Autonomous mobile device

Abstract

The present disclosure provides an autonomous mobile device. An interior of a housing of the autonomous mobile device is formed with an internal space for mounting a distance measuring sensor, and the housing is further formed with a through gap, the internal space being in communication with an exterior of the housing via the gap. Further, an air supply passage is formed in the housing, an air outlet of the air supply passage being located at an edge portion of the gap or the air supply passage having the gap as the air outlet, so that an airflow from an air supply unit can flow from an interior of the housing to an exterior of the housing via the air outlet. In this way, an airflow barrier can be formed at the gap formed by the housing or a positive pressure can be formed in the internal space, thereby greatly reducing the probability of foreign matter such as hair, thread ends, etc. invading the space where the distance measuring sensor is located, and thus significantly reducing the probability of the distance measuring sensor malfunctioning due to the invading foreign matter.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a specific structure of an autonomous mobile device. BACKGROUND

[0002] An autonomous mobile device refers to an intelligent mobile device that autonomously performs a preset task. Currently, autonomous mobile devices generally include, but are not limited to, cleaning robots (such as intelligent sweeping machines, intelligent mopping machines, window-cleaning robots), companion mobile robots (such as intelligent electronic pets, nanny robots), service mobile robots (such as reception robots in hotels, inns, meeting places), industrial inspection intelligent devices (such as power inspection robots, intelligent forklifts, etc.), security robots (such as intelligent security robots for home or business use).

[0003] In these autonomous mobile devices, there are ranging sensors such as laser sensors (also known as laser radars) for measuring surrounding environment parameters (mainly referring to distance parameters between the autonomous mobile device and obstacles) and sending these surrounding environment parameters to the control component of the autonomous mobile device, so as to realize the positioning mapping function while the autonomous mobile device is moving. In such an autonomous mobile device, in order to enable the ranging sensor to perform omnidirectional scanning ranging on the surrounding environment of the autonomous mobile device, the ranging sensor is usually driven by a power source via a transmission mechanism to rotate during the working process of the autonomous mobile device, such as a mechanical laser radar capable of 360° rotary scanning.

[0004] However, during the working process of the autonomous mobile device, light and easily floating linear foreign matters such as hair and thread ends in the environment are likely to invade the internal space of the ranging sensor, which may cause the rotating ranging sensor to malfunction. Therefore, there is an urgent need for a solution that can reduce the invasion of foreign matters into the internal space of the ranging sensor. SUMMARY

[0005] Based on the problems of the prior art described above, the purpose of the present disclosure is to provide a novel autonomous mobile device that can reduce the probability of light and easily floating linear foreign matters such as hair and thread ends invading the internal space of the ranging sensor as much as possible.

[0006] In order to achieve the above-mentioned purpose, the present disclosure adopts the following technical solution.

[0007] The present disclosure provides an autonomous mobile device comprising a housing and an air supply unit,

[0008] The housing has an internal space for installing a ranging sensor, and the housing also has a through gap, the internal space communicates with the outside of the housing via the gap, and the air supply unit is installed inside the housing;

[0009] An air supply passage is formed in the housing, and an air outlet of the air supply passage is located at an edge portion of the gap or the air supply passage has the gap as the air outlet, so that air current from the air supply unit can flow from the inside of the housing to the outside of the housing via the air outlet.

[0010] In one alternative, the housing includes a housing main body and a cover portion fixed to each other,

[0011] The cover portion includes a protruding portion and a support column fixed to each other, the protruding portion protrudes with respect to a top surface of the housing main body, the protruding portion and the housing main body enclose the internal space, the gap is formed in the protruding portion, the support column extends from the protruding portion toward the housing main body and is inserted into the inside of the housing main body, and the air supply unit is installed in the inside of the housing main body.

[0012] In another alternative, the air supply passage includes:

[0013] a first passage portion formed in the inside of the support column, one end of the first passage portion being in communication with the inside of the housing main body; and

[0014] a second passage portion formed in the protruding portion at the edge portion of the gap, the second passage portion being in communication with the other end of the first passage portion,

[0015] Air current from the air supply unit sequentially flows through the first passage portion, the second passage portion, and the air outlet.

[0016] In another alternative, the protruding portion is formed in a cylindrical shape, and the second passage portion is formed as a circumferential passage continuously extending along the entire circumference of the protruding portion at least on a part of the circumference.

[0017] In another alternative, the protruding portion is formed with an opening continuously extending along the entire circumference or a plurality of openings segmentally and spaced apart along the entire circumference, the second passage portion is in communication with the outside of the protruding portion via the opening, and the opening is the air outlet.

[0018] Air current from the air supply unit sequentially flows through the first passage portion, the second passage portion, and the opening.

[0019] In another alternative, at least a part of an inner side wall for forming the second passage portion is formed to extend toward the opening while being inclined toward the radially outer side.

[0020] In another alternative, the protrusion is formed with an opening continuously extending along the entire circumference of the protrusion or a plurality of openings spaced apart along the circumference of the protrusion, the second passage portion communicates with the internal space via the opening or the openings, and the gap is the air outlet.

[0021] The airflow from the air supply unit sequentially flows through the first passage portion, the second passage portion, the opening, the internal space, and the gap.

[0022] In another alternative, the housing body is formed with a plurality of communication holes, the interior of the housing body communicates with the internal space via the plurality of communication holes, and the gap is the air outlet.

[0023] The airflow from the air supply unit sequentially flows through the plurality of communication holes, the internal space, and the gap.

[0024] In another alternative, the protrusion is formed in a cylindrical shape, a plurality of gaps are formed in the sidewall of the protrusion, and the plurality of communication holes are arranged at intervals in the circumferential direction of the protrusion.

[0025] In another alternative, the autonomous mobile device further comprises a dust collection assembly installed in the interior of the housing, and the air supply unit is a vacuum machine of the dust collection assembly.

[0026] By adopting the above technical solution, the present disclosure provides an autonomous mobile device. The interior of the housing of the autonomous mobile device is formed with an internal space for installing a distance measuring sensor, and the housing is further formed with a gap extending therethrough, and the above-mentioned internal space communicates with the exterior of the housing via the gap. Further, an air supply passage is formed in the housing, and the air outlet of the air supply passage is located at the edge portion of the gap or the air supply passage takes the gap as the air outlet, so that the airflow from the air supply unit can flow from the interior of the housing to the exterior of the housing via the air outlet. In this way, an airflow barrier can be formed at the gap formed by the housing or a positive pressure can be formed in the internal space, thereby greatly reducing the probability of light and easy-to-float linear foreign matters such as hair and thread invading the internal space of the distance measuring sensor, and thus significantly reducing the probability of the distance measuring sensor malfunctioning due to the invasion of foreign matters. BRIEF DESCRIPTION OF DRAWINGS

[0027] FIG. 1A FIG. 1 is a perspective view showing an autonomous mobile device according to a first embodiment of the present disclosure.

[0028] FIG. 1B FIG. 2 is another perspective view showing the autonomous mobile device in FIG. 1. FIG. 1A

[0029] FIG. 1C ​is a perspective view showing a partial structure of an autonomous mobile device in FIG. 1A

[0030] FIG. 1D is another perspective view showing a partial structure in FIG. 1C

[0031] FIG. 1E is a cross-sectional view showing a partial structure in FIG. 1C

[0032] FIG. 1F is another cross-sectional view showing a partial structure in FIG. 1C

[0033] FIG. 2A is a cross-sectional view showing a partial structure of an autonomous mobile device according to a second embodiment of the present disclosure, in which section lines are omitted.

[0034] FIG. 2B is another cross-sectional view showing a partial structure in FIG. 2A

[0035] FIG. 3A is a cross-sectional view showing a partial structure of an autonomous mobile device according to a third embodiment of the present disclosure, in which section lines are omitted.

[0036] FIG. 3B is another cross-sectional view showing a partial structure in FIG. 3A

[0037] FIG. 4 is a cross-sectional view showing a partial structure of an autonomous mobile device according to a fourth embodiment of the present disclosure, in which section lines are omitted.

[0038] BRIEF DESCRIPTION OF DRAWINGS

[0039] M - cleaning device main body; L - distance measuring sensor; W - driving wheel;

[0040] H - housing; 1 - housing main body; 11 - communication hole; 2 - cover portion; 21 - protrusion portion; 21w - gap; 211 - inner side wall; 22 - support column;

[0041] P1 - first passage portion; P2 - second passage portion; P3 - opening; S - internal space. DETAILED DESCRIPTION

[0042] Embodiments of the present disclosure will be described below with reference to the accompanying drawings. In order to facilitate understanding, there can be elements shown in the drawings that represent dimensions and scales, etc. different from actual dimensions and scales, etc. among the elements shown in the drawings.​​​​​​

[0043] In specific embodiments of the present disclosure, the self-moving cleaning device is taken as an example of the autonomous mobile device of the present disclosure to illustrate the technical concepts and specific technical solutions according to the present disclosure. Therefore, in the present disclosure, “front (front side)”, “rear (rear side)”, “left (left side)”, “right (right side)”, “up (upper side)”, “down (lower side)” are all relative to the working state of the self-moving cleaning device according to the present disclosure. Specifically, “front (front side)”, “rear (rear side)” refer to the front side and the rear side in the forward direction of the self-moving cleaning device according to the present disclosure when the self-moving cleaning device is in a working state on the surface to be cleaned, “left (left side)”, “right (right side)” refer to the left side and the right side when viewed from the front side of the forward direction of the self-moving cleaning device, and “up (upper side)”, “down (lower side)” refer to the upper side and the lower side in the height direction perpendicular to the surface to be cleaned when the self-moving cleaning device according to the present disclosure is in a working state on the surface to be cleaned. The self-moving cleaning device can autonomously move according to a preset control scheme, and effectively clean the surface to be cleaned during autonomous movement. The surface to be cleaned can be a flat surface or a curved surface with a large radius of curvature, typically, for example, the floor in each room of a building. In addition, the cleaning operation includes but is not limited to sweeping, mopping, vacuuming, etc.

[0044] The autonomous mobile device according to the first embodiment of the present disclosure is described below in conjunction with the accompanying drawings of the specification.

[0045] The autonomous mobile device according to the first embodiment of the present disclosure is a self-moving cleaning device. The self-moving cleaning device includes a cleaning device main body M and a ranging sensor L assembled together. In the present embodiment, as shown in FIG. 1, the cleaning device main body M includes a main body frame 1, a cleaning device body 2, a cleaning device head 3, a cleaning device drive system 4, a cleaning device control system 5, a cleaning device power supply system 6, a cleaning device communication system 7, and a cleaning device sensor system 8. FIG. 1A and FIG. 1BAs shown, the cleaning device main body M can have a substantially cylindrical shape as a whole, and of course other shapes such as a D-shape, an oval shape, a square shape, etc. can also be possible in other embodiments. When the self-moving cleaning device according to the present disclosure is in a normal working state, the bottom surface of the cleaning device main body M is opposite to the surface to be cleaned. The cleaning device main body M further includes a control assembly, a driving assembly, a cleaning assembly, etc. which are at least partially received inside the cleaning device main body M. The control assembly is capable of receiving parameters from the distance measuring sensor L and other sensing devices, and is capable of controlling the self-moving cleaning device through preset programs stored in the control chip. The driving assembly is used to drive the cleaning device main body M to travel on the surface to be cleaned under the control of the control assembly. The driving assembly can include driving wheels W and universal wheels located in front of the driving wheels W. By rotating the driving wheels W at the same speed in the same direction (e.g. both clockwise or both counterclockwise), the cleaning device main body M can be driven to move linearly in a forward direction. By rotating the driving wheels W at different speeds and / or in different directions (e.g. one driving wheel W clockwise and the other driving wheel W counterclockwise), the cleaning device main body M can be driven to move in a turning direction different from the forward direction. The cleaning assembly can include a dust collection assembly (including a blowing unit) received inside the cleaning device main body M and a cleaning brush arranged at the bottom of the cleaning device main body M, etc. for performing cleaning operations on the surface to be cleaned under the control of the control assembly. Further, the self-moving cleaning device can transmit driving force from the motor to the distance measuring sensor L via a transmission mechanism to drive the distance measuring sensor L to rotate. The distance measuring sensor L is arranged at the top of the cleaning device main body M, and the distance measuring sensor L protrudes from the top surface of the cleaning device main body M, so as to eliminate the obstruction of the structure of the cleaning device main body M to the emission / reception of the distance measuring light beam by the distance measuring sensor L.

[0046] In order to support and protect the components of the self-moving cleaning device, most of the parts of the self-moving cleaning device are received and installed inside the housing H of the self-moving cleaning device. As shown in FIGS. 1A-1F As shown, the housing H of the self-moving cleaning device according to the first embodiment of the present disclosure includes a housing main body 1 and a cover portion 2 fixed to each other, the housing main body 1 mainly corresponds to the outer shell of the cleaning device main body M, and the housing main body 1 and the cover portion 2 enclose a space for installing the distance measuring sensor L and other components cooperating therewith. Specifically, as shown in FIGS. 1A-1FAs shown, the housing body 1 is integrally formed into a cylindrical shape with a large diameter. The cover 2 includes an integrally formed protrusion 21 and support columns 22. The protrusion 21 protrudes relative to the top surface of the housing body 1, the top of the protrusion 21 is formed into a cylinder with a smaller diameter, and the bottom of the protrusion 21 is formed into a skirt extending radially outward from the cylinder. The protrusion 21 and the housing body 1 enclose an internal space S for mounting the ranging sensor L and other components that cooperate with it. A gap 21w (window) is formed on the side wall of the cylinder of the protrusion 21, through which the lid radar sensor, which is the ranging sensor L, can emit laser light toward the outside of the self-moving cleaning device and collect the reflected light from the target object. A plurality of support columns 22 extend from the protrusion 21 toward the housing body 1 and are inserted into the interior of the housing body 1, and the plurality of support columns 22 can support the cover 2 and fix the cover 2 relative to the housing body 1.

[0047] To minimize the intrusion of lightweight, easily floating linear foreign objects such as hair and thread into the internal space S of the ranging sensor L through the gap 21w of the protrusion 21, in this embodiment, an air supply path is formed from the air supply unit without significantly altering the existing structure of the self-propelled cleaning device. Specifically, in this embodiment, as... FIGS. 1C-1F As shown, the air supply passage includes a first passage portion P1, a second passage portion P2, and an air outlet that are interconnected. A first passage portion P1 is formed inside each support column 22, extending along the extension direction of the support column 22. One end of the first passage portion P1 communicates with the interior of the housing body 1 to receive airflow from the air supply unit; the other end of the first passage portion P1 communicates with the second passage portion P2 to guide the airflow from the air supply unit to the second passage portion P2. The second passage portion P2 is formed on the protrusion 21 and located at the upper edge of the gap 21w. The second passage portion P2 can be formed as a circumferential passage that extends continuously along at least a portion of the circumference of the protrusion 21. A portion of the inner wall 211 for forming the second passage portion P2 is formed to extend toward its opening P3 (e.g., in…). FIG. 1E , FIG. 1F The inner wall 211 extends downwards and radially outwards and downwards (i.e., towards the gap 21w side), guiding the airflow of the second passage portion P2 to the opening P3 and conveying it radially outwards at an angle through the opening P3. At the bottom of the second passage portion, the protrusion 21 forms an opening P3 that extends continuously along the circumference for at least a portion of the entire circumference, and the second passage portion P2 communicates with the outer side of the protrusion 21 through the opening P3.

[0048] In this embodiment, the opening P3 of the second passage portion P2 is the air outlet. Thus, in this embodiment, the airflow path from the air supply unit is as follows: first passage portion P1 → second passage portion P2 → air outlet (opening P3 of the second passage portion P2). After the airflow exits from the air outlet, it is transported away from the gap 21w of the protrusion 21 and the air outlet. On the one hand, it blows away any linear foreign objects that may float in the gap 21w of the protrusion 21. On the other hand, it forms an airflow barrier at the gap 21w of the protrusion 21 to block linear foreign objects outside it, thereby minimizing the probability of lightweight, easily floating linear foreign objects such as hair and thread falling from the environment entering the internal space S.

[0049] The following describes an autonomous mobile device according to a second embodiment of the present disclosure.

[0050] The autonomous mobile device according to the second embodiment of this disclosure is a self-moving cleaning device. The structure of this self-moving cleaning device is basically the same as that of the self-moving cleaning device according to the first embodiment of this disclosure; the differences between the two are mainly described below.

[0051] In this embodiment, as FIG. 2A and FIG. 2B As shown, at the top of the radial inner wall 211 of the second passage portion P2, the protrusion 21 is formed with an opening P3 that extends continuously along the circumference over at least a portion of the entire circumference, so that the second passage portion P2 communicates with the internal space S formed by the protrusion 21 and the housing body 1.

[0052] In this embodiment, the gap 21w of the protrusion 21 serves as the air outlet. Thus, the airflow path from the air supply unit is as follows: first passage portion P1 → second passage portion P2 → opening P3 of the second passage portion P2 → internal space S → air outlet (gap 21w of the protrusion 21). At this time, the opening P3 is connected to the internal space S. After the airflow from the air supply unit flows out from the opening P3 of the second passage portion P2, it will enter the internal space S formed by the protrusion 21 and the housing body 1, allowing sufficient airflow to enter the internal space S. As a result, the internal space S forms a positive pressure relative to the outside of the self-moving cleaning device, thereby minimizing the probability of lightweight, easily floating linear foreign objects such as hair and lint falling from the environment entering the internal space S.

[0053] In addition to the scheme of connecting the opening P3 to the internal space S, in a variation of the second embodiment, the opening P3 can be directly connected to the gap 21w. Thus, the airflow path from the air supply unit can also be as follows: first passage portion P1 → second passage portion P2 → opening P3 of the second passage portion P2 → air outlet (gap 21w of the protrusion 21). This achieves the same beneficial effects as the structure in the above embodiment.

[0054] The following describes an autonomous mobile device according to a third embodiment of the present disclosure.

[0055] The autonomous mobile device according to the third embodiment of this disclosure is a self-moving cleaning device. The structure of this self-moving cleaning device is basically the same as that of the self-moving cleaning device according to the first embodiment of this disclosure; the differences between the two are mainly described below.

[0056] In this embodiment, as FIG. 3A and FIG. 3B As shown, a second passage portion P2 is formed in the protrusion 21 and located at the lower edge of the gap 21w. The second passage portion P2 is formed as a circumferential passage that extends continuously along the circumference of the protrusion 21 for at least a portion of the entire circumference. At the top of the second passage portion P2, the protrusion 21 forms an opening P3 that extends continuously along the circumference for at least a portion of the entire circumference. The opening P3 is formed radially outward of the gap 21w of the protrusion 21. The second passage portion P2 is directly connected to the outer side of the protrusion 21 via the opening P3. The airflow flowing out through the opening P3 flows along the sidewall of the protrusion 21 in a direction slightly away from the gap 21w. Specifically, a portion of the inner sidewall 211 forming the second passage portion P2 is formed to extend towards its opening P3 while extending radially outward at an angle, so that the airflow flowing out through the opening P3 can have the aforementioned flow direction.

[0057] In this embodiment, the opening P3 of the second passage portion P2 is the air outlet. Thus, the airflow path from the air supply unit is as follows: first passage portion P1 → second passage portion P2 → air outlet (opening P3 of the second passage portion P2). After flowing out of the air outlet, the airflow is directed away from the gap 21w of the protrusion 21 and the air outlet, thereby blowing away any linear foreign objects that might float in the gap 21w of the protrusion 21. Simultaneously, an airflow barrier is formed at the gap 21w of the protrusion 21 to block linear foreign objects from its outer side, thereby minimizing the probability of lightweight, easily floating linear foreign objects such as hair and thread falling from the environment intruding into the internal space S.

[0058] The following describes an autonomous mobile device according to a fourth embodiment of the present disclosure.

[0059] The autonomous mobile device according to the fourth embodiment of this disclosure is a self-moving cleaning device. The technical concept of this self-moving cleaning device is the same as that of the self-moving cleaning device according to the first embodiment of this disclosure, but the structure of the air supply passage differs between the two.

[0060] In this embodiment, as FIG. 4As shown, the top of the housing body 1 is formed with a plurality of communication holes 11 arranged at intervals in the circumferential direction of the protruding portion 21. The interior of the housing body 1 communicates with the internal space S formed between the protruding portion 21 and the housing body 1 via the plurality of communication holes 11.

[0061] In the present embodiment, the gap 21w is an air outlet. In this way, the airflow from the air supply unit flows sequentially through the plurality of communication holes 11, the internal space S, and the gap 21w. In the present embodiment, the flow path of the airflow from the air supply unit is as follows: the interior of the housing body 1 → the communication hole 11 → the internal space S → the air outlet (the gap 21w of the protruding portion 21). When the airflow sent out by the air supply unit enters the internal space S formed between the protruding portion 21 and the housing body 1, sufficient airflow can enter the internal space S, so that the internal space S forms a positive pressure relative to the outside of the self-moving cleaning device, thereby minimizing the probability of light and easy-to-float linear foreign matter such as hair, thread ends, etc. falling in the environment from entering the internal space S. Moreover, in the present embodiment, the air supply passage is formed with a sufficiently simple structure, saving the space occupied by the additional arrangement of the air supply passage and saving costs.

[0062] It should be understood that the above embodiments are only exemplary and are not intended to limit the present disclosure. Those skilled in the art can make various modifications and changes to the above embodiments under the teaching of the present disclosure without departing from the scope of the present disclosure. For the technical solutions of the present disclosure, the following supplementary explanations are made.

[0063] i. The structure of the above air supply passage of the present disclosure can also be applied to other autonomous mobile devices with similar ranging sensors L. The above autonomous mobile device generally refers to an intelligent mobile device that autonomously performs a preset task, including a cleaning robot (such as an intelligent sweeper, an intelligent floor mop, a window-cleaning robot) that performs similar functions to the self-moving cleaning device described in the above embodiments, a companion mobile robot (such as an intelligent electronic pet, a nanny robot), a service mobile robot (such as a reception robot for hotels, inns, meeting places), an industrial inspection intelligent device (such as a power inspection robot, an intelligent forklift, etc.), a security robot (such as a household or commercial intelligent security robot), etc. a two-dimensional planar mobile robot with a wheel set or a track as a driving unit. Of course, the laser ranging device of the present disclosure can also be applied to other fields, and no exhaustive description is made.

[0064] ii. In the present disclosure, the edge portion of the gap 21w of the protruding portion 21 includes not only the edge of the gap 21w but also the structure near the edge of the gap 21w. Further, in the technical concept of the present disclosure, the air outlet of the air supply passage is located at the edge portion of the gap 21w or the air supply passage takes the gap 21w as the air outlet, so that the airflow from the air supply unit can flow from the interior of the housing H to the exterior of the housing H via the air outlet.

[0065] iii. In this disclosure, the opening P3 of the second passage portion P2 can extend continuously along the circumference. In an alternative embodiment, multiple openings are provided at intervals along the circumference, and adjacent openings can be separated by support columns. Of course, there may be no support columns between adjacent openings.

[0066] In this application, the second passage portion P2 is formed as a passage that extends continuously along the circumference of the protrusion 21. Alternatively, the second passage portion P2 can be formed as a discontinuous structure in the circumferential direction.

[0067] iv. It is understood that the air supply unit of a self-propelled cleaning device can be the vacuum unit of the dust collection component. Utilizing the existing vacuum unit of the self-propelled cleaning device as the air supply unit can reduce costs. Of course, in an optional solution, the self-propelled cleaning device can be equipped with a separate air supply unit.

Claims

1. An autonomous mobile device, characterized in that, The autonomous mobile device includes a housing (H) and an air supply unit. The housing (H) has an internal space (S) for mounting a ranging sensor (L) and a through gap (21w). The internal space (S) is connected to the outside of the housing (H) through the gap (21w). The air supply unit is installed inside the housing (H). An air supply passage is formed within the housing (H), with the gap (21w) serving as the air outlet, allowing airflow from the air supply unit to flow from the inside of the housing (H) to the outside of the housing (H) via the air outlet. The housing (H) includes a housing body (1) and a cover (2) that are fixed to each other. The cover (2) includes a protrusion (21) and a support column (22) fixed to each other. The protrusion (21) protrudes relative to the top surface of the housing body (1). The protrusion (21) and the housing body (1) surround and form the internal space (S). The gap (21w) is formed in the side wall of the protrusion (21). The support column (22) extends from the protrusion (21) toward the housing body (1) and is inserted into the interior of the housing body (1). The air supply unit is installed inside the housing body (1). The air supply passage includes: A first passage portion (P1) is formed inside the support column (22), and one end of the first passage portion (P1) communicates with the interior of the housing body (1); and A second passage portion (P2) is formed on the protrusion (21) and located at the edge of the gap (21w). The second passage portion (P2) communicates with the other end of the first passage portion (P1). The protrusion (21) is formed in a cylindrical shape, and the second passage portion (P2) is formed as a circumferential passage that extends continuously along the circumference of the protrusion (21) for at least a portion of the entire circumference. The protrusion (21) has an opening (P3) that extends continuously along the circumference or a plurality of openings (P3) that are segmented and spaced along the circumference. The second passage portion (P2) communicates with the internal space (S) through the opening (P3), and the gap (21w) is the air outlet. The airflow from the air supply unit flows sequentially through the first passage section (P1), the second passage section (P2), the opening (P3), the internal space (S), and the gap (21w).

2. The autonomous mobile device according to claim 1, characterized in that, The autonomous mobile device also includes a vacuuming component, which is installed inside the housing (H), and the air supply unit is a vacuum unit of the vacuuming component.

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