CN215016878U

CN215016878U - Self-moving cleaning equipment

Info

Publication number: CN215016878U
Application number: CN202120801994.2U
Authority: CN
Inventors: 潘柯; 朱道文; 刘小禹
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2021-04-19
Filing date: 2021-04-19
Publication date: 2021-12-07
Anticipated expiration: 2031-04-19

Abstract

The embodiment of the utility model discloses a self-moving cleaning device, which comprises a main body and at least one sensing module; the self-moving cleaning apparatus further comprises a fluid storage device, an outer surface of the fluid storage device being shaped as an outer surface of the main body, the fluid storage device being for storing a cleaning fluid or a recycled soiled fluid; each sensing module comprises a mounting member and at least one sensing part, and the at least one sensing part is arranged on the outer side of the main body through the mounting member. The sensing part is arranged on the outer side of the main body through the mounting component, so that the sensing part can be mounted on the self-moving cleaning equipment, the collected information fed back by the mounted sensing part is used, the controller can control the self-moving cleaning equipment to independently advance, the problem that the main body formed by the rotational molding process cannot directly mount a sensing component is solved, and the intelligent and automatic realization of the self-moving cleaning equipment is facilitated.

Description

Self-moving cleaning equipment

Technical Field

The utility model relates to a cleaning device field particularly relates to a from removing cleaning device.

Background

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

The floor washing machine is generally classified into a hand-push type or a driving type according to an operation mode, and the working principle of the floor washing machine is that when the floor washing machine runs in an area to be cleaned, a cleaning agent in a clear fluid storage device is communicated to the lower part of a brush disc through a water pipe, the rotation of the brush disc is matched to wash the ground, and then sewage is sucked into a dirty fluid storage device through a water suction system so as to achieve the purpose of cleaning. However, the hand-push type floor washing machine and the driving type floor washing machine have low automation degree, need manual operation and are inconvenient to use. And the automation degree of the floor washing machine is improved, so that various sensors are required to be loaded on the floor washing machine to realize the functions of position sensing, navigation control, path planning, obstacle avoidance and the like.

SUMMERY OF THE UTILITY MODEL

In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. The inventive content does not imply any attempt to define the essential features and essential features of the claimed solution, nor is it implied to be intended to define the scope of the claimed solution.

In a first aspect, an embodiment of the present invention provides a self-moving cleaning device, including a main body and at least one sensing module;

the self-moving cleaning apparatus further comprises a fluid storage device, an outer surface of the fluid storage device being shaped as an outer surface of the main body, the fluid storage device being for storing a cleaning fluid or a recycled soiled fluid;

each sensing module comprises a mounting member and at least one sensing part, and the at least one sensing part is arranged on the outer side of the main body through the mounting member.

Optionally, the body is formed by a rotational moulding process.

Optionally, at least one of the sensing modules includes one or more of a ranging sensing module and/or a navigation sensing module.

Optionally, the ranging sensing module is disposed at a lower edge of the main body.

Optionally, the sensing part of the distance measuring and sensing module is inclined towards the upper part of the main body.

Optionally, the navigation sensing module is disposed on the outer peripheral wall of the main body.

Optionally, each of the mounting members is detachably attached to an outer side of the main body.

Optionally, a slot adapted to each mounting member is provided on the main body, each mounting member is fixed in the corresponding slot, and an outer surface of each mounting member is flush with an outer surface of the main body.

Optionally, the number of the navigation sensing modules is at least two, and the navigation sensing modules form a sensing module array.

Optionally, the array distribution mode includes a single-layer surrounding distribution array or a multi-layer surrounding distribution array.

Optionally, the mounting member is provided with a mounting groove corresponding to each sensing portion, each sensing portion is mounted on a bottom surface of the corresponding mounting groove so that the sensing portion is recessed in an outer surface of the mounting member, and each mounting groove is covered with a transparent cover.

Optionally, the sensing part of the distance measurement sensing module comprises one or more of a radar sensor, an infrared sensor, a laser sensor and an ultrasonic sensor, and the navigation sensing module comprises one or more of a monocular camera device, a binocular camera device and a TOF camera device.

According to the embodiment of the utility model provides a from removing cleaning equipment, sensing portion passes through the installation component and sets up the outside in the main part, thereby can install sensing portion on removing cleaning equipment certainly, like this through the information acquisition of the sensing portion feedback of installation, the steerable cleaning operation of independently marcing of self-removal cleaning equipment of controller, thereby solved the problem that adopts the unable direct mount sensing components and parts of main part of rotational moulding technology formation, be favorable to the realization intelligent and automatic of self-removal cleaning equipment.

Drawings

The following drawings of the present invention are used herein as part of the embodiments of the present invention for understanding the present invention. There are shown in the drawings, embodiments and descriptions of the invention, which are used to explain the principles of the invention.

In the drawings:

fig. 1 is a schematic perspective view of a self-moving cleaning apparatus according to an alternative embodiment of the present invention;

fig. 2 is a block diagram of a sensing module according to an alternative embodiment of the present invention;

fig. 3 is a block diagram of a sensing module according to another alternative embodiment of the present invention.

Description of reference numerals:

1-main part, 2-fluid storage device, 3-card slot, 4-sensing module, 401-mounting component, 402-mounting slot, 4021-bottom surface, 4022-peripheral wall, 403-sensing part, 41-navigation sensing module, 42-distance measurement sensing module, 5-first chamber, 6-second chamber, 7-first lens, 8-second lens, 9-clapboard, 10-optical filter, 11-light transmission slot, 12-shell, 1201-upper cover, 1202-bottom plate, 13-opening.

Detailed Description

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

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

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

As shown in fig. 1, an embodiment of the present invention provides a self-moving cleaning device, which includes a main body 1 and at least one sensing module 4; the self-moving cleaning apparatus further comprises a fluid storage means 2, an outer surface of the fluid storage means 2 is shaped as an outer surface of the main body, the fluid storage means 2 is used for storing cleaning fluid or recycled dirty fluid; each sensing module 4 includes a mounting member 401 and at least one sensing part 403, and the at least one sensing part 403 is disposed at an outer side of the main body 1 through the mounting member.

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

Taking the motor scrubber as an example, the motor scrubber includes, but is not limited to, a main body 1, a traveling mechanism, a cleaning supply system, a control device, a sensing module 4, and a sewage recovery system.

The main body 1 may be configured as a fluid storage device 2 having a certain thickness, and the fluid storage device 2 is used to store cleaning liquid and recycled sewage. The fluid storage device 2 may be integrally molded using a material such as plastic to improve elasticity, toughness, corrosion and impact resistance of the main body 1 and to reduce the weight of the main body 1. The peripheral wall 4022 of the fluid storage device 2 may be pre-formed with a plurality of grooves, recesses, detents, or the like for mounting the clean feed system, the waste recovery system, the travel mechanism, and the battery pack. Meanwhile, the fluid storage device 2 is used as the main body 1, and other components such as a shell and the like do not need to be additionally manufactured, so that the production process can be simplified. And in case the floor washing machine is used to clean a large place, the volume of the main body 1 can be increased to increase the volume of the fluid storage means 2, so that the fluid storage means 2 has sufficient cleaning liquid to meet the washing demand. The cleaning solution can be a cleaning solution or a mixed solution of clean water and a detergent. In some embodiments, the fluid storage device 2 may be divided into a plurality of compartments, for example, two compartments, one for storing cleaning fluid and the other for storing recycled sewage; further, in the case of a mixture of clean water and detergent, the compartment for storing the cleaning solution may be divided into two sub-compartments, one sub-compartment having a volume substantially larger than the volume of the other sub-compartment, such that the larger sub-compartment stores clean water and the smaller sub-compartment stores detergent.

Running gear is including setting up multiunit gyro wheel and the actuating mechanism in main part 1 lower part, and two gyro wheels of every group are located the relative both sides of main part 1 respectively, and this internally is placed in the robot in actuating mechanism, drives the gyro wheel through actuating mechanism and drives the walking of main part 1 and carry out cleaning operation.

The control device is arranged on a circuit main board in the body and comprises a memory (such as a hard disk, a flash memory and a random access memory) and a processor (such as a central processing unit and an application processor). The processor draws an instant map of the environment where the mobile cleaning device is located according to the object information fed back by the sensing part 403, so that the most efficient and reasonable cleaning path and cleaning mode are planned, and the cleaning efficiency of the mobile cleaning device is greatly improved. And comprehensively judges which working state the self-moving cleaning equipment is currently in according to distance information, speed information, posture information and the like fed back by the sensing part 403, so that specific next action strategies can be given according to different conditions, and corresponding control instructions are sent to the self-moving cleaning equipment.

The cleaning liquid supply system includes a cleaning device, a cleaning liquid output line, a nozzle provided in the cleaning head housing and configured to supply the cleaning liquid to the cleaning device, and a lifting mechanism configured to lift and lower the cleaning device. The fluid reservoir 2 is connected to the spray nozzle via a cleaning fluid discharge line, on which the necessary components such as a pump are arranged in order to supply the cleaning fluid to the spray nozzle in a timely and sufficient manner. During the cleaning operation, the lifting mechanism drives the cleaning device to descend so that the cleaning device is in contact with the surface to be cleaned, and then the cleaning liquid is conveyed to the nozzle to provide the cleaning liquid for the cleaning device, so that the cleaning operation is realized. After the cleaning operation is finished, the lifting mechanism drives the cleaning device to ascend, so that a certain distance is formed between the cleaning device and the surface to be cleaned, the abrasion of the ground to the cleaning device is reduced, and the service life of the cleaning device is prolonged.

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

The sewage recovery system comprises a fan assembly and a sewage recovery pipeline connected between the sewage recovery device and the suction port. The sewage recovery pipeline sucks impurities and dirty liquid on the surface to be cleaned into the fluid storage device 2 through the sewage recovery pipeline under the action of suction force provided by the fan assembly.

The number of the sensing modules 4 can be set by a worker according to the operation requirement of the self-cleaning equipment, and usually, a plurality of sensing modules 4 are arranged, so that the environmental information can be comprehensively sensed, and the sensing accuracy is improved. The plurality of sensing modules 4 may include one or more of the distance measuring sensing module 42 and/or the navigation sensing module 41. There may be one or more of each type of sensing module 4.

Each sensing module 4 comprises an installation member 401 and at least one sensing part 403, the sensing part 403 is fixed on the outer side of the main body 1 through the installation member 401, so that the problem that sensing equipment cannot be directly installed on a rotational molding shell is solved, collected information fed back by the installed sensing part 403 is used, a controller can control the self-moving cleaning equipment to automatically advance, the problem that sensing components cannot be directly installed on the main body formed by a rotational molding process is solved, and the realization of intellectualization and automation of the self-moving cleaning equipment is facilitated. The mounting member 401 may be made of plastic material, and is integrally molded, and the plastic material has the characteristics of elasticity, flexibility, light weight, excellent chemical stability, shock resistance, and the like, and can meet the use requirement of the mounting member 401. The plastic material includes polyvinyl chloride, polyethylene, polypropylene, polystyrene, polycarbonate, etc.

In the above embodiment, as shown in fig. 1, the main body 1 is configured as the fluid storage device 2, an outer surface of the fluid storage device serves as an outer surface of the main body 1, and the fluid storage device 2 is used for storing the cleaning fluid or the recycled dirty fluid.

The main body 1 may be configured as a fluid storage device 2 having a certain thickness, and the fluid storage device 2 is used to store cleaning liquid and recycled sewage. The fluid storage device 2 may be integrally molded using a material such as plastic to improve elasticity, toughness, corrosion and impact resistance of the main body 1 and to reduce the weight of the main body 1. The peripheral wall 4022 of the fluid storage device 2 may be pre-formed with a plurality of grooves, recesses, detents, or the like for mounting devices such as a clean feed system, a waste recovery system, a running gear, and the like. Meanwhile, the fluid storage device 2 is used as the main body 1, and other components such as a shell and the like do not need to be additionally manufactured, so that the production process can be simplified.

Further, the body 1 is formed by a rotational molding process.

In the process of forming raw materials in a die by a rotational molding process, the raw materials are only influenced by gravity without additional external force, so that the produced product theoretically has no internal stress, and is more suitable for long-term use; the rotational molding die is relatively low in stress, so that the requirement on the material of the die is low; the mold may be composed of two or more pieces and the shape and size are not limited in any way; the wall thickness of the product is generally uniform, and the product with thick wall thickness can be produced without the limitation of size. The body 1 is thus made of rotomoulded articles, which can meet the large size requirements of large self-moving cleaning equipment, such as commercial floor washers.

In the above embodiment, as shown in fig. 1, the at least one sensing module 4 includes a distance measuring sensing module 42 and/or a navigation sensing module 41. Specifically, the sensing portion 403 of the distance measurement sensing module 42 includes one or more of a radar sensor, an infrared sensor, a laser sensor, and an ultrasonic sensor, and the navigation sensing module 41 includes one or more of a monocular camera device, a binocular camera device, and a TOF camera device.

The distance measuring and sensing module 42 can detect the distance change between the mobile cleaning device and the surrounding object. The working principle of the distance measuring sensor is that the emitting part emits an emergent signal, the emergent signal is reflected after meeting a pre-object, the reflected signal is received by the receiver, and the distance between the mobile equipment and the object is calculated according to the time difference data of the emitting signal and the receiving signal.

The navigation sensing module 41 can obtain more accurate distance measurement and determine the position and posture of the self-moving cleaning device by using the image of the camera device, thereby improving the accuracy and reliability of positioning and map components. For example, a monocular camera device is used to perform identification of an obstacle through image matching, a binocular camera device is used to detect a distance between the obstacle and the self-moving cleaning apparatus, which determines the distance mainly through a parallax of two images, and a matching point is obtained through the same feature point in the two images, thereby determining the distance to the target. Through monocular camera device and binocular camera device, can be convenient for discern the kind and the distance of barrier around it from mobile cleaning equipment, and then carry out intelligence according to different kinds of barrier and keep away the barrier, play the effect of navigation, promote into from mobile cleaning equipment's intelligent degree. In order to further improve the accuracy of avoiding the barrier, can also install TOF camera device additional, TOF camera device is based on TOF technique. TOF technology belongs to one of the optical non-contact three-dimensional depth measurement sensing methods, by continuously transmitting light pulses to a target, and then receiving light returning from the object with a sensor, and by detecting the time of flight (round trip) of these transmitted and received light pulses, the target object distance is obtained. The irradiation unit of the TOF generally emits high-performance pulsed light by using an LED or Laser (including a Laser diode and a VCSEL (Vertical Cavity Surface Emitting Laser)). The pulse can reach about 100MHz, and mainly adopts infrared light. TOF cameras apply the following two principles, 1) optical shutter based methods; the main realization mode is as follows: emitting a beam of pulse light wave, quickly and accurately acquiring the time difference t of the light wave reflected back after irradiating the three-dimensional object through an optical shutter, wherein the back-and-forth distance can be t/2 · c by the common expression d as long as the time difference between the irradiated light and the received light is known because the light speed c is known; 2) methods based on continuous wave intensity modulation; the main realization mode is as follows: and emitting a beam of illumination light, and measuring the distance by using the phase change of the emitted light wave signal and the reflected light wave signal. The wavelength of the lighting module is generally in the infrared band, and high frequency modulation is required. The TOF photosensitive element is similar to a common mobile phone camera module and comprises a chip, a lens, a circuit board and other components, each pixel of the TOF photosensitive element records the specific phase between a reciprocating camera for emitting light waves and an object respectively, the phase difference is extracted through a data processing unit, and the depth information is calculated through a formula. The TOF camera device is small in size, can directly output the depth data of a detected object, and the depth calculation result of the TOF camera device is not affected by the surface gray scale and characteristics of the object, so that three-dimensional detection can be accurately performed.

In a specific application, the different sensors may be used in combination, for example, the sensing portions 403 of the sensing modules 4 may include a radar sensor, an infrared sensor, and an ultrasonic sensor, so that the information fed back by the different sensors is compared, and a more accurate feedback result may be selected, thereby improving the sensing accuracy.

To further improve the accuracy of the detection, different kinds of sensing modules 4 are disposed at different positions of the main body 1, and in some realizable manners, the distance measuring sensing module 42 is disposed at the lower edge of the main body 1.

In a specific implementation, as shown in fig. 1, the lower portion of the main body 1 may be provided with an assembly card slot 3 recessed and matched with the mounting member 401 of the ranging sensing module 42, so that the mounting member 401 is mounted on the lower portion of the main body 1. Under the condition that sets up a plurality of range finding sensing module 42, a plurality of range finding sensing module 42 can encircle the lower part edge setting of main part 1, sets up a plurality of range finding sensing module 42 and can increase from the detection range who removes cleaning device to improve the comprehensiveness of detection. Further, the sensing portion 403 of the distance measuring and sensing module 42 is inclined toward the upper portion of the main body 1 to avoid detecting short objects as obstacles, thereby improving the accuracy of detection.

The navigation sensing module 41 is disposed on the peripheral wall 4022 of the main body 1.

Specifically, the navigation sensing module 41 can be arranged around the periphery of the main body 1, so as to realize full coverage and omnibearing detection of obstacle avoidance space measurement.

Further, the total number of the navigation sensing modules 41 is at least two, and the navigation sensing modules 41 form a sensing module array.

The navigation sensing module 41 distributed in an array can enable the self-moving cleaning equipment to obtain environmental information under various motion states, judge the position of the barrier, upload data to the control device, analyze the data in real time by the control device, make a judgment in time, realize a navigation function, avoid the barrier and ensure the safety of the actual application process.

The array distribution mode comprises a single-layer surrounding distribution array or a multi-layer surrounding distribution array.

The single-layer surrounding distribution array is formed by arranging a plurality of navigation sensing modules 41 in a single layer around the periphery of the main body 1, and mainly aims at the situation that the height of the self-moving cleaning equipment body is lower.

When the array is distributed in a multi-layer surrounding manner, the plurality of navigation sensing modules 41 are arranged in two or more layers around the periphery of the main body 1. The multi-layer surrounding distribution array is mainly used for the case that the height of the main body 1 is high, in this case, if the single-layer surrounding distribution mode is adopted, the measurement range is not enough to fully cover the obstacle detection within the height range of the main body 1.

In the above embodiment, as shown in fig. 1, each mounting member 401 is detachably attached to the outside of the main body 1.

The mounting of the mounting member 401 detachably to the outside of the main body 1 facilitates replacement of the sensor module 4 when the mounting member 401 is damaged due to a collision or the like or the sensor part 403 thereon is damaged.

The detachable connection can be realized by using the existing detachable connecting piece, such as a bolt, etc., and the embodiment is not strictly limited.

Further, as shown in fig. 1, a card slot 3 is provided on the main body 1 for each mounting member 401 to fit, each mounting member 401 is fixed in the corresponding card slot 3, and the outer surface of each mounting member 401 is flush with the outer surface of the main body 1.

The outer surface of each mounting member 401 is flush with the outer surface of the main body 1 so that there is no protruding portion on the main body 1, thereby reducing the chance of an object colliding with the main body 1 during traveling, and reducing the size and footprint of the main body 1.

Further, as shown in fig. 2, the mounting member 401 is provided with a mounting groove 402 corresponding to each sensing part 403, each sensing part 403 is mounted on a bottom surface 4021 of the corresponding mounting groove 402 so that the sensing part 403 is recessed in an outer surface of the mounting member 401, and each mounting groove 402 is covered with a transparent cover.

The sensing portion 403 is recessed in the outer surface of the mounting member 401, so as to prevent the sensing portion 403 from directly colliding with an external object, and protect the sensing portion 403. In a specific application, the peripheral wall 4022 of the mounting groove 402 may be provided as an inclined surface gradually inclined outward, so as to avoid shielding of signals transmitted and received by the sensing part 403.

The transparent cover body can improve the protection performance of the sensing part 403, and the sensing part 403 is not exposed, so that the deposition of dust and sundries can be effectively reduced, the influence of signal emission and reception is avoided, and the detection performance is effectively improved.

Further, a sensing part of the distance measurement sensing module, such as an infrared sensor or a laser sensor, generally has an emitting part and a receiving part, and in order to avoid interference of an optical signal emitted by the emitting part on the receiving part, as shown in fig. 3, a partition plate 9 is disposed in the middle of the mounting groove 402 to divide the mounting groove 402 into a first chamber 5 and a second chamber 6, the emitting part is mounted in the first chamber 5, a first lens 7 is disposed above the emitting part, and the first lens 7 is used for converging light emitted by the emitter; an emitting part is installed in the second chamber 6, a second lens 8 is arranged on the emitting part, the second lens 8 is used for converging light rays reflected by a measured object, and a light filtering part is installed above the second lens 8.

The partition 9 serves as signal isolation to prevent the emitted light signal of the emitting portion from being received by the receiving portion without being reflected by an object.

When the sensing part works, the emitting light of the emitting part is converged by the first lens 7, then irradiates on a measured object, is reflected by the measured object and then enters the optical filtering part, and the light is filtered by the optical filtering part, then is condensed by the second lens 8 and finally is received by the receiving part, so that the output signal of the receiving part cannot fluctuate, is more stable and has good consistency.

The light filtering part comprises a shell 12 and a light filter 10, the top of the shell 12 is provided with a light transmission difference 11, the bottom of the shell 12 is provided with an opening 13, a containing cavity is arranged in the shell 12, and the light filter 10 is arranged in the containing cavity.

The opening 13 and the light transmission difference 11 are used to ensure the transmission of light, and the housing 12 plays a role in protecting and fixing the filter 10. Specifically, the optical filter 10 is a 940nm band-pass filter 10, the transmittance of the optical filter 10 is 95%, and the cutoff rate is greater than that, so that the effect of improving the optical path is further improved.

Further, the housing 12 includes a bottom plate 1202 and an upper cover 1201 fastened to the bottom plate 1202, and the bottom plate 1202 and the upper cover 1201 are detachably connected to facilitate the assembly and disassembly and replacement of the optical filter 10.

The present invention has been described in terms of the above embodiments, but it is to be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many more modifications and variations are possible in light of the teaching of the present invention and are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A self-moving cleaning device is characterized by comprising a main body and at least one sensing module;

2. The self-moving cleaning apparatus in accordance with claim 1, wherein the fluid storage device is formed by a rotomolding process.

3. The self-moving cleaning apparatus according to claim 1, wherein at least one of the sensing modules comprises a ranging sensing module and/or a navigation sensing module.

4. The self-moving cleaning apparatus in accordance with claim 3, wherein the ranging sensing module is disposed at a lower edge of the main body.

5. The self-moving cleaning apparatus as claimed in claim 4, wherein the sensing part of the distance measuring sensing module is inclined toward the upper part of the main body.

6. The self-moving cleaning apparatus according to claim 3, wherein the navigation sensing module is disposed on a peripheral wall of the main body.

7. The self-moving cleaning apparatus in accordance with claim 1 wherein each of the mounting members is removably attached to an outside of the main body.

8. The self-moving cleaning apparatus in accordance with claim 7, wherein the main body is provided with a snap groove adapted for each mounting member, each mounting member is fixed in a corresponding snap groove, and an outer surface of each mounting member is flush with an outer surface of the main body.

9. The self-moving cleaning apparatus according to claim 6, wherein the total number of navigation sensing modules is at least two, the navigation sensing modules forming an array of sensing modules.

10. The self-moving cleaning apparatus as claimed in claim 9, wherein the distribution of the array of sensing modules comprises a single layer of surrounding distribution array or a multi-layer of surrounding distribution array.

11. The self-moving cleaning apparatus according to claim 1, wherein the mounting member is provided with a mounting groove corresponding to each sensing part, each sensing part is mounted on a bottom surface of the corresponding mounting groove such that the sensing part is recessed in an outer surface of the mounting member, and each mounting groove is covered with a transparent cover.

12. The self-moving cleaning device as claimed in claim 3, wherein the sensing part of the distance measurement sensing module comprises one or more of a radar sensor, an infrared sensor, a laser sensor and an ultrasonic sensor, and the navigation sensing module comprises one or more of a monocular camera device, a binocular camera device and a TOF camera device.