Household mobile device and household system

Abstract

The utility model relates to the technical field of smart home, in particular to a home mobile device and a home system. The moving seat of the household moving device can bear the household objects and drive the household objects to move, when the household objects need to be moved, the connector is moved, the connector is combined with the moving robot, and then the moving robot can drive the household moving device to move to a target position. When the connector and the mobile robot are combined in place, the first detection element can detect that the connector moves in place, and / or when the connector and the mobile robot are separated in place, the second detection element can detect that the connector is separated in place, and detection results of the first detection element and the second detection element facilitate obtaining of the state of the connector. Compared with an existing manual carrying mode, the mobile robot and the home moving device are matched to achieve movement of the home objects, manpower is saved, and the problem that time and labor are wasted due to manual carrying is solved.

Description

Technical Field

[0001] The present application relates to the field of smart home technology, and in particular to a home mobile device and a home system. Background Art

[0002] Mobile robots are widely used in current smart home application scenarios. Current mobile robots usually have intelligent obstacle avoidance and map positioning and navigation functions. Mobile robots can automatically perform cleaning tasks according to the set route. At present, except for household objects that can be moved by themselves (such as mobile robots), most household objects can only be in fixed positions and usually rely on manual transportation to move. For example, an air purifier can usually only effectively purify the room where it is located, and the range of purification is limited. If the position of the air purifier needs to be changed, it is usually necessary to manually carry the air purifier. Therefore, some household objects currently usually require manpower to carry, which is time-consuming and labor-intensive. Utility Model Content

[0003] The present application provides a household moving device to realize the movement of household objects, thereby improving the problem that the movement of some household objects currently relies on manual handling and is time-consuming and labor-intensive.

[0004] In addition, the purpose of the present application is also to provide a home system using the above-mentioned home mobile device.

[0005] In a first aspect, an embodiment provides a home mobile device, wherein the home mobile device is used to be combined with a mobile robot to move under the drive of the mobile robot; the home mobile device comprises:

[0006] A mobile seat for carrying household items;

[0007] A moving seat wheel, arranged at the bottom of the moving seat, for driving the moving seat to move;

[0008] A coupling member, movably disposed on the mobile seat, wherein the coupling member has a coupling position for coupling with the mobile robot and a separation position for separating from the mobile robot in its movable travel;

[0009] A first detection element, used for detecting whether the combining member moves to the combining position;

[0010] and / or a second detection element, for detecting whether the combining member moves to the separation position;

[0011] The first detection element and / or the second detection element are mounted on the moving seat.

[0012] Furthermore, in one embodiment, at least one of the first detection element and the second detection element is a photoelectric sensor, and the mobile robot is a cleaning robot.

[0013] Furthermore, in one embodiment, the home mobile device includes a driving mechanism, which is used to drive the combining component to move; the driving mechanism includes a linkage component, which drives the combining component to move, and the linkage component has an adaptation structure, and the first detection element determines whether the combining component moves to the combined position by detecting the position of the adaptation structure; and / or the second detection element determines whether the combining component moves to the separated position by detecting the position of the adaptation structure.

[0014] Furthermore, in one embodiment, the movable seat includes a base, a seat cover and a cover, the seat cover and the base form an installation space, the cover is located in the installation space, the cover and the base form a protective space, and the first detection element and / or the second detection element are located in the protective space.

[0015] Furthermore, in one embodiment, the household mobile device includes a circuit board configured on the mobile seat, the first detection element and / or the second detection element is configured on the circuit board, and the circuit board is located in the protective space.

[0016] Furthermore, in one embodiment, the cover and / or the base has a slot for plugging with the circuit board.

[0017] Furthermore, in one embodiment, the cover has a receiving groove, the circuit board is located in the receiving groove, the receiving groove includes a first side wall and two opposite second side walls connected to the first side wall, one side surface of the circuit board is an inner side surface facing the first side wall, and the other side surface is an outer side surface facing away from the first side wall, the first detection element and / or the second detection element is located on the outer side surface, and the circuit board is plugged into at least one of the second side walls.

[0018] Furthermore, in one embodiment, the first detection element and / or the second detection element is a photoelectric sensor, which includes a transmitter and a receiver opposite to the transmitter; the adapter structure is a protrusion protruding from the linkage member; the protrusion blocks the light path between the receiver and the transmitter by moving between the receiver and the transmitter, so that the photoelectric sensor detects the adapter structure.

[0019] Furthermore, in one embodiment, the drive mechanism also includes a drive motor and a transmission member, the drive motor is transmission-connected to the transmission member to drive the transmission member to rotate, and the transmission member is transmission-connected to the linkage member to be able to drive the linkage member to move; the cover includes a cover inner sleeve, the drive motor is installed in the cover inner sleeve, the transmission member includes a screw sleeve sleeved on the cover inner sleeve and a connecting plate at the end of the screw sleeve, the connecting plate is connected to the output shaft of the drive motor, and the linkage member is threadedly transmission-connected to the screw sleeve.

[0020] Furthermore, in one embodiment, the linkage member is movably configured on the movable seat, the linkage member includes at least two arms, the angle between the extension direction of the arm and the moving direction of the linkage member is greater than 0 degrees, at least one combining member is provided on the arm, and the adaptation structure is located between two adjacent arms.

[0021] Furthermore, in one embodiment, the home mobile device includes a communication module, and the first detection element and / or the second detection element are connected to the communication module so that the communication module can obtain the combination status of the home mobile device and the mobile robot.

[0022] In a second aspect, an embodiment provides a home system, including a mobile robot and a home mobile device, wherein the home mobile device is used to be combined with the mobile robot to move under the drive of the mobile robot; the home mobile device includes:

[0023] A mobile seat for carrying household items;

[0024] A coupling member, movably disposed on the mobile seat, wherein the coupling member has a coupling position for coupling with the mobile robot and a separation position for separating from the mobile robot in its movable travel;

[0025] A first detection element, used for detecting whether the combining member moves to the combining position;

[0026] and / or a second detection element, for detecting whether the combining member moves to the separation position;

[0027] The first detection element and / or the second detection element are mounted on the moving seat;

[0028] The mobile robot has a matching piece, and the matching piece is used to be combined with the combining piece when the combining piece is in a combining position, so that the mobile robot can drive the household mobile device to move.

[0029] Furthermore, in one embodiment, at least one of the first detection element and the second detection element is a photoelectric sensor, and the mobile robot is a cleaning robot.

[0030] Furthermore, in one embodiment, the home mobile device includes a driving mechanism, which is used to drive the combining component to move; the driving mechanism includes a linkage component, which drives the combining component to move, and the linkage component has an adaptation structure, and the first detection element determines whether the combining component moves to the combined position by detecting the position of the adaptation structure; and / or the second detection element determines whether the combining component moves to the separated position by detecting the position of the adaptation structure.

[0031] Furthermore, in one embodiment, the movable seat includes a base, a seat cover and a cover, the seat cover and the base form an installation space, the cover is located in the installation space, the cover and the base form a protective space, and the first detection element and / or the second detection element are located in the protective space.

[0032] Furthermore, in one embodiment, the household mobile device includes a circuit board configured on the mobile seat, the first detection element and / or the second detection element is configured on the circuit board, and the circuit board is located in the protective space.

[0033] Furthermore, in one embodiment, the cover and / or the base has a slot for plugging with the circuit board.

[0034] Furthermore, in one embodiment, the cover has a receiving groove, the circuit board is located in the receiving groove, the receiving groove includes a first side wall and two opposite second side walls connected to the first side wall, one side surface of the circuit board is an inner side surface facing the first side wall, and the other side surface is an outer side surface facing away from the first side wall, the first detection element and / or the second detection element is located on the outer side surface, and the circuit board is plugged into at least one of the second side walls.

[0035] Furthermore, in one embodiment, the first detection element and / or the second detection element is a photoelectric sensor, which includes a transmitter and a receiver opposite to the transmitter; the adapter structure is a protrusion protruding from the linkage member; the protrusion blocks the light path between the receiver and the transmitter by moving between the receiver and the transmitter, so that the photoelectric sensor detects the adapter structure.

[0036] Furthermore, in one embodiment, the drive mechanism also includes a drive motor and a transmission member, the drive motor is transmission-connected to the transmission member to drive the transmission member to rotate, and the transmission member is transmission-connected to the linkage member to be able to drive the linkage member to move; the cover includes a cover inner sleeve, the drive motor is installed in the cover inner sleeve, the transmission member includes a screw sleeve sleeved on the cover inner sleeve and a connecting plate at the end of the screw sleeve, the connecting plate is connected to the output shaft of the drive motor, and the linkage member is threadedly transmission-connected to the screw sleeve.

[0037] Furthermore, in one embodiment, the linkage member is movably configured on the movable seat, the linkage member includes at least two arms, the angle between the extension direction of the arm and the moving direction of the linkage member is greater than 0 degrees, at least one combining member is provided on the arm, and the adaptation structure is located between two adjacent arms.

[0038] Furthermore, in one embodiment, the home mobile device includes a communication module, and the first detection element and / or the second detection element are connected to the communication module so that the communication module can obtain the combination status of the home mobile device and the mobile robot.

[0039] According to the household mobile device of the above embodiment, the mobile seat of the household mobile device can carry household items and drive the household items to move. When the household items need to be moved, the movable coupling part is used to combine the coupling part with the mobile robot, so that the mobile robot can drive the household mobile device to move to the target position. When the coupling part is coupled with the mobile robot, the first detection element can detect that the coupling part is in place, and / or when the coupling part is separated from the mobile robot, the second detection element can detect that the coupling part is separated. Compared with the current manual handling method, the cooperation of the mobile robot and the household mobile device can realize the movement of household items, save manpower, and improve the time-consuming and labor-intensive problems existing in manual handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a schematic diagram of the structure of a household mobile device in an embodiment;

[0041] Figure 2 A schematic diagram of the structure of a mobile robot in an embodiment;

[0042] Figure 3 A cross-sectional view of a household mobile device in an embodiment (see the cross-sectional position) Figure 5 Middle BB);

[0043] Figure 4 for Figure 3 A magnified view of part A;

[0044] Figure 5 For along Figure 3 Sectional view of AA in the middle;

[0045] Figure 6 for Figure 5 A magnified view of part B;

[0046] Figure 7 A schematic diagram of the internal structure of a household mobile device in an embodiment;

[0047] Figure 8 A schematic diagram of the structure of a cover and a combination member in an embodiment;

[0048] Fig. 9 Another structural schematic diagram of a cover and a coupling member in an embodiment;

[0049] Fig.10 Schematic diagram of the structure of a driving mechanism and a coupling member in an embodiment.

[0050] List of feature names corresponding to the reference numerals in the figure: 1. home mobile device; 11. mobile seat; 111. mobile seat wheel; 112. base; 1121. base slot; 1122. guide member; 1123. base hole; 113. seat cover; 114. cover; 1141. cover slot; 1142. receiving groove; 1143. first side wall; 1144. second side wall; 1145. cover inner sleeve; 115. installation space; 116. protection space; 12. combination member; 13. first detection element; 14. Second detection element; 15. Driving mechanism; 151. Linkage member; 1511. Support arm; 1512. Joint member mounting tube; 152. Adaptation structure; 153. Driving motor; 154. Transmission member; 1541. Screw sleeve; 1542. Connecting plate; 161. Transmitter; 162. Receiver; 17. Circuit board; 171. Outer panel; 18. Elastic member; 19. First communication electrode; 101. Obstacle recognition device; 2. Mobile robot; 21. Matching member; 22. Second communication electrode.

[0051] Explanation on the reference numerals in brackets in the drawings: In the reference numerals in brackets in the drawings, the features referred to by the reference numerals are both the features represented by the numbers in the brackets and the features represented by the numbers outside the brackets. DETAILED DESCRIPTION

[0052] The present application is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present application to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0053] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0054] The serial numbers of the components in this document, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0055] In view of the problem that household items currently need to be moved manually, which is time-consuming and laborious, the present application provides a household mobile device, which can carry household items and can be combined with a mobile robot through a coupling member, so that the mobile robot drives the household mobile device to move. The household mobile device can replace manual transportation of household items, saving manpower. The structure of the household mobile device of the present application is described in detail below with reference to the accompanying drawings.

[0056] Please refer to Figures 1 to 4 In one embodiment, the household mobile device 1 is used to be combined with the mobile robot 2 to move under the drive of the mobile robot 2. The household mobile device 1 includes a mobile seat 11, a coupling member 12, a first detection element 13 and / or a second detection element 14. Among them, the mobile seat 11 is used to carry household items. The household items can be fixed on the mobile seat 11, or directly placed on the mobile seat 11. Of course, when the mobile seat 11 is used as a dedicated seat for a certain household item, the mobile seat 11 can also be used as a part of the household item.

[0057] In one embodiment, please refer to Figure 1The bottom of the mobile seat 11 has a mobile seat wheel 111, and the mobile seat 11 can be moved by the mobile seat wheel 111. The mobile seat wheel 111 can be a universal wheel, and the specific number can be set as needed, such as any number of two, three or more than four. Therefore, the mobile seat 11 has mobility, which facilitates the mobile robot 2 to drive the home mobile device 1 to move, while reducing the load-bearing capacity of the mobile robot 2 and reducing the driving force of the mobile robot 2 on the home mobile device 1.

[0058] The coupling member 12 is movably disposed on the mobile seat 11, and has a coupling position for coupling with the mobile robot 2 and a separation position for separating from the mobile robot 2 in the movable stroke. After the coupling member 12 is coupled with the mobile robot 2, the mobile robot 2 can drive the household mobile device 1 to move and drive the household mobile device 1 to the target position. After the coupling member 12 is separated from the mobile robot 2, the household mobile device 1 is separated from the mobile robot 2 in power, and the mobile robot 2 can move freely independently of the household mobile device 1.

[0059] In order to obtain the connection state between the connecting member 12 and the mobile robot 2, in one embodiment, the first detection element 13 is used to detect whether the connecting member 12 moves to the connection position, and the second detection element 14 is used to detect whether the connecting member 12 moves to the separation position. The first detection element 13 and the second detection element 14 are both installed on the moving seat 11. The first detection element 13 and the second detection element 14 are both installed on the moving seat 11 and do not need to move with the connecting member 12, so the stability and reliability are higher. In one embodiment, the home mobile device 1 includes the first detection element 13, but not the second detection element 14. At this time, the time set by the program is relied on to ensure that the connecting member moves to the separation position. Similarly, in one embodiment, the home mobile device 1 includes the second detection element 14, but not the first detection element 13. At this time, the time set by the program is relied on to ensure that the connecting member moves to the connection position. In one embodiment, one of the first detection element 13 and the second detection element 14 can be installed on the moving seat 11, and the other can move with the connecting member 12.

[0060] The first detection element 13 and the second detection element 14 can adopt any feasible form. For example, in one embodiment, at least one of the first detection element 13 and the second detection element 14 is a photoelectric sensor, which is a photoelectric switch. For another example, in one embodiment, at least one of the first detection element 13 and the second detection element 14 is a contact detection member, such as a micro switch. In one embodiment, one of the first detection element 13 and the second detection element 14 can be a photoelectric sensor and the other can be a micro switch, or both of the first detection element 13 and the second detection element 14 are photoelectric sensors, or both of the first detection element 13 and the second detection element 14 are micro switches.

[0061] In one embodiment, please refer to Figure 3 and Figure 4 , the household mobile device 1 includes a driving mechanism 15, and the driving mechanism 15 is used to drive the coupling member 12 to move. Further, in one embodiment, the driving mechanism 15 includes a linkage member 151, and the linkage member 151 drives the coupling member 12 to move, and the linkage member 151 has an adapting structure 152. The first detection element 13 detects the position of the adapting structure 152 to determine whether the coupling member 12 moves to the combined position. When the coupling member 12 moves to the combined position, the coupling member 12 of the household mobile device 1 is in place, and the household mobile device 1 moves under the drive of the mobile robot 2. The second detection element 14 detects the position of the adapting structure 152 to determine whether the coupling member 12 moves to the separated position. When the coupling member 12 moves to the separated position, the coupling member 12 of the household mobile device 1 is separated, and the mobile robot 2 can move alone.

[0062] Specifically, in one embodiment, please refer to Figure 4 , Figure 5 and Figure 6 The photoelectric sensor includes a transmitter 161 and a receiver 162 opposite to the transmitter 161. The adapting structure 152 is a protrusion protruding from the linkage member 151. The protrusion moves between the receiver 162 and the transmitter 161 to block the light path between the receiver 162 and the transmitter 161, so that the photoelectric sensor detects the adapting structure 152.

[0063] In addition to using photoelectric sensors, the first detection element 13 and the second detection element 14 are both micro switches. After the coupling member 12 moves into place, it can contact the first detection element 13 or the second detection element 14 to trigger the micro switch.

[0064] Regarding the coupling member 12, in one embodiment, please refer to Figure 2 The mobile robot 2 has a matching piece 21 that matches the coupling piece 12. When the coupling piece 12 is in the coupling position, the coupling piece 12 and the matching piece 21 are coupled in place. The coupling can mean that the movement of both parties in the horizontal direction is limited only by means of interlocking, and the vertical direction is not completely fixed. It can also mean that the movement of both parties in the horizontal and vertical directions is limited by means of snap-fitting, magnetic attraction, etc. The coupling piece 12 and the matching piece 21 can adopt any feasible coupling method, for example, please refer to Figure 1 and Figure 2, the coupling member 12 is a plug rod, and the matching member 21 is a slot that matches the plug rod. For another example, the coupling member 12 has a slot, and the matching member 21 has a plug rod that matches the slot. For another example, the coupling member 12 is a hook, and the matching member 21 is a hole or slot that matches the hook; of course, the coupling member 12 can also have a hole or slot, and the corresponding matching member 21 is a hook; for another example, the coupling member 12 and the matching member 21 are magnetic blocks that attract each other.

[0065] In one embodiment, the mobile robot 2 may be any feasible robot, such as a cleaning robot, which may specifically include a sweeping robot, a mopping robot, or a sweeping and mopping robot. The household object may be an air purifier, a humidifier, a book, a camera, a dehumidifier, an aromatherapy device, or may be a user's commonly used medicine, a water cup, or other objects that may be passed around the home, or a platform or cabinet for accommodating the same.

[0066] For the activity of the coupling 12, please refer to Figure 3 and Figure 4 In one embodiment, the coupling member 12 is movably disposed on the movable seat 11. The first detection element 13 and the second detection element 14 are arranged in a nearly vertical line.

[0067] In one embodiment, the coupling member 12 is located at the bottom or side of the mobile seat 11, and the matching member 21 is located at the top or side of the mobile robot 2. Figure 3 and Figure 4 The coupling member 12 is located at the bottom of the moving seat 11, and the coupling member 12 is configured on the moving seat 11 to move up and down. The driving mechanism 15 is used to drive the coupling member 12 to rise and fall, so that the coupling member 12 and the matching member 21 can be combined or separated, wherein when the coupling member 12 descends, the coupling member 12 and the matching member 21 can be combined, and when the coupling member 12 rises, the coupling member 12 and the matching member 21 are separated.

[0068] In some other embodiments, the coupling member 12 may be configured on the movable seat 11 in a swinging or rotating manner. In some other embodiments, the coupling member 12 may be configured on the movable seat 11 in a vertically movable manner or may be assembled on the movable seat 11 in a horizontally movable manner.

[0069] Please refer to Figure 3 , there is a space for the mobile robot 2 to enter under the mobile seat 11. Before the home mobile device 1 is combined with the mobile robot 2, the mobile robot 2 needs to move to the bottom of the mobile seat 11.

[0070] In one embodiment, please refer to Figure 1 and Figure 3The number of the coupling members 12 is multiple, and the driving mechanism 15 is used to drive the multiple coupling members 12 to move simultaneously and to be connected to the multiple matching members 21 of the mobile robot 2. The connection stability between the two can be improved by using multiple coupling members 12. In addition, the multiple coupling members 12 are driven by the same driving mechanism 15, which is conducive to reducing the manufacturing cost of the home mobile device 1.

[0071] In one embodiment, please refer to Figure 3 , Figure 7 The movable seat 11 includes a base 112, a seat cover 113 and a cover 114. The seat cover 113 and the base 112 enclose an installation space 115, and the cover 114 is located in the installation space 115. The cover 114 and the base 112 enclose a protective space 116, and the first detection element 13 and the second detection element 14 are located in the protective space 116. In this way, the first detection element 13 and the second detection element 14 can be better protected by the cover 114, and the influence of dust on the first detection element 13 and the second detection element 14 can be reduced. In one embodiment, as needed, one of the first detection element 13 and the second detection element 14 can also be located in the protective space 116.

[0072] Further, in one embodiment, please refer to Figure 3 and Figure 4 , the home mobile device 1 includes a circuit board 17 configured on the mobile seat 11, and the first detection element 13 and the second detection element 14 are both configured on the circuit board 17, and the circuit board 17 is in the protective space 116. Arranging the circuit board 17 in the protective space 116 can, on the one hand, improve the protection level of the circuit board 17, and on the other hand, it is only necessary to install and fix the circuit board 17, and there is no need to directly fix the first detection element 13 and the second detection element 14 on the mobile seat 11 separately, which facilitates the installation and fixation of the first detection element 13 and the second detection element 14. In one embodiment, the protective space 116 is a closed space. In another embodiment, the cover 114 is provided with a through hole as needed. Although the through hole will destroy a certain sealing effect, the cover 114 can still play a protective role. In one embodiment, as needed, one of the first detection element 13 and the second detection element 14 can also be configured on the circuit board 17.

[0073] For details about the specific installation method of the circuit board 17, please refer to Figure 3 and Figure 4In one embodiment, the cover 114 has a cover slot 1141 plugged with the circuit board 17, and the base 112 has a base slot 1121 plugged with the circuit board 17, one end of the circuit board 17 is inserted into the cover slot 1141, and the other end is inserted into the base slot 1121. In some other embodiments, a slot may be provided only on the cover 114, in which case one end of the circuit board 17 abuts against the base 112, and the other end is inserted into the cover slot 1141. Similarly, a slot may also be provided on the base 112.

[0074] Further, in one embodiment, please refer to Figure 5 and Figure 6 , the cover 114 has a receiving groove 1142, the circuit board 17 is in the receiving groove 1142, the receiving groove 1142 includes a first side wall 1143 and two opposite second side walls 1144 connected to the first side wall 1143, one side of the circuit board 17 is an inner side surface facing the first side wall 1143, and the other side of the circuit board 17 is an outer side surface 171 facing away from the first side wall 1143, the first detection element 13 and the second detection element 14 are both on the outer side surface 171, and the circuit board 17 is plugged into at least one of the second side walls 1144. In some other embodiments, in addition to being installed in the form of a slot, the circuit board 17 can also be fixed to the cover shell by screws or fixed to the base 112 by screws. In one embodiment, as needed, one of the first detection element 13 and the second detection element 14 can also be placed on the outer side surface 171.

[0075] In some other embodiments, the circuit board 17 may also be arranged outside the cover 114 . In this case, the first detection element 13 and the second detection element 14 may be connected to the circuit board 17 via wires to transmit the detection result to the circuit board 17 .

[0076] Further, in one embodiment, please refer to Figure 3 and Figure 4 The driving mechanism 15 includes a driving motor 153 and a transmission member 154. The driving motor 153 is connected to the transmission member 154 to drive the transmission member 154 to rotate. The transmission member 154 is connected to the linkage member 151 to drive the linkage member 151 to move.

[0077] The transmission member 154 and the linkage member 151 can transmit power in any feasible manner. For example, in one embodiment, the transmission member 154 and the linkage member 151 are transmitted through threads. For another example, in one embodiment, the transmission member 154 and the linkage member 151 are transmitted through rack and pinion.

[0078] In one embodiment, please refer to Figure 3 , Figure 4 , Fig. 9 and Fig.10, the transmission member 154 and the linkage member 151 adopt threaded transmission, the cover 114 includes a cover inner sleeve 1145, the drive motor 153 is installed in the cover inner sleeve 1145, the transmission member 154 includes a screw sleeve 1541 sleeved on the cover inner sleeve 1145 and a connecting plate 1542 at the end of the screw sleeve 1541, the connecting plate 1542 is connected to the output shaft of the drive motor 153, and the linkage member 151 is connected to the screw sleeve 1541 by threaded transmission. In this way, in addition to playing a protective role, the cover 114 can also be used to install the drive motor 153 and the screw sleeve 1541, making the overall structure more compact. In one embodiment, a bearing is installed between the screw sleeve 1541 and the cover inner sleeve 1145, so that the screw sleeve 1541 can rotate relative to the cover 114. In some other embodiments, when the space meets the requirements, the drive motor 153 can also be installed above the cover 114 or on the base 112.

[0079] Further, in one embodiment, please refer to Figure 3 , Figure 5 and Fig.10 The linkage member 151 is movably disposed on the moving seat 11, the linkage member 151 includes at least two arms 1511, the angle between the extension direction of the arms 1511 and the moving direction of the linkage member 151 is greater than 0 degrees, the number of the coupling members 12 is at least two, at least one coupling member 12 is disposed on the arms 1511, and the adapting structure 152 is located between two adjacent arms 1511. In this way, the adapting structure 152 can make full use of the space between the adjacent arms 1511.

[0080] Further, in one embodiment, please refer to Figure 3 , Figure 5 and Fig.10 , multiple coupling members 12 are all connected to the linkage member 151. The linkage member 151 is in transmission connection with the transmission member 154, and the linkage member 151 and the transmission member 154 can be driven by synchronous belt drive, cylinder drive, ball screw drive, electric push rod drive, etc. In one embodiment, when the drive motor 153 is working, the drive motor 153 drives the transmission member 154 to rotate, and the transmission member 154 drives the linkage member 151 to move linearly in a predetermined direction, thereby driving the coupling member 12 connected to the linkage member 151 to move linearly, so as to realize the combination of the coupling member 12 and the matching member 21.

[0081] Specifically, in one embodiment, there are three coupling members 12 , which are arranged in a triangle. The support arms 1511 correspond to the coupling members 12 one by one.

[0082] In one embodiment, please refer to Figure 3 , Figure 5 and Fig.10The base 112 is provided with a guide member 1122, which is used to guide the linkage member 151 to move in a straight line. During the movement of the linkage member 151, the guide member 1122 can limit the movement direction of the linkage member 151, so that the linkage member 151 moves in a straight line in a predetermined direction (for example, up and down direction), but does not move in other directions.

[0083] Regarding the installation method of the combination member 12 and the linkage member 151, in one embodiment, please refer to Figure 8 , Fig. 9 and Fig.10 The arm 1511 is provided with a coupling installation cylinder 1512, and the coupling 12 is loaded into the coupling installation cylinder 1512. An elastic member 18 is also provided between the coupling 12 and the coupling installation cylinder 1512. The elastic member 18 can provide elastic force to the coupling 12 so that the coupling 12 remains in a state of extending out of the coupling installation cylinder 1512. After the coupling 12 is subjected to an upward external force, it can be retracted into the coupling installation cylinder 1512 to avoid being damaged. The base 112 is provided with a base hole 1123 for the coupling installation cylinder 1512 to extend out. When the coupling 12 is in the combined position, the coupling installation cylinder 1512 extends downwardly out of the base 112. When the coupling 12 is in the separated position, the coupling installation cylinder 1512 retracts into the base 112.

[0084] Specifically, in one embodiment, please refer to Figure 3 The elastic member 18 is a coil spring. In some other embodiments, the elastic member may also be a spring.

[0085] In one embodiment, the home mobile device 1 includes a communication module, and the first detection element 13 and the second detection element 14 are both connected to the communication module, so that the communication module can know the combination state of the home mobile device 1 and the mobile robot 2. In one embodiment, as needed, one of the first detection element 13 and the second detection element 14 can also be connected to the communication module.

[0086] When the linkage 151 on the driving mechanism 15 moves upward until the second detection element 14 detects the adapter structure 152 of the linkage 151, the second detection element 14 sends a signal. At this time, the coupling 12 is completely retracted into the interior of the moving seat 11, indicating that the coupling 12 and the mobile robot 2 are separated into place, and the second detection element 14 transmits the information to the communication module.

[0087] When the linkage 151 on the driving mechanism 15 moves downward until the first detection element 13 detects the adapter structure 152 of the linkage 151, the first detection element 13 sends a signal. At this time, the coupling member 12 is fully extended out of the moving seat 11, indicating that the coupling member 12 and the mobile robot 2 are in place. The first detection element 13 transmits the information to the communication module.

[0088] Furthermore, in one embodiment, in order to facilitate information exchange between the communication module and the mobile robot 2, the communication module may include a conductive element on the coupling 12. After the coupling 12 is combined with the mobile robot 2, the conductive element is conductively connected to the mobile robot 2, thereby enabling information exchange between the communication module and the mobile robot 2.

[0089] Specifically, in one embodiment, please refer to Figure 2 and Fig. 9 The conductive element is a first communication electrode 19 fixed on the coupling member 12, and correspondingly, the mobile robot 2 includes a second communication electrode 22 adapted to the first communication electrode 19. When the coupling member 12 is in the coupled position, under the action of the elastic member 18, the first communication electrode 19 and the second communication electrode 22 can maintain stable conductive contact.

[0090] For further information, please refer to Figure 1 The household mobile device 1 further includes at least one obstacle recognition device 101, which is disposed at the front, rear and / or side of the mobile seat 11 and is used to recognize obstacles in front, rear and / or on the side of the mobile seat 11. When the mobile robot 2 moves with the household mobile device 1, the obstacle recognition device 101 can recognize surrounding obstacles, which is helpful for avoiding obstacles during movement. The obstacle recognition device 101 can be a collision sensor, an infrared sensor, a line laser, etc.

[0091] In one embodiment, please refer to Figures 1 to 10 , the working principles of the home mobile device 1 and the mobile robot 2 are as follows:

[0092] When the household mobile device 1 needs to move, the mobile robot 2 moves to the position directly below the mobile seat 11, and the drive mechanism starts to move the coupling member 12 from the separation position to the coupling position. The coupling member 12 extends out of the mobile seat 11 and is inserted into the jack of the matching member 21 of the mobile robot 2. The coupling member 12 begins to couple with the mobile robot 2. The first detection element 13 detects that the adapting structure 152 moves into place. At this time, the coupling member 12 is coupled with the mobile robot 2. The mobile robot 2 drives the household mobile device 1 to move according to the command. After the movement stroke is completed, the drive mechanism 15 drives the coupling member 12 to move to the separation position under the command. The coupling member 12 retracts into the mobile seat 11 until the second detection element 14 detects that the adapting structure 152 moves into place. The coupling member 12 retracts into place. At this time, the coupling member 12 is separated from the mobile robot 2 and the robot can move normally and independently.

[0093] In an embodiment of a home system, the home system includes a mobile robot and a home mobile device, the mobile robot has a matching piece, and the matching piece is used to be combined with the combining piece when the combining piece is in a combined position, so that the mobile robot can drive the home mobile device to move. The structure of the mobile robot and the home mobile device is the same as that described in any of the above embodiments, and the details are not repeated here.

[0094] The above specific examples are used to illustrate the present application, which is only used to help understand the present application and is not intended to limit the present application. For technicians in the technical field to which the present application belongs, they can also make some simple deductions, deformations or substitutions based on the ideas of the present application.

Claims

1. A household mobile device, characterized in that: The household mobile device is used to be combined with a mobile robot to move under the drive of the mobile robot; The home mobile device comprises: A mobile seat for carrying household items; A moving seat wheel, arranged at the bottom of the moving seat, for driving the moving seat to move; A coupling member, movably disposed on the mobile seat, wherein the coupling member has a coupling position for coupling with the mobile robot and a separation position for separating from the mobile robot in its movable travel; A first detection element, used for detecting whether the combining member moves to the combining position; and / or a second detection element, for detecting whether the combining member moves to the separation position; The first detection element and / or the second detection element are mounted on the moving seat.

2. The home mobile device according to claim 1, characterized in that: At least one of the first detection element and the second detection element is a photoelectric sensor, and the mobile robot is a cleaning robot.

3. The home mobile device according to claim 1, characterized in that: The household mobile device comprises a driving mechanism, and the driving mechanism is used to drive the combining member to move; the driving mechanism comprises a linkage member, and the linkage member drives the combining member to move, and the linkage member has an adapting structure, and the first detecting element determines whether the combining member moves to the combining position by detecting the position of the adapting structure; And / or the second detection element determines whether the coupling element moves to the separation position by detecting the position of the adapting structure.

4. The household mobile device according to claim 3, characterized in that: The movable seat comprises a base, a seat cover and a cover, the seat cover and the base form an installation space, the cover is located in the installation space, the cover and the base form a protective space, and the first detection element and / or the second detection element are located in the protective space.

5. The household mobile device according to claim 4, characterized in that: The household mobile device includes a circuit board configured on the mobile seat, the first detection element and / or the second detection element are configured on the circuit board, and the circuit board is located in the protective space.

6. The household mobile device according to claim 5, characterized in that: The cover and / or the base has a slot for plugging with the circuit board.

7. The household mobile device according to claim 5, characterized in that: The cover has a receiving groove, the circuit board is located in the receiving groove, the receiving groove includes a first side wall and two opposite second side walls connected to the first side wall, one side surface of the circuit board is an inner side surface facing the first side wall, and the other side surface is an outer side surface facing away from the first side wall, the first detection element and / or the second detection element are located on the outer side surface, and the circuit board is plugged into at least one of the second side walls.

8. The household mobile device according to any one of claims 4 to 7, characterized in that: The first detection element and / or the second detection element is a photoelectric sensor, which includes a transmitter and a receiver opposite to the transmitter; the adapter structure is a protrusion protruding from the linkage part; the protrusion moves between the receiver and the transmitter to block the light path between the receiver and the transmitter, so that the photoelectric sensor detects the adapter structure.

9. The household mobile device according to claim 8, characterized in that: The driving mechanism also includes a driving motor and a transmission member, the driving motor is drivingly connected to the transmission member to drive the transmission member to rotate, and the transmission member is drivingly connected to the linkage member to be able to drive the linkage member to move; the cover includes a cover inner sleeve, the driving motor is installed in the cover inner sleeve, the transmission member includes a screw sleeve sleeved on the cover inner sleeve and a connecting plate at the end of the screw sleeve, the connecting plate is connected to the output shaft of the driving motor, and the linkage member is threadedly connected to the screw sleeve.

10. The household mobile device according to any one of claims 3 to 7, characterized in that: The linkage member is movably configured on the moving seat, and the linkage member includes at least two arms. The angle between the extension direction of the arm and the moving direction of the linkage member is greater than 0 degrees. At least one combining member is provided on the arm, and the adapting structure is located between two adjacent arms.

11. The household mobile device according to any one of claims 1 to 7, characterized in that: The home mobile device includes a communication module, and the first detection element and / or the second detection element are connected to the communication module so that the communication module can obtain the combination status of the home mobile device and the mobile robot.

12. A home system, characterized in that: It comprises a mobile robot and a household mobile device as described in any one of claims 1 to 11, wherein the mobile robot has a matching piece, and the matching piece is used to combine with the combining piece when the combining piece is in a combining position, so that the mobile robot can drive the household mobile device to move.

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