CN114601398A

CN114601398A - Self-moving equipment

Info

Publication number: CN114601398A
Application number: CN202111105466.4A
Authority: CN
Inventors: 刘小禹; 王兴明; 朱道文
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2021-08-16
Filing date: 2021-09-22
Publication date: 2022-06-10
Also published as: DE212022000222U1; WO2023020228A1

Abstract

The invention discloses self-moving equipment, which comprises a main body, a chassis and a sensing part, wherein the main body comprises a fluid storage device for storing fluid; a cleaning liquid supply system for supplying a cleaning liquid to a surface to be cleaned; the sewage recovery system is used for recovering sewage; the chassis is arranged at the lower part of the main body and used for supporting the main body; the sensing part is directly arranged on the chassis. The chassis from mobile device makes the precision higher, set up sensing portion on the chassis, can improve sensing portion's assembly precision, and sensing portion directly sets up on the chassis of main part, need not to set up the structure that is used for assembling sensing portion on other parts from mobile device like this, thereby also need not to design the structure that is used for assembling sensing portion on other parts in the size chain, just also reduced the size chain, the numerous and diverse nature of design size chain has been reduced, and also reduced the assembly tolerance between chassis and the sensing portion, the accuracy of assembly has been improved, and then the measuring precision of sensing portion has been improved.

Description

Self-moving equipment

Technical Field

The invention relates to the field of intelligent equipment, in particular to self-moving equipment.

Background

The self-moving apparatus refers to a device that travels in an area to be cleaned and performs cleaning by sucking or wiping foreign substances such as dust in the area to be cleaned. Among them, floor washers have been widely used as one of mobile devices.

At present, various azimuth sensors or position sensors can be loaded in a large-scale floor washing machine, but a large number of other components such as a clean water tank, a sewage tank and a raking type cleaning piece (such as a water sucking rake) are also loaded on large-scale floor washing machine equipment, so that the stacking of the components causes a long size chain formed in the installation and assembly, the position of the sensor is not properly arranged, and the measurement precision is reduced.

Disclosure of Invention

In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

The embodiment of the invention provides self-moving equipment which is characterized by comprising a main body, a chassis and a sensing part, wherein the chassis is provided with a base plate; the body comprises a fluid storage device for storing a fluid; a cleaning liquid supply system for supplying a cleaning liquid to a surface to be cleaned; the dirty liquid recovery system is used for recovering dirty liquid; the chassis is arranged at the lower part of the main body and is used for supporting the main body; the sensing portion is directly disposed on the chassis.

In particular, the sensing portion is angularly adjustably mounted on the chassis.

In particular, the sensing portion comprises an orientation sensor, which is disposed directly on the chassis.

Specifically, the orientation sensor is detachably fixed to the chassis.

Specifically, the orientation sensor is disposed on an upper surface of the chassis.

In particular, the sensing portion comprises a position sensor that is angularly adjustably mounted on the chassis.

Specifically, the position sensor is arranged on the front side of the chassis, wherein the front side of the chassis is a part of the chassis which firstly enters the area to be operated along the traveling direction of the self-moving equipment under the condition that the self-moving equipment normally operates.

Specifically, the self-moving equipment further comprises a connecting frame and an angle adjusting part, the connecting frame is connected with the front side of the chassis, and the position sensor is connected with the connecting frame through the angle adjusting part.

Specifically, the link includes the connecting plate, seted up the opening on the connecting plate, position sensor's periphery is equipped with connecting portion, position sensor part passes the opening, just connecting portion pass through angle modulation portion with the connecting plate is connected.

Specifically, the angle adjusting part comprises an adjusting bolt, the connecting part is provided with a first screw hole, the connecting plate is provided with a second screw hole, and the adjusting bolt is in threaded connection with the first screw hole and the second screw hole respectively.

Specifically, the connecting frame is detachably connected with the front side of the chassis.

Specifically, the link is integrally formed with the front side of the chassis.

According to the self-moving equipment provided by the embodiment of the invention, the chassis of the self-moving equipment is high in manufacturing precision, the sensing part is arranged on the chassis, the assembly precision of the sensing part can be improved, and the sensing part is directly arranged on the chassis of the main body, so that structures for assembling the sensing part do not need to be arranged on other parts of the self-moving equipment, for example, an accommodating cavity for accommodating the sensing part is arranged on the fluid storage device, the structures for assembling the sensing part on other parts do not need to be designed in a size chain, the size chain is reduced, the complexity of designing the size chain is reduced, the assembly tolerance between the chassis and the sensing part is reduced, the assembly accuracy is improved, and the measurement precision of the sensing part is improved.

Drawings

The following drawings of the invention are included to provide a further understanding of the invention as a part of the examples. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

In the drawings:

FIG. 1 is a block diagram of a sensing portion according to an alternative embodiment of the present invention;

FIG. 2 is a block diagram of a body of a self-propelled device in accordance with an alternative embodiment of the present invention;

FIG. 3 is a block diagram of a position sensor in accordance with an alternative embodiment of the present invention;

fig. 4 is an exploded view of fig. 3.

Description of the reference numerals

1-sensing part, 101-orientation sensor, 102-position sensor, 2-chassis, 3-connecting part, 4-connecting frame, 401-connecting plate, 402-opening, 5-adjusting bolt, 6-fixing bolt, 7-first screw hole, 8-second screw hole, 9-main body, 901-fluid storage device.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.

It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.

As shown in fig. 1 and 2, an embodiment of the present invention provides a self-moving apparatus, including a main body 9, a chassis 2, and a sensing portion 1, where the main body 9 includes a fluid storage device 901 for storing fluid; a cleaning liquid supply system for supplying a cleaning liquid to the cleaning surface; the sewage recovery system is used for recovering sewage; the chassis 2 is arranged at the lower part of the main body 9 and is used for supporting the main body 9; the sensing part 1 is directly provided on the chassis 2.

The self-moving cleaning device in this embodiment is a device that autonomously travels in a specific area and can complete cleaning operations without manual operations. Self-moving cleaning devices include, but are not limited to, motor washers, robotic mops, and the like.

Taking the motor scrubber as an example, the motor scrubber includes, but is not limited to, may include, but is not limited to, a main body 9, a traveling mechanism, a cleaning supply system, a control device, a sensing portion 1, and a sewage recovery system.

As shown in fig. 2, the main body 9 may be configured as a fluid storage device 901 having a certain thickness, and the fluid storage device 901 is used for storing cleaning liquid and recycled sewage. Fluid reservoir 901 may be integrally molded from a material such as plastic to improve the flexibility, toughness, corrosion and impact resistance of body 9 and reduce the weight of body 9. The peripheral wall of the fluid storage device 901 may be pre-formed with a plurality of grooves, recesses, detents, or the like for mounting a cleaning supply system, a waste water recovery system, a running gear, and a battery assembly. Meanwhile, the fluid storage device 901 is used as the main body 9, and other components such as a shell do not need to be additionally manufactured, so that the production process can be simplified. And in case the scrubber is used for cleaning a large site, the volume of the main body 9 may be increased to increase the volume of the fluid storage device 901, so that the fluid storage device 901 has sufficient cleaning liquid to meet the cleaning requirement. The cleaning solution can be a cleaning solution or a mixed solution of clean water and a detergent. In some embodiments, the fluid storage device 901 can be divided into a plurality of compartments, for example, two compartments, one for storing cleaning liquid and the other for storing recycled sewage; further, in the case of a mixture of clean water and detergent, the compartment for storing the cleaning solution may be divided into two sub-compartments, one sub-compartment having a volume substantially larger than the volume of the other sub-compartment, such that the larger sub-compartment stores clean water and the smaller sub-compartment stores detergent.

Running gear is including setting up multiunit gyro wheel and the actuating mechanism in the main part 9 lower part, and two gyro wheels of every group are located the relative both sides of main part 9 respectively, and this internally is placed in the robot to actuating mechanism, drives the gyro wheel through actuating mechanism and drives the walking of main part 9 and carry out cleaning operation.

The control device is arranged on a circuit main board in the body and comprises a memory (such as a hard disk, a flash memory and a random access memory) and a processor (such as a central processing unit and an application processor). The processor draws an instant map of the environment where the mobile cleaning equipment is located according to the object information fed back by the sensing part 1, so that the most efficient and reasonable cleaning path and cleaning mode are planned, and the cleaning efficiency of the mobile cleaning equipment is greatly improved. And comprehensively judging the current working state of the self-moving cleaning equipment according to the distance information, the speed information, the attitude information and the like fed back by the sensing part 1, thereby providing a specific next action strategy aiming at different conditions and sending a corresponding control instruction to the self-moving cleaning equipment.

The cleaning liquid supply system includes a cleaning device, a cleaning liquid output line, a nozzle provided in the cleaning head housing and configured to supply the cleaning liquid to the cleaning device, and a lifting mechanism configured to lift and lower the cleaning device. The fluid storage device 901 is connected to the nozzle via a cleaning fluid outlet line, and the necessary pump is provided on the cleaning fluid outlet line to supply the cleaning fluid to the nozzle in a sufficient amount in time. During the cleaning operation, the lifting mechanism drives the cleaning device to descend so that the cleaning device is in contact with the surface to be cleaned, and then the cleaning liquid is conveyed to the nozzle to provide the cleaning liquid for the cleaning device, so that the cleaning operation is realized. After the cleaning operation is finished, the lifting mechanism drives the cleaning device to ascend, so that a certain distance is formed between the cleaning device and the surface to be cleaned, the abrasion of the ground to the cleaning device is reduced, and the service life of the cleaning device is prolonged.

In other embodiments, the nozzle can also be arranged outside the cleaning head shell and positioned at the front side of the suction opening, so that the nozzle is used for directly wetting the surface to be cleaned at the front side of the suction opening, and the cleaning member is used for brushing the wetted surface to be cleaned, and the brushing effect on the surface to be cleaned can also be achieved.

The sewage recovery system comprises a fan assembly and a sewage recovery pipeline connected between the sewage recovery device and the suction port. The sewage recovery pipeline sucks impurities and dirty liquid on the surface to be cleaned into the fluid storage device 901 through the sewage recovery pipeline under the action of suction force provided by the fan assembly.

The sensing unit 1 senses position information, orientation information, and the like from the mobile device. According to the acquisition information fed back by the sensing part 1, the controller can control the self-moving cleaning equipment to carry out self-advancing cleaning operation.

In the present embodiment, the chassis 2 of the self-moving device is manufactured by a CNC (computer numerical control) processing technology, so that the manufactured chassis 2 has high manufacturing accuracy. The sensing part 1 is arranged on the chassis 2, the assembly precision of the sensing part 1 can be improved, and the sensing part 1 is directly arranged on the chassis 2 of the main body 9, so that a structure for assembling the sensing part 1 does not need to be arranged on other components of the self-moving device, for example, an accommodating cavity for accommodating the sensing part 1 is arranged on the fluid storage device 901, and the like, so that the structure for assembling the sensing part on other components does not need to be designed in a size chain, the size chain is reduced, the complexity of designing the size chain is reduced, the assembly tolerance between the chassis 2 and the sensing part 1 is reduced, the assembly accuracy is improved, and the measurement precision of the sensing part 1 is improved. The dimension chain is a closed system formed by the dimensions of the components in a certain order, each dimension forming the dimension chain is called a ring of the dimension chain, that is, the more components are assembled, the more rings of the dimension chain are, the longer the dimension chain is, the fewer components are assembled, the fewer rings of the dimension chain are, and the shorter the dimension chain is.

Further, the sensing part 1 is angularly adjustably mounted on the chassis 2.

To the sensing portion 1 (like range finding sensor etc.) that needs set up the measurement angle, sensing portion 1 angularly adjustable installs on chassis 2 to can adjust the inclination of sensing portion 1, with the different sensing demands that satisfy reality.

Specifically, the sensing part 1 may include various different kinds of sensors to collect different information from the mobile device, thereby comprehensively sensing the state and surrounding environment of the mobile device. Different types of sensors may be mounted on the chassis 2 using different mounting means, as will be explained in more detail below.

As shown in fig. 1, in some embodiments, the sensing part 1 comprises an orientation sensor 101, the orientation sensor 101 being arranged directly on the chassis 2.

The orientation sensor 101 may employ an Inertial Measurement Unit (IMU) sensor including three single-axis accelerometers and three single-axis gyroscopes, where the accelerometers detect acceleration signals from the mobile device in three-dimensional space, and the gyroscopes detect angular velocity signals in three-dimensional space, and thus resolve the attitude of the mobile device. And the IMU sensor has the autonomous navigation capability, is not influenced by environment, carrier mobility and radio interference, and can effectively improve the reliability, integrity and continuity of positioning and attitude determination.

In the present embodiment, the orientation sensor 101 is directly disposed on the chassis 2, which can prevent the orientation sensor 101 from being deviated with respect to the chassis 2, thereby reducing the assembly tolerance of the orientation sensor 101 and improving the measurement accuracy of the orientation sensor 101. In contrast, if the orientation sensor is disposed at other positions of the main body, such as the fluid storage device or the fluid recovery device, the chassis serves as a component for positioning and installation of the self-moving apparatus, and the assembly tolerance of the sensor needs to take into account the assembly tolerance of the chassis and the fluid storage device or the fluid recovery device, increasing the dimensional chain of the assembly, thereby possibly reducing the accuracy of the orientation sensor. Further, as shown in fig. 1, the orientation sensor 101 is detachably fixed to the chassis 2, thereby facilitating replacement and maintenance of the orientation sensor 101. The orientation sensor 101 may be fixed to the floor by means of fixing bolts 6, thereby enabling a detachable connection of the orientation sensor 101 to the chassis 2.

Further, the orientation sensor 101 is disposed on the upper surface of the chassis 2, so that the chassis 2 can protect the orientation sensor 101, and prevent the orientation sensor 101 from being damaged due to the collision of a short obstacle from the outside.

In other embodiments, as shown in fig. 1, 3 and 4, the sensing part 1 comprises a position sensor 102, the position sensor 102 being angularly adjustably mounted on the chassis 2.

The position sensor 102 may employ a ranging sensor. The distance measuring sensor can detect vertical distance change between the chassis 2 and the ground, and can also detect distance change between the mobile device and peripheral objects. In a possible implementation manner, the distance measuring sensor may include an infrared distance measuring sensor, and the number of the infrared distance measuring sensors may be multiple, for example, the number of the infrared distance measuring sensors may be four, six or eight, and the infrared distance measuring sensors are respectively symmetrically disposed on two opposite sides of the chassis 2. Each path of infrared distance measurement sensor is provided with an infrared signal emitter and an infrared signal receiver, a beam of infrared light is emitted by the infrared signal emitter and reflected after irradiating an object, the reflected infrared light is received by the infrared signal receiver, and the distance between the mobile device and the object is calculated according to time difference data of infrared emission and infrared reception. In another possible implementation, the ranging sensor may include an ultrasonic ranging sensor, which may be disposed on a front-most side centered in the bumper. The ultrasonic ranging sensor is provided with an ultrasonic transmitter and a sound wave receiver, the ultrasonic transmitter is used for transmitting ultrasonic waves, the counter starts timing when the ultrasonic waves are transmitted, the ultrasonic waves are transmitted in the air, the ultrasonic waves are collided with an object on the way and are immediately reflected, the ultrasonic receiver receives the reflected ultrasonic waves and immediately stops timing, and therefore the distance between the mobile equipment and the object is calculated according to the time recorded by the timer. In practical application, the various distance measuring sensors can be combined for use, and the distance measuring modes in various modes can achieve good balance in the aspects of distance measuring range, distance measuring accuracy, cost and the like. In yet another possible implementation manner, the Distance measuring sensors may also include a plurality of Laser Distance Sensors (LDS), for example, the number of the Laser Distance sensors may be four, six or eight, and the Laser Distance sensors are respectively symmetrically disposed on two opposite sides of the chassis 2. Each laser ranging sensor is provided with a laser transmitter and a laser receiver, a beam of infrared light is transmitted by the laser transmitter and forms reflection after irradiating an object, the reflected laser is received by the laser receiver, and the distance between the mobile equipment and the object is calculated according to time difference data of laser transmission and laser reception.

In the present embodiment, the position sensor 102 is mounted on the chassis 2 in an angle adjustable manner, so that a worker can adjust the inclination angle of the position sensor 102 relative to the first direction according to the actual assembly requirement, so that the mounting of the position sensor 102 meets the assembly requirement, the measurement error of the position sensor 102 is reduced, and the measurement accuracy is improved.

Further, as shown in fig. 1, 3 and 4, the position sensor 102 is disposed at the front side of the chassis 2, so that the obstacle in front of the self-moving apparatus can be sensed by the position sensor 102, and the self-moving apparatus can accurately avoid the obstacle in front. The front of the self-moving equipment is the same as the traveling direction of the self-moving equipment in normal work. The front side of the chassis 2 is a part of the chassis 2 which enters the area to be worked first along the advancing direction of the self-moving equipment under the condition that the self-moving equipment works normally.

Further, as shown in fig. 1, 3 and 4, the self-moving apparatus further includes a connecting frame 4 and an angle adjusting portion, the connecting frame 4 is connected to the front side of the chassis 2, and the position sensor 102 is connected to the connecting frame 4 through the angle adjusting portion.

The connecting frame 4 is connected with the front side of the chassis 2, the position sensor 102 is connected with the connecting frame 4 through the angle adjusting part, and therefore the connecting frame 4 serves as a connecting transition piece, the situation that the position sensor 102 interferes with the chassis 2 when the angle is adjusted can be avoided, and the angle adjusting range of the position sensor 102 is enlarged.

Specifically, as shown in fig. 4, the connecting frame 4 includes a connecting plate 401, an opening 402 is opened on the connecting plate 401, the connecting portion 3 is provided on the outer periphery of the position sensor 102, the position sensor 102 partially passes through the opening 402, and the connecting portion 3 is connected to the connecting plate 401 through an angle adjusting portion.

An opening 402 is formed in the connecting plate 401, and the position sensor 102 partially penetrates through the opening 402, so that the overall structure of the connecting plate 401 and the position sensor 102 is more compact, and the overall occupied space is saved. The connecting portion 3 may be a flat sheet structure, which not only reduces the volume and weight of the connecting portion 3, but also increases the contact area between the connecting portion 3 and the connecting frame 4, so as to facilitate the assembly of the position sensor 102 and the connecting plate 401. The angle adjusting unit can adjust the inclination angle of the position sensor 102 with respect to the first direction while stably connecting the position sensor 102 to the connection plate 401. The first direction is a direction perpendicular to the chassis 2, and the number of the angle adjusting portions may be set by a worker according to a specific size of the position sensor 102, which is not strictly limited in this embodiment.

Specifically, as shown in fig. 4, the angle adjusting portion includes an adjusting bolt 5, the connecting portion 3 is provided with a first screw hole 7, the connecting plate 401 is provided with a second screw hole 8, and the adjusting bolt 5 is in threaded connection with the first screw hole 7 and the second screw hole 8, respectively.

By screwing the adjusting bolt 5, the distance between the part of the connecting portion 3 and the connecting plate 401 can be adjusted, so that the connecting portion 3 is inclined relative to the connecting plate 401, and the position sensor 102 is driven by the connecting portion 3 to be inclined relative to the first direction. Illustratively, the number of the adjusting bolts 5 is three, and the adjusting bolts are respectively an adjusting bolt a, an adjusting bolt B and an adjusting bolt C, the first connecting portion 3 is provided with three first screw holes 7 which are uniformly distributed on the same circumference, and the connecting plate 401 is provided with second screw holes 8 corresponding to the first screw holes 7. When the inclination angle of the position sensor 102 relative to the first direction needs to be adjusted, a worker can adjust the distance of the part of the connecting part 3 relative to the connecting plate 401 by screwing any one or more of the adjusting bolt a, the adjusting bolt B and the adjusting bolt C, so that the connecting part 3 is inclined relative to the connecting plate 401, and the connecting part 3 drives the inclination degree of the position sensor 102 relative to the first direction, that is, the inclination angle of the position sensor 102 relative to the first direction is changed. For example, if the position sensor 102 needs to be tilted in the direction of the adjusting bolt a, the worker may screw the adjusting bolt a to decrease the distance between the area of the connecting portion 3 corresponding to the adjusting bolt a and the connecting plate 401, and may screw the adjusting bolt B and the adjusting bolt C to increase the distance between the other area of the connecting portion 3 and the connecting plate 401, so that the position sensor 102 may be tilted in the direction of the adjusting bolt a, and if the tilt angle in the direction needs to be increased, the worker may continue to decrease the distance between the area of the connecting portion 3 corresponding to the adjusting bolt a and the connecting plate 401, and may increase the distance between the other area of the connecting portion 3 and the connecting plate 401. If the inclination angle in the direction needs to be reduced, the worker increases the distance between the area of the connecting part 3 corresponding to the adjusting bolt a and the connecting plate 401, and simultaneously reduces the distance between the other area of the connecting part 3 and the connecting plate 401. Similarly, the change of the inclination angles in other directions can also adopt the above adjustment mode, and is not described herein again.

In the embodiment, the adjustment of the inclination angle of the position sensor 102 can be realized by screwing the adjusting bolt 5, the operation is simple and quick, and the position sensor 102 can be stably connected with the connecting plate 401 without configuring an additional fixed connecting piece, so that the overall structure is simplified.

Further, the connecting member 4 and the front side of the chassis 2 may be connected in different ways, which will be described in detail below.

The first connection mode is as follows: as shown in fig. 1 and 4, the attachment frame 4 is detachably attached to the front side of the chassis 2. When needing the inclination of adjusting position sensor 102, can pull down the connecting piece from chassis 2, then revolve wrong adjusting bolt 5 again, adjusting position sensor 102's inclination, the back is accomplished in the regulation, install the connecting piece on chassis 2 again can, need not the staff like this and bow to crouch and carry out the operation of revolving wrong adjusting bolt 5 on chassis 2, thereby both can be convenient for the staff to the regulation of the inclination of position sensor 102, improve the comfort level that the staff worked, can improve regulation efficiency again, time saving and labor saving.

Specifically, the connecting member can be detachably connected to the chassis 2 through the fixing bolt 6, and of course, the connecting member can also be detachably connected to the chassis 2 through other detachable connecting members, which is not strictly limited in this embodiment.

The second connection mode is as follows: the connecting frame 4 and the front side of the chassis 2 are integrally formed, so that the assembling process between the connecting frame 4 and the chassis 2 is omitted, the workload of workers is reduced, the assembling tolerance between the connecting frame 4 and the chassis 2 is eliminated, and the assembling precision of the position sensor 502 is improved.

The present invention has been illustrated by the above embodiments, but it should be understood that the above embodiments are for illustrative and descriptive purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which variations and modifications are within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A self-moving device is characterized by comprising a main body, a chassis and a sensing part;

the body comprises a fluid storage device for storing a fluid; a cleaning liquid supply system for supplying a cleaning liquid to a surface to be cleaned; the dirty liquid recovery system is used for recovering dirty liquid;

the chassis is arranged at the lower part of the main body and is used for supporting the main body; (ii) a

The sensing portion is directly disposed on the chassis.

2. The self-moving apparatus according to claim 1, wherein the sensing portion is angularly adjustably mounted on the chassis.

3. The self-moving apparatus according to claim 1, wherein the sensing portion comprises an orientation sensor disposed directly on the chassis.

4. The self-moving apparatus according to claim 3, wherein the orientation sensor is detachably fixed to the chassis.

5. The self-moving apparatus according to claim 3, wherein the orientation sensor is provided on an upper surface of the chassis.

6. The self-moving apparatus according to claim 2, wherein the sensing portion comprises a position sensor that is angularly adjustably mounted on the chassis.

7. The self-moving apparatus according to claim 6, wherein the position sensor is provided on a front side of the chassis, wherein the front side of the chassis is a portion of the chassis that first enters the area to be worked in a traveling direction of the self-moving apparatus in a case where the self-moving apparatus normally works.

8. The self-moving apparatus according to claim 7, further comprising a connection frame connected to a front side of the chassis and an angle adjusting portion through which the position sensor is connected to the connection frame.

9. The self-moving device as claimed in claim 8, wherein the connecting frame comprises a connecting plate, an opening is opened on the connecting plate, a connecting portion is provided on the periphery of the position sensor, the position sensor partially passes through the opening, and the connecting portion is connected with the connecting plate through the angle adjusting portion.

10. The self-moving apparatus according to claim 9, wherein the angle adjusting portion comprises an adjusting bolt, the connecting portion is provided with a first screw hole, the connecting plate is provided with a second screw hole, and the adjusting bolt is respectively in threaded connection with the first screw hole and the second screw hole.

11. The self-moving apparatus according to claim 8, wherein the connection frame is detachably connected to a front side of the chassis.

12. The self-moving apparatus according to claim 8, wherein the connection frame is integrally formed with a front side of the chassis.