Household mobile platform, cleaning robot and cleaning system

Abstract

The invention relates to a household mobile platform, a cleaning robot and a cleaning system, and aims to solve the problem that the working reliability is relatively low due to the fact that the cleaning robot cannot supplement electric quantity in time. The household mobile platform can be matched with the cleaning robot and comprises a platform body, a movable supporting structure and a first charging pole piece. The platform is used for arranging household articles; the movable supporting structure is connected with the bottom of the platform, and the movable supporting structure is used for supporting and driving the platform to move; the first charging pole piece is arranged on the platform, and the first charging pole piece is used for being in contact with a second charging pole piece of the cleaning robot so as to charge the cleaning robot or receive electric energy of the cleaning robot.

Description

[0001] This application claims priority to Chinese patent application number 2024202697029, filed on February 2, 2024, and entitled “Home Mobile Platform, Cleaning Robot and Cleaning System”, all contents of which are incorporated into this disclosure by introduction. Technical Field

[0002] The present application relates to the field of smart home technology, and in particular to a home mobile platform, a cleaning robot and a cleaning system. Background Art

[0003] With the development of science and technology, the cleaning field has gradually entered the intelligent era, and the application of cleaning robots that can automatically clean the floor is becoming more and more widespread.

[0004] Usually, the cleaning robot is also equipped with a working base station, which is arranged at a fixed position in the cleaning area. When the cleaning robot is low on power, the cleaning robot moves to the position of the working base station and docks with the working base station so that the working base station charges the cleaning robot.

[0005] However, if the working base station fails, or the cleaning area is large and the cleaning robot is far away from the working base station, the cleaning robot may not be able to replenish power in time, which is not conducive to improving the working reliability of the cleaning robot. Summary of the invention

[0006] Based on this, a home mobile platform, a cleaning robot and a cleaning system are provided, aiming to solve the problem of low working reliability of the cleaning robot due to the inability to replenish power in time.

[0007] An embodiment of the first aspect of the present application proposes a household mobile platform that can cooperate with a cleaning robot, the household mobile platform comprising a platform, a movable support structure, and a first charging electrode; the platform is used to place household objects; the movable support structure is connected to the bottom of the platform, and the movable support structure is used to support and drive the platform to move; the first charging electrode is arranged on the platform, and the first charging electrode is used to contact the second charging electrode of the cleaning robot to charge the cleaning robot or receive electrical energy from the cleaning robot.

[0008] In some embodiments, the platform is provided with a first docking structure and a first identification module; the first identification module can be identified by a second identification module of the cleaning robot, and after the cleaning robot moves to the home mobile platform according to the identification result, the first docking structure docks with the second docking structure of the cleaning robot to position the home mobile platform and the cleaning robot.

[0009] In some embodiments, a mounting mechanism is provided at the bottom of the platform, and the first docking structure is provided on the mounting mechanism; the mounting mechanism is also configured to enable the first docking structure to move in a horizontal direction to match a first elastic connection component of the second docking structure, or the first docking structure is used to match the second docking structure on the cleaning robot to which the first elastic connection component is connected.

[0010] In some embodiments, the first charging electrode is arranged on the first docking structure, and the second charging electrode is arranged on the second docking structure; the home mobile platform also includes a first rechargeable battery and a first charging circuit, the first charging circuit is connected to the first rechargeable battery, and the first charging electrode is connected to the first charging circuit.

[0011] In some embodiments, the first docking structure is a docking head, and the second docking structure is a docking slot;

[0012] Alternatively, the first docking structure is a docking slot, and the second docking structure is a docking head;

[0013] A second elastic connection component is connected to the first docking structure or the second docking structure, and the second elastic connection component is connected to the first charging electrode piece or the second charging electrode piece, so that the first charging electrode piece and the second charging electrode piece can be elastically abutted and contacted in the up and down directions.

[0014] In some embodiments, the first docking structure is a docking head protruding from the platform in a horizontal direction, and the first charging electrode is disposed at the bottom of the docking head; the second docking structure is a docking slot, and the second charging electrode is disposed on the inner wall of the docking slot.

[0015] In some embodiments, a first control module for communicating with the cleaning robot is provided inside the platform;

[0016] The first control module is electrically connected to the first charging electrode, and is used to control the home mobile platform to receive the electric energy of the cleaning robot through the first charging electrode so that the home mobile platform reaches a first preset power level when the home mobile platform is not docked with the base station; or to control the home mobile platform to charge the cleaning robot through the first charging electrode so that the cleaning robot reaches a second preset power level.

[0017] In some embodiments, the home mobile platform can also dock with a base station; the platform is also provided with a third docking structure and a third charging electrode, the third docking structure is used to dock with the fourth docking structure on the base station, and the third charging electrode is used to contact with the fourth charging electrode of the base station to receive electrical energy from the base station.

[0018] In some embodiments, the third charging electrode sheet and the first charging electrode sheet are respectively disposed on opposite sides of the bottom of the platform.

[0019] In some embodiments, the third docking structure is a docking slot, and the fourth docking structure is a docking head;

[0020] Or the third docking structure is a docking joint, and the fourth docking structure is a docking slot;

[0021] The third charging electrode is arranged on the third docking structure, and the fourth charging electrode is arranged on the fourth docking structure. A third elastic connecting component is connected to the third docking structure or the fourth docking structure. The third elastic connecting component is connected to the third charging electrode or the fourth charging electrode, so that the third charging electrode and the fourth charging electrode can be elastically abutted and contacted in the up and down directions.

[0022] In some embodiments, the third docking structure is a docking slot recessed in the platform, and the third charging electrode is arranged on the inner wall of the docking slot; the fourth docking structure is a docking head, and the fourth charging electrode is arranged at the bottom of the docking head.

[0023] In some embodiments, a first control module for communicating with the cleaning robot is provided inside the platform; the first control module is connected to the first charging electrode and / or the third charging electrode, and is used to control the home mobile platform to transmit the electric energy received from the base station to the cleaning robot through the first charging electrode so that the cleaning robot reaches a third preset power level when the home mobile platform is docked with the base station; or to control the home mobile platform to store the electric energy received from the base station through the third charging electrode.

[0024] In some embodiments, a charging electrode is disposed on the top of the platform, and the charging electrode is used to charge household items disposed on the platform.

[0025] An embodiment of the second aspect of the present application proposes a cleaning robot that can cooperate with a household mobile platform. The cleaning robot includes a robot body and a second charging electrode arranged on the robot body; the second charging electrode is used to contact the first charging electrode of the household mobile platform on which household objects can be placed, so as to charge the household mobile platform or receive electrical energy from the household mobile platform.

[0026] In some embodiments, the cleaning robot also includes a second docking structure and a second identification module arranged on the robot body; the second identification module can identify the first identification module of the home mobile platform, and after the cleaning robot moves to the home mobile platform according to the identification result, the second docking structure docks with the first docking structure of the home mobile platform to position the home mobile platform and the cleaning robot.

[0027] In some embodiments, the robot body is configured to enable the second docking structure to move in a horizontal direction to match the first elastic connection component of the first docking structure, or the second docking structure is used to match the first docking structure connected to the home mobile platform with a first elastic connection component.

[0028] In some embodiments, the second charging electrode is arranged on the second docking structure, and the first charging electrode is arranged on the first docking structure; the cleaning robot also includes a second rechargeable battery and a second charging circuit, the second charging circuit is connected to the second rechargeable battery, and the second charging electrode is connected to the second charging circuit.

[0029] In some embodiments, the second docking structure is a docking slot and the first docking structure is a docking head;

[0030] or the second docking structure is a docking joint, and the first docking structure is a docking slot;

[0031] A second elastic connection component is connected to the second docking structure or the first docking structure, and the second elastic connection component is connected to the second charging electrode piece or the first charging electrode piece, so that the second charging electrode piece and the first charging electrode piece can be elastically abutted and contacted in the up and down directions.

[0032] In some embodiments, the second docking structure is a docking slot recessed in the robot body, and the second charging electrode is arranged on the inner wall of the docking slot; the first docking structure is a docking head, and the first charging electrode is arranged at the bottom of the docking head.

[0033] In some embodiments, the cleaning robot may also cooperate with a base station, and the second charging electrode is used to contact a fourth charging electrode located at the base station to receive electrical energy from the base station;

[0034] The second docking structure is used to dock with a fourth docking structure located at the base station to position the cleaning robot.

[0035] An embodiment of the third aspect of the present application proposes a cleaning system, comprising the home mobile platform described in the first aspect, the cleaning robot and the base station described in the second aspect, wherein the home mobile platform can cooperate with the cleaning robot to charge the cleaning robot or receive electrical energy from the cleaning robot; the home mobile platform can also dock with the base station to receive electrical energy from the base station, and the cleaning robot can dock with the base station to receive electrical energy from the base station.

[0036] The home mobile platform of the embodiment of the present application can cooperate with the cleaning robot. Moreover, the movable support structure makes the home mobile platform itself movable. Furthermore, the first charging electrode of the home mobile platform can contact the second charging electrode of the cleaning robot to charge the cleaning robot or receive the electric energy of the cleaning robot. The home mobile platform can be set at a position close to the cleaning robot. When the cleaning robot is low on power, even if there is a problem with the working base station or the entire cleaning area is large, resulting in the working base station being far away from the cleaning robot, it can also replenish power through the home mobile platform, thereby ensuring that the cleaning robot can replenish power in time, thereby helping to improve the working reliability of the cleaning robot. On the second aspect, the cleaning robot can drive the home mobile platform to move. When the cleaning robot changes the working area, it can drive the home mobile platform to move to the new working area together. Therefore, the home mobile platform and the cleaning robot can always maintain a close distance, thereby helping to further improve the timeliness of the cleaning robot's power replenishment. On the third aspect, the platform of the home mobile platform can be set with home objects with mobile use requirements. The home objects can be air purifiers, humidifiers, books, cameras, dehumidifiers, aromatherapy devices, and can also be objects that may be transferred within the family, such as medicines and water cups commonly used by users, or platforms or cabinets for accommodating them. The cleaning robot can drive the home objects to move through the home mobile platform. Driven by the cleaning robot, the home objects can be transferred from one location to another, or from one room to another. In this way, the working range of the home objects can be effectively expanded. In addition, the movement of home objects is achieved by means of the cooperation of the cleaning robot and the home mobile platform, which has the advantages of time-saving, labor-saving and high efficiency compared to relying on manpower to carry home objects. On the fourth aspect, the home mobile platform can charge the cleaning robot or receive the power of the cleaning robot, thereby realizing the power interaction between the two, which is also conducive to improving the functional diversity of the home mobile platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a structural schematic diagram of a household mobile platform in an embodiment of the present application when carrying household items;

[0038] Figure 2This is a schematic diagram of the structure of a home mobile platform in an embodiment of the present application;

[0039] Figure 3 This is a schematic structural diagram of a home mobile platform in one embodiment of the present application from another perspective;

[0040] Figure 4 It is a structural schematic diagram of a first charging electrode and a first docking structure in one embodiment of the present application;

[0041] Figure 5 This is a schematic diagram of the structure of a cleaning robot in one embodiment of the present application;

[0042] Figure 6 This is a structural schematic diagram of a first docking structure and a first elastic connection component in an embodiment of the present application;

[0043] Figure 7 It is an exploded schematic diagram of the first charging electrode and the first docking structure in one embodiment of the present application;

[0044] Figure 8 This is a schematic structural diagram of a home mobile platform in one embodiment of the present application from another perspective;

[0045] Fig. 9 is a schematic diagram of the structure of a base station in an embodiment of the present application;

[0046] Fig.10 It is a structural schematic diagram of a fourth docking structure and a fourth charging electrode in an embodiment of the present application;

[0047] Fig.11 is an exploded schematic diagram of a fourth docking structure and a fourth charging electrode in an embodiment of the present application;

[0048] Fig.12 This is a structural schematic diagram of a first combining member and a driving mechanism in one embodiment of the present application;

[0049] Fig.13 It is a structural schematic diagram of the first combining member and the driving mechanism in one embodiment of the present application at another viewing angle;

[0050] Fig.14 It is a schematic diagram of the structure of a linkage member in an embodiment of the present application;

[0051] Fig.15 It is a structural schematic diagram of a driving mechanism, a first detection switch, and a second detection switch in an embodiment of the present application;

[0052] Fig.16 This is a schematic diagram of the structure of the cleaning robot in one embodiment of the present application from another perspective.

[0053] Reference numerals:

[0054] 100. Home mobile platform;

[0055] 110, platform; 111, limiter; 113, charging electrode;

[0056] 120. Movable support structure; 121. Outriggers; 122. Universal wheels

[0057] 131, driving mechanism; 1312, transmission member; 1313, guide member; 1314, linkage member; 1315, mounting hole; 1316, connecting member;

[0058] 132, first combination member; 133, first detection switch; 1331, first contact point; 134, second detection switch; 1341, second contact point;

[0059] 140, mounting mechanism; 141, first identification module; 142, third docking structure; 143, third charging electrode; 144, third identification module; 145, dust collection channel; 146, sealing ring;

[0060] 150, first docking structure; 151, first elastic connection assembly; 1511, connector; 1512, first elastic member; 1513, first guide post; 152, first charging electrode; 150a, second elastic connection assembly; 153, first movable member; 154, second guide post; 155, second elastic member; 156, first docking base; 157, first through groove;

[0061] 160, camera assembly; 161, support rod; 162, camera;

[0062] 170. Obstacle recognition device; 171. Front impact plate; 172. Rear impact plate;

[0063] 200. Cleaning robot;

[0064] 210, robot body; 212, second docking structure; 213, second charging electrode; 214, dust outlet; 220, second identification module;

[0065] 300, base station; 320, fourth docking structure; 320a-third elastic connection component; 321, fourth charging electrode; 322, second movable part; 323, third guide column; 324, second docking base; 325, third elastic part; 326, second through groove; 400, household item. DETAILED DESCRIPTION

[0066] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0067] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0068] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0069] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0070] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0071] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0072] like Figures 1 to 5 As shown, an embodiment of the first aspect of the present application provides a home mobile platform 100 that can cooperate with a cleaning robot 200. The home mobile platform 100 includes a platform 110, a movable support structure 120, and a first charging electrode 152. The platform 110 is used to set a home object 400, and the movable support structure 120 is connected to the bottom of the platform 110, and the movable support structure 120 is used to support and drive the platform 110 to move. The way in which the home object 400 is set on the home mobile platform 100 can be various ways such as fixed setting, integral connection or non-connected placement. The first charging electrode 152 is arranged on the platform 110, and the first charging electrode 152 is used to contact the second charging electrode 213 of the cleaning robot 200 to charge the cleaning robot 200 or receive the electric energy of the cleaning robot 200. The cleaning robot 200 can be a sweeping robot, a mopping robot, or a sweeping and mopping robot.

[0073] The home mobile platform 100 of the present application can cooperate with the cleaning robot 200. Figures 1 to 3As shown, the home mobile platform 100 includes a platform 110 and a movable support structure 120. The platform 110 of the home mobile platform 100 can be used as a bearing structure for the home object 400, that is, the home object 400 can be arranged on the platform 110. The movable support structure 120 is used to support and drive the platform 110 to move. The movable support structure 120 can specifically include a roller mechanism, a belt sliding mechanism, etc., thereby making the home mobile platform 100 itself movable, facilitating the cleaning robot 200 to drive the home mobile platform 100 to move, reducing the load-bearing capacity of the cleaning robot 200, and reducing the driving force of the cleaning robot 200 on the home mobile platform 100. Optionally, the movable support structure 120 may include a plurality of legs 121 and universal wheels 122 located on the legs 121, and the home mobile platform 100 can be moved in all directions through the universal wheels 122. When the cleaning robot 200 approaches the home mobile platform 100, the home mobile platform 100 can automatically establish a physical connection with the cleaning robot 200. In this way, the cleaning robot 200 can drive the home mobile platform 100 to move, thereby realizing the mobile use demand of the home object 400.

[0074] In the embodiment of the present application, the home mobile platform 100 can cooperate with the cleaning robot 200. In addition, the movable support structure 120 makes the home mobile platform 100 itself mobile. Further, the first charging electrode 152 of the home mobile platform 100 can contact the second charging electrode 213 of the cleaning robot 200 to charge the cleaning robot 200 or receive the electric energy of the cleaning robot 200. The home mobile platform 100 can be set at a position close to the cleaning robot 200. When the cleaning robot 200 is insufficient in power, even if there is a problem with the working base station or the entire cleaning area is large, causing the working base station to be far away from the cleaning robot 200, it can also be replenished through the home mobile platform 100 to ensure that the cleaning robot 200 can replenish power in time, thereby helping to improve the working reliability of the cleaning robot 200. Second, the cleaning robot 200 can drive the home mobile platform 100 to move. When the cleaning robot changes the working area, it can drive the home mobile platform 100 to move to the new working area together. Therefore, the home mobile platform 100 and the cleaning robot 200 can always maintain a relatively close distance, which is conducive to further improving the timeliness of the cleaning robot 200's power replenishment. On the third aspect, the platform 110 of the home mobile platform 100 can be provided with a home object 400 with mobile use requirements. The home object 400 can be an air purifier, a humidifier, a book, a camera, a dehumidifier, an aromatherapy device, and can also be a user's commonly used medicine, a water cup, and other objects that may be transferred within the home or a platform or cabinet for accommodating them. The cleaning robot 200 can drive the home object 400 to move through the home mobile platform 100. Driven by the cleaning robot 200, the home object 400 can be transferred from one location to another, or from one room to another room. In this way, the working range of the home object 400 can be effectively expanded. Moreover, the movement of the household object 400 by means of the cooperation between the cleaning robot 200 and the household mobile platform 100 is time-saving, labor-saving and efficient compared to manpower for moving the household object 400. Fourthly, the household mobile platform 100 can charge the cleaning robot 200 or receive power from the cleaning robot 200, thereby realizing power interaction between the two, which is also conducive to improving the functional diversity of the household mobile platform 100.The home mobile platform 100 has a first rechargeable battery for storing electric energy inside. The first rechargeable battery can transmit electric energy to the cleaning robot 200 through the first charging electrode 152 to facilitate the cleaning robot 200 to move or clean the floor after obtaining electric energy; or the first rechargeable battery can also receive electric energy from the cleaning robot 200 through the first charging electrode 152, and the electric energy is used to power rechargeable household objects 400 (for example: air purifiers, humidifiers, dehumidifiers) on the home mobile platform 100 or the electronic devices of the home mobile platform 100 itself (for example: obstacle recognition devices or cliff detection sensors).

[0075] In some embodiments, Figure 3 As shown, the platform 110 is provided with a first recognition module 141 and a first docking structure 150. The first recognition module 141 can be recognized by the second recognition module 220 of the cleaning robot 200, and after the cleaning robot 200 moves to the home mobile platform 100 according to the recognition result, the first docking structure 150 docks with the second docking structure 212 on the cleaning robot 200 to position the home mobile platform 100 and the cleaning robot 200.

[0076] In this embodiment, the second identification module 220 of the cleaning robot 200 can identify the first identification module 141 of the home mobile platform 100, so that the specific position of the home mobile platform 100 can be identified, and the cleaning robot 200 can move in the direction of the home mobile platform 100, and then the pre-connection between the home mobile platform 100 and the cleaning robot 200 is realized by docking the first docking structure 150 with the second docking structure 212. In this way, it is conducive to improving the convenience and reliability of the subsequent connection between the home mobile platform 100 and the cleaning robot 200. The whole process relies on the cleaning robot 200 to automatically dock with the home mobile platform 100 after identification so that the two are connected. The user can control the automatic docking and automatic separation of the cleaning robot 200 and the home mobile platform 100 through a terminal device (such as an APP or a remote control). Among them, the first identification module 141 can be an infrared emission module, a structural feature code, a spray feature code, etc.; the second identification module 220 can be an infrared receiving module, a laser radar, a camera, etc.

[0077] In some embodiments, Figure 3 and Figure 6As shown, a mounting mechanism 140 is provided at the bottom of the platform 110, and a first docking structure 150 is provided on the mounting mechanism 140. The mounting mechanism 140 is also provided with a first elastic connection component 151 for enabling the first docking structure 150 to move in the horizontal direction to match the second docking structure 212. By providing the first elastic connection component 151, during the docking process, the first docking structure 150 and the second docking structure 212 are elastically matched to prevent the home mobile platform 100 and the cleaning robot 200, which are both movable devices (for example, both are mechanisms with rollers), from easily pushing each other to move when docking with each other, and the rigid matching cannot be buffered, thereby causing the first docking structure 150 and the second docking structure 212 to be unable to dock in place. The first docking structure 150 is provided on the first side of the mounting mechanism 140, and the shape of the first side of the mounting mechanism 140 corresponds to the shape of the outer wall of the cleaning robot 200 near the second docking structure 212 or is concave arc-shaped.

[0078] In other embodiments, the first elastic connection component 151 is connected to the second docking structure 212 of the cleaning robot 200 (not shown), so that the second docking structure 212 can move in the horizontal direction and then dock with the first docking structure 150. That is, in this embodiment, the first elastic connection component 151 is arranged in the cleaning robot 200 instead of the mounting mechanism 140 of the platform 110. In this way, it can also avoid that the first docking structure 150 and the second docking structure 212 cannot dock in place due to rigid matching.

[0079] Alternatively, if Figure 6 As shown, the first elastic connection assembly 151 includes a connection body 1511 and a first elastic member 1512. The connection body 1511 is connected to the first docking structure 150 and is movably connected to the mounting mechanism 140, so that the first docking structure 150 can move in the horizontal direction. The first elastic member 1512 is arranged between the connection body 1511 and the mounting mechanism 140. The first elastic member 1512 provides elastic force to the connection body 1511 so that the connection body 1511 can move in the horizontal direction. The connection body 1511 is connected to the first docking structure 150, so that the connection body 1511 transmits the horizontal force to the first docking structure 150 so that the first docking structure 150 can move in the horizontal direction. The first elastic member 1512 and the connection body 1511 constitute the first elastic connection assembly 151, which can prevent the first docking structure 150 and the second docking structure 212 from being unable to dock in place due to rigid matching.

[0080] Alternatively, in other embodiments, the first elastic connection assembly 151 includes a connection body 1511 and a first elastic member 1512, the connection body 1511 is connected to the second docking structure 212 and is movably connected to the robot body 210 on the cleaning robot 200, so that the second docking structure 212 can move in the horizontal direction, and the first elastic member 1512 is arranged between the connection body 1511 and the robot body 210 on the cleaning robot 200. The first elastic member 1512 provides elastic force to the connection body 1511 so that the connection body 1511 can move in the horizontal direction. The connection body 1511 is connected to the second docking structure 212, that is, it is arranged in the cleaning robot 200, so that the connection body 1511 transmits the horizontal force to the second docking structure 212 so that the second docking structure 212 can move in the horizontal direction. The first elastic member 1512 and the connection body 1511 construct the first elastic connection assembly 151, which can prevent the first docking structure 150 and the second docking structure 212 from being unable to dock in place due to rigid matching.

[0081] In some embodiments, Figure 3 and Figure 6 As shown, a first guide column 1513 extending in a horizontal direction is provided on the connecting body 1511, and the first guide column 1513 is connected to or sleeved on the first elastic member 1512. Through the first guide column 1513, the first docking structure 150 or the second docking structure 212 can only move in a horizontal direction but cannot move in other directions.

[0082] In some embodiments, the mounting mechanism 140 is also configured to enable the first docking structure 150 to move in the vertical direction to match the fourth elastic connection component of the second docking structure 212. The fourth elastic connection component enables the first docking structure 150 to move in the vertical direction, thereby ensuring that when the cleaning robot 200 is connected and moved with the home mobile platform 100, the first docking structure 150 and the second docking structure 212 are fully combined up and down and will not detach from each other.

[0083] In some embodiments, the home mobile platform 100 further includes a first rechargeable battery (not shown) and a first charging circuit (not shown), the first charging circuit is connected to the first rechargeable battery, and the first charging electrode 152 is connected to the first charging circuit. In this way, the charging function, the discharging function and the energy storage function of the home mobile platform 100 are realized through the first rechargeable battery and the first charging circuit. The first charging circuit can be a charging circuit or a charging and discharging circuit according to the purpose.

[0084] Furthermore, if Figure 3 , Figure 4 , Figure 5As shown, the first charging electrode sheet 152 is arranged on the first docking structure 150, and the second charging electrode sheet 213 is arranged on the second docking structure 212. In this way, the charging and discharging electrode sheet can be integrated with the docking structure, and the first charging electrode sheet 152 and the second charging electrode sheet 213 can be in contact while the first docking structure 150 and the second docking structure 212 are docked, without the need to set up a charging interface separately, thus saving installation space. Of course, in other embodiments, the first charging electrode sheet 152 and the first docking structure 150 can be separated, and the second charging electrode sheet 213 and the second docking structure 212 can also be separated.

[0085] In some embodiments, Figure 3 As shown, the first docking structure 150 is a docking head protruding from the platform 110 in the horizontal direction, and the second docking structure 212 is a docking slot. In this case, the first charging electrode piece 152 can be set at the bottom of the docking head, and the second charging electrode piece 213 can be set at the inner wall of the docking slot, which is used to contact the first charging electrode piece 152, and can ensure that the first charging electrode piece 152 or the second charging electrode piece 213 is not polluted by dust or water from the outside. Alternatively, the first docking structure 150 is a docking slot recessed in the platform 110, and the second docking structure 212 is a docking head; in this case, the first charging electrode piece 152 can be set at the inner wall of the docking slot, and the second charging electrode piece 213 can be set at the bottom of the docking head.

[0086] Furthermore, in some embodiments, Figure 3 , Figure 4 and Figure 7 As shown, the first docking structure 150 is connected with a second elastic connection component 150a, and the second elastic connection component 150a is connected with the first charging electrode piece 152, so that the first charging electrode piece 152 and the second charging electrode piece 213 can be elastically abutted and contacted in the up-down direction. In this embodiment, the elastic effect of the second elastic connection component 150a is utilized to keep the first charging electrode piece 152 and the second charging electrode piece 213 in the up-down direction. In this way, when the first docking structure 150 and the second docking structure 212 are docked, the first charging electrode piece 152 and the second charging electrode piece 213 can be more closely contacted, thereby avoiding the problem of virtual connection.

[0087] Optionally, in other embodiments, the second elastic connection component 150a is disposed in the second docking structure 212 of the cleaning robot 200, rather than in the first docking structure 150 of the home mobile platform 100, and the second elastic connection component 150a is connected to the second charging electrode 152, so that the first charging electrode 152 and the second charging electrode 213 can be elastically abutted in the up and down directions. In this way, the first charging electrode 152 and the second charging electrode 213 can be in closer contact, thereby avoiding the problem of virtual connection.

[0088] Specifically, if Figure 7 As shown, the second elastic connection component 150a includes a first movable member 153 and a second elastic member 155 connected to the first movable member 153, and the first charging electrode 152 is arranged on the first movable member 153. The first docking structure 150 includes a first docking base 156 and a second guide column 154 arranged on the first docking base 156 along the up-down direction, the first docking base 156 is provided with a first through slot 157, the first movable member 153 is inserted into the first through slot 157, and the second elastic member 155 is sleeved on the second guide column 154 or connected to the second guide column 154. The elastic force of the first movable member 153 is provided by the second elastic member 155, so that the first charging electrode 152 located on the first movable member 153 can move, and the second elastic member 155 is sleeved on the second guide column 154 or connected to the second guide column 154 so that the second elastic member 155 moves along the extension direction of the second guide column 154, so that the first charging electrode 152 moves along the extension direction of the second guide column 154 (that is, the up and down direction), so that the first charging electrode 152 and the second charging electrode 213 can be more closely contacted in the up and down directions, thereby avoiding the problem of virtual connection.

[0089] Optionally, when the second elastic connection component 150a is arranged in the second docking structure 212 of the cleaning robot 200, the second elastic connection component 150a includes a first movable member 153 and a second elastic member 155 connected to the first movable member 153, the second charging electrode 213 is arranged on the first movable member 153, and the second docking structure 212 may also include a first docking base 156 and a second guide column 154 arranged on the first docking base 156 along the up-down direction, the first docking base 156 is provided with a first through slot 157, the first movable member 153 is penetrated through the first through slot 157, and the second elastic member 155 is sleeved on the second guide column 154 or connected to the second guide column 154. In this way, the second charging electrode 213 can be moved along the extension direction (i.e., the up-down direction) of the second guide column 154, so that the first charging electrode 152 and the second charging electrode 213 can be more closely contacted in the up-down direction, thereby avoiding the problem of virtual connection.

[0090] In some embodiments, Figures 8 to 10As shown, the home mobile platform 100 can also dock with the base station 300, and the platform 110 is also provided with a third docking structure 142 and a third charging electrode 143. The third docking structure 142 is used to dock with the fourth docking structure 320 on the base station 300, and the third charging electrode 143 is used to contact the fourth charging electrode 321 of the base station 300 to receive the electric energy of the base station 300. The electric energy is used to provide electric energy to the cleaning robot 200 through the above-mentioned first charging electrode 152, or to power the rechargeable household objects 400 (for example: air purifiers, humidifiers, dehumidifiers) on the home mobile platform 100 or the electronic devices of the home mobile platform 100 itself (for example: obstacle recognition devices or cliff detection sensors). The first side of the mounting mechanism 140 is provided with a first docking structure 150, and the second side of the mounting mechanism 140 is provided with a third docking structure 142. The first side and the second side of the mounting mechanism 140 are arranged oppositely. The base station 300 can be a charging base station or a dust collection base station with a charging function.

[0091] In some embodiments, Figure 8 , Fig. 9 As shown, the base station 300 also includes a fourth identification module 330 arranged on the base station body 310. The fourth identification module 330 can be identified by the third identification module 144 of the home mobile platform 100, so that the fourth docking structure 320 and the third docking structure 142 are docked in the horizontal direction to position the home mobile platform 100.

[0092] In this embodiment, the fourth identification module 330 on the base station body 310 can be identified by the third identification module 144 of the home mobile platform 100, so that the fourth docking structure 320 on the base station 300 can be docked with the third docking structure 142 on the home mobile platform 100 to locate the home mobile platform 100. In other words, the fourth identification module 330 of the base station 300 can be identified by the third identification module 144 of the home mobile platform 100, so that the specific location of the base station 300 can be identified, and the home mobile platform 100 can move toward the base station 300. In this way, it is conducive to improving the convenience and reliability of the connection between the base station 300 and the home mobile platform 100. Among them, the fourth identification module 330 can be an infrared transmission module, a structural feature code, a spray feature code, etc.; the third identification module 144 can be an infrared receiving module, a laser radar, a camera, etc.

[0093] Generally, when the base station 300 is a dust collection base station, the dust collection base station is generally provided with a dust collection chamber, and a dust bag or a dust cup can be provided in the dust collection chamber. After the cleaning robot 200 is docked and connected with the home mobile platform 100, the cleaning robot 200 can also transfer the collected dust to the dust bag or dust cup of the dust collection chamber of the base station 300 through the home mobile platform 100 after completing the cleaning task.

[0094] It should be noted that after the cleaning robot 200 is docked with the home mobile platform 100, it can move with the home mobile platform 100 to the location of the base station 300, and then the third docking structure 142 on the home mobile platform 100 is docked with the fourth docking structure 320 on the base station 300, and the cleaning robot 200 is indirectly docked with the base station 300 through the home mobile platform 100. In this case, the home mobile platform 100 is docked with the base station 300 and contacts the fourth charging electrode 321 on the base station 300 through the third charging electrode 143 to receive the electric energy of the base station 300, and then the home mobile platform 100 can also indirectly transmit electric energy to the cleaning robot 200 through the first charging electrode 152 and the second charging electrode 213.

[0095] Of course, if Figure 5 , Fig. 9 As shown, when the cleaning robot 200 is separated from the home mobile platform 100, the cleaning robot 200 can also dock with the fourth docking structure 320 on the base station 300 through the second docking structure 212. At this time, the cleaning robot 200 is directly docked with the base station 300. When the cleaning robot 200 is directly docked with the fourth docking structure 320 of the base station 300 through the second docking structure 212, the second charging electrode 213 of the cleaning robot 200 can also contact the fourth charging electrode 321. At this time, the base station 300 directly transmits electrical energy to the cleaning robot 200.

[0096] It can be seen that the cleaning robot 200 in this embodiment can dock with the base station 300 and receive power from the base station 300 both when it is connected to the home mobile platform 100 and when it is separated from the home mobile platform 100.

[0097] In some embodiments, Figure 3 and Figure 8 As shown, the third charging electrode 143 and the first charging electrode 152 are respectively arranged on opposite sides of the bottom of the platform 110. In this way, when the home mobile platform 100 is connected to the cleaning robot 200 and the home mobile platform 100 is charged with the base station 300, the home mobile platform 100 is located between the cleaning robot 200 and the base station 300, so that the first charging electrode 152 of the home mobile platform 100 is conveniently contacted with the second charging electrode 213 of the cleaning robot 200 for charging or discharging, and the third charging electrode 143 of the home mobile platform 100 is contacted with the fourth charging electrode 321 of the base station 300 for charging, and it is beneficial to reduce the overall space occupied by the cleaning robot 200, the base station 300, and the home mobile platform 100.

[0098] In some embodiments, a first control module (not shown) for communicating with the cleaning robot 200 is provided inside the platform 110. The first control module is electrically connected to the first charging electrode 152, and is used to control the home mobile platform 100 to receive electrical energy from the cleaning robot 200 through the first charging electrode 152 so that the home mobile platform 100 reaches a first preset power level when the home mobile platform 100 is not docked with the base station 300; or control the home mobile platform 100 to charge the cleaning robot 200 through the first charging electrode 152 so that the cleaning robot 200 reaches a second preset power level.

[0099] In this embodiment, by setting up a first control module, the power interaction between the home mobile platform 100 and the cleaning robot 200 can be controlled, so that the home mobile platform 100 or the cleaning robot 200 can receive power at any time during the work process and maintain normal operation. Specifically, when the power of the home mobile platform 100 does not reach the first preset power, for example, the first preset power is 30% of the total power of the home mobile platform 100, the first control module can control the home mobile platform 100 to receive the power of the cleaning robot 200 through the first charging electrode 152; when the cleaning robot 200 does not reach the second preset power, for example, the second preset power is 30% of the total power of the cleaning robot 200, the first control module can control the home mobile platform 100 to charge the cleaning robot 200, without limitation thereto.

[0100] In some embodiments, Figures 8 to 10 As shown, the third charging electrode piece 143 is arranged on the third docking structure 142, and the fourth charging electrode piece 321 is arranged on the fourth docking structure 320 of the base station 300. In this way, the charging electrode piece and the docking structure can be integrated together, and the third charging electrode piece 143 and the fourth charging electrode piece 321 can be in contact while the third docking structure 142 and the fourth docking structure 320 are docked, without the need to set up a charging interface separately, saving installation space, and without the need to perform additional power connection actions.

[0101] In some embodiments, Fig.10 and Fig.11 As shown, the fourth docking structure 320 is connected with a third elastic connection component 320a, and the third elastic connection component 320a is connected to the fourth charging electrode piece 321, so that the third charging electrode piece 143 and the fourth charging electrode piece 321 can be elastically abutted and contacted in the up and down directions. In this embodiment, the elastic effect of the third elastic connection component 320a is utilized to make the fourth charging electrode piece 321 maintain the movement trend in the up and down directions, so that when the third docking structure 142 and the fourth docking structure 320 are docked, the third charging electrode piece 143 and the fourth charging electrode piece 321 can be more closely contacted, thereby avoiding the problem of virtual connection.

[0102] In other embodiments, a third elastic connection component 320a (not shown) is connected to the third docking structure 142, and the third elastic connection component 320a is connected to the third charging electrode 143, so that the third charging electrode 143 and the fourth charging electrode 321 can be elastically abutted in the up and down directions, which can make the contact between the third charging electrode 143 and the fourth charging electrode 321 closer, thereby avoiding the problem of false connection.

[0103] In some embodiments, Figure 8 and Fig. 9 As shown, the third docking structure 142 is a docking slot recessed in the platform 110, and the fourth docking structure 320 is a docking head; in this case, the third charging electrode piece 143 is arranged on the inner wall of the docking slot, and the fourth charging electrode piece 321 is arranged on the bottom of the docking head, which can ensure that the third charging electrode piece 143 or the fourth charging electrode piece 321 is not polluted by dust or water from the outside. Alternatively, in other embodiments, the third docking structure 142 is a docking head protruding from the platform 110 in the horizontal direction, and the fourth docking structure 320 is a docking slot; in this case, the third charging electrode piece 143 is arranged on the bottom of the docking head, and the fourth charging electrode piece 321 is arranged on the inner wall of the docking slot.

[0104] like Fig.11 As shown, the third elastic connection component 320a includes a second movable member 322 and a third elastic member 325 connected to the second movable member 322, and the fourth charging electrode 321 is arranged on the second movable member 322. Thus, the elastic force of the second movable member 322 is provided by the third elastic member 325, so that the fourth charging electrode 321 located on the second movable member 322 can move, so that the fourth charging electrode 321 and the third charging electrode 143 can be more closely contacted.

[0105] Further, the fourth docking structure 320 includes a second docking base 324 and a third guide post 323 disposed on the second docking base 324 along the up-down direction, a second through slot 326 is disposed on the second docking base 324, a second movable member 322 is inserted through the second through slot 326, and a third elastic member 325 is sleeved on the third guide post 323 or connected to the third guide post 323. Thus, the third elastic member 325 is sleeved on the third guide post 323 or connected to the third guide post 323 so that the third elastic member 325 moves along the extension direction of the third guide post 323, so that the fourth charging electrode piece 321 moves along the extension direction of the third guide post 323 (i.e., the up-down direction), so that the fourth charging electrode piece 321 and the third charging electrode piece 143 are in closer contact, thereby avoiding the problem of virtual connection.

[0106] Optionally, in other embodiments, when the third elastic connection component 320a is disposed in the third docking structure 142 of the home mobile platform 100, the third elastic connection component 320a includes a second movable member 322 and a third elastic member 325 connected to the second movable member 322, and the third charging electrode 143 is disposed on the second movable member 322. The third docking structure 142 includes a second docking base 324 and a third guide column 323 disposed on the second docking base 324 along the up-down direction, the second docking base 324 is provided with a second through slot 326, the second movable member 322 is penetrated through the second through slot 326, and the third elastic member 325 is sleeved on the third guide column 323 or connected to the third guide column 323. Therefore, the third elastic member 325 is sleeved on the third guide column 323 or connected to the third guide column 323 so that the third elastic member 325 moves along the extension direction of the third guide column 323, so that the third charging electrode 143 moves along the extension direction of the third guide column 323 (that is, the up and down direction), so that the contact between the third charging electrode 143 and the fourth charging electrode 321 is closer, thereby avoiding the problem of virtual connection.

[0107] In some embodiments, the first control module is electrically connected to the first charging electrode 152 and / or the third charging electrode 143, and is used to control the home mobile platform 100 to transmit the power received from the base station 300 to the cleaning robot 200 through the first charging electrode 152 so that the cleaning robot 200 reaches a third preset power level, or control the home mobile platform 100 to store the power received from the base station 300 through the third charging electrode 143 when the home mobile platform 100 is docked with the base station 300. The third preset power level may be the same as or different from the second preset power level.

[0108] In this embodiment, the first control module of the home mobile platform 100 also has the function of controlling the power transmission between the home mobile platform 100, the cleaning robot 200 and the base station 300. Specifically, when the home mobile platform 100 is docked with the base station 300 and the home mobile platform 100 is connected with the cleaning robot 200, when the cleaning robot 200 does not reach the third preset power, for example, the third preset power is 80% of the total power of the cleaning robot 200, the first control module can control the home mobile platform 100 to transmit the power received from the base station 300 to the cleaning robot 200 through the first charging electrode 152. At this time, the power of the base station 300 is transmitted to the home mobile platform 100 through the fourth charging electrode 321 and the third charging electrode 143, and then the home mobile platform 100 transmits it to the cleaning robot 200 through the first charging electrode 152 and the second charging electrode 213. When the power of the cleaning robot 200 reaches the third preset power, the first control module can control the home mobile platform 100 to store the power received from the base station 300 through the third charging electrode 143. The home mobile platform 100 serves as an intermediate bridge between the cleaning robot 200 and the base station 300. The first control module of the home mobile platform 100 can transmit signals with the cleaning robot 200 through Bluetooth signals and communication electrodes to quickly determine the power of the cleaning robot 200, and can control the power received from the base station 300 to be stored or transmitted to the cleaning robot 200, thereby ensuring that the cleaning robot 200 and the home mobile platform 100 have sufficient power to keep running.

[0109] In some embodiments, Figure 2 and Figure 8 As shown, a charging electrode 113 is arranged on the top of the platform 110, and the charging electrode 113 is used to charge the household object 400 arranged on the platform 110; in this way, the working time of the household object 400 can be extended. At this time, the household object 400 is a rechargeable household device (such as an air purifier, a humidifier, a dehumidifier).

[0110] In some embodiments, Figure 3 , Figure 5 and Fig.16As shown, the home mobile platform 100 also includes a first coupling member 132, and the first coupling member 132 is located on the platform 110. The first coupling member 132 is used to combine with the second coupling member 211 on the cleaning robot 200. After the first docking structure 150 of the home mobile platform 100 is docked with the second docking structure 212 of the cleaning robot 200, the first coupling member 132 and the second coupling member 211 are combined to fix the platform 110 to the top of the cleaning robot 200, and the home mobile platform 100 can be driven to move by the cleaning robot 200 later. Fixed connection can refer to limiting the movement of both parties in the horizontal direction only by means of interlocking, etc., and the vertical direction is not completely fixed, and can also refer to complete fixation by means of snap-fitting, magnetic attraction, etc., to limit the movement of both parties in the horizontal, vertical and other directions.

[0111] It is understandable that before the household mobile platform 100 is fixedly connected to the cleaning robot 200, the cleaning robot 200 needs to move to the bottom of the platform 110 and dock with the first docking structure 150 of the household mobile platform 100 through the second docking structure 212 of the cleaning robot 200. Then, the household mobile platform 100 is fixedly connected to the cleaning robot 200 through the combination of the first connecting member 132 and the second connecting member 211 of the cleaning robot 200. At this time, the platform 110 is fixedly connected to the top of the cleaning robot 200, and the movable support structure 120 of the household mobile platform 100 can be driven by the cleaning robot 200 to move.

[0112] In this embodiment, the first coupling member 132 of the household mobile platform 100 can be combined with the second coupling member 211 of the cleaning robot 200, so that the household mobile platform 100 is fixedly connected to the cleaning robot 200. In this way, on the first hand, the cleaning robot 200 drives the household object 400 to move through the household mobile platform 100, and the household object 400 can be transferred from one position to another position, or from one room to another room. In this way, the working range of the household object 400 can be effectively expanded. On the second hand, the movement of the household object 400 is achieved by means of the cooperation of the cleaning robot 200 and the household mobile platform 100, which has the advantages of saving time, labor and efficiency compared to relying on manpower to carry the household object 400. On the third hand, when the cleaning robot 200 drives the household object 400 to move through the household mobile platform 100, the two are in a fixed state, and there is no risk of disengagement between the cleaning robot 200 and the household mobile platform 100, which is also conducive to improving the reliability of the movement.

[0113] In some embodiments, Fig.12As shown, a driving mechanism 131 is connected to the first combining member 132 or the second combining member 211, and the driving mechanism 131 is used to drive the first combining member 132 and the second combining member 211 to combine or separate. Optionally, the driving mechanism 131 is arranged in the home mobile platform 100 and is connected to the first combining member 132, so that the driving mechanism 131 can drive the first combining member 132 to move, thereby realizing the combination or separation of the first combining member 132 and the second combining member 211. Such a configuration is conducive to improving the convenience and automation of the combination or separation of the first combining member 132 and the second combining member 211. The user can control the automatic combination or separation of the first combining member 132 and the second combining member 211 through a terminal device (such as an APP or a remote control).

[0114] In some embodiments, Fig.12 and Fig.13 As shown, the driving mechanism 131 includes a motor (not shown) and a transmission member 1312. The motor is fixedly connected to the platform 110 or the cleaning robot 200. The transmission member 1312 is connected to the motor and is used to drive the first combination member 132 or the second combination member 211 to move, so that the first combination member 132 and the second combination member 211 are combined or separated. Optionally, the driving mechanism 131 is arranged in the home mobile platform 100 and is connected to the first combination member 132, so that the driving mechanism 131 can drive the first combination member 132 to move. When the motor is working, the motor drives the transmission member 1312 to move, and the transmission member 1312 drives the first combination member 132 to move, so that the first combination member 132 and the second combination member 211 are combined or separated. Such a setting is conducive to improving the convenience and automation of the combination or separation of the first combination member 132 and the second combination member 211. The user can control the driving mechanism 131 through a terminal device (such as an APP or a remote control) to control the automatic combination or separation of the first combination member 132 and the second combination member 211.

[0115] Furthermore, if Figure 3 , Fig.12 and Fig.13 and Fig.16 As shown, the first combining component 132 is located at the bottom or side of the platform 110, and the second combining component 211 is located at the top or side of the cleaning robot 200. The driving mechanism 131 is used to drive the first combining component 132 or the second combining component 211 to rise and fall, so that the first combining component 132 and the second combining component 211 can be combined or separated, wherein, when the first combining component 132 descends, the first combining component 132 and the second combining component 211 can be combined, and when the first combining component 132 rises, the first combining component 132 and the second combining component 211 are separated; or when the second combining component 211 rises, the first combining component 132 and the second combining component 211 can be combined, and when the second combining component 211 descends, the first combining component 132 and the second combining component 211 are separated.

[0116] Alternatively, if Figure 3 , Fig.12 and Fig.13 and Fig.16 As shown, the first combination member 132 is located at the bottom of the platform 110, and the second combination member 211 is located at the top of the cleaning robot 200. The driving mechanism 131 realizes the combination or separation of the first combination member 132 and the second combination member 211 by driving the first combination member 132 to rise and fall. When the first combination member 132 descends, the first combination member 132 and the second combination member 211 can be combined, and when the first combination member 132 rises, the first combination member 132 and the second combination member 211 are separated. In this way, by driving the first combination member 132 to rise and fall, it is helpful to improve the convenience of combining the home mobile platform 100 and the cleaning robot 200.

[0117] In some embodiments, Figure 3 , Fig.12 and Fig.13 and Fig.16 As shown, the number of the first combination members 132 or the second combination members 211 is multiple, and the driving mechanism 131 is used to drive the multiple first combination members 132 or the second combination members 211 to move simultaneously. Optionally, the number of the first combination members 132 is multiple, and the driving mechanism 131 can drive the multiple first combination members 132 of the home mobile platform 100 to connect with the multiple second combination members 211 of the cleaning robot 200, so that the connection stability between the two can be improved. In addition, the multiple first combination members 132 are driven by the same driving mechanism 131, which is conducive to reducing the manufacturing cost of the home mobile platform 100.

[0118] In some embodiments, Fig.12 and Fig.13As shown, the driving mechanism 131 also includes a guide member 1313 and a linkage member 1314. The linkage member 1314 is in transmission connection with the transmission member 1312, and the linkage member 1314 is movably connected with the guide member 1313 so that the linkage member 1314 moves along a predetermined direction. When the guide member 1313 is fixed to the platform 110, the plurality of first coupling members 132 are all connected to the linkage member 1314, and when the guide member 1313 is fixed to the cleaning robot 200, the plurality of second coupling members 211 are all connected to the linkage member 1314. The linkage member 1314 is in transmission connection with the transmission member 1312, for example, the two can be transmission connection with a synchronous belt, a cylinder, a ball screw, an electric push rod, etc. When the motor is working, the motor drives the transmission member 1312 to rotate. Since the linkage member 1314 is in transmission connection with the transmission member 1312, the transmission member 1312 can drive the linkage member 1314 to move linearly in a predetermined direction when rotating, thereby driving the first combination member 132 or the second combination member 211 connected to the linkage member 1314 to move linearly, so as to realize the combination of the first combination member 132 and the second combination member 211. In addition, during the movement of the linkage member 1314, the guide member 1313 can limit the movement direction of the linkage member 1314, so that the linkage member 1314 moves linearly in a predetermined direction (for example, the up and down direction), but does not move in other directions.

[0119] Optionally, the driving mechanism 131 is disposed on the home mobile platform 100 , the guide member 1313 of the driving mechanism 131 is fixedly connected to the platform 110 , and the plurality of first coupling members 132 are all connected to the linkage member 1314 .

[0120] In some embodiments, Figure 12 to Figure 14 As shown, the transmission member 1312 is a screw rod, and the linkage member 1314 has a mounting hole 1315 and a plurality of connecting members 1316 arranged around the mounting hole 1315. The mounting hole 1315 is sleeved outside the screw rod and is threadedly connected to the screw rod, and each connecting member 1316 is connected to the first connecting member 132 or the second connecting member 211. The mounting hole 1315 of the linkage member 1314 is sleeved outside the thread of the transmission member 1312, and the linkage member 1314 is driven to move linearly through the rotation of the screw rod, and the linkage member 1314 then drives the first connecting member 132 or the second connecting member 211 to move linearly through the connecting member 1316, so as to realize the combination or separation of the first connecting member 132 and the second connecting member 211.

[0121] Optionally, each connecting member 1316 is connected to a first combining member 132 , and the linkage member 1314 drives the first combining member 132 to move in a straight line through the connecting member 1316 , so as to achieve the combination or separation of the first combining member 132 and the second combining member 211 .

[0122] In some embodiments, Fig.12 and Fig.13 As shown, the platform 110 is provided with a receiving cavity for accommodating the driving mechanism 131, and the first coupling member 132 is a clamping member, such as a clamping block, a clamping rod, a clamping hook, etc. A through hole is provided at the bottom of the platform 110, and the linkage member 1314 and / or the first coupling member 132 are passed through the through hole. The driving mechanism 131 is accommodated inside the platform 110, which is beneficial to protect the motor, the transmission member 1312 and other structures on the one hand, and can also improve the simplicity of the appearance of the home mobile platform 100 on the other hand.

[0123] In some embodiments, Figure 3 , Fig.16 As shown, the first coupling member 132 is a clamping rod, and the second coupling member 211 is a clamping groove corresponding to the position and size of the clamping rod. Alternatively, the second coupling member 211 is a clamping rod, and the first coupling member 132 is a clamping groove corresponding to the position and size of the clamping rod. In this way, the two can be connected in a coordinated manner.

[0124] In some embodiments, the platform 110 is provided with a first communication electrode, and the first communication electrode is used to be electrically connected to the second communication electrode of the cleaning robot 200.

[0125] In some embodiments, the first control module of the home mobile platform 100 is configured to determine whether the home mobile platform 100 and the cleaning robot 200 have successfully communicated based on the electrical connection between the first communication electrode and the second communication electrode. This is beneficial to improving the intelligence of the home mobile platform 100 and also improving the convenience of obtaining the communication connection information between the home mobile platform 100 and the cleaning robot 200.

[0126] Furthermore, in some embodiments, Figure 3 , Fig.16 As shown, the first communication electrode is arranged on the first combining member 132, and the second communication electrode is arranged on the second combining member 211. That is to say, when the first combining member 132 and the second combining member 211 are combined, the first communication electrode contacts the second communication electrode on the cleaning robot 200. When the first combining member 132 and the second combining member 211 are separated, the first communication electrode is separated from the second communication electrode on the cleaning robot 200. That is, the communication electrode and the combining member between the home mobile platform 100 and the cleaning robot 200 are integrated into one, without the need to additionally set up an interface for the communication electrode. In this way, it is beneficial to improve the convenience of connecting the first communication electrode and the second communication electrode and the degree of integration of the home mobile platform 100. In other embodiments, the first combining member 132 and the first communication electrode can be separately arranged, and in this case, the second combining member 211 and the second communication electrode can also be separately arranged.

[0127] In some embodiments, an elastic structure (not shown in the figure) is connected to the first binding member 132 or the second binding member 211. The elastic structure is used for the first communication pole piece to contact the second communication pole piece. By providing the elastic structure, the first binding member 132 or the second binding member 211 can float slightly up and down. In this way, the pressure when the first binding member 132 and the second binding member 211 are combined can be increased, and the first communication pole piece and the second communication pole piece can be in closer contact. Among them, the elastic structure can be a spring or other elastic structure. Optionally, the first binding member 132 is connected to an elastic structure for the first communication pole piece to contact the second communication pole piece.

[0128] In some embodiments, Fig.15 As shown, the driving mechanism 131 or the platform 110 is connected with a first detection switch 133, which is used to determine whether the first combination member 132 and the second combination member 211 are in place. By providing the first detection switch 133, it is helpful to improve the reliability of the combination of the two. The first detection switch 133 can be a micro switch, a photoelectric switch, etc.

[0129] For example, a first detection switch 133 is connected to the linkage member 1314 of the driving mechanism 131, and the first detection switch 133 is a micro switch having a first contact 1331; when the first contact 1331 of the first detection switch 133 moves downward following the output end of the driving mechanism 131 until the first contact 1331 abuts against the inner wall of the platform 110, the first detection switch 133 sends a signal. At this time, the first coupling member 132 is fully extended out of the platform 110, indicating that the first coupling member 132 and the second coupling member 211 have been combined in place, and the first detection switch 133 transmits the information to the first control module to facilitate the subsequent movement of the home mobile platform 100 and the cleaning robot 200 together.

[0130] In some embodiments, the driving mechanism 131 or the platform 110 is further provided with a second detection switch 134 for determining whether the first combining member 132 and the second combining member 211 are completely separated. The second detection switch 134 may be a micro switch, a photoelectric switch, or the like.

[0131] For example, the platform 110 also includes a limit member 111 mounted on the linkage member 1314 and the transmission member 1312, the limit member 111 is used to limit the movement stroke of the linkage member 1314 on the transmission member 1312, the driving mechanism 131 is arranged on the platform 110, and a second detection switch 134 is provided on the inner wall of the limit member 111, the second detection switch 134 is located above the first detection switch 133, and the second detection switch 134 is a micro switch having a second contact 1341. When the linkage 1314 on the driving mechanism 131 moves upward until the linkage 1314 of the driving mechanism 131 contacts the second contact 1341 of the second detection switch 134, the second detection switch 134 sends a signal. At this time, the first coupling member 132 is completely retracted into the interior of the platform 110, indicating that the first coupling member 132 and the second coupling member 211 are separated into place. The second detection switch 134 transmits this information to the first control module, so that the cleaning robot 200 can move independently after the subsequent home mobile platform 100 is separated from the cleaning robot 200.

[0132] In some embodiments, the home mobile platform 100 further includes at least one cliff detection sensor, which is disposed at the bottom of the platform 110 or the mounting mechanism 140. The cliff detection sensor is used to detect surrounding ground information, thereby facilitating identification of surrounding "cliffs".

[0133] It is understandable that, although the cleaning robot 200 itself also has the function of identifying the surrounding "cliffs", because the area of ​​the home mobile platform 100 is larger than the cleaning robot 200, when the cleaning robot 200 moves with the home mobile platform 100, it is not possible to ensure that the home mobile platform 100 will not fall off the "cliff" by simply relying on the cleaning robot 200 itself to identify the surrounding "cliffs". Therefore, by arranging a cliff detection sensor at the bottom of the platform 110 or the mounting mechanism 140, the home mobile platform 100 can be better prevented from falling off the "cliff".

[0134] Furthermore, if Figure 2 As shown, the household mobile platform 100 further includes at least one obstacle recognition device 170, which is disposed at the front, rear and / or side of the platform 110 and is used to recognize obstacles in front, rear and / or on the side of the platform 110. When the cleaning robot 200 moves with the household mobile platform 100, the obstacle recognition device 170 can recognize surrounding obstacles, which is helpful for avoiding obstacles during movement. The obstacle recognition device 170 can be a collision sensor, an infrared sensor, a line laser, etc.

[0135] It is understandable that, although the cleaning robot 200 itself also has the function of avoiding obstacles, because the height of the household mobile platform 100 is higher than that of the cleaning robot 200 and the area is larger than that of the cleaning robot 200, when the cleaning robot 200 moves with the household mobile platform 100, the obstacle avoidance function of the cleaning robot 200 itself cannot ensure that the platform 110 will not collide with obstacles. Therefore, by arranging the obstacle recognition device 170 at the front, rear and / or side of the platform 110, obstacles around the household mobile platform 100 can be better detected.

[0136] In some embodiments, Figure 2 , Figure 8 As shown, the obstacle recognition device 170 is a collision sensor, and the platform 110 is provided with a front collision plate 171 and / or a rear collision plate 172, and the front collision plate 171 and / or the rear collision plate 172 are connected to the collision sensor. In this way, the obstacle avoidance capability and strength of the home mobile platform 100 are improved.

[0137] Furthermore, the home mobile platform 100 further includes a communication module electrically connected to the first control module, the first control module is connected to the cliff detection sensor and / or the obstacle recognition device 170, and the first control module is further configured to transmit the ground information obtained by the cliff detection sensor to the cleaning robot 200 through the communication module, and / or transmit the obstacle information obtained by the obstacle recognition device 170 to the cleaning robot 200. The communication module may be, for example, an infrared wireless communication module, a Bluetooth wireless communication module, or a communication electrode, and the first control module may be, for example, a control chip, etc. In this way, after obtaining the obstacle information from the obstacle recognition device 170 or the ground information from the cliff detection sensor, the cleaning robot 200 can effectively identify obstacles and "cliffs" in the environment, so that the cleaning robot 200 can avoid obstacles in time and will not fall off the cliff while moving with the home mobile platform 100.

[0138] It should be noted that, in the present application, the front in front and back refers to the direction in which the cleaning robot 200 moves during normal operation (mopping or sweeping the floor), and the rear refers to the direction opposite to the direction in which the cleaning robot 200 moves during normal operation (mopping or sweeping the floor).

[0139] In some embodiments, Figure 1 , Figure 5 , Figure 8 , Fig. 9As shown, the home mobile platform 100 can be connected to the cleaning robot 200 and docked with the base station 300. The platform 110 is also provided with a dust collection channel 145. When the base station 300 is a dust collection base station, when the home mobile platform 100 is connected to the cleaning robot 200 and the home mobile platform 100 is docked with the base station 300, the dust outlet 214 of the cleaning robot 200 is connected to the dust inlet 311 of the base station 300 through the dust collection channel 145.

[0140] In this embodiment, when the home mobile platform 100 is connected to the cleaning robot 200 and the home mobile platform 100 is docked with the base station 300, the dust outlet 214 of the cleaning robot 200 is connected to the dust inlet 311 of the base station 300 through the dust collection channel 145, and the dust and garbage in the cleaning robot 200 passes through the dust outlet 214 and the dust collection channel 145 of the platform 110 and then through the dust inlet 311 to be adsorbed into the base station 300, ensuring the normal use of the cleaning function of the cleaning robot 200. In this way, the versatility and functional diversity of the home mobile platform 100 can also be improved.

[0141] In some embodiments, Figure 3 , Figure 5 As shown, a sealing ring 146 is provided on the end surface of the dust collection channel 145 for contacting with the end surface of the dust outlet 214, and the sealing ring 146 is used to prevent airflow from leaking out. In this embodiment, by providing the sealing ring 146, it is helpful to improve the sealing performance of the dust collection channel 145. When the base station 300 absorbs garbage and dust in the cleaning robot 200, the sealing ring 146 can prevent airflow or dust from leaking out.

[0142] In some embodiments, Figure 3 , Figure 5 As shown, the channel cross-sectional shape of the dust collecting channel 145 is adapted to the dust outlet cross-sectional shape of the dust outlet 214, the channel cross-sectional length of the dust collecting channel 145 is greater than the dust outlet cross-sectional length of the dust outlet 214 by 0.5-10mm, and the channel cross-sectional width of the dust collecting channel 145 is greater than the dust outlet cross-sectional width of the dust outlet 214 by 0.5-10mm. In this embodiment, the channel cross-sectional shape of the dust collecting channel 145 is adapted to the dust outlet cross-sectional shape of the dust outlet 214. For example, both are square, rectangular, circular, fan-shaped, etc. Further, the channel cross-sectional length of the dust collecting channel 145 is greater than the dust outlet cross-sectional length by 0.5-10mm, and the channel cross-sectional width of the dust collecting channel 145 is greater than the dust outlet cross-sectional width by 0.5-10mm. In this way, on the one hand, it is beneficial for the dust collection channel 145 and the dust outlet 214 to overlap as much as possible in cross section, so that the dust of the cleaning robot 200 can flow into the base station 300 through the dust collection channel 145; on the other hand, it is beneficial to improve the convenience and reliability of the docking between the dust collection channel 145 and the dust outlet 214, and can improve the convenience of installing the sealing ring 146.

[0143] In some embodiments, Figure 3 , Figure 5 and Fig. 9 As shown, the dust collection channel 145 is provided at the mounting mechanism 140 and is connected to the opposite sides of the mounting mechanism 140. This embodiment proposes a specific position for the dust collection channel 145. The dust collection channel 145 is provided at the mounting mechanism 140 and is connected to the opposite sides of the mounting mechanism 140, and the mounting mechanism 140 is located at the bottom of the platform 110. In this way, the position of the dust collection channel 145 is lower, so that the dust collection channel 145 can match the positions of the dust outlet 214 of the cleaning robot 200 and the dust inlet 311 of the base station 300, thereby facilitating the improvement of the dust collection effect.

[0144] In some embodiments, Figure 3 As shown, there are two first docking structures 150, and the dust collecting channel 145 is located between the two first docking structures 150. In this way, it is beneficial to improve the stability of the docking between the mounting mechanism 140 on the household mobile platform 100 and the cleaning robot 200.

[0145] In some embodiments, Figure 8 As shown, there are two third docking structures 142, and the dust collection channel 145 is located between the two third docking structures 142. In this way, it is beneficial to improve the stability of the docking between the mounting mechanism 140 on the home mobile platform 100 and the base station 300.

[0146] In some embodiments, Figure 1 As shown, the home mobile platform 100 also includes a camera assembly 160; the camera assembly 160 includes a support rod 161 and a camera 162. The support rod 161 is arranged on the top of the platform 110 and close to the edge of the platform 110. The support rod 161 is perpendicular to the top surface of the platform 110, and the camera 162 is arranged on the top of the support rod 161. Such an arrangement is conducive to increasing the installation height of the camera 162, thereby expanding the shooting field of view of the camera 162. During the movement of the home mobile platform 100 with the help of the cleaning robot 200, the camera assembly 160 can monitor the situation in every corner of the home, including the switches of smart homes (such as smart lights, smart air conditioners, and smart cooking appliances) and whether the objects in the home (such as the elderly, babies, and pets) are safe, etc.

[0147] The second embodiment of the present application provides a cleaning robot 200, which can cooperate with the home mobile platform 100 of the first aspect. Figure 5As shown, the cleaning robot 200 includes a robot body 210 and a second charging electrode 213 arranged on the robot body 210. The second charging electrode 213 is used to contact the first charging electrode 152 of the home mobile platform 100 on which the home object 400 can be placed, so as to charge the home mobile platform 100 or receive electrical energy from the home mobile platform 100.

[0148] The cleaning robot 200 of the present application can cooperate with the home mobile platform 100, and the movable support structure 120 makes the home mobile platform 100 itself mobile. Further, the second charging electrode 213 of the cleaning robot 200 can contact the first charging electrode 152 of the home mobile platform 100 to charge the home mobile platform 100 or receive the electric energy of the home mobile platform 100. The home mobile platform 100 can be set at a position close to the cleaning robot 200. When the power of the cleaning robot 200 is insufficient, even if there is a problem with the working base station or the entire cleaning area is large, resulting in a long distance between the working base station and the cleaning robot 200, it can also be replenished through the home mobile platform 100, thereby ensuring that the cleaning robot 200 can replenish power in time, thereby helping to improve the working reliability of the cleaning robot 200. Second, the cleaning robot 200 can drive the home mobile platform 100 to move. When the cleaning robot changes the working area, it can drive the home mobile platform to move to the new working area together. Therefore, the home mobile platform 100 and the cleaning robot 200 can always maintain a relatively close distance, which is conducive to further improving the timeliness of the cleaning robot 200's power replenishment. On the third aspect, the platform 110 of the home mobile platform 100 can be provided with a home object 400 with mobile use requirements. The home object 400 can be an air purifier, a humidifier, a book, a camera, a dehumidifier, an aromatherapy device, and can also be a user's commonly used medicine, a water cup, and other objects that may be transferred within the home or a platform or cabinet for accommodating them. The cleaning robot 200 can drive the home object 400 to move through the home mobile platform 100. Driven by the cleaning robot 200, the home object 400 can be transferred from one location to another, or from one room to another room. In this way, the working range of the home object 400 can be effectively expanded. Moreover, the movement of the household object 400 by means of the cooperation between the cleaning robot 200 and the household mobile platform 100 is time-saving, labor-saving and highly efficient compared to manpower for moving the household object 400. Fourthly, the cleaning robot 200 can charge the household mobile platform 100 or receive power from the household mobile platform 100, thereby realizing power interaction between the two, which is also conducive to improving the functional diversity of the household mobile platform 100 and the cleaning robot 200.

[0149] In some embodiments, the cleaning robot 200 also includes a second identification module 220 and a second docking structure 212 disposed on the robot body 210. The second identification module 220 can identify the first identification module 141 of the home mobile platform 100, and after the cleaning robot 200 moves to the home mobile platform 100 according to the identification result, the second docking structure 212 docks with the first docking structure 150 on the home mobile platform 110 to position the cleaning robot 200 and the home mobile platform 100.

[0150] In this embodiment, the second identification module 220 can identify the first identification module 141 of the home mobile platform 100 used to set the home object 400, so that the cleaning robot 200 can move in the direction of the home mobile platform 100, and then dock with the first docking structure 150 through the second docking structure 212 to achieve the connection between the home mobile platform 100 and the cleaning robot 200. The whole process relies on the cleaning robot 200 to automatically dock with the home mobile platform 100 after identification to connect the two. The user can control the automatic connection and automatic separation of the cleaning robot 200 and the home mobile platform through a terminal device (such as an APP or a remote control), which is conducive to improving the convenience and reliability of the connection between the home mobile platform 100 and the cleaning robot 200. When the cleaning robot 200 is fully connected to the home mobile platform 100, the cleaning robot 200 can drive the home object 400 to move through the mobile platform 100.

[0151] In some embodiments, the robot body 210 is provided with a first elastic connection component 151 for enabling the second docking structure 212 to move in the horizontal direction to match the first docking structure 150. In this embodiment, the first elastic connection component 151 is provided on the second docking structure 212 of the cleaning robot 200. By providing the first elastic connection component 151, the second docking structure 212 is elastically matched with the first docking structure 150, so as to prevent the home mobile platform 100 and the cleaning robot 200 from being both mobile devices, resulting in failure to dock in place.

[0152] In other embodiments, Figure 3 , Figure 5 and Figure 6 As shown, the second docking structure 212 is used to match the first docking structure 150 of the home mobile platform 100 connected with the first elastic connection component 151. That is, in this embodiment, the first elastic connection component 151 is arranged on the first docking structure 150 of the home mobile platform 100, so that the first docking structure 150 can move horizontally. By setting the first elastic connection component 151, during the docking process, it can be prevented that the first docking structure 150 and the second docking structure 212 cannot be docked in place due to rigid matching.

[0153] In some embodiments, Figures 3 to 5 As shown, the second charging electrode 213 is arranged on the second docking structure 212, and the first charging electrode 152 is arranged on the first docking structure 150. The cleaning robot 200 also includes a second rechargeable battery (not shown) and a second charging circuit (not shown), the second charging circuit is connected to the second rechargeable battery, and the second charging electrode 213 is connected to the second charging circuit, wherein the second charging circuit can be a charging circuit only, or a charging and discharging circuit according to the purpose.

[0154] The cleaning robot 200 has a second rechargeable battery, so it can store electrical energy. By making the second charging electrode 213 on the cleaning robot 200 contact the first charging electrode 152 on the home mobile platform 100, electrical energy can be exchanged between the home mobile platform 100 and the cleaning robot 200. For example, the home mobile platform 100 can use the electrical energy stored in itself to charge the cleaning robot 200, or use the electrical energy stored in the cleaning robot 200 to charge the home mobile platform 100. In addition, the first charging electrode 152 is arranged on the first docking structure 150, and the second charging electrode 213 is arranged on the second docking structure 212 of the cleaning robot 200. In this way, the charging structure and the docking structure can be integrated together, and the first charging electrode 152 and the second charging electrode 213 can be in contact while the first docking structure 150 and the second docking structure 212 are docked, without the need to set up a charging interface separately. In some other embodiments, the first charging electrode 152 and the first docking structure 150 can be separately provided, and the second charging electrode 213 and the second docking structure 212 can also be separately provided.

[0155] In some embodiments, Figure 3 and Figure 5 As shown, the second docking structure 212 is a docking slot recessed in the robot body 210, and the first docking structure 150 is a docking head; at this time, the second charging electrode 213 is arranged on the inner wall of the docking slot, and the first charging electrode 152 is arranged on the bottom of the docking head.

[0156] In some embodiments, the second docking structure 212 is a docking head protruding from the robot body 210 in the horizontal direction, and the first docking structure 150 is a docking slot; at this time, the second charging electrode 213 is arranged at the bottom of the docking head, and the first charging electrode 152 is arranged on the inner wall of the docking slot.

[0157] In some implementations, the second docking structure 212 of the cleaning robot 200 is connected with a second elastic connection component 150a, and the second elastic connection component 150a is connected to the second charging electrode 213, so that the second charging electrode 213 and the first charging electrode 152 can be elastically abutted in the up and down directions. In this way, the first charging electrode 152 and the second charging electrode 213 are in closer contact, thereby avoiding the problem of virtual connection.

[0158] In other embodiments, Figure 4 and Figure 7 As shown, the first docking structure 150 is connected to a second elastic connection component 150a, and the second elastic connection component 150a is connected to the first charging electrode piece 152, so that the second charging electrode piece 213 and the first charging electrode piece 152 can be elastically abutted and contacted in the up and down directions. In this way, the first charging electrode piece 152 and the second charging electrode piece 213 are in closer contact, thereby avoiding the problem of virtual connection.

[0159] In some embodiments, Figure 5 , Fig. 9 and Fig.10 As shown, the cleaning robot 200 can also cooperate with the base station 300, the second charging electrode 213 is used to contact the fourth charging electrode 321 located at the base station 300 to receive electrical energy from the base station 300, and the second docking structure 212 is used to dock with the fourth docking structure 320 located at the base station 300 to position the cleaning robot 200.

[0160] In some embodiments, the fourth identification module 330 of the base station 300 can be identified by the second identification module 220 of the cleaning robot 200, so that the second docking structure 212 and the fourth docking structure 320 are docked in the horizontal direction to position the cleaning robot 200. In this embodiment, the fourth identification module 330 on the base station body 310 can also be identified by the second identification module 220 of the cleaning robot 200. In other words, the fourth identification module 330 of the base station 300 can be identified by the second identification module 220 of the cleaning robot 200, so that the specific position of the base station 300 can be identified, and the cleaning robot 200 can move in the direction of the base station 300. In this way, it is conducive to improving the convenience and reliability of the connection between the base station 300 and the cleaning robot 200. Among them, the fourth identification module 330 can be an infrared emission module, a structural feature code, a spray feature code, etc.; the second identification module 220 can be an infrared receiving module, a laser radar, a camera, etc.

[0161] In some embodiments, the second charging electrode piece 213 is disposed on the second docking structure 212, and the fourth charging electrode piece 321 is disposed on the fourth docking structure 320; in this way, the charging structure and the docking structure can be integrated together, and the second charging electrode piece 213 and the fourth charging electrode piece 321 can be in contact while the second docking structure 212 and the fourth docking structure 320 are docked, without the need to separately set a charging interface. In other embodiments, the second charging electrode piece 213 and the second docking structure 212 can be detachably disposed, and the fourth charging electrode piece 321 and the fourth docking structure 320 can also be detachably disposed.

[0162] In this embodiment, when the cleaning robot 200 is separated from the home mobile platform 100, the cleaning robot 200 can also dock with the fourth docking structure 320 on the base station 300 through the second docking structure 212. At this time, the cleaning robot 200 is directly docked with the base station 300. In addition, the second charging electrode 213 in the second docking structure 212 can also contact the fourth charging electrode 321, so that the base station 300 can charge the cleaning robot 200.

[0163] Further, in some embodiments, referring to Figure 5 , Fig. 9 As shown, the second docking structure 212 is connected to the second elastic connection component 150a, and the second elastic connection component 150a is connected to the second charging electrode 213, so that the second charging electrode 213 and the fourth charging electrode 321 can be elastically abutted in the up and down directions. In this embodiment, the second elastic connection component 150a is arranged in the second docking structure 212 of the cleaning robot 200. In this way, the second charging electrode 213 and the fourth charging electrode 321 are in closer contact, thereby avoiding the problem of virtual connection.

[0164] Or, in other embodiments, Figure 5 , Fig.10 , Fig.11 As shown, the fourth docking structure 320 is connected with a third elastic connection component 320a, and the third elastic connection component 320a is connected to the fourth charging electrode 321, so that the second charging electrode 213 and the fourth charging electrode 321 can be elastically abutted and contacted in the up and down directions. In this way, the second charging electrode 213 and the fourth charging electrode 321 are in closer contact, thereby avoiding the problem of virtual connection.

[0165] In some embodiments, Figure 3 , Figure 5 , Fig.16As shown, the cleaning robot 200 can also be combined with the home mobile platform 100. The cleaning robot 200 also includes a second coupling member 211 provided on the robot body 210. The second coupling member 211 is used to cooperate with the first coupling member 132 of the home mobile platform 100 on which the home object 400 can be placed. After the second docking structure 212 of the cleaning robot 200 and the first docking structure 150 of the home mobile platform 100 are docked, the second coupling member 211 and the first coupling member 132 are combined to fix the home mobile platform 100 on the top of the robot body 210, and the home mobile platform 100 can be driven to move by the cleaning robot 200. Fixed connection can refer to limiting the movement of both parties in the horizontal direction only by means of interlocking, etc., and the vertical direction is not completely fixed, and can also refer to achieving complete fixation by means of snap-fitting, magnetic attraction, etc., limiting the movement of both parties in the horizontal and vertical directions.

[0166] It is understandable that before the household mobile platform 100 is fixedly connected to the cleaning robot 200, the cleaning robot 200 needs to move to the bottom of the platform 110 and dock with the first docking structure 150 of the household mobile platform 100 through the second docking structure 212 of the cleaning robot 200. Then, the second coupling member 211 is combined with the first coupling member 132 of the household mobile platform 100 to achieve the fixed connection of the household mobile platform 100 to the cleaning robot 200. At this time, the platform 110 is fixedly connected to the top of the cleaning robot 200, and the movable support structure 120 of the household mobile platform 100 can be driven by the cleaning robot 200 to move.

[0167] The cleaning robot in the embodiment of the present application is provided with a second coupling member 211, which is used to cooperate with the first coupling member 132 of the home mobile platform 100 on which the home object 400 can be set, so that the home mobile platform 100 is connected to the cleaning robot 200. After the two are connected, the platform 110 is fixed to the top of the cleaning robot 200, and the movable support structure 120 of the home mobile platform 100 can be driven by the cleaning robot 200 to move. In this way, the cleaning robot 200 can drive the home object 400 to move through the home mobile platform 100. Driven by the cleaning robot 200, the home object 400 can be transferred from one position to another position, or from one room to another room. In this way, the working range of the home object 400 can be effectively expanded. In addition, the movement of the home object 400 is achieved by means of the cooperation of the cleaning robot 200 and the home mobile platform 100, which has the advantages of saving time, labor and efficiency compared to relying on manpower to carry the home object 400.

[0168] In some embodiments, reference Fig.12 , Fig.16As shown, the second combining member 211 or the first combining member 132 is connected with a driving mechanism 131, and the driving mechanism 131 is used to drive the second combining member 211 and the first combining member 132 to combine or separate. Optionally, the driving structure 131 is connected to the second combining member 211 of the cleaning robot 200, which is conducive to improving the convenience and automation of combining or separating the second combining member 211 and the first combining member 132. The user can control the driving mechanism 131 through a terminal device (such as an APP or a remote control) to control the second combining member 211 and the first combining member 132 to automatically combine or automatically separate.

[0169] Further, the driving mechanism 131 includes a motor (not shown) and a transmission member 1312, the motor is fixedly connected to the robot body 210 of the cleaning robot 200 or the home mobile platform 100, and the transmission member 1312 is connected to the motor and is used to drive the second combination member 211 or the first combination member 132 to move, so that the first combination member 132 and the second combination member 211 are combined or separated. Optionally, when the motor is working, the motor drives the transmission member 1312 to move, and the transmission member 1312 drives the second combination member 211 to move, so that the second combination member 211 and the first combination member 132 are combined or separated.

[0170] Further, refer to Fig.12 , Fig.13 , Fig.16 As shown, the second combination member 211 is located at the top or side of the robot body 210, and the first combination member 132 is located at the bottom or side of the home mobile platform 200. The driving mechanism 131 is used to drive the second combination member 211 or the first combination member 132 to rise and fall, so that the second combination member 211 and the first combination member 132 can be combined or separated (not shown in the figure). Among them, when the second combination member 211 rises, the first combination member 132 and the second combination member 211 can be combined, and when the second combination member 211 descends, the first combination member 132 and the second combination member 211 are separated; or, when the first combination member 132 descends, the first combination member 132 and the second combination member 211 can be combined, and when the first combination member 132 rises, the first combination member 132 and the second combination member 211 are separated.

[0171] Optionally, the second combining member 211 is located at the top of the robot body 210, and the first combining member 132 is located at the bottom of the platform 110. The driving mechanism 131 realizes the combination or separation of the second combining member 211 and the first combining member 132 by driving the second combining member 211 to rise and fall. When the second combining member 211 rises, the second combining member 211 and the first combining member 132 can be combined, and when the second combining member 211 falls, the second combining member 211 and the first combining member 132 are separated. In this way, it is beneficial to improve the convenience of the cleaning robot 200 and the connection platform 110.

[0172] In some embodiments, the number of the second coupling members 211 or the first coupling members 132 is multiple, and the driving mechanism 131 is used to drive the multiple second coupling members 211 or the first coupling members 132 to move simultaneously. Optionally, the driving mechanism 131 is disposed in the robot body 210, and the driving mechanism 131 can drive the multiple second coupling members 211 of the cleaning robot 200 to connect with the multiple first coupling members 132 of the home mobile platform 100, so that the connection stability between the two can be improved. In addition, the multiple second coupling members 211 are driven by the same driving mechanism 131, which is conducive to reducing the manufacturing cost of the cleaning robot 200.

[0173] In some embodiments, Fig.12 and Fig.13 As shown, the driving mechanism 131 also includes a guide member 1313 and a linkage member 1314. The linkage member 1314 is in transmission connection with the transmission member 1312, and the linkage member 1314 is movably connected with the guide member 1313 so that the linkage member 1314 moves along a predetermined direction. When the guide member 1313 is fixed to the robot body 210, the plurality of second coupling members 211 are all connected to the linkage member 1314, and when the guide member 1313 is fixed to the home mobile platform 100, the plurality of first coupling members 132 are all connected to the linkage member 1314. The linkage member 1314 is in transmission connection with the transmission member 1312, for example, the two can be transmission connection with a synchronous belt, a cylinder, a ball screw, an electric push rod, etc. When the motor is working, the motor drives the transmission member 1312 to rotate. Since the linkage member 1314 is in transmission connection with the transmission member 1312, the transmission member 1312 can drive the linkage member 1314 to move linearly along a predetermined direction when rotating, thereby driving the second combination member 132 or the first combination member 132 connected to the linkage member 1314 to move linearly, so as to realize the combination of the second combination member 211 and the first combination member 132. In addition, during the movement of the linkage member 1314, the guide member 1313 can limit the freedom of movement of the linkage member 1314, so that the linkage member 1314 moves linearly along the predetermined direction, but does not move in other directions.

[0174] Optionally, the guide member 1313 is fixedly connected to the robot body 210 , and the plurality of second coupling members 211 are all connected to the linkage member 1314 .

[0175] In some embodiments, the second coupling member 211 is a clamping rod, and the first coupling member 132 is a clamping groove corresponding to the position and size of the clamping rod. Alternatively, the first coupling member 132 is a clamping rod, and the second coupling member 211 is a clamping groove corresponding to the position and size of the clamping rod. In this way, the two can be connected in a coordinated manner.

[0176] In some embodiments, the robot body 210 is provided with a second communication electrode, and the second communication electrode is used to be electrically connected to the first communication electrode on the platform 110 of the home mobile platform 100. The cleaning robot 200 also includes a second control module electrically connected to the second communication electrode, and the second control module is configured to determine whether the home mobile platform 100 and the cleaning robot 200 have successfully communicated based on the electrical connection between the second communication electrode and the first communication electrode. In this way, it is not only conducive to improving the intelligence of the cleaning robot 200, but also can improve the convenience of obtaining the communication connection information between the home mobile platform 100 and the cleaning robot 200.

[0177] Further, in some embodiments, the second communication electrode is arranged on the second combining member 211, and the first communication electrode is arranged on the first combining member 132. That is to say, when the second combining member 211 and the first combining member 132 are combined, the second communication electrode contacts the first communication electrode on the home mobile platform 100. When the second combining member 211 and the first combining member 132 are separated, the second communication electrode is separated from the first communication electrode of the home mobile platform 100. That is, this embodiment integrates the communication electrode and the combining member between the cleaning robot 200 and the home mobile platform 100 into one, without the need to additionally set up an interface for the communication electrode. In this way, it is beneficial to improve the convenience of connecting the first communication electrode and the second communication electrode and the degree of integration of the cleaning robot 200. In other embodiments, the second combining member 211 and the second communication electrode can also be separately arranged, and in this case, the first combining member 132 and the first communication electrode can be separately arranged.

[0178] In some embodiments, an elastic structure (not shown in the figure) is connected to the second binding member 211 or the first binding member 132. The elastic structure is used for the second communication electrode to contact the first communication electrode. By providing the elastic structure, the second binding member 211 can float slightly up and down. In this way, the pressure when the second binding member 211 is combined with the first binding member 132 can be increased, and the first communication electrode and the second communication electrode can be brought into closer contact. Among them, the elastic structure can be a spring or other elastic structure. Optionally, the second binding member 211 is connected to an elastic structure for the second communication electrode to contact the first communication electrode.

[0179] In some embodiments, reference Fig.15 As shown, the driving mechanism 131 or the robot body 210 is connected with a first detection switch 133, which is used to determine whether the second combination member 211 and the first combination member 132 are in place. By setting the first detection switch 133, it is helpful to improve the reliability of the combination of the two. The first detection switch 133 can be a micro switch, a photoelectric switch, etc.

[0180] In some embodiments, the driving mechanism 131 or the robot body 210 is further provided with a second detection switch 134 for determining whether the second combining member 211 and the first combining member 132 are completely separated. The second detection switch 134 may be a micro switch, a photoelectric switch, or the like.

[0181] The embodiment of the third aspect of the present application provides a cleaning system, comprising the home mobile platform 100 described in the first aspect, the cleaning robot 200 described in the second aspect, and a base station 300. The home mobile platform 100 can cooperate with the cleaning robot 200 to charge the cleaning robot 200 or receive power from the cleaning robot 200; the home mobile platform 100 can also dock with the base station 300 to receive power from the base station 300, and the cleaning robot 200 can dock with the base station 300 to receive power from the base station 300.

[0182] In the cleaning system of the present application, the home mobile platform 100 can cooperate with the cleaning robot 200. In addition, the movable support structure 120 makes the home mobile platform 100 itself mobile. Further, the first charging electrode 152 of the home mobile platform 100 can contact the second charging electrode 213 of the cleaning robot 200 to charge the cleaning robot 200 or receive the electric energy of the cleaning robot 200. The home mobile platform 100 can be set at a position close to the cleaning robot 200. When the power of the cleaning robot 200 is insufficient, even if there is a problem with the working base station or the entire cleaning area is large, resulting in a long distance between the working base station and the cleaning robot 200, it can also be replenished through the home mobile platform 100, thereby ensuring that the cleaning robot 200 can replenish power in time, thereby helping to improve the working reliability of the cleaning robot 200. Second, the cleaning robot 200 can drive the home mobile platform 100 to move. When the cleaning robot changes the working area, it can drive the home mobile platform to move to the new working area together. Therefore, the home mobile platform 100 and the cleaning robot 200 can always maintain a relatively close distance, which is conducive to further improving the timeliness of the cleaning robot 200's power replenishment. On the third aspect, the platform 110 of the home mobile platform 100 can be provided with a home object 400 with mobile use requirements. The home object 400 can be an air purifier, a humidifier, a book, a camera, a dehumidifier, an aromatherapy device, and can also be a user's commonly used medicine, a water cup, and other objects that may be transferred within the home or a platform or cabinet for accommodating them. The cleaning robot 200 can drive the home object 400 to move through the home mobile platform 100. Driven by the cleaning robot 200, the home object 400 can be transferred from one location to another, or from one room to another room. In this way, the working range of the home object 400 can be effectively expanded. Moreover, the movement of the household object 400 by means of the cooperation between the cleaning robot 200 and the household mobile platform 100 is time-saving, labor-saving and highly efficient compared to manpower for moving the household object 400. Fourthly, the household mobile platform 100 can charge the cleaning robot 200 or receive power from the cleaning robot 200, thereby realizing power interaction between the two, which is also conducive to improving the functional diversity of the household mobile platform 100 and the cleaning robot 200.

[0183] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0184] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A household mobile platform capable of cooperating with a cleaning robot, characterized in that: The home mobile platform comprises a platform, a movable support structure, and a first charging electrode; The platform is used to set up household objects; The movable supporting structure is connected to the bottom of the platform, and the movable supporting structure is used to support and drive the platform to move; The first charging electrode is arranged on the platform, and the first charging electrode is used to contact the second charging electrode of the cleaning robot to charge the cleaning robot or receive electrical energy from the cleaning robot.

2. The home mobile platform according to claim 1, characterized in that: The platform is provided with a first docking structure and a first identification module; the first identification module can be identified by the second identification module of the cleaning robot, and after the cleaning robot moves to the home mobile platform according to the identification result, the first docking structure docks with the second docking structure of the cleaning robot to position the home mobile platform and the cleaning robot.

3. The home mobile platform according to claim 2, characterized in that: A mounting mechanism is provided at the bottom of the platform, and the first docking structure is provided on the mounting mechanism; the mounting mechanism is also configured to enable the first docking structure to move in a horizontal direction to match a first elastic connection component of the second docking structure, or the first docking structure is used to match the second docking structure on the cleaning robot to which the first elastic connection component is connected.

4. The home mobile platform according to claim 2, characterized in that: The first charging electrode is arranged on the first docking structure, and the second charging electrode is arranged on the second docking structure; the home mobile platform also includes a first rechargeable battery and a first charging circuit, the first charging circuit is connected to the first rechargeable battery, and the first charging electrode is connected to the first charging circuit.

5. The home mobile platform according to claim 4, characterized in that: The first docking structure is a docking joint, and the second docking structure is a docking slot; Alternatively, the first docking structure is a docking slot, and the second docking structure is a docking head; A second elastic connection component is connected to the first docking structure or the second docking structure, and the second elastic connection component is connected to the first charging electrode piece or the second charging electrode piece, so that the first charging electrode piece and the second charging electrode piece can be elastically abutted and contacted in the up and down directions.

6. The home mobile platform according to claim 5, characterized in that: The first docking structure is a docking head protruding from the platform in a horizontal direction, and the first charging electrode piece is arranged at the bottom of the docking head; the second docking structure is a docking slot, and the second charging electrode piece is arranged on the inner wall of the docking slot.

7. The home mobile platform according to any one of claims 1 to 6, characterized in that: A first control module for communicating with the cleaning robot is provided inside the platform; The first control module is connected to the first charging electrode, and is used to control the home mobile platform to receive the electric energy of the cleaning robot through the first charging electrode so that the home mobile platform reaches a first preset power level when the home mobile platform is not docked with the base station; or to control the home mobile platform to charge the cleaning robot through the first charging electrode so that the cleaning robot reaches a second preset power level.

8. The home mobile platform according to any one of claims 1-6, characterized in that: The home mobile platform can also dock with a base station; the platform is also provided with a third docking structure and a third charging electrode, the third docking structure is used to dock with the fourth docking structure on the base station, and the third charging electrode is used to contact with the fourth charging electrode of the base station to receive electrical energy from the base station.

9. The home mobile platform according to claim 8, characterized in that: The third charging electrode sheet and the first charging electrode sheet are respectively arranged on two opposite sides of the bottom of the platform.

10. The home mobile platform according to claim 8, characterized in that: The third docking structure is a docking slot, and the fourth docking structure is a docking head; Or the third docking structure is a docking joint, and the fourth docking structure is a docking slot; The third charging electrode is arranged on the third docking structure, and the fourth charging electrode is arranged on the fourth docking structure. A third elastic connecting component is connected to the third docking structure or the fourth docking structure. The third elastic connecting component is connected to the third charging electrode or the fourth charging electrode, so that the third charging electrode and the fourth charging electrode can be elastically abutted and contacted in the up and down directions.

11. The home mobile platform according to claim 10, characterized in that: The third docking structure is a docking slot recessed in the platform, and the third charging electrode is arranged on the inner wall of the docking slot; the fourth docking structure is a docking head, and the fourth charging electrode is arranged at the bottom of the docking head.

12. The home mobile platform according to claim 8, characterized in that: A first control module for communicating with the cleaning robot is provided inside the platform; The first control module is connected to the first charging electrode and / or the third charging electrode, and is used to control the home mobile platform to transmit the electric energy received from the base station to the cleaning robot through the first charging electrode so that the cleaning robot reaches a third preset power level when the home mobile platform is docked with the base station; or to control the home mobile platform to store the electric energy received from the base station through the third charging electrode.

13. The home mobile platform according to any one of claims 1-6, characterized in that: A charging electrode is arranged on the top of the platform, and the charging electrode is used to charge the household items arranged on the platform.

14. A cleaning robot capable of cooperating with a household mobile platform, characterized in that: The cleaning robot comprises a robot body and a second charging electrode arranged on the robot body; The second charging electrode is used to contact the first charging electrode of the home mobile platform on which home objects can be placed, so as to charge the home mobile platform or receive electrical energy from the home mobile platform.

15. The cleaning robot according to claim 14, characterized in that: The cleaning robot also includes a second docking structure and a second identification module arranged on the robot body; the second identification module can identify the first identification module of the home mobile platform, and after the cleaning robot moves to the home mobile platform according to the identification result, the second docking structure docks with the first docking structure of the home mobile platform to position the home mobile platform and the cleaning robot.

16. The cleaning robot according to claim 15, characterized in that: The robot body is configured to enable the second docking structure to move in a horizontal direction to match the first elastic connection component of the first docking structure, or the second docking structure is configured to match the first docking structure of the home mobile platform connected to the first elastic connection component.

17. The cleaning robot according to claim 15, characterized in that: The second charging electrode is arranged on the second docking structure, and the first charging electrode is arranged on the first docking structure; the cleaning robot also includes a second rechargeable battery and a second charging circuit, the second charging circuit is connected to the second rechargeable battery, and the second charging electrode is connected to the second charging circuit.

18. The cleaning robot according to claim 17, characterized in that: The second docking structure is a docking slot, and the first docking structure is a docking joint; or the second docking structure is a docking joint, and the first docking structure is a docking slot; A second elastic connection component is connected to the second docking structure or the first docking structure, and the second elastic connection component is connected to the second charging electrode piece or the first charging electrode piece, so that the second charging electrode piece and the first charging electrode piece can be elastically abutted and contacted in the up and down directions.

19. The cleaning robot according to claim 18, characterized in that: The second docking structure is a docking slot recessed in the robot body, and the second charging electrode is arranged on the inner wall of the docking slot; the first docking structure is a docking head, and the first charging electrode is arranged at the bottom of the docking head.

20. The cleaning robot according to any one of claims 15 to 19, characterized in that: The cleaning robot can also cooperate with a base station, and the second charging electrode is used to contact with a fourth charging electrode located at the base station to receive electrical energy from the base station; The second docking structure is used to dock with a fourth docking structure located at the base station to position the cleaning robot.

21. A cleaning system, characterized in that: The device comprises a household mobile platform as claimed in any one of claims 1 to 13, a cleaning robot as claimed in any one of claims 14 to 20, and a base station, wherein the household mobile platform can cooperate with the cleaning robot to charge the cleaning robot or receive electrical energy from the cleaning robot; The home mobile platform can also dock with the base station to receive the power of the base station, and the cleaning robot can dock with the base station to receive the power of the base station.

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