Home mobile platform and cleaning system

Abstract

The present application relates to a household mobile platform and cleaning system to solve the needs of household objects moving work and the problem of obstacle avoidance during movement. The household mobile platform includes a platform, a movable support structure, and a camera module; the platform is used to set 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 camera module is movably arranged on the platform to switch between an initial position and a detection position, one of the camera module and the platform is provided with a detection member, and the other of the camera module and the platform is provided with an action part; when the camera module is collided with an external obstacle, the camera module switches to the detection position, and the detection member can be triggered by the action part to change the direction of movement of the household mobile platform.

Description

Technical Field

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

[0002] As people's living standards improve, more and more household items have entered the home. At present, except for household items that can be moved by themselves (such as cleaning robots), most household items can only be in fixed positions. However, for some household items, if they can be moved, the working range can be effectively improved. Take air purifiers as an example. Air purifiers can usually only effectively purify the room where they are located. In addition, when the room area is large, the effective purification range of the air purifier is difficult to cover the entire room. If the air purifier can be moved, the range of its air purification can be expanded.

[0003] It can be seen that some household items need to be moved for work. However, these household items are often immovable, and if they are moved by manpower, it will be time-consuming and laborious. Summary of the invention

[0004] Based on this, a household mobile platform and a cleaning system are provided, aiming to meet the needs of moving some household objects and the problem of avoiding obstacles during movement.

[0005] An embodiment of the first aspect of the present application proposes a household mobile platform that can be combined with a cleaning robot, including a platform, a movable support structure, and a camera module; 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 platform is combined with the top of the cleaning robot and can be driven by the cleaning robot to move; the camera module is movably arranged on the platform to switch between an initial position and a detection position, one of the camera module and the platform is provided with a detection component, and the other of the camera module and the platform is provided with an action part; when the camera module is collided with an external obstacle, the camera module switches to the detection position, the action part cooperates with the detection component, and the detection component can be triggered to change the movement direction of the household mobile platform.

[0006] In some embodiments, the platform is provided with a communication module, and the detection element is electrically connected to the communication module for transmitting the triggered information to the cleaning robot through the communication module, so that the cleaning robot drives the household mobile platform to change the direction of movement.

[0007] In some embodiments, the camera module is disposed on one side of the household object and is closer to an edge of the platform than the household object.

[0008] In some embodiments, the micro switch includes a main body and an elastic arm connected to the main body. When the camera module is switched to the detection position, the action portion abuts against the elastic arm, and the distance between the main body and the elastic arm changes so that the detection member is triggered.

[0009] In some embodiments, the main body is connected to one end of the camera module. When the camera module is switched to the detection position, the action portion remains in contact with the elastic arm, and one end of the camera module moves away from the action portion to increase the distance between the main body and the elastic arm, thereby triggering the detection member.

[0010] In some embodiments, a first connecting structure is fixed on the camera module, and a second connecting structure is fixed on the platform. The first connecting structure and the second connecting structure are relatively rotatably connected so that the camera module can rotate relative to the platform, thereby allowing the camera module to switch between an initial position and a detection position.

[0011] In some embodiments, one of the first connection structure and the second connection structure is a concave arc-shaped groove, and the other of the two is an arc-shaped block or an arc-shaped column, and the arc-shaped block or arc-shaped column is inserted into the concave arc-shaped groove.

[0012] In some embodiments, the rotation axis of the camera module is perpendicular to the height direction of the platform so that the camera module can rotate along the front-to-back direction.

[0013] In some embodiments, the home mobile platform also includes a reset mechanism disposed on the platform, wherein the reset mechanism is configured to restore the camera module from the detection position to the initial position, and the reset mechanism stores energy useful for resetting the camera module toward the initial position.

[0014] In some embodiments, the reset mechanism includes a first elastic member connected to the camera module and a guide column fixed along the height direction of the platform. The first elastic member is sleeved on the guide column or connected to the guide column, so that the first elastic member and the camera module are elastically abutted along the height direction of the platform.

[0015] In some embodiments, the reset mechanism also includes a limit plate located at the top of the guide column, the camera module is also provided with a limit groove, the guide column passes through the limit groove, and the first elastic member is arranged between the limit plate and the end face of the limit groove.

[0016] In some embodiments, the camera module includes a connecting seat movably disposed on the platform and a camera structure connected to the connecting seat, the camera structure includes a connecting rod and a camera, the lower part of the connecting rod is installed on the connecting seat, the camera is disposed on the top of the connecting rod, and the detection component is disposed on the connecting seat.

[0017] In some embodiments, a detachable mounting plate is provided on the top of the platform, a clearance space is provided on the mounting plate, and the connecting rod passes through the clearance space.

[0018] In some embodiments, a mounting frame is provided on the periphery of the connecting rod, and the mounting frame is connected to the connecting seat via a fastener, so that the camera structure is fixedly connected to the connecting seat.

[0019] In some embodiments, the lower portion of the connecting rod is detachably mounted above the connecting seat so that the camera structure can be detachably mounted on the connecting seat.

[0020] In some embodiments, a mounting portion is provided on the connecting seat; a first clip is provided on one of the lower portion of the connecting rod and the mounting portion, and a first slot is provided on the other of the two, and the first clip cooperates with the first slot so that the lower portion of the connecting rod can be detachably mounted on the mounting portion.

[0021] In some embodiments, a second elastic member is connected to the bottom of the connecting rod, and the lower portion of the connecting rod is used to be inserted into the mounting portion, so that the second elastic member abuts against the bottom wall of the mounting portion; under the elastic force of the first elastic member, the first buckle and the first slot abut against each other in the height direction of the mounting portion.

[0022] In some embodiments, the first clip is located on the outer wall of the connecting rod, the first slot is located on the inner wall of the mounting portion, the inner wall of the mounting portion is further provided with a guide groove, the first slot is connected to the guide groove, and the guide groove is used to cooperate with the first clip, so that the connecting rod is installed in the mounting portion along the height direction of the mounting portion.

[0023] In some embodiments, the connecting rod is a retractable structure, and the camera is located on the top of the retractable structure so that the height of the camera is adjustable.

[0024] In some embodiments, a second slot is provided at one of the top of the connecting rod and the bottom of the camera, and a second buckle is provided at the other of the two. The second buckle is detachably provided in the second slot so that the camera is detachably connected to the connecting rod.

[0025] The second aspect of the present application provides a cleaning system, comprising the household mobile platform and a cleaning robot; the household mobile platform can be combined with the cleaning robot so that the household mobile platform and the cleaning robot are in communication connection.

[0026] In the present application, by setting the camera module to be able to switch between an initial position and a detection position relative to the platform activity, when the camera module is collided with an external obstacle, the camera module switches to the detection position, and the detection component of the platform or the camera module can be triggered, so that the home mobile platform changes its movement direction and can avoid the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the assembly structure of a household mobile platform and household objects in one embodiment of the present application.

[0028] Figure 2 Schematic diagram of the structure of a cleaning robot in one embodiment of the present application.

[0029] Figure 3 This is a schematic diagram of the structure of a home mobile platform in one embodiment of the present application.

[0030] Figure 4 for Figure 3 The bottom structure schematic diagram of the home mobile platform is shown.

[0031] Figure 5 It is a schematic top view of a home mobile platform in one embodiment of the present application.

[0032] Figure 6 for Figure 5 Sectional view along AA direction.

[0033] Figure 7 for Figure 5 Cross-sectional view along the BB axis.

[0034] Figure 8 It is a structural schematic diagram of a camera module in one embodiment of the present application.

[0035] Fig. 9 This is a schematic diagram of the structure of a platform in a home mobile platform in one embodiment of the present application.

[0036] Fig.10 It is a top view schematic diagram of a camera module in yet another embodiment of the present application.

[0037] Fig.11 for Fig.10 Sectional view along CC direction.

[0038] Fig.12Schematic diagram of the structure of the connection base of the camera module in one embodiment of the present application.

[0039] Fig.13 for Fig.12 A top view of the connector is shown.

[0040] Fig.14 for Fig.13 Stereoscopic cross-sectional view along the DD axis.

[0041] Fig.15 Schematic diagram of the structure of the connecting rod of the camera module in one embodiment of the present application.

[0042] Fig.16 This is a schematic diagram of the structure of a camera module in one embodiment of the present application, in which part of the structure of the camera is hidden to illustrate the connection between the connecting rod and the camera.

[0043] Fig.17 This is a side view of a home mobile platform according to another embodiment of the present application.

[0044] Fig.18 for Fig.17 Partial cross-sectional view along the platform height direction at point A in the middle.

[0045] Fig.19 It is a side view from another angle of the home mobile platform in another embodiment of the present application.

[0046] Fig. 20 for Fig.19 Partial cross-sectional view along the platform height direction at point B.

[0047] Reference numerals:

[0048] 100, home mobile platform; 110, platform; 111, first communication electrode; 112, first charging electrode; 113, second connection structure; 114, mounting plate; 1141, clearance space; 115, cavity; 120, movable support structure; 121, legs; 122, universal wheels; 130, camera module; 131, first connection structure; 132, camera; 1321, second card slot; 133, connecting rod; 1331, first buckle; 1332, second buckle; 1333, first connecting rod; 13 34. Second connecting rod; 134. Connecting seat; 135. Mounting frame; 136. Mounting part; 1361. First card slot; 1362. Guide slot; 137. Second elastic member; 141. Detection member; 142. Elastic arm; 143. Roller; 144. Main body; 150. Action part; 160. Reset mechanism; 161. First elastic member; 162. Guide column; 163. Limiting plate; 164. Limiting slot; 200. Cleaning robot; 210. Second communication electrode; 220. Second charging electrode; 300. Household item. DETAILED DESCRIPTION

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] like Figures 1 to 4 As shown, an embodiment of the first aspect of the present application provides a household mobile platform 100, which can be combined with a cleaning robot 200. The household mobile platform 100 includes a platform 110, a movable support structure 120 and a camera module 130. The platform 110 is used to set household objects 300, and the movable support structure 120 is connected to the bottom of the platform 110. The movable support structure 120 is used to support and drive the platform 110 to move. The household objects 300 can be set on the household mobile platform 100 in various ways such as fixed setting, integral connection or non-connected placement.

[0056] The platform 110 can be used as a bearing structure for the household objects 300, that is, the household objects 300 can be placed on the platform 110. The household objects 300 can be, for example, air purifiers, humidifiers, books, dehumidifiers, aromatherapy devices, and can also be objects that may be passed around the home, such as medicines and cups that users often use, or platforms 110 or cabinets that accommodate them.

[0057] The movable support structure 120 is used to support and drive the platform 110 to move. The movable support structure 120 may include, for example, a roller mechanism, a belt sliding mechanism, etc., thereby making the household mobile platform 100 itself movable.

[0058] Optionally, the movable support structure 120 may include a plurality of legs 121 and universal wheels 122 located on the legs 121 , and the universal wheels 122 enable the home mobile platform 100 to move in various directions.

[0059] The camera module 130 is disposed on the platform 110 , and the camera module 130 is used to monitor home environment information.

[0060] like Figure 2 , Figure 3 As shown, the platform 110 is combined with the top of the cleaning robot 200 and can be driven by the cleaning robot 200 to move. The movable support structure 120 connected to the bottom of the platform 110 facilitates the cleaning robot 200 to drive the home mobile platform 100 to move, reduces the load-bearing capacity of the cleaning robot 200, and reduces the driving force of the cleaning robot 200 on the home mobile platform 100. The cleaning robot 200 can be a sweeping robot, a mopping robot, or a sweeping and mopping robot.

[0061] Optionally, the camera module 130 is disposed at the edge of the top of the platform 110. When the mobile home platform 100 moves with the help of the cleaning robot 200, the camera module 130 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 objects in the home (such as the elderly, babies, and pets) are safe, etc.

[0062] like Figures 5 to 8 As shown, the camera module 130 is movably arranged on the platform 110 so as to be able to switch between the initial position and the detection position. One of the camera module 130 and the platform 110 is provided with a detection member 141, and the other of the camera module 130 and the platform 110 is provided with an action portion 150. When the camera module 130 switches to the detection position, the action portion 150 cooperates with the detection member 141, and the detection member 141 can be triggered to change the direction of movement of the home mobile platform 100. Among them, the detection member 141 can be triggered by the state change of the parts in the detection member 141, or it can be triggered by the detection member 141 detecting certain signals, but it is not limited to this. The camera module 130 can, for example, be able to rotate or slide or float up and down relative to the platform 110 to achieve the switching of its own position. In the present application, the camera module 130 is set to be able to be movably set relative to the platform 110 to switch positions. When the cleaning robot 200 moves with the home mobile platform 100, when the camera module 130 collides with an obstacle, the camera module 130 switches from the initial position to the detection position, so that the detection component 141 detects this change, and then the home mobile platform 100 avoids the obstacle during movement.

[0063] In some embodiments, reference Figure 1 and Figure 2The platform 10 is provided with a communication module (not shown in the figure). The detection member 141 is electrically connected to the communication module, and is used to transmit the triggered information to the cleaning robot 200 through the communication module, so that the cleaning robot drives the household mobile platform 100 to change the movement direction. The communication module can be a wired communication module (for example: communication electrode) and a wireless communication module (for example: wifi or Bluetooth signal). Figure 2 and Figure 4 In some embodiments, the household mobile platform 100 further includes a first communication electrode 111 disposed on the side or bottom of the platform 110, and the first communication electrode 111 is used to be electrically connected to the second communication electrode 210 of the cleaning robot 200. Optionally, the first communication electrode 111 is disposed at the bottom of the platform 110. In this embodiment, the communication module is the first communication electrode 111, and the detection element 141 is used to transmit the triggered information to the cleaning robot 200 through the first communication electrode 111 and the second communication electrode 210, so that the cleaning robot 200 drives the household mobile platform 100 to change the direction of movement.

[0064] In some embodiments, a first charging electrode 112 is further provided on the side or bottom of the platform 110. The first charging electrode 112 is used to electrically connect with the second charging electrode 220 of the cleaning robot 200, so that the cleaning robot 200 and the household mobile platform 100 can transmit electric energy to each other.

[0065] It is understandable that, although the platform 110 or the cleaning robot 200 itself also has the function of avoiding obstacles, because the height of the camera module 130 is usually higher than that of the platform 110 or the cleaning robot 200, when the cleaning robot 200 moves with the home mobile platform 100, it is impossible to ensure that the camera module 130 will not collide with obstacles by relying solely on the obstacle avoidance function of the platform 110 or the cleaning robot 200 itself. If some obstacles are located at a higher position, the obstacle avoidance function of the platform 110 or the cleaning robot 200 itself may fail. Therefore, by using the camera module 130 installed at a higher position as an obstacle recognition component, the surrounding environment of the home mobile platform 100 can be better detected, thereby avoiding higher obstacles (for example: suspended furniture such as wall shelves, wall cabinets or desktops).

[0066] In some embodiments, reference Figure 1 , the camera module 130 is arranged on one side of the household object 300 and is closer to the edge of the platform 110 than the household object 300. Optionally, the platform 110 is a circular platform or a square platform, and in the horizontal direction, the camera module 130 is arranged at the edge of the platform 110, while the household object 300 is arranged in the middle of the platform 110. Therefore, when an obstacle appears, the camera module 130 will touch the obstacle before the household object 300, which can ensure the function of the camera module 130 as an obstacle recognition component.

[0067] refer to Figures 5 to 8 In some embodiments, the detection member 141 is a micro switch provided on the camera module 130. The micro switch includes a main body 144 and an elastic arm 142 connected to the main body 144. The main body 144 can be provided on the platform 110 or the camera module 130. When the camera module 130 is hit by an external obstacle, the camera module 130 switches to the detection position, the action part 150 abuts against the elastic arm 142, and the distance between the main body 144 and the elastic arm 142 changes so that the detection member 141 is triggered. The distance between the main body 144 and the elastic arm 142 is specifically the distance H between the main body 144 and the free end of the elastic arm 142.

[0068] Specifically, Figure 7 As shown, the main body 144 is connected to one end of the camera module 130. When the camera module 130 is switched to the detection position, the action part 150 keeps contacting the elastic arm 142, and one end of the camera module 130 is away from the action part 150 so that the distance between the main body 144 and the elastic arm 142 increases, thereby triggering the detection member 141. The action part 150 includes an area on the platform 110 facing and adjacent to the micro switch.

[0069] When the camera module 130 is hit by an external obstacle, the camera module 130 switches to the detection position, which can drive the main body 144 on the micro switch to move together. Since the action part 150 of the platform 110 always keeps abutting against the elastic arm 142, the elastic arm 142 does not move with the micro switch. At this time, the position of the elastic arm 142 remains unchanged, but the main body 144 on the micro switch moves with one end of the camera module 130. At this time, the distance between the main body 144 and the elastic arm 142 increases, so that the detection part 141 is triggered, and then the home mobile platform 100 sends an obstacle signal to the cleaning robot 200 through the communication module, so that the cleaning robot 200 drives the home mobile platform 100 to change the direction of movement.

[0070] Specifically, Figure 7 As shown, the elastic arm 142 is also provided with a roller 143 which is abutted by the action part on the platform 110 . The roller 143 always keeps in contact with the platform 110 . By setting the roller 143 , the friction between the platform 110 and the elastic arm 142 is reduced, so as to reduce the wear of the platform 110 .

[0071] It should also be noted that in this embodiment, the detection member 141 is a micro switch, and the detection member 141 is triggered and generates a detection signal by the change in the distance between the main body 144 and the elastic arm 142 on the detection member 141. The detection member 141 can of course be a photoelectric switch, and the detection member 141 can also be triggered by blocking the photoelectric switch. That is, in this application, the form of the detection member 141 is not limited to this, and the form of triggering the detection member 141 is not limited to this.

[0072] In some embodiments, Figure 6 , Figure 7 , Figure 8 As shown, a first connection structure 131 is fixedly provided on the camera module 130, and a second connection structure 113 is fixedly provided on the platform 110, and the first connection structure 131 is connected to the second connection structure 113 in a relatively rotatable manner. By the mutual rotatable connection between the first connection structure 131 and the second connection structure 113, the camera module 130 can be rotated relative to the platform 110, so that the camera module 130 switches between the initial position and the detection position, and the direction of rotation of the camera module 130 is the direction of arrow X. It should be noted that the relative rotation angle between the camera module 130 and the platform 110 is reasonably set according to demand and there is no special restriction.

[0073] Optionally, in some embodiments, the rotation axis of the camera module 130 is parallel to the height direction of the platform 110, so that the camera module 130 can rotate along the front-to-back direction.

[0074] It should be noted that, in the present application, the front in the front and back refers to the direction in which the cleaning robot 200 carries the home mobile platform 100 and drives the home mobile platform 100 to move when it is working normally (mopping or sweeping the floor, transferring household objects 300), and the rear refers to the direction opposite to the direction in which the cleaning robot 200 carries the home mobile platform 100 (mopping or sweeping the floor, transferring household objects 300). When the cleaning robot 200 moves with the home mobile platform 100, the height direction of the platform 110 is along the vertical direction or close to the vertical direction. In this way, during the process of docking the home mobile platform 100 with the cleaning robot 200 and transferring the household object 300, the camera module 130 can move forward and backward relative to the platform 110, so that higher obstacles (for example: suspended furniture such as wall shelves, wall cabinets or desktops) can be detected.

[0075] In some embodiments, one of the first connection structure 131 and the second connection structure 113 is a concave arc groove, and the other is an arc block or an arc column, which is inserted into the arc groove. In other embodiments, a universal ball structure can also be set between the first connection structure 131 and the second connection structure 113.

[0076] Optionally, in this embodiment, the first connection structure 131 is a concave arc groove, and the second connection structure 113 is an arc column disposed on the platform 110. After the arc column is inserted into the concave arc groove, the two can rotate relative to each other. Figure 5 As shown, the concave arc groove has a certain depth, and the camera module 130 is positioned after the arc column is inserted into the concave arc groove.

[0077] Furthermore, in the axial direction of the arc column, the first connection structure 131 is arranged at intervals at multiple locations. In this way, multiple concave arc grooves are simultaneously matched with the arc column to rotate relatively, so that the stability of the camera module 130 during rotation is better.

[0078] In some embodiments, reference Figures 6 to 8 The home mobile platform 100 also includes a reset mechanism 160 disposed on the platform 110. The reset mechanism 160 is configured to restore the camera module 130 from the detection position to the initial position. The reset mechanism 160 stores energy useful for resetting the camera module 130 toward the initial position.

[0079] The reset mechanism 160 can respond to the camera module 130 switching from the initial position to the detection position, and the reset mechanism 160 stores energy for resetting the camera module 130 toward the initial position. When the cleaning robot 200 changes the direction of travel to avoid obstacles, the camera module 130 is reset under the action of the reset mechanism 160, so that it is convenient to avoid obstacles next time. At least two reset mechanisms 160 can be set so that when the camera module 130 switches positions, the camera module 130 can be more stably restored from the detection position to the initial position.

[0080] In some embodiments, the reset mechanism 160 includes a first elastic member 161 connected to the camera module 130 and a guide column 162 fixed along the height direction of the platform 110. The first elastic member 161 is sleeved on the guide column 162 or connected to the guide column 162, so that the first elastic member 161 elastically abuts against the camera module 130 along the height direction of the platform 110. The first elastic member 161 is, for example, a spring, a spring washer, etc.

[0081] The direction of the elastic force applied by the first elastic member 161 to the camera module 130 is along the height direction of the platform 110 , and the elastic force of the elastic member can be set to act on the camera module 130 only along the height direction of the platform 110 to reset the camera module 130 , thereby maximizing the performance of the first elastic member 161 .

[0082] Further, refer to Figure 7 , Figure 8 and Fig.12 The reset mechanism 160 further includes a limit plate 163 located at the top of the guide column 162, the camera module 130 is further provided with a limit slot 164, the guide column 162 passes through the limit slot 164, and the first elastic member 161 is arranged between the limit plate 163 and the end surface of the limit slot 164. The guide column 162 can guide the camera module 130 to switch smoothly between the initial position and the detection position.

[0083] In the specific setting, the axial direction of the guide column 162 is parallel to the height direction of the platform 110, one end of the guide column 162 is fixed to the platform 110, the other end of the guide column 162 extends out of the limit groove 164, the limit plate 163 is arranged at the other end of the guide column 162, and the first elastic member 161 is arranged between the limit plate 163 and the end surface of the limit groove 164, so that the reset mechanism 160 stores energy useful for resetting the camera module 130 to the initial position.

[0084] In some embodiments, reference Figures 6 to 8 The camera module 130 includes a connection seat 134 movably arranged on the platform 110 and a camera structure connected to the connection seat 134. The platform 110 is provided with a cavity 115 inside, and the connection seat 134 is arranged in the cavity 115. The camera structure includes a camera 132 and a connecting rod 133. The lower part of the connecting rod 133 is installed on the connection seat 134. The camera 132 is arranged on the top of the connecting rod 133. The detection member 141 is arranged on the connection seat 134 of the camera module 130. The connection seat 134 is used to be rotatably connected to the platform 110. When the camera 132 encounters an obstacle, the connection seat 134 will rotate with the camera 132, which will cause the main body 144 on the detection member 141 to move, so that the distance between the main body 144 on the detection member 141 and the elastic arm 142 increases, so that the detection member 141 is triggered.

[0085] The camera 132 is mounted to the connection seat 134 via the connection rod 133 so that it can be located above the platform 110 , thereby being able to detect the surrounding environment of the home mobile platform 100 and being used as an obstacle recognition component.

[0086] like Figure 6 , Figure 8 As shown, the first connecting structure 131 is arranged on the connecting seat 134 of the camera module 130. When the camera 132 encounters an obstacle, the first connecting structure 131 is connected to the second connecting structure 113 for relative rotation, so that the connecting seat 134 can rotate relative to the platform 110, thereby allowing the camera module 130 to rotate relative to the platform 110.

[0087] The first elastic member 161 of the reset mechanism 160 is connected to the connecting seat 134 of the camera module 130. The first elastic member 161 is sleeved on the guide column 162 so that the first elastic member 161 and the connecting seat 134 are elastically abutted along the height direction of the platform 110. The limiting groove 164 is provided on the connecting seat 134 of the camera module 130.

[0088] The camera structure can be fixedly or detachably mounted on the connection base 134. An example is given below.

[0089] refer to Figure 8In some embodiments, the camera structure is fixed to the mounting base 134. For example, a mounting frame 135 is provided on the periphery of the connecting rod 133. The mounting frame 135 is connected to the connecting base 134 through a fastener (not shown in the figure), so that the camera structure is fixed to the connecting base 134. The fastener may be a screw, a pin, etc.

[0090] refer to Figures 10 to 16 In some other embodiments, the lower part of the connecting rod 133 can also be detachably mounted on the upper part of the connecting seat 134 so that the camera structure can be detachably mounted on the connecting seat 134. The connecting rod 133 and the connecting seat 134 can be quickly connected, for example, by means of a screw connection, a snap connection, etc. When the camera structure needs to be installed or removed, the connecting rod 133 can be separated from the connecting seat 134 and the connecting rod 133 can be pulled out, which is relatively simple to operate.

[0091] It should be noted that different users have different needs. Some users may only need the home mobile platform 100 to transport home objects 300, and pay more attention to the privacy of the home environment. In this case, it is not necessary to monitor the home environment through the home mobile platform 100; in addition, different users may need camera structures of different specifications (for example, different heights, different models) to monitor the home environment. The connecting rod 133 in the camera structure is detachably mounted on the connecting seat 131, so that the user can install or remove the camera structure as needed, so that the camera structure of different specifications can be replaced or not set, so as to meet the requirements of different users for the home environment.

[0092] In some embodiments, reference Fig. 9 A detachable mounting plate 114 is disposed on the top of the platform 110, and a clearance space 1141 is disposed on the mounting plate 114, through which the connecting rod 133 passes. When the connecting rod 133 is detachably disposed above the connecting seat 134 so that the camera structure is detachably disposed on the connecting seat 134, during the process of installing or removing the camera structure, the connecting rod 133 can be directly separated from the connecting seat 131 and the connecting rod 133 can be pulled out through the clearance space 1131 without removing the mounting plate 113, which is relatively simple to operate.

[0093] It should be noted that when the camera structure does not need to be installed on the mobile home platform 100, the mounting plate 113 with the clearance space 1131 can be removed and replaced with another mounting plate without the clearance space and installed on the top of the platform 110, which makes the appearance of the entire mobile home platform 100 more beautiful. At the same time, the mounting plate 113 is set to be detachable, so that the charging cable inside the platform 100 can be easily taken out at any time and used to charge the camera 132.

[0094] In some embodiments, reference Figures 11 to 15, a mounting portion 136 is provided on the connecting seat 134; a first buckle 1331 is provided on one of the lower portion of the connecting rod 133 and the mounting portion 136, and a first slot 1361 is provided on the other of the two. The first buckle 1331 cooperates with the first slot 1361 so that the lower portion of the connecting rod 133 can be detachably mounted on the mounting portion 136.

[0095] Optionally, the lower portion of the connecting rod 133 is provided with a first buckle 1331, and the mounting portion 136 is provided with a first slot 1361. When the connecting rod 133 is connected to the mounting portion 136, the first buckle 1331 cooperates with the first slot 1361, so that the lower portion of the connecting rod 133 is detachably disposed on the mounting portion 136.

[0096] In some embodiments, the second elastic member 137 is connected to the bottom of the connecting rod 133 , and the lower portion of the connecting rod 133 is inserted into the mounting portion 136 , so that the second elastic member 137 abuts against the bottom wall of the mounting portion 136 .

[0097] Under the elastic force of the second elastic member 137, the first buckle 1331 and the first slot 1361 abut against each other in the height direction of the platform 110, thereby preventing the connecting rod 133 from being easily separated from the mounting portion 136. When the camera structure needs to be removed, the connecting rod 133 is pressed downward so that the bottom of the connecting rod 133 compresses the second elastic member 137, and then the connecting rod 133 is rotated to separate the first buckle 1331 from the first slot 1361, and then the connecting rod 133 can be pulled out to remove the camera structure. In the solution of this embodiment, when installing or removing the camera structure, there is no need to disassemble the mounting plate 114, and only simple pressing, rotation, etc. are required to achieve the matching or separation of the first buckle 1331 and the first slot 1361, so that the connecting rod 133 is taken out from the clearance space 1141 of the mounting plate 114, and the operation is relatively simple.

[0098] In some embodiments, reference Fig.12 , Fig.14 , Fig.15 The first buckle 1331 is located on the outer wall of the connecting rod 133, the first slot 1361 is located on the inner wall of the mounting portion 136, and the inner wall of the mounting portion 136 is further provided with a guide slot 1362, the first slot 1361 is communicated with the guide slot 1362, and the guide slot 1362 is used to cooperate with the first buckle 1331, so that the connecting rod 133 is installed in the mounting portion 136 along the height direction of the mounting portion 136. In this way, when installing or removing the camera structure, the guide slot 1362 guides the connecting rod 133, which can improve the efficiency of assembly and disassembly.

[0099] Specifically, when installing the camera structure, the first buckle 1331 is aligned with the guide groove 1362 and inserted into the mounting portion 136, and the connecting rod 133 compresses the second elastic member 137. When the first buckle 1331 moves to the connection point between the guide groove 1362 and the first slot 1361, the first buckle 1331 can be inserted into the first slot 1361 by rotating the connecting rod 133. Then the connecting rod 133 is released, and under the elastic force of the second elastic member 137, the first buckle 1331 abuts against the first slot 1361 in the height direction. When removing the camera structure, the connecting rod 133 is pressed downward so that the bottom of the connecting rod 133 compresses the second elastic member 137 to overcome the elastic force of the second elastic member 137, so as to facilitate the rotation of the connecting rod 133 so as to separate the first buckle 1331 from the first slot 1361, and then the first buckle 1331 is taken out from the mounting portion 136 along the guide groove 1362.

[0100] In some embodiments, the mounting portion 136 is a hollow long columnar structure. The lower portion of the connecting rod 133 is received in the hollow long columnar structure.

[0101] In some embodiments, reference Fig.15 and Fig.16 One of the top of the connecting rod 133 and the bottom of the camera 132 is provided with a second slot 1321, and the other is provided with a second buckle 1332. The second buckle 1332 is detachably provided in the second slot 13211 so that the camera 132 and the connecting rod 133 are detachably connected. The detachable connection between the camera 132 and the connecting rod 133 allows the user to replace different types of cameras 132.

[0102] Specifically, two second buckles 1332 are provided at the top of the connecting rod 133, and the two second buckles 1332 are symmetrically arranged about the center of the top of the connecting rod 133. Two second slots 1321 are provided at the bottom of the camera 132. Both the second buckles 1332 and the second slots 1321 are arc-shaped.

[0103] In some embodiments, the connecting rod 133 is a retractable structure, and the camera 132 is located on the top of the retractable structure so that the height of the camera 132 can be adjusted. Exemplarily, the connecting rod 133 includes at least two sections threadedly connected to each other, so as to have a retractable capability, so that the height of the camera module 130 can be adjusted to meet the monitoring needs of different users for the home environment.

[0104] refer to Figures 17 to 20 In another embodiment of the first aspect of the present application, another configuration method of the camera module 130 and the platform 110 is illustrated.

[0105] In this embodiment, the detection member 141 is disposed on the platform 110, the action portion 150 is disposed on the camera module 130, and the height of the detection member 141 is higher than the action portion 150. Fig.17 As shown, the camera module 130 is in the initial position, and the action part 150 of the camera module 130 and the detection member 141 are in a separated state. Figure 8 The detection member 141 may also be a micro switch, which includes a main body 144 and an elastic arm 142 connected to the main body 144. The main body 144 is disposed on the platform 110 and fixed relative to the platform 110. The camera module 130 and the platform 110 are arranged to be connected to each other so as to be able to rotate relative to each other. When the camera module 130 encounters an obstacle and moves along Fig.17 After rotating clockwise as indicated by the middle arrow X, the camera module 130 will switch to the detection position, so that the action part 150 and the detection member 141 change from a separated state to a contact state, and the action part 150 abuts against the elastic arm 142 on the detection member 141, so that the distance between the elastic arm 142 on the detection member 141 and the main body 144 becomes smaller, thereby triggering the detection member 141.

[0106] When the camera module 130 is hit by an external obstacle, the camera module 130 switches to the detection position, which can drive the action part 150 to move together. Since the elastic arm 142 on the micro switch is abutted by the action part 150, the elastic arm 142 moves downward. At this time, the main body 144 is fixed relative to the platform 110, so the distance between the main body 144 and the elastic arm 142 is reduced, so that the detection member 141 is triggered, so that the detection member 141 can detect this change, and then generate a detection signal, which is sent by the home mobile platform 100 to the cleaning robot 200. The cleaning robot 200 changes the direction of movement, so that it can avoid obstacles during the movement.

[0107] Optionally, the detection member 141 is arranged to be located directly below the action portion 150. In this way, the camera module 130 can rotate at a small angle to drive the action portion 150 to abut against the elastic arm 142 on the detection member 141, so that the distance between the elastic arm 142 on the detection member 141 and the main body 144 becomes smaller, thereby triggering the detection member 141 and improving the triggering sensitivity.

[0108] In some embodiments, the camera module 130 includes a first connection structure 131, and the platform 110 includes a second connection structure 113, and the first connection structure 131 is connected to the second connection structure 113 so as to be relatively rotatable. Fig.18 As shown, the first connection structure 131 is an arc-shaped block, and the second connection structure 113 is a concave arc-shaped groove.

[0109] In some embodiments, Fig.17 , Fig.18As shown, the platform 110 is provided with a cavity 115, the camera module 130 includes a connection seat 134 provided in the cavity 115 and a camera structure connected to the connection seat 134, the camera structure includes a camera 132 and a connection rod 133, the connection rod 133 is installed on the connection seat 134, the camera 132 is arranged on the top of the connection rod 133, the first connection structure 131 and the action part 150 are both provided on the connection seat 134, and are located at the bottom of the connection seat 134 and in the cavity 115. The cavity 115 extends a certain distance along the height direction of the platform 110, and can guide the rotation of the camera module 130 relative to the platform 110 and restrict the rotation range.

[0110] Optionally, the connecting rod 133 includes a first connecting rod 1333 and a second connecting rod 1334 that are fixedly connected to each other, and the second connecting rod 1334 is fixedly connected to the connecting seat 134 through threads. The camera structure is fixedly connected to the connecting seat 134 through the second connecting rod 1334 and the connecting seat 134 being connected through threads.

[0111] In some embodiments, reference Fig. 20 The home mobile platform 100 further includes a reset mechanism 160, which is disposed between the platform 110 and the camera module 130. The reset mechanism 160 is configured to store energy for resetting the camera module 130 toward the initial position in response to the camera module 130 switching from the initial position to the detection position.

[0112] The reset mechanism 160 can respond to the camera module 130 switching from the initial position to the detection position, and the reset mechanism 160 stores energy for resetting the camera module 130 toward the initial position. When the cleaning robot 200 changes the direction of travel to avoid obstacles, the camera module 130 is reset under the action of the reset mechanism 160, so that it can facilitate the next obstacle avoidance.

[0113] In some embodiments, reference Fig. 20 The reset mechanism 160 includes a first elastic member 161 connected to the camera module 130 and a guide column 162 fixed along the height direction of the platform 110, and the first elastic member 161 is sleeved on the guide column 162. The first elastic member 161 is arranged between the bottom of the camera module 130 and the platform 110. Optionally, the first elastic member 161 is arranged at two locations, both located between the bottom of the camera module 130 and the platform 110. Two limiting grooves 164 are provided on the platform 110, and the first elastic member 161 is a spring arranged in the limiting groove 164. In the height direction of the platform 110, the two ends of the spring are elastically abutted against the bottom of the camera module 130 and the platform 110 respectively.

[0114] refer to Figure 1 and Figure 2An embodiment of the second aspect of the present application provides a cleaning system, comprising the home mobile platform 100 and the cleaning robot 200 described in any embodiment of the first aspect. The home mobile platform 100 can be combined with the cleaning robot 200 to establish a communication connection between the home mobile platform 100 and the cleaning robot 200. The home mobile platform 100 may be provided with a communication module electrically connected to the camera module 130, and communicated with the cleaning robot 200.

[0115] In the cleaning system of the present application, on the one hand, the platform 110 of the home mobile platform 100 can be provided with a home object 300 with a mobile use requirement, and the home object 300 can be an air purifier, a humidifier, a book, 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 110 or a cabinet for accommodating them. The cleaning robot 200 can drive the home object 300 to move through the home mobile platform 100. Driven by the cleaning robot 200, the home object 300 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 300 can be effectively expanded. On the other hand, the movable support structure 120 of the home mobile platform 100 makes the home mobile platform 100 itself mobile, which can reduce the load-bearing capacity of the cleaning robot 200 and reduce the driving force of the cleaning robot 200 on the home mobile platform 100.

[0116] On the other hand, when the cleaning robot 200 changes its working area, it can drive the home mobile platform 100 to move to the new working area. In this process, by using the camera module 130 as an obstacle recognition component, the surrounding environment of the home mobile platform 100 can be better detected. When the camera module 130 touches an obstacle, the platform 110 can send a signal to the cleaning robot 200, and the cleaning robot 200 adjusts its direction to avoid the obstacle.

[0117] 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.

[0118] 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 that can be combined with a cleaning robot, characterized in that: It includes a platform, a movable support structure, and a camera module; 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 platform is combined with the top of the cleaning robot and can be driven by the cleaning robot to move; The camera module is movably arranged on the platform to switch between an initial position and a detection position, one of the camera module and the platform is provided with a detection member, and the other of the camera module and the platform is provided with an action portion; When the camera module is hit by an external obstacle, the camera module switches to the detection position, the action part cooperates with the detection member, and the detection member can be triggered to change the movement direction of the home mobile platform.

2. The home mobile platform according to claim 1, characterized in that: The platform is provided with a communication module, and the detection element is electrically connected to the communication module for transmitting the triggered information to the cleaning robot through the communication module, so that the cleaning robot drives the household mobile platform to change the movement direction.

3. The home mobile platform according to claim 1, characterized in that: The camera module is arranged on one side of the household object and is closer to the edge of the platform than the household object.

4. The home mobile platform according to claim 1, characterized in that: The detection member is a micro switch, which includes a main body and an elastic arm connected to the main body. When the camera module is switched to the detection position, the action part abuts against the elastic arm, and the distance between the main body and the elastic arm changes so that the detection member is triggered.

5. The home mobile platform according to claim 4, characterized in that: The main body is connected to one end of the camera module. When the camera module is switched to the detection position, the action part keeps abutting against the elastic arm, and one end of the camera module moves away from the action part to increase the distance between the main body and the elastic arm, thereby triggering the detection member.

6. The home mobile platform according to claim 1, characterized in that: A first connecting structure is fixedly provided on the camera module, and a second connecting structure is fixedly provided on the platform. The first connecting structure and the second connecting structure are relatively rotatably connected so that the camera module can rotate relative to the platform, thereby enabling the camera module to switch between an initial position and a detection position.

7. The home mobile platform according to claim 6, characterized in that: One of the first connection structure and the second connection structure is a concave arc-shaped groove, and the other of the two is an arc-shaped block or an arc-shaped column, and the arc-shaped block or the arc-shaped column is inserted in the concave arc-shaped groove.

8. The home mobile platform according to claim 6, characterized in that: The rotation axis of the camera module is perpendicular to the height direction of the platform so that the camera module can rotate along the front-rear direction.

9. The home mobile platform according to claim 1, characterized in that: The home mobile platform also includes a reset mechanism disposed on the platform, wherein the reset mechanism is configured to restore the camera module from the detection position to the initial position, and the reset mechanism stores energy useful for resetting the camera module toward the initial position.

10. The home mobile platform according to claim 9, characterized in that: The reset mechanism includes a first elastic member connected to the camera module and a guide column fixed along the height direction of the platform. The first elastic member is sleeved on the guide column or connected to the guide column, so that the first elastic member and the camera module are elastically abutted along the height direction of the platform.

11. The home mobile platform according to claim 10, characterized in that: The reset mechanism also includes a limiting plate located at the top of the guide column. The camera module is also provided with a limiting groove. The guide column passes through the limiting groove. The first elastic member is arranged between the limiting plate and the end face of the limiting groove.

12. The home mobile platform according to any one of claims 1 to 11, characterized in that: The camera module includes a connecting seat movably arranged on the platform and a camera structure connected to the connecting seat, the camera structure includes a connecting rod and a camera, the lower part of the connecting rod is installed on the connecting seat, the camera is arranged on the top of the connecting rod, and the detection component is arranged on the connecting seat.

13. The home mobile platform according to claim 12, characterized in that: A detachable mounting plate is provided on the top of the platform, a clearance space is provided on the mounting plate, and the connecting rod passes through the clearance space.

14. The home mobile platform according to claim 12, characterized in that: A mounting frame is provided on the periphery of the connecting rod, and the mounting frame is connected to the connecting seat via a fastener, so that the camera structure is fixedly connected to the connecting seat.

15. The home mobile platform according to claim 12, characterized in that: The lower part of the connecting rod is detachably mounted above the connecting seat so that the camera structure can be detachably mounted on the connecting seat.

16. The home mobile platform according to claim 15, characterized in that: The connecting seat is provided with a mounting portion; one of the lower portion of the connecting rod and the mounting portion is provided with a first buckle, and the other is provided with a first slot, and the first buckle cooperates with the first slot so that the lower portion of the connecting rod can be detachably mounted on the mounting portion.

17. The home mobile platform according to claim 16, characterized in that: A second elastic member is connected to the bottom of the connecting rod, and the lower part of the connecting rod is used to be inserted into the mounting portion, so that the second elastic member abuts against the bottom wall of the mounting portion; under the elastic force of the second elastic member, the first buckle and the first slot abut against each other in the height direction of the mounting portion.

18. The home mobile platform according to claim 16, characterized in that: The first clip is located on the outer wall of the connecting rod, and the first slot is located on the inner wall of the mounting portion. The inner wall of the mounting portion is also provided with a guide groove, and the first slot is connected to the guide groove. The guide groove is used to cooperate with the first clip, so that the connecting rod is installed in the mounting portion along the height direction of the mounting portion.

19. The home mobile platform according to claim 12, characterized in that: The connecting rod is a retractable structure, and the camera is located on the top of the retractable structure so that the height of the camera can be adjusted.

20. The home mobile platform according to claim 12, characterized in that: One of the top of the connecting rod and the bottom of the camera is provided with a second slot, and the other is provided with a second buckle, which is detachably arranged in the second slot so that the camera is detachably connected to the connecting rod.

21. A cleaning system, characterized in that: It comprises a household mobile platform as described in any one of claims 1-20, and a cleaning robot; the household mobile platform can be combined with the cleaning robot so that the household mobile platform and the cleaning robot are communicatively connected.

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