Self-moving device and self-moving device system

Abstract

The present application provides a self-moving device and a self-moving device system. The self-moving device comprises a device body, a driving assembly, and a first electrode assembly. The driving assembly comprises a first driving member and a second driving member; the first driving member and the second driving member are respectively arranged on two opposite sides of the device body; the first driving member and the device body define a first space; and the second driving member and the device body define a second space. The first electrode assembly comprises a first electrode member and a second electrode member; the first electrode member is disposed on the device body and exposed in the first space; and the second electrode member is disposed on the device body and exposed in the second space.

Description

Self-moving devices and self-moving device systems

[0001] Cross-reference to related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 202421758787.3, filed on July 22, 2024, entitled "Self-Moving Device and Self-Moving Device System," and Chinese Patent Application No. 202410984872.X, filed on July 22, 2024, entitled "Self-Moving Device and Self-Moving Device System," the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of robotics technology, specifically to a self-moving device and a self-moving device system. Background Technology

[0004] With technological advancements, self-moving devices such as lawnmowers are becoming increasingly widespread. These self-moving devices typically include an electrode assembly. This electrode assembly is used to charge a battery assembly within the self-moving device, which provides the electrical energy required for the operation of various components. However, in related technologies, the electrode assembly of the self-moving device is easily damaged by impacts during operation. Summary of the Invention

[0005] In a first aspect, this application provides a self-moving device, the self-moving device comprising:

[0006] Equipment body;

[0007] A driving assembly, comprising a first driving member and a second driving member, wherein the first driving member and the second driving member are respectively disposed on opposite sides of the device body, the first driving member and the device body defining a first space, and the second driving member and the device body defining a second space; and

[0008] A first electrode assembly, comprising a first electrode element and a second electrode element, wherein the first electrode element is disposed on the device body and exposed in the first space, and the second electrode element is disposed on the device body and exposed in the second space.

[0009] Secondly, embodiments of this application provide a self-moving device system, the self-moving device system comprising:

[0010] The self-moving device as described in the first aspect; and

[0011] The device base station has a second electrode assembly for electrically connecting to the first electrode assembly to charge the self-moving device.

[0012] In summary, the self-moving device provided in this application has a first electrode component disposed on the device body and exposed in the first space, and a second electrode component disposed on the device body and exposed in the second space. When the self-moving device is charging at the device base station, the safety risk of misconnection between the first electrode component and the second electrode component of the self-moving device and the second electrode assembly of the device base station is low. Furthermore, it facilitates the electrical connection of the first and second electrode components with the third and fourth electrode components in the device base station, enabling the device base station to charge the self-moving device. On the other hand, the first driving component and the device body can protect the first electrode component, reducing the probability of it being hit by external objects, or even preventing it from being hit. Correspondingly, the second driving component and the device body can protect the second electrode component, reducing the probability of it being hit by external objects, or even preventing it from being hit. Moreover, the first electrode component is close to the first driving component, so when the self-moving device rotates, the distance between the first and second electrode components and the rotation center is small, i.e., the rotation radius is small, further reducing the probability of the first and second electrode components being hit by external objects, or even preventing it from being hit. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the implementation will be briefly introduced below. Obviously, the drawings described below are some implementations of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0014] Figure 1 is a schematic diagram of a self-moving device system provided in an embodiment of this application;

[0015] Figure 2 is a schematic diagram of the structure of the device base station in the self-moving device system in Figure 1;

[0016] Figure 3 is a schematic diagram of the structure of the self-moving device in the self-moving device system in Figure 1;

[0017] Figure 4 is a three-dimensional exploded view of the self-moving device shown in Figure 3;

[0018] Figure 5 is a circuit block diagram of the self-moving device system shown in Figure 1;

[0019] Figure 6 is a schematic diagram showing the details of the self-moving device shown in Figure 3 according to one embodiment;

[0020] Figure 7 is a schematic diagram showing the details of the self-moving device shown in Figure 3 according to another embodiment;

[0021] Figure 8 is a schematic diagram showing the details of the self-moving device shown in Figure 3 according to another embodiment;

[0022] Figure 9 is a schematic diagram showing the details of the self-moving device shown in Figure 7 in yet another embodiment;

[0023] Figure 10 is a schematic diagram showing the detailed identification of the self-moving device shown in Figure 9;

[0024] Figure 11 is a schematic diagram showing the details of the mobile device shown in Figure 10 from another perspective;

[0025] Figure 12 is a schematic diagram showing the details of the self-moving device shown in Figure 3 in another embodiment;

[0026] Figure 13 is a schematic diagram of the self-moving device rotating in place as shown in Figure 12;

[0027] Figure 14 is a schematic diagram showing the details of the self-moving device shown in Figure 3 in yet another embodiment;

[0028] Figure 15 is a schematic diagram showing the dimensions of some components of a self-moving device provided in an embodiment of this application;

[0029] Figure 16 is a schematic diagram showing the detailed identification of a self-moving device provided in another embodiment of this application;

[0030] Figure 17 is a schematic diagram of a device base station in one embodiment;

[0031] Figure 18 is a three-dimensional exploded view of part of the structure of the self-moving device shown in Figure 3;

[0032] Figure 19 is an enlarged schematic diagram of point I in Figure 18;

[0033] Figure 20 is a schematic diagram of the structure of the first electrode in Figure 18;

[0034] Figure 21 is a three-dimensional exploded view of part of the structure of the self-moving device shown in Figure 3;

[0035] Figure 22 is an enlarged schematic diagram of point II in Figure 21;

[0036] Figure 23 is a schematic diagram of the structure of the first electrode in Figure 21. Detailed Implementation

[0037] The technical solution of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the embodiments described in this application are only a part of the embodiments, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without creative effort are within the protection scope of this application.

[0038] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment to other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0039] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a particular order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, an assembly or device comprising one or more components is not limited to the one or more components listed, but may optionally also include one or more components not listed but inherent to the exemplified product, or one or more components that it should have based on the described function.

[0040] Please refer to Figures 1, 2, 3, 4, and 5 together. Figure 1 is a schematic diagram of a self-moving device system provided in one embodiment of this application; Figure 2 is a structural schematic diagram of the device base station in the self-moving device system of Figure 1; Figure 3 is a structural schematic diagram of the self-moving device in the self-moving device system of Figure 1; Figure 4 is a three-dimensional exploded view of the self-moving device shown in Figure 3; and Figure 5 is a circuit block diagram of the self-moving device system shown in Figure 1. When the self-moving device 2 needs to be charged, it can be charged through the device base station 7. The self-moving device 2 includes a device body 100, a first electrode assembly 300, and a battery assembly 500. Generally, the device base station 7 includes a power line 720, a charging body 710, and a second electrode assembly 730. The power line 720 is used to connect an external power source 8. The device base station 7 is used to charge the self-moving device 2. The power source 8 can be, but is not limited to, mains power or a power supply assembly, etc. When the device base station 7 is used to charge the self-moving device 2, the second electrode assembly 730 of the device base station 7 is electrically connected to the first electrode assembly 300 of the self-moving device 2. The power source 8 can charge the battery assembly 500 of the self-moving device 2 through the charging path formed by the power line 720 of the device base station 7, the first electrode assembly 300 of the device base station 7, and the second electrode assembly 730 of the self-moving device 2.

[0041] Specifically, the first electrode assembly 300 of the self-moving device 2 includes a first electrode 310 and a second electrode 320. Both the first electrode 310 and the second electrode 320 are electrically connected to the battery assembly 500. Correspondingly, the second electrode assembly 730 of the self-moving device 2 includes a third electrode 731 and a fourth electrode 732. When the device base station 7 is used to charge the self-moving device 2, the third electrode 731 is used to abut and be electrically connected to the first electrode 310 in the device base station 7, and the fourth electrode 732 is used to abut and be electrically connected to the second electrode 320 in the device base station 7.

[0042] It is understood that the above description is only a description of one implementation of the self-moving device 2 when it is charged through the device base station 7, and it should not be construed as a limitation on the self-moving device 2 provided in the embodiments of this application. The self-moving device 2 provided in the embodiments of this application will be described in detail below.

[0043] In this embodiment, the self-moving device 2 includes a device body 100, a first driving member 210, and a first electrode assembly 300. The driving assembly 200 includes a first driving member 210 and a second driving member 220. The first driving member 210 and the second driving member 220 are respectively disposed on opposite sides of the device body 100, and the first driving member 210 and the device body 100 define a first space 210a. The second driving member 220 and the device body 100 define a second space 220a. The first electrode assembly 300 includes a first electrode 310 and a second electrode 320, wherein the first electrode 310 is disposed on the device body 100 and exposed in the first space 210a, and the second electrode 320 is disposed on the device body 100 and exposed in the second space 220a. The first electrode assembly 300 includes a first electrode 310 and a second electrode 320, wherein the first electrode 310 is disposed on the device body 100 and exposed in the first space 210a, and the second electrode 320 is disposed on the device body 100 and exposed in the second space 220a.

[0044] The self-moving device 2 can be, but is not limited to, a movable device such as a lawnmower. The device body 100 is the main structure of the self-moving device 2. For example, the device body 100 may include a housing, a circuit board, and functional parts for implementing the functions of the self-moving device 2. For instance, when the self-moving device 2 is a lawnmower, the functional parts may be lawnmower blades. Correspondingly, the device base station 7 is also called a charging station. The device base station 7 is a base station for charging the self-moving device 2. For example, the device base station 7 may be fixed to the ground or movable relative to the ground.

[0045] The drive assembly 200 is connected to the device body 100 and is used to drive the device body 100 to move. For example, the drive assembly 200 can be, but is not limited to, a wheel assembly. The drive assembly 200 includes a first drive member 210 and a second drive member 220, for example, both the first drive member 210 and the second drive member 220 are wheels.

[0046] The first driving member 210 and the second driving member 220 are respectively disposed on opposite sides of the device body 100. From the perspective of the figure, the first driving member 210 is disposed on one side of the device body 100, and the second driving member 220 is disposed on the other side of the device body 100. The other side of the device body 100 is opposite to the first side of the device body 100.

[0047] The first driving member 210 is connected to the device body 100 and is located on one side of the device body 100. Therefore, the first driving member 210 and the device body 100 define a first space 210a. The second driving member 220 is connected to the device body 100 and is located on the other side of the device body 100. Therefore, the second driving member 220 and the device body 100 define a second space 220a.

[0048] The first electrode 310 is disposed on the device body 100 and exposed in the first space 210a, and the second electrode 320 is disposed on the device body 100 and exposed in the second space 220a. Therefore, the first electrode 310 and the second electrode 320 are disposed on opposite sides of the device body 100. As a result, the distance between the first electrode 310 and the second electrode 320 is relatively large, which can reduce the safety risk of misconnection between the first electrode 310 and the second electrode 320 of the self-moving device 2 and the second electrode assembly 730 of the device base station 7 when the self-moving device 2 is charging the device base station 7.

[0049] The first electrode 310 is disposed on the device body 100 and exposed in the first space 210a defined by the first driving member 210 and the device body 100. The second electrode 320 is disposed on the device body 100 and exposed in the second space 220a defined by the second driving member 220 and the device body 100. On the one hand, this facilitates the electrical connection of the first electrode 310 and the second electrode 320 with the third electrode 731 and the fourth electrode 732 in the device base station 7, so that the device base station 7 can charge the self-moving device 2. On the other hand, the first driving member 210 and the device body 100 can protect the first electrode 310, reducing the probability of the first electrode 310 being hit by external objects, or even avoiding it. To prevent the first electrode 310 from being collided with external objects, the second drive member 220 and the device body 100 can protect the second electrode 320, reducing the probability of the second electrode 320 being collided with external objects, or even preventing the second electrode 320 from being collided with external objects. On the other hand, the first electrode 310 is close to the first drive member 210. When the self-moving device 2 rotates, the first electrode 310 and the second electrode 320 are relatively close to the rotation center, that is, the rotation radius is small, further reducing the probability of the first electrode 310 and the second electrode 320 being collided with external objects, or even preventing the first electrode 310 and the second electrode 320 from being collided with external objects.

[0050] In summary, the self-moving device 2 provided in this application has a first electrode 310 disposed on the device body 100 and exposed in the first space 210a, and a second electrode 320 disposed on the device body 100 and exposed in the second space 220a. When the self-moving device 2 is charging at the device base station 7, the safety risk of misconnection between the first electrode 310 and the second electrode 320 of the self-moving device 2 and the second electrode assembly 730 of the device base station 7 is low. Furthermore, it facilitates the electrical connection of the first electrode 310 and the second electrode 320 with the third electrode 731 and the fourth electrode 732 in the device base station 7, so that the device base station 7 can charge the self-moving device 2. On the other hand, the first driving member 210 and the device body 100 can protect the first electrode 310, reducing the probability of the first electrode 310 being collided with external objects, or even preventing the first electrode 310 from being collided with external objects. Correspondingly, the second driving member 220 and the device body 100 can further protect the second electrode 320. The first electrode 310 is close to the first drive unit 210. When the self-moving device 2 rotates, the distance between the first electrode 310 and the second electrode 320 and the rotation center is small, that is, the rotation radius is small, which further reduces the probability of the first electrode 310 and the second electrode 320 being collided with external objects, or even avoids the first electrode 310 and the second electrode 320 being collided with external objects.

[0051] Please further refer to Figure 6, which is a schematic diagram showing the detailed identification of the self-moving device shown in Figure 3 according to one embodiment. The device body 100 has a rear end face 100a, a first side face 100b, and a second side face 100c. The first side face 100b is bent and connected to the rear end face 100a, and faces the first driving member 210. The second side face 100c is bent and connected to the rear end face 100a, and is disposed opposite to the first side face 100b, and faces the second driving member 220. The first electrode 310 is exposed on the first side face 100b, and the second electrode 320 is exposed on the second side face 100c.

[0052] In this embodiment, the rear end face 100a of the device body 100 is the end face located at the tail end of the device body 100. The tail end of the device body 100 refers to the end of the device body 100 where the first driving member 210 and the second driving member 220 are disposed. The first side face 100b is bent and connected to the rear end face 100a and faces the first driving member 210; therefore, the first side face 100b is the side of the device body 100 facing the first driving member 210. Correspondingly, the second side face 100c is the side of the device body 100 facing the second driving member 220.

[0053] The first electrode 310 is exposed on the first side 100b. On the one hand, this facilitates the electrical connection between the first electrode 310 and the third electrode 731 of the device base station 7, so that the device base station 7 can charge the self-moving device 2 through the first electrode 310. On the other hand, the first driving member 210 and the device body 100 can further protect the first electrode 310, reducing the probability of the first electrode 310 being hit by external objects, or even preventing the first electrode 310 from being hit by external objects. Furthermore, the first electrode 310 is close to the first driving member 210, so when the self-moving device 2 rotates, the rotation radius of the first electrode 310 is small, further reducing the probability of the first electrode 310 being hit by external objects, or even preventing the first electrode 310 from being hit by external objects.

[0054] Accordingly, the second electrode 320 is exposed on the second side 100c. On the one hand, this facilitates the electrical connection between the second electrode 320 and the fourth electrode 732 of the device base station 7, so that the device base station 7 can charge the self-moving device 2 through the second electrode 320. On the other hand, the second drive member 220 and the device body 100 can further protect the second electrode 320, reducing the probability of the second electrode 320 being hit by external objects, or even preventing the second electrode 320 from being hit by external objects. Furthermore, the second electrode 320 is close to the second drive member 220, so when the self-moving device 2 rotates, the rotation radius of the second electrode 320 is small, further reducing the probability of the second electrode 320 being hit by external objects, or even preventing the second electrode 320 from being hit by external objects.

[0055] Please further refer to Figure 7, which is a schematic diagram showing the detailed identification of the self-moving device shown in Figure 3 according to another embodiment. In this embodiment, the first electrode 310 and the second electrode 320 are symmetrical about the axis of symmetry L0. The first electrode 310 includes a first end 311 and a second end 312 disposed opposite to each other. The first end 311 is disposed adjacent to the rear end face 100a of the device body 100. The second end 312 is opposite to the rear end face 100a compared to the first end 311. The second end 312 is further away from the axis of symmetry L0 than the first end 311.

[0056] The first end 311 of the first electrode 310 is the end of the first electrode 310 adjacent to the rear end face 100a, and the second end 312 of the first electrode 310 is the end of the first electrode 310 away from the rear end face 100a. The second end 312 is further away from the axis of symmetry L0 than the first end 311. Specifically, the distance from the first end 311 to the axis of symmetry L0 is a first distance d1, and the distance from the second end 312 to the axis of symmetry L0 is a second distance d2, wherein the first distance d1 and the second distance d2 satisfy: d2 > d1.

[0057] Generally, when the self-moving device 2 enters the accommodating space 70a of the device base station 7 for charging, the first end 311 of the first electrode 310 enters the accommodating space 70a of the device base station 7 before the second end 312 of the first electrode 310. The second end 312 is farther away from the axis of symmetry L0 than the first end 311. In other words, the first end 311 is closer to the axis of symmetry L0 than the second end 312. Thus, the first end 311 of the first electrode 310 is more likely to abut against the corresponding electrode (specifically, the third electrode 731) in the device base station 7.

[0058] Furthermore, the first electrode 310 is inclined relative to the axis of symmetry L0, and the distance between the first electrode 310 and the axis of symmetry L0 gradually increases along the direction from the first end 311 to the second end 312.

[0059] The first electrode 310 is inclined relative to the axis of symmetry L0. Along the direction from the first end 311 to the second end 312, the distance between the first electrode 310 and the axis of symmetry L0 gradually increases. Therefore, when the mobile device 2 enters the accommodating space 70a of the device base station 7 for charging, the first end 311 of the first electrode 310 enters the accommodating space 70a of the device base station 7 before the second end 312 of the first electrode 310. This allows the first electrode 310 to make smoother contact with the corresponding electrode in the device base station 7 (specifically, the third electrode 731). In addition, it also makes the contact between the first electrode 310 and the corresponding electrode in the device base station 7 (specifically, the third electrode 731) more secure, thereby improving the charging reliability of the mobile device 2 by the device base station 7.

[0060] Accordingly, the second electrode 320 includes a third end 321 and a fourth end 322 disposed opposite to each other. The third end 321 is disposed adjacent to the rear end face 100a of the device body 100. The fourth end 322 is further away from the rear end face 100a than the third end 321, and in fact, the fourth end 322 is further away from the axis of symmetry L0 than the third end 321.

[0061] The third end 321 of the second electrode 320 is the end of the second electrode 320 adjacent to the rear end face 100a, and the fourth end 322 of the second electrode 320 is the end of the second electrode 320 away from the rear end face 100a of the device. The fourth end 322 is farther away from the axis of symmetry L0 than the third end 321. Specifically, the distance from the third end 321 to the axis of symmetry L0 is a third distance d3, and the distance from the fourth end 322 to the axis of symmetry L0 is a fourth distance d4, wherein the third distance d3 and the fourth distance d4 satisfy: d4 > d3.

[0062] Generally, when the mobile device 2 enters the accommodating space 70a of the device base station 7 for charging, the third end 321 of the second electrode 320 enters the accommodating space 70a of the device base station 7 before the fourth end 322 of the second electrode 320. The fourth end 322 is farther away from the axis of symmetry L0 than the third end 321; in other words, the third end 321 is closer to the axis of symmetry L0 than the fourth end 322. Thus, the third end 321 of the second electrode 320 can more easily abut against the corresponding electrode (specifically, the fourth electrode 732) in the device base station 7.

[0063] Furthermore, the second electrode 320 is inclined relative to the axis of symmetry L0, and the distance between the second electrode 320 and the axis of symmetry L0 gradually increases along the direction from the third end 321 to the fourth end 322.

[0064] The second electrode 320 is inclined relative to the axis of symmetry L0. In the direction from the third end 321 to the fourth end 322, the distance between the second electrode 320 and the axis of symmetry L0 gradually increases. Therefore, when the mobile device 2 enters the accommodating space 70a of the device base station 7 for charging, the third end 321 of the second electrode 320 enters the accommodating space 70a of the device base station 7 before the fourth end 322 of the second electrode 320. This allows the second electrode 320 to make smoother contact with the corresponding electrode in the device base station 7 (specifically, the fourth electrode 732). In addition, it also makes the contact between the second electrode 320 and the corresponding electrode in the device base station 7 (specifically, the fourth electrode 732) more secure, thereby improving the charging reliability of the mobile device 2 by the device base station 7.

[0065] Further, please refer to Figure 8, which is a schematic diagram showing the detailed identification of the self-moving device shown in Figure 3 according to another embodiment. The device body 100 includes a chassis 110 and an upper shell 120. The chassis 110 is used to support the first driving member 210 and the second driving member 220. The upper shell 120 is connected to the chassis 110. The upper shell 120 includes a top wall 121, a first side wall 122, and a second side wall 123. The first side wall 122 is bent and connected to the top wall 121, and the first side wall 122 has a first receiving groove 122a. The first receiving groove 122a is disposed adjacent to the rear end face 100a, and the first receiving groove 122a is used to receive the first electrode member 310. The second sidewall 123 is bent and connected to the top wall, and the second sidewall 123 is opposite to and spaced apart from the first sidewall 122. The second sidewall 123 has a second receiving groove 123a, which is located adjacent to the rear end face 100a. The second receiving groove 123a is used to receive the second electrode 320.

[0066] The chassis 110 of the device body 100 is the shell located at the bottom when the device body 100 is placed on the ground, and can also be referred to as the lower shell. The upper shell 120 of the device body 100 is the shell located at the top when the device body 100 is placed on the ground, and can also be referred to as the upper shell 120 body. The chassis 110 is used to support the first driving member 210 and the second driving member 220. In other words, the first driving member 210 and the second driving member 220 are disposed on the chassis 110 of the device body 100.

[0067] The top wall 121 is the wall located at the top of the upper shell 120, specifically, the wall of the upper shell 120 that faces away from the chassis 110. From the illustrated perspective, the first side wall 122 is the left side wall of the upper shell 120, and the second side wall 123 is the right side wall of the upper shell 120. The first side wall 122 has a first receiving groove 122a, which is located adjacent to the rear end face 100a. The first receiving groove 122a is used to receive the first electrode 310. Therefore, the first electrode 310 is relatively far from the ground supporting the self-moving device 2, reducing the risk of the first electrode 310 being damaged by ground objects or uneven ground, and even preventing the first electrode 310 from being damaged by ground objects or uneven ground.

[0068] Accordingly, the second sidewall 123 has a second receiving groove 123a, which is disposed adjacent to the rear end face 100a. The second receiving groove 123a is used to receive the second electrode 320. Therefore, the second electrode 320 is relatively far from the ground that carries the self-moving device 2, which can reduce the risk of the second electrode 320 being hit by ground objects or uneven ground, or even avoid the second electrode 320 being hit by ground objects or uneven ground.

[0069] The detailed structure of the first sidewall 122 will now be described in detail. Please refer to Figures 8 and 9 together. Figure 9 is a schematic diagram showing the details of the self-moving device shown in Figure 7 in yet another embodiment. The first sidewall 122 includes a first sub-sidewall 1221, a second sub-sidewall 1222, and a third sub-sidewall 1223. The first sub-sidewall 1221 has the first receiving groove 122a. The first sub-sidewall 1221, the second sub-sidewall 1222, and the third sub-sidewall 1223 are bent and connected in sequence to define the first space 210a with the first driving member 210.

[0070] Specifically, one end of the first sub-sidewall 1221 is connected to the rear end face 100a, and the other end of the first sub-sidewall 1221 is bent and connected to one end of the second sub-sidewall 1222. One end of the third sub-sidewall 1223 is bent and connected to the other end of the second sub-sidewall 1222, and the first sub-sidewall 1221 and the third sub-sidewall 1223 are located on opposite sides of the second sub-sidewall 1222. Thus, the first sub-sidewall 1221, the second sub-sidewall 1222, the third sub-sidewall 1223, and the first driving member 210 together define a relatively small open space at the second sub-sidewall 1222, and a relatively large open space 210a at the end of the first sub-sidewall 1221 facing away from the second sub-sidewall 1222. Because the open space at the end of the first sub-sidewall 1221 facing away from the second sub-sidewall 1222 is relatively large, when the self-moving device 2 is charged through the device base station 7, the first sub-sidewall 1221 of the self-moving device 2 enters the accommodating space 70a of the self-moving device 2 before the second sub-sidewall 1222, which facilitates the contact between the first electrode 310 and the corresponding electrode (in this case, the third electrode 731) of the device base station 7. Furthermore, because the open space at the second sub-sidewall 1222 is relatively small, the second sub-sidewall 1222 can protect the first electrode 310, reducing the probability of external objects penetrating the first space 210a through the second sub-sidewall 1222 and colliding with the first electrode 310, and may even prevent external objects from penetrating the first space 210a through the second sub-sidewall 1222 and colliding with the first electrode 310.

[0071] Furthermore, in one embodiment, the first electrode 310 and the second electrode 320 are positioned relatively high, and are not obstructed when viewed from the front of the self-moving device 2. However, since the first electrode 310 and the second electrode 320 are located at the rear of the device body 100, the risk of collision between the first electrode 310 and the second electrode 320 and external objects is reduced if external objects can pass through the front of the device body 100.

[0072] Furthermore, in one embodiment, an obstacle sensing module is provided at the front of the device body 100 (the portion facing away from the first electrode 320 and the second electrode 320). The obstacle sensing module is used to sense obstacles in front of the device body 100. When the obstacle sensing module senses an obstacle in front of the device body 100, the device body 100 avoids the obstacle. Therefore, obstacles that may collide with the first electrode 310 and the second electrode 320 originate from the sides and rear of the device body 100. As can be seen from the foregoing description of the structure of the device body 100, the positional arrangement of the first electrode 310, and the positional arrangement of the second electrode 320, collisions with the first electrode 310 and the second electrode 320 from obstacles originating from the sides and rear of the device body 100 can also be reduced.

[0073] Further, please refer to Figures 10 and 11. Figure 10 is a detailed schematic diagram of the self-moving device shown in Figure 9; Figure 11 is a detailed schematic diagram of the self-moving device shown in Figure 10 from another perspective. The first sub-sidewall 1221 is inclined relative to the axis of symmetry L0. The distance from the end of the first sub-sidewall 1221 away from the second sub-sidewall 1222 to the axis of symmetry L0 is a fifth distance d5. The distance from the end of the first sub-sidewall 1221 adjacent to the second sub-sidewall 1222 to the axis of symmetry L0 is a sixth distance d6. The fifth distance d5 and the sixth distance d6 satisfy: d5 < d6.

[0074] The first sub-sidewall 1221 is inclined relative to the axis of symmetry L0. The distance from the end of the first sub-sidewall 1221 away from the second sub-sidewall 1222 to the axis of symmetry L0 is a fifth distance d5. The distance from the end of the first sub-sidewall 1221 adjacent to the second sub-sidewall 1222 to the axis of symmetry L0 is a sixth distance d6. The fifth distance d5 and the sixth distance d6 satisfy: d5 < d6. In this way, the second end 312 of the first electrode 310 can be better ensured to be farther away from the axis of symmetry L0 than the first end 311, which facilitates the installation of the first electrode 310. Furthermore, it makes it easier for the first electrode 310 to abut against the corresponding electrode (specifically, the third electrode 731) in the device base station 7, thereby improving the charging reliability of the device base station 7 for the self-moving device 2. In addition, the open space formed at the end of the first sub-sidewall 1221 adjacent to the second sub-sidewall 1222 can be relatively small. The second sub-sidewall 1222 can protect the first electrode 310, reduce the probability of external objects penetrating into the first space 210a through the second sub-sidewall 1222 and colliding with the first electrode 310, and even prevent external objects from penetrating into the first space 210a through the second sub-sidewall 1222 and colliding with the first electrode 310.

[0075] Furthermore, along the direction from one end of the first sub-sidewall 1221 to the other end of the first sub-sidewall 1221: the distance between the first sub-sidewall 1221 and the axis of symmetry L0 gradually increases. Here, one end of the first sub-sidewall 1221 refers to the end of the first sub-sidewall 1221 that faces away from the second sub-sidewall 1222, and the other end of the first sub-sidewall 1221 is the end of the first sub-sidewall 1221 that is connected to the second sub-sidewall 1222.

[0076] Along the direction from one end of the first sub-sidewall 1221 to the other end of the first sub-sidewall 1221: the distance between the first sub-sidewall 1221 and the axis of symmetry L0 gradually increases, which can better ensure that in the direction from the first end 311 to the second end 312: the distance between the first electrode 310 and the axis of symmetry L0 gradually increases. When the self-mobile device 2 enters the accommodating space 70a of the device base station 7 for charging, when the first end 311 of the first electrode 310 enters the accommodating space 70a of the device base station 7 before the second end 312 of the first electrode 310, it can make the first electrode 310 and the corresponding electrode in the device base station 7 (specifically, the third electrode 731) more smoothly contact each other; in addition, it can also make the contact between the first electrode 310 and the corresponding electrode in the device base station 7 (specifically, the third electrode 731) more firm, thereby improving the charging reliability of the self-mobile device 2 by the device base station 7. In addition, the open space formed at the end of the first sub-sidewall 1221 adjacent to the second sub-sidewall 1222 can be relatively small. The second sub-sidewall 1222 can protect the first electrode 310, reduce the probability of external objects penetrating into the first space 210a through the second sub-sidewall 1222 and colliding with the first electrode 310, and even prevent external objects from penetrating into the first space 210a through the second sub-sidewall 1222 and colliding with the first electrode 310.

[0077] Further, please continue to refer to Figures 9, 10 and 11. The second sidewall 123 includes a fourth sub-sidewall 1231, a fifth sub-sidewall 1232 and a sixth sub-sidewall 1233. The fourth sub-sidewall 1231 has the second receiving groove 123a. The fourth sub-sidewall 1231, the fifth sub-sidewall 1232 and the sixth sub-sidewall 1233 are bent and connected in sequence to define the second space 220a with the second driving member 220.

[0078] Specifically, one end of the fourth sub-sidewall 1231 is connected to the rear end face 100a, and the other end of the fourth sub-sidewall 1231 is bent and connected to one end of the fifth sub-sidewall 1232. One end of the sixth sub-sidewall 1233 is bent and connected to the other end of the fifth sub-sidewall 1232, and the fourth sub-sidewall 1231 and the sixth sub-sidewall 1233 are located on opposite sides of the fifth sub-sidewall 1232. Thus, the fourth sub-sidewall 1231, the fifth sub-sidewall 1232, the sixth sub-sidewall 1233, and the second driving member 220 together define a second space 220a with a relatively small open space at the fifth sub-sidewall 1232 and a relatively large open space at the end of the fourth sub-sidewall 1231 opposite to the fifth sub-sidewall 1232. Because the open space at the end of the fourth sub-sidewall 1231 facing away from the fifth sub-sidewall 1232 is relatively large, when the self-moving device 2 is charged through the device base station 7, the fourth sub-sidewall 1231 of the self-moving device 2 enters the accommodating space 70a of the self-moving device 2 before the fifth sub-sidewall 1232, which facilitates the contact between the second electrode 320 and the corresponding electrode (in this case, the fourth electrode 732) of the device base station 7. Furthermore, because the open space at the fifth sub-sidewall 1232 is relatively small, the fifth sub-sidewall 1232 can protect the second electrode 320, reducing the probability of external objects penetrating the second space 220a through the fifth sub-sidewall 1232 and colliding with the second electrode 320, and may even prevent external objects from penetrating the second space 220a through the fifth sub-sidewall 1232 and colliding with the second electrode 320.

[0079] Further, referring to Figures 10 and 11, the fourth sub-sidewall 1231 is inclined relative to the axis of symmetry L0. The distance from the end of the fourth sub-sidewall 1231 away from the fifth sub-sidewall 1232 to the axis of symmetry L0 is the seventh distance d7. The distance from the end of the fourth sub-sidewall 1231 adjacent to the fifth sub-sidewall 1232 to the axis of symmetry L0 is the eighth distance d8. The seventh distance d7 and the eighth distance d8 satisfy: d7 < d8.

[0080] The fourth sub-sidewall 1231 is inclined relative to the axis of symmetry L0. The distance from the end of the fourth sub-sidewall 1231 away from the fifth sub-sidewall 1232 to the axis of symmetry L0 is a seventh distance d7. The distance from the end of the fourth sub-sidewall 1231 adjacent to the fifth sub-sidewall 1232 to the axis of symmetry L0 is an eighth distance d8. The seventh distance d7 and the eighth distance d8 satisfy: d7 < d8. In this way, the fourth end 322 of the second electrode 320 can be better ensured to be farther away from the axis of symmetry L0 than the third end 321, which facilitates the installation of the second electrode 320. Furthermore, it makes it easier for the second electrode 320 to abut against the corresponding electrode (specifically, the fourth electrode 732) in the device base station 7, thereby improving the charging reliability of the device base station 7 for the self-moving device 2. Furthermore, the open space formed at one end of the fourth sub-sidewall 1231 adjacent to the fifth sub-sidewall 1232 can be relatively small. The fifth sub-sidewall 1232 can protect the second electrode 320, reducing the probability that external objects will enter the second space 220a through the fifth sub-sidewall 1232 and collide with the second electrode 320. It can even prevent external objects from entering the second space 220a through the fifth sub-sidewall 1232 and colliding with the second electrode 320.

[0081] Furthermore, along the direction from one end of the fourth sub-sidewall 1231 to the other end of the fourth sub-sidewall 1231: the distance between the fourth sub-sidewall 1231 and the axis of symmetry L0 gradually increases. Here, one end of the fourth sub-sidewall 1231 refers to the end of the fourth sub-sidewall 1231 that faces away from the fifth sub-sidewall 1232, and the other end of the fourth sub-sidewall 1231 is the end of the fourth sub-sidewall 1231 that is connected to the fifth sub-sidewall 1232.

[0082] Along the direction from one end of the fourth sub-sidewall 1231 to the other end of the fourth sub-sidewall 1231: the distance between the fourth sub-sidewall 1231 and the axis of symmetry L0 gradually increases, which can better ensure that in the direction from the third end 321 to the fourth end 322: the distance between the second electrode 320 and the axis of symmetry L0 gradually increases. When the self-mobile device 2 enters the accommodating space 70a of the device base station 7 for charging, when the third end 321 of the second electrode 320 enters the accommodating space 70a of the device base station 7 before the fourth end 322 of the second electrode 320, it can make the second electrode 320 and the corresponding electrode in the device base station 7 (specifically, the fourth electrode 732) more smoothly contact each other; in addition, it can also make the contact between the second electrode 320 and the corresponding electrode in the device base station 7 (specifically, the fourth electrode 732) more firm, thereby improving the charging reliability of the self-mobile device 2 by the device base station 7. Furthermore, the open space formed at one end of the fourth sub-sidewall 1231 adjacent to the fifth sub-sidewall 1232 can be relatively small. The fifth sub-sidewall 1232 can protect the second electrode 320, reducing the probability that external objects will enter the second space 220a through the fifth sub-sidewall 1232 and collide with the second electrode 320. It can even prevent external objects from entering the second space 220a through the fifth sub-sidewall 1232 and colliding with the second electrode 320.

[0083] Please refer to Figures 12 and 13. Figure 12 is a schematic diagram showing the detailed identification of the self-moving device shown in Figure 3 according to another embodiment; Figure 13 is a schematic diagram of the self-moving device shown in Figure 12 rotating in place. In this embodiment, the first driving member 210 has a first traveling wheel 211 and a first driving shaft 212. The first driving shaft 212 is disposed on the device body 100 and is used to drive the first traveling wheel 211 to rotate, wherein the first electrode 310 is located above the first driving shaft 212. The second driving member 220 has a second traveling wheel 221 and a second driving shaft 222. The second driving shaft 222 is disposed on the device body 100 and is used to drive the second traveling wheel 221 to rotate, wherein the second electrode 320 is located above the second driving shaft 222.

[0084] In this embodiment, the first driving member 210 has a first traveling wheel 211 and a first driving shaft 212. The first driving shaft 212 is disposed on the device body 100 and is used to drive the first traveling wheel 211 to rotate. The first electrode member 310 is located above the first driving shaft 212. Therefore, when the self-moving device 2 rotates (for example, rotates in place), the first electrode member 310 rotates with the center O as the center and the rotation radius is R1. The rotation radius of the first traveling wheel 211 is R2, where R1 < R2. Therefore, the first electrode 310 has a small radius of rotation and a short rotation trajectory, which further reduces the probability of the first electrode 310 being collided with external objects. In addition, since the self-moving device 2 rotates at a consistent angle, the first electrode 310 has a low linear velocity of rotation, resulting in less kinetic energy generated by the collision and reducing the risk of damage to the first electrode 310. Furthermore, the first electrode 310 is relatively far from the ground supporting the self-moving device 2, which can reduce the risk of the first electrode 310 being damaged by ground objects or uneven ground, or even prevent the first electrode 310 from being damaged by ground objects or uneven ground.

[0085] In this embodiment, the second driving member 220 has a second traveling wheel 221 and a second driving shaft 222. The second driving shaft 222 is disposed on the device body 100 and is used to drive the second traveling wheel 221 to rotate. The second electrode 320 is located above the second driving shaft 222. Therefore, when the self-moving device 2 rotates, the rotation radius of the second electrode 320 is small and its rotation trajectory is short, further reducing the probability of the second electrode 320 being collided with external objects. Since the self-moving device 2 rotates at a consistent angle, the rotational linear velocity of the second electrode 320 is low, and the kinetic energy generated by the collision is small, reducing the risk of damage to the second electrode 320. In addition, the second electrode 320 is relatively far from the ground supporting the self-moving device 2, which can reduce the risk of the second electrode 320 being hit by ground objects or uneven ground, or even avoid the second electrode 320 being hit by ground objects or uneven ground.

[0086] Please refer to Figure 14, which is a detailed schematic diagram of the self-moving device shown in Figure 3 according to yet another embodiment. In this embodiment, the height H1 of the first electrode 310 from the ground supporting the first drive member 210 satisfies: H1 ≥ 5 cm, and the height of the first electrode 310 is not higher than the highest point of the tail of the device body 100. The height H2 of the second electrode 320 from the ground supporting the second drive member 220 satisfies: H2 ≥ 5 cm.

[0087] For example, the height H1 of the first electrode 310 from the ground supporting the first drive member 210 can be, but is not limited to, 5cm, 6cm, 7cm, 8cm, 9cm, or 10cm.

[0088] In this embodiment, the height H1 of the first electrode 310 from the ground supporting the first drive member 210 satisfies: H1 ≥ 5cm. This ensures that the first electrode 310 is relatively far from the ground supporting the self-moving device 2, reducing the risk of the first electrode 310 being damaged by ground objects or uneven ground, and even preventing the first electrode 310 from being damaged by ground objects or uneven ground. Furthermore, the height of the first electrode 310 is not higher than the highest point of the rear of the device body 100, further reducing the risk of the first electrode 310 being damaged by obstacles at higher elevations.

[0089] For example, the height H2 of the second electrode 320 from the ground supporting the second drive member 220 can be, but is not limited to, 5cm, 6cm, 7cm, 8cm, 9cm, or 10cm.

[0090] In this embodiment, the height H2 of the second electrode 320 from the ground supporting the second drive member 220 satisfies: H2 ≥ 5cm, and the height of the second electrode 320 is not higher than the highest point of the tail of the device body 100. The fact that the second electrode 320 is at a relatively high distance from the ground supporting the self-moving device 2 reduces the risk of the second electrode 320 being damaged by ground objects or uneven ground, and even prevents it from being damaged by such impacts. Furthermore, the fact that the height of the second electrode 320 is not higher than the highest point of the tail of the device body 100 reduces the risk of the second electrode 320 being damaged by obstacles at higher elevations.

[0091] Please refer to Figures 14 and 15 together. Figure 15 is a schematic diagram showing the dimensions of some components of the self-moving device provided in one embodiment of this application. In other embodiments, the height H3 of the first travel wheel 211 from the ground supporting the first drive member 210 satisfies: H3 ≥ H1. Correspondingly, the height H4 of the second travel wheel 221 from the ground supporting the second drive member 220 satisfies: H4 ≥ H2.

[0092] In one embodiment, an obstacle sensing module is provided at the front of the device body 100 (the portion facing away from the first electrode 320 and the second electrode 320). The obstacle sensing module is used to sense obstacles in front of the device body 100 or whether the obstacle is suspended in mid-air. When the self-moving device 2 turns, the obstacle sensing module cannot effectively identify suspended obstacles to the side of the self-moving device 2. Therefore, H3≥H1 can reduce or even avoid the risk of the first electrode 310 being damaged by a suspended obstacle located to the side of the self-moving device 2; correspondingly, H4≥H2 can reduce or even avoid the risk of the second electrode 320 being damaged by a suspended obstacle located to the side of the self-moving device 2.

[0093] Further, please refer to Figures 16 and 17. Figure 16 is a schematic diagram showing the details of a self-moving device provided in another embodiment of this application; Figure 17 is a schematic diagram of a device base station in one embodiment. In this embodiment, the self-moving device 2 further includes a first positioning component 400. The first positioning component 400 is used to cooperate with a second positioning component 740 of the device base station 7 to position the self-moving device 2 when the device base station 7 is charging. The first positioning component 400 is disposed corresponding to the rear end face 100a and is located above the battery assembly 500.

[0094] The self-moving device 2 also includes a first positioning component 400 which can be incorporated into the self-moving device 2 provided in any of the preceding embodiments. In the schematic diagram of this embodiment, the self-moving device 2 is illustrated by the first positioning component 400 being incorporated into the self-moving device 2 provided in the preceding embodiment, and should not be construed as a limitation on the self-moving device 2 provided in this application embodiment.

[0095] The first positioning component 400 is used to receive a positioning signal from the second positioning component 740 of the device base station 7, so as to locate the position of the self-moving device 2 relative to the automatic device base station 7. In one embodiment, the first positioning component 400 and the second positioning component 740 are both infrared positioning components, and the positioning signal is an infrared signal. For example, the first positioning component 400 is used to cooperate with the second positioning component 740 to determine whether the self-moving device 2 has moved into the receiving space of the device base station 7 and whether it has moved into position.

[0096] In this embodiment, the accommodating space 70a of the device base station 7 has a first subspace 70b and a second subspace 70c that are connected. The first subspace 70b has an opening 70e, and the second subspace 70c is located away from the opening 70e relative to the first subspace 70b. When the mobile device 2 enters the device base station 7, it enters the first subspace 70b through the opening 70e. When the device base station 7 charges the mobile device 2, the mobile device 2 is located within the first subspace 70b, and the second subspace 70c exists between the mobile device 2 and the charging body 710. In other words, when the device base station 7 charges the mobile device 2, the second subspace 70c exists between the mobile device 2 and the charging body 710, and the mobile device 2 is not completely attached to the charging body 710. In this way, when the device base station 7 charges the self-moving device 2, both the device base station 7 and the self-moving device 2 can dissipate heat from the second subspace 70c, thereby reducing or even avoiding damage to the device base station 7 and the self-moving device 2 caused by heat accumulation during charging. Furthermore, when the device base station 7 malfunctions, for example, if a component of the device base station 7 adjacent to the second subspace 70c catches fire, the device base station 7 is less likely to be damaged because it shares the second subspace 70c with the self-moving device 2.

[0097] Furthermore, the second positioning component 740 includes a plurality of infrared emitters. At least a portion of the plurality of infrared emitters are located within the second subspace 70c. When the self-moving device 2 is housed within the first subspace 70b of the accommodating space 70a, and the second electrode component 730 of the device base station 7 charges the first electrode component 300 of the self-moving device 2, the infrared emitters located in the second subspace 70c can be aligned with the first positioning component 400 of the self-moving device 2, and the infrared emitters can communicate with the first positioning component 400 of the self-moving device 2 at a preset frequency to provide timely feedback on the charging status of the self-moving device 2 by the device base station 7.

[0098] Furthermore, if the base station 7 malfunctions, for example, if some components of the base station 7 overheat and pose a fire risk, the first positioning component 400 receives a notification signal emitted by the second positioning component 740. The self-moving device 2 then leaves the base station 7 based on the notification signal to prevent it from burning. Additionally, when the self-moving device 2 leaves the base station 7, the base station 7 stops charging it, preventing further overheating and reducing the risk of fire due to overheating.

[0099] Further referring to Figure 4, in this embodiment, the device body 100 has a receiving cavity 100d, the opening of which is located on the rear end face 100a. The self-moving device 2 also includes a battery assembly 500 and a battery cover 600. The battery assembly 500 is disposed in the receiving cavity 100d and is electrically connected to the first electrode 310 and the second electrode 320. The battery cover 600 is used to seal the opening of the receiving cavity 100d. The first positioning component 400 is located above the battery cover 600.

[0100] The opening of the accommodating cavity 100d is located on the rear end face 100a, and the battery assembly 500 is disposed in the accommodating cavity 100d, thereby facilitating the installation and removal of the battery assembly 500. Furthermore, the battery assembly 500 is relatively close to the first electrode 310 and the second electrode 320, thereby facilitating the electrical connection between the battery assembly 500 and the first electrode 310 and the second electrode 320. The battery cover 600 seals the opening of the accommodating space 70a, thereby preventing external dust and moisture from easily entering the accommodating space 70a, and thus reducing the impact of external dust and moisture on the internal components of the self-moving device 2.

[0101] Furthermore, since the first positioning component 400 is located above the battery cover 600, it reduces the obstruction of the first positioning component 400's signal transmission or reception by objects on the ground when the self-moving device 2 is placed on the ground, ensuring the accuracy of communication between the first positioning component 400 and the second positioning component 740 of the device base station 7. In addition, in one embodiment, the end of the accommodating cavity 100d facing away from the opening is closer to the ground than the end of the accommodating cavity 100d closer to the opening, making it less likely for the battery assembly 500 to detach from the accommodating cavity 100d.

[0102] Referring to Figure 1, this application also provides a self-moving device system 1. The self-moving device system 1 includes a self-moving device 2 and a device base station 7. The device base station 7 has a second electrode assembly 730, which is electrically connected to the first electrode assembly 300 to charge the self-moving device 2. The self-moving device 2 can be any of the self-moving devices 2 described in the preceding embodiments; please refer to the preceding descriptions for details, which will not be repeated here.

[0103] In summary, in the self-moving device system 1 provided by this application, the self-moving device 2 has a first electrode 310 disposed on the device body 100 and exposed in the first space 210a, and a second electrode 320 disposed on the device body 100 and exposed in the second space 220a. When the self-moving device 2 is charging at the device base station 7, the safety risk of misconnection between the first electrode 310 and the second electrode 320 of the self-moving device 2 and the second electrode assembly 730 of the device base station 7 is low. Furthermore, it facilitates the electrical connection of the first electrode 310 and the second electrode 320 with the third electrode 731 and the fourth electrode 732 in the device base station 7, so that the device base station 7 can charge the self-moving device 2. On the other hand, the first driving member 210 and the device body 100 can protect the first electrode 310, reducing the probability of the first electrode 310 being collided with external objects, or even preventing the first electrode 310 from being collided with external objects. Correspondingly, the second driving member 220 and the device body 100 can further protect the second electrode 320. The first electrode 310 is close to the first drive unit 210. When the self-moving device 2 rotates, the distance between the first electrode 310 and the second electrode 320 and the rotation center is small, that is, the rotation radius is small, which further reduces the probability of the first electrode 310 and the second electrode 320 being collided with external objects, or even avoids the first electrode 310 and the second electrode 320 being collided with external objects.

[0104] In this embodiment, the self-moving device 2 includes a device body 100, a battery assembly 500, and a first electrode assembly 300. The device body 100 has a front end portion 130 and a rear end portion 140 along the travel direction D0. The battery assembly 500 is disposed on the device body 100. The first electrode assembly 300 includes a first electrode element 310 and a second electrode element 320. Both the first electrode element 310 and the second electrode element 320 are electrically connected to the battery assembly 500, and both the first electrode element 310 and the second electrode element 320 are disposed on the rear end portion 140 of the device body 100, and the first electrode element 310 and the second electrode element 320 are respectively disposed on opposite sides of the rear end portion 140.

[0105] The self-moving device 2 can be, but is not limited to, a movable device such as a lawnmower. The device body 100 is the main structure of the self-moving device 2. For example, the device body 100 may include a housing, a circuit board, and functional parts for implementing the functions of the self-moving device 2. For instance, when the self-moving device 2 is a lawnmower, the functional parts may be lawnmower blades. Correspondingly, the device base station 7 is also called a charging station. The device base station 7 is a base station for charging the self-moving device 2. For example, the device base station 7 may be fixed to the ground or movable relative to the ground.

[0106] The term "front end 130" of the device body 100 along the direction of travel D0 refers to the end of the device body 100 located at the front when it is traveling. The term "rear end 140" of the device body 100 along the direction of travel D0 refers to the end of the device body 100 located at the rear when it is traveling.

[0107] The first electrode 310 and the second electrode 320 are electrically connected to the battery assembly 500. This connection can be, but is not limited to, direct or indirect electrical connection. When the first electrode 310 and the second electrode 320 are indirectly connected to the battery assembly 500, the first electrode 310 can be electrically connected to the battery assembly 500 via a cable or circuit board. When the second electrode 320 is indirectly connected to the battery assembly 500, the second electrode 320 can be electrically connected to the battery assembly 500 via a cable or circuit board.

[0108] In one embodiment, one of the first electrode 310 and the second electrode 320 is electrically connected to the positive terminal of the battery assembly 500, and the other of the first electrode 310 and the second electrode 320 is electrically connected to the negative terminal of the battery assembly 500. For example, the first electrode 310 is electrically connected to the positive terminal of the battery assembly 500, and the second electrode 320 is electrically connected to the negative terminal of the battery assembly 500. When the first electrode 310 is electrically connected to the positive terminal of the battery assembly 500, the first electrode 310 can be directly or indirectly connected to the positive terminal of the battery assembly 500. Correspondingly, when the second electrode 320 is electrically connected to the negative terminal of the battery assembly 500, the second electrode 320 can be directly or indirectly connected to the negative terminal of the battery assembly 500.

[0109] When the self-moving device 2 travels along the direction of travel D0, the probability of an external object in front of the self-moving device 2 colliding with the front end 130 of the self-moving device 2 is greater than the probability of it colliding with the rear end 140 of the self-moving device 2. Therefore, since both the first electrode 310 and the second electrode 320 are located at the rear end 140 of the device body 100, the risk of an external object damaging the first electrode 310 and the second electrode 320 located at the rear end 140 is relatively small when the self-moving device 2 travels along the direction of travel D0. In addition, the first electrode 310 and the second electrode 320 are respectively located on opposite sides of the rear end 140, so the distance between the first electrode 310 and the second electrode 320 is relatively large, which can reduce the safety risk of misconnection between the first electrode 310 and the second electrode 320 of the self-moving device 2 and the second electrode assembly 730 of the device base station 7 when the self-moving device 2 is charging at the device base station 7.

[0110] Please further refer to Figure 6, which is a schematic diagram showing the detailed identification of the self-moving device shown in Figure 3 according to one embodiment. The rear end portion 140 of the device body 100 has a rear end surface 100a, a first side surface 100b, and a second side surface 100c. The rear end surface 100a is the surface of the rear end portion 140 that faces away from the front end portion 130. The first side surface 100b is bent and connected to the rear end surface 100a, and the first electrode 310 is exposed on the first side surface 100b. The second side surface 100c is bent and connected to the rear end surface 100a, and the second side surface 100c is disposed opposite to the first side surface 100b, and the second electrode 320 is exposed on the second side surface 100c.

[0111] In the schematic diagram of this embodiment, the first side 100b is the left-side side of the rear end portion 140 of the device body 100. Correspondingly, the second side 100c is the right-side side of the rear end portion 140 of the device body 100.

[0112] The first electrode 310 is exposed on the first side 100b. This facilitates electrical connection between the first electrode 310 and the third electrode 731 of the device base station 7, allowing the device base station 7 to charge the self-moving device 2 via the first electrode 310. Furthermore, when the self-moving device 2 is reversing in the direction opposite to the travel direction D0, if an external object located in front of the rear end 140 impacts the rear end 140, the probability of impacting the rear end face 100a of the rear end 140 is greater than the probability of impacting the first side 100b of the rear end 140. Therefore, by exposing the first electrode 310 on the first side 100b, the risk of the first electrode 310 being impacted is further reduced when the self-moving device 1 is in motion.

[0113] Accordingly, the second electrode 320 is exposed on the second side 100c. This facilitates electrical connection between the second electrode 320 and the fourth electrode 732 of the device base station 7, allowing the device base station 7 to charge the self-moving device 2 via the second electrode 320. Furthermore, when the self-moving device 2 reverses in the direction opposite to the travel direction D0, if an external object located in front of the rear end 140 impacts the rear end 140, the probability of impacting the rear end face 100a of the rear end 140 is greater than the probability of impacting the second side 100c of the rear end 140. Therefore, by exposing the second electrode 320 on the second side 100c, the risk of the second electrode 320 being impacted during travel is further reduced.

[0114] Furthermore, the second side 100c is disposed opposite to the first side 100b, the first electrode 310 is exposed on the first side 100b, and the second electrode 320 is exposed on the second side 100c. Therefore, the distance between the first electrode 310 and the second electrode 320 is large, which can reduce the safety risk of misconnection between the first electrode 310 and the second electrode 320 of the self-moving device 2 and the second electrode assembly 730 of the device base station 7 when the self-moving device 2 is charging the device base station 7.

[0115] Further, referring to Figures 1 to 5, in this embodiment, the self-moving device 2 further includes a driving component 200. The driving component 200 includes a first driving element 210 and a second driving element 220.

[0116] The first driving member 210 is disposed on one side of the first side surface 100b and spaced apart from the first side surface 100b. The first driving member 210 faces the first electrode member 310 and is spaced apart from the first electrode member 310. The second driving member 220 is disposed on one side of the second side surface 100c and spaced apart from the second side surface 100c. The second driving member 220 faces the second electrode member 320 and is spaced apart from the second electrode member 320.

[0117] The first driving member 210 is disposed on one side of the first side 100b, specifically, the first driving member 210 is disposed on the side of the first side 100b opposite to the second side 100c. The second driving member 220 is disposed on one side of the second side 100c, specifically, the first driving member 210 is disposed on the side of the second side 100c opposite to the first side 100b.

[0118] The drive assembly 200 is connected to the device body 100 and is used to drive the device body 100 to move. For example, the drive assembly 200 can be, but is not limited to, a wheel assembly. The drive assembly 200 includes a first drive member 210 and a second drive member 220, for example, both the first drive member 210 and the second drive member 220 are wheels.

[0119] The first driving member 210 is disposed on one side of the first side 100b and spaced apart from the first side 100b. The first driving member 210 faces the first electrode 310 and is spaced apart from the first electrode 310. Therefore, when the self-moving device 2 is moving, the first driving member 210 can also protect the first electrode 310. The first driving member 210 will block the impact of external objects on the first electrode 310, further reducing the risk of the first electrode 310 being impacted.

[0120] Accordingly, the second driving member 220 is disposed on one side of the second side 100c and spaced apart from the second side 100c. The second driving member 220 faces the second electrode 320 and is spaced apart from the second electrode 320. Therefore, when the self-moving device 2 is moving, the second driving member 220 can protect the second electrode 320. The second driving member 220 will block the impact of external objects on the second electrode 320, further reducing the risk of the second electrode 320 being impacted.

[0121] Furthermore, since the first driving member 210 faces the first electrode member 310 and is spaced apart from the first electrode member 310, the first electrode member 310 is relatively close to the first driving member 210. When the self-moving device 2 rotates, the first electrode member 310 is relatively close to the rotation center, that is, the rotation radius is relatively small, which further reduces the probability of the first electrode member 310 being collided with external objects, or even avoids the first electrode member 310 being collided with external objects.

[0122] Correspondingly, since the second driving member 220 faces the second electrode member 320 and is spaced apart from the second electrode member 320, the second electrode member 320 is closer to the second driving member 220. When the self-moving device 2 rotates, the second electrode member 320 is closer to the rotation center, that is, the rotation radius is smaller, which can further reduce the probability of the second electrode member 320 being hit by external objects, or even avoid the second electrode member 320 being hit by external objects.

[0123] Please further refer to Figure 7, which is a schematic diagram showing the detailed identification of the self-moving device shown in Figure 3 according to another embodiment. In this embodiment, the first electrode 310 and the second electrode 320 are symmetrical about the axis of symmetry L0. The first electrode 310 includes a first end 311 and a second end 312 disposed opposite to each other. The first end 311 is disposed adjacent to the rear end face 100a of the device body 100. The second end 312 is opposite to the rear end face 100a compared to the first end 311. The second end 312 is further away from the axis of symmetry L0 than the first end 311.

[0124] The first end 311 of the first electrode 310 is the end of the first electrode 310 adjacent to the rear end face 100a, and the second end 312 of the first electrode 310 is the end of the first electrode 310 away from the rear end face 100a. The second end 312 is further away from the axis of symmetry L0 than the first end 311. Specifically, the distance from the first end 311 to the axis of symmetry L0 is a first distance d1, and the distance from the second end 312 to the axis of symmetry L0 is a second distance d2, wherein the first distance d1 and the second distance d2 satisfy: d2 > d1.

[0125] Generally, when the self-moving device 2 enters the accommodating space 70a of the device base station 7 for charging, the first end 311 of the first electrode 310 enters the accommodating space 70a of the device base station 7 before the second end 312 of the first electrode 310. The second end 312 is farther away from the axis of symmetry L0 than the first end 311. In other words, the first end 311 is closer to the axis of symmetry L0 than the second end 312. Thus, the first end 311 of the first electrode 310 is more likely to abut against the corresponding electrode (specifically, the third electrode 731) in the device base station 7.

[0126] Furthermore, the first electrode 310 is inclined relative to the axis of symmetry L0, and the distance between the first electrode 310 and the axis of symmetry L0 gradually increases along the direction from the first end 311 to the second end 312.

[0127] The first electrode 310 is inclined relative to the axis of symmetry L0. Along the direction from the first end 311 to the second end 312, the distance between the first electrode 310 and the axis of symmetry L0 gradually increases. Therefore, when the mobile device 2 enters the accommodating space 70a of the device base station 7 for charging, the first end 311 of the first electrode 310 enters the accommodating space 70a of the device base station 7 before the second end 312 of the first electrode 310. This allows the first electrode 310 to make smoother contact with the corresponding electrode in the device base station 7 (specifically, the third electrode 731). In addition, it also makes the contact between the first electrode 310 and the corresponding electrode in the device base station 7 (specifically, the third electrode 731) more secure, thereby improving the charging reliability of the mobile device 2 by the device base station 7.

[0128] Accordingly, the second electrode 320 includes a third end 321 and a fourth end 322 disposed opposite to each other. The third end 321 is disposed adjacent to the rear end face 100a of the device body 100. The fourth end 322 is further away from the rear end face 100a than the third end 321, and in fact, the fourth end 322 is further away from the axis of symmetry L0 than the third end 321.

[0129] The third end 321 of the second electrode 320 is the end of the second electrode 320 adjacent to the rear end face 100a, and the fourth end 322 of the second electrode 320 is the end of the second electrode 320 away from the rear end face 100a of the device. The fourth end 322 is farther away from the axis of symmetry L0 than the third end 321. Specifically, the distance from the third end 321 to the axis of symmetry L0 is a third distance d3, and the distance from the fourth end 322 to the axis of symmetry L0 is a fourth distance d4, wherein the third distance d3 and the fourth distance d4 satisfy: d4 > d3.

[0130] Generally, when the mobile device 2 enters the accommodating space 70a of the device base station 7 for charging, the third end 321 of the second electrode 320 enters the accommodating space 70a of the device base station 7 before the fourth end 322 of the second electrode 320. The fourth end 322 is farther away from the axis of symmetry L0 than the third end 321; in other words, the third end 321 is closer to the axis of symmetry L0 than the fourth end 322. Thus, the third end 321 of the second electrode 320 can more easily abut against the corresponding electrode (specifically, the fourth electrode 732) in the device base station 7.

[0131] Furthermore, the second electrode 320 is inclined relative to the axis of symmetry L0, and the distance between the second electrode 320 and the axis of symmetry L0 gradually increases along the direction from the third end 321 to the fourth end 322.

[0132] The second electrode 320 is inclined relative to the axis of symmetry L0. In the direction from the third end 321 to the fourth end 322, the distance between the second electrode 320 and the axis of symmetry L0 gradually increases. Therefore, when the mobile device 2 enters the accommodating space 70a of the device base station 7 for charging, the third end 321 of the second electrode 320 enters the accommodating space 70a of the device base station 7 before the fourth end 322 of the second electrode 320. This allows the second electrode 320 to make smoother contact with the corresponding electrode in the device base station 7 (specifically, the fourth electrode 732). In addition, it also makes the contact between the second electrode 320 and the corresponding electrode in the device base station 7 (specifically, the fourth electrode 732) more secure, thereby improving the charging reliability of the mobile device 2 by the device base station 7.

[0133] Further, please refer to Figure 8, which is a schematic diagram showing the detailed identification of the self-moving device shown in Figure 3 according to another embodiment. The device body 100 includes a chassis 110 and an upper shell 120. The chassis 110 is used to support the first driving member 210 and the second driving member 220. The upper shell 120 is connected to the chassis 110. The upper shell 120 includes a top wall 121, a first side wall 122, and a second side wall 123. The first side wall 122 is bent and connected to the top wall 121, and the first side wall 122 has a first receiving groove 122a. The first receiving groove 122a is disposed adjacent to the rear end face 100a, and the first receiving groove 122a is used to receive the first electrode member 310. The second sidewall 123 is bent and connected to the top wall, and the second sidewall 123 is opposite to and spaced apart from the first sidewall 122. The second sidewall 123 has a second receiving groove 123a, which is located adjacent to the rear end face 100a. The second receiving groove 123a is used to receive the second electrode 320.

[0134] The chassis 110 of the device body 100 is the shell located at the bottom when the device body 100 is placed on the ground, and can also be referred to as the lower shell. The upper shell 120 of the device body 100 is the shell located at the top when the device body 100 is placed on the ground, and can also be referred to as the upper shell 120 body. The chassis 110 is used to support the first driving member 210 and the second driving member 220. In other words, the first driving member 210 and the second driving member 220 are disposed on the chassis 110 of the device body 100.

[0135] The top wall 121 is the wall located at the top of the upper shell 120, specifically, the wall of the upper shell 120 that faces away from the chassis 110. From the illustrated perspective, the first side wall 122 is the left side wall of the upper shell 120, and the second side wall 123 is the right side wall of the upper shell 120. The first side wall 122 has a first receiving groove 122a, which is located adjacent to the rear end face 100a. The first receiving groove 122a is used to receive the first electrode 310. Therefore, the first electrode 310 is relatively far from the ground supporting the self-moving device 2, reducing the risk of the first electrode 310 being damaged by ground objects or uneven ground, and even preventing the first electrode 310 from being damaged by ground objects or uneven ground.

[0136] Accordingly, the second sidewall 123 has a second receiving groove 123a, which is disposed adjacent to the rear end face 100a. The second receiving groove 123a is used to receive the second electrode 320. Therefore, the second electrode 320 is relatively far from the ground that carries the self-moving device 2, which can reduce the risk of the second electrode 320 being hit by ground objects or uneven ground, or even avoid the second electrode 320 being hit by ground objects or uneven ground.

[0137] The detailed structure of the first sidewall 122 will now be described in detail. Please refer to Figures 8 and 9 together. Figure 9 is a schematic diagram showing the detailed identification of the self-moving device shown in Figure 7 in yet another embodiment. The first sidewall 122 includes a first sub-sidewall 1221, a second sub-sidewall 1222, and a third sub-sidewall 1223. The first sub-sidewall 1221 has the first receiving groove 122a. The first sub-sidewall 1221, the second sub-sidewall 1222, and the third sub-sidewall 1223 are sequentially bent and connected, wherein the first sub-sidewall 1221 is opposite to and spaced apart from the first driving member 210.

[0138] Specifically, one end of the first sub-sidewall 1221 is connected to the rear end face 100a, and the other end of the first sub-sidewall 1221 is bent and connected to one end of the second sub-sidewall 1222. One end of the third sub-sidewall 1223 is bent and connected to the other end of the second sub-sidewall 1222, and the first sub-sidewall 1221 and the third sub-sidewall 1223 are located on opposite sides of the second sub-sidewall 1222. The end of the first sub-sidewall 1221 away from the second sub-sidewall 1222 is farther from the first driving member 210, while the end of the first sub-sidewall 1221 closer to the second sub-sidewall 1222 is farther from the first driving member 210. In other words, the distance between the end of the first sub-sidewall 1221 away from the second sub-sidewall 1222 and the first driving member 210 is greater than the distance between the end of the first sub-sidewall 1221 closer to the second sub-sidewall 1222 and the first driving member 210.

[0139] Because the distance between the end of the first sub-sidewall 1221 facing away from the second sub-sidewall 1222 and the first driving member 210 is relatively large, when the self-moving device 2 is charged through the device base station 7, the first sub-sidewall 1221 of the self-moving device 2 enters the accommodating space 70a of the self-moving device 2 before the second sub-sidewall 1222, which facilitates the contact between the first electrode 310 and the electrode corresponding to the device base station 7 (in this case, the third electrode 731). Furthermore, because the distance between the end of the first sub-sidewall 1221 near the second sub-sidewall 1222 and the first driving member 210 is small, the second sub-sidewall 1222 can protect the first electrode 310, reducing the probability of external objects colliding with the first electrode 310 via the second sub-sidewall 1222, and may even prevent external objects from colliding with the first electrode 310 via the second sub-sidewall 1222.

[0140] Further, please refer to Figures 10 and 11. Figure 10 is a detailed schematic diagram of the self-moving device shown in Figure 9; Figure 11 is a detailed schematic diagram of the self-moving device shown in Figure 10 from another perspective. The first sub-sidewall 1221 is inclined relative to the axis of symmetry L0. The distance from the end of the first sub-sidewall 1221 away from the second sub-sidewall 1222 to the axis of symmetry L0 is a fifth distance d5. The distance from the end of the first sub-sidewall 1221 adjacent to the second sub-sidewall 1222 to the axis of symmetry L0 is a sixth distance d6. The fifth distance d5 and the sixth distance d6 satisfy: d5 < d6.

[0141] The first sub-sidewall 1221 is inclined relative to the axis of symmetry L0. The distance from the end of the first sub-sidewall 1221 away from the second sub-sidewall 1222 to the axis of symmetry L0 is a fifth distance d5. The distance from the end of the first sub-sidewall 1221 adjacent to the second sub-sidewall 1222 to the axis of symmetry L0 is a sixth distance d6. The fifth distance d5 and the sixth distance d6 satisfy: d5 < d6. In this way, the second end 312 of the first electrode 310 can be better ensured to be farther away from the axis of symmetry L0 than the first end 311, which facilitates the installation of the first electrode 310. Furthermore, it makes it easier for the first electrode 310 to abut against the corresponding electrode (specifically, the third electrode 731) in the device base station 7, thereby improving the charging reliability of the device base station 7 for the self-moving device 2. In addition, the open space formed at the end of the first sub-sidewall 1221 adjacent to the second sub-sidewall 1222 can be relatively small. The second sub-sidewall 1222 can protect the first electrode 310, reduce the probability of external objects colliding with the first electrode 310 through the second sub-sidewall 1222, and even prevent external objects from colliding with the first electrode 310 through the second sub-sidewall 1222.

[0142] Furthermore, along the direction from one end of the first sub-sidewall 1221 to the other end of the first sub-sidewall 1221: the distance between the first sub-sidewall 1221 and the axis of symmetry L0 gradually increases. Here, one end of the first sub-sidewall 1221 refers to the end of the first sub-sidewall 1221 that faces away from the second sub-sidewall 1222, and the other end of the first sub-sidewall 1221 is the end of the first sub-sidewall 1221 that is connected to the second sub-sidewall 1222.

[0143] Along the direction from one end of the first sub-sidewall 1221 to the other end of the first sub-sidewall 1221: the distance between the first sub-sidewall 1221 and the axis of symmetry L0 gradually increases, which can better ensure that in the direction from the first end 311 to the second end 312: the distance between the first electrode 310 and the axis of symmetry L0 gradually increases. When the self-mobile device 2 enters the accommodating space 70a of the device base station 7 for charging, when the first end 311 of the first electrode 310 enters the accommodating space 70a of the device base station 7 before the second end 312 of the first electrode 310, it can make the first electrode 310 and the corresponding electrode in the device base station 7 (specifically, the third electrode 731) more smoothly contact each other; in addition, it can also make the contact between the first electrode 310 and the corresponding electrode in the device base station 7 (specifically, the third electrode 731) more firm, thereby improving the charging reliability of the self-mobile device 2 by the device base station 7. In addition, the open space formed at the end of the first sub-sidewall 1221 adjacent to the second sub-sidewall 1222 can be relatively small. The second sub-sidewall 1222 can protect the first electrode 310, reduce the probability of external objects colliding with the first electrode 310 through the second sub-sidewall 1222, and even prevent external objects from colliding with the first electrode 310 through the second sub-sidewall 1222.

[0144] Further, please continue to refer to Figures 9, 10 and 11. The second sidewall 123 includes a fourth sub-sidewall 1231, a fifth sub-sidewall 1232 and a sixth sub-sidewall 1233. The fourth sub-sidewall 1231 has the second receiving groove 123a. The fourth sub-sidewall 1231, the fifth sub-sidewall 1232 and the sixth sub-sidewall 1233 are bent and connected in sequence. The fourth sub-sidewall 1231 is opposite to and spaced apart from the second driving member 220.

[0145] Specifically, one end of the fourth sub-sidewall 1231 is connected to the rear end face 100a, and the other end of the fourth sub-sidewall 1231 is bent and connected to one end of the fifth sub-sidewall 1232. One end of the sixth sub-sidewall 1233 is bent and connected to the other end of the fifth sub-sidewall 1232, and the fourth sub-sidewall 1231 and the sixth sub-sidewall 1233 are located on opposite sides of the fifth sub-sidewall 1232. The distance between the end of the fourth sub-sidewall 1231 away from the fifth sub-sidewall 1232 and the second driving member 220 is relatively large, while the distance between the end of the fourth sub-sidewall 1231 closer to the fifth sub-sidewall 1232 and the second driving member 220 is relatively small. In other words, the distance between the end of the fourth sub-sidewall 1231 away from the fifth sub-sidewall 1232 and the second driving member 220 is greater than the distance between the end of the fourth sub-sidewall 1231 near the fifth sub-sidewall 1232 and the second driving member 220.

[0146] Because the distance between the end of the fourth sub-sidewall 1231 facing away from the fifth sub-sidewall 1232 and the second driving member 220 is relatively large, when the self-moving device 2 is charged through the device base station 7, the fourth sub-sidewall 1231 of the self-moving device 2 enters the accommodating space 70a of the self-moving device 2 before the fifth sub-sidewall 1232, which facilitates the contact between the second electrode member 320 and the electrode member (in this case, the fourth electrode member 732) corresponding to the device base station 7. Furthermore, because the distance between the end of the fourth sub-sidewall 1231 near the fifth sub-sidewall 1232 and the second driving member 220 is relatively small, the fifth sub-sidewall 1232 can protect the second electrode member 320, reducing the probability of external objects colliding with the second electrode member 320 via the fifth sub-sidewall 1232, and may even prevent external objects from colliding with the second electrode member 320 via the fifth sub-sidewall 1232.

[0147] Further, referring to Figures 10 and 11, the fourth sub-sidewall 1231 is inclined relative to the axis of symmetry L0. The distance from the end of the fourth sub-sidewall 1231 away from the fifth sub-sidewall 1232 to the axis of symmetry L0 is the seventh distance d7. The distance from the end of the fourth sub-sidewall 1231 adjacent to the fifth sub-sidewall 1232 to the axis of symmetry L0 is the eighth distance d8. The seventh distance d7 and the eighth distance d8 satisfy: d7 < d8.

[0148] The fourth sub-sidewall 1231 is inclined relative to the axis of symmetry L0. The distance from the end of the fourth sub-sidewall 1231 away from the fifth sub-sidewall 1232 to the axis of symmetry L0 is a seventh distance d7. The distance from the end of the fourth sub-sidewall 1231 adjacent to the fifth sub-sidewall 1232 to the axis of symmetry L0 is an eighth distance d8. The seventh distance d7 and the eighth distance d8 satisfy: d7 < d8. In this way, the fourth end 322 of the second electrode 320 can be better ensured to be farther away from the axis of symmetry L0 than the third end 321, which facilitates the installation of the second electrode 320. Furthermore, it makes it easier for the second electrode 320 to abut against the corresponding electrode (specifically, the fourth electrode 732) in the device base station 7, thereby improving the charging reliability of the device base station 7 for the self-moving device 2. In addition, the open space formed at one end of the fourth sub-sidewall 1231 adjacent to the fifth sub-sidewall 1232 can be relatively small. The fifth sub-sidewall 1232 can protect the second electrode 320, reduce the probability of external objects colliding with the second electrode 320 through the fifth sub-sidewall 1232, and even prevent external objects from colliding with the second electrode 320 through the fifth sub-sidewall 1232.

[0149] Furthermore, along the direction from one end of the fourth sub-sidewall 1231 to the other end of the fourth sub-sidewall 1231: the distance between the fourth sub-sidewall 1231 and the axis of symmetry L0 gradually increases. Here, one end of the fourth sub-sidewall 1231 refers to the end of the fourth sub-sidewall 1231 that faces away from the fifth sub-sidewall 1232, and the other end of the fourth sub-sidewall 1231 is the end of the fourth sub-sidewall 1231 that is connected to the fifth sub-sidewall 1232.

[0150] Along the direction from one end of the fourth sub-sidewall 1231 to the other end of the fourth sub-sidewall 1231: the distance between the fourth sub-sidewall 1231 and the axis of symmetry L0 gradually increases, which can better ensure that in the direction from the third end 321 to the fourth end 322: the distance between the second electrode 320 and the axis of symmetry L0 gradually increases. When the self-mobile device 2 enters the accommodating space 70a of the device base station 7 for charging, when the third end 321 of the second electrode 320 enters the accommodating space 70a of the device base station 7 before the fourth end 322 of the second electrode 320, it can make the second electrode 320 and the corresponding electrode in the device base station 7 (specifically, the fourth electrode 732) more smoothly contact each other; in addition, it can also make the contact between the second electrode 320 and the corresponding electrode in the device base station 7 (specifically, the fourth electrode 732) more firm, thereby improving the charging reliability of the self-mobile device 2 by the device base station 7. Furthermore, the open space formed at one end of the fourth sub-sidewall 1231 adjacent to the fifth sub-sidewall 1232 can be relatively small. The fifth sub-sidewall 1232 can protect the second electrode 320, reducing the probability of external objects colliding with the second electrode 320 through the fifth sub-sidewall 1232, and even preventing external objects from colliding with the second electrode 320 through the fifth sub-sidewall 1232.

[0151] Please refer to Figures 12 and 13. Figure 12 is a schematic diagram showing the detailed identification of the self-moving device shown in Figure 3 according to another embodiment; Figure 13 is a schematic diagram of the self-moving device shown in Figure 12 rotating in place. In this embodiment, the first driving member 210 has a first traveling wheel 211 and a first driving shaft 212. The first driving shaft 212 is disposed on the device body 100 and is used to drive the first traveling wheel 211 to rotate, wherein the first electrode 310 is located above the first driving shaft 212. The second driving member 220 has a second traveling wheel 221 and a second driving shaft 222. The second driving shaft 222 is disposed on the device body 100 and is used to drive the second traveling wheel 221 to rotate, wherein the second electrode 320 is located above the second driving shaft 222.

[0152] In this embodiment, the first driving member 210 has a first traveling wheel 211 and a first driving shaft 212. The first driving shaft 212 is disposed on the device body 100 and is used to drive the first traveling wheel 211 to rotate (e.g., rotate in place). The first electrode member 310 is located above the first driving shaft 212. Therefore, when the self-moving device 2 rotates, the first electrode member 310 rotates with the center O as the center and the rotation radius is R1. The rotation radius of the first traveling wheel 211 is R2, where R1 < R2. Therefore, the first electrode 310 has a small radius of rotation and a short rotation trajectory, which further reduces the probability of the first electrode 310 being collided with external objects. In addition, since the self-moving device 2 rotates at a consistent angle, the first electrode 310 has a low linear velocity of rotation, resulting in less kinetic energy generated by the collision and reducing the risk of damage to the first electrode 310. Furthermore, the first electrode 310 is relatively far from the ground supporting the self-moving device 2, which can reduce the risk of the first electrode 310 being damaged by ground objects or uneven ground, and even prevent the first electrode 310 from being damaged by ground objects or uneven ground.

[0153] In this embodiment, the second driving member 220 has a second traveling wheel 221 and a second driving shaft 222. The second driving shaft 222 is disposed on the device body 100 and is used to drive the second traveling wheel 221 to rotate. The second electrode 320 is located above the second driving shaft 222. Therefore, when the self-moving device 2 rotates, the rotation radius of the second electrode 320 is small and its rotation trajectory is short, further reducing the probability of the second electrode 320 being collided with external objects. Since the self-moving device 2 rotates at a consistent angle, the rotational linear velocity of the second electrode 320 is low, and the kinetic energy generated by the collision is small, reducing the risk of damage to the second electrode 320. In addition, the second electrode 320 is relatively far from the ground supporting the self-moving device 2, which can reduce the risk of the second electrode 320 being hit by ground objects or uneven ground, or even avoid the second electrode 320 being hit by ground objects or uneven ground.

[0154] Please refer to Figure 14, which is a schematic diagram showing the detailed identification of the self-moving device shown in Figure 3 according to yet another embodiment. In this embodiment, the height H1 of the first electrode 310 from the ground supporting the first drive member 210 satisfies: H1 ≥ 5 cm, and the height of the first electrode 310 is not higher than the highest point of the tail of the device body 100. The height H2 of the second electrode 320 from the ground supporting the second drive member 220 satisfies: H2 ≥ 5 cm, and the height of the second electrode 320 is not higher than the highest point of the tail of the device body 100.

[0155] For example, the height H1 of the first electrode 310 from the ground supporting the first drive member 210 can be, but is not limited to, 5cm, 6cm, 7cm, 8cm, 9cm, or 10cm.

[0156] In this embodiment, the height H1 of the first electrode 310 from the ground supporting the first drive member 210 satisfies: H1 ≥ 5cm. This ensures that the first electrode 310 is relatively far from the ground supporting the self-moving device 2, reducing the risk of the first electrode 310 being damaged by ground objects or uneven ground, and even preventing the first electrode 310 from being damaged by ground objects or uneven ground. Furthermore, the height of the first electrode 310 is not higher than the highest point of the rear of the device body 100, further reducing the risk of the first electrode 310 being damaged by obstacles at higher elevations.

[0157] For example, the height H2 of the second electrode 320 from the ground supporting the second drive member 220 can be, but is not limited to, 5cm, 6cm, 7cm, 8cm, 9cm, or 10cm.

[0158] In this embodiment, the height H2 of the second electrode 320 from the ground supporting the second drive member 220 satisfies: H2 ≥ 5cm, and the height of the second electrode 320 is not higher than the highest point of the tail of the device body 100. The fact that the second electrode 320 is at a relatively high distance from the ground supporting the self-moving device 2 reduces the risk of the second electrode 320 being damaged by ground objects or uneven ground, and may even prevent the second electrode 320 from being damaged by ground objects or uneven ground.

[0159] Please refer to Figures 14 and 15 together. Figure 15 is a schematic diagram showing the dimensions of some components of the self-moving device provided in one embodiment of this application. In other embodiments, the height H3 of the first travel wheel 211 from the ground supporting the first drive member 210 satisfies: H3 ≥ H1. Correspondingly, the height H4 of the second travel wheel 221 from the ground supporting the second drive member 220 satisfies: H4 ≥ H2.

[0160] In one embodiment, an obstacle sensing module is provided at the front of the device body 100 (the portion facing away from the first electrode 320 and the second electrode 320). The obstacle sensing module is used to sense obstacles in front of the device body 100 or whether the obstacle is suspended in mid-air. When the self-moving device 2 turns, the obstacle sensing module cannot effectively identify suspended obstacles to the side of the self-moving device 2. Therefore, H3≥H1 can reduce or even avoid the risk of the first electrode 310 being damaged by a suspended obstacle located to the side of the self-moving device 2; correspondingly, H4≥H2 can reduce or even avoid the risk of the second electrode 320 being damaged by a suspended obstacle located to the side of the self-moving device 2.

[0161] Further, please refer to Figures 16 and 17. Figure 16 is a schematic diagram showing the details of a self-moving device provided in another embodiment of this application; Figure 17 is a schematic diagram of a device base station in one embodiment. In this embodiment, the self-moving device 2 further includes a first positioning component 400. The first positioning component 400 is used to cooperate with a second positioning component 740 of the device base station 7 to position the self-moving device 2 when the device base station 7 is charging. The first positioning component 400 is disposed corresponding to the rear end face 100a and is located above the battery assembly 500.

[0162] The self-moving device 2 also includes a first positioning component 400 which can be incorporated into the self-moving device 2 provided in any of the preceding embodiments. In the schematic diagram of this embodiment, the self-moving device 2 is illustrated by the first positioning component 400 being incorporated into the self-moving device 2 provided in the preceding embodiment, and should not be construed as a limitation on the self-moving device 2 provided in this application embodiment.

[0163] The first positioning component 400 is used to receive a positioning signal from the second positioning component 740 of the device base station 7, so as to locate the position of the self-moving device 2 relative to the automatic device base station 7. In one embodiment, the first positioning component 400 and the second positioning component 740 are both infrared positioning components, and the positioning signal is an infrared signal. For example, the first positioning component 400 is used to cooperate with the second positioning component 740 to determine whether the self-moving device 2 has moved into the receiving space of the device base station 7 and whether it has moved into position.

[0164] In this embodiment, the accommodating space 70a of the device base station 7 has a first subspace 70b and a second subspace 70c that are connected. The first subspace 70b has an opening 70e, and the second subspace 70c is located away from the opening 70e relative to the first subspace 70b. When the mobile device 2 enters the device base station 7, it enters the first subspace 70b through the opening 70e. When the device base station 7 charges the mobile device 2, the mobile device 2 is located within the first subspace 70b, and the second subspace 70c exists between the mobile device 2 and the charging body 710. In other words, when the device base station 7 charges the mobile device 2, the second subspace 70c exists between the mobile device 2 and the charging body 710, and the mobile device 2 is not completely attached to the charging body 710. In this way, when the device base station 7 charges the self-moving device 2, both the device base station 7 and the self-moving device 2 can dissipate heat from the second subspace 70c, thereby reducing or even avoiding damage to the device base station 7 and the self-moving device 2 caused by heat accumulation during charging. Furthermore, when the device base station 7 malfunctions, for example, if a component of the device base station 7 adjacent to the second subspace 70c catches fire, the device base station 7 is less likely to be damaged because it shares the second subspace 70c with the self-moving device 2.

[0165] Furthermore, the second positioning component 740 includes a plurality of infrared emitters. At least a portion of the plurality of infrared emitters are located within the second subspace 70c. When the self-moving device 2 is housed within the first subspace 70b of the accommodating space 70a, and the second electrode component 730 of the device base station 7 charges the first electrode component 300 of the self-moving device 2, the infrared emitters located in the second subspace 70c can be aligned with the first positioning component 400 of the self-moving device 2, and the infrared emitters can communicate with the first positioning component 400 of the self-moving device 2 at a preset frequency to provide timely feedback on the charging status of the self-moving device 2 by the device base station 7.

[0166] Furthermore, if the base station 7 malfunctions, for example, if some components of the base station 7 overheat and pose a fire risk, the first positioning component 400 receives a notification signal emitted by the second positioning component 740. The self-moving device 2 then leaves the base station 7 based on the notification signal to prevent it from burning. Additionally, when the self-moving device 2 leaves the base station 7, the base station 7 stops charging it, preventing further overheating and reducing the risk of fire due to overheating.

[0167] Further referring to Figure 4, in this embodiment, the device body 100 has a receiving cavity 100d, the opening of which is located on the rear end face 100a. The self-moving device 2 also includes a battery assembly 500 and a battery cover 600. The battery assembly 500 is disposed in the receiving cavity 100d and is electrically connected to the first electrode 310 and the second electrode 320. The battery cover 600 is used to seal the opening of the receiving cavity 100d. The first positioning component 400 is located above the battery cover 600.

[0168] The opening of the accommodating cavity 100d is located on the rear end face 100a, and the battery assembly 500 is disposed in the accommodating cavity 100d, thereby facilitating the installation and removal of the battery assembly 500. Furthermore, the battery assembly 500 is relatively close to the first electrode 310 and the second electrode 320, thereby facilitating the electrical connection between the battery assembly 500 and the first electrode 310 and the second electrode 320. The battery cover 600 seals the opening of the accommodating space 70a, thereby preventing external dust and moisture from easily entering the accommodating space 70a, and thus reducing the impact of external dust and moisture on the internal components of the self-moving device 2.

[0169] Furthermore, since the first positioning component 400 is located above the battery cover 600, it reduces the obstruction of the first positioning component 400's signal transmission or reception by objects on the ground when the self-moving device 2 is placed on the ground, ensuring the accuracy of communication between the first positioning component 400 and the second positioning component 740 of the device base station 7. In addition, in one embodiment, the end of the accommodating cavity 100d facing away from the opening is closer to the ground than the end of the accommodating cavity 100d closer to the opening, making it less likely for the battery assembly 500 to detach from the accommodating cavity 100d.

[0170] The details of the first electrode component are described in detail below. Please refer to Figures 18, 19, and 20. Figure 18 is an exploded perspective view of part of the structure of the self-moving device shown in Figure 3; Figure 19 is an enlarged view of point I in Figure 18; and Figure 20 is a structural schematic diagram of the first electrode component in Figure 18. The first electrode component 310 includes a first mounting bracket 313 and a first electrode plate 314. The first mounting bracket 313 is detachably disposed at the rear end 140. The first electrode plate 314 is supported by the first mounting bracket 313 and is electrically connected to the battery assembly 500.

[0171] In this embodiment, the first mounting bracket 313 is detachably mounted on the rear end 140. When the first electrode sheet 314 ages or is damaged, the first mounting bracket 313 can be removed from the rear end 140 and a new first electrode sheet 314 or a new first electrode component 310 can be replaced.

[0172] Furthermore, the first mounting bracket 313 includes a first supporting portion 3131 and a first fixing portion 3132. The first supporting portion 3131 is used to support the first electrode sheet 314. The first fixing portion 3132 is connected to the first supporting portion 3131 and is used to detachably fix it to the rear end portion 140.

[0173] In this embodiment, the first support portion 3131 includes a first support surface 313a and a second support surface 313b disposed opposite to each other. The first support portion 3131 has a first hole 313c penetrating through the first support surface 313a and the second support surface 313b. The first electrode sheet 314 is disposed in the first hole 313c, and a portion of the first electrode sheet 314 is exposed on the first support surface 313a, while the remaining portion of the first electrode member 310 is exposed on the second support surface 313b, so as to facilitate electrical connection with the battery assembly 500.

[0174] In this embodiment, the first fixing part 3132 is disposed on the second bearing surface 313b, and the first fixing part 3132 is used to detachably fix it to the rear end portion 140. When the first electrode sheet 314 ages or is damaged, the first fixing part 3132 of the first mounting bracket 313 can be removed from the rear end portion 140 to replace the new first electrode sheet 314, or to replace the new first electrode component 310.

[0175] Furthermore, the first side has a first receiving groove 122a. The first mounting bracket 313 is installed in the first receiving groove 122a, and the first electrode plate 314 is exposed in the first receiving groove 122a.

[0176] The first mounting bracket 313 is installed within the first receiving groove 122a. The rear end portion 140 defines the sidewall of the first receiving groove 122a to protect the first electrode 310 and reduce the risk of the first electrode 310 being impacted. In addition, the first electrode piece 314 is exposed in the first receiving groove 122a, which facilitates the electrical connection between the first electrode piece 314 and the electrode piece (here, the third electrode piece 731) of the device base station 7.

[0177] The specific structure of the second electrode 320 is described in detail below.

[0178] Please refer to Figures 21, 22, and 23 together. Figure 21 is a partial exploded perspective view of the self-moving device shown in Figure 3; Figure 22 is an enlarged view of section II in Figure 21; Figure 23 is a structural schematic diagram of the first electrode component in Figure 21. The second electrode component 320 includes a second mounting bracket 321 and a second electrode plate 322. The second mounting bracket 321 is detachably disposed at the rear end 140. The second electrode plate 322 is supported by the second mounting bracket 321 and is electrically connected to the battery assembly 500.

[0179] In this embodiment, the second mounting bracket 321 is detachably mounted on the rear end 140. When the second electrode sheet 322 ages or is damaged, the second mounting bracket 321 can be removed from the rear end 140 and a new second electrode sheet 322 or a new second electrode component 320 can be replaced.

[0180] Furthermore, the second mounting bracket 321 includes a second support portion 3211 and a second fixing portion 3212. The second support portion 3211 is used to support the second electrode sheet 322. The second fixing portion 3212 is connected to the second support portion 3211 and is used to detachably fix it to the rear end portion 140.

[0181] In this embodiment, the second support portion 3211 includes a third support surface 321a and a fourth support surface 321b disposed opposite to each other. The second support portion 3211 has a second hole 321c penetrating the third support surface 321a and the fourth support surface 321b. The second electrode sheet 322 is disposed in the second hole 321c, and a portion of the second electrode sheet 322 is exposed on the third support surface 321a, while the remaining portion of the second electrode 320 is exposed on the fourth support surface 321b, so as to facilitate electrical connection with the battery assembly 500.

[0182] In this embodiment, the second fixing part 3212 is disposed on the fourth bearing surface 321b, and the second fixing part 3212 is used to detachably fix it to the rear end portion 140. When the second electrode sheet 322 ages or is damaged, the second fixing part 3212 of the second mounting bracket 321 can be removed from the rear end portion 140 to replace the second electrode sheet 322 or replace the second electrode component 320.

[0183] Furthermore, the second side has a second receiving groove 123a. The second mounting bracket 321 is installed in the second receiving groove 123a, and the second electrode plate 322 is exposed in the second receiving groove 123a.

[0184] The second mounting bracket 321 is installed within the second receiving groove 123a. The rear end portion 140 defines the sidewall of the second receiving groove 123a to protect the second electrode 320, reducing the risk of the second electrode 320 being impacted. Furthermore, the second electrode piece 322 is exposed in the second receiving groove 123a, facilitating electrical connection between the second electrode piece 322 and the electrode piece (here, the fourth electrode piece 732) of the device base station 7.

[0185] Furthermore, the first electrode 310 is fixed to the rear end portion 140, or is retractably disposed at the rear end portion 140. The second electrode 320 is fixed to the rear end portion 140, or is retractably disposed at the rear end portion 140.

[0186] When the first electrode 310 is retractably disposed at the rear end 140, the self-moving device 2 can better contact the third electrode 731 of the device base station 7 when the device base station 7 is charging, thereby improving the contact yield between the first electrode 310 and the third electrode 731 and improving the charging effect.

[0187] Correspondingly, when the second electrode 320 is retractably disposed at the rear end 140, the self-moving device 2 can better contact the fourth electrode 732 of the device base station 7 when the device base station 7 is charging, thereby improving the contact rate between the second electrode 320 and the fourth electrode 732 and improving the charging effect.

[0188] Please continue referring to Figure 1. This application also provides a self-moving device system 1. The self-moving device system 1 includes a self-moving device 2 and a device base station 7. The device base station 7 has a second electrode assembly 730, which is electrically connected to the first electrode assembly 300 to charge the battery assembly 500 of the self-moving device 2. The self-moving device 2 can be any of the self-moving devices 2 described in the preceding embodiments; please refer to the preceding descriptions for details, which will not be repeated here.

[0189] In summary, in the self-moving device system 1 provided by this application embodiment, when the self-moving device 2 travels along the direction of travel D0, the probability of an external object in front of the self-moving device 2 colliding with the front end 130 of the self-moving device 2 is greater than the probability of it colliding with the rear end 140 of the self-moving device 2. Therefore, since both the first electrode 310 and the second electrode 320 are located at the rear end 140 of the device body 100, the risk of an external object damaging the first electrode 310 and the second electrode 320 located at the rear end 140 is relatively low when the self-moving device 2 travels along the direction of travel D0. Furthermore, since the first electrode 310 and the second electrode 320 are respectively located on opposite sides of the rear end 140, the distance between the first electrode 310 and the second electrode 320 is relatively large, which can reduce the safety risk of misconnection between the first electrode 310 and the second electrode 320 of the self-moving device 2 and the second electrode assembly 730 of the device base station 7 when the self-moving device 2 is charging at the device base station 7.

[0190] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application, and such improvements and refinements are also considered to be within the protection scope of this application.

Claims

1. A self-moving device, characterized in that, The self-moving device comprises: a device body; a driving assembly, the driving assembly comprising a first driving member and a second driving member, the first driving member and the second driving member being respectively arranged on two opposite sides of the device body, the first driving member and the device body defining a first space, and the second driving member and the device body defining a second space; and a first electrode assembly, the first electrode assembly comprising a first electrode member and a second electrode member, wherein the first electrode member is arranged on the device body and exposed to the first space, and the second electrode member is arranged on the device body and exposed to the second space.

2. The self-moving device of claim 1, wherein, The device body has: a rear end surface; a first side surface, the first side surface being connected to the rear end surface by bending, and facing the first driving member; and a second side surface, the second side surface being connected to the rear end surface by bending, the second side surface being arranged opposite to the first side surface, and facing the second driving member; wherein the first electrode member is exposed to the first side surface, and the second electrode member is exposed to the second side surface. The first electrode member and the second electrode member are symmetrical about a symmetry axis; 3. The self-moving device of claim 2, wherein, the first electrode member has a first end portion and a second end portion arranged opposite to each other; the first end portion is arranged adjacent to the rear end surface of the device body; the second end portion is arranged away from the rear end surface compared to the first end portion, wherein the second end portion is farther away from the symmetry axis compared to the first end portion; the second electrode member has a third end portion and a fourth end portion arranged opposite to each other; the third end portion is arranged adjacent to the rear end surface of the device body; the fourth end portion is arranged away from the rear end surface compared to the third end portion, wherein the fourth end portion is farther away from the symmetry axis compared to the third end portion. The device body comprises a bottom shell and an upper shell, the bottom shell being used for bearing the first driving member and the second driving member, and the upper shell being connected to the bottom shell; the upper shell comprises:

4. The self-moving device according to claim 2 or 3, characterized in that, a top wall; a first side wall, the first side wall being connected to the top wall by bending, the first side wall having a first receiving groove, the first receiving groove being arranged adjacent to the rear end surface, and the first receiving groove being used for receiving the first electrode member; and a second side wall, the second side wall being connected to the top wall by bending, and the second side wall being arranged opposite to and spaced apart from the first side wall, the second side wall having a second receiving groove, the second receiving groove being arranged adjacent to the rear end surface, and the second receiving groove being used for receiving the second electrode member. The first side wall comprises a first sub-side wall, a second sub-side wall, and a third sub-side wall, the first sub-side wall having the first receiving groove, the first sub-side wall, the second sub-side wall, and the third sub-side wall being connected in sequence by bending, so as to define the first space with the first driving member; 5. The self-moving device of claim 4, wherein, the second side wall comprises a fourth sub-side wall, a fifth sub-side wall, and a sixth sub-side wall, the fourth sub-side wall having the second receiving groove, the fourth sub-side wall, the fifth sub-side wall, and the sixth sub-side wall being connected in sequence by bending, so as to define the second space with the second driving member. ​ 6. The self-moving device of claim 1, wherein, The first driving member has a first traveling wheel and a first driving shaft, the first driving shaft is arranged on the device body, and the first driving shaft is used to drive the first traveling wheel to rotate, wherein the first electrode member is located above the first driving shaft; The second driving member has a second traveling wheel and a second driving shaft, the second driving shaft is arranged on the device body, and the second driving shaft is used to drive the second traveling wheel to rotate, wherein the second electrode member is located above the second driving shaft.

7. The self-moving device of claim 6, wherein, The height H1 of the first electrode member from the ground bearing the first driving member satisfies H1≥5 cm, and the height of the first electrode member is not higher than the highest part of the tail of the device body; The height H2 of the second electrode member from the ground bearing the second driving member satisfies H2≥5 cm, and the height of the second electrode member is not higher than the highest part of the tail of the device body.

8. The self-mobiling device of claim 7, wherein, The height H3 of the first traveling wheel from the ground bearing the first driving member satisfies H3≥H1; The height H4 of the second traveling wheel from the ground bearing the second driving member satisfies H4≥H2.

9. The self-moving device of claim 2, wherein, The self-moving device further comprises: a battery assembly electrically connected with the first electrode member and the second electrode member; and a first positioning assembly used in cooperation with a second positioning assembly of a device base station to position the self-moving device when the self-moving device is charging at the device base station, the first positioning assembly corresponds to the rear end surface, and the first positioning assembly is located above the battery assembly.

10. The self-moving device of claim 9, wherein, The device body has a receiving cavity used to accommodate the battery assembly, and an opening of the receiving cavity is located at the rear end surface, and the self-moving device further comprises: a battery cover used to seal the opening of the receiving cavity; wherein the first positioning assembly is located above the battery cover.

11. The self-moving device of claim 1, wherein, The device body has a front end part and a rear end part along a traveling direction; The self-moving device further comprises a battery assembly arranged on the device body; The first electrode member and the second electrode member are both electrically connected with the battery assembly, and the first electrode member and the second electrode member are both arranged at the rear end part of the device body, and the first electrode member and the second electrode member are respectively arranged at two opposite sides of the rear end part.

12. The self-mobiling device of claim 11, wherein, The rear end part has: a rear end surface which is a surface of the rear end part facing away from the front end part; a first side surface connected with the rear end surface by bending, and the first electrode member is exposed on the first side surface; and a second side surface connected with the rear end surface by bending, and the second side surface is arranged opposite to the first side surface, and the second electrode member is exposed on the second side surface.

13. The self-moving device according to claim 12, wherein: the first driving member is arranged on one side of the first side surface and is arranged spaced apart from the first side surface, the first driving member faces the first electrode member and is arranged spaced apart from the first electrode member. ​ The second driving member is disposed on one side of the second side surface and is spaced apart from the second side surface, faces the second electrode member, and is spaced apart from the second electrode member.

14. The self-moving device of claim 13, wherein, The first electrode member and the second electrode member are symmetrical about a symmetry axis. The first electrode member has first and second end portions disposed opposite each other. The first end portion is disposed adjacent to the rear end surface. The second end portion is disposed away from the rear end surface compared to the first end portion, and the distance between the first electrode member and the symmetry axis gradually increases in a direction from the first end portion to the second end portion. The second electrode member includes third and fourth end portions disposed opposite each other. The third end portion is disposed adjacent to the rear end surface. The fourth end portion is disposed away from the rear end surface compared to the third end portion, and the distance between the second electrode member and the symmetry axis gradually increases in a direction from the third end portion to the fourth end portion.

15. The self-mobiling device of claim 12, wherein, The first electrode member includes: a first mounting bracket detachably disposed on the rear end portion; and a first electrode sheet carried on the first mounting bracket, the first electrode sheet electrically connected to the battery assembly.

16. The self-mobiling device of claim 15, wherein, The first mounting bracket includes: a first carrying portion for carrying the first electrode sheet; and a first fixing portion connected to the first carrying portion, the first fixing portion configured to be detachably fixed to the rear end portion.

17. The self-mobiling device of claim 15, wherein, The first side surface has: a first receiving groove in which the first mounting bracket is installed, and the first electrode sheet is exposed to the first receiving groove.

18. The self-mobiling device of claim 12, wherein, The second electrode member includes: a second mounting bracket detachably disposed on the rear end portion; and a second electrode sheet carried on the second mounting bracket, the second electrode sheet electrically connected to the battery assembly.

19. The self-mobiling device of claim 18, wherein, The second mounting bracket includes: a second carrying portion for carrying the second electrode sheet; and a second fixing portion connected to the second carrying portion, the second fixing portion configured to be detachably fixed to the rear end portion.

20. The self-mobbling device of claim 18, wherein, The second side surface has: a second receiving groove in which the second mounting bracket is installed, and the second electrode sheet is exposed to the second receiving groove.

21. The self-mobiling device of claim 11, wherein, The first electrode member is fixed to the rear end portion or is telescopically disposed on the rear end portion. The second electrode member is fixed to the rear end portion or is telescopically disposed on the rear end portion.

22. The self-mobiling device of claim 13, wherein, The first driving member has a first travel wheel and a first driving shaft disposed on the rear end portion of the device body and configured to drive the first travel wheel to rotate, and the first electrode member is located above the first driving shaft. The second driving member has a second travel wheel and a second driving shaft disposed on the rear end portion of the device body and configured to drive the second travel wheel to rotate, and the second electrode member is located above the second driving shaft.

23. The self-moving device of claim 22, wherein, The first electrode member is at a height H1 from the ground surface on which the first driving member is supported, and the height H1 satisfies H1≥5 cm, and the height of the first electrode member is not higher than the highest part of the rear end of the device body; The second electrode member is at a height H2 from the ground surface on which the second driving member is supported, and the height H2 satisfies H2≥5 cm, and the height of the second electrode member is not higher than the highest part of the rear end of the device body.

24. The self-moving device of claim 12, wherein, The self-moving device further comprises: a first positioning assembly configured to cooperate with a second positioning assembly of a device base station to position the self-moving device when the self-moving device is charging at the device base station, the first positioning assembly is arranged on the rear end surface, and the first positioning assembly is arranged above the battery assembly.

25. The self-moving device of claim 24, wherein, The rear end of the device body has a receiving cavity for accommodating the battery assembly, and an opening of the receiving cavity is arranged on the rear end surface, and the self-moving device further comprises: a battery cover configured to seal the opening of the receiving cavity; wherein the first positioning assembly is arranged above the battery cover.

26. A self-moving device system, characterized by The self-moving device system comprises: the self-moving device according to any one of claims 1 to 25; and a device base station having a second electrode assembly configured to electrically connect with the first electrode assembly to charge the self-moving device.

Images