Wall-following module and self-moving robot

Abstract

The utility model discloses a wall-following module and a self-moving robot. The wall-following module comprises a first shell, a circuit board and a sensor group, wherein the first shell is provided with a clamping part and a first positioning part, the circuit board is provided with a second positioning part, the circuit board is installed on the first shell, the first positioning part and the second positioning part are positioned and matched in a limiting manner, and the clamping part is used for clamping the circuit board so as to limit the circuit board on the first shell; the sensor group is electrically connected with the circuit board, the sensor group is used for emitting infrared light rays or receiving the infrared light rays, one side, deviating from the circuit board, of the first shell is provided with a light-transmitting area corresponding to the sensor group, and the light-transmitting area is used for the infrared light rays to pass through. According to the scheme, the problems that the infrared sensor and the infrared lens module need to be fixed through a plurality of screws to be assembled, so that installation is complex, and cost is high are effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning equipment, in particular to a wall-adjacent module and a self-moving robot. Background Art

[0002] Most cleaning robots are equipped with wall detection / edge sensors, which generally include infrared sensors. Wall detection / edge sensors are usually set on the sides of the cleaning robot and project through the lens on the front collision. However, when the position changes due to the front collision or the lens is scratched by the collision, it is impossible to ensure that the infrared light emitted by the infrared sensor is emitted or received by the infrared laser sensor after the infrared light passes through.

[0003] In addition to the above methods, in the current related technology, the infrared sensor and the infrared lens are assembled into a module, and the module is installed on the cleaning robot, and then the corresponding light-transmitting holes are set on the front to allow infrared light to pass through. However, this method of assembling the infrared sensor and the infrared lens into a module requires fixing with multiple screws, resulting in complex installation and high cost. Utility Model Content

[0004] The utility model mainly provides a wall-mounted module to solve the problem that the infrared sensor and the infrared lens module need to be fixed by multiple screws, which leads to complex installation and high cost.

[0005] To achieve the above-mentioned purpose, the utility model proposes a wall module, which includes a first shell, a circuit board and a sensor group; wherein:

[0006] The first housing is provided with a clamping portion and a first positioning portion, the circuit board is provided with a second positioning portion, the circuit board is mounted on the first housing, the first positioning portion is positioned and limitedly matched with the second positioning portion, and the clamping portion is used to clamp the circuit board to limit the circuit board on the first housing;

[0007] The sensor group is electrically connected to the circuit board, and is used to emit or receive infrared light. A light-transmitting area corresponding to the sensor group is provided on a side of the first shell away from the circuit board, and the light-transmitting area allows infrared light to pass through.

[0008] In some embodiments of the present invention, the wall module further includes a locking member, which is used to lock the circuit board on the first shell, and the clamping portion is further used to provide a supporting force for the circuit board in a bottom-up direction.

[0009] In some embodiments of the present invention, protrusions are respectively provided at both ends of the first shell, and the two protrusions are used to engage with corresponding slots of the self-moving robot.

[0010] In some embodiments of the utility model, the wall module also includes a seal, the first shell is provided with a through hole corresponding to the light-transmitting area, the seal is arranged in the through hole, the seal is sleeved on the sensor group and used to seal the sensor group, the seal is provided with a light-transmitting portion corresponding to the light-transmitting area, and the light-transmitting portion allows infrared light to pass through.

[0011] In some embodiments of the present invention, the sensor group includes a transmitter and a receiver, and the light-transmitting portion includes a first light-transmitting hole and a second light-transmitting hole, the first light-transmitting hole is arranged corresponding to the transmitter, and the second light-transmitting hole is arranged corresponding to the receiver.

[0012] In some embodiments of the present invention, the wall module further includes a light-transmitting member connected to a side of the first shell facing away from the circuit board, and the light-transmitting member is used to allow infrared light to pass through to form the light-transmitting area.

[0013] In some embodiments of the utility model, the first shell is provided with a mounting groove, the light-transmitting member is arranged in the mounting groove, and the wall module also includes a fixing member arranged between the bottom of the mounting groove and the light-transmitting member, the fixing member is provided with a through hole arranged corresponding to the through hole, and the fixing member is used to fix the light-transmitting member in the mounting groove.

[0014] In some embodiments of the present invention, the wall module further includes a second shell, which is connected to the first shell and covers the circuit board. The wall module further includes a fastener, which is used to fix the first shell and the second shell.

[0015] In some embodiments of the present invention, the second shell is provided with a limiting portion, and the limiting portion is used for positioning and limiting cooperation with the matching portion of the self-moving robot.

[0016] To achieve the above-mentioned purpose, the utility model provides a self-moving robot, which includes a robot body and a wall-adjacent module, wherein the wall-adjacent module is installed on the circumferential side wall of the robot body.

[0017] The beneficial effect of the utility model is as follows: different from the prior art, the wall-mounted module disclosed by the utility model combines the circuit board, the sensor group and the first shell into a module, and is positioned and limited by the first positioning part and the second positioning part, so that the circuit board can be quickly installed, and the circuit board is limited, and the circuit board is clamped by the clamping part so that the circuit board can be restricted on the first shell. Compared with the method of fixing the circuit board with multiple screws, the present application does not need to use multiple screws to fix it during the installation process through the clamping part, the first positioning part and the second positioning part. Such a setting can not only achieve simple and fast installation, but also effectively reduce the installation cost, so as to better save manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0019] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the self-moving robot of the utility model;

[0020] Figure 2 This is a schematic diagram showing the internal structure of an embodiment of the self-moving robot of the utility model;

[0021] Figure 3 This is a structural schematic diagram of an embodiment of the wall module of the utility model;

[0022] Figure 4 This is a schematic diagram of the explosion structure of an embodiment of the wall module of the utility model;

[0023] Figure 5 This is a schematic diagram of the exploded structure of the wall-adjacent module and the robot body of the utility model;

[0024] Figure 6 This is a schematic diagram of the exploded structure of another embodiment of the wall-adjacent module and the robot body of the utility model;

[0025] Figure 7 This is a schematic diagram of the exploded structure of another embodiment of the wall-adjacent module and the robot body of the utility model;

[0026] Figure 8 It is a schematic diagram of the explosion structure of an embodiment of the first shell and the second shell of the utility model.

[0027] Description of Figure Numbers:

[0028] 100. Self-moving robot; 10. Robot body; 101. Bottom shell; 102. Top shell; 103. Assembly port; 104. Card slot; 105. Matching part; 20. Wall module; 1. First shell; 11. Holding part; 12. First positioning part; 13. Installation position; 14. Accommodating hole; 15. Protrusion; 16. Through hole; 17. Installation slot; 2. Circuit board; 21. Second positioning part; 3. Sensor group; 31. Transmitter; 32. Receiver; 4. Locking member; 5. Sealing member; 51. Light-transmitting part; 511. First light-transmitting hole; 512. Second light-transmitting hole; 6. Light-transmitting member; 7. Fixing member; 71. Through hole; 72. Avoidance hole; 8. Second shell; 81. Connecting hole; 82. Limiting part; 9. Fastener.

[0029] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In addition, in the present utility model, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0033] Reference Figures 1 to 3The utility model proposes a wall module 20, which is applied to a self-propelled robot 100. The self-propelled robot 100 can be a self-propelled cleaning device, such as a scrubber, a sweeper, or a mop. The wall module 20 is installed on the circumferential side wall of the self-propelled robot 100.

[0034] Reference Figures 1 to 4 The wall module 20 includes a first housing 1, a circuit board 2 and a sensor group 3. The first housing 1 is provided with a clamping portion 11 and a first positioning portion 12, the circuit board 2 is provided with a second positioning portion 21, the circuit board 2 is mounted on the first housing 1, the first positioning portion 12 is positioned and limitedly matched with the second positioning portion 21, and the clamping portion 11 is used to clamp the circuit board 2 to limit the circuit board 2 on the first housing 1.

[0035] The sensor group 3 is electrically connected to the circuit board 2 and is used to emit or receive infrared light. A light-transmitting area corresponding to the sensor group 3 is provided on the side of the first shell 1 facing away from the circuit board 2, and the light-transmitting area allows infrared light to pass through.

[0036] Based on the above-mentioned scheme, the circuit board 2, the sensor group 3 and the first shell 1 are formed into a module, and are positioned and limited by the first positioning portion 12 and the second positioning portion 21, so that the circuit board 2 can be quickly installed, and the circuit board 2 is limited. The circuit board 2 is also clamped by the clamping portion 11, so that the circuit board 2 can be restricted on the first shell 1. Compared with the method of fixing the circuit board 2 with multiple screws, the present application uses the clamping portion 11, the first positioning portion 12 and the second positioning portion 21 to fix without the need to use multiple screws during the installation process. Such a setting can not only achieve simple and quick installation, but also effectively reduce the installation cost, so as to better save manufacturing costs.

[0037] The first housing 1 has a mounting position 13, and the circuit board 2 is mounted on the mounting position 13. The number of first positioning portions 12 can be two, and the two first positioning portions 12 are arranged along the edge of the mounting position 13 and can be arranged diagonally, or can be arranged side by side in the horizontal direction. The two first positioning portions 12 can increase the positioning and mounting accuracy of the circuit board 2, and effectively improve the effect of mounting the circuit board 2.

[0038] In some embodiments, the first positioning portion 12 may be a stud, and the second positioning portion may be a positioning hole. When the circuit board 2 is installed in the first housing 1 , the stud is positioned and matched with the positioning hole. The stud is also used to limit the circuit board 2 .

[0039] In other embodiments, the first positioning portion 12 may be a screw hole, and the second positioning portion may be a positioning column. When the circuit board 2 is installed on the first shell 1, the positioning column and the screw hole are positioned and limited to achieve positioning and installation of the circuit board 2.

[0040] As shown in the figure, the number of the clamping portion 11 is at least one, and the clamping portion 11 is arranged along the edge of the installation position 13 . The clamping portion 11 can be arranged below, above, or on both sides of the installation position 13 .

[0041] The holding portion 11 may be a hook, which is integrally formed with the first shell 1 , and can hold the circuit board 2 by the hook, so as to hold the circuit board 2 on the first shell 1 , so that the circuit board 2 is not easy to fall off or get loose.

[0042] It is understandable that the clamping portion 11 may also be other structural components that have the function of clamping the circuit board 2 , as long as the circuit board 2 can be restricted on the first housing 1 , that is, restricted on the installation position 13 , and no specific limitation is made herein.

[0043] The first housing 1 is penetrated by a receiving hole 14, and the receiving hole 14 is arranged corresponding to the light-transmitting area. The wall module also includes a laser (not shown in the figure), which is electrically connected to the circuit board 2 and arranged in the receiving hole 14. The laser is used to emit laser light outward or receive laser light refracted back by an object to realize the wall inspection or border inspection function of the wall module 20.

[0044] Continue to refer to Figures 1 to 4 The wall module 20 also includes a locking member 4, which is used to lock the circuit board 2 on the first shell 1, and the clamping portion 11 is also used to provide a supporting force for the circuit board 2 in a bottom-up direction, that is, the clamping portion 11 is arranged below the mounting position 13, and the clamping portion 11 supports and clamps the circuit board 2 below the mounting position 13.

[0045] By configuring in this way, the circuit board 2 can be stably assembled on the first housing 1 through the locking member 4, effectively preventing the circuit board 2 from loosening and affecting the stability of the sensor group 3, thereby improving the performance of the wall module 20.

[0046] Compared with the previous method of fixing the circuit board 2 by multiple screws, the present application only requires a single locking member 4 to stably assemble the circuit board 2 on the first shell 1, and can also cooperate with the clamping portion 11 to fix the circuit board 2 well. This greatly reduces the installation cost to a certain extent, saves the use of screws, and improves the installation efficiency.

[0047] The locking member 4 can be a screw. The first shell 1 is provided with a threaded hole, and the circuit board 2 is provided with a through hole corresponding to the threaded hole. One end of the screw passes through the through hole and is threadably engaged with the threaded hole to fix the circuit board 2 on the first shell 1.

[0048] The locking member 4 may also be a nut. The first housing 1 is provided with a stud which passes through the through hole. The nut and the stud are threadably matched to fix the circuit board 2 on the first housing 1 .

[0049] Reference Figures 1 to 6 The first housing 1 is provided with protrusions 15 at both ends, and the two protrusions 15 are used to engage with the corresponding slots 104 of the self-moving robot 100. The self-moving robot 100 has a forward direction, and the self-moving robot 100 has a front collision side along the forward direction. The self-moving robot 100 has an assembly port 103 on the circumferential side wall, and the assembly port 103 is located on one side along the forward direction. The slot 104 is formed on the circumferential side wall of the assembly port 103.

[0050] Such arrangement not only allows the first shell 1 to be quickly assembled on the circumferential side wall of the self-moving robot 100 through the guiding and fitting engagement of the protrusion 15 and the slot 104, but also effectively improves the assembly efficiency of the first shell 1, and the installation operation is simple, convenient and fast.

[0051] The convex portion 15 may be a structure such as a convex block or a convex strip, or may be other structural parts that can be adapted to engage with the card slot 104, which are not listed here one by one.

[0052] The self-propelled robot 100 includes a robot body 10, and the robot body 10 includes a bottom shell 101 and a top shell 102, and the top shell 102 is spliced ​​and connected with the bottom shell 101. The circumferential side wall of the bottom shell 101 has a first notch, and the circumferential side wall of the top shell 102 has a second notch, and the first notch and the second notch cooperate to form an assembly opening 103. In the actual installation process, the first shell 1 can be clamped on the first notch of the bottom shell 101, and the top shell 102 is pressed on the bottom shell 101 and presses and fixes the first shell 1, so as to cooperate and fix the first shell 1.

[0053] It is understandable that the two ends of the first shell 1 can also be directly engaged with the slot 104 , as long as the thickness of the two ends of the first shell 1 matches the width of the slot 104 .

[0054] Continue to refer to Figures 1 to 6 The wall module 20 also includes a seal 5. The first shell 1 is provided with a through hole 16 corresponding to the light-transmitting area. The seal 5 is arranged in the through hole 16. The seal 5 is sleeved on the sensor group 3 and is used to seal the sensor group 3. The seal 5 is provided with a light-transmitting portion 51 corresponding to the light-transmitting area. The light-transmitting portion 51 allows infrared light to pass through to ensure that the sensor group 3 can work normally.

[0055] In order to ensure the reliability of the sensor group 3, the sensor group 3 needs to be sealed. The sensor group 3 can be well sealed by the seal 5 to ensure that the sensor group 3 has good waterproof performance. This can not only greatly improve the waterproof effect of the sensor group 3 and improve the accuracy of the sensor group 3 in detecting the wall, but also better improve the performance of the self-moving robot 100, thereby enhancing the user experience.

[0056] In addition, the seal 5 can also buffer the impact of external impact force on the sensor group 3. On the one hand, it can well extend the service life of the sensor group 3. On the other hand, it can ensure the stable detection performance of the sensor group 3 to the wall or obstacles, and effectively avoid the wall module 20 from affecting the detection accuracy of the sensor group 3 when colliding with foreign objects, thereby improving the reliability and stability of the use of the wall module 20.

[0057] Specifically, the sealing member 5 can be a silicone sleeve or a rubber sleeve, both of which have good waterproof properties. The via hole 16 can be arranged in a rectangular, square, circular or other shape, and accordingly, the silicone sleeve or the rubber sleeve can also be arranged in a rectangular, square, circular or other shape, as long as it can be adapted to the shape of the via hole 16.

[0058] It is understandable that the seal 5 can also be made of a fully transparent material, and the end of the seal 5 facing the light-transmitting area forms a light-transmitting portion 51, so that there is no need to open a hole, and the sensor group 3 can normally emit or receive infrared light. On the one hand, the processing steps of the seal 5 are reduced, and on the other hand, it helps to improve the waterproof effect of the sensor group 3, thereby better protecting the sensor group 3.

[0059] Continue to refer to Figures 1 to 6 The sensor group 3 includes a transmitter 31 and a receiver 32, both of which are electrically connected to the circuit board 2, and both of which are arranged on the side of the circuit board 2 facing the first housing 1. The light-transmitting portion 51 includes a first light-transmitting hole 511 and a second light-transmitting hole 512, the first light-transmitting hole 511 is arranged corresponding to the transmitter 31, and the second light-transmitting hole 512 is arranged corresponding to the receiver 32.

[0060] With such a configuration, the transmitter 31 can emit infrared light outward through the first light-transmitting hole 511, and the receiver 32 can receive infrared light transmitted through the light-transmitting area through the second light-transmitting hole 512, thereby ensuring that the transmitter 31 and the receiver 32 can normally detect walls or external objects, so that the self-moving robot 100 can detect obstacle information in real time.

[0061] In other embodiments, the light-transmitting portion 51 may also be a long hole, which is arranged corresponding to the light-transmitting area, and the transmitting end of the transmitter 31 and the receiving end of the receiver 32 are both located in the long hole to ensure that the transmitter 31 can emit infrared light outward and the receiver 32 can receive infrared light.

[0062] Continue to refer to Figures 1 to 6The wall module 20 further includes a light-transmitting member 6, which is connected to a side of the first shell 1 away from the circuit board 2, and is used for allowing infrared light to pass through to form a light-transmitting area.

[0063] The light-transmitting member 6 has good light transmittance, so that infrared light can easily pass through the light-transmitting member 6. With this arrangement, on the one hand, the good light transmittance of the light-transmitting member 6 is utilized to form a light-transmitting area of ​​the first shell 1. On the other hand, the light-transmitting member 6 is used to well ensure the sensor group 3's ability to detect external environment objects.

[0064] In addition, the light-transmitting member 6 can be detachably mounted on the first housing 1 , so that the light-transmitting member 6 can be replaced in time when it is scratched or damaged, which is highly practical and convenient to replace.

[0065] The light-transmitting member 6 may be a light-transmitting lens or a light-transmitting acrylic plate. The light-transmitting member 6 may also be other light-transmitting structural members that allow infrared light to pass through, which is not specifically limited here.

[0066] Continue to refer to Figures 1 to 6 The first housing 1 is provided with a mounting groove 17 on a side facing away from the circuit board 2, the through hole 16 and the receiving hole 14 are both connected to the mounting groove 17, the first light-transmitting hole 511 and the second light-transmitting hole 512 are both connected to the mounting groove 17, and the light-transmitting member 6 is arranged in the mounting groove 17. The wall module 20 also includes a fixing member 7 arranged between the groove bottom of the mounting groove 17 and the light-transmitting member 6, the fixing member 7 is provided with a through hole 71 corresponding to the through hole 16, and the fixing member 7 is also provided with an avoidance hole 72 corresponding to the receiving hole 14, and the fixing member 7 is used to fix the light-transmitting member 6 in the mounting groove 17.

[0067] By such arrangement, the light-transmitting component 6 can be stably fixed in the mounting groove 17, under the premise that the transmitter 31 can normally emit infrared light, the receiver 32 can normally receive infrared light, and the laser can normally emit laser light, thereby effectively preventing the position of the light-transmitting component 6 from loosening so as not to affect the optical path of the infrared light, thereby better ensuring the detection accuracy of the sensor group 3 on external environmental objects.

[0068] The fixing member 7 can be an adhesive sticker, one side of which is bonded to the bottom of the mounting groove 17, and the other side of which is bonded to the light-transmitting member 6. The fixing member 7 can also be glue, or other fixing members 7 that can fix the light-transmitting member 6 in the mounting groove 17 without affecting the transmission of infrared light, which will not be described in detail here.

[0069] Reference Figure 1 , Figure 7 as well as Figure 8The wall module 20 also includes a second shell 8, which is connected to the first shell 1 and covers the circuit board 2. The wall module 20 also includes a fastener 9, which is used to fix the first shell 1 and the second shell 8.

[0070] In this way, the second housing 8 cooperates with the first housing 1 as a whole, so as to realize the overall structure of the wall module 20. The second housing 8 can also well protect the circuit board 2, effectively preventing the circuit board 2 from being damaged by other structural parts.

[0071] The second housing 8 has a connecting hole 81 extending therethrough, and the first housing 1 has a threaded hole, and the connecting hole 81 is arranged corresponding to the threaded hole. The wall module 20 also includes a locking screw, one end of which passes through the connecting hole 81 and is threadedly engaged with the threaded hole to fix the second housing 8 on the first housing 1.

[0072] The number of the connecting holes 81 can be two, and accordingly, the first housing 1 has two threaded holes, and the number of the locking screws is also two. The two locking screws pass through the corresponding connecting holes 81 and are threadedly matched with the corresponding threaded holes.

[0073] The second housing 8 is provided with a limiting portion 82, which is used to position and limit the matching portion 105 of the self-moving robot 100, and the matching portion 105 is formed on the robot body 10. Through the positioning and limiting matching of the limiting portion 82 and the matching portion 105, the wall module 20 can be positioned and installed on the circumferential side wall of the robot body 10 without using screws, which is simple to install, easy to operate, efficient and convenient.

[0074] The number of the limiting portions 82 can be two, and correspondingly, the number of the matching portions 105 is also two, and the two limiting portions 82 and the two matching portions 105 are positioned and matched in a one-to-one manner.

[0075] In some embodiments, a protrusion is provided on the outer wall of the second shell 8, and a positioning hole passes through the protrusion. The positioning hole forms a limiting portion 82, and the robot body 10 is provided with a matching column, which is matched with the positioning hole for positioning and limiting matching.

[0076] In other embodiments, a positioning column is formed on the outer side wall of the second shell 8, and a matching hole is provided in the robot body 10, and the positioning column and the matching hole are positioned and limitedly matched.

[0077] The utility model provides a self-moving robot 100, referring to Figures 1 to 8 The self-moving robot 100 includes a robot body 10 and a wall module 20 . The wall module 20 is installed on the circumferential side wall of the robot body 10 .

[0078] The specific structure of the wall-following module 20 refers to the above-mentioned embodiment. Since the self-moving robot 100 adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0079] The above description is only an optional embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A wall-following module, applied to a self-propelled robot, characterized in that: The wall module includes a first shell, a circuit board and a sensor group; wherein, The first housing is provided with a clamping portion and a first positioning portion, the circuit board is provided with a second positioning portion, the circuit board is mounted on the first housing, the first positioning portion is positioned and limitedly matched with the second positioning portion, and the clamping portion is used to clamp the circuit board to limit the circuit board on the first housing; The sensor group is electrically connected to the circuit board, and is used to emit or receive infrared light. A light-transmitting area corresponding to the sensor group is provided on a side of the first shell away from the circuit board, and the light-transmitting area allows infrared light to pass through.

2. The wall module according to claim 1, characterized in that: The wall module further includes a locking member, which is used to lock the circuit board on the first shell, and the clamping portion is also used to provide a supporting force for the circuit board in a bottom-up direction.

3. The wall module according to claim 1, characterized in that: Both ends of the first shell are respectively provided with convex parts, and the two convex parts are used for engaging with the corresponding card slots of the self-moving robot.

4. The wall module according to claim 1, characterized in that: The wall module also includes a seal, the first shell is provided with a through hole corresponding to the light-transmitting area, the seal is arranged in the through hole, the seal is sleeved on the sensor group and is used to seal the sensor group, the seal is provided with a light-transmitting portion corresponding to the light-transmitting area, and the light-transmitting portion allows infrared light to pass through.

5. The wall module according to claim 4, characterized in that: The sensor group includes a transmitter and a receiver, and the light-transmitting portion includes a first light-transmitting hole and a second light-transmitting hole, wherein the first light-transmitting hole is arranged corresponding to the transmitter, and the second light-transmitting hole is arranged corresponding to the receiver.

6. The wall module according to claim 4, characterized in that: The wall module further includes a light-transmitting member connected to a side of the first shell facing away from the circuit board, and the light-transmitting member is used for allowing infrared light to pass through to form the light-transmitting area.

7. The wall module according to claim 6, characterized in that: The first shell is provided with a mounting groove, the light-transmitting member is arranged in the mounting groove, and the wall module also includes a fixing member arranged between the bottom of the mounting groove and the light-transmitting member, the fixing member is provided with a through hole arranged corresponding to the through hole, and the fixing member is used to fix the light-transmitting member in the mounting groove.

8. The wall module according to claim 1, characterized in that: The wall module further includes a second shell, which is connected to the first shell and covers the circuit board. The wall module further includes a fastener, which is used to fix the first shell and the second shell.

9. The wall module according to claim 8, characterized in that: The second shell is provided with a limiting portion, and the limiting portion is used for positioning and limiting cooperation with the matching portion of the self-moving robot.

10. A self-propelled robot, characterized in that: The self-moving robot comprises a robot body and a wall-following module as described in any one of claims 1 to 9, wherein the wall-following module is installed on a circumferential side wall of the robot body.

Images