Self-moving device

Abstract

The utility model provides a self-moving device. The self-moving device comprises an equipment body, a trimming unit assembly and a balance weight module, and the trimming unit assembly and the balance weight module are arranged on the equipment body; the counterweight module is configured to control the gravity center of the self-moving device in a target area, and the target area takes the longitudinal axis of the equipment main body as a symmetry axis. By configuring the trimming unit assembly and the counterweight module, the gravity center of the self-moving device is controlled to be always kept in a reasonable range, so that the influence of the trimming unit assembly on the gravity center of the whole self-moving device is reduced, and the stability of the self-moving device in different working states is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of self-moving devices, and in particular to a self-moving device. BACKGROUND

[0002] With the rapid development of robot technology, some robots can autonomously move in an activity area to perform a work task. Correspondingly, such robots can be referred to as self-moving devices. Currently, more common self-moving devices include a sweeping robot, an automatic lawn mower, an automatic snow sweeper, and the like. Some automatic lawn mowers can be equipped with an edging unit on the basis of a main cutting unit to cut the edge area of a lawn through the edging unit. However, the edging unit will affect the arrangement of the center of gravity of the whole machine after assembly, resulting in poor stability of the device. CONTENT OF THE UTILITY MODEL

[0003] Therefore, the present application aims to provide a self-moving device to reduce the influence of the edging unit on the arrangement of the center of gravity of the whole machine and improve the stability of the device.

[0004] To achieve one of the above purposes, the present application provides a self-moving device, comprising:

[0005] a device body;

[0006] an edging unit assembly arranged on the device body;

[0007] a counterweight module arranged on the device body;

[0008] The counterweight module is configured to control the center of gravity of the self-moving device in a target area, and the target area is symmetrical about a longitudinal axis of the device body.

[0009] As a further improvement of the embodiment of the present application, the counterweight module and the edging unit assembly are arranged on opposite sides of the center of gravity of the device body.

[0010] As a further improvement of the embodiment of the present application, in the first state or the second state, the center of gravity of the self-moving device is located in the target area; the first state is that the edging unit assembly is installed on the device body and the counterweight module is installed on the device body, and the second state is that the edging unit assembly is separated from the device body and the counterweight module is separated from the device body.

[0011] As a further improvement of the embodiment of the present application, the edging unit assembly is detachably installed on the device body.

[0012] The self-moving device comprises a counterweight balancing piece configured to be installed at the same position of the device body as the edging unit assembly.

[0013] As a further improvement of the embodiments of the application, the self-moving device comprises a driving assembly, which is configured to be symmetrically arranged about the longitudinal axis of the device body.

[0014] As a further improvement of the embodiments of the application, the driving assembly comprises a front driving wheel and a front driving shaft connected to the front driving wheel, and the trimming unit assembly is mounted to the rear side of the front driving shaft; the counterweight module is mounted to the front side of the front driving shaft.

[0015] As a further improvement of the embodiments of the application, the driving assembly comprises a rear driving wheel and a rear driving shaft connected to the rear driving wheel, and the trimming unit assembly is mounted to the front side of the rear driving shaft; the counterweight module is mounted to the rear side of the rear driving shaft.

[0016] As a further improvement of the embodiments of the application, the ratio of the horizontal distance between the center of gravity of the self-moving device and the front end surface of the device body to the length of the device body ranges from 0.3 to 0.35.

[0017] As a further improvement of the embodiments of the application, the ratio of the horizontal distance between the center of gravity of the self-moving device and the rear end surface of the device body to the length of the device body ranges from 0.3 to 0.35.

[0018] As a further improvement of the embodiments of the application, the contour shape of the target area comprises a rectangle or a circle.

[0019] The self-moving device provided by the application controls the center of gravity of the self-moving device to always remain within a reasonable range by configuring the trimming unit assembly and the counterweight module, thereby reducing the impact of assembling the trimming unit assembly on the center of gravity of the self-moving device and ensuring the stability of the self-moving device in different working states. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structural schematic view of a related self-moving device in an un-assembled state of a trimming unit assembly;

[0021] Figure 2 is a structural schematic view of a related self-moving device when the trimming unit assembly is in a storage position;

[0022] Figure 3 is a structural schematic view of a related self-moving device when the trimming unit assembly is in a first working position;

[0023] Figure 4 is a structural schematic view of a related self-moving device when the trimming unit assembly is in a second working position;

[0024] Figure 5 Schematic diagram of the center of gravity of the self-moving device according to an embodiment of the present application when the trimming unit assembly is in the working position;

[0025] Figure 6 Schematic diagram of the center of gravity of the self-moving device according to an embodiment of the present application when the trimming unit assembly is in the working position;

[0026] Figure 7 Schematic diagram of the center of gravity of the self-moving device according to an embodiment of the present application when the trimming unit assembly is in the working position;

[0027] Figure 8 Schematic diagram of the center of gravity of the self-moving device according to an embodiment of the present application when the trimming unit assembly is in the working position;

[0028] Figure 9 Schematic diagram of the center of gravity of the self-moving device according to an embodiment of the present application when the trimming unit assembly is in the working position;

[0029] Figure 10 Schematic diagram of the center of gravity of the self-moving device according to an embodiment of the present application when the trimming unit assembly is in the working position;

[0030] Figure 11 Schematic diagram of the center of gravity of the self-moving device according to an embodiment of the present application when the trimming unit assembly is in the working position;

[0031] Figure 12 Schematic diagram of the center of gravity of the self-moving device according to an embodiment of the present application when the trimming unit assembly is in the working position;

[0032] Figure 13 Schematic diagram of the center of gravity of the self-moving device according to an embodiment of the present application when the trimming unit assembly is in the working position;

[0033] Figure 14 Schematic diagram of the center of gravity of the self-moving device according to an embodiment of the present application when the trimming unit assembly is in the working position;

[0034] Figure 15 Schematic diagram of the center of gravity of the self-moving device according to an embodiment of the present application when the trimming unit assembly is in the working position.

[0035] Reference signs:

[0036] 100, self-moving device; 1, device body; 10, target area; 11, center of gravity; 12, main cutting unit; 20, storage site; 2, edging unit assembly; 3, counterweight module; 4, counterweight balancing piece; 5, driving assembly; 511, front driving wheel; 512, front driving shaft; 521, rear driving wheel; 522, rear driving shaft. DETAILED DESCRIPTION

[0037] For the purposes of the present application, the technical solutions and advantages thereof are more clearly apparent, the following further describes the present application in detail with reference to the specific embodiments and with reference to the accompanying drawings.

[0038] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be understood as the common meanings understood by those with ordinary skills in the art to which the present application belongs. The "comprising" or "including" and similar words used in the embodiments of the present application mean that the elements or objects before the words encompass the elements or objects listed after the words and their equivalents, without excluding other elements or objects.

[0039] It should be noted that, although the present application provides the method operation steps as described in the following examples or shown in the accompanying drawings, more or fewer operation steps can be included in the method based on conventional or non-creative labor. In steps that do not have necessary causal relationships in logic, the execution order of these steps is not limited to the execution order provided in the embodiments of the present application.

[0040] The self-moving device is a robot that has various necessary components such as a positioning module, a sensor, a control module, a battery, etc. on its body, and can independently complete a certain task during automatic operation without human information input and control from a user. Of course, the self-moving device can also receive control instructions transmitted by a terminal device and complete corresponding work according to the control instructions.

[0041] In the related art, as shown in FIG. 1, Figures 1 to 4 As shown in FIG. 1, the self-moving device 100 is an automatic mower, which includes a main cutting unit 12. The main cutting unit 12 is a main mowing component, which is used to complete most of the mowing tasks. An edging unit assembly 2 can also be selected and matched. The edging unit assembly 2 is an auxiliary mowing component, which is used to mow areas that are inconvenient or impossible for the main cutting unit 12 to mow, such as the edge area of the lawn.

[0042] The edging unit assembly 2 is detachably connected to the automatic mower. The automatic mower can have the following states: an uninstalled edging unit assembly state and an installed edging unit assembly state. The uninstalled edging unit assembly state indicates that the edging unit assembly 2 is detached from the device body 1, and the installed edging unit assembly state indicates that the edging unit assembly 2 is connected to the device body 1. The device body 1 can be the body of the automatic mower.

[0043] In some embodiments, if the trimming unit assembly 2 is installed on the automatic mower, the trimming unit assembly 2 can reciprocate between the storage position and the working position. The first end of the trimming unit assembly 2 is connected to the body of the automatic mower. When the trimming unit assembly 2 is in the storage position, the second end of the trimming unit assembly 2 is spaced apart from the central axis of the body by a first distance. When the trimming unit assembly 2 is in the working position, the second end of the trimming unit assembly 2 is spaced apart from the central axis of the body by a second distance. The first distance is less than the second distance.

[0044] In some embodiments of the present embodiment, the trimming unit assembly 2 can include at least two working positions, for example, a first working position as shown Figure 3 and a second working position as shown Figure 4 for better adaptation to different working sites and different working requirements of the working area.

[0045] In some embodiments, the body (device body 1) of the automatic mower is provided with a storage position 20. When the trimming unit assembly 2 is in the storage position, the trimming unit assembly 2 is at least partially located in the storage position 20. In the extreme case, when the trimming unit assembly 2 is in the storage position, the trimming unit assembly 2 is completely stored in the storage position 20. By providing the storage position 20 on the device body 1, when the trimming unit assembly is installed on the device body 1 and not working, the trimming unit assembly 2 can be stored in the storage position 20, which can reduce the width of the body of the automatic mower, improve the passability of the automatic mower in the working area, and at the same time avoid unnecessary damage to the trimming unit assembly 2 when it is not working.

[0046] In the above different states, the position of the trimming unit assembly 2 relative to the device body 1 is different, which requires that in the above different states, the center of gravity of the mower as a whole should not change greatly and should be stable in a certain area to avoid affecting the passability and obstacle crossing ability of the whole machine.

[0047] In the present application, the self-moving device 100 can be an automatic mower, an automatic cleaning device, an automatic irrigation device, an automatic snow sweeper, etc. The self-moving device automatically walks on the ground or surface of the working area to perform mowing, cleaning or snow sweeping work.

[0048] Reference Figure 5 , Figure 6As shown, the self-moving device 100 according to the embodiments of the present application comprises a device body 1, an edge trimming unit assembly 2 and a counterweight module 3, the edge trimming unit assembly 2 and the counterweight module 3 are arranged on the device body 1, and the device body 1 comprises a main cutting unit 12. The counterweight module 3 is configured to control the center of gravity 11 of the self-moving device 100 within a target area 10, and the target area 10 is symmetrical about the longitudinal axis of the device body.

[0049] Specifically, the center of gravity of the device body 1 is located within the target area 10 in the first state or the second state. The target area 10 is a virtual area formed by taking the center of gravity of the device body 1 when the edge trimming unit assembly 2 and the counterweight module 3 are not installed as a reference point and appropriately expanding a certain range around the reference point, and the virtual area is symmetrical about the longitudinal axis of the device body 1. When the edge trimming unit assembly 2 and the counterweight module 3 are not installed on the device body 1, the center of gravity of the device body 1 is located on the longitudinal axis of the device body 1, and the device body 1 is substantially symmetrical about the longitudinal axis. The first state is that the edge trimming unit assembly 2 is installed on the device body 1 and the counterweight module 3 is installed on the device body 1, and the second state is that the edge trimming unit assembly 2 is separated from the device body 1 and the counterweight module 3 is separated from the device body 1.

[0050] The installation state and the installation position of the counterweight module 3 on the device body 1 can be set according to the installation state of the edge trimming unit assembly 2 to balance the influence of the counterweight module 3 on the center of gravity 11 of the self-moving device 100. For example, when the edge trimming unit assembly 2 is not installed on the device body 1, the device body 1 does not install the counterweight module 3, or the user removes the counterweight module 3 from the device body 1, so that the counterweight module 3 is separated from the device body 1. When the edge trimming unit assembly 2 is installed on the device body 1, the reasonable position of the counterweight module 3 is configured to control the position of the center of gravity of the self-moving device 100, so that the center of gravity 11 of the self-moving device 100 always falls within the target area 10 in different working states, such as when the edge trimming unit assembly is not assembled, and when the edge trimming unit assembly is assembled and located in the storage position or the working position.

[0051] The self-moving device according to the embodiments of the present application controls the center of gravity 11 of the self-moving device 100 to always remain within a reasonable range by configuring the edge trimming unit assembly 2 and the counterweight module 3, thereby ensuring the stability of the self-moving device 100 in different working states.

[0052] Reference Figure 5 , Figure 6 As shown, in some preferred embodiments of the present application, the edge trimming unit assembly 2 and the counterweight module 3 are arranged on opposite sides of the center of gravity of the device body 1.

[0053] Specifically, after the trimming unit assembly 2 is assembled, the counterweight module 3 is installed on the device body 1 in a position substantially opposite to the trimming unit assembly 2 to control the center of gravity of the self-moving device 100. Since the center of gravity of the device body 1 is located on the longitudinal axis of the device body 1, the trimming unit assembly 2 and the counterweight module 3 can be respectively arranged on the left and right sides of the longitudinal axis. For example, if the trimming unit assembly 2 is installed at the right front position of the device body 1, the counterweight module 3 should be installed at the left rear position of the device body 1 to achieve the balance control of the center of gravity 11, so that the center of gravity falls into the target area 10. This layout is based on the principle of center of gravity balance, so that the influence of the trimming unit assembly 2 on the center of gravity of the whole machine during the working process can be effectively offset or balanced by the counterweight module 3, thereby reducing the influence of the center of gravity deviation on the stability of the machine.

[0054] Referring to Figure 5 , Figure 6 , Figure 7 In some preferred embodiments, the trimming unit assembly 2 and the counterweight module 3 are respectively detachably installed on the device body 1, as shown in FIG. 1. Specifically, when the trimming unit assembly 2 is installed on the device body 1, the counterweight module 3 is installed on the device body 1. When the trimming unit assembly 2 is detached from the device body 1, the counterweight module 3 is also detached from the device body 1.

[0055] Specifically, when the user selects the trimming unit assembly 2 for the self-moving device 100, the corresponding counterweight module 3 is also obtained. During the installation process, the user needs to install the trimming unit assembly 2 on the device body 1 at a specified position, and at the same time, install the counterweight module 3 on the device body 1 at a corresponding position. When the user does not install the trimming unit assembly 2, the counterweight module 3 does not need to be installed at the corresponding position. This same installation and removal design ensures that the center of gravity 11 is always located within the target area 10 when the trimming unit assembly 2 is installed or removed.

[0056] Referring to Figures 8 to 12 In some preferred embodiments, the trimming unit assembly 2 is detachably installed on the device body 1, that is, the trimming unit assembly 2 is an optional assembly. The self-moving device further comprises a counterweight balancing member 4, which is configured to be installed on the same position of the device body 1 as the trimming unit assembly 2.

[0057] Specifically, the counterweight module 3 is pre-installed on the equipment body 1 at a specific position as a standard configuration of the self-moving device 100, and the trimming unit assembly 2 is an optional configuration. Whether the user chooses to install the trimming unit assembly 2 or not, the counterweight module 3 is always present on the equipment body 1 to provide a basic guarantee for the center of gravity balance of the whole machine. At the same time, the trimming unit assembly 2 and the counterweight balancing piece 4 are alternatively installed in the storage position 20 of the equipment body 1, and the weight of the counterweight balancing piece 4 is the same as or approximately equal to that of the trimming unit assembly 2. The counterweight balancing piece 4 can replace the trimming unit assembly 2 and be installed in the storage position of the equipment body 1. The main function of the counterweight balancing piece 4 is to balance the influence of the standard counterweight module 3 on the center of gravity position when the trimming unit assembly 2 is not needed, to ensure the stability of the center of gravity of the machine under different configurations, and to maintain good performance. The counterweight balancing piece 4 includes a decorative cover for covering the storage position 20 on the equipment body 1, which can effectively beautify the appearance of the machine body, cover the storage position 20 when the trimming unit assembly 2 is not installed, make the whole machine body look more tidy and beautiful, and enhance the visual coordination of the product. In addition, the counterweight balancing piece 4 can also protect the internal components of the machine body to some extent, prevent dust and debris from entering the installation position of the trimming unit assembly 2, avoid damage to the internal components or the influence of foreign matters, and prolong the service life of the components.

[0058] When the user decides to install the trimming unit assembly 2, the counterweight balancing piece 4 needs to be removed from the installation position first, and then the trimming unit assembly 2 is installed on the position. Such a design ensures that the center of gravity 11 of the self-moving device 100 will not change basically under different configurations, so that the stability of the self-moving device 100 is not affected.

[0059] Reference Figure 5 , Figure 13 As shown in FIG. 1, in some preferred embodiments, the self-moving device 100 includes a driving assembly 5 which is configured to be symmetrically arranged about the longitudinal axis of the equipment body 1. The longitudinal axis of the equipment body 1 refers to the center line in the length direction of the equipment body 1, that is, the axis in the front-rear direction. The driving assembly 5 includes two driving wheels which are symmetrically installed on the left and right sides of the equipment body 1. The symmetric layout helps to further optimize the weight distribution of the whole machine, and cooperates with the counterweight module 3 to make the whole machine more stable during operation, thereby improving the control performance and working efficiency of the self-moving device 100.

[0060] In order to improve the grip of the driving wheels, the center of gravity of the whole machine is usually arranged near the driving wheels, for example, at the intersection of the longitudinal axis of the equipment body 1 and the axis line connecting the two driving wheels. However, such a layout may cause the machine to overturn, tilt or have poor obstacle climbing performance in special scenarios such as uphill.

[0061] Reference Figure 13 , Figure 14 ,Figure 15 As shown in some embodiments, the driving assembly 5 includes front driving wheels 511 and a front driving shaft 512 connected between the two front driving wheels 511, the trimming unit assembly 2 is installed on the rear side of the front driving shaft 512, the counterweight module 3 is installed on the front side of the front driving shaft 512, and the center of gravity 11 of the self-moving device 100 is located on the rear side of the front driving shaft 512. At the same time, under the premise that the center of gravity 11 is located in the target area 10, the center of gravity 11 is located near the intersection of the longitudinal axis of the device body 1 and the front driving shaft 512, and the distance between the center of gravity 11 and the intersection is kept within a preset threshold.

[0062] Further, referring to Figure 13 , the ratio of the horizontal distance H1 between the center of gravity 11 of the self-moving device 100 and the front end face of the device body 1 to the length L of the device body 1 ranges from 0.3 to 0.35, for example, the ratio can be 0.3, 0.31, 0.32, 0.33, 0.34, 0.35, etc. Wherein, the horizontal distance refers to the distance on the horizontal plane.

[0063] Wherein, the self-moving device 100 adopts a front drive configuration, by designing the installation position of the counterweight module 3 on the device body 1, the center of gravity 11 is controlled to be located on the rear side of the intersection of the longitudinal axis of the device body 1 and the front driving shaft 512, specifically at the 0.3-0.35 proportion of the front part of the fuselage, so as to balance the requirements of obstacle crossing under the front drive mode. Specifically, the center of gravity 11 is located in front, so that the front driving wheels 511 can obtain a larger downward pressure when approaching the obstacle, thereby improving the obstacle crossing ability, and at the same time, improving the steering flexibility to a certain extent, facilitating the operator to accurately control the mower to turn. At the same time, the center of gravity 11 is located on the rear side of the front driving shaft 512, avoiding the problem of swing caused by the rear being too light when subjected to lateral force, and by optimizing the overall structure and weight distribution, the stability of the self-moving device 100 in operation can be improved.

[0064] Referring to Figure 5 , Figure 6 , Figure 7 As shown in some embodiments, the driving assembly 5 includes front driving wheels 511 and a front driving shaft 512 connected between the two front driving wheels 511, the trimming unit assembly 2 is installed on the rear side of the front driving shaft 512, the counterweight module 3 is installed on the front side of the front driving shaft 512, and the center of gravity 11 of the self-moving device 100 is located on the rear side of the front driving shaft 512. At the same time, under the premise that the center of gravity 11 is located in the target area 10, the center of gravity 11 is located near the intersection of the longitudinal axis of the device body 1 and the front driving shaft 512, and the distance between the center of gravity 11 and the intersection is kept within a preset threshold.

[0065] In addition, referring to Figure 7When the trimming unit assembly 2 and the counterweight module 3 are not installed, the center of gravity of the device body 1 can correspond to the center of gravity 11 of the self-moving device 100, and the center of gravity 11 of the self-moving device 100 is located on the longitudinal axis of the device body 1.

[0066] Further, referring to Figure 5 , the ratio of the horizontal distance H2 between the center of gravity 11 of the self-moving device 100 and the rear end surface of the device body 1 to the length L of the device body 1 ranges from 0.3 to 0.35, for example, the ratio can be 0.3, 0.31, 0.32, 0.33, 0.34, 0.35, etc.

[0067] Among them, the self-moving device 100 adopts a rear-drive configuration, and the control center of gravity 11 is located on the front side near the intersection of the longitudinal axis of the device body 1 and the rear drive shaft 522, specifically at the proportion of 0.3-0.35 of the rear of the machine body. Among them, the center of gravity 11 of the self-moving device 100 will not be too far back, and in special scenarios such as uphill, the front of the machine is relatively difficult to lift, which can reduce the risk of overturning and tilting, improve the safety and efficiency of mowing operations, and avoid affecting the normal work of the self-moving device 100.

[0068] In some preferred embodiments, the target area 10 can be a strip-shaped area distributed along the length direction of the device body 1 and related to the width. For example, the contour shape of the target area 10 is rectangular.

[0069] In other embodiments, the contour shape of the target area 10 can also be circular or other shapes.

[0070] Among them, in the self-moving device 100, the contour shape and position of the target area 10 can be dynamically adjusted according to the machine structure, performance requirements and other factors in actual design, and can be roughly determined by the association with each component and function to ensure the good operation of the self-moving device 100 in different working conditions.

[0071] Overall, the application improves the stability of the whole machine by reasonable gravity center setting, ensures that the user's selection of the trimming unit assembly 2 will not cause a particularly large change in the gravity center of the self-moving device 100, and thus does not affect the passability, obstacle crossing ability, etc. of the whole machine. The trimming unit assembly 2 and the counterweight module 3 can be disassembled and assembled on the equipment body 1, or the counterweight module 3 can be used as a standard configuration, and the trimming unit assembly 2 and the counterweight balancing piece 4 can be assembled alternatively, and the selection of the whole machine configuration has diversity and flexibility. In addition, the gravity center arrangement of the self-moving device 100 in the front drive configuration enables the front wheels to better obtain the depression force when crossing obstacles, thereby improving the obstacle crossing ability and to some extent enhancing the steering flexibility, while optimizing the whole machine structure to ensure the stability of the rear part. In the rear drive configuration, the gravity center arrangement of the self-moving device 100 can increase the driving wheel grip to ensure the driving stability and obstacle crossing power, and also avoid the gravity center being too far back in special scenes such as uphill, thereby reducing the risk of rollover and head lifting.

[0072] It can be understood that the configuration mode of the trimming unit assembly 2 and the counterweight module 3 in the automatic mower is also applicable to the configuration of the optional assembly and the corresponding counterweight module in other similar equipment.

[0073] It should be noted that some embodiments of the application have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still achieve desirable results. Additionally, the processes depicted in the figures do not necessarily require the particular order shown or sequential order to achieve desirable results.

[0074] Those of ordinary skill in the art will appreciate that the discussion of any implementation above is merely exemplary and not intended to suggest that the scope of the application (including the claims) is limited to these examples; the above implementation or technical features among different implementations can also be combined, and the steps can be implemented in any order, and there are many other changes to the aspects of the application as described above. In order to be brief, they are not provided in detail.

[0075] The embodiments of the application are intended to cover all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Accordingly, any one of the above-mentioned embodiments or technical features among different embodiments can be combined, and the steps can be implemented in any order, and there are many other changes to the aspects of the application as described above. In order to be brief, they are not provided in detail.

Claims

1. A self-moving device, characterized in that, The self-moving device comprises: a device body; an edge trimming unit assembly arranged on the device body; a counterweight module arranged on the device body; the counterweight module is configured to control the center of gravity of the self-moving device in a target area, and the target area is symmetrical about the longitudinal axis of the device body.

2. The self-moving device of claim 1, wherein, The counterweight module and the edge trimming unit assembly are arranged on opposite sides of the center of gravity of the device body.

3. The self-moving device of claim 1, wherein, The counterweight module and the edge trimming unit assembly are respectively detachably mounted on the device body. In the first state or the second state, the center of gravity of the self-moving device is located in the target area; the first state is that the edge trimming unit assembly is mounted on the device body and the counterweight module is mounted on the device body, and the second state is that the edge trimming unit assembly is separated from the device body and the counterweight module is separated from the device body.

4. The self-moving device of claim 1, wherein, The edge trimming unit assembly is detachably mounted on the device body. The self-moving device comprises a counterweight balancing member, which is configured to be mounted on the same position of the device body as the edge trimming unit assembly.

5. The self-moving device of claim 1, wherein, The self-moving device comprises a driving assembly, which is configured to be symmetrically arranged about the longitudinal axis of the device body.

6. The self-moving device of claim 5, wherein, The driving assembly comprises a front driving wheel and a front driving shaft connected to the front driving wheel, and the edge trimming unit assembly is mounted on the rear side of the front driving shaft; the counterweight module is mounted on the front side of the front driving shaft.

7. The self-moving device of claim 5, wherein, The driving assembly comprises a rear driving wheel and a rear driving shaft connected to the rear driving wheel, and the edge trimming unit assembly is mounted on the front side of the rear driving shaft; the counterweight module is mounted on the rear side of the rear driving shaft.

8. The self-moving device of claim 6, wherein, The ratio of the horizontal distance between the center of gravity of the self-moving device and the front end face of the device body to the length of the device body ranges from 0.3 to 0.

35.

9. The self-moving device of claim 7, wherein, The ratio of the horizontal distance between the center of gravity of the self-moving device and the rear end face of the device body to the length of the device body ranges from 0.3 to 0.

35.

10. The self-mobility device of claim 1, wherein, The contour shape of the target area comprises a rectangle or a circle; and / or, The target area is symmetrically arranged about the longitudinal axis of the device body.

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