Self-moving device

Abstract

A self-moving device includes a device body, a moving mechanism, a sensing module and a cleaning mechanism. The moving mechanism is arranged at the bottom of the device body and is used to drive the device body to move. The sensing module is arranged on the device body and is used to detect the surrounding environment. The cleaning mechanism is arranged outside the sensing module and can rotate around a transverse axis perpendicular to the plane where the central axis of the sensing module is located to clean the outer surface of the sensing module.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a self-moving device. Background Technology

[0002] In the field of industrial automation, robots typically rely on high-precision detection components (such as vision sensors and LiDAR) for positioning and navigation. However, in actual working environments, robots may face interference from water mist, dust, or other suspended particles. These contaminants can easily adhere to the surface of the detection components, leading to signal attenuation or data distortion.

[0003] Specifically, when detection components (such as optical lenses or sensing windows) are covered by water mist or dust, the environmental information they collect may be inaccurate, thus affecting the robot's positioning accuracy. This can range from minor deviations in the robot's trajectory to complete positioning loss, or even failure to complete the intended task or return to the initial position. Traditional solutions typically rely on periodic manual cleaning or passive protective designs, but these methods are difficult to implement in real-time, especially in complex or high-risk environments where manual intervention is inefficient and costly.

[0004] Therefore, there is an urgent need for a technical solution that can proactively respond to pollutant interference in order to ensure the stable operation and accurate positioning of robots under harsh working conditions. Utility Model Content

[0005] This application provides a self-moving device designed to at least address one of the technical problems existing in the prior art.

[0006] This application provides a self-moving device, including:

[0007] Equipment body;

[0008] A moving mechanism is provided at the bottom of the device body for driving the device body to move;

[0009] A sensing module is mounted on the main body of the device to detect the surrounding environment;

[0010] A cleaning mechanism is disposed on the outside of the sensing module. The cleaning mechanism can rotate about a transverse axis perpendicular to the plane containing the central axis of the sensing module to clean the outer surface of the sensing module.

[0011] In one embodiment of the self-moving device of this application, the sensing module includes a sensing unit and a protective cover, the cleaning mechanism is disposed on the outside of the protective cover, and the outer surface of the protective cover is spherical.

[0012] In one embodiment of the self-moving device of this application, the sensing module includes a sensing unit and a protective cover, the cleaning mechanism is disposed on the outside of the protective cover, and the outer surface of the protective cover is spherical.

[0013] In one embodiment of the self-moving device of this application, the cleaning mechanism includes:

[0014] A cleaning component, used to clean the outer surface of the sensing module;

[0015] A driving component is connected to the cleaning component for driving the cleaning component to rotate.

[0016] In one embodiment of the self-moving device of this application, the cleaning component includes:

[0017] A bracket, which is connected to the driving component in a transmission manner;

[0018] A brush body is mounted on the bracket and is able to maintain contact with the outer surface of the sensing module during cleaning.

[0019] In one embodiment of the self-moving device of this application, the bracket has an input shaft and an arched frame adapted to the outer surface of the sensing module, the brush body is detachably mounted on the arched frame, and the input shaft is drively connected to the driving member.

[0020] In one embodiment of the self-moving device of this application, the brush body includes a flexible rubber strip or bristles, and the arched frame is provided with a mounting groove, wherein the flexible rubber strip or bristles are detachably disposed in the mounting groove.

[0021] In one embodiment of the self-moving device of this application, the self-moving device further includes:

[0022] A position detection component, at least partially connected to the bracket, for detecting the position of the bracket.

[0023] In one embodiment of the self-moving device of this application, the location detection component includes:

[0024] A magnetic field generating element is mounted on the cleaning mechanism;

[0025] A Hall element is disposed on one side of the magnetic field generating element and corresponds to the position of the magnetic field generating element.

[0026] In one embodiment of the self-moving device of this application, the self-moving device further includes:

[0027] A Hall control board, wherein the Hall element is fixed on the Hall control board and located on one side of the arched frame away from the support of the magnetic field generating element.

[0028] In one embodiment of the self-moving device of this application, the self-moving device further includes:

[0029] A drive control board, which is electrically connected to the drive component and located below the sensing module.

[0030] In one embodiment of the self-moving device of this application, the sensing module is a lidar.

[0031] The technical solution provided in this application embodiment can include the following beneficial effects: This application designs a self-moving device, including a device body, a sensing module, a cleaning mechanism, and a moving mechanism for driving the device body to move. The sensing module is disposed on the device body, and the cleaning mechanism is disposed on the outside of the sensing module and can rotate around a transverse axis perpendicular to the plane containing the central axis of the sensing module to clean the outer surface of the sensing module, sweeping off dirt or dust attached to the sensing module. This realizes an automatic cleaning process after dirt is generated on the outer surface of the sensing module, eliminating the need for manual cleaning, making the cleaning work more flexible and convenient, and preventing the sensing module from having inaccurate detection and short detection distance due to dirt or dust. This solves the problem that the self-moving device cannot work properly during operation due to dirt or dust on the sensing module.

[0032] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0033] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of this application;

[0035] Figure 2 yes Figure 1 A schematic diagram of the sensing module and cleaning mechanism from one angle.

[0036] Figure 3 yes Figure 1 A schematic diagram of the sensing module and cleaning mechanism from another angle;

[0037] Figure 4 yes Figure 2 A cross-sectional view of the sensing module and cleaning mechanism at one angle;

[0038] Figure 5 yes Figure 2 A cross-sectional view of the sensing module and cleaning mechanism from another angle;

[0039] Figure 6 yes Figure 2 An exploded view of the sensing module and cleaning mechanism in the diagram;

[0040] Figure 7 yes Figure 6 An exploded view of the cleaning mechanism in the diagram;

[0041] Figure 8 yes Figure 7 An exploded view of the stent in the diagram.

[0042] Explanation of reference numerals in the attached figures:

[0043] 10. Cleaning mechanism; 11. Cleaning component; 11a. Bracket; 11b. Brush body; 111. Arched frame; 112. Input shaft; 113. Mounting slot; 12. Drive component;

[0044] 20. Sensing module;

[0045] 30. Main body of the equipment;

[0046] 40. Moving mechanism;

[0047] 50. Drive control board;

[0048] 60. Housing assembly; 61. First housing; 611. First receiving groove; 612. Second receiving groove; 613. Third receiving groove; 614. Limiting part; 62. Second housing; 63. Cover;

[0049] 70. Position detection component; 71. Magnetic field generating element; 72. Hall element; 73. Hall control board. Detailed Implementation

[0050] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0051] It should also be understood that the terminology used in this application specification is merely for describing specific realities within the scope of this application. It is important to understand that terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used solely for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0052] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0053] like Figures 1 to 3 As shown, this application provides a self-moving device, including a cleaning mechanism 10, a sensing module 20, a device body 30, and a moving mechanism 40. The moving mechanism 40 is disposed at the bottom of the device body 30, the sensing module 20 is disposed on the device body, and the cleaning mechanism 10 is disposed on the outside of the sensing module 20. The moving mechanism 40 is used to drive the device body 10 to move; the sensing module 20 is used to detect the surrounding environment, process the detected information, and provide corresponding feedback to the device body to ensure the normal operation of the self-moving device; the cleaning mechanism 10 is used to clean the outer surface of the sensing module 20, saving manpower and time, improving work efficiency, and exhibiting a simple structure, ingenious design, and good cleaning effect.

[0054] In one alternative implementation, such as Figures 1 to 3 As shown, the cleaning mechanism 10 can rotate around a transverse axis perpendicular to the plane containing the central axis of the sensing module 20 to clean the outer surface of the sensing module 20. It performs a rotary cleaning of dirt or dust adhering to the outer surface of the sensing module 20, saving manpower and time. It not only improves the cleaning effect, but also has more efficient cleaning and stability compared to relying on manual reciprocating wiping or unidirectional mechanical movement, thereby enhancing the cleaning efficiency of the cleaning mechanism 10.

[0055] It should be noted that at least a portion of the cleaning mechanism 10 can contact the outer surface of the sensing module 20 to clean the outer surface of the sensing module 20 in a contact mode, preventing dirt or dust on the outer surface of the sensing module 20 from affecting the normal operation of the sensing module 20 and ensuring the detection performance of the sensing module 20. The cleaning mechanism 10 may also have a gap with the outer surface of the sensing module 20, so that an airflow can be generated during the rotation of the cleaning mechanism 10 to clean the outer surface of the sensing module 20. This airflow cleaning method can remove residual dust, stains, liquids, or other foreign matter from the outer surface of the sensing module 20, ensuring the detection performance of the sensing module 20. This application does not impose any limitations on this.

[0056] In one optional embodiment, the sensing module 20 includes a sensing unit and a protective cover. A cleaning component is disposed on the outside of the protective cover, and the outer surface of the protective cover is spherical to suit scenarios requiring large-area detection, avoiding edge distortion caused by flat lenses. Furthermore, the hemispherical protective cover is more effective at diverting rainwater or dust than a flat protective cover, reducing contaminant adhesion and providing stronger impact resistance than a flat cover of the same thickness. The cleaning mechanism is used to clean the outer surface of the protective cover, preventing misjudgments by the sensing module due to dirt obstruction. This ensures the LiDAR is unaffected by dust, dirt, etc., reducing the failure rate and ensuring the main body of the device can operate normally and return to its initial position, such as a charging dock.

[0057] In one alternative implementation, such as Figures 4 to 6 As shown, the cleaning mechanism 10 includes a cleaning component 11 and a driving component 12. The driving component 12 is connected to the cleaning component 11 and is used to drive the cleaning component 11 to rotate, thereby cleaning the outer surface of the sensing module 20 through physical contact or non-contact methods. This allows the cleaning component 11 to thoroughly clean the outer surface of the sensing module 20, preventing dirt or dust on the outer surface of the sensing module 20 from affecting its normal operation, thus ensuring the detection performance of the sensing module 20 and enabling the self-moving device to operate smoothly and stably. Furthermore, the driving component 12 can also reset the cleaning component 11 to its initial position after cleaning, preventing it from obstructing the sensing module 20.

[0058] In an optional implementation, the self-moving device also includes a contamination detection module, which can be used to monitor the degree of contamination on the outer surface of the sensing module 20 and trigger the drive unit 12 to operate after the contamination threshold exceeds a preset value.

[0059] In one alternative implementation, such as Figures 5 to 7As shown, the cleaning component 11 includes a bracket 11a and a brush body 11b. The bracket 11a is connected to the drive component 12. The brush body 11b is mounted on the bracket 11a and can maintain contact with the outer surface of the sensing module 20 during cleaning. This allows the bracket 11a to scrape the outer surface of the sensing module 20 during rotation, removing dust, stains, liquids, and other foreign matter. This effectively solves the problem of performance degradation caused by external surface contamination of the sensing module 20 on self-moving devices, ensuring that the sensing module 20 remains clean in complex environments for a long time and avoiding detection failure due to dust, stains, etc. The brush body 11b includes, but is not limited to, a rotating brush, a scraper, a sponge, etc., which can directly contact the outer surface of the sensing module 20 without damaging it.

[0060] In one alternative implementation, such as Figures 6 to 8 As shown, the bracket 11a has an input shaft 112 and an arched frame 111. The brush body 11b is detachably mounted on the arched frame 111. The input shaft 112 is connected to the drive component 12, allowing the drive component 12 to drive the arched frame 111 to rotate continuously via the input shaft 112. This drives the brush body 11b to wipe the outer surface of the sensing module 20. The rotation speed of the arched frame 111 can also be adjusted appropriately according to the degree of contamination on the outer surface of the sensing module 20. The arched frame 111 is adapted to the outer surface of the sensing module 20 to accommodate its curvature, achieving a precise match between the cleaning component 11 and the outer surface of the sensing module 20. This not only ensures that the brush body 11b maintains constant pressure contact with the outer surface of the sensing module 20, but also ensures thorough cleaning without any blind spots through the arched frame 111, which is designed to mimic the shape of the outer surface of the sensing module 20.

[0061] In an optional embodiment, the brush body 11b includes a flexible rubber strip or bristles. The flexible rubber strip or bristles can better adapt to the unevenness of the outer surface of the sensing module 20, avoiding hard scratches, and can also better conform to the outer surface of the sensing module 20 to remove stubborn stains. The arched frame 111 is provided with a mounting groove 113, in which the flexible rubber strip or bristles are detachably mounted. This not only allows for quick replacement of worn rubber strips, reducing maintenance costs, but also ensures that the rubber strips will not fall off during high-speed rotation.

[0062] In one alternative embodiment, the flexible adhesive strip includes, but is not limited to, silicone, polyurethane, rubber, and thermoplastic elastomers, and its working surface may be provided with micro-bump arrays, wavy textures, and oblique grooves, etc., which are not limited in this application.

[0063] In an optional embodiment, the self-moving device further includes a position detection component 70, which is at least partially connected to the bracket 11a and used to detect the position of the bracket 11a. This not only allows for real-time monitoring of the position of the bracket 11a to ensure that the cleaning component 11 accurately covers the outer surface of the sensing module 20, but also allows the bracket 11a to be reset to its initial position after cleaning, preventing the bracket 11a from obstructing the sensing module 20 and affecting its detection. Furthermore, it can detect abnormal movement of the bracket 11a and trigger a protection mechanism.

[0064] It should be noted that the position detection component 70 can be a magnet and a Hall sensor for detecting changes in the position of the magnet. The position detection component 70 can also be a photoelectric encoder for detecting the rotation angle of the bracket 11a, or a micro switch for detecting the extreme position of the bracket 11a, etc. This application does not impose any limitations.

[0065] In an optional embodiment, the position detection component 70 includes a magnetic field generating element 71 and a Hall element 72. The magnetic field generating element 71 is mounted on the cleaning mechanism 10, and the Hall element 72 is disposed on one side of the magnetic field generating element 71 and corresponds to the position of the magnetic field generating element 71, so that the Hall element 72 can output a signal in real time to adjust the motion parameters of the cleaning mechanism 10 in real time, meet the closed-loop control requirements, realize the precise positioning of the cleaning mechanism 10, and ensure that there are no blind spots in cleaning.

[0066] After adopting the above technical solution, since the magnetic field generating element 71 is installed on the cleaning mechanism 10 and the Hall element 72 is located on one side of the magnetic field generating element 71, the position of the cleaning mechanism 10 can be detected by the Hall element 72 and the magnetic field generating element 71 in a non-contact manner, avoiding mechanical wear and improving reliability. At the same time, it is convenient to integrate the magnetic field element and the Hall sensor, which is beneficial to the miniaturization design of the self-moving device.

[0067] In an optional embodiment, the position detection assembly 70 further includes a Hall control board 73. A Hall element 72 is fixed to the Hall control board 73 and located on the side of the arched frame 111 away from the cleaning mechanism 10, where the magnetic field generating element 71 is located, to provide real-time feedback on the position of the cleaning bracket 11a. The Hall control board 73 is a PCB circuit board that integrates signal amplification and filtering circuits. This application integrates the Hall element 72 and its control circuit onto the Hall control board 73, which is fixed to the side away from the arched frame 111. This not only ensures the fixed installation of the Hall element 72, guaranteeing a constant detection distance and improving position detection accuracy, but also effectively suppresses electromagnetic interference and improves signal processing capabilities through the signal processing circuit.

[0068] In one optional embodiment, there are multiple Hall elements 72, which are arranged at intervals on the Hall control board 73 along the movement trajectory of the bracket 11a. This not only enables higher precision position detection, but also allows for a modular design of the Hall elements 72, enabling individual replacement of each Hall element 72 via the Hall control board 73.

[0069] In an alternative embodiment, the magnetic field generating element 71 is a magnet, and the input shaft 112 is connected to a cam structure at the end away from the arch frame 111. The free end of the cam structure extends toward the convex side of the arch frame 111, and the magnet is fitted in the cam structure so that the Hall element 72 can precisely control the cleaning angle of the cleaning mechanism 10 by detecting the change in the magnetic field of the magnet.

[0070] In one alternative implementation, such as Figures 4 to 6 As shown, the self-moving device also includes a drive control board 50, which is electrically connected to the drive unit 12 and located below the sensing module 20. This allows for the use of the unused space below the sensing module 20, optimizing the overall layout. It also reduces the risk of electromagnetic interference through short-distance wiring, and facilitates the individual inspection or replacement of the drive control board 50.

[0071] In an optional embodiment, the cleaning mechanism 10 contacts the outer surface of the sensing module 20 during cleaning to clean stubborn stains on the outer surface of the sensing module 20 through a contact mode. This allows the cleaning component 11 to thoroughly clean the outer surface of the sensing module 20, preventing dirt or dust on the outer surface of the sensing module 20 from affecting the normal operation of the sensing module 20 and ensuring the detection performance of the sensing module 20.

[0072] In an optional embodiment, the cleaning mechanism 10 has a gap between itself and the outer surface of the sensing module 20 and is able to generate a flow of air to clean the sensing module 20 during cleaning, so as to quickly remove light dust and other particles from the outer surface of the sensing module 20 in a non-contact manner, thereby avoiding wear on the outer surface of the sensitive sensing module 20.

[0073] In an optional implementation, the sensing module 20 is a lidar, which is obliquely mounted on the upper part of the device body 30. It can detect obstacles higher than the top of the device body 30, allowing the device body 30 to decelerate or avoid them, thus preventing collisions during operation and improving safety and usability. The cleaning mechanism 10 can remove accumulated dust from the lidar's outer surface, protecting it from dust and dirt and improving its operational accuracy.

[0074] In an alternative embodiment, the self-moving device further includes a housing assembly 60, in which the sensing module 20 and at least a portion of the cleaning mechanism 10 are housed, so that the housing assembly 60 can provide protection for the sensing module 20 and at least a portion of the cleaning mechanism 10, and can also simplify the overall assembly process of the sensing module 20 and the cleaning mechanism 10 through modular design, and improve its stability and maintainability through integrated design.

[0075] In an optional embodiment, the housing assembly 60 includes a first housing 61 and a second housing 62. The sensing module 20 is mounted on the first housing 61, and the cleaning mechanism 10 is mounted on the second housing 62. The second housing 62 is detachably connected to the first housing 61 so that the cleaning mechanism 10 can be quickly removed during maintenance without affecting the lidar, and external liquids and dust can be prevented from entering the sensing module 20 and the cleaning mechanism 10, ensuring that the components of the sensing module 20 and the cleaning mechanism 10 can work normally in harsh environments.

[0076] In an optional embodiment, the housing assembly 60 includes a cover 63, which covers the outside of the first housing 61 and seals at least a portion of the cleaning mechanism 10 and the sensing module 20 within the first housing 61, thereby protecting the components of the sensing module 20 and the cleaning mechanism 10. The first housing 61 has a first receiving groove 611, a second receiving groove 612, and a third receiving groove 613. The first receiving groove 611 and the second receiving groove 612 are adjacent to each other, and the third receiving groove 613 is located below the first receiving groove 611 and the second receiving groove 612. At least a portion of the cleaning mechanism 10 is mounted in the first receiving groove 611 through the second housing 62. The bracket 11a of the cleaning mechanism 10 protrudes from the second housing 62 and is located outside the sensing module 20. The sensing module 20 is mounted in the second receiving groove 612. The drive control board 50... Installed in the third receiving groove 613 and electrically connected to the drive unit 12 of the sensing module 20 and the cleaning mechanism 10, the cover 63 covers the outside of the first receiving groove 611 and the second receiving groove 612, and is used to fix at least part of the structure of the sensing module 20 and the cleaning mechanism 10 inside the first housing 61. The protective cover and the bracket 11a are exposed from the cover 63. This not only facilitates the installation of the sensing module 20 and the cleaning mechanism 10 to the main body of the equipment 30 through the first housing 61, but also provides waterproof protection for at least part of the sensing module 20 and the cleaning mechanism 10.

[0077] In one alternative implementation, such as Figures 3 to 5As shown, a limiting part 614 is provided on the first housing 61. The limiting part 614 is used to limit the rotation angle of the cleaning mechanism 10 relative to the first housing 61, so as to prevent the cleaning mechanism 10 from exceeding or deviating from the set position during rotation. This ensures that the rotation range of the cleaning mechanism 10 is limited to the part of the protective cover that is only exposed above the cover 63, and it will not interfere with the sensing module 20 or other components of the cleaning mechanism 10. It also ensures that the cleaning mechanism 10 does not affect the normal detection of the lidar after cleaning. The position of the limiting part 614 is adjustable to adapt to the cleaning needs of protective covers of different sizes.

[0078] In an optional embodiment, the limiting part 614 is located at the rear end of the first housing 61 so that the cleaning mechanism 10 can be placed at the rear end of the sensing module 20, thereby effectively preventing the cleaning mechanism 10 from blocking the sensing module 20 and affecting the detection of the sensing module 20. The structure is simple and highly reliable.

[0079] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0080] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0081] The foregoing disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0082] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A self-moving device, characterized in that, include: Equipment body; A moving mechanism is provided at the bottom of the device body for driving the device body to move; A sensing module is mounted on the main body of the device to detect the surrounding environment; A cleaning mechanism is disposed on the outside of the sensing module. The cleaning mechanism can rotate about a transverse axis perpendicular to the plane containing the central axis of the sensing module to clean the outer surface of the sensing module.

2. The self-moving device according to claim 1, characterized in that, The sensing module includes a sensing unit and a protective cover. The cleaning mechanism is located on the outside of the protective cover, and the outer surface of the protective cover is spherical.

3. The self-moving device according to claim 1 or 2, characterized in that, The cleaning facility includes: A cleaning component, used to clean the outer surface of the sensing module; A driving component is connected to the cleaning component for driving the cleaning component to rotate.

4. The self-moving device according to claim 3, characterized in that, The cleaning component includes: A bracket, which is connected to the driving component in a transmission manner; A brush body is mounted on the bracket and is able to maintain contact with the outer surface of the sensing module during cleaning.

5. The self-moving device according to claim 4, characterized in that, The bracket has an input shaft and an arched frame that fits the outer surface of the sensing module. The brush body is detachably mounted on the arched frame, and the input shaft is connected to the drive component.

6. The self-moving device according to claim 5, characterized in that, The brush body includes a flexible rubber strip or bristles, and the arched frame is provided with a mounting groove, in which the flexible rubber strip or bristles are detachably installed.

7. The self-moving device according to claim 4, characterized in that, The self-moving device also includes: A position detection component, at least partially connected to the bracket, for detecting the position of the bracket.

8. The self-moving device according to claim 7, characterized in that, The position detection component includes: A magnetic field generating element is mounted on the cleaning mechanism; A Hall element is disposed on one side of the magnetic field generating element and corresponds to the position of the magnetic field generating element.

9. The self-moving device according to claim 8, characterized in that, The self-moving device also includes: A Hall control board, wherein the Hall element is fixed on the Hall control board and located on the side of the arched frame away from the magnetic field generating element.

10. The self-moving device according to claim 3, characterized in that, The self-moving device also includes: A drive control board, which is electrically connected to the drive component and located below the sensing module.

11. The self-moving device according to claim 1, characterized in that, The sensing module is a lidar.

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