body.

10. The surface cleaning apparatus of claim 8, wherein the traveling mechanism comprises two traveling wheels symmetrically disposed in the middle of the body and a traveling motor for driving the traveling wheels, and the battery is disposed between the universal wheel and the traveling wheels in the front-rear direction.