Self-moving device and self-moving system

Abstract

The application is suitable for the technical field of self-moving device, and provides a self-moving device and a self-moving system.The self-moving device comprises a host and a movable connecting piece.The host can move along a working plane.The host comprises a first machine body and a second machine body.The first machine body and the second machine body can be connected in the moving direction of the host through a limiting structure.The movable connecting piece connects the first machine body and the second machine body.In the self-moving state, the movable connecting piece is in a retracted state, and the first machine body and the second machine body are connected through the limiting structure.In the obstacle-crossing state, the movable connecting piece is in an extended state, and the first machine body and the second machine body are separated in the moving direction.The self-moving device provided by the application has good obstacle-crossing capability, and can improve the use experience of users.

Description

Technical Field

[0001] This application belongs to the field of self-moving devices, and more specifically, relates to a self-moving device and a self-moving system. Background Technology

[0002] With the iterative updates and development of technology, self-moving devices have also diversified. Examples include robotic vacuum cleaners and mops for floor cleaning, robotic lawnmowers for mowing lawns, and window-cleaning robots for cleaning windows and glass facades. Taking window-cleaning robots as an example, because the exterior facades of buildings to be cleaned often have obstacles such as protrusions, window-cleaning robots need to have a certain obstacle-crossing ability to improve the continuity of their work and the cleaning range. However, current window-cleaning robots suffer from poor obstacle-crossing ability and require manual intervention for handling, which to some extent reduces the automation level and ease of use of window-cleaning robots, affecting the user experience.

[0003] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content

[0004] This application aims to improve the poor obstacle-crossing ability of existing self-moving devices, so as to improve the obstacle-crossing ability of self-moving devices to at least a certain extent and improve the user experience.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0006] In a first aspect, a self-moving device is provided, comprising a host and a movable connector. The host is capable of self-moving along a working plane. The host includes a first body and a second body, which are connected in the direction of travel of the host via a limiting structure. The movable connector connects the first body and the second body. In the self-moving state, the movable connector is in a retracted state, and the first body and the second body are connected via the limiting structure. In the obstacle-crossing state, the movable connector is in an extended state, and the first body and the second body are separated in the direction of travel.

[0007] In one feasible implementation, the first body is located in front of the second body in the direction of travel, and the first body and the second body, connected by the limiting structure, are limited and engaged in the direction of travel.

[0008] In one feasible implementation, the movable connector includes:

[0009] A rotating component, one end of which is rotatably connected to the first machine body about a first axis, the first axis being perpendicular to the working plane;

[0010] A rotating assembly, one end of which is rotatably connected to the other end of the rotating component about a second axis, and the other end of which is rotatably connected to the second body about a third axis;

[0011] The second axis is parallel to the working plane and perpendicular to the direction of travel, and the third axis is parallel to the second axis.

[0012] In one feasible implementation, the rotating assembly further includes:

[0013] A first swing arm, one end of which is rotatably connected to the other end of the rotating component about the second axis;

[0014] The second swing arm has one end rotatably connected to the other end of the first swing arm about a fourth axis, and the other end of the second swing arm is rotatably connected to the second body about a third axis.

[0015] The fourth axis is parallel to the third axis.

[0016] In one possible implementation, when the self-moving device is in the self-moving state, the first swing arm is at least partially above the upper surface of the host.

[0017] In one feasible implementation, the second body is recessed with a receiving groove, and when the self-moving device is in the self-moving state, at least a portion of the rotating component is received in the receiving groove.

[0018] In one feasible implementation, the end of the second swing arm connected to the second body is disposed in the receiving groove.

[0019] In one possible implementation, the length of the first swing arm is greater than the length of the second swing arm.

[0020] In one feasible implementation, a notch for gripping is recessed on the side of the first swing arm that is above the upper surface of the host and faces the host. The notch is located in the middle of the first swing arm along the length direction of the first swing arm.

[0021] In one feasible implementation, the limiting structure includes:

[0022] A first connector is disposed on the first body;

[0023] The second connector is disposed on the second body and can be limited and engaged with the first connector.

[0024] In one possible implementation, the first connector includes one of a mating slot and a plug, and the second connector includes the other.

[0025] The slot has an opening, and the plug is inserted into the slot through the opening. The first body and the second body are inserted and engaged in a direction perpendicular to the working plane.

[0026] In one possible implementation, the slot includes a first guide surface and a first abutment surface, the first abutment surface being located at the bottom of the slot, the first guide surface being obliquely connected to one side of the first abutment surface, and the opening increasing in a direction away from the first abutment surface;

[0027] The outer wall of the plug includes a connected second guide surface and a second abutment surface. The second abutment surface is located at the top of the plug. The second guide surface is inclinedly connected to the second abutment surface. The size of the plug increases in the direction away from the second abutment surface. In the state of the first body and the second body limiting and cooperating, the first guide surface cooperates with the second guide surface, and the first abutment surface abuts against the second abutment surface.

[0028] In one feasible implementation, the first body has a protruding part on one side for connecting with the second body, and the second body has a relief part that cooperates with the protruding part.

[0029] In one feasible implementation, the first connector is disposed on the surface of the protrusion portion, and the second connector is disposed on the surface of the relief portion.

[0030] In one feasible implementation, the first body is further provided with a pressing protrusion on the side facing the second body, the pressing protrusion being used to abut against a portion of the surface of the second body facing away from the working plane.

[0031] In one feasible implementation, the pressing protrusion and the protruding portion are spaced apart along a direction parallel to the working plane.

[0032] In one feasible implementation, the self-moving device further includes a first suction cup disposed on the side of the first body facing the working plane, and a second suction cup disposed on the side of the second body facing the working plane.

[0033] In one feasible implementation, in the unadsorbed state, the ground height of the first suction cup in the free state is higher than the bottom height of the second suction cup in the free state.

[0034] In one feasible implementation, the self-moving device further includes a cleaning component and a moving drive component, the cleaning component being disposed on the first body, and the moving drive component being disposed on the first body and / or the second body.

[0035] In one possible implementation, the cleaning component is located in front of the first suction cup in the direction of travel.

[0036] In one possible implementation, the self-moving device further includes a control unit electrically connected to the movable connector, the control unit being configured to generate an obstacle-crossing command in response to a received obstacle-crossing signal and to control the movable connector to perform an obstacle-crossing action.

[0037] In a second aspect, this application provides a self-moving system, including a base station and a self-moving device as described in any of the above claims, wherein the base station is used to dock the self-moving device.

[0038] Compared with the prior art, this application includes at least the following beneficial effects:

[0039] The self-moving device provided in this application includes a host and a movable connector. The host includes a first body and a second body that can be locked together by a limiting structure. The movable connector connects the first body and the second body and drives them to separate by extending, thereby switching the self-moving device from a self-moving state to an obstacle-crossing state. In the obstacle-crossing state, the self-moving device can control the first body and the second body to cross obstacles sequentially, effectively reducing the difficulty of obstacle crossing, improving its obstacle-crossing ability, reducing human intervention, and improving the user experience. In addition, this design also allows the self-moving device to have better overall integrity in the self-moving state, and helps to reduce the size of the self-moving device, simplify the structure, simplify the control process in non-obstacle-crossing scenarios, and reduce costs.

[0040] The self-moving system provided in this application includes the self-moving device described above. Therefore, the beneficial effects of the self-moving system including any one or more of the self-moving devices described above will not be repeated here. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of a certain structure of the self-moving device provided in the embodiment of this application in an obstacle-crossing state;

[0043] Figure 2 A schematic diagram of the overall structure of the self-moving device provided in this application embodiment at a certain angle in a self-moving state;

[0044] Figure 3 A partial top view of the self-moving device provided in the embodiments of this application in a self-moving state;

[0045] Figure 4 A bottom view of the self-moving device provided in the embodiments of this application in its self-moving state;

[0046] Figure 5 This is a partial structural side view of the self-moving device provided in the embodiments of this application in a self-moving state;

[0047] Figure 6 This is a partial structural cross-sectional view of the self-moving device provided in the embodiments of this application in a self-moving state;

[0048] Figure 7 for Figure 6 Enlarged view of the structure of region A in the middle;

[0049] Figure 8 for Figure 7 A schematic diagram of the structure of the first connecting component;

[0050] Figure 9 for Figure 7 A schematic diagram of the structure of the second connecting member;

[0051] Figure 10 A partial structural schematic diagram of the self-moving device provided in the embodiments of this application in a self-moving state;

[0052] Figures 11A-11G This is a schematic diagram of an obstacle-crossing scenario for a self-moving device provided in an embodiment of this application;

[0053] Figure 12 This is a schematic diagram illustrating the connection between the control unit and the active connector in a self-moving device according to an embodiment of this application.

[0054] Figure 13 This is a schematic diagram of the structure of the self-moving system provided in the embodiments of this application;

[0055] Figure 14 This is a flowchart illustrating the obstacle-crossing method for a self-moving device provided in an embodiment of this application.

[0056] The following are the labeling elements in the figure:

[0057] 10. Self-moving equipment; 20. Base station; 100. Self-moving system;

[0058] 1. Main unit; 11. First body; 111. Protruding part; 112. Pressing protrusion; 12. Second body; 121. Clearing part; 122. Pressing mating groove; 1201. Receiving groove; 2. Limiting structure; 21. First connector; 211. Slot; 2111. First guide surface; 2112. First abutting surface; 212. Opening; 22. Second connector; 221. Plug; 2211. Second guide surface; 2212. Second abutting surface; 3. Movable connector; 31. Rotating part; 32. Rotating assembly; 323. First swing arm; 3231. Notch; 324. Second swing arm; 4. Adsorption fixing part; 41. First suction cup; 42. Second suction cup; 5. Cleaning part; 51. Scrubbing part; 52. Water-absorbing scraper; 6. Moving drive part; 61. Walking wheel; 7. Control unit. Detailed Implementation

[0059] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0060] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0061] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and 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, and therefore should not be construed as a limitation of this application.

[0062] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0063] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0064] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0065] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0066] This application provides a self-moving device 10 and a self-moving system 100. The self-moving device 10 is a device capable of autonomously sensing, planning paths, and moving along a planned path on a working plane in its environment, relying on its own power system. For example, the self-moving device 10 can be a device for cleaning the ground, where the ground is the working plane, and the self-moving device 10 can clean the ground, such as a sweeping robot, a sweeping and mopping robot, or a floor-cleaning robot; or, the self-moving device 10 can be a lawnmower, where the grassy lawn is the working plane; or, the self-moving device 10 can be a window cleaner, where the window sash / glass surface is the working plane. The self-moving system 100 can include the aforementioned self-moving device 10 and a base station 20, where the base station 20 can be used to park the self-moving device 10. The base station 20 can be a structure that cooperates with the self-moving device 10 and has a charging function, whereby the self-moving device 10 can dock in the base station 20 and be charged through the base station 20 when docked.

[0067] For ease of explanation, the following description uses a window cleaning machine as an example to illustrate the self-moving device 10.

[0068] During the operation of the self-moving device 10, obstacles protruding from the glass surface, consisting of window frames and supporting frames (including horizontal and vertical ribs), are encountered along its path. These obstacles prevent the self-moving device 10 from passing, requiring manual intervention from the user to move it over them. This not only affects the cleaning continuity and efficiency of the self-moving device 10 but also significantly reduces the user experience.

[0069] In view of this, in order to solve the above problems, improve the obstacle-crossing performance of the self-moving device 10, and improve the user experience to a certain extent, this application provides a self-moving device 10 and a self-moving system 100.

[0070] Figure 1 This is a schematic diagram of a certain structure of the self-moving device 10 provided in the embodiments of this application in an obstacle-crossing state. Figure 2 This is a schematic diagram of the self-moving device 10 provided in the embodiments of this application in its self-moving state. Figure 3 This is a partial top view of the self-moving device 10 provided in the embodiments of this application in its self-moving state.

[0071] Please see Figure 1 , Figure 2 and Figure 3 The self-moving device 10 includes a host 1 and a movable connector 3, wherein the host 1 is capable of moving along the working plane.

[0072] Specifically, the main unit 1 is a split design, including a first body 11 and a second body 12 arranged front and rear along its direction of travel, wherein the first body 11 and the second body 12 can be connected by a limiting structure 2 ( Figure 1 and Figure 2 (Not shown in the diagram) The movable connector 3 is connected to the first body 11 and the second body 12 at both ends in the traveling direction of the self-moving device 10. The self-moving device 10 has a self-moving state and an obstacle-crossing state. In the self-moving state, the movable connector 3 is in a retracted state, and the first body 11 and the second body 12 are mutually restrained by the movable connector 3. In the obstacle-crossing state, the movable connector 3 is in an extended state, and the first body 11 and the second body 12 are separated. That is, in response to the extension of the movable connector 3, the first body 11 and the second body 12, which are mutually restrained by the restraining structure 2, separate, so that the self-moving device 10 switches from the self-moving state to the obstacle-crossing state.

[0073] For example, when the movable connector 3 is in the retracted state, the first body 11 and the second body 12 are limited by the limiting structure 2, and the self-moving device 10 is in the self-moving state; when the movable connector 3 is in the extended state, the first body 11 and the second body 12 are released from the limiting by the movable connector 3, and the self-moving device 10 is in the obstacle-crossing state. The first body 11 and the second body 12 can cross obstacles under the drive of the movable connector 3 in the extended state and achieve obstacle crossing.

[0074] In this embodiment, the limiting and releasing of the first body 11 and the second body 12 can be achieved by controlling the state of the movable connector 3. When the two are in the limiting position, the main unit 1 is a whole and can move along a set path to clean the working surface. When the limiting position of the first body 11 and the second body 12 is released, the first body 11 and the second body 12 can pass over obstacles sequentially under the control of the movable connector 3 in the extended state to achieve obstacle crossing. The self-moving device 10 provided in this embodiment has a high obstacle crossing capability, which can effectively reduce the number and frequency of manual intervention by the user to transfer the self-moving device 10 and improve the user experience.

[0075] Please see Figure 3 The limiting structure 2 includes a first connecting member 21 and a second connecting member 22 that can limit and cooperate, wherein the first connecting member 21 is disposed on the first body 11 and the second connecting member 22 is disposed on the second body 12. Figure 3 Not shown in the drawing, please refer to Figure 7 When the first connector 21 and the second connector 22 are in a limiting engagement, the first body 11 and the second body 12 are in a limiting engagement, and at this time the self-moving device 10 is in a self-moving state or a non-working state.

[0076] To further improve the stability of the engagement between the first body 11 and the second body 12, in some embodiments, a pressing protrusion 112 is also provided on the side of the first body 11 facing the second body 12. When the first body 11 is engaged with the second connecting member 22 on the second body 12 via the first connecting member 21, the pressing protrusion 112 can abut against a portion of the surface of the second body 12 facing away from the working plane.

[0077] The above structure helps to transfer the pressure generated by the first body 11 adsorbing the working surface to the second body 12, thereby improving the adhesion between the second body 12 and the working surface, as well as the assembly firmness of the first body 11 and the second body 12.

[0078] In this embodiment, the movable connector 3 is configured to adjust the self-moving device 10 to switch between a self-moving state and an obstacle-crossing state: when the movable connector 3 is in a retracted state, in response to the retracted state of the movable connector 3, the first body 11 and the second body 12 are limited and engaged by the limiting structure 2, at which time the self-moving device 10 is in a self-moving state; when the movable connector 3 is in an extended state, in response to the extended state of the movable connector 3, the first body 11 and the second body 12 are released from their limits and separate from each other, at which time the self-moving device 10 is in an obstacle-crossing state.

[0079] When the self-moving device 10 is in an obstacle-crossing state, the first body 11 and the second body 12 can cross obstacles in sequence by changing the extension state of the movable connector 3.

[0080] For example, the first body 11 and the second body 12 can be driven by the movable connecting member 3 in the extended state to detach from the working plane in sequence, so as to cross obstacles set on two adjacent different working planes.

[0081] In this embodiment, the movable connector 3 can perform an extension action and drive the relative spatial position of the first body 11 and the second body 12 to change, so as to unlock the first body 11 and the second body 12.

[0082] Specifically, Figure 1 , Figure 2 and Figure 3 The arrows shown indicate the direction of travel of the self-moving device 10. The first body 11 is located in front of the second body 12 in the direction of travel, and the two can achieve a limiting cooperation in the direction of travel through the limiting structure 2 set between the first body 11 and the second body 12; of course, it can also achieve unlocking in the direction of travel.

[0083] Please see Figure 1 and Figure 3The first body 11 protrudes from the center of its side facing the second body 12, forming a protruding portion 111. Correspondingly, the second body 12 is recessed from the center of its side facing the first body 11, forming a recessed portion 121 that mates with the protruding portion 111. When the first body 11 and the second body 12 are in a limiting engagement, the protruding portion 111 can be precisely inserted into the recessed portion 121, so that the first body 11 and the second body 12 constitute a complete main unit 1. Please refer to... Figure 2 The host unit 1 has good overall integrity, and the way the aforementioned clearance portion 121 and protrusion portion 111 cooperate helps to reduce the overall size of the host unit 1 and helps to realize the cleaning operation of the self-moving device 10 in the self-moving state.

[0084] Specifically, the pressing protrusion 112 and the protruding part 111 are spaced apart along a direction parallel to the working plane.

[0085] Please see Figure 1 and Figure 2 A cleaning component 5 is provided on the side of the first body 11 facing the working plane. The cleaning component 5 is used to directly contact the working plane and clean the working plane.

[0086] Of course, in other similar embodiments, the cleaning component 5 may be located on the second body 12 as needed, and this embodiment does not limit it.

[0087] Please see Figure 1 , Figure 2 and Figure 3 In this embodiment of the application, one of the first body 11 and the second body 12 is further recessed with a receiving groove 1201. When the self-moving device 10 is in a self-moving state, at least a portion of the movable connector 3 in a retracted state is located within the receiving groove 1201. When the self-moving device 10 is in an obstacle-crossing state, at least a portion of the movable connector 3 can extend relative to the receiving groove 1201.

[0088] The aforementioned receiving slot 1201 is designed to accommodate at least a portion of the structure of the movable connector 3. When the self-moving device 10 is in a non-working state or in a self-moving state, the movable connector 3 can be stored within the receiving slot 1201, thereby reducing the overall size and space occupied by the self-moving device 10, especially the thickness dimension, facilitating its storage and transportation, and also enabling the self-moving device 10 to move within a smaller space. Furthermore, the receiving slot 1201 can provide a certain degree of physical protection for the movable connector 3 within a certain range, preventing the exposed movable connector 3 from colliding and abrading with external objects during the movement of the self-moving device 10. Simultaneously, the design of the movable connector 3 in its retracted state being located within the receiving slot 1201 can help improve the stability of the self-moving device 10 during movement without affecting the unfolding and retracting actions of the movable connector 3, thus improving the safety of the equipment in high-altitude operation scenarios.

[0089] In some embodiments, the movable connector 3 includes a rotating member 31 and a rotating assembly 32 rotatably connected, wherein one end of the rotating member 31 is rotatably connected to the first body 11 about a first axis (located on the side of the first body 11 facing away from the working plane), and the first axis is perpendicular to the working plane. One end of the rotating assembly 32 in the traveling direction is rotatably connected to the other end of the rotating member 31 about a second axis, and the other end of the rotating assembly 32 is rotatably connected to the second body 12 about a third axis, wherein the second axis is parallel to the working plane and perpendicular to the traveling direction, and the third axis is parallel to the second axis.

[0090] Please see Figure 1 and Figure 2 The rotating assembly 32 includes at least two rotatably connected robotic arms, one of which is connected to the rotating member 31, and the other is connected to the second body 12. Driven by the rotating assembly 32, the first body 11 can move closer to or further away from the second body 12.

[0091] When the first body 11 and the second body 12 are released from their limits, the rotating member 31 can be used to drive one of the first body 11 and the second body 12 to rotate around the axis of the rotating member 31 (i.e., the first axis), thereby changing the relative spatial position between the first body 11 and the second body 12, which helps to reduce the difficulty of the self-moving device 10 in overcoming obstacles. The specific working method is described below.

[0092] Of course, in other similar embodiments, the movable connector 3 may be configured to include only the aforementioned rotating component 32. In this case, the movable connector 3 includes at least three rotatingly connected robotic arms, or at least one robotic arm whose length can be extended or retracted, so as to ensure that the self-moving device 10 can cross a sufficient distance when crossing obstacles, and ensure that after the first body 11 has crossed the obstacle, the space between the first body 11 and the obstacle is sufficient to accommodate the second body 12.

[0093] Figure 4 A bottom view of the self-moving device 10 provided in the embodiments of this application in its self-moving state.

[0094] Please see Figure 4 The self-moving device 10 also includes an adsorption fixing member 4 and a movement driving member 6. The adsorption fixing member 4 includes a first suction cup 41 and a second suction cup 42. The first suction cup 41 is located on the side of the first body 11 facing the working plane, and the second suction cup 42 is located on the side of the second body 12 facing the working plane. Along the traveling direction of the self-moving device 10, the first suction cup 41 and the second suction cup 42 are arranged adjacently and at intervals. The cleaning member 5 can be located on the first body 11 of the main unit 1, and at least one of the first body 11 and the second body 12 can be equipped with a movement driving member. Figure 4 As shown, the cleaning component 5 is disposed on the first body 11, and the moving drive component 6 is disposed on the second body 12.

[0095] Please see Figure 4 The cleaning component 5 and the first suction cup 41 are both disposed on the first body 11 and are spaced apart along the traveling direction of the self-moving device 10. The cleaning component 5 is located in front of the first suction cup 41, that is, on the side of the first suction cup 41 facing away from the second body 12. The moving drive component 6 and the second suction cup 42 are both disposed on the second body 12 and are spaced apart from each other.

[0096] Specifically, the moving drive unit 6 includes at least two walking wheels 61, and the aforementioned second suction cup 42 is provided between the walking wheels 61 which are spaced apart along the width direction of the second body 12.

[0097] Please see Figure 4 The number of walking wheels 61 is four, arranged in pairs, for a total of two sets. The two sets of walking wheels 61 are arranged opposite each other on the left and right sides of the self-moving device 10 in the direction of travel. When the first body 11 and the second body 12 are in limiting engagement, the first suction cup 41 and the second suction cup 42 are both located between the two sets of walking wheels 61, and the cleaning component 5 is located in front of the walking wheels 61 in the direction of travel. The cleaning component 5 includes a scrubbing component 51 with certain water absorption and cleaning functions, and also includes a water-absorbing scraper 52, which can be set on the side of the scrubbing component 51 near the first suction cup 41.

[0098] Since the first body 11 and the second body 12 are limited and engaged by the limiting structure 2, under the action of the limiting structure 2, the downward pressure generated by the first suction cup 41 of the first body 11 adsorbing the working surface can be transmitted to the second body 12 through the limiting structure 2 and the downward pressure protrusion 112. This downward pressure can act synchronously on the traveling wheel 61 of the moving drive component 6 with the downward pressure generated by the second suction cup 42 of the second body 12 adsorbing the working surface, thereby ensuring that there is sufficient positive pressure between the traveling wheel 61 and the working surface.

[0099] The aforementioned positive pressure helps increase the maximum static friction force formed between the traveling wheel 61 and the working surface. The power to drive the traveling wheel 61 needs to overcome the movement resistance, and the upper limit of the resistance is determined by the maximum static friction force. If the power exceeds the maximum static friction force, the traveling wheel 61 will slip relative to the working surface, thereby affecting the normal movement of the self-moving device 10.

[0100] The above structure helps to provide greater positive pressure to the walking wheel 61, thereby helping to reduce the possibility of slippage when the walking wheel 61 is walking and improving the walking stability of the walking wheel 61.

[0101] In some embodiments, when the host is not attached to the working surface, the bottom surface height of the first suction cup 41 in its free state is higher than the bottom surface height of the second suction cup 42 in its free state.

[0102] It should be noted that the bottom height refers to the distance between the working plane and the side of the suction cup furthest from the working plane under standard atmospheric pressure and without external force.

[0103] When the self-moving device 10 is in working state (including self-moving state and obstacle-crossing state), both the first suction cup 41 and the second suction cup 42 are under pressure. The first suction cup 41 is adsorbed on the working surface and moves with its bottom surface facing the side closest to the working surface, generating a first adsorption stroke. The second suction cup 42 generates a second adsorption stroke. The two adsorption strokes are different, so that the final thickness of the first suction cup 41 and the second suction cup 42 is consistent.

[0104] Since the bottom height of the first suction cup 41 is greater than the free thickness of the second suction cup 42, the first suction stroke generated by the first suction cup 41 is greater than the second suction stroke generated by the second suction cup 42. This means that the first body 11 can provide a certain downward pressure to the second body 12. This structure can further ensure that the first body 11 with the first suction cup 41 can always provide a certain downward pressure to the second body 12 with the second suction cup 42 with the cooperation of the limiting structure 2, thereby offsetting the processing errors of the first body 11, the second body 12 and the limiting structure 2 during processing, and ensuring that the second body 12 can always be subjected to the downward pressure provided by the first body 11.

[0105] The self-moving device 10 with the above structure can cover the working surface by moving the walking wheels 61. At this time, the cleaning component 5 can clean the working surface as the self-moving device 10 moves.

[0106] In some embodiments, the cleaning component 5 may also include a clean water tank located within the first body 11, and the wiping component 51 is connected to the clean water tank via a liquid guiding pipe to ensure that the wiping component 51 remains wet during the cleaning process. Similarly, the cleaning component 5 may also include a wastewater tank located within the first body 11, with the moisture-absorbing squeegee connected to the wastewater tank via a pipe. The wastewater tank is connected to a vacuum structure (e.g., a vacuum pump) to recover wastewater through the suction action of the vacuum structure, thereby removing residual water stains after wiping by the wiping component 51.

[0107] In other similar embodiments, the moving drive 6 may include a walking track.

[0108] It should be noted that the aforementioned adsorption fixing component 4 also includes a vacuum pump connected to the first suction cup 41 and the second suction cup 42, capable of providing negative pressure to the first suction cup 41 and the second suction cup 42. At least two vacuum pumps are present, respectively located within the first body 11 and the second body 12, to provide the required negative pressure to the first suction cup 41 and the second suction cup 42, ensuring that the first body 11 and the second body 12 can be stably adsorbed onto the working surface. The aforementioned vacuum pump and the connection and installation structure between the vacuum pump and the corresponding suction cup have been disclosed in related technologies and will not be repeated here. Similarly, the aforementioned moving drive component 6 also includes a drive motor connected to the traveling wheel 61 or the traveling track. This drive motor provides driving force to the traveling wheel 61 or the traveling track to ensure that the second body 12 can move along the planned path via the traveling wheel 61 or the traveling track, and drive the cleaning component 5 to clean the working surface.

[0109] After cleaning component 5 completes cleaning a certain working surface, it can cross obstacles via movable connector 3 to move to an adjacent working surface, thus achieving cleaning of multiple different working surfaces. In the context of window cleaning machines, after cleaning one window or glass curtain wall, the machine can cross the window frame or supporting frame to move to an adjacent window or glass curtain wall and continue cleaning. This process requires no manual intervention, effectively improving the cleaning efficiency and continuity of the window cleaning machine, and significantly enhancing the user experience.

[0110] Figure 5 This is a partial top view of the self-moving device 10 provided in the embodiments of this application in its self-moving state. Figure 6 This is a partial structural cross-sectional view of the self-moving device 10 provided in the embodiments of this application in its self-moving state. Figure 7 for Figure 6 Enlarged view of the structure of region A in the middle. Figure 8 for Figure 7 A schematic diagram of the structure of the first connector 21. Figure 9 for Figure 7 A schematic diagram of the structure of the second connector 22.

[0111] Please see Figure 5 The movable connector 3 includes a rotating member 31 and a rotating assembly 32. One end of the rotating member 31 is rotatably connected to the first body 11 about a first axis, and the other end is connected to the rotating assembly 32 about a second axis. One end of the rotating assembly 32 is connected to the rotating member 31, and the other end is rotatably connected to the second body 12 about a third axis.

[0112] Specifically, the rotating assembly 32 includes a first swing arm 323 and a second swing arm 324. The first swing arm 323 is rotatably connected to the end of the rotating member 31 away from the first body 11 about a second axis, and is rotatably connected to the second swing arm 324 about a fourth axis. The other end of the second swing arm 324 is rotatably connected to the second body 12 about a third axis. The third axis and the fourth axis are parallel to each other and both are parallel to the working plane.

[0113] In this embodiment, taking the first swing arm 323 and the rotating member 31 as an example of rotating around a second axis, a first rotating joint is provided at the connection point between them. The first rotating joint includes a drive motor and a transmission assembly, wherein the output shaft of the drive motor is connected to the rotating assembly, and the transmission assembly includes any one of the following structures: gear transmission structure, chain transmission structure, etc. When the drive motor is started, it can drive the first rotating joint to drive the first swing arm 323 to rotate relative to the rotating member 31 around the second axis by a set angle along a set rotation direction.

[0114] Under the action of the relevant motor and transmission components, the first swing arm 323 and the second swing arm 324 can swing at a set angle and realize the contraction and extension of the movable connecting piece 3. At the same time, combined with the rotating piece 31 that is rotatably connected to the first swing arm 323 around the first axis, the relative spatial position between the first body 11 and the second body 12 can be adjusted in a variety of ways, so that the first body 11 and the second body 12 can sequentially realize the window crossing action.

[0115] It should be noted that, in response to the rotation of the rotating component 31, the first body 11 rotates relative to the second body 12 around the axis of the rotating component 31 (i.e., the first axis): when the first body 11 is removed from the working plane, the first body 11 rotates around the first axis by a preset angle value, and the second body 12 is fixed on the working plane by the second suction cup 42 and its position remains unchanged; when the first body 11 is fixed on the working plane by the first suction cup 41 and the second body 12 is removed from the working plane, the first body 11's position remains unchanged, the rotating component 32 rotates around the first axis and drives the second body 12 to rotate synchronously by a preset angle value.

[0116] The rotating component 31 not only helps the second body 12 overcome obstacles, but also effectively reduces the stroke required for the first body 11 and the second body 12 to overcome obstacles, thereby shortening the length of the first swing arm 323 and the second swing arm 324, helping to reduce the overall size of the equipment, and improving the stability of the equipment during obstacle crossing.

[0117] The aforementioned preset angle value can be a fixed value, such as 90 degrees or 180 degrees, or it can be an adjusted value based on the actual size and shape of two adjacent working planes. In this embodiment, the specific size of the preset angle value is not limited. The angle value can be determined based on the position of the obstacle to be crossed and the size and shape of the working plane used to accommodate the self-moving device 10.

[0118] Please see Figure 5 The length of the first swing arm 323 is greater than the length of the second swing arm 324, so that a portion of the structure in the retracted movable connector 3 can be confined within the receiving groove 1201. For example, at least a portion of the rotating assembly 32 is received within the receiving groove 1201.

[0119] Specifically, the first swing arm 323 connects the rotating member 31 and the second swing arm 324, with at least a portion of its structure located outside the receiving groove 1201; at least a portion of the second swing arm 324, which is connected to the second body 12, is located inside the receiving groove 1201. One end of the second swing arm 324 connected to the second body 12 is located inside the receiving groove 1201.

[0120] It should be noted that the first swing arm 323 may be located at least partially above the second swing arm 324, or it may be arranged side by side with the second swing arm 324 in a direction parallel to the working plane.

[0121] The first swing arm 323 is at least partially located above the second swing arm 324, and when the self-moving device 10 is in a self-moving state, at least a portion of the first swing arm 323 can be higher than the upper surface of the host.

[0122] When the self-moving device 10 is in the self-moving state, the first swing arm 323 is used to connect the two ends of the rotating member 31 and the second swing arm 324 at the same or substantially the same height. At this time, the first swing arm 323 is parallel to the working plane.

[0123] This structural design helps to further reduce the height (thickness) of the self-moving device 10 in its self-moving or non-working state, thereby helping to reduce the space occupied by the self-moving device 10 and achieving the goal of miniaturization of the self-moving device 10.

[0124] Since one end of the first swing arm 323 is connected to the rotating member 31, and one end of the rotating member 31 protrudes a certain height relative to the first body 11, in order to reduce the height difference between the two ends of the first swing arm 323 in the length direction, a connecting plate can be provided on at least one of the first swing arm 323 and the second swing arm 324. The fourth axis passes through the connecting plate. When the movable connecting member 3 is in the retracted state, the connecting plate can extend in a direction perpendicular to the working plane to help raise the height of the fourth axis, so that the height difference between the two ends of the first swing arm 323 is minimized or zero.

[0125] Please see Figure 5 The second swing arm 324 has a connecting plate protruding from it as described above, and at this time the fourth axis is formed outside the receiving groove 1201.

[0126] In some embodiments, a notch 3231 is recessed on the side of the first swing arm 323 that is higher than the upper surface of the main unit and faces the main unit. The notch 3231 is located in the middle of the first swing arm 323 along the length direction of the first swing arm 323 (i.e., from the first body 11 to the second body 12).

[0127] Specifically, the aforementioned notch 3231 is for the user to hold and grip.

[0128] Please see Figure 5 Notch 3231 is an arc-shaped groove adapted to the gripping posture of the hand, its contour conforming to the natural curvature of the palm and finger roots when the hand is naturally gripping. Figure 5 Taking the shown orientation as an example, the notch 3231 can be formed only on the side of the first swing arm 323 facing the host 1, or the notch 3231 can be formed extending from the side of the first swing arm 323 facing the host 1 to its two adjacent sides, forming an arc-shaped groove surrounding at least part of the sidewall of the first swing arm 323. In this case, the notch 3231 of the first swing arm 323 and the host 1 form a space that allows the user's hand to reach in.

[0129] It should be noted that the depth of notch 3231 can be 5 to 15 mm, and the length of notch 3231 should not be less than 60 mm.

[0130] In this embodiment, the width of the first swing arm 323 can be 20-50 mm.

[0131] The notch 3231 can be matched with the curvature of the user's hand by its arc contour, thereby increasing the contact area between the user and the notch 3231 when holding it, dispersing hand pressure, and improving the comfort of handling operations; in addition, the notch 3231 is integrally formed with the first swing arm 323, which can simplify the structure of the self-moving device 10, reduce its manufacturing cost, and avoid the problem of interference between the self-moving device 10 and external environmental components caused by adding a grip handle.

[0132] When a user needs to place the self-moving device 10 on a window, the user can grip the self-moving device 10 by holding the notch 3231, which reduces the difficulty of gripping and avoids collisions between the self-moving device 10 and the window frame or other structures caused by the grip. When the user needs to retrieve the self-moving device 10 after use, the notch 3231 can be adjusted according to the user's hand posture, making it easier and less strenuous for the user to remove the self-moving device 10 from the window.

[0133] In addition, the self-moving device 10 can achieve the limiting cooperation of the first body 11 and the second body 12 through the limiting structure 2, and realize the storage of the movable connecting piece 3 through the receiving groove 1201. This can effectively reduce the possibility of interference or collision with structures such as window sills and walls during the handling process such as placement and recycling of the self-moving device 10, and further improve the ease of use and smoothness of handling of the device.

[0134] The first unit 11 and the second unit 12 can achieve a limiting fit through the limiting structure 2. The limiting structure 2 can be as follows: Figure 7 The mating structure of the slot 211 and plug 221 shown can also be a structure that achieves mating through a magnetic structure or the like.

[0135] Please see Figure 7 , Figure 8 and Figure 9 The first connector 21 includes a slot 211 with an opening 212 facing the working plane, and the second connector 22 includes a plug 221 that engages with the slot 211, with the free end of the plug 221 pointing away from the working plane. Alternatively, the first connector 21 can be adjusted to include a plug structure, and the second connector 22 can include a corresponding slot structure, as needed.

[0136] The plug 221 can be inserted into the slot 211 through the opening 212, so that the first body 11 and the second body 12 are limited and engaged in a direction perpendicular to the working plane.

[0137] It should be noted that the slot 211 can be attached to the first body 11 by snap-fit ​​or adhesive, or it can be integrally formed with the outer shell of the first body 11. Similarly, the plug 221 can be attached to the second body 12 by snap-fit ​​or adhesive, or it can be integrally formed with the outer shell of the second body 12.

[0138] Please see Figure 8 The inner wall of the slot 211 includes a first guide surface 2111 and a first abutment surface 2112, wherein the first abutment surface 2112 is located at the bottom of the slot 211, and one end of the first guide surface 2111 is inclinedly connected to one side of the first abutment surface 2112. Along the direction away from the first abutment surface 2112, the opening gradually increases to form a space between the first abutment surface 2112 and the first guide surface 2111 for accommodating the second connector 22 (plug 221).

[0139] Please see Figure 9 The outer wall of the plug 221 includes a connected second guide surface 2211 and a second abutment surface 2212. The second abutment surface 2212 is located at the top of the plug 221. The first guide surface 2111 cooperates with the second guide surface 2211 to guide the slot 211 and the plug 221 to be positioned and engaged by insertion.

[0140] The first contact surface 2112 and the second contact surface 2212 are inclined to the same side so as to better guide the plug 221 through the second contact surface 2212 and the first contact surface 2112 into the slot 211.

[0141] It should be noted that when the self-moving device 10 is in a non-activated state and the first body 11 and the second body 12 are in a limiting engagement, the first abutting surface 2112 and the second abutting surface 2212 are positioned opposite each other. They can remain in contact, abut, or have a certain gap. Similarly, the first guide surface 2111 and the second guide surface 2211 can remain in contact or maintain a certain distance. When the self-moving device 10 is in an activated state, and the first body 11 is adsorbed onto the working surface by the first suction cup 41, and the second body 12 is adsorbed onto the working surface by the second suction cup 42, the first body 11 and the second body 12 are in a limiting engagement. At this time, the first abutting surface 2112 abuts against the second abutting surface 2212, and there is a certain distance between the first guide surface 2111 and the second guide surface 2211. When the self-moving device 10 is in the obstacle-crossing state and the movable connector 3 switches from the retracted state to the extended state, with the movement of the movable connector 3, the movable connector 3 can drive the first body 11 to move a certain distance in the horizontal and vertical directions. During this process, the gap between the cooperating first guide surface 2111 and the second guide surface 2211 gradually decreases until the gap is minimal (it can be zero or greater than zero). Then the movable connector 3 continues to extend, the inner wall of the slot 211 separates from the outer wall of the plug 221, the two are released from their limits, the first body 11 can be released from its limit relative to the second body 12 and cross the obstacle under the drive of the movable connector 3.

[0142] Figure 10 This is a partial structural diagram of the self-moving device 10 provided in an embodiment of this application in a self-moving state. Please refer to... Figure 10 The aforementioned slot 211 is provided on the surface of the protrusion 111, and correspondingly, the plug 221 (not shown in the figure) for cooperating with the slot 211 is provided on the surface of the relief portion 121.

[0143] Please see Figure 10 The pressing protrusion 112 and the protruding part 111 are spaced apart, and the corresponding surface of the second body 12 is recessed with a pressing mating groove 122 that cooperates with the pressing protrusion 112. When the first body 11 and the second body 12 are in a limiting fit, the lower surface of the pressing protrusion 112 can abut against the upper surface of the pressing mating groove 122.

[0144] This structure helps to transmit the driving force generated on the second body 12 to the first body 11 through the pressing groove 122 and the pressing protrusion 112, thereby realizing the synchronous movement of the first body 11 and the second body 12.

[0145] Figures 11A-11G This is a schematic diagram of an obstacle-crossing scenario for the self-moving device 10 provided in an embodiment of this application.

[0146] The following is combined with Figures 11A-11GThe obstacle-crossing process of the self-moving device 10 provided in the embodiments of this application will be described in detail.

[0147] An obstacle B is set on the working plane A. The obstacle B can be a strip structure parallel to the working plane A.

[0148] When the self-moving device 10 moves along the working plane A to a position adjacent to obstacle B, the self-moving device 10 performs an obstacle-crossing action and crosses obstacle B. This obstacle-crossing action includes driving the first body 11 and the second body 12 to cross obstacle B in sequence.

[0149] First, the first body 11 is positioned close to obstacle B relative to the second body 12. Then, the movable connector 3 is switched from a retracted state to an extended state. The first suction cup 41 releases negative pressure, causing the first body 11 to detach from the working plane A. Driven by the movable connector 3, it is released from its restraints with the second body 12 and can move away from the working plane A. The second body 12 remains attached to the working plane A. The rotating component 32 in the movable connector 3 rotates and lifts the first body 11 to a height sufficient to pass over the obstacle B. Please refer to [link to relevant documentation]. Figure 11A The second swing arm 324 is perpendicular to the working plane A, the first swing arm 323 is parallel to the working plane A, and the first body 11 is suspended relative to the working plane A and higher than the obstacle B. Of course, Figure 11A The state shown is only one possible state of the movable connector 3 in the extended state, and is not intended to limit the movable connector 3 to necessarily having this state.

[0150] Subsequently, the rotating component 31 is activated and drives the first body 11 to rotate 180 degrees around the axis of the rotating component 31. Please refer to [link / reference]. Figure 11B Then, the rotating assembly 32 continues to rotate until the first suction cup 41 of the first body 11 contacts and adheres to the working plane A located on the other side of the obstacle B. At this time, the first body 11 is located at the first target position A1. Subsequently, the second suction cup 42 is controlled to release the negative pressure, and the second body 12, driven by the rotating assembly 32, detaches from the working plane A and rises towards the side away from the working plane A until its height is higher than that of the obstacle B. Please refer to [link to relevant documentation]. Figure 11C Subsequently, the rotating component 31 is activated and drives the rotating assembly 32 to rotate 180 degrees around the axis of the rotating component 31. (See also...) Figure 11D At this time, the second machine body 12 also crosses the obstacle B and moves to the adjacent working plane A located on the other side of the obstacle B.

[0151] Then, the rotating assembly 32 continues to rotate until the second suction cup 42 of the second body 12 contacts and adheres to the working plane A located on the other side of the obstacle B. Please refer to Figure 11EAt this time, the second unit 12 is located at the second target position A2. It should be noted that although both the first unit 11 and the second unit 12 have passed the obstacle B, the first unit 11 and the second unit 12 are in a separate state and have failed to achieve a limit-locking cooperation.

[0152] Finally, the first suction cup 41 releases the negative pressure, and the first body 11, driven by the rotating assembly 32, detaches from the working plane A and rises a certain height towards the side away from the working plane A. Please refer to [link / reference needed]. Figure 11F At this point, the distance between the first body 11 and the second body 12 decreases; continue to control the rotation assembly 32 to rotate the second swing arm 324 towards the receiving groove 1201, and the first swing arm 323 towards the side closer to the second swing arm 324, until the movable connecting member 3 is in the retracted state. Please refer to [link / reference]. Figure 11G At this time, the first suction cup 41 of the first body 11 can contact the working plane A and maintain adhesion and adsorption. The first body 11 and the second body 12 achieve limiting cooperation through the limiting structure 2, and the self-moving device 10 returns to the state before performing the obstacle crossing action.

[0153] When the self-moving device 10 encounters the next obstacle B, the above process can be repeated.

[0154] In some embodiments, the self-moving device 10 further includes a control unit 7 electrically connected to the active connector 3, the control unit 7 being configured to generate an obstacle crossing command in response to a received obstacle crossing signal and to control the active connector 3 to perform an obstacle crossing action.

[0155] Please see Figure 12 , Figure 12 This is a schematic diagram showing the connection between the control unit 7 and the active connector 3 in the self-moving device 10 provided in this application embodiment.

[0156] In some embodiments, the control unit 7 is electrically connected to at least one of the moving drive 6, the cleaning component 5, and the adsorption fixing component 4.

[0157] It is understood that the self-moving device 10 provided in this application embodiment includes a host 1 and a movable connector 3. The host 1 includes a first body 11 and a second body 12 that can be limited and engaged by a limiting structure 2. The movable connector 3 can connect the first body 11 and the second body 12 and drive them to separate by extending, so that the self-moving device 10 switches from a self-moving state to an obstacle-crossing state. In the obstacle-crossing state, the self-moving device 10 can control the first body 11 and the second body 12 to cross the obstacle B in sequence, thereby effectively reducing the difficulty of obstacle crossing for the self-moving device 10, improving its obstacle-crossing ability, and achieving the purpose of reducing manual intervention and improving the user experience. In addition, this design can also make the self-moving device 10 in the self-moving state have better overall integrity and help to reduce the size of the self-moving device 10.

[0158] Based on the same concept, this application also provides a self-mobile system 100, including a base station 20 and the self-mobile device 10 described above. Please refer to [link to relevant documentation]. Figure 13 .

[0159] Specifically, base station 20 is used to dock self-moving equipment 10.

[0160] Figure 13 The structure of base station 20 shown is for illustration only and does not necessarily mean that base station 20 has the structure shown in the figure.

[0161] The aforementioned self-moving device 10 can overcome obstacles using the following obstacle-crossing methods.

[0162] The obstacle-crossing method includes controlling the movable connector 3 in the self-moving device 10 to perform an obstacle-crossing action when it encounters an obstacle B to be crossed while moving along the working plane A. The obstacle-crossing action includes separating the first body 11 and the second body 12, and driving the first body 11 and the second body 12 to cross the obstacle B in sequence.

[0163] In some embodiments, the mobile device 10 performs an obstacle-crossing action in response to a received obstacle-crossing signal.

[0164] Specifically, in response to the received obstacle-crossing signal, an obstacle-crossing command is generated. The self-moving device 10 is used to control the active connector 3 to perform the obstacle-crossing action according to the obstacle-crossing command.

[0165] Figure 14 This is a flowchart illustrating the obstacle-crossing method of the self-moving device 10 provided in an embodiment of this application.

[0166] Please see Figure 14 The steps of separating the first body 11 and the second body 12, and driving the first body 11 and the second body 12 to sequentially cross obstacle B include:

[0167] Step S1: Control the movable connector 3 to switch from the retracted state to the extended state, drive the first body 11 and the second body 12 to separate, so that the first body 11 crosses the obstacle B and moves to the first target position A1;

[0168] Step S2: Control the extension of the movable connector 3 to drive the second body 12 across the obstacle B and move to the second target position A2;

[0169] Step S3: Control the movable connector 3 to switch from the extended state to the retracted state, and drive the first body 11 and the second body 12 to engage in a limiting fit.

[0170] Through the above steps, the first body 11 and the second body 12 can cross the obstacle B in sequence, and achieve limit engagement again after crossing the obstacle B.

[0171] When the first body 11 of the self-moving device 10 moves to the first target position A1, step S2 is executed; when the second body of the self-moving device 10 moves to the second target position A2, step S3 is executed.

[0172] It should be noted that the first body 11 of the self-moving device 10 can rotate relative to the movable connecting member 3 about the first axis (i.e. the axis of the rotating member 31), and the first axis is perpendicular to the working plane A.

[0173] Specifically, step S1 includes:

[0174] Step S11: Control the movable connector 3 to switch from the retracted state to the extended state, so that the first body 11 moves a first distance along the first direction and a second distance along the second direction. The first direction is perpendicular to the working plane A, and the second direction is parallel to the working plane A.

[0175] Step S12: Drive the first body 11 to rotate around the first axis by a first preset angle;

[0176] Step S13: After the first body 11 rotates around the first axis by a first preset angle, drive the first body 11 to move in the opposite direction to the first target position A1.

[0177] Please refer to the above process. Figure 11A , Figure 11B and Figure 11C .

[0178] In step S11, along the direction perpendicular to the working plane A, the first distance is greater than the height of the obstacle B, to ensure that the height of the first body 11 is higher than the height of the obstacle B; along the direction parallel to the working plane A, the second distance is greater than the distance between the first body 11 and the side of the obstacle B away from the first body 11, to ensure that the first body 11 can pass over the obstacle B, and can smoothly cross the obstacle B and move to the first target position A1 in subsequent steps S12 and S13.

[0179] Specifically, step S2 includes:

[0180] Step S21: Control the extension of the movable connector 3 so that the second body 12 moves a third distance along the first direction and a fourth distance along the second direction.

[0181] Step S22: Drive the movable connector 3 to rotate around the first axis by a second preset angle;

[0182] Step S23: After the movable connector 3 rotates around the first axis by a second preset angle, the second body 12 is driven to move in the opposite direction to the first direction to the second target position A2.

[0183] Please refer to the above process. Figure 11C , Figure 11D and Figure 11E .

[0184] In step S21, along the direction perpendicular to the working plane A, the third distance is greater than the height of the obstacle B, so as to ensure that the height of the second body 12 is higher than the height of the obstacle B, thereby enabling the second body 12 to rotate and pass over the obstacle B in step S22.

[0185] It should be noted that when the rotation directions of "rotating around the first axis" in steps S12 and S22 are the same, the sum of the first preset angle and the second preset angle can be set to 360 degrees; when the rotation directions are opposite, the first preset angle and the second preset angle can be set to be the same size. This limitation ensures that the second body 12 obtained in step S22 is located behind the first body 11 in the direction of travel.

[0186] The second unit 12, located at the second target position A2, is disposed adjacent to the first unit 11, located at the first target position A1. At this time, the first unit 11 and the second unit 12 are in a separated state. Please refer to [link / reference]. Figure 11E .

[0187] To achieve the limiting engagement of the first unit 11 and the second unit 12, step S3 needs to be executed. Step S3 includes:

[0188] Step S31: Control the extension of the movable connector 3 so that the first body 11 moves a fifth distance along the first direction and a sixth distance along the second direction;

[0189] Step S32: Control the retraction of the movable connector 3 so that the first body 11 and the second body 12 are matched by the limiting structure 2.

[0190] It should be noted that when the first body 11 and the second base need to achieve a limiting fit through the first connector 21 and the second connector 22, in step S31, the fifth distance along the direction perpendicular to the working plane A is greater than or equal to the thickness of the second body 12. At this time, the sixth distance is equal to the distance between the first target position A1 and the second target position A2.

[0191] The aforementioned size limitation ensures that the first body 11 can be inserted from top to bottom relative to the second body 12 and engage with the second body 12.

[0192] Of course, when the first body 11 and the second body 12 are engaged by a magnetic attraction structure, the above-mentioned size limitation is not required. It is only necessary to ensure that the first body 11 is slightly higher than the second body 12 and moves towards the side closer to the second body 12 until the two are engaged by magnetic attraction.

[0193] The relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding physical device, and will not be repeated here.

[0194] Based on the same concept, this application also provides an obstacle-crossing device for a self-moving device. The self-moving device includes a main unit and a movable connector. The main unit includes a first body and a second body that are limited and engaged by a limiting member and a limiting structure. The movable connector connects the first body and the second body. The obstacle-crossing device includes:

[0195] The generation module is used to generate obstacle crossing instructions in response to the received obstacle crossing signal;

[0196] The execution module is used to control the active connector to perform obstacle-crossing operations according to the obstacle-crossing command. The obstacle-crossing operations include: separating the first body and the second body, and driving the first body and the second body to cross the obstacle in sequence.

[0197] From the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0198] It should be understood that the apparatuses and processes disclosed in the several embodiments provided in this application can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of modules or units is only a logical functional division. In actual implementation, there may be other division methods, such as multiple units or components being combined or integrated into another device. In addition, some features may be omitted or not performed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0199] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units. That is, it can be located in one place or distributed in multiple different locations. Depending on the actual needs, some or all of the units can be selected to achieve the purpose of this solution.

[0200] It should be noted that all or part of the above embodiments provided in this application (e.g., part or all of any feature) can be arbitrarily combined or combined with each other.

[0201] The descriptions of the various embodiments above tend to emphasize the differences between them. Similarities or commonalities can be referenced interchangeably, and for the sake of brevity, they will not be repeated here. The above descriptions are merely preferred embodiments of this application and are not intended to limit the application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A self-moving device, characterized in that, include: The host is capable of moving along the working plane. The host includes a first body and a second body, which can be connected in the direction of travel of the host through a limiting structure. A movable connector connects the first body and the second body; In the self-moving state, the movable connector is in a retracted state, and the first body and the second body are connected by the limiting structure; in the obstacle-crossing state, the movable connector is in an extended state, and the first body and the second body are separated in the direction of travel.

2. The self-moving device according to claim 1, characterized in that, The first body is located in front of the second body in the direction of travel, and the first body and the second body, connected by the limiting structure, are limited and engaged in the direction of travel.

3. The self-moving device according to claim 2, characterized in that, The movable connector includes: A rotating component, one end of which is rotatably connected to the first machine body about a first axis, the first axis being perpendicular to the working plane; A rotating assembly, one end of which is rotatably connected to the other end of the rotating component about a second axis, and the other end of which is rotatably connected to the second body about a third axis; The second axis is parallel to the working plane and perpendicular to the direction of travel, and the third axis is parallel to the second axis.

4. The self-moving device according to claim 3, characterized in that, The rotating assembly includes: A first swing arm, one end of which is rotatably connected to the other end of the rotating component about the second axis; The second swing arm has one end rotatably connected to the other end of the first swing arm about a fourth axis, and the other end of the second swing arm is rotatably connected to the second body about a third axis. The fourth axis is parallel to the third axis.

5. The self-moving device according to claim 4, characterized in that, When the self-moving device is in the self-moving state, the first swing arm is at least partially higher than the upper surface of the host.

6. The self-moving device according to claim 4, characterized in that, The second body has a recessed receiving groove, and when the self-moving device is in the self-moving state, at least a portion of the rotating component is received in the receiving groove.

7. The self-moving device according to claim 6, characterized in that, The end of the second swing arm that is connected to the second body is located in the receiving groove.

8. The self-moving device according to claim 6, characterized in that, The length of the first swing arm is greater than the length of the second swing arm.

9. The self-moving device according to any one of claims 4-8, characterized in that, The portion of the first swing arm above the upper surface of the host has a notch for gripping on the side facing the host. The notch is located in the middle of the first swing arm along its length.

10. The self-moving device according to any one of claims 2-9, characterized in that, The limiting structure includes: A first connector is disposed on the first body; The second connector is disposed on the second body and can be limited and engaged with the first connector.

11. The self-moving device according to claim 10, characterized in that, The first connector includes one of a slot and a plug that fit together, and the second connector includes the other. The slot has an opening, and the plug is inserted into the slot through the opening. The first body and the second body are inserted and engaged in a direction perpendicular to the working plane.

12. The self-moving device according to claim 11, characterized in that, The slot includes a first guide surface and a first abutment surface. The first abutment surface is located at the bottom of the slot. The first guide surface is inclinedly connected to one side of the first abutment surface. The opening increases in the direction away from the first abutment surface. The outer wall of the plug includes a connected second guide surface and a second abutment surface. The second abutment surface is located at the top of the plug. The second guide surface is inclinedly connected to the second abutment surface. The size of the plug increases in the direction away from the second abutment surface. In the state of the first body and the second body limiting and cooperating, the first guide surface cooperates with the second guide surface, and the first abutment surface abuts against the second abutment surface.

13. The self-moving device according to claim 10, characterized in that, The first body has a protruding part on one side for connecting with the second body, and the second body has a relief part that cooperates with the protruding part.

14. The self-moving device according to claim 13, characterized in that, The first connector is disposed on the surface of the protrusion, and the second connector is disposed on the surface of the clearance portion.

15. The self-moving device according to claim 13, characterized in that, The first body is further provided with a pressing protrusion on the side facing the second body, and the pressing protrusion is used to abut against a portion of the surface of the second body facing away from the working plane.

16. The self-moving device according to claim 15, characterized in that, Along a direction parallel to the working plane, the pressing protrusion and the protruding part are spaced apart.

17. The self-moving device according to any one of claims 2-16, characterized in that, The self-moving device further includes a first suction cup disposed on the side of the first body facing the working plane, and a second suction cup disposed on the side of the second body facing the working plane.

18. The self-moving device according to claim 17, characterized in that, In the unadsorbed state, the bottom surface height of the first suction cup in the free state is higher than that of the second suction cup in the free state.

19. The self-moving device according to claim 17, characterized in that, The self-moving device further includes a cleaning component and a moving drive component. The cleaning component is disposed on the first body, and the moving drive component is disposed on the first body and / or the second body.

20. The self-moving device according to claim 19, characterized in that, In the direction of travel, the cleaning component is located in front of the first suction cup.

21. The self-moving device according to any one of claims 1-20, characterized in that, The self-moving device also includes a control unit electrically connected to the movable connector, the control unit being configured to generate an obstacle-crossing command in response to a received obstacle-crossing signal and control the movable connector to perform an obstacle-crossing action.

22. A self-moving system, characterized in that, It includes a base station and an independent mobile device according to any one of claims 1-21, wherein the base station is used to dock the independent mobile device.

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