CN115381339A

CN115381339A - Self-moving robot, cleaning robot device and mopping method

Info

Publication number: CN115381339A
Application number: CN202110573850.0A
Authority: CN
Inventors: 程文杰; 郭豹; 孟帅; 万真; 唐泽恒
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2021-05-25
Filing date: 2021-05-25
Publication date: 2022-11-25

Abstract

The embodiment of the application provides a self-moving robot, a cleaning robot device and a mopping method. From mobile robot includes the fuselage and set up in cleaning unit on the fuselage, cleaning unit includes at least one first connecting portion, first connecting portion are configured to be connected with mopping piece, the edge is in the work side of fuselage orthographic projection on the first connecting portion outline place plane is the projection of work side, the edge is in the work side the edge is in the edge of one side that extends along its direction of advance on the fuselage, at least one first connecting portion are configured to make the profile of mopping piece rather than being connected with the projection of work side is pressed close to mutually. The cleaning robot device comprises the self-moving robot and the mopping piece, wherein the mopping piece is arranged on the first connecting part. The mopping method comprises the following steps: providing the cleaning robot device; when the self-moving robot works, the contour edge of the mopping piece is close to the working side edge of the machine body.

Description

Self-moving robot, cleaning robot device and mopping method

Technical Field

The application relates to the technical field of intelligent household appliances, in particular to a self-moving robot, a cleaning robot device and a mopping method.

Background

The existing cleaning robot has a large dragging-missing area when being dragged and smeared, so that the dragging and smearing area of the cleaning robot is limited, and the cleaning efficiency of the cleaning robot is influenced. When the area to be cleaned with the side wall is dragged along the edge, the phenomenon of missing dragging is more prominent and difficult to overcome, the target area cannot be dragged and smeared comprehensively, and the dragging and smearing effect is poor.

Disclosure of Invention

The embodiment of the application provides a self-moving robot, a cleaning robot device and a mopping method, which can reduce the mopping area and improve the cleaning efficiency and the full mopping capacity.

In a first aspect, an embodiment of the application provides a self-moving robot, including the fuselage and set up in cleaning unit on the fuselage, cleaning unit includes at least one first connecting portion, first connecting portion are configured to be connected with the piece of wiping, the side edge of working of fuselage is in orthographic projection on the first connecting portion outline place plane is the projection of work side, the side edge of working does along the one side edge that its advancing direction extends on the fuselage, at least one first connecting portion are configured to make the profile of wiping of the piece of wiping of being connected with it with the projection of work side is pressed close to mutually.

In some embodiments, the first connecting portions are further configured to drive the mop connected with the first connecting portions to move, the motion profile of the mop is the mop profile of the mop, and at least one first connecting portion is configured to enable the motion profile of the mop driven by the first connecting portion to be close to the projection of the working side.

In some embodiments, the first connecting portions are configured to drive the mop connected with the first connecting portions to rotate, the rotating profile of the mop is the mop profile of the mop, and at least one first connecting portion is configured to enable the rotating profile of the mop driven by the first connecting portion to be close to the projection of the working side.

In some embodiments, the body has a pair of side edges disposed opposite to the working side edge, an orthographic projection of the pair of side edges on a plane in which the outer contours of the first connecting parts are located is a pair of side projections, and the at least one first connecting part is configured to make a rotating contour of the mop driven to rotate by the at least one first connecting part tangent or approximately tangent to an outer edge of one end of the working side projection far away from the pair of side projections.

In some embodiments, a distance between an outer edge of the working side, which is substantially tangential to the rotation profile, far from the opposite side projection and an outer edge of the rotation profile, far from the opposite side projection, in a first direction, which is a direction pointing from the working side edge to the opposite side edge or an opposite direction, is 5 to 20mm.

In some embodiments, the distance between an outer edge of the working side, which is substantially tangent to the rotation profile, which is far from the opposite side projection and an outer edge of the rotation profile, which is far from the opposite side projection, in the first direction is 5-15 mm.

In some embodiments, an orthographic projection of an outer edge of the first connection portion on a plane in which the outer contour of the first connection portion is located is a connection portion projection, and the connection portion projection and an end outer edge of the working side projection far away from the opposite side projection are tangent or approximately tangent.

In some embodiments, a distance between an outer edge of one end of the projection of the working side, which is approximately tangent to the projection of the connecting portion, far away from the projection of the opposite side and an outer edge of one end of the projection of the connecting portion, far away from the projection of the opposite side along a first direction, which is a direction pointing from the working side edge to the edge of the opposite side or an opposite direction, is 5 to 20mm.

In some embodiments, a distance between an outer edge of an end of the work side projected substantially tangent to the connection portion projection far from the opposite side projection and an outer edge of an end of the connection portion projected far from the opposite side projection along the first direction is 5-15 mm.

In some embodiments, the outer diameter of the rotating profile of the swab is no less than the outer diameter of the first connection.

In some embodiments, the difference between the outer diameter of the profile of rotation of the mop and the outer diameter of the first connection portion is no greater than 10mm.

In some embodiments, the first connection portion has a disc-like configuration.

In some embodiments, the self-moving robot comprises a plurality of the first connections, wherein at least one first connection is configured to drive at least one swab to rotate and bring a rotating profile of the swab and the working side projection into close proximity.

In some embodiments, the body has a pair of opposite side edges disposed opposite to the working side edge, an orthographic projection of the pair of opposite side edges on a plane in which the outline of the first connecting part is located is a pair of opposite side projections, and the at least one first connecting part is configured to drive the at least one other mop to rotate and bring the rotating outline of the mop into close proximity with the pair of opposite side projections of the body.

In some embodiments, the distance between adjacent first connections is configured such that the proximal distance between the profiles of rotation of the wipes driven by the first connections, respectively, is no greater than 10mm.

In some embodiments, the proximal distance between the outer edges of two adjacent first connecting portions is no greater than 10mm.

In some embodiments, the fuselage has a rear side edge and a pair of side edges, the pair of side edges and the working side edge being disposed opposite one another, the rear side edge connecting the working side edge and the pair of side edges, and a connection region between the rear side edge and the working side edge and a connection region between the rear side edge and the pair of side edges of the fuselage respectively forming a transition fillet.

In some embodiments, an outer edge of an end of the working side projection distal from the contralateral projection is a straight line.

In some embodiments, the fuselage takes the form of one of a rounded rectangular fuselage, a rounded square fuselage, a D-type fuselage, and a waist-type fuselage.

In some embodiments, the body has a rear side edge connected to the working side edge, an orthographic projection of the rear side edge of the body on a plane of the outer contour of the first connecting portion is a rear side projection, and at least one of the first connecting portions is further configured to bring a wiping contour of a wiping piece connected thereto into close proximity with the rear side projection.

In some embodiments, the body has a front side edge arranged opposite to the rear side edge along the advancing direction of the body, an orthographic projection of the front side edge of the body on a plane where the outer contour of the first connecting part is located is a front side projection, and at least one first connecting part is further configured to enable the wiping contour of the wiping piece connected with the first connecting part to be tangent with an end outer edge, far away from the front side projection, of the rear side projection.

In some embodiments, the self-moving robot further includes a traveling mechanism disposed on the body, and an orthographic projection of the traveling mechanism on a plane where the outer contour of the first connection portion is located is covered by an orthographic projection of the body on the plane.

In some embodiments, the traveling mechanism includes a front wheel assembly provided at a front side region of the body in a forward direction thereof, and at least two drive wheel assemblies provided at a region between the front wheel assembly and the first connecting portion.

In some embodiments, the self-moving robot further includes a rolling brush assembly, a dust suction opening is formed in the bottom of the body, the rolling brush assembly is rotatably disposed at the dust suction opening, and the rolling brush assembly is disposed at a front side of the driving wheel assembly along a forward direction of the body.

In some embodiments, the cleaning unit further includes a second connection portion provided on the body, the second connection portion configured to be connected with an edge brush.

In some embodiments, the second connecting portion is further configured to drive the side brush connected thereto to rotate.

In some embodiments, the second connection portion is disposed on the fuselage in an area adjacent the working side edge; or the machine body is provided with an opposite side edge opposite to the working side edge, and the second connecting part is arranged on the area, adjacent to the opposite side edge, of the machine body.

In some embodiments, the fuselage has a forward side edge and a pair of side edges disposed opposite the work side edge, the forward side edge connecting the work side edge and the pair of side edges, the second connection portion being disposed on the fuselage in an area adjacent the forward side edge and the work side edge; alternatively, the second connecting portion is provided in an area on the body adjacent to the front side edge and the opposite side edge.

In a second aspect, an embodiment of the present application provides a self-moving robot, including a body and a cleaning unit disposed on the body, where the body has a working side edge near one side of a wall body during operation; the cleaning unit comprises a first connecting part for installing the cleaning cloth, and the outer edge of the first connecting part is close to the working side edge.

In some embodiments, the proximal distance between the outer edge of the first connection portion and the working side edge is no greater than 20mm.

In some embodiments, the proximal distance between the outer edge of the first connection portion and the working side edge is 5-10 mm.

In some embodiments, an outer edge of the first connection portion is tangent to the working side edge.

In some embodiments, the cleaning unit includes two of the first connecting portions arranged side by side.

In some embodiments, the body has a pair of side edges opposite to the working side edge, two first connecting portions are arranged side by side between the working side edge and the pair of side edges, an outer edge of one of the first connecting portions is adjacent to the working side edge, the other first connecting portion is located on a side far away from the working side edge, and an outer edge of the other first connecting portion is far away from the pair of side edges.

In some embodiments, the body has a pair of side edges disposed opposite the working side edge, wherein one of the first connecting portions has an outer edge proximate to the working side edge, the other of the first connecting portions is located on a side away from the working side edge and has an outer edge proximate to the pair of side edges.

In some embodiments, the two first connecting portions are respectively rotatably connected to the machine body, and the two first connecting portions rotate in opposite directions.

In some embodiments, the proximal distance between the outer edges of the two first connections is no greater than 10mm.

In some embodiments, the self-moving robot further comprises a follower wheel assembly and two drive wheel assemblies respectively disposed on the body.

In some embodiments, the follower wheel assemblies and the two drive wheel assemblies are respectively disposed at front sides of the first connecting portions in an advancing direction of the body.

In some embodiments, the cleaning unit further includes a rolling brush assembly, a dust suction opening is formed in the bottom of the body, and the rolling brush assembly is rotatably mounted at the dust suction opening.

In some embodiments, the roller brush assembly is disposed between the front wheel assembly and the two drive wheel assemblies, or the roller brush assembly is disposed between the two drive wheel assemblies.

In some embodiments, the body is further provided with at least one side brush.

In some embodiments, the side brush is disposed on a side of the fuselage proximate the working side edge; or the side brush is arranged on one side of the machine body close to the opposite side edge.

In a third aspect, an embodiment of the present application provides a cleaning robot apparatus, including the self-moving robot and a mop according to any one of the above embodiments, where the mop is disposed on the first connection portion.

In some embodiments, the wipe takes the form of one of a round wipe, a clover wipe, and a polygonal wipe.

In a fourth aspect, an embodiment of the present application provides a mopping method, including: providing a cleaning robot device, wherein the cleaning robot device comprises a self-moving robot and a mop piece, the self-moving robot comprises a machine body, and the mop piece is arranged on the machine body; when the self-moving robot works, the contour edge of the mopping piece is close to the contour edge of the machine body.

In some embodiments, the step of bringing the contoured edge of the mop into close proximity with the contoured edge of the body while the self-moving robot is in operation comprises: detecting the distance between the edge of the working side and a wall body; judging whether the working side edge is close to the wall body or not according to the distance between the working side edge and the wall body; if the working side edge is close to the wall body, controlling the contour edge of the mopping piece to be close to the wall body; and if the working side edge is not close to the wall body, controlling the contour edge of the mopping piece to be close to the working side edge.

This application embodiment is through configuring into at least one first connecting portion to make the profile of mopping of the piece of mopping rather than being connected and the work side projection of fuselage press close to mutually, make the profile of mopping comparatively be close to the projection of work side or overlap with the projection of work side, and like this, the outward flange of the profile of mopping of piece can comparatively be close to or surpass the work side edge of fuselage, can reduce or eliminate the clearance region that lies in directly below the fuselage between the outward flange of the profile of mopping of piece and the work side edge of fuselage, thereby reduce or eliminate the hourglass area of mopping when mopping, especially the hourglass area of mopping when trailing along the wall, reduce the walking distance of mopping the process simultaneously, promote clean efficiency and the ability of mopping entirely.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a bottom view of one structure of a self-moving robot provided in some embodiments of the present application;

FIG. 2 is a rear view of the self-moving robot of FIG. 1;

FIG. 3 is a bottom view of another configuration of a self-moving robot provided in some embodiments of the present application;

FIG. 4 is a rear view of the self-moving robot of FIG. 3;

FIG. 5 is a bottom view of yet another configuration of a self-moving robot provided by some embodiments of the present application;

FIG. 6 is a rear view of the self-moving robot of FIG. 4;

FIG. 7 is a bottom view of yet another configuration of a self-moving robot provided by some embodiments of the present application;

FIG. 8 is a rear view of the self-moving robot of FIG. 7;

FIG. 9 is a bottom view of yet another configuration of a self-moving robot provided in accordance with some embodiments of the present application;

FIG. 10 is a rear view of the self-moving robot of FIG. 9;

FIG. 11 is a bottom view of yet another configuration of a self-moving robot provided in accordance with some embodiments of the present application;

FIG. 12 is a rear view of the self-moving robot of FIG. 11;

FIG. 13 is a rear view of one configuration of a fuselage of a self-moving robot provided in accordance with some embodiments of the present application;

FIG. 14 is a rear view of yet another configuration of a fuselage of a self-moving robot provided in accordance with some embodiments of the present application;

FIG. 15 is a left side view of the self-moving robot of FIG. 1;

FIG. 16 is a bottom view of yet another configuration of a self-moving robot provided in some embodiments of the present application;

FIG. 17 is a left side view of the self-moving robot of FIG. 16;

FIG. 18 is a bottom view of yet another configuration of a self-moving robot provided in accordance with some embodiments of the present application;

FIG. 19 is a left side view of the self-moving robot of FIG. 18;

fig. 20 is a bottom view of a rounded rectangular fuselage of a self-moving robot provided by some embodiments of the present application;

FIG. 21 is a schematic view of the self-moving robot of FIG. 20 being dragged along a wall;

fig. 22 is a bottom view of a rounded square fuselage of a self-moving robot provided in some embodiments of the present application;

fig. 23 is a bottom view of a D-shaped body of a self-moving robot provided by some embodiments of the present application;

fig. 24 is a bottom view of a waist-shaped body of a self-moving robot according to some embodiments of the present application;

FIG. 25 is a flow chart of a method of mopping provided by some embodiments of the present application;

fig. 26 is a partial flow chart of a method of mopping according to some embodiments of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered limiting of the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

"A and/or B" includes the following three combinations: a alone, B alone, and a combination of A and B.

The use of "adapted to" or "configured to" in this application means open and inclusive language that does not exclude devices adapted to or configured to perform additional tasks or steps. Additionally, the use of "based on" is meant to be open and inclusive in that a process, step, calculation, or other action that is "based on" one or more stated conditions or values may, in practice, be based on additional conditions or exceed the stated values.

In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes are not set forth in detail in order to avoid obscuring the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

In the related art, the cleaning cloth configured by the cleaning robot is located in the orthographic projection range of the machine body in the region to be cleaned, and a certain distance exists between the outer edge of the cleaning cloth and the working side edge of the machine body to form a gap region, so that when the cleaning robot drags along the planned track, the cleaning cloth cannot drag the gap region, and the phenomenon of missed dragging is caused. In a wider area, the cleaning robot needs to perform supplementary mopping along the missed mopping area, so that the walking distance and the operation time in the mopping process are increased, and the cleaning efficiency is reduced; in the area with the side wall, when the cleaning robot drags along the side, due to the limitation of the wall body and the corner, the cleaning robot can not carry out compensation dragging, so that the phenomenon of missing dragging is more prominent and can not be overcome.

In the embodiments of the present application, the wall, the side wall, and the corner are similar to the wall, and may be a solid wall, a side wall, and a corner, or may be a cabinet, a plate, or the like, which may form a barrier, a block, or may form a corner, or the like.

As shown in fig. 1 to 12, an embodiment of the present application provides a self-moving robot 101 including a body 10 and a cleaning unit disposed on the body 10. The self-moving robot 101 can be configured into a floor mopping robot, a mopping and sweeping integrated robot, a window cleaning robot and other forms according to the functional requirements of different application scenes, so as to complete different cleaning functions. When cleaning is required, a corresponding wiper 102 may be mounted on the self-moving robot 101.

Here, the fuselage 10 has a front side edge 11, a rear side edge 12 and two lateral edges 13 connecting the front side edge 11 and the rear side edge 12, the front side edge 11 and the rear side edge 12 being arranged opposite in the forward direction of the fuselage 10, the lateral edges 13 being extendable in the forward direction of the fuselage 10. It is to be understood that, when the mopping is performed along the wall 201, one side edge 13 close to the wall 201 is a working side edge 13a, and the other side edge 13 disposed opposite to the working side edge 13a is an opposite side edge 13b; any one of the side edges 13 may be a working side edge 13a when mopping along an area other than a wall.

Here, the cleaning unit comprises at least one first connection 21, the first connection 21 being configured to connect with the mop 102 such that the mop 102 can be mounted on the self-moving robot 101. As shown in fig. 1 to 14, an orthographic projection of the working side edge 13a of the body 10 on the plane of the outer contour of the first connecting portion 21 is a working side projection 13a ', and an orthographic projection of the opposite side edge 13b of the body 10 on the plane of the outer contour of the first connecting portion 21 is an opposite side projection, and then at least one of the first connecting portions 21 is configured to make the wiping contour of the wiping member 102 connected thereto and the working side projection 13a' be adjacent.

The working side projection 13a' may be a line segment or a closed plane figure according to the relative relationship between the working side edge 13a and the plane of the outer contour of the first connecting portion 21. As shown in fig. 1 to 12, for example, the working side edge 13a is a plane perpendicular to the plane of the outer contour of the first connecting portion 21, and the projection 13a' on the working side is a line segment. As shown in fig. 13 to 14, for another example, the working side edge 13a is a plane not perpendicular to the plane of the outer contour of the first connecting portion 21, and the projection 13a' on the working side is a closed plane figure. Similarly, according to the relative relationship between the opposite side edge 13b and the plane where the outer contour of the first connecting portion 21 is located, the opposite side projection may be a line segment, or may be a closed plane figure, for which reference is made to the corresponding description of the working side edge 13a and the working side projection 13a', and details are not repeated here. Illustratively, the plane of the outer contour of the first connection portion 21 may be parallel to the plane of the mop contour of the mop 102. For example, the plane of the outer contour of the first connecting portion 21 may be parallel to the plane of the area to be cleaned.

The mopping contour of the mopping object 102 is an outer contour of a maximum mopping area that the mopping object 102 can reach with respect to the body 10 of the self-moving robot 101. In some examples, the mop 102 remains stationary on the self-moving robot 101, and there is no relative motion between the mop 102 and the body 10 of the self-moving robot 101, so the outline of the mop 102 is the outer contour of the mop 102. In some examples, relative movement may occur between the swab 102 and the body 10, such that during a cycle of movement, the outer profile of the area through which the swab 102 moves relative to the body 10 is the profile of the movement of the swab 102, i.e., the profile of the swab 102; for example, when the mop 102 is rotatable relative to the body 10, the outer contour of the area through which the mop 102 rotates once relative to the body 10 is the profile of the rotation of the mop 102 and the profile of the mop 102.

The abutting may be a case where the wiping contour of the wiper 102 is close to the working side projection 13a ', or a case where the wiping contour of the wiper 102 overlaps the working side projection 13 a'. Each of which is briefly described below.

As shown in fig. 9-12, in some examples, at least one first connection 21 may be configured to bring the mop profile of the mop 102 to which it is connected closer to the working side projection 13a'; in other words, the wiping contour of the wiper 102 and the working side projection 13a' do not overlap, but there is a small distance between them. Although the gap region formed by the interval is located in the orthographic projection range of the body 10 in the region to be cleaned and has drag leakage, the gap region is smaller than the same product in the related art, so that the drag leakage area can be reduced. Therefore, on one hand, the area needing to be supplemented and dragged can be reduced, the walking distance and the operation time of the self-moving robot 101 can be reduced, and the cleaning efficiency is improved; on the other hand, in the area with the side wall, when the cleaning robot drags the area along the side, the missed dragging area can be smaller, and the overall dragging and smearing capacity is improved.

As shown in fig. 1-8, in other examples, at least one first connection 21 may be configured to overlap the working side projection 13a' and the wipe profile of the wipe 102 to which it is connected. As shown in fig. 1-4, in some examples, the outer edge of the mopping profile of the mopping member 102 may be tangent to the outer edge of the working side projection 13a'; as shown in fig. 5-8, in other examples, the mopping profile of the mopping element 102 may overlap the working side projection 13a ', and an outer edge of the end of the mopping profile of the mopping element 102 that is distal from the opposite side projection is located on the side of the working side projection 13a' that is distal from the opposite side projection. Thus, the absence of a gap region between the working side edge 13a and the wiping profile of the wiper 102 eliminates drag areas, thereby reducing or eliminating drag areas. On one hand, the self-moving robot 101 does not need to be supplemented and dragged when dragging and smearing the area to be cleaned, so that the walking distance and the operation time of the self-moving robot 101 can be reduced, and the cleaning efficiency is improved; on the other hand, in the area with the side wall, when the cleaning robot drags along the side, the missed dragging area does not exist, and the full-face dragging can be realized.

In some embodiments, the first connection portion 21 is also configured to drive the movement of the mop 102 connected thereto, and the profile of the movement of the mop 102 is the profile of the mop 102. Here, the at least one first connection 21 may be configured to bring the motion profile of the swab 102 driven in rotation by it into close proximity with the working side projection 13 a'. The motion of the mop 102 may be designed according to practical requirements, such as linear reciprocating motion, swinging motion, rotating motion, etc., which is not limited in the embodiments of the present application.

In some examples, the movement of the wiper 102 is in the form of a rotational movement, and the first connection 21 is configured to drive the wiper 102 connected thereto to rotate, the rotational profile of the wiper 102 being the wiping profile of the wiper 102. Here, the at least one first connecting portion 21 is configured to bring the rotating profile of the wiper 102 driven to rotate by it into close proximity with the working side projection 13 a'.

As shown in fig. 1 to 4, in some embodiments, at least one first connection portion 21 may be configured such that the rotation profile of the wiper 102 driven to rotate by the first connection portion is tangent to the outer edge of the end of the working side projection 13a 'far from the opposite side projection, that is, the rotation profile of the wiper 102 and the outer edge of the end of the working side projection 13a' far from the opposite side projection just fit. Based on this configuration feature, the position of the first connection portion 21 can be configured to achieve the tangent objective. Therefore, when the machine body 10 moves in the area to be cleaned automatically, the rotating contour of the mopping piece 102 is kept flush with the working side edge 13a along the orthographic projection direction of the machine body 10 in the area to be cleaned, so that on one hand, the missed mopping area can be completely eliminated, and the full-surface mopping is realized; on the other hand, the contact between the mop 102 and the side wall can be reduced, the obstruction to the autonomous movement of the body 10 and the adverse effect on the mopping action of the mop 102 can be reduced, and the moving capability and the mopping efficiency can be ensured.

In practice, it is difficult to make an absolute tangency between the profile of rotation of the mop 102 and the outer edge of the end of the projection 13a' of the working side that is remote from the projection on the opposite side, since both manufacturing and assembly errors cannot be completely eliminated. In embodiments of the present application, when the distance in the first direction between the outer edge of the working side projection 13a 'away from the opposite side projection and the outer edge of the rotating contour of the mop 102 away from the opposite side projection is smaller than 5mm, for example, the distance may be 0.25mm, 0.5mm, 0.8mm, 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.5mm, 4mm, 4.5mm, or 4.95mm, etc., the working side projection 13a' is still considered to be tangential to the rotating contour of the mop 102. Here, the first direction may be a direction from the working side edge 13a toward the opposite side edge 13b, or may be a direction from the opposite side edge 13b toward the working side edge 13a.

In other embodiments, as shown in fig. 5-12, at least one first connection 21 may be configured such that the profile of rotation of the wiper 102 driven in rotation by it is substantially tangential to the outer edge of the end of the working side projection 13a' remote from the opposite side projection. Here, there is a spacing in the first direction between an outer edge of an end of the working-side projection 13a' substantially tangent to a rotation profile, which is far from the opposite-side projection, and an outer edge of an end of the rotation profile, which is far from the opposite-side projection, and the spacing is not less than 5mm. As shown in fig. 5 to 8, when the first direction is from the opposite side edge 13b to the working side edge 13a, the rotating contour of the mop 102 exceeds the working side edge 13a, and the rotating contour also exceeds the orthographic projection range of the body 10 in the area to be cleaned; as shown in fig. 9 to 12, when the first direction is from the working side edge 13a to the opposite side edge 13b, the rotating contour of the mop 102 is located within the orthographic projection range of the body 10 in the area to be cleaned. Based on this configuration feature, the position of the first connection portion 21 can be configured to achieve a substantially tangential purpose.

As shown in FIGS. 1-12, in some examples, the edge between the outer edge of the working side projection 13a' away from the opposite side projection that is substantially tangent to a rotation profile and the outer edge of the rotation profile away from the opposite side projectionDistance l in first direction ₁ It may be 5 to 20mm, for example 5mm, 8mm, 10mm, 15mm, 16mm, 17mm, 18mm, 19mm or 20mm, etc. In this range, when the first direction is a direction from the opposite side edge 13b toward the working side edge 13a, although the drain-drag area still exists, the drain-drag area is smaller than that of the like in the related art, so that the drain-drag area can be reduced. When the first direction is a direction from the working side edge 13a to the opposite side edge 13b, no gap area exists between the working side edge 13a and the rotating contour of the wiping piece 102, so that the missed wiping area can be eliminated, and the part of the wiping piece 102, which exceeds the working side edge 13a, has a small size, and has small influence on the autonomous movement capability and the wiping effect of the machine body 10; when the self-moving robot 101 is used for mopping along a wall, the contact force between the wall 201 and the mopping piece 102 is light and the contact force is small, so that the movement obstruction of the body 10, the interference of the mopping piece 102 and the damage to the first connecting part 21 can be reduced.

Exemplarily, the distance l in the first direction between the outer edge of the end of the working side projection 13a' substantially tangent to the rotation profile, which is far from the opposite side projection, and the outer edge of the end of the rotation profile, which is far from the opposite side projection ₁ 5 to 15mm, for example, 5mm, 5.5mm, 6mm, 6.5mm, 7mm, 7.6mm, 8.1mm, 9mm, 9.5mm, 10mm, 10.4mm, 11mm, 11.5mm, 12mm, 12.5mm, 13mm, 13.6mm, 14.1mm, 14.5mm, 15mm, or the like. Within this range, the drain-drag area and the drain-drag area can be further reduced when the first direction is a direction directed from the working side edge 13a to the opposite side edge 13 b. When the first direction is a direction from the opposite side edge 13b to the working side edge 13a, the size of the portion of the mop 102 beyond the working side edge 13a is smaller, and the working side edge 13a and the rotation profile of the mop 102 are closer to each other, so that the influence on the autonomous moving capability and the mopping effect of the body 10 can be further reduced; when the self-moving robot 101 is used for mopping along a wall, the contact force between the wall 201 and the mopping piece 102 can be further reduced, and the motion capability of the machine body 10, the mopping effect of the mopping piece 102 and the structural safety of the first connecting part 21 are ensured.

An orthogonal projection of the outer edge of the first connecting portion 21 on a plane where the outer contour of the first connecting portion 21 is located is a connecting portion projection. Here, the connection portion projection may be a closed plane figure. In some examples, the first connection portion 21 may be configured such that the connection portion projection is tangent to an outer edge of an end of the working side projection 13a 'away from the opposite side projection, that is, the outer edge of the connection portion projection and an outer edge of an end of the working side projection 13a' away from the opposite side projection just fit together.

In practical application, since manufacturing errors and assembly errors cannot be completely eliminated, the outer edges of the ends of the connecting portion projection and the working side projection 13a' far away from the opposite side projection are difficult to be absolutely tangent. In the embodiment of the present application, when the distance between the outer edge of the working side projection 13a 'far from the opposite side projection and the outer edge of the connecting portion on the end far from the opposite side projection along the first direction is less than 5mm, for example, the distance may be 0.25mm, 0.5mm, 0.8mm, 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.5mm, 4mm, 4.5mm, or 4.95mm, and the like, the working side projection 13a' and the connecting portion projection are still considered to be tangent.

In other examples, the first connection portion 21 may be configured such that the connection portion projection is substantially tangent to an outer edge of an end of the working side projection 13a' away from the opposite side projection. Here, a distance exists in the first direction between an outer edge of one end of the work side projection 13a' substantially tangential to the joint projection, which is far from the opposite side projection, and an outer edge of one end of the joint projection, which is far from the opposite side projection, and the distance is not less than 5mm. When the first direction is from the working side edge 13a to the opposite side edge 13b, the projection of the connecting part is located in the orthographic projection range of the machine body 10 in the area to be cleaned; conversely, when the first direction is a direction from the opposite side edge 13b to the working side edge 13a, the projection of the connecting portion exceeds the working side edge 13a, and the projection of the connecting portion also exceeds the orthographic projection range of the main body 10 on the area to be cleaned.

Illustratively, the distance l in the first direction between the outer edge of the end of the work side projection 13a' that is substantially tangent to the projection of the connecting portion and the outer edge of the end of the projection of the connecting portion that is distant from the projection of the opposite side ₂ 5 to 20mm, for example, 5mm, 8mm, 10mm, 15mm, 16mm, 17mm, 18mm, 19mm or 20mm. In an exemplary manner, the first and second electrodes are,a distance l in the first direction between an outer edge of one end of the work side projection 13a' substantially tangent to the projection of the connecting portion, the outer edge being away from the projection of the opposite side, and an outer edge of one end of the connecting portion, the projection of which is away from the projection of the opposite side ₂ 5 to 15mm, for example, 5mm, 5.5mm, 6mm, 6.5mm, 7mm, 7.6mm, 8.1mm, 9mm, 9.5mm, 10mm, 10.4mm, 11mm, 11.5mm, 12mm, 12.5mm, 13mm, 13.6mm, 14.1mm, 14.5mm, 15mm, or the like.

In some examples, the outer diameter of the rotating profile of the swab 102 is no less than the outer diameter of the first connection 21. Thus, the larger mopping contour of the mopping piece 102 can be ensured, the missing area is reduced, and the overall mopping capacity is improved. Illustratively, the difference between the outer diameter of the profile of rotation of the swab 102 and the outer diameter of the first connection 21 is not greater than 10mm; that is, the one-sided difference l between the rotational profile of the wiper 102 and the outer profile of the first connecting portion 21 ₃ Not greater than 5mm, such as 0mm, 0.5mm, 1mm, 1.6mm, 2.1mm, 2.5mm, 3mm, 3.5mm, 4mm, 4.5mm, or 5mm, and the like. Within this range, the mop 102 has a larger mop contour, and the first connecting portion 21 can preferably support the mop 102, so as to ensure that the mop 102 has sufficient mopping force and the mopping cleanliness is better. Illustratively, when the outer diameter of the rotating profile of the mop 102 and the outer diameter of the first connecting portion 21 are equal,/ ₁ And l ₂ May be equal.

The structure of the first connection portion 21 can be determined according to actual needs, for example, a disc, a cone, a cylinder or other shapes, and this is not limited in the embodiments of the present application. In some embodiments, the first connecting portion 21 has a disk-like configuration, which has a small thickness to improve the structural stability of the self-moving robot 101, and a large radial dimension to provide the mop 102 with a better cleaning area and cleaning effect. When the first connection portion 21 is also configured to drive the movement of the mop 102, the cleaning unit may comprise a drive element by which the first connection portion 21 is driven to move. The type of the driving element can be selected according to the type of movement and layout space, such as a rotary electric machine, a hydraulic motor, an electric push rod or an electric cylinder, etc. Here, the driving element and the first connecting portion 21 may be directly connected or may be connected through a transmission structure such as a speed reducer, a gear mechanism, or the like.

In some embodiments, the self-moving robot 101 comprises a plurality of first connections 21, wherein at least one first connection 21 is configured to drive at least one swab 102 in rotation and to bring the rotating profile of the swab or swabs 102 into close proximity with the working side projection 13 a'. Here, in some examples, at least one first connection 21 is configured to drive at least one swab 102 in rotation and bring the rotation profile of the swab or swabs 102 into close proximity with the working side projection 13a ', while neither the rotation profile of the swab 102, which is driven in rotation by the other first connections 21, is brought into close proximity with the working side projection 13a', nor the opposite side projection.

In other examples, the at least one first connection 21 is configured to drive the at least one swab 102 in rotation and bring the rotating profile of the swab 102 into close proximity with the working side projection 13a'; and of the remaining first connections 21, at least one first connection 21 is configured to drive rotation of at least one further swab 102 and to overlap the profile of rotation of the swab(s) 102 with the contralateral projection of the body 10. Therefore, any one of the two sides can be used as a working side as required, the effect of reducing the dragging missing area is achieved, the difficulty of trajectory planning can be reduced, and the adaptability of the self-moving robot 101 to different terrains is improved.

Illustratively, the distance between two adjacent first connections 21 is configured such that the proximal distance l between the rotational profiles of the swabs 102 driven by the two first connections 21, respectively ₄ Not greater than 10mm, for example 0.5mm, 0.75mm, 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.5mm, 4mm, 4.8mm, 5mm, 5.4mm, 6mm, 6.5mm, 7mm, 7.5mm, 8mm, 8.6mm, 9mm, 9.5mm, 10mm or the like. Here, the two wipes 102 driven by the adjacent two first connecting portions 21 are set as a first wipe 102a and a second wipe 102b, respectively; the proximal distance l between the profiles of rotation of the two wipes 102 ₄ Meaning that the first swab 102a has a rotating profile proximate an outer edge of one end of the second swab 102b and the second swab 102b has a rotating profile proximate the first swab102a, the distance between the outer edges of one end. The relative position between two adjacent first connection portions 21 can be set according to the distance range and the actual use of the wiper 102. Therefore, on one hand, the gap area between two adjacent mopping pieces 102 is smaller, the drag leakage area and the drag leakage area between two adjacent mopping pieces 102 are reduced, and the cleaning efficiency and the overall mopping capacity are improved; on the other hand, interference and interference between two adjacent mops 102 can be prevented, and the mopping and cleaning effects of the mops 102 and the structural safety of the first connecting portion 21 can be ensured.

Further illustratively, the proximal distance l between the outer edges of two adjacent first connecting portions 21 ₅ It can be configured directly to be no greater than 10mm, e.g., 0.5mm, 0.75mm, 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.5mm, 4mm, 4.8mm, 5mm, 5.4mm, 6mm, 6.5mm, 7mm, 7.5mm, 8mm, 8.6mm, 9mm, 9.5mm, or 10mm, etc. Here, the proximal distance between the outer edges of two adjacent first connecting portions 21 is described with reference to the definition of the proximal distance between the rotating profiles of the two swabs 102, and will not be described herein again. The relative position between two adjacent first connecting parts 21 is directly configured according to the distance range, so that on one hand, the gap area between two adjacent mopping pieces 102 is small, the mopping missing area and the mopping missing area between two adjacent mopping pieces 102 are reduced, and the cleaning efficiency and the full-area mopping capacity are improved; on the other hand, interference and interference between two adjacent mops 102 can be prevented, and the mopping and cleaning effects of the mops 102 and the structural safety of the first connecting portion 21 can be ensured. Illustratively, when the outer diameter of the rotating profile of the mop 102 and the outer diameter of the first connecting portion 21 are equal, l ₄ And l ₅ May be equal.

In some embodiments, the junction area between the rear-side edge 12 and the working-side edge 13a of the fuselage 10 forms a transition radius, as does the junction area between the rear-side edge 12 and the opposite-side edge 13 b. The fillet can make the bight of fuselage 10 rear end comparatively slick and sly, can guarantee turning to and the bight ability of passing through of fuselage 10 on the one hand, and on the other hand can prevent that fuselage 10 and surrounding environment from taking place sharp collision, guarantees structural safety.

In some examples, the outer edge of the working side projection 13a' of the fuselage 10 away from the end of the contralateral projection is a straight line. In this way, the end of the working-side edge 13a of the fuselage 10 remote from the opposite-side edge 13b has a straight configuration. When the self-moving robot 101 is cleaned along a wall, the body 10 can be attached to the wall surface, so that the self-moving robot 101 can walk along the wall to cover all areas beside the wall, the missed dragging or missed sweeping areas are reduced or eliminated, and a better cleaning effect is achieved.

Here, an orthographic projection of the front edge 11 of the body 10 on the plane of the outer contour of the first connecting portion 21 is a front side projection, and an orthographic projection of the rear edge 12 of the body 10 on the plane of the outer contour of the first connecting portion 21 is a rear side projection 12'. The rear projection 12' may be a line segment or a closed plane figure, depending on the relative relationship between the rear edge 12 and the plane of the outer contour of the first connecting portion 21.

As shown in fig. 1 and 15-19, similar to the first connection portions 21 being configured to approximate the wipe profile of the wipe 102 to which they are connected and the working side projection 13a ', in some embodiments, at least one of the first connection portions 21 may also be configured to approximate the wipe profile of the wipe 102 to which it is connected and the rear side projection 12'. For the close definition, please refer to the above description, which is not repeated herein. In this arrangement, the gap area between the outer edge of the mopping profile of the mop 102 and the trailing edge 12 of the body 10, which is directly below the body 10, may be reduced or eliminated. After the self-moving robot 101 turns, the rear side edge 12 of the body 10 and the working side edge 13a before turning substantially coincide, and the mop 102 can cover the missed mop area existing between the working side edge 13a and the outer edge of the mop contour of the mop 102 before turning to some extent, thereby reducing the missed mop area, and improving the mop efficiency and the full-face mop capacity. Especially in the corner area which is not easy to clean, the covering and mopping can reduce the blind corner, and the mopping is more thorough.

As shown in fig. 1 and 15, in some examples, similar to the case where the first connection portion 21 is configured to make the rotation profile of the wiper 102 driven to rotate by the first connection portion tangent to the outer edge of the end of the working side projection 13a 'far from the opposite side projection, at least one of the first connection portions 21 may also be configured to make the rotation profile of the wiper 102 driven to rotate by the first connection portion tangent to the outer edge of the end of the rear side projection 12' far from the front side projection. For the related descriptions and the corresponding ranges of tangency, please refer to the related parts, which are not described herein again. In this way, the gap area between the outer edge of the swivel profile of the wipe 102 and the trailing edge 12 of the body 10, which is directly below the body 10, is eliminated. After the self-moving robot 101 turns, the rear side edge 12 of the body 10 and the working side edge 13a before turning are basically overlapped, and the dragging piece 102 can completely cover the dragging missing area existing between the working side edge 13a and the outer edge of the rotating profile of the dragging piece 102 before turning, so that the dragging area is reduced, and the dragging efficiency and the full-face dragging capability are improved. Especially in the corner area which is not easy to clean, the covering and mopping can basically eliminate the blind corner, so that the mopping is more thorough.

In practice, it is difficult to make the profile of rotation of the mop 102 perfectly tangential to the outer edge of the rear projection 12' at the end remote from the front projection, since manufacturing and assembly tolerances cannot be completely eliminated. In embodiments of the present application, the rear projection 12 'is considered to be tangential to the rotational contour of the mop 102 when the distance in the second direction between the outer edge of the end of the rear projection 12' remote from the front projection and the outer edge of the end of the rotational contour of the mop 102 remote from the front projection is less than 5mm, e.g. the distance may be 0.25mm, 0.5mm, 0.8mm, 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.5mm, 4mm, 4.5mm or 4.95 mm. Here, the second direction may be a direction projected from the rear side 12 'to the front side, that is, a forward direction of the body 10, or may be a direction projected from the front side to the rear side 12', that is, a direction opposite to the forward direction of the body 10.

As shown in fig. 16 to 19, in some examples, similar to the case where the first connection portions 21 are configured to make the rotation profile of the wiper 102 driven to rotate by the first connection portions substantially tangent to the outer edge of the end of the working-side projection 13a 'far from the opposite side projection, at least one of the first connection portions 21 may be configured to make the rotation profile of the wiper 102 driven to rotate by the first connection portions substantially tangent to the outer edge of the end of the rear-side projection 12' far from the front-side projection. Here, there is a spacing in the second direction between an outer edge of the rear projection 12' that is substantially tangential to a rotation contour, which is remote from the front projection, and an outer edge of the rotation contour, which is remote from the front projection, and the spacing is not less than 5mm. As shown in fig. 16 to 17, when the second direction is from the front edge 11 to the rear edge 12, the rotating profile of the mop 102 exceeds the rear edge 12, and the rotating profile exceeds the orthographic projection range of the body 10 in the area to be cleaned; as shown in fig. 18 to 19, whereas, when the second direction is a direction from the rear edge 12 to the front edge 11, the rotating profile of the mop 102 is located within the orthographic projection range of the body 10 in the area to be cleaned. Based on this configuration feature, the position of the first connection portion 21 can be configured to achieve a substantially tangential purpose.

In some examples, the distance l in the second direction between an outer edge of the rear projection 12' substantially tangent to a rotation profile, which is remote from the front projection, and an outer edge of the rotation profile, which is remote from the front projection ₆ May be 5 to 20mm, for example 5mm, 8mm, 10mm, 15mm, 16mm, 17mm, 18mm, 19mm or 20mm. Within this range, when the second direction is a direction from the rear edge 12 to the front edge 11, the rotation profile of the mop 102 is located within the orthographic projection range of the body 10 in the region to be cleaned, so that the gap region between the rear edge 12 and the rotation profile of the mop 102 below the body 10 can be reduced, the drag leakage region and the drag leakage area can be reduced, and the coverage range of the drag filling operation can be increased. When the second direction is a direction from the front edge 11 to the rear edge 12, there is no gap area between the rear edge 12 and the rotating contour of the mop 102, which can eliminate the dragging area and increase the coverage of the dragging operation, and the size of the part of the mop 102 beyond the rear edge 12 is small, which has less influence on the autonomous moving ability and the dragging effect of the body 10, so that the contact between the mop 102 and the external obstacle that may exist is light and the contact force is small, which can reduce the movement obstruction of the body 10, the interference of the mop 102 and the damage to the first connecting part 21.

In some examples, the first connecting portion 21 may be configured such that the projection of the connecting portion is tangent to an outer edge of the rear projection 12 'away from the front projection, i.e. the outer edge of the projection of the connecting portion just fits to an outer edge of the rear projection 12' away from the front projection. In practical applications, since manufacturing errors and assembly errors cannot be completely eliminated, it is difficult to make an absolute tangency between the outer edges of the connecting portion projection and the end of the rear projection 12' far from the front projection. In the embodiment of the present application, when the distance between the outer edge of the end far from the front projection on the rear projection 12 'and the outer edge of the end far from the opposite projection on the connection projection in the second direction is less than 5mm, for example, the distance may be 0.25mm, 0.5mm, 0.8mm, 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.5mm, 4mm, 4.5mm, or 4.95mm, and the like, the rear projection 12' and the connection projection are still considered to be tangent.

In other examples, the first connection portion 21 may be configured such that the connection portion projection and an outer edge of an end of the rear projection 12' remote from the front projection are substantially tangent. Here, a distance exists in the second direction between an outer edge of one end of the rear side projection 12' substantially tangent to the joint projection, which is far from the front side projection, and an outer edge of one end of the joint projection, which is far from the opposite side projection, and the distance is not less than 5mm. When the second direction is a direction from the front side edge 11 to the rear side edge 12, the projection of the connecting part is positioned in the orthographic projection range of the machine body 10 in the area to be cleaned; conversely, when the second direction is from the front edge 11 to the rear edge 12, the projection of the connecting portion exceeds the working edge 13a, and the projection of the connecting portion also exceeds the orthographic projection range of the main body 10 in the area to be cleaned.

Exemplarily, a distance l in the first direction between an outer edge of an end of the rear projection 12' substantially tangential to the projection of the joint portion, which is far from the front projection, and an outer edge of an end of the joint portion, which is far from the front projection ₇ 5 to 20mm, for example, 5mm, 8mm, 10mm, 15mm, 16mm, 17mm, 18mm, 19mm or 20mm. Illustratively, the distance between an outer edge of one end of the rear projection 12' substantially tangent to the projection of the connecting portion, which is far from the front projection, and an outer edge of one end of the connecting portion, which is far from the front projection, is along a first directionDistance of direction l ₇ 5 to 15mm, for example, 5mm, 5.5mm, 6mm, 6.5mm, 7mm, 7.6mm, 8.1mm, 9mm, 9.5mm, 10mm, 10.4mm, 11mm, 11.5mm, 12mm, 12.5mm, 13mm, 13.6mm, 14.1mm, 14.5mm, or 15mm. Illustratively, when the outer diameter of the rotating profile of the mop 102 and the outer diameter of the first connecting portion 21 are equal, l ₆ And l ₇ May be equal.

In some examples, the proximal distance between the outer edge of the first connection portion 21 and the working side edge 13a may be configured to be no greater than 20mm, such as 0mm, 0.5mm, 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.5mm, 4mm, 4.5mm, 5mm, 5.3mm, 5.8mm, 6.5mm, 7mm, 7.5mm, 8mm, 8.5mm, 9mm, 9.4mm, 10mm, 10.5mm, 11mm, 11.4mm, 11.9mm, 12mm, 12.5mm, 13mm, 13.5mm, 14mm, 14.5mm, 15mm, 15.5mm, 16mm, 16.5mm, 17mm, 17.6mm, 18.1mm, 18.6mm, 19mm, 19.5mm, or 20mm, and the like. Thus, the gap area between two adjacent mopping pieces 102 is small, the area of the missed mopping area and the missed mopping area between two adjacent mopping pieces 102 are reduced, and the cleaning efficiency and the full mopping capacity are improved.

Illustratively, the proximal distance between the outer edge of the first connection portion 21 and the working side edge 13a may be configured to be 5-10 mm, such as 5mm, 5.3mm, 5.5mm, 5.8mm, 6.2mm, 6.5mm, 6.8mm, 7mm, 7.5mm, 8mm, 8.5mm, 9mm, 9.4mm, 9.7mm, or 10mm, etc. Here, the proximal distance between the outer edge of the first connecting portion 21 and the working-side edge 13a refers to the distance between the one of the side outer edges of the first connecting portion 21 closest to the working-side edge 13a and the working-side edge 13a. Thus, not only the drag area and drag area between two adjacent drag pieces 102 can be reduced, but also interference and interference between two adjacent drag pieces 102 can be prevented, and the drag cleaning effect of the drag pieces 102 and the structural safety of the first connecting part 21 can be ensured.

In some examples, the first connection portion 21 may be configured such that an outer edge of the first connection portion 21 and the working side edge 13a are tangent. For the definition of tangency, please refer to the above description, which is not repeated herein. In practical applications, it is difficult to make an absolute tangency between the outer edge of the first connection portion 21 and the working-side edge 13a, since both manufacturing errors and assembly errors cannot be completely eliminated. In the embodiment of the present application, when the distance between the one end outer edge of the first connecting portion 21 and the working side edge 13a away from the opposite side edge 13b is less than 5mm, for example, the distance may be 0.25mm, 0.5mm, 0.8mm, 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.5mm, 4mm, 4.5mm, or 4.95mm, etc., which are still considered to be tangent to the outer edge of the first connecting portion 21 and the working side edge 13a.

In some examples, an outer edge of the rear projection 12' of the fuselage 10 distal from the front projection is a straight line. In this way, the end of the rear side edge 12 of the fuselage 10 remote from the front side edge 11 has a straight configuration. Illustratively, the connecting region between the rear side edge 12 and the working side edge 13a forms a transition radius. Thus, the body 10 can realize a better turning beside the wall, and has a better welting effect.

As shown in fig. 1 to 12, in some embodiments, the self-moving robot 101 further includes a traveling mechanism disposed on the body 10 to realize autonomous movement of the self-moving robot 101. Here, the orthographic projection of the traveling mechanism on the plane where the outer contour of the first connecting portion 21 is located can be covered by the orthographic projection of the body 10 on the plane, so that the traveling mechanism is prevented from protruding out of the body 10, and the traveling mechanism is prevented from limiting the mopping range of the self-moving robot 101.

The structural form of the running mechanism is determined according to actual needs, and the running mechanism can be of the types such as wheel sets, tracks, support legs and the like, which is not limited in the embodiments of the present application. In some examples, the travel mechanism may include a follower wheel assembly 31 and at least two drive wheel assemblies 32.

The follower wheel assembly 31 may be disposed in a front-side region of the fuselage 10 in its advancing direction, that is, a region of the fuselage 10 near the front-side edge 11, laid out in a front-wheel manner; the follower wheel assemblies 31 may also be disposed in the rear region of the body 10, i.e., the region of the body 10 proximate the rear edge 12, and arranged in a rear-wheel manner. Illustratively, the follower wheel assembly 31 may be a universal wheel. For example, when the body 10 is provided with two first coupling portions 21, the follower wheel assembly 31 may be disposed at a region between the two first coupling portions 21.

Illustratively, the driving wheel assembly 32 may be disposed at an area between the follower wheel assembly 31 and the first connection portion 21. Illustratively, the first connection portion 21 may be disposed on a side of the rotation axis of the driving wheel assembly 32 near the rear side edge 12 of the body 10. In this manner, the first coupling portion 21 is closer to the rear edge 12 than the drive wheel assembly 32, such that the first coupling portion 21 can be brought into close proximity with the rear edge 12, reducing or eliminating drag leakage areas at the rear side of the body 10.

Illustratively, the center-to-center distance between two drive wheel assemblies 32 may be 200-300 mm, such as 200mm, 205mm, 210mm, 216mm, 221mm, 228mm, 235mm, 240mm, 245mm, 250mm, 254mm, 260mm, 265mm, 270mm, 276mm, 281mm, 285mm, 290mm, 295mm, or 300mm, and the like. Within this range, the movement stability of the body 10 is better, and the outer diameter of the first connection portion 21 is reasonably restricted so that the outer diameter of the first connection portion 21 is maintained within a better range.

As shown in fig. 20 to 23, the cleaning unit further includes, for example, a roll brush assembly 22. The bottom of the body 10 is opened with a dust suction opening 14, and the roller brush assembly 22 is rotatably disposed at the dust suction opening 14. In this way, the rolling brush assembly 22 can sweep up the dust and the adhered matters in the area to be cleaned, and the swept-up garbage is sucked away by the dust suction opening 14. Here, the rolling brush assembly 22 may be disposed at the front side of the driving wheel assembly 32 along the advancing direction of the machine body 10, and compared with a disposing manner of disposing the rolling brush assembly 22 between two driving wheel assemblies 32 in the related art, the disposing manner of the embodiment of the present application may eliminate the size limitation of the two driving wheel assemblies 32 on the rolling brush assembly 22, increase the length of the rolling brush assembly 22, and thus improve the cleaning area and the floor sweeping efficiency.

As shown in fig. 20 to 23, in some embodiments, the cleaning unit further includes a second connection part 23 provided on the body 10, the second connection part 23 being configured to be connected with the side brush 103. Thus, the side brush 103 can be used for sweeping dust and adhered matters in the area to be cleaned, and sweeping the dust in the peripheral area to the action range of the dust suction opening 14, so that the dust is sucked away by the dust suction opening 14, and the sweeping function is realized.

In some examples, the second connecting portion 23 is configured to drive the side brush 103 connected thereto to rotate, so that the side brush 103 can rotationally sweep the area to be cleaned, thereby increasing the sweeping force and the sweeping efficiency. Here, the cleaning unit may include another driving member by which the second connection portion 23 is driven to rotate. The type of the drive element can be selected according to the type of movement and layout space, such as the type of rotary electric machine, hydraulic motor, etc. Here, the driving element and the first connecting portion 21 may be directly connected or may be connected by a transmission structure such as a speed reducer, a gear mechanism, or the like.

The second connecting portion 23 may be disposed at different positions on the body 10 as needed, and the embodiment of the present application is not limited thereto. In some examples, the second connection portion 23 may be provided on the fuselage 10 in a region adjacent to the working-side edge 13a. Illustratively, the second connecting portion 23 is provided on the fuselage 10 in the region adjacent to the front-side edge 11 and the working-side edge 13a. In other examples, the second connection portion 23 is disposed on the fuselage 10 in an area adjacent to the opposite side edge 13 b. Illustratively, the second connecting portion 23 is adjacent to the area of the front side edge 11 and the opposite side edge 13 b.

In some embodiments, the width of the fuselage 10 may be defined as the distance between the two lateral edges 13 of the fuselage 10 in the first direction. Here, the ratio of the width of the body 10 to the diameter of the first connecting portion 21 may be set to 1.7 to 2.3, for example, 1.7, 1.75, 1.8, 1.85, 1.9, 1.95, 2, 2.05, 2.1, 2.15, 2.2, 2.25, 2.3, or the like; alternatively, the ratio of the width of the body 10 to the diameter of the swab 102 may be set to 1.7 to 2.3, such as 1.7, 1.75, 1.8, 1.85, 1.9, 1.95, 2, 2.05, 2.1, 2.15, 2.2, 2.25, 2.3, etc. This increases the wiping profile of the wipe 102, improves the efficiency of the wipe and allows the wipe 102 to be brought into close proximity with the working side edge 13a.

In some embodiments, the width of the fuselage 10 may be set to 280-360 mm, for example: 280mm, 285mm, 290mm, 296mm, 301mm, 310mm, 315mm, 320mm, 325mm, 332mm, 338mm, 345mm, 350mm, 355mm, 360mm, and the like. On one hand, the width range can ensure the trafficability of the body 10 in different terrain environments and can freely move in a narrower environment, so that the self-moving robot 101 can be suitable for different terrain environments; on the other hand, the width range can realize the arrangement layout of functional components such as the first connecting part 21, the rolling brush assembly 22, the second connecting part 23, the traveling mechanism and the like on the body 10, and avoid the limitation on the function increase of the self-moving robot 101; the third aspect can ensure that the first connecting portion 21 and/or the mop 102 driven by the first connecting portion 21 to rotate can be close to the working side edge 13a of the body 10, so as to obtain a better mopping range and a better welting mopping effect. In some examples, the width of the fuselage 10 may be 310-360 mm, such as 310mm, 315mm, 320mm, 325mm, 332mm, 338mm, 345mm, 350mm, 355mm, or 360mm, to better achieve the component layout and welt mopping effect.

In some embodiments, the length of the fuselage 10 may be defined as the distal distance between the forward edge 11 and the rearward edge 12 of the fuselage 10, i.e., the distance between the end of the forward edge 11 distal from the rearward edge 12 and the end of the rearward edge 12 distal from the forward edge. Accordingly, the aspect ratio of the body 10 is the ratio of the length to the width thereof. Here, the aspect ratio of the body 10 may be set to 0.9 to 1.2, for example, 0.9, 0.93, 0.95, 0.98, 1, 1.04, 1.08, 1.1, 1.15, 1.18, 1.2, or the like. Therefore, on one hand, the fuselage 10 has better trafficability and is suitable for different terrain environments; on the other hand, the body 10 has a better layout space, so that various functional components can be reasonably arranged on the body 10, and the restriction on the increase of functions is avoided.

In some examples, the outer diameter of the first connection portion 21 may be 100 to 180mm, such as 100mm, 105mm, 110mm, 115mm, 120mm, 125mm, 130mm, 135mm, 140mm, 144mm, 148mm, 153mm, 160mm, 165mm, 170mm, 175mm, 180mm, or the like. Within this range, on one hand, the first connecting portion 21 can make the mop 102 have a better mop contour range to realize a welt mop, and on the other hand, the first connecting portion 21 can be better arranged on the body 10, for example, at least two first connecting portions 21 are arranged, without limiting the arrangement of other functional components.

The shape of the body 10 may be designed according to actual needs, such as a rectangle, a square, a circle, a D-shape, a waist shape, or other special shapes, which is not limited in the embodiments of the present application. As shown in fig. 20-23, in some embodiments, the fuselage 10 may take the form of one of a rounded rectangular fuselage, a rounded square fuselage, and a D-shaped fuselage. As shown in fig. 20, the front edge 11, the rear edge 12 and the two lateral edges 13 of the rounded rectangular fuselage are of equal or approximately equal size, forming a rectangular profile, with rounded transitions at the junction areas of the respective side edges. As shown in fig. 22, the front edge 11 and the rear edge 12 of the rounded square fuselage are equal or approximately equal in size, the two lateral edges 13 are equal or approximately equal in size, but the front edge 11 is smaller in size than the lateral edges 13, forming a square profile with a longer dimension in the forward direction of the fuselage 10 and a narrower dimension in the first direction, and transitioning at the junction area of the side edges with rounded corners. As shown in fig. 23, the front side edge 11 of the D-shaped fuselage has a semicircular configuration, the rear side edge 12 and the two lateral edges 13 have a straight configuration, form an outline similar to the letter "D", and transition with rounded corners at the connecting areas of the rear side edge 12 and the lateral edges 13. As shown in fig. 24, the front and rear side edges 11 and 12 of the waist-type fuselage have a semicircular configuration, and the two side edges 13 have a straight configuration, integrally form a waist-type profile, and are rounded at the connecting region of the rear and side edges 12 and 13. When fuselage 10 adopts the arbitrary form in fillet rectangle fuselage, the square fuselage of fillet, D type fuselage and waist type fuselage, two side edges 13 have straight type structure respectively, clean along the wall from mobile robot 101, the work side edge 13a in two side edges 13 can with the wall laminating, make and can paste the wall walking and cover each region on wall limit from mobile robot 101, reduce or eliminate and leak and drag or leak and sweep the region, have the clean effect of preferred.

Here, several typical application examples are briefly described.

Application example one:

as shown in fig. 1 to 12, the self-moving robot 101 is a floor mopping robot having only a floor mopping function, and includes a body 10, a cleaning unit, and a traveling mechanism. The fuselage 10 may take the form of one of a rounded rectangular fuselage, a rounded square fuselage, a D-type fuselage, and a waist-type fuselage. The cleaning unit includes two first connecting portions 21, each first connecting portion 21 being configured to connect with one wiper 102 and to drive the wiper 102 to rotate; one of the first connections 21 is further configured to make the rotational contour of the wiper 102 driven to rotate by it tangent or substantially tangent to the working side projection 13a ', and the other first connection 21 is configured to make the rotational contour of the wiper 102 driven to rotate by it neither tangent nor substantially tangent to the working side projection 13a', respectively. Here, the traveling mechanism includes one follower wheel assembly 31 and two drive wheel assemblies 32. The mopping robot in the application example can reduce or eliminate the missed mopping area, and has better cleaning efficiency and more comprehensive mopping capability.

Application example two:

as shown in fig. 20 to 21, the self-moving robot 101 is a mopping and sweeping robot having both a mopping function and a sweeping function, and includes a body 10, a cleaning unit, and a traveling mechanism. The machine body 10 is in a round-corner rectangular machine body form, and a dust suction port 14 is formed in the machine body 10. The cleaning unit includes two first connection portions 21, one roll brush assembly 22, and at least one second connection portion 23; each first connection 21 is configured to connect to a wiper 102 and to drive the wiper 102 in rotation, wherein one first connection 21 is further configured to make the rotating profile of the wiper 102 driven in rotation by it tangent or substantially tangent to the working side projection 13a ', and the other first connection 21 is configured to make the rotating profile of the wiper 102 driven in rotation by it neither tangent nor substantially tangent to the working side projection 13a', nor to the side projection. The second connecting portion 23 is provided in the region of the body 10 adjacent to the working-side edge 13a and the front-side edge 11, and may be provided in the region of the body 10 adjacent to the opposite-side edge 13b and the front-side edge 11. Here, the traveling mechanism includes one follower wheel assembly 31 and two driving wheel assemblies 32; the roller brush assembly 22 is rotatably held at the dust suction port 14 and is disposed between the driven wheel assembly 31 and the two driving wheel assemblies 32, and the length of the roller brush assembly 22 may exceed the interval between the two driving wheel assemblies 32. The mopping robot in the application example can reduce or eliminate the missed mopping area, has better cleaning efficiency and more comprehensive mopping capability, has a sweeping function, can integrally realize sweeping and mopping operation, reduces the required cleaning device and the track planning calculation amount, and reduces the equipment cost and the calculation burden.

Application example three:

as shown in fig. 22, the self-moving robot 101 is a mopping and sweeping robot having both a mopping function and a sweeping function, and includes a body 10, a cleaning unit, and a traveling mechanism. The machine body 10 is in a D-shaped body form, and a dust suction port 14 is formed in the machine body 10. The cleaning unit includes two first connection parts 21, one roll brush assembly 22, and at least one second connection part 23; each first connection 21 is configured to connect with one of the wipers 102 and drive the one of the wipers 102 to rotate, wherein one of the first connections 21 is further configured to make the rotating contour of the wiper 102 driven to rotate by the one of the first connections tangent or substantially tangent to the working side projection 13a ', and the other of the first connections 21 is configured to make the rotating contour of the wiper 102 driven to rotate by the one of the first connections neither tangent nor substantially tangent to the working side projection 13a', nor to the side projection. The second connecting portion 23 is provided in the area of the body 10 adjacent to the working-side edge 13a and the front-side edge 11, and may be provided in the area of the body 10 adjacent to the opposite-side edge 13b and the front-side edge 11. Here, the traveling mechanism includes one follower wheel assembly 31 and two driving wheel assemblies 32; the brush roller assembly 22 is rotatably retained at the suction opening 14 and may be disposed between two drive wheel assemblies 32. The mopping robot in the application example can reduce or eliminate the missed mopping area, has better cleaning efficiency and more comprehensive mopping capacity, has a sweeping function, can integrally realize sweeping and mopping operation, reduces the required cleaning device and track planning operation amount, and reduces the equipment cost and the operation burden.

Application example four:

as shown in fig. 23, the self-moving robot 101 is a mopping and sweeping robot having both a mopping function and a sweeping function, and includes a body 10, a cleaning unit, and a traveling mechanism. The machine body 10 is in a round-corner square machine body form, and a dust suction port 14 is formed in the machine body 10. The cleaning unit includes two first connection portions 21, one roll brush assembly 22, and at least one second connection portion 23; each first connection 21 is configured to connect to one of the wipers 102 and to drive the wiper 102 in rotation, wherein one of the first connections 21 is further configured to make the profile of rotation of the wiper 102 driven in rotation tangent or substantially tangent to the working side projection 13a' and the other first connection 21 is configured to make the profile of rotation of the wiper 102 driven in rotation tangent or substantially tangent to the opposite side projection. The second connecting portion 23 is provided in the region of the body 10 adjacent to the working-side edge 13a and the front-side edge 11, and may be provided in the region of the body 10 adjacent to the opposite-side edge 13b and the front-side edge 11. Here, the traveling mechanism includes one follower wheel assembly 31 and two driving wheel assemblies 32; the roller brush assembly 22 is rotatably held at the dust suction port 14 and is disposed between the driven wheel assembly 31 and the two driving wheel assemblies 32, and the length of the roller brush assembly 22 may exceed the interval between the two driving wheel assemblies 32. The mopping robot in the application example can reduce or eliminate the missed mopping area on one hand, and has better cleaning efficiency and more comprehensive mopping capacity; on the other hand, any one of the two sides can be used as a working side, so that the difficulty of trajectory planning can be reduced, and the adaptability of the self-moving robot 101 to different terrains is improved; the third aspect has the function of sweeping the floor and can realize sweeping and mopping operation integrally, reduces the required cleaning device and the track planning operand, and reduces the equipment cost and the operation burden.

As shown in fig. 20 to 23, in a second aspect, an embodiment of the present application further provides a cleaning robot apparatus 100, which includes a mop 102 and a self-moving robot 101 provided in any one of the above embodiments, wherein the mop 102 is disposed on the first connecting portion 21. With this cleaning robot device 100, a gap region directly below the body 10 between the outer edge of the mopping profile of the mopping member 102 and the working side edge 13a of the body 10 can be reduced or eliminated, thereby reducing or eliminating the mopping area during mopping, particularly the mopping area along a wall, and simultaneously reducing the walking distance during mopping, improving the cleaning efficiency and the overall mopping ability.

The form of the wipe 102 may be determined according to actual needs, and different types of wipes may be used, which are not limited in this embodiment. In some examples, the wipe 102 takes the form of one of a round wipe, a clover wipe, and a polygonal wipe.

As shown in fig. 25, an embodiment of the present application further provides a mopping method, including steps S10 to S20.

S10: a cleaning robot apparatus is provided. The cleaning robot device comprises a self-moving robot and a mopping piece, wherein the self-moving robot comprises a machine body, and the mopping piece is arranged on the machine body. In some embodiments, the cleaning robot apparatus may be the cleaning robot apparatus 100 described in any of the above embodiments.

S20: when the self-moving robot 101 is operated, the contour edge of the wiper 102 is brought into close proximity with the working side edge 13a of the body 10.

It will be appreciated that by this method of mopping, the clearance area between the outer edge of the mopping profile of the mopping member 102 and the working side edge 13a of the body 10 directly below the body 10 is reduced or eliminated, thereby reducing or eliminating the drag area during mopping, particularly along a wall, allowing wall-to-wall mopping while reducing the walking distance during mopping, improving cleaning efficiency and overall mopping capacity.

As shown in FIG. 26, in some embodiments, S20 further includes S21-S24.

S21: the distance of the working-side edge 13a from the wall 201 is detected. Here, the distance between the working-side edge 13a and the wall 201 may be detected by a distance measuring device provided on the body 10. The type of range unit decides according to actual need, can adopt types such as laser rangefinder sensor, supersound range sensor, infrared rangefinder sensor, and this application embodiment does not limit to this.

S22: and judging whether the working side edge 13a is close to the wall body 201 or not according to the distance between the working side edge 13a and the wall body 201. In some examples, the distance between the working-side edge 13a and the wall 201 may be compared with a preset distance threshold to determine whether the working-side edge 13a is close to the wall 201. When the distance between the working side edge 13a and the wall 201 is not greater than the distance threshold, judging that the working side edge 13a is close to the wall 201; and when the distance between the working side edge 13a and the wall 201 is greater than the distance threshold value, judging that the working side edge 13a is not close to the wall 201. Illustratively, the distance threshold is no greater than 20mm, e.g., 0mm, 0.5mm, 1mm, 2mm, 3mm, 4mm, 5mm, 5.5mm, 6mm, 6.5mm, 7mm, 7.6mm, 8.1mm, 9mm, 9.5mm, 10mm, 10.4mm, 11mm, 11.5mm, 12mm, 12.5mm, 13mm, 13.6mm, 14.1mm, 14.5mm, 15mm, 16mm, 17mm, 18mm, 19mm, or 20mm, etc. Illustratively, the distance threshold is no greater than 5mm, such as 0mm, 0.25mm, 0.5mm, 0.8mm, 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.5mm, 4mm, 4.5mm, 4.95mm, or 5mm, and the like.

S23: if the working side edge 13a is adjacent the wall 201, the contoured edge of the control wipe 102 is adjacent the wall 201. Thus, when the self-moving robot 101 works along the wall, the contour edge of the mopping piece 102 can be close to the working side edge 13a and the wall surface, so that wall pasting mopping is carried out, and the mopping area are reduced.

S24: if the working side edge 13a is not adjacent to the wall 201, the contoured edge of the control wipe 102 is adjacent to the working side edge 13a. Thus, when the self-moving robot 101 works in an open area other than along a wall, the contour edge of the wiper 102 may be close to the working-side edge 13a, and the area of the missed wiping area and the missed wiping area may be reduced.

The self-moving robot 101, the cleaning robot apparatus 100 and the mopping method provided in the embodiments of the present application are described in detail above, and specific examples are applied herein to illustrate the principles and embodiments of the present application, and the description of the embodiments above is only used to help understand the method and the core concept of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. The utility model provides a from mobile robot, includes the fuselage and set up in cleaning unit on the fuselage, its characterized in that, cleaning unit includes at least one first connecting portion, first connecting portion are configured to be connected with mopping piece, the edge is in the work side of fuselage orthographic projection on the first connecting portion outline place plane is the projection of work side, the edge is in the work side along the edge of one side that its direction of advance extends on the fuselage, at least one first connecting portion are configured to make the profile of mopping piece rather than being connected with the projection of work side is pressed close to mutually.

2. The self-propelled robot of claim 1, wherein the first coupling portions are further configured to rotationally drive a swab coupled thereto, the swab having a rotational profile that is the swab profile, and wherein at least one of the first coupling portions is configured to bring the rotational profile of the swab driven thereby into close proximity with the work side projection.

3. The self-moving robot as claimed in claim 2, wherein the body has a pair of side edges disposed opposite to the working side edge, an orthographic projection of the pair of side edges on a plane where the outer contour of the first connecting portion is located is a pair of side projection, and the at least one first connecting portion is configured to make a rotation contour of the wiper driven to rotate by the at least one first connecting portion tangent or approximately tangent to an outer edge of one end of the working side projection, which is far away from the pair of side projection.

4. A self-moving robot according to claim 3, wherein a distance in a first direction between an outer edge of a working side projection substantially tangent to the rotation contour, which is far from the opposite side projection, and an outer edge of the rotation contour, which is far from the opposite side projection, is 5 to 20mm, the first direction being a direction pointing from the working side edge toward the opposite side edge or an opposite direction.

5. The self-moving robot of claim 3, wherein an orthographic projection of the outer edge of the first connecting part on a plane of the outer contour of the first connecting part is a connecting part projection, and the connecting part projection and an outer edge of one end of the working side projection far away from the opposite side projection are tangent or approximately tangent; the distance between the outer edge of one end, far away from the projection of the opposite side, on the projection of the working side approximately tangent to the projection of the connecting part and the outer edge of one end, far away from the projection of the opposite side, of the projection of the connecting part along a first direction is 5-20 mm, and the first direction is a direction from the working side edge to the opposite side edge or an opposite direction.

6. The self-moving robot according to claim 2, wherein an outer diameter of a rotating profile of the mop is not smaller than an outer diameter of the first connecting portion.

7. The self-propelled robot of claim 2, comprising a plurality of said first connections, wherein at least one first connection is configured to drive at least one swab to rotate and bring a rotational profile of the swab and the work side projection into close proximity.

8. The self-propelled robot of claim 7, wherein the body has opposing side edges disposed opposite the working side edges, an orthographic projection of the opposing side edges on a plane of an outer contour of the first coupling portion is an opposing side projection, and the at least one other first coupling portion is configured to drive the at least one other wiper to rotate and bring the rotating contour of the wiper into close proximity with the opposing side projection of the body.

9. The self-moving robot of claim 8, wherein the distance between adjacent first connections is configured such that the proximal distance between the profiles of rotation of the swabs driven by the first connections, respectively, is no greater than 10mm.

10. The self-moving robot as claimed in any one of claims 1 to 6, wherein the fuselage has a rear side edge and a pair of side edges, the pair of side edges being disposed opposite the working side edge, the rear side edge connecting the working side edge and the pair of side edges, a connecting area between the rear side edge and the working side edge of the fuselage forming a transition radius, the connecting areas between the rear side edge and the pair of side edges respectively forming a transition radius; the orthographic projection of the opposite side edge on the plane where the outer contour of the first connecting portion is located is an opposite side projection, and the outer edge of one end, far away from the opposite side projection, of the working side projection is a straight line.

11. The self-moving robot as claimed in any one of claims 1 to 6, wherein the body is in the form of one of a rounded rectangular body, a rounded square body, a D-shaped body and a kidney-shaped body.

12. The self-propelled robot of any of claims 1-6, wherein the body has a rear side edge connected to the working side edge, an orthographic projection of the rear side edge of the body on a plane containing an outer contour of the first connection portion is a rear projection, and at least one of the first connection portions is further configured to approximate a trailing contour of a trailing element connected thereto to the rear projection.

13. The self-moving robot of claim 12, wherein the body has a front edge disposed opposite to the rear edge along the advancing direction of the body, an orthographic projection of the front edge of the body on a plane where the outer contour of the first connecting portion is located is a front projection, and at least one of the first connecting portions is further configured to make a wiping contour of a wiper connected thereto tangent to or substantially tangent to an outer edge of an end of the rear projection that is far away from the front projection.

14. The self-moving robot of any one of claims 1-6, further comprising a traveling mechanism disposed on the body, wherein an orthographic projection of the traveling mechanism on a plane where an outer contour of the first connecting portion is located is covered by an orthographic projection of the body on the plane.

15. The autonomous mobile robot of claim 14, wherein the travel mechanism includes a follower wheel assembly and at least two drive wheel assemblies; the follower wheel assembly is arranged in a front side area of the machine body along the advancing direction of the machine body, and the driving wheel assembly is arranged in an area between the follower wheel assembly and the first connecting part.

16. The self-moving robot as claimed in claim 15, further comprising a rolling brush assembly, wherein a dust suction opening is formed at a bottom of the body, the rolling brush assembly is rotatably disposed at the dust suction opening, and the rolling brush assembly is disposed at a front side of the driving wheel assembly along a forward direction of the body.

17. The self-moving robot according to any one of claims 1 to 6, further comprising a second connecting portion provided on the body, the second connecting portion being configured to connect with an edge brush; the second connecting portion is also configured to drive the side brush connected thereto to rotate.

18. A cleaning robot apparatus, characterized by comprising:

the self-moving robot of any one of claims 1-17;

and the mopping piece is arranged on the first connecting part.

19. The cleaning robotic device of claim 18, wherein the wipe is in the form of one of a round wipe, a clover wipe, and a polygonal wipe.

20. A method of mopping, comprising:

the cleaning robot device comprises a self-moving robot and a mop piece, wherein the self-moving robot comprises a machine body, and the mop piece is arranged on the machine body;

when the self-moving robot works, the contour edge of the mopping piece is close to the working side edge of the machine body.

21. A method as claimed in claim 20, wherein the step of bringing the contoured edge of the wipe into close proximity with the working side edge of the body while the self-moving robot is in operation comprises:

detecting the distance between the working side edge and a wall body;

judging whether the working side edge is close to the wall body or not according to the distance between the working side edge and the wall body;

if the working side edge is close to the wall body, controlling the contour edge of the mopping piece to be close to the wall body;

and if the working side edge is not close to the wall body, controlling the contour edge of the mopping piece to be close to the working side edge.