Household mobile platform, cleaning robot and cleaning system

Abstract

The invention discloses a home mobile platform, a cleaning robot and a cleaning system, and relates to the field of smart home. The household mobile platform is used for being in communication connection with the cleaning robot and comprises a platform body and a movable supporting structure. The platform is used for arranging household articles; the movable supporting structure is connected with the bottom of the platform and used for supporting and driving the platform to move. The platform is provided with a first communication pole piece used for being electrically connected with a second communication pole piece on the cleaning robot. According to the home mobile platform provided by the invention, the first communication pole piece can be electrically connected with the second communication pole piece of the cleaning robot, so that the home mobile platform is used for being in communication connection with the cleaning robot, the home mobile platform can perform data and signal exchange with the cleaning robot, and data and signal loss can be reduced.

Description

[0001] This application is a divisional application based on the Chinese patent application with the application date of March 15, 2024, named "Home Mobile Platform, Cleaning Robot and Cleaning System" and application number 2024103099864. 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] 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.

[0004] 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

[0005] In view of this, the purpose of this application is to overcome the deficiencies in the prior art and to provide a home mobile platform, a cleaning robot and a cleaning system.

[0006] To achieve the above objectives, the technical solutions adopted in this application are as follows: In a first aspect, an embodiment of the present application provides a household mobile platform for communicating with a cleaning robot, wherein the household mobile platform includes a platform and a movable support structure; 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 provided with a first communication electrode piece for electrically connecting with a second communication electrode piece on the cleaning robot.

[0007] The home mobile platform provided by the present application can be equipped with home objects with mobile use requirements, such as air purifiers, humidifiers, etc. The first communication electrode can be electrically connected to the second communication electrode of the cleaning robot to realize the home mobile platform for communication connection with the cleaning robot, so that the home mobile platform can exchange data and signals with the cleaning robot, and the loss of data and signals can be reduced.

[0008] In addition, the home mobile platform according to the present application may also have the following additional technical features: In one of the embodiments of the first aspect, the home mobile platform includes a first control module electrically connected to the first communication electrode, and the first control module is configured to determine whether the home mobile platform and the cleaning robot communicate successfully based on the electrical connection between the first communication electrode and the second communication electrode.

[0009] In one embodiment of the first aspect, the home mobile platform further comprises at least one obstacle identification device, which is disposed at the front, rear and / or side of the platform and is used to identify obstacles in front of, behind and / or on the sides of the platform; The first control module is also electrically connected to the obstacle recognition device, and the first control module is also configured to transmit the obstacle information obtained by the obstacle recognition device to the cleaning robot through the first communication electrode.

[0010] In one embodiment of the first aspect, the home mobile platform further includes a first coupling member located on the platform; The first combining member is used to cooperate with the second combining member on the cleaning robot; Wherein, when the first combining member and the second combining member are combined, the platform is fixedly connected to the top of the cleaning robot, and the household mobile platform can be driven to move by the cleaning robot.

[0011] In one embodiment of the first aspect, the first communication electrode is disposed on the first combining member, and the second communication electrode is disposed on the second combining member.

[0012] In one embodiment of the first aspect, a driving mechanism is connected to the first combining member or the second combining member, and the driving mechanism is used to drive the first combining member and the second combining member to combine or separate; The driving mechanism comprises: A motor, fixedly connected to the platform or the cleaning robot; A transmission member is connected to the motor and is used to drive the first combining member or the second combining member to move, so that the first combining member and the second combining member are combined or separated.

[0013] In one embodiment of the first aspect, the first combining member is located at the bottom or side of the platform, and the second combining member is located at the top or side of the cleaning robot; The driving mechanism is used to drive the first combining member to rise and fall, so that the first combining member and the second combining member can be combined or separated; Wherein, when the first combining member descends, the first combining member and the second combining member can be combined, and when the first combining member ascends, the first combining member and the second combining member are separated.

[0014] In one embodiment of the first aspect, there are multiple first combining members, and the driving mechanism is used to drive the multiple first combining members to move simultaneously.

[0015] In one of the embodiments of the first aspect, the driving mechanism further includes a linkage member and a guide member, wherein the guide member is fixed to the platform, the linkage member is transmission-connected to the transmission member, the linkage member is movably connected to the guide member so that the linkage member moves along a predetermined direction, and a plurality of the first combining members are all connected to the linkage member.

[0016] In one of the embodiments of the first aspect, the transmission member is a screw rod, the linkage member has a mounting hole and a plurality of connecting members arranged around the mounting hole, the mounting hole is sleeved outside the screw rod and is threadedly connected to the screw rod, and each of the connecting members is connected to the first coupling member.

[0017] In one embodiment of the first aspect, a first detection switch is connected to the platform or the driving mechanism for determining whether the first combining component and the second combining component are in place; and / or, the platform or the driving mechanism is also provided with a second detection switch for determining whether the first combining component and the second combining component are completely separated.

[0018] In one embodiment of the first aspect, the home mobile platform further includes a first docking structure and a first identification module disposed on the platform; Before the first combining member is combined with the second combining member, the first identification module can be recognized by the second identification module of the cleaning robot, and after the cleaning robot moves to the home mobile platform according to the recognition result, the first docking structure and the second docking structure of the cleaning robot are docked to pre-position the home mobile platform and the cleaning robot.

[0019] In the second aspect, the present application also provides a cleaning robot for combination with the above-mentioned home mobile platform, the cleaning robot comprising a robot body and a second communication electrode arranged on the robot body, which is used to electrically connect with a first communication electrode on the home mobile platform on which household objects can be placed.

[0020] In a third aspect, the present application further proposes a cleaning system, comprising the home mobile platform described in the first aspect and the cleaning robot described in the second aspect, wherein the home mobile platform and the cleaning robot can communicate with each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a structural schematic diagram of a household mobile platform in an embodiment of the present application when carrying household items; Figure 2 This is a schematic diagram of the structure of a home mobile platform in an embodiment of the present application; Figure 3 This is a schematic structural diagram of a home mobile platform in one embodiment of the present application from another perspective; Figure 4 This is a structural schematic diagram of a first combining member and a driving mechanism in one embodiment of the present application; Figure 5 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; Figure 6 It is a schematic diagram of the structure of a linkage member in an embodiment of the present application; Figure 7 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; Figure 8 This is a structural schematic diagram of a first docking structure in an embodiment of the present application; Fig. 9 This is a schematic diagram of the connection between the first charging electrode and the first docking structure in one embodiment of the present application; Fig.10 It is a schematic diagram of the exploded structure of the first charging electrode and the first docking structure in one embodiment of the present application; Fig.11 This is a schematic diagram of the structure of a cleaning robot in one embodiment of the present application; Fig.12 is a schematic structural diagram of a cleaning robot in one embodiment of the present application from another perspective; Fig.13 Schematic diagram of the structure of the home mobile platform in one embodiment of the present application from another perspective; Fig.14 is a schematic diagram of the structure of a base station in an embodiment of the present application; Fig.15 is a structural schematic diagram of a fourth docking structure in an embodiment of the present application; Fig.16 It is a schematic diagram of the exploded structure of the fourth charging electrode and the fourth docking structure in one embodiment of the present application.

[0022] Description of main component symbols: 100, home mobile platform; 110, platform; 111, stopper; 113, charging electrode; 120, movable support structure; 121, leg; 122, universal wheel; 131, driving mechanism; 1312, transmission member; 1313, guide member; 1314, linkage member; 1315, mounting hole; 1316, connecting member; 132, first combining member; 133, first detection switch; 1331, first contact point; 134, second detection switch; 1341, second contact point point; 140, mounting mechanism; 141, first identification module; 142, third docking structure; 143, third charging electrode; 144, third identification module; 145, dust collection channel; 146, first sealing ring; 150, first docking structure; 151, first elastic connection component; 1511, connector; 1512, first elastic member; 1513, first guide column; 152, first charging electrode; 150a, second elastic connection component; 15 3. first movable member; 154. second guide column; 155. second elastic member; 156. first docking base; 157. first through slot; 160. camera assembly; 161. support rod; 162. camera; 170. obstacle recognition device; 171. front striker; 172. rear striker; 200. cleaning robot; 210. robot body; 211. second combination member; 212. second docking structure; 213. second charging electrode; 214 , dust outlet; 220, second identification module; 300, base station; 310, base station body; 311, dust inlet; 320, fourth docking structure; 320a, third elastic connecting 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; 312, second sealing ring; 330, fourth identification module; 400, household items. DETAILED DESCRIPTION

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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, abutment, or 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.

[0027] 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.

[0028] 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.

[0029] like Figure 1 , Figure 3 as well as Fig.11 As shown, an embodiment of the first aspect of the present application provides a household mobile platform 100 for combining with a cleaning robot 200. The household mobile platform 100 includes a platform 110, a movable support structure 120 and a first coupling member 132. The platform 110 is used to set household objects 400, and the household objects 400 can be set on the platform 110 in various ways such as fixed setting, integral connection or non-connected placement. 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 first coupling member 132 is located on the platform 110, and the first coupling member 132 is used to combine with the second coupling member 211 on the cleaning robot 200. Among them, when the first coupling member 132 and the second coupling member 211 are combined, the platform 110 is fixedly connected to the top of the cleaning robot 200, and the household mobile platform 100 can be driven to move by the cleaning robot 200. The fixed connection may mean that the movement of both parties is restricted in the horizontal direction only by means of interlocking, but not completely fixed in the vertical direction, or it may mean that the movement of both parties is restricted in the horizontal and vertical directions by means of snap-fitting, magnetic attraction, etc. The cleaning robot 200 may be a sweeping robot, a mopping robot, or a sweeping and mopping robot.

[0030] The home mobile platform 100 in the embodiment of the present application can be provided with a home object 400 with mobile use requirements on its platform 110. The home object 400 can be an air purifier, a humidifier, a book, a camera, a dehumidifier, an aromatherapy device, or a user's commonly used medicine, a water cup, or other objects that may be transferred within the home or a platform or cabinet for accommodating them.

[0031] In some embodiments, the movable support structure 120 may specifically include a roller mechanism, a belt sliding mechanism. Figure 2 , Figure 3As shown, the movable support structure 120 may specifically include a leg 121 and a universal wheel 122 located at the end of the leg 121; there are four movable support structures 120, which is conducive to improving the support stability of the platform 110, so that the home mobile platform 100 can well follow the cleaning robot 200 to move forward, backward or turn, etc. Therefore, the home mobile platform 100 has mobility, which makes it convenient for the cleaning robot 200 to drive the home mobile platform 100 to move, while 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.

[0032] 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 the household mobile platform 100 can be 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.

[0033] 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.

[0034] In some embodiments, Figure 4 As shown, the first combining member 132 or the second combining member 211 is connected to a driving mechanism 131 , and the driving mechanism 131 is used to drive the first combining member 132 and the second combining member 211 to be combined or separated.

[0035] In some embodiments, Figure 4 and Figure 5As 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.

[0036] Furthermore, if Figure 3 , Figure 4 and Figure 5 and Fig.11 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.

[0037] Alternatively, if Figure 3 , Figure 4 and Figure 5 and Fig.11 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.

[0038] In some embodiments, Figure 3 , Figure 4 and Figure 5 and Fig.11 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.

[0039] In some embodiments, Figure 4 and Figure 5 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 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.

[0040] 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 .

[0041] In some embodiments, Figures 4 to 6As 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.

[0042] 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 .

[0043] In some embodiments, Figure 3 and Figure 4 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.

[0044] In some embodiments, Figure 5 , Fig.11 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.

[0045] 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.

[0046] In some embodiments, the home mobile platform 100 includes a first control module electrically connected to the first communication electrode, and the first 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 first communication electrode and the second communication electrode. In this way, it is not only beneficial to improve the intelligence of the home mobile platform 100, but also to improve the convenience of obtaining the communication connection information between the home mobile platform 100 and the cleaning robot 200. Among them, the first control module can be a control chip.

[0047] Furthermore, in some embodiments, 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.

[0048] 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.

[0049] 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. The cliff detection sensor is used to detect surrounding ground information, thereby facilitating identification of surrounding "cliffs".

[0050] 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 relying solely on the cleaning robot 200 itself to identify the surrounding "cliffs". Therefore, by setting a cliff detection sensor at the bottom of the platform 110, the home mobile platform 100 can be better prevented from falling off the "cliff".

[0051] 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.

[0052] 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.

[0053] In some embodiments, Figure 2 , Fig.13 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.

[0054] Furthermore, the first control module of the home mobile platform 100 is electrically connected to the cliff detection sensor and / or the obstacle recognition device 170, and the first control module is also configured to transmit the ground information obtained by the cliff detection sensor to the cleaning robot 200 through the first communication electrode, and / or transmit the obstacle information obtained by the obstacle recognition device 170 to the cleaning robot 200. 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 when moving with the home mobile platform 100.

[0055] 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 moves during normal work (mopping or sweeping the floor).

[0056] In some embodiments, Figure 7 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] In some embodiments, the home mobile platform 100 can also be used to dock with the cleaning robot 200. Figure 1-Figure 4 , Fig.11 As shown, the home mobile platform 100 also includes a first identification module 141 and a first docking structure 150 arranged on the platform 110. A mounting mechanism 140 is provided at the bottom of the platform 110, and the first docking structure 150 is arranged on the mounting mechanism 140. Before the first coupling member 132 of the home mobile platform 100 and the second coupling member 211 of the cleaning robot 200 are combined, the first identification module 141 can be identified by the second identification module 220 of the cleaning robot 200, and after the cleaning robot 200 moves to the home mobile platform 100 according to the identification result, the first docking structure 150 and the second docking structure 212 on the cleaning robot 200 are docked to pre-position the home mobile platform 100 and the cleaning robot 200.

[0061] Reference Figure 2 , Fig.11, the cleaning robot 200 can identify the first identification module 141 of the home mobile platform 100 through the second identification module 220, so as to identify the specific position of the home mobile platform 100, and make the cleaning robot 200 move in the direction of the home mobile platform 100, and then realize the pre-positioning between the home mobile platform 100 and the cleaning robot 200 through the docking of the first docking structure 150 and the second docking structure 212, so as to improve the convenience and reliability of 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 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 the terminal device (such as APP or 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.

[0062] It is understandable that after the home mobile platform 100 is docked with the cleaning robot 200, the home mobile platform 100 and the cleaning robot 200 are pre-positioned, and the home mobile platform 100 and the cleaning robot 200 are connected together. Then, by combining the first coupling member 132 of the home mobile platform 100 and the second coupling member 211 of the cleaning robot 200, the home mobile platform 100 can be fixedly connected 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 home mobile platform 100 can be driven by the cleaning robot 200 to move. In this way, it is convenient for the cleaning robot 200 to drive the household object 400 to move through the home mobile platform 100.

[0063] In some embodiments, Figure 3 and Figure 8 As shown, 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, or the first docking structure 150 is used to match the second docking structure 212 connected to the first elastic connection component 151 on the cleaning robot 200. By providing the first elastic connection component 151, in 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 provide buffering, thereby causing the first docking structure 150 and the second docking structure 212 to fail to dock in place.

[0064] In some embodiments, Figure 3 and Figure 8 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.

[0065] 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.

[0066] In some embodiments, Figure 3 and Figure 8 As shown, a first guide column 1513 extending in a horizontal direction is provided on the connecting body 1511. 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 can only move in a horizontal direction but cannot move in other directions.

[0067] 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.

[0068] In some embodiments, Figure 3 , Figure 8 , Fig. 9 and Fig.12 As shown, the home mobile platform 100 also includes a first rechargeable battery, a first charging circuit and a first charging electrode 152. The first charging circuit is connected to the first rechargeable battery, the first charging electrode 152 is connected to the first charging circuit, 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 electrical energy from the cleaning robot 200.

[0069] The home mobile platform 100 has a first rechargeable battery, so it can store electric energy. By making the first charging electrode 152 on the home mobile platform 100 and the second charging electrode 213 on the cleaning robot 200 contact, the home mobile platform 100 and the cleaning robot 200 can exchange electric energy. The first charging circuit can be a charging circuit that only charges, or a charging circuit that can charge and discharge. 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 the rechargeable household objects 400 (for example: air purifier, humidifier, dehumidifier) ​​on the home mobile platform 100 or the electronic devices of the home mobile platform 100 itself (for example: obstacle recognition device or cliff detection sensor).

[0070] Further, in some embodiments, referring to Figure 1 , Figure 3 , Fig.11 As shown, the first control module of the home mobile platform 100 is connected to the first charging electrode 152, and is used to control the home mobile platform 100 to receive electric 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, or to 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 when the home mobile platform 100 is not docked with the base station 300.

[0071] In this embodiment, the first control module can control the power interaction between the home mobile platform 100 and the cleaning robot 200. 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%, 40%, etc. 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 to avoid the home mobile platform 100 from being in a low power state. In this way, it is beneficial to improve the intelligence of the home mobile platform 100. When the cleaning robot 200 does not reach the second preset power, for example, the second preset power is 30%, 40%, 50%, etc. 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 through the first charging electrode 152, thereby ensuring the normal operation of the cleaning robot 200 (for example, moving, sweeping, mopping).

[0072] In some embodiments, Fig. 9 and Fig.12 As shown, the first charging electrode 152 can be arranged in the first docking structure 150, and the second charging electrode 213 can be arranged in the second docking structure 212 of the cleaning robot 200. In this way, the charging electrode 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, and without the need to perform additional power connection. In other embodiments, the first charging electrode 152 and the first docking structure 150 can be separated, and the second charging electrode 213 and the second docking structure 212 can also be separated.

[0073] In some embodiments, Figure 3 and Fig.12 As shown, the first docking structure 150 is a docking joint, and the second docking structure 212 is a docking slot. The first docking structure 150 is arranged 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 surface of the cleaning robot 200 near the second docking structure 212 or is in a concave arc shape. Optionally, the first docking structure is a docking joint convexly arranged on the first side of the mounting mechanism 140 in the horizontal direction, the first charging electrode piece 152 can be arranged at the bottom of the docking joint, and the second charging electrode piece 213 can be arranged on the inner wall of the docking slot, which can ensure that the first charging electrode piece 152 or the second charging electrode piece 213 is not contaminated by dust or water from the outside.

[0074] Alternatively, in some other embodiments, the first docking structure 150 is a docking slot, and the second docking structure 212 is a docking head. In this case, the first charging electrode 152 can be arranged on the inner wall of the docking slot, and the second charging electrode 213 can be arranged on the bottom of the docking head.

[0075] Furthermore, in some embodiments, Fig.10 As shown, the first docking structure 150 or the second docking structure 212 is connected with a second elastic connection component 150a, and the second elastic connection component 150a is connected to the first charging electrode piece 152 or the second charging electrode piece 213, so that the first charging electrode piece 152 and the second charging electrode piece 213 can be elastically abutted and contacted in the up and down directions. In this embodiment, the elastic effect of the second elastic connection component 150a is utilized to make the first charging electrode piece 152 or the second charging electrode piece 213 maintain a movement trend in the up and down directions, so that 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.

[0076] Furthermore, if Fig.10 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 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 up and down.

[0077] In some embodiments, Fig.10 As shown, the first docking structure 150 includes a first docking base 156 and a second guide post 154 disposed on the first docking base 156 in the up-down direction, a first through slot 157 is disposed on the first docking base 156, a first movable member 153 is inserted through the first through slot 157, and a second elastic member 155 is sleeved on the second guide post 154 or connected to the second guide post 154. The second elastic member 155 is sleeved on the second guide post 154 or connected to the second guide post 154 so that the second elastic member 155 moves along the extension direction of the second guide post 154, so that the first charging electrode piece 152 moves along the extension direction of the second guide post 154 (i.e., the up-down direction), so that the first charging electrode piece 152 and the second charging electrode piece 213 are in closer contact, thereby avoiding the problem of virtual connection.

[0078] 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.

[0079] In some embodiments, Figure 1 , Figure 2 ,like Fig.13 and Fig.14 As shown, the home mobile platform 100 can also dock with the base station 300, the first side of the mounting mechanism 140 is provided with a first docking structure 150, 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, and the third docking structure 142 is used to dock with the fourth docking structure 320 on the base station 300. In this way, 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 home mobile platform 100 is located between the cleaning robot 200 and the base station 300, which is conducive to reducing the overall space occupied by the cleaning robot 200, the base station 300, and the home mobile platform 100. The base station 300 can be a charging base station or a dust collection base station with a charging function.

[0080] Generally, when the base station 300 is a dust collection base station, a dust collection chamber is generally provided in the dust collection base station, 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 household 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 household mobile platform 100 after completing the cleaning task.

[0081] 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. At this time, the cleaning robot 200 is indirectly docked with the base station 300 through the home mobile platform 100.

[0082] Of course, 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.

[0083] It can be seen that the cleaning robot 200 in this embodiment can be docked with 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.

[0084] In some embodiments, Figures 13 to 15 As shown, the home mobile platform 100 further includes a third charging electrode 143 , and the third charging electrode 143 is used to contact with a fourth charging electrode 321 located at the base station 300 to receive electrical energy from the base station 300 .

[0085] The home mobile platform 100 has a first rechargeable battery, so it can store electric energy. By making the third charging electrode 143 on the home mobile platform 100 contact with the fourth charging electrode 321 on the base station 300, the base station 300 can charge the home mobile platform 100, and the electric energy is used to provide electric energy to the cleaning robot 200 through the first charging electrode 152, or to supply power to the rechargeable home objects 400 (for example: air purifier, humidifier, dehumidifier) ​​on the home mobile platform 100 or the electronic devices of the home mobile platform 100 itself (for example: obstacle recognition device or cliff detection sensor).

[0086] Of course, 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 can also contact the fourth charging electrode 321 . At this time, the base station 300 can charge the cleaning robot 200 .

[0087] Reference Figure 1 , Figure 3 , Fig.12 , Fig.14 As shown, when the home mobile platform 100 is connected to the cleaning robot 200, 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 electrical energy from the base station 300. Then, the home mobile platform 100 can also indirectly transmit electrical energy to the cleaning robot 200 through the first charging electrode 152 and the second charging electrode 213.

[0088] Fig.12 , Fig.14As shown, when the cleaning robot 200 directly docks with the fourth docking structure 320 of the base station 300 through the second docking structure 212 alone, 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.

[0089] In some embodiments, Figures 13 to 15 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. In this embodiment, 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. 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 in contact without setting up a charging interface separately, saving installation space and not requiring additional power connection. In other embodiments, the third charging electrode piece 143 and the third docking structure 142 can be arranged separately, and the fourth charging electrode piece 321 and the fourth docking structure 320 can also be arranged separately.

[0090] In some embodiments, the third docking structure 142 is a docking slot, and the fourth docking structure 320 is a docking head. Optionally, the third docking structure 142 is a docking slot recessed on the second side of the mounting mechanism 140, the third charging electrode 143 is disposed on the inner wall of the docking slot, and the fourth charging electrode 321 is located at the bottom of the docking head, which can ensure that the third charging electrode 143 and the fourth charging electrode 321 are not polluted by the environment and dust.

[0091] Alternatively, in some other embodiments, the third docking structure 142 is a docking head, and the fourth docking structure 320 is a docking slot.

[0092] In some embodiments, the third docking structure 142 is connected to a third elastic connection component 320a, 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. In this embodiment, the elastic effect of the third elastic connection component 320a is used to make the third charging electrode 143 maintain the upward and downward movement trend. In this way, when the third docking structure 142 and the fourth docking structure 320 are docked, the third charging electrode 143 and the fourth charging electrode 321 can be more closely contacted, thereby avoiding the problem of virtual connection. Optionally, as Fig.10 As shown, the third elastic connection component 320a may have the same structure as the second elastic connection component 150a.

[0093] Optionally, 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, a second through slot 326 is disposed on the second docking base 324, 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.

[0094] In other embodiments, Figures 14 to 16 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.

[0095] In some embodiments, reference Figure 1 , Figure 3 , Fig.12 , Fig.14 As shown, the first control module is 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 electric energy 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 electric energy 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, and is set according to the software mechanism inside the first control module.

[0096] 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%, 85%, 90% 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, so that the cleaning robot 200 can work normally. 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, so that the home mobile platform 100 will not be short of power. 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 enough power to maintain normal operation.

[0097] In some embodiments, Figure 2 As shown, a charging electrode 113 is disposed on the top of the platform 110, and the charging electrode 113 is used to charge the household object 400 disposed on the platform 110. In this way, the working time of the household object 400 can be extended, and the household object 400 is a rechargeable household device (such as an air purifier, a humidifier, a dehumidifier).

[0098] In some embodiments, Figure 3 , Fig. 9 , Fig.13As 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.

[0099] In some embodiments, Figure 1 , Figure 3 , Figure 12 to Figure 14 As 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.

[0100] 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.

[0101] In some embodiments, Figure 3 , Fig.12 As shown, a first 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 first sealing ring 146 is used to prevent airflow from leaking out. In this embodiment, by providing the first 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 first sealing ring 146 can prevent airflow or dust from leaking out.

[0102] In some embodiments, Figure 3 , Fig.12As 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 first sealing ring 146.

[0103] In some embodiments, Figures 1 to 3 as well as Fig.13 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.

[0104] 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.

[0105] In some embodiments, Fig.13 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.

[0106] In some embodiments, Figure 1As 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.

[0107] The second aspect of the present application provides a cleaning robot 200 for combining with a home mobile platform 100. Figure 1 , Figure 3 , Fig.11 , Fig.12 As shown, the cleaning robot 200 further includes a robot body 210 and a second coupling member 211 disposed on the robot body 210. The second coupling member 211 is used to cooperate with the first coupling member 132 of the household mobile platform 100 on which the household object 400 can be disposed. The household object 400 can be disposed on the platform 110 in various ways such as fixed arrangement, integral connection or non-connected placement. When the second coupling member 211 and the first coupling member 132 are combined, the household mobile platform 100 is fixedly connected to the top of the robot body 210, and the household 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, or it can refer to achieving complete fixation by means of snap-fitting, magnetic attraction, etc., and limiting the movement of both parties in the horizontal and vertical directions.

[0108] The household mobile platform 100 in the embodiment of the present application includes a platform 110 and a movable support structure 120. 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 platform 110 can be provided with household objects 400 with mobile use requirements. The household objects 400 can be air purifiers, humidifiers, books, cameras, dehumidifiers, aromatherapy devices, and can also be objects that may be passed around the home, such as medicines and water cups commonly used by users, or platforms or cabinets for accommodating them.

[0109] 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 the second connecting member 211 is connected to the first connecting member 132 of the household mobile platform 100, so that the household mobile platform 100 can be fixedly connected 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.

[0110] The cleaning robot in the embodiment of the present application is provided with a second coupling member 211, which is used to combine with the first coupling member 132 of the household mobile platform 100 on which the household object 400 can be set, so that the household 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 household mobile platform 100 can be driven by the cleaning robot 200 to move. In this way, the cleaning robot 200 can drive the household object 400 to move through the household mobile platform 100. Driven by the cleaning robot 200, 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. In addition, 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.

[0111] In some embodiments, reference Figure 4 , Fig.12 As 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 mechanism 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.

[0112] Further, refer to Figure 5 , Fig.12As shown, the driving mechanism 131 includes a motor (not shown) and a transmission member 1312. The motor is fixedly connected to the robot body 210 or the home mobile platform 100. 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, the motor is fixedly connected to the robot body 210. 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.

[0113] Further, refer to Figure 3 , Figure 5 , Fig.12 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 100. 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.

[0114] 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.

[0115] In some embodiments, the number of the second combination members 211 or the first combination members 132 is multiple, and the driving mechanism 131 is used to drive the multiple second combination members 211 or the first combination members 132 to move simultaneously. Optionally, the driving mechanism 131 can drive the multiple second combination members 211 of the cleaning robot 200 to connect with the multiple first combination members 132 of the home mobile platform 100, so that the connection stability between the two can be improved. In addition, the multiple second combination members 211 are driven by the same driving mechanism 131, which is conducive to reducing the manufacturing cost of the cleaning robot 200.

[0116] In some embodiments, Figure 4 and Figure 5 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.

[0117] 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 .

[0118] 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.

[0119] 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.

[0120] Further, in some embodiments, referring to Figure 3 , Fig.12 As shown, 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.

[0121] 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.

[0122] In some embodiments, 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 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.

[0123] 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.

[0124] In some embodiments, Figure 3 , Fig.12As shown, the cleaning robot 200 can also dock with the home mobile platform 100. The cleaning robot 200 includes a second recognition module 220 and a second docking structure 212 located on the robot body 210. Before the second coupling member 211 of the cleaning robot 200 is coupled with the first coupling member 132 of the home mobile platform 100, the second recognition module 220 can recognize the first recognition module 141 of the home mobile platform 100, and after the cleaning robot 200 moves to the home mobile platform 100 according to the recognition result, the second docking structure 212 docks with the first docking structure 150 on the home mobile platform 100 to pre-position the cleaning robot 200 with the home mobile platform 100.

[0125] In this embodiment, the second recognition module 220 can recognize the first recognition module 141 of the home mobile platform 100 used to set the home object 400, so that the specific position of the home mobile platform 100 can be recognized, and 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 pre-positioning connection between the cleaning robot 200 and the home mobile platform 100. The whole process relies on the cleaning robot 200 to automatically dock with the home mobile platform 100 after recognition 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 cleaning robot 200 and the home mobile platform 100. When the cleaning robot 200 is connected to the home mobile platform 100, it is convenient for the cleaning robot 200 to drive the home object 400 to move through the home mobile platform 100. Among them, the structures of the first recognition module 141 and the second recognition module 220 have been described in detail in the above-mentioned first aspect embodiment, and will not be repeated here.

[0126] It is understandable that after the cleaning robot 200 is docked with the home mobile platform 100, the home mobile platform 100 and the cleaning robot 200 are pre-positioned, and the cleaning robot 200 and the home mobile platform 100 are connected together. Then, by combining the second coupling member 211 of the cleaning robot 200 and the first coupling member 132 of the home mobile platform 100, the home mobile platform 100 can be fixedly connected 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 home mobile platform 100 can be driven by the cleaning robot 200 to move. In this way, it is convenient for the cleaning robot 200 to drive the home object 400 to move through the home mobile platform 100.

[0127] In some embodiments, reference Figure 8 , Fig.12As shown, the robot body 210 is configured to enable the second docking structure 212 to move in the horizontal direction to match the first elastic connection component 151 of the first docking structure 150, or the second docking structure 212 is used to match the first docking structure 150 connected to the bottom of the home mobile platform 100 with the first elastic connection component 151. By providing the first elastic connection component 151, the second docking structure 212 is elastically matched with the first docking structure 150 to prevent the home mobile platform 100 and the cleaning robot 200 from being both mobile devices, resulting in failure to dock in place.

[0128] In some embodiments, reference Figure 3 , Fig.12 As shown, the cleaning robot 200 further includes a second rechargeable battery (not shown), a second charging circuit (not shown) and a second charging electrode 213. The second charging circuit is connected to the second rechargeable battery, the second charging electrode 213 is connected to the second charging circuit, and the second charging electrode 213 is used to contact the first charging electrode 152 of the home mobile platform 100. The second charging circuit can be a charging-only circuit, or a charging and discharging circuit.

[0129] 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 its own stored electrical energy to charge the cleaning robot 200, or use the electrical energy stored by the cleaning robot 200 to charge the home mobile platform 100.

[0130] In some embodiments, Fig.10 , Fig.12 As shown, the second charging electrode piece 213 is arranged on the second docking structure 212, and the first charging electrode piece 152 is arranged on the first docking structure 150. In this way, the charging function can be integrated with the docking structure. 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 in contact without the need to set up a charging interface separately or to perform an additional power connection action. In other embodiments, the second charging electrode piece 213 and the second docking structure 212 can be separated; the first charging electrode piece 152 and the first docking structure 150 can be separated.

[0131] In some embodiments, Fig.12As shown, the second docking structure 212 is a docking slot, and the first docking structure 150 is a docking head. Alternatively, the second docking structure 212 is a docking head, and the first docking structure 150 is a docking slot. Optionally, the second docking structure 212 is a docking slot recessed in the robot body 210, and the second charging electrode 213 is disposed on the inner wall of the docking slot.

[0132] In some embodiments, reference Fig.10 , Fig.12 As shown, the second docking structure 212 or 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 second charging electrode piece 213 or 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.

[0133] In some embodiments, Fig.12 , Fig.14 As shown, the cleaning robot 200 can also dock with the base station 300, and the second docking structure 212 is used to dock with the fourth docking structure 320 located on one side of the base station 300. The second charging electrode 213 is used to contact the fourth charging electrode 321 located on the base station 300 to receive power from the base station 300.

[0134] In this embodiment, when the cleaning robot 200 is separated from the household 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 can also contact the fourth charging electrode 321 of the base station 300, so that the base station 300 can charge the cleaning robot 200.

[0135] In some embodiments, Fig.12 , Fig.14 As shown, the second charging electrode piece 213 is arranged on the second docking structure 212, and the fourth charging electrode piece 321 is arranged on the fourth docking structure 320. In this way, the charging function 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 set up a charging interface separately, and without the need to perform additional power connection actions.

[0136] In some embodiments, the second docking structure 212 is a docking slot, and the fourth docking structure 320 is a docking head. Alternatively, in other embodiments, the second docking structure 212 is a docking head, and the fourth docking structure 320 is a docking slot.

[0137] In some embodiments, reference Fig.10 , Fig.12 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 piece 213, so that the second charging electrode piece 213 and the fourth charging electrode piece 321 can be elastically abutted and contacted in the up and down directions. In this way, the second charging electrode piece 213 and the fourth charging electrode piece 321 are in closer contact, thereby avoiding the problem of virtual connection.

[0138] In other embodiments, Fig.12 , Fig.14 , Fig.16 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.

[0139] The embodiment of the third aspect of the present application provides a base station 300, which can be docked with the home mobile platform 100 or the cleaning robot 200. The base station 300 can be a dust collection base station or a charging base station.

[0140] like Fig.12 , Fig.13 , Fig.14 As shown, the base station 300 includes a base station body 310 and a fourth docking structure 320 disposed on the base station body 310. When the base station 300 is docked with the home mobile platform 100, the fourth docking structure 320 is used to dock with the third docking structure 142 of the home mobile platform 100 on which the home object 400 can be placed to position the home mobile platform 100. When the base station 300 is docked with the cleaning robot 200, the fourth docking structure 320 is also used to dock with the second docking structure 212 of the cleaning robot 200 to position the cleaning robot 200.

[0141] In the embodiment of the present application, when the base station 300 is docked with the home mobile platform 100, the fourth docking structure 320 of the base station 300 is used to dock with the third docking structure 142 of the home mobile platform 100 to position the home mobile platform 100. When the base station 300 is docked with the cleaning robot 200, the fourth docking structure 320 is also used to dock with the second docking structure 212 of the cleaning robot 200 to position the cleaning robot 200. In other words, the fourth docking structure 320 can be docked with the cleaning robot 200 and the home mobile platform 100 at the same time, which is conducive to expanding the application scenarios of the base station 300 and improving its adaptability. Since the home mobile platform 100 itself is mobile, when the home mobile platform 100 automatically docks with the cleaning robot 200 so that the home mobile platform 100 and the cleaning robot 200 can be positioned and matched, it is necessary to set a first docking structure 150 on the home mobile platform 100 to cooperate with the second docking structure 212 of the cleaning robot 200. When the second docking structure 212 is set on the cleaning robot 200, in order to enable the cleaning robot 200 to dock and position and match with the base station 300 alone, it is necessary to set a fourth docking structure 320 on the base station 300 to position and match with the second docking structure 212 of the cleaning robot 200.

[0142] In some embodiments, Fig.12 , Fig.13 , Fig.14 As shown, the base station 300 also includes a fourth charging electrode 321 disposed on the base station body 310. The fourth charging electrode 321 is used to contact the third charging electrode 143 of the home mobile platform 100 to provide electric energy to the home mobile platform 100. The electric energy can be used 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 fourth charging electrode 321 is also used to contact the second charging electrode 213 of the cleaning robot 200 to provide electric energy to the cleaning robot 200. The electric energy is used to facilitate the cleaning robot 200 to move or clean the ground. In this embodiment, the fourth charging electrode 321 on the base station 300 can contact the third charging electrode 143 of the home mobile platform 100, and can also contact the second charging electrode 213 of the cleaning robot 200. That is to say, the base station 300 can charge both the home mobile platform 100 and the cleaning robot 200.

[0143] Furthermore, if Figures 12 to 16As shown, the fourth charging electrode 321 is arranged on the fourth docking structure 320, the third charging electrode 143 is arranged on the third docking structure 142, and the second charging electrode 213 is arranged on the second docking structure 212. In this way, when the fourth docking structure 320 of the base station 300 is docked with the third docking structure 142 of the home mobile platform 100 to achieve the connection between the two, the fourth charging electrode 321 and the third charging electrode 143 are also connected, and the base station 300 can charge the home mobile platform 100. When the fourth docking structure 320 is docked with the second docking structure 212 of the cleaning robot 200 to achieve the connection between the two, the fourth charging electrode 321 and the second charging electrode 213 are also connected, and the base station 300 can charge the cleaning robot 200. In this way, the charging electrode of the base station 300 and the docking structure for the cleaning robot 200 or the household mobile platform 100 can be integrated together, without the need to separately set up a charging interface for charging the cleaning robot 200 or the household mobile platform 100, and without the need to perform additional power connection operations, thereby facilitating the improvement of the integration of the base station 300. In other embodiments, when there is enough space on the base station 300, the fourth charging electrode 321 and the fourth docking structure 320 can also be respectively arranged at different positions of the base station 300, so that the charging function and the docking function of the base station 300 are separated; the third charging electrode 143 and the third docking structure 142 can also be separately arranged; the second charging electrode 213 and the second docking structure 212 can also be separately arranged. Furthermore, if Figures 14 to 16 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 fourth charging electrode 321 and the third charging electrode 143 can be elastically abutted in the up and down directions, or the fourth charging electrode 321 and the second charging electrode 213 can be elastically abutted in the up and down directions. The elastic effect of the third elastic connection component 320a is used to make the fourth charging electrode 321 maintain the movement trend in the up and down directions. In this way, when the fourth docking structure 320 is docked with the third docking structure 142 of the home mobile platform 100, the fourth charging electrode 321 and the third charging electrode 143 are in closer contact, thereby avoiding the problem of virtual connection. When the fourth docking structure 320 is docked with the second charging electrode 213 of the cleaning robot 200, the fourth charging electrode 321 and the second charging electrode 213 are in closer contact, thereby avoiding the problem of virtual connection.

[0144] like Fig.16As 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 can be more closely contacted with the third charging electrode 143 or the second charging electrode 213.

[0145] 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, or the fourth charging electrode piece 321 and the second charging electrode piece 213 are in closer contact in the up-down direction, thereby avoiding the problem of virtual connection.

[0146] In some embodiments, the fourth docking structure 320 is a docking joint, the third docking structure 142 is a docking slot, and the second docking structure 212 is a docking slot. Alternatively, in other embodiments, the fourth docking structure 320 is a docking slot, the third docking structure 142 is a docking joint, and the second docking structure 212 is a docking joint. By plugging the docking joint into the docking slot, the home mobile platform 100 or the cleaning robot 200 can be positioned in the area corresponding to the base station 300 and remain relatively still.

[0147] In some embodiments, Fig.14 As shown, the fourth docking structure 320 is a docking joint protruding from the side wall of the base station body 310 in the horizontal direction, and the fourth charging electrode piece 321 is located at the bottom of the docking joint. The fourth docking structure 320 is a docking joint protruding from the side wall of the base station body 310 in the horizontal direction, which can facilitate the home mobile platform 100 or the cleaning robot 200 to directly dock with the docking joint protruding from the side wall of the base station body 310 in the horizontal direction through its own docking slot after moving in the horizontal direction. The fourth charging electrode piece 321 is arranged at the bottom of the docking joint to protect the fourth charging electrode piece 321 from being polluted by external water and dust.

[0148] In some embodiments, Fig.13 , Fig.14As 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.

[0149] 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.

[0150] In some embodiments, the fourth recognition module 330 can be recognized by the second recognition 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 recognition module 330 on the base station body 310 can also be recognized by the second recognition module 220 of the cleaning robot 200. In other words, the fourth recognition module 330 of the base station 300 can be recognized by the second recognition 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 recognition module 330 can be an infrared emission module, a structural feature code, a spray feature code, etc.; the second recognition module 220 can be an infrared receiving module, a laser radar, a camera, etc.

[0151] like Figure 1 , Fig.14As shown, when the cleaning robot 200 is connected to the home mobile platform 100 and drives the home mobile platform 100 to move to the corresponding position of the base station 300 and docks with the base station 300, the platform 110 of the home mobile platform 100 is located on the top of the cleaning robot 200, and the platform 110 blocks part of the structure of the second recognition module 220 of the cleaning robot 200. At this time, the second recognition module 220 of the cleaning robot 200 first recognizes the approximate position of the base station 300, and then recognizes the specific position of the base station 300 through the third recognition module 144 of the home mobile platform 100, so that the fourth docking structure 320 and the first docking structure 142 are docked in the horizontal direction to position the home mobile platform 100. Fig.12 , Fig.14 As shown, when the cleaning robot 200 moves alone to the corresponding position of the base station 300 and docks with the base station 300, the second identification module 220 is not blocked, so the specific position of the base station 300 can be identified, so that the fourth docking structure 320 and the second docking structure 212 can be docked in the horizontal direction to position the cleaning robot 200.

[0152] In some embodiments, Figure 3 , Fig.12 and Fig.14 As shown, the base station 300 also includes a dust inlet 311 arranged on the base station body 310; the dust inlet 311 is used to connect with the dust outlet 214 of the cleaning robot 200 through the dust collection channel 145 of the home mobile platform 100 when the home mobile platform 100 is connected to the cleaning robot 200.

[0153] In this embodiment, the base station 300 is also provided with a dust inlet 311. When the base station 300 is docked with the home mobile platform 100, and the cleaning robot 200 is connected with the home mobile platform 100, the dust outlet 214 of the cleaning robot 200 is connected with the dust inlet 311 of the base station 300 through the dust collection channel 145. The dust and garbage in the cleaning robot 200 pass through the dust outlet 214 and the dust collection channel 145 of the home mobile platform 100, and then are adsorbed into the base station 300 through the dust inlet 311. When the base station 300 is directly docked with the cleaning robot 200, the dust outlet 214 of the cleaning robot 200 is connected with the dust inlet 311 on the base station body 310. The dust and garbage in the cleaning robot 200 can be directly adsorbed into the base station 300 through the dust outlet 214 and the dust inlet 311. In this way, the normal cleaning function of the cleaning robot 200 can be ensured, which is conducive to improving the functional diversity of the base station 300.

[0154] In some embodiments, a second sealing ring 312 is provided on the end surface of the dust inlet 311 for contacting with the end surface of the dust collection channel 145, and the second sealing ring 312 is used to prevent airflow from leaking out. By providing the second sealing ring 312, it is helpful to improve the sealing between the dust inlet 311 and the dust collection channel 145. When the base station 300 absorbs garbage and dust in the cleaning robot 200, the second sealing ring 312 can prevent airflow or dust from leaking out.

[0155] In some embodiments, Fig.14 As shown, there are two fourth docking structures 320, and the two fourth docking structures 320 are respectively arranged on opposite sides of the dust inlet 311. In this way, on the first hand, the two fourth docking structures 320 are conducive to improving the reliability and stability of docking, and avoiding the problem of poor docking between the base station 300 and the cleaning robot 200 or between the base station 300 and the home mobile platform 100. On the second hand, when the base station 300 and the home mobile platform 100 are docked or the base station 300 and the cleaning robot 200 are docked, the connection between the dust inlet 311 and the dust collection channel 145 or the connection between the dust inlet 311 and the dust outlet 214 can be completed at the same time.

[0156] The fourth aspect of the present application provides a cleaning system, including the home mobile platform 100 described in the first aspect and the cleaning robot 200 described in the second aspect. The home mobile platform 100 and the cleaning robot 200 can be combined with each other.

[0157] In the present application, the first coupling member 132 of the household mobile platform 100 can cooperate with the second coupling member 211 of the cleaning robot 200, so that the household mobile platform 100 and the cleaning robot 200 are fixedly connected. After the two are fixedly connected, 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 to move by the cleaning robot 200. In this way, the cleaning robot 200 can drive the household object 400 to move through the household mobile platform 100. Driven by the cleaning robot 200, 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. In addition, 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 also has the advantages of saving time, labor and efficiency compared to relying on manpower to carry the household object 400.

[0158] 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.

[0159] 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 for communicating with a cleaning robot, characterized in that: The household mobile platform comprises a platform and a movable support structure; 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 provided with a first communication electrode piece for electrically connecting with a second communication electrode piece on the cleaning robot.

2. The home mobile platform according to claim 1, characterized in that: The home mobile platform includes a first control module electrically connected to the first communication electrode, and the first control module is configured to determine whether the home mobile platform and the cleaning robot communicate successfully based on the electrical connection between the first communication electrode and the second communication electrode.

3. The home mobile platform according to claim 2, characterized in that: The home mobile platform further comprises at least one obstacle identification device, which is arranged at the front, rear and / or side of the platform and is used to identify obstacles in front, rear and / or on the side of the platform; The first control module is also electrically connected to the obstacle recognition device, and the first control module is also configured to transmit the obstacle information obtained by the obstacle recognition device to the cleaning robot through the first communication electrode.

4. The home mobile platform according to claim 1, characterized in that: The household mobile platform also includes a first coupling member located on the platform; The first combining member is used to cooperate with the second combining member on the cleaning robot; Wherein, when the first combining member and the second combining member are combined, the platform is fixedly connected to the top of the cleaning robot, and the cleaning robot can drive the household mobile platform to move.

5. The home mobile platform according to claim 4, characterized in that: The first communication electrode is arranged on the first combining piece, and the second communication electrode is arranged on the second combining piece.

6. The home mobile platform according to claim 5, characterized in that: A driving mechanism is connected to the first combining member or the second combining member, and the driving mechanism is used to drive the first combining member and the second combining member to combine or separate; The driving mechanism comprises: A motor, fixedly connected to the platform or the cleaning robot; A transmission member is connected to the motor and is used to drive the first combining member or the second combining member to move, so that the first combining member and the second combining member are combined or separated.

7. The home mobile platform according to claim 6, characterized in that: The first combining member is located at the bottom or side of the platform, and the second combining member is located at the top or side of the cleaning robot; The driving mechanism is used to drive the first combining member to rise and fall, so that the first combining member and the second combining member can be combined or separated; Wherein, when the first combining member descends, the first combining member and the second combining member can be combined, and when the first combining member ascends, the first combining member and the second combining member are separated.

8. The home mobile platform according to claim 6, characterized in that: There are multiple first combining members, and the driving mechanism is used to drive the multiple first combining members to move simultaneously.

9. The home mobile platform according to claim 8, characterized in that: The driving mechanism also includes a linkage member and a guide member, wherein the guide member is fixed to the platform, the linkage member is in transmission connection with the transmission member, the linkage member is movably connected with the guide member so that the linkage member moves along a predetermined direction, and a plurality of the first combining members are all connected to the linkage member.

10. The home mobile platform according to claim 9, characterized in that: The transmission member is a screw rod, the linkage member has a mounting hole and a plurality of connecting members arranged around the mounting hole, the mounting hole is sleeved outside the screw rod and is threadedly connected to the screw rod, and each of the connecting members is connected to the first coupling member.

11. The home mobile platform according to any one of claims 6 to 10, characterized in that: The platform or the driving mechanism is connected with a first detection switch for determining whether the first combining member and the second combining member are in place; and / or the platform or the driving mechanism is further provided with a second detection switch for determining whether the first combining member and the second combining member are completely separated.

12. The home mobile platform according to any one of claims 4 to 10, characterized in that: The home mobile platform also includes a first docking structure and a first identification module provided on the platform; Before the first combining member is combined with the second combining member, the first identification module can be recognized by the second identification module of the cleaning robot, and after the cleaning robot moves to the home mobile platform according to the recognition result, the first docking structure and the second docking structure of the cleaning robot are docked to pre-position the home mobile platform and the cleaning robot.

13. A cleaning robot, used for combining with the household mobile platform according to any one of claims 1 to 12, characterized in that: The cleaning robot comprises a robot body and a second communication electrode arranged on the robot body, which is used to be electrically connected to a first communication electrode on the household mobile platform on which household objects can be placed.

14. A cleaning system, characterized in that: It comprises a household mobile platform as described in any one of claims 1 to 12 and a cleaning robot as described in claim 13, wherein the household mobile platform and the cleaning robot can communicate with each other.

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