Household mobile platform, cleaning robot and cleaning system

Abstract

The utility model discloses a home mobile platform, a cleaning robot and a cleaning system, and relates to the field of smart home. The household mobile platform comprises a platform body, a movable supporting structure, a first butt joint structure and a supporting piece. The platform body is provided with a mounting mechanism; the first butt joint structure is used for being in butt joint with a second butt joint structure on the cleaning robot; the movable supporting structure is connected with the bottom of the platform body and used for supporting and driving the platform body to move. The supporting piece is provided with a first guide groove extending up and down. The first butt joint structure is provided with a first guide connection piece, and the first guide connection piece can move in the first guide groove, so that the first butt joint structure can move in the vertical direction relative to the mounting mechanism. According to the household mobile platform provided by the invention, after the household mobile platform is in butt joint with the cleaning robot, the stable connection of the first butt joint structure and the second butt joint structure is ensured when the household mobile platform passes through the fluctuating ground.

Description

Technical Field

[0001] 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

[0002] As people's living standards improve, more and more household items have entered the home. At present, except for the smart home that can move itself (such as cleaning robots), most household items can only be in a fixed position. However, for some household items, if they can be moved, the working range can be effectively improved.

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

[0004] 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 to solve the problem in the prior art that after the home mobile platform and the cleaning robot are docked, the two are easily separated when passing through uneven ground.

[0005] To achieve the above objectives, the technical solutions adopted in this application are as follows:

[0006] In a first aspect, an embodiment of the present application provides a home mobile platform capable of docking with a cleaning robot, the home mobile platform comprising:

[0007] The platform body is used to place household items, and a mounting mechanism is provided at the bottom thereof;

[0008] A movable supporting structure connected to the bottom of the platform body and used to support and drive the platform body to move;

[0009] A first docking structure, which is arranged on the mounting mechanism, and the first docking structure is used to dock with a second docking structure on the cleaning robot to pre-position the home mobile platform and the cleaning robot;

[0010] A support member, fixedly mounted on the mounting mechanism, and provided with a first guide groove extending up and down;

[0011] The first docking structure is provided with a first guide member, and the first guide member can move in the first guide groove so that the first docking structure can move in the up and down directions relative to the mounting mechanism.

[0012] The household mobile platform provided by the present application can be docked with a cleaning robot, so that the cleaning robot can drive household objects to move through the household mobile platform. By enabling the first guide member to move in the first guide groove, the first docking structure can move in the up and down direction relative to the mounting mechanism. In this way, when the cleaning robot encounters an undulating ground, the first docking structure can move in the up and down direction to facilitate passing through the undulating ground. In this way, after the household mobile platform and the cleaning robot are docked and move together, when passing through the undulating ground, it is ensured that the first docking structure and the second docking structure of the cleaning robot can be stably connected.

[0013] In addition, the home mobile platform according to the present application may also have the following additional technical features:

[0014] In one of the embodiments of the first aspect, a second guide groove extending in a horizontal direction is further provided on the support member; and the first guide member can move in a horizontal direction in the second guide groove.

[0015] In one of the embodiments of the first aspect, the mounting mechanism is further provided with an elastic connection component connected to the first docking structure; when the elastic connection component causes the first docking structure to move in the horizontal direction, the first guide member moves in the horizontal direction in the second guide groove; the elastic connection component includes a connector and an elastic member, the connector is connected to the first docking structure, and the elastic member is arranged between the connector and the support member to provide elastic force to the connector, so that when the first docking structure and the second docking structure are docked and the home mobile platform is combined with the cleaning robot, the elastic member is in a compressed state in the horizontal direction.

[0016] In one embodiment of the first aspect, the support member is further provided with a third guide groove, and the connector is provided with a second guide member matched with the third guide groove;

[0017] When the elastic member pushes the connecting body, the second guiding member can move in the horizontal direction in the third guiding groove, and under the restriction of the third guiding groove, the connecting body cannot move in the up and down direction following the first docking structure.

[0018] In one embodiment of the first aspect, a guide column extending in a horizontal direction is provided on the connecting body, and the guide column is connected to the elastic member or sleeved on the elastic member;

[0019] A cover plate is arranged on a side of the support member facing away from the first docking structure, and a through hole for the guide column to pass through is arranged on the cover plate. The elastic member is arranged between the connector and the cover plate.

[0020] In one of the embodiments of the first aspect, the support member includes two side panels arranged opposite to each other, and one end of each side panel away from the first docking structure is respectively connected to the cover plate, and the two side panels and the cover plate define a accommodating space, and the elastic connection component is located in the accommodating space.

[0021] In one embodiment of the first aspect, each of the side panels is provided with the first guide groove and the second guide groove, and the first docking structure is provided with the first guide member in the direction toward each of the side panels, and the second guide groove is connected to the first guide groove.

[0022] In one embodiment of the first aspect, the first guide groove is an arcuate groove or an oblique groove, and the second guide groove is a straight groove, and an end of the straight groove is connected to an end of the arcuate groove or the oblique groove.

[0023] In one embodiment of the first aspect, a height of a docking portion of the first docking structure is smaller than a height of a docking portion of the second docking structure, so that the first docking structure can move up and down relative to the second docking structure.

[0024] In one of the embodiments of the first aspect, the home mobile platform also includes a first identification module, which can be identified by a second identification module of the cleaning robot, and after the cleaning robot moves to the home mobile platform according to the identification result, the first docking structure is used to dock with the second docking structure on the cleaning robot to pre-position the home mobile platform and the cleaning robot.

[0025] In one embodiment of the first aspect, the home mobile platform further includes a third identification module, and the third identification module can identify a fourth identification module of a base station and thus move to the base station.

[0026] In one of the embodiments of the first aspect, the third identification module is arranged on the outside of the mounting mechanism, and the first identification module is arranged on the inside of the mounting mechanism, and the inner side of the mounting mechanism is concave arc-shaped or matches the outer surface of the cleaning robot close to the second docking structure; the height difference between the first identification module and the second identification module in the vertical direction is -20mm to 20mm, and the height difference between the third identification module and the fourth identification module in the vertical direction is -20mm to 20mm.

[0027] In one of the embodiments of the first aspect, the mounting mechanism is formed by extending downward from the bottom of the platform body, and the mounting mechanism is disposed at the rear end of the home mobile platform. The first docking structure has two and is symmetrically disposed on the mounting mechanism.

[0028] In one of the embodiments of the first aspect, a first coupling member is provided at the bottom or side of the platform body, and a second coupling member is provided at the top or side of the cleaning robot, the first coupling member is used to be coupled to the second coupling member so that the platform body is located at the top of the cleaning robot, a laser radar is provided at the top of the cleaning robot, and the mounting mechanism is provided with a light guide groove running from the inside to the outside, and the light emitted by the laser radar passes through the light guide groove.

[0029] In one of the embodiments of the first aspect, the home mobile platform also includes: a brake assembly, which is arranged on the mounting mechanism, the brake assembly includes a limit seat, the limit seat can be extended and retracted relative to the mounting mechanism, and when in the extended state, the limit seat abuts against the ground to limit the movement of the movable support structure relative to the ground, and when in the retracted state, the limit seat is detached from the ground so that the movable support structure can move relative to the ground.

[0030] In one of the embodiments of the first aspect, before the first docking structure docks with the second docking structure on the cleaning robot to pre-position the home mobile platform and the cleaning robot, the limit seat extends out and abuts the ground, and after the first docking structure docks with the second docking structure to pre-position, the limit seat retracts and leaves the ground.

[0031] In one of the embodiments of the first aspect, the brake assembly also includes a brake member, which is movable relative to the mounting mechanism and connected to the limit seat, so that the limit seat can be extended and retracted relative to the mounting mechanism; a guide mechanism is fixedly provided in the mounting mechanism, a first guide portion is provided on the guide mechanism, and a second guide portion cooperating with the first guide portion is provided on the brake member, and the second guide portion can move in the up and down directions along the first guide portion, so that the brake member drives the limit seat to move in the up and down directions.

[0032] In one embodiment of the first aspect, the brake assembly further comprises:

[0033] Driving parts;

[0034] a linkage mechanism, which is connected to the driving member and moves under the action of the driving member, and the linkage mechanism is connected to the brake member;

[0035] When the driving member drives the linkage member mechanism to move, the linkage member mechanism drives the brake member to move, so that the limiting seat can be extended and retracted relative to the installation mechanism.

[0036] In a second aspect, the present application further provides a cleaning robot, which can be docked with the home mobile platform described in any one of the embodiments of the first aspect, the cleaning robot comprising a robot body and a second docking structure, wherein the second docking structure is provided on one side of the robot body;

[0037] The second docking structure docks with the first docking structure on the home mobile platform to pre-position the cleaning robot with the home mobile platform.

[0038] In a third aspect, the present application further provides a cleaning system, comprising the cleaning robot in the second aspect and the home mobile platform in any one embodiment of the first aspect, wherein the home mobile platform can be docked with the cleaning robot.

[0039] The cleaning system provided in the embodiments of the present application has the household mobile platform in any one of the embodiments of the first aspect and the cleaning robot in the second aspect. Therefore, the cleaning system has all the beneficial effects of the household mobile platform, which will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 A schematic diagram of a stereoscopic structure of a home mobile platform provided by an embodiment of the present application from a one-view perspective is shown;

[0042] Figure 2 Another perspective structural diagram of a home mobile platform provided by an embodiment of the present application is shown;

[0043] Figure 3 A schematic diagram showing an assembly structure of a first docking structure and a support member in one embodiment of the present application from a perspective;

[0044] Figure 4 Another perspective schematic diagram of the assembly structure of the first docking structure and the support member in one embodiment of the present application is shown;

[0045] Figure 5 Shows Figure 4 Cross-sectional view along the BB direction;

[0046] Figure 6 A partial structural schematic diagram of a support member in one embodiment of the present application is shown;

[0047] Figure 7 A schematic diagram of a three-dimensional structure of a cleaning robot provided by an embodiment of the present application from a one-view perspective;

[0048] Figure 8 A schematic diagram showing an assembly structure of a first docking structure and a support member in another embodiment of the present application from one perspective;

[0049] Fig. 9 A schematic diagram of a stereoscopic structure of a home mobile platform provided in another embodiment of the present application from a one-view perspective is shown;

[0050] Fig.10 A partial cross-sectional structural schematic diagram of a household mobile platform in one embodiment of the present application is shown;

[0051] Fig.11 A schematic diagram of the structure of a brake assembly from one perspective in one embodiment of the present application is shown;

[0052] Fig.12 A cross-sectional view of a guide mechanism in one embodiment of the present application is shown;

[0053] Fig.13 A schematic diagram of a three-dimensional structure of a base station provided by an embodiment of the present application is shown. Explanation of the main component symbols: 100-home mobile platform; 110-platform body; 111-first identification module; 112-third identification module; 113-first coupling member; 120-installation mechanism; 121-elastic connection assembly; 1211-elastic member; 1212-connector; 12121-second guide member; 12122-guide column; 122-light guide groove; 130-first docking structure; 131-first guide member; 140-support member; 1401-cover plate; 1402-side plate; 1403-accommodation space ;141-first guide groove;142-second guide groove;143-third guide groove;150-movable support structure;151-leg;152-universal wheel;160-first charging electrode;170-brake assembly;171-brake member;1711-second guide portion;172-limiting seat;173-driving member;1731-driving shaft;174-first linkage member;175-second linkage member;180-guiding mechanism;181-first guide portion;181a-vertical guide groove;190-third docking structure;

[0054] 200-cleaning robot; 210-robot body; 220-second docking structure; 230-second identification module; 240-second charging electrode; 211-second combining member; 250-laser radar;

[0055] 300 - base station; 310 - fourth identification module; 320 - fourth docking structure. DETAILED DESCRIPTION

[0056] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0057] 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.

[0058] 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0059] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0060] 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.

[0061] An embodiment of the present application provides a home mobile platform 100 that can be docked with a cleaning robot 200.

[0062] like Figure 1 , Figure 2 and Figure 3 As shown, the household mobile platform 100 includes a platform body 110 , a movable support structure 150 , a first docking structure 130 and a support member 140 .

[0063] The platform body 110 is used to place household items. The household items can be placed on the platform body 110 in various ways, such as fixed setting, integral connection, detachable connection, or non-connected placement.

[0064] The home mobile platform 100 provided in the present application can be provided with household items with mobile use requirements on its platform body 110. Household items can be air purifiers, humidifiers, books, cameras, dehumidifiers, aromatherapy devices, and can also be items that may be passed around the home, such as medicines and water cups commonly used by users, or platforms or cabinets for accommodating them. The home mobile platform 100 can be docked with the cleaning robot 200. In this way, the cleaning robot 200 can drive the household items to move through the home mobile platform 100. Driven by the cleaning robot 200, household items can be transferred from one location to another, or from one room to another room. In this way, the working range of household items can be effectively expanded. The cleaning robot 200 can be a sweeping robot, a mopping robot, or a sweeping and mopping robot.

[0065] The movable support structure 150 is connected to the bottom of the platform body 110, and the movable support structure 150 is used to support and drive the platform body 110 to move. The movable support structure 150 may specifically include a roller mechanism and a belt sliding mechanism. Figure 1 , Figure 2 As shown, the movable support structure 150 may specifically include a leg 151 and a universal wheel 152 at the end of the leg 151; there are four movable support structures 150, which is conducive to improving the support stability of the platform body 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.

[0066] The bottom of the platform body 110 is provided with a mounting mechanism 120; a first docking structure 130 is provided on the mounting mechanism 120, and the first docking structure 130 is used to dock with the second docking structure 220 on the cleaning robot 200 to pre-position the home mobile platform 100 and the cleaning robot 200. The support member 140 is fixed to the mounting mechanism 120, and at the same time, the support member 140 is provided with a first guide groove 141 extending up and down. The first docking structure 130 is provided with a first guide member 131, and the first guide member 131 can move in the first guide groove 141 so that the first docking structure 130 can move in the up and down direction relative to the mounting mechanism 120.

[0067] In this embodiment, the first guide member 131 is movable in the first guide groove 141, so that the first docking structure 130 can move in the up-down direction relative to the mounting mechanism 120. In this way, when the cleaning robot 200 encounters an undulating ground, the first docking structure 130 can move in the up-down direction to facilitate passing through the undulating ground. As a result, after the home mobile platform 100 and the cleaning robot 200 are docked and move together, when passing through the undulating ground, the first docking structure 130 and the second docking structure 220 of the cleaning robot 200 are ensured to be stably connected. It should be noted that the up-down movement may be an arc up-down movement, an inclined up-down movement, or a vertical up-down movement.

[0068] In some embodiments, the support member 140 is further provided with a second guide groove 142 extending in the horizontal direction; the first guide member 131 can move in the horizontal direction in the second guide groove 142. It should be noted that the first guide member 131 may include guide members provided on different walls or the same wall of the first docking structure 130, so the first guide member 131 moving in the first guide groove 141 and the second guide groove 142 may be the same guide member or different guide members, which is not specifically limited here.

[0069] In some embodiments, Figure 5 As shown, the installation mechanism 120 is further provided with an elastic connection component 121 connected to the first docking structure 130 ; when the elastic connection component 121 causes the first docking structure 130 to move in the horizontal direction, the first guide member 131 moves in the second guide groove 142 along the horizontal direction.

[0070] In this embodiment, by setting the elastic connection component 121, the first docking structure 130 can move in the horizontal direction. At the same time, the first guide member 131 can move in the horizontal direction in the second guide groove 142, and the first guide member 131 can also move in the up and down direction in the first guide groove 141. In this way, when the cleaning robot 200 encounters an undulating ground, the first docking structure 130 can move in the horizontal direction and the up and down direction to facilitate passing through the undulating ground. As a result, after the home mobile platform 100 and the cleaning robot 200 are docked and move together, when passing through the undulating ground, it is ensured that the first docking structure 130 and the second docking structure 220 can be stably connected.

[0071] like Figure 4 and Figure 5 As shown, in some embodiments, the elastic connection assembly 121 includes a connector 1212 and an elastic member 1211. The connector 1212 is connected to the first docking structure 130. The elastic member 1211 is arranged between the connector 1212 and the support member 140 to provide elastic force to the connector 1212, so that when the first docking structure 130 and the second docking structure 220 are docked and the home mobile platform 100 and the cleaning robot 200 are combined, the elastic member 1211 is in a compressed state in the horizontal direction.

[0072] In this embodiment, after the first docking structure 130 and the second docking structure 220 are docked with each other, the positions of the cleaning robot 200 and the home mobile platform 100 can be relatively positioned, and then the home mobile platform 100 and the cleaning robot 200 are combined, for example, the first coupling member of the home mobile platform 100 extends downward into the second coupling member of the cleaning robot 200 to form a firm snap connection. At this time, the home mobile platform 100 and the cleaning robot 200 are relatively fixed in the horizontal direction, and a certain compression force and position restriction are formed on the elastic member 1211, so that it is in a compressed state in the horizontal direction. The elastic member 1211 in the compressed state gives elastic force to the first docking structure 130 through the connector 1212, so that the first docking structure 130 and the second docking structure 220 can always be stably connected. Even when the cleaning robot 200 is walking and crossing a bump with the home mobile platform 100, the first docking structure 130 and the second docking structure 220 will not detach from each other, and the electrical connection or signal connection remains stable.

[0073] In some embodiments, Figure 5 and Figure 6As shown, the support member 140 is also provided with a third guide groove 143, and the connecting body 1212 is provided with a second guide member 12121 that matches the third guide groove 143. In this way, when the elastic member 1211 pushes the connecting body 1212, the second guide member 12121 can move in the horizontal direction in the third guide groove 143, and under the limiting effect of the third guide groove 143, the connecting body 1212 cannot move in the vertical direction following the first docking structure 130, that is, the connecting body 1212 can only move in the horizontal direction at this time, so that the first docking structure 130 can move in the vertical direction relative to the connecting body 1212, so as to ensure the stable connection between the first docking structure 130 and the second docking structure 220 when passing through the uneven ground.

[0074] like Figure 5 As shown, in some embodiments, a guide post 12122 extending in a horizontal direction is provided on the connecting body 1212, and the guide post 12122 is connected to the elastic member 1211 or sleeved on the elastic member 1211. The guide post 12122 can facilitate the connecting body 1212 to move in a horizontal direction.

[0075] Combination Figure 5 As shown, a cover plate 1401 is provided on the side of the support member 140 away from the first docking structure 130, and a through hole is provided on the cover plate 1401 for the guide column 12122 to pass through. The elastic member 1211 is provided between the connector 1212 and the cover plate 1401, and the elastic member 1211 can provide elastic force to the connector 1212 so that the connector 1212 can move in the horizontal direction. The guide column 12122 cooperates with the through hole on the cover plate 1401, and the hole wall of the through hole plays a role of limiting the guide column 12122 in the vertical direction. At the same time, in the horizontal direction, the through hole plays a role of guiding the guide column 12122.

[0076] like Figure 5 and Figure 6 As shown, in some embodiments, the support member 140 includes two side plates 1402 arranged opposite to each other, one end of each side plate 1402 away from the first docking structure 130 is respectively connected to the cover plate 1401, and the two side plates 1402 and the cover plate 1401 define a receiving space 1403, and the elastic connection component 121 is located in the receiving space 1403. In this way, the elastic connection component 121 is installed in the receiving space 1403 to facilitate the telescopic movement of the elastic connection component 121.

[0077] like Figure 4As shown, in the embodiment of the above-mentioned support member 140, each side plate 1402 is provided with a first guide groove 141 and a second guide groove 142, and the first docking structure 130 is provided with a first guide member 131 in the direction of each side plate 1402, and the second guide groove 142 is connected with the first guide groove 141. In this embodiment, by providing the first guide groove 141 and the second guide groove 142 on each side plate 1402, the first guide member 131 is correspondingly provided on the first docking structure 130, and the first guide member 131 moving in the first guide groove 141 and the second guide groove 142 is the same guide member; in this way, the first docking structure 130 is more stable when moving in the horizontal direction or the vertical direction, and the first docking structure 130 is prevented from being offset when moving, thereby ensuring the stable connection between the first docking structure 130 and the second docking structure 220.

[0078] Of course, in other embodiments, such as Figure 8 As shown, two first guide grooves 141 and two second guide grooves 142 can also be set on the relatively longer side plate 1402 of the two side plates 1402. Correspondingly, the first docking structure 130 is provided with two first guide members 131 in the direction toward the side plate 1402. In this way, the first docking structure 130 is more stable when moving in the horizontal direction or the up and down direction.

[0079] like Figure 3 , Figure 4 and Figure 6 As shown, in some embodiments, for example, the first guide groove 141 is an arc groove or an oblique groove, and the second guide groove 142 is a straight groove, and the end of the straight groove is connected to the end of the arc groove or the oblique groove. In this way, the first guide member 131 is easy to move horizontally along the straight groove, and at the same time, the end of the straight groove is connected to the end of the arc groove or the oblique groove, which facilitates the first guide member 131 to move from the straight groove to the arc groove.

[0080] In some embodiments, the height of the docking portion of the first docking structure 130 is smaller than the height of the docking portion of the second docking structure 220 , so that the first docking structure 130 can move up and down relative to the second docking structure 220 .

[0081] like Figure 2 and Figure 7As shown, in some embodiments, the home mobile platform 100 further includes a first recognition module 111, which can be recognized by the second recognition module 230 of the cleaning robot 200, and after the cleaning robot 200 moves to the home mobile platform 100 according to the recognition result, the first docking structure 130 is used to dock with the second docking structure 220 on the cleaning robot 200 to pre-position the home mobile platform 100 and the cleaning robot 200. In this embodiment, the second recognition module 230 of the cleaning robot 200 can recognize the first recognition module 111 of the home mobile platform 100, so that the specific position of the home mobile platform 100 can be identified, and the cleaning robot 200 can be moved toward the direction of the home mobile platform 100, and then the pre-positioning between the home mobile platform 100 and the cleaning robot 200 is realized by docking the first docking structure 130 with the second docking structure 220. Among them, the first recognition module 111 can be an infrared emission module, a structural feature code, a spray feature code, etc.; the second recognition module 230 can be an infrared receiving module, a laser radar, a camera, etc. Among them, pre-positioning refers to the relative positioning of the cleaning robot 200 and the household mobile platform 100 before they are combined, so as to facilitate the subsequent combination of the platform body 110 of the household mobile platform 100 with the top of the cleaning robot 200.

[0082] Among them, the height difference between the first recognition module 111 and the second recognition module 230 in the vertical direction is -20mm to 20mm. In this way, the signal reception between the first recognition module 111 and the second recognition module 230 is more accurate, which facilitates the cleaning robot 200 to find the home mobile platform 100. Exemplarily, the height difference between the first recognition module 111 and the second recognition module 230 in the vertical direction is 5mm. Of course, in other embodiments, the height difference between the first recognition module 111 and the second recognition module 230 in the vertical direction can also be -10mm, -8mm, -5mm, 1mm, 2mm, 4mm, 7mm, 10mm.

[0083] Combination Fig.13As shown, in some embodiments, the home mobile platform 100 can also dock with the base station 300, the inner side of the mounting mechanism 120 is provided with a first docking structure 130, the outer side of the mounting mechanism 120 is provided with a third docking structure 190, the inner side and the outer side of the mounting mechanism 120 are arranged oppositely, and the third docking structure 190 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. Exemplarily, the third docking structure 190 is a docking slot, and the fourth docking structure 320 is a docking head. Of course, in other embodiments, the third docking structure 190 can also be a docking head, and the fourth docking structure 320 is a docking slot.

[0084] like Figure 1 , Figure 7 and Fig.13 As shown, in some embodiments, the home mobile platform 100 further includes a third identification module 112, which can identify the fourth identification module 310 of the base station 300, so that the home mobile platform 100 moves to the base station 300. Through the setting of the third identification module 112, when the cleaning robot 200 carries the home mobile platform 100 to move, at this time, since the second identification module 230 of the cleaning robot 200 is blocked by the installation mechanism 120 of the home mobile platform 100, it can no longer find the fourth identification module 310 of the base station 300 through the second identification module 230. Therefore, the third identification module 112 of the home mobile platform 100 can cooperate with the fourth identification module 310 of the base station 300, so that the home mobile platform 100 can find the base station 300 that cooperates with it. Among them, the third identification module 112 can be an infrared receiving module, a laser radar, a camera, etc.; the fourth identification module 310 can be an infrared transmitting module, a structural feature code, a spray feature code, etc.

[0085] Among them, the height difference between the third identification module 112 and the fourth identification module 310 in the vertical direction is -20mm to 20mm. In this way, the signal reception between the third identification module 112 and the fourth identification module 310 is more accurate, so as to facilitate the home mobile platform 100 to find the corresponding base station 300. Exemplarily, the height difference between the third identification module 112 and the fourth identification module 310 in the vertical direction is -6mm. Of course, in other embodiments, the height difference between the third identification module 112 and the fourth identification module 310 in the vertical direction can also be -10mm, -8mm, -2mm, 1mm, 3mm, 5mm, 7mm, 10mm.

[0086] like Figure 1 and Figure 2 As shown, in some embodiments, the first recognition module 111 is arranged on the inner side of the mounting mechanism 120, and the third recognition module 112 is arranged on the outer side of the mounting mechanism 120. In this way, the third recognition module 112 is prevented from being blocked after the cleaning robot 200 is docked with the home mobile platform 100, so that the third recognition module 112 is conveniently matched with the fourth recognition module 310, and the home mobile platform 100 is convenient to find the base station 300 that cooperates with it. At the same time, the inner side of the mounting mechanism 120 is concavely curved or matches the outer surface of the cleaning robot 200 close to the second docking structure 220, so that when the cleaning robot 200 is docked with the home mobile platform 100, the contact surface of the two is closer, reducing the occupied space.

[0087] like Figure 1 and Fig. 9 As shown, in some embodiments, the mounting mechanism 120 is formed by extending downward from the bottom of the platform body 110, and the mounting mechanism 120 is arranged at the rear end of the household mobile platform 100. There are two first docking structures 130, which are symmetrically arranged at the mounting mechanism 120. Correspondingly, two second docking structures 220 of the cleaning robot 200 are also arranged, and the two second docking structures 220 are arranged at the rear end of the cleaning robot 200, so that the household mobile platform 100 and the cleaning robot 200 can be docked through their respective rear ends, so as to facilitate the subsequent household mobile platform 100 to drive the cleaning robot 200 forward.

[0088] It should be noted that the front end of the home mobile platform 100 refers to one end of the running direction of normal operation (carrying household items) of the home mobile platform 100 after docking with the cleaning robot 200, and the rear end is the other end opposite to the front end; the front end of the cleaning robot 200 refers to one end of the running direction of normal operation (sweeping or mopping the floor) of the cleaning robot 200, and the rear end is the other end opposite to the front end.

[0089] like Figure 7 and Fig. 9 As shown, in some embodiments, a first coupling member 113 is provided at the bottom or side of the platform body 110, and a second coupling member 211 is provided at the top or side of the cleaning robot 200. The first coupling member 113 is used to be coupled to the second coupling member 211, so that the platform body 110 is located on the top of the cleaning robot 200. In some cases, after the first docking structure 130 is docked with the second docking structure 220, the home mobile platform 100 detects that the docking is successful, and then uses the control device inside the platform body 110 to drive the first coupling member 113 to move downward through the driving device, so that it can extend into the second coupling member 211 of the cleaning robot 200 to couple the two.

[0090] like Figure 7 and Fig. 9 As shown, in some embodiments, a laser radar 250 is provided on the top of the cleaning robot 200, and the mounting mechanism 120 is provided with a light guide groove 122 that runs from the inside to the outside. After the cleaning robot 200 is combined with the home mobile platform 100, the light emitted by the laser radar 250 passes through the light guide groove 122. In this embodiment, the mounting mechanism 120 has an arc surface that is substantially corresponding to the rear end surface of the cleaning robot 200, and the light guide groove 122 extends along the circumference of the mounting mechanism 120 in the horizontal direction and forms an arc; the light guide groove 122 runs through the mounting mechanism 120 and the shape and length of the left and right sides are symmetrical (the axis of symmetry is the front and rear direction along which the home mobile platform 100 moves with the cleaning robot 200 and passes through the center of the home mobile platform 100 or the cleaning robot 200); the position and height of the light guide groove 122 are substantially corresponding to the laser radar 250, for example: the height difference between the upper edge or the lower edge of the light guide groove 122 and the emission source (such as an infrared emission tube) of the laser radar 250 of the cleaning robot 200 is 5mm-50mm. The light guide groove 122 is higher than the first docking structure 130 and higher than the first identification module 111. The circumferential length of the light guide groove 122 accounts for 20%-95% of the circumferential length of the mounting mechanism 120. The angle of the light guide groove 122 extending horizontally along the circumference of the mounting mechanism 120 is 20 degrees to 180 degrees.

[0091] In this embodiment, the first coupling member 113 can be combined with the second coupling member 211, so that the household mobile platform 100 is fixedly connected to the cleaning robot 200. In this way, the cleaning robot 200 drives the household objects to move through the household mobile platform 100, and the household objects can be transferred from one location to another location, or from one room to another room. In this way, the working range of the household objects can be effectively expanded. In addition, the setting of the light guide groove 122 facilitates the light emitted by the laser radar 250 of the cleaning robot 200 to pass through, thereby facilitating navigation of the signal emitted by the laser radar 250.

[0092] For example, the first coupling member 113 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 113 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.

[0093] like Figure 3 and Figure 7As shown, in some embodiments, the home mobile platform 100 also includes a first rechargeable battery, a first charging circuit and a first charging electrode 160. The first charging circuit is connected to the first rechargeable battery, the first charging electrode 160 is connected to the first charging circuit, and the first charging electrode 160 is used to contact the second charging electrode 240 of the cleaning robot 200 to charge the cleaning robot 200 or receive electrical energy from the cleaning robot 200.

[0094] The home mobile platform 100 has a first rechargeable battery, so it can store electric energy. By making the first charging electrode 160 on the home mobile platform 100 and the second charging electrode 240 on the cleaning robot 200 contact, electric energy can be exchanged between the home mobile platform 100 and the cleaning robot 200. 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 160 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 160, and the electric energy is used to power the rechargeable household objects on the home mobile platform 100 (for example: air purifier, humidifier, dehumidifier) ​​or the electronic devices of the home mobile platform 100 itself (for example: obstacle recognition device or cliff detection sensor).

[0095] In some embodiments, the first charging electrode 160 can be arranged in the first docking structure 130, and the second charging electrode 240 can be arranged in the second docking structure 220 of the cleaning robot 200. In this way, the charging electrode and the docking structure can be integrated together, and the first charging electrode 160 and the second charging electrode 240 can be in contact while the first docking structure 130 and the second docking structure 220 are docked, without the need to set up a charging interface separately, and without the need to perform additional power connection. In addition, when the home mobile platform 100 and the cleaning robot 200 are docked and pass through the undulating ground, due to the structural arrangement of the first conductive member 131, the first guide groove 141 and the second guide groove 142, while ensuring that the first docking structure 130 and the second docking structure 220 can be stably connected, it also ensures that the first charging electrode 160 and the second charging electrode 240 can maintain contact, avoiding the occurrence of false connection.

[0096] In some other embodiments, the first charging electrode 160 and the first docking structure 130 can be separately provided, and the second charging electrode 240 and the second docking structure 220 can also be separately provided.

[0097] like Figure 2 and Figure 7As shown, in some embodiments, the first docking structure 130 is a docking joint, and the second docking structure 220 is a docking slot. Exemplarily, the first docking structure 130 is a docking joint protruding from the inner side of the mounting mechanism 120 in the horizontal direction, the first charging electrode piece 160 can be arranged at the bottom of the docking joint, and the second charging electrode piece 240 can be arranged on the inner wall of the docking slot, which can ensure that the first charging electrode piece 160 or the second charging electrode piece 240 is not polluted by dust or water from the outside. When the first docking mechanism 130 is a docking joint and the second docking structure 220 is a docking slot, the height of the docking joint is less than the height of the docking slot, so that the docking joint can move up and down inside and relative to the docking slot.

[0098] Alternatively, in other embodiments, the first docking structure 130 is a docking slot, and the second docking structure 220 is a docking head. In this case, the first charging electrode 160 can be disposed on the inner wall of the docking slot, and the second charging electrode 240 can be disposed on the bottom of the docking head.

[0099] like Figures 9 to 11 As shown, in some embodiments, the home mobile platform 100 further includes: a brake assembly 170, which is arranged on the mounting mechanism 120, and the brake assembly 170 includes a limit seat 172, and the limit seat 172 can be extended relative to the mounting mechanism 120, and when in the extended state, the limit seat 172 abuts against the ground to limit the movement of the movable support structure 150 relative to the ground, and when in the retracted state, the limit seat 172 is separated from the ground, so that the movable support structure 150 can move relative to the ground. In this embodiment, by setting the brake assembly 170, the limit seat 172 on it can abut against the ground, so that it can limit the movement of the movable support structure 150 relative to the ground. In this way, before the home mobile platform 100 is docked with the cleaning robot 200, the limit seat 172 is moved downward and abutted against the ground so that the home mobile platform 100 is stably fixed on the ground, so as to facilitate the cleaning robot 200 to dock with the home mobile platform 100; when the home mobile platform 100 is docked with the cleaning robot 200, the limit seat 172 is moved upward and separated from the ground, so as to facilitate the subsequent cleaning robot 200 to drive the movable support structure 150 to move, thereby moving the home mobile platform 100.

[0100] like Fig. 9As shown, in some embodiments, before the first docking structure 130 docks with the second docking structure on the cleaning robot 200 to pre-position the household mobile platform 100 and the cleaning robot 200, the stopper 172 extends and abuts against the ground, so that the household mobile platform 100 is stably fixed on the ground, so that the cleaning robot 200 and the household mobile platform 100 can dock; after the first docking structure 130 docks with the second docking structure to pre-position, the stopper 172 retracts and leaves the ground. In this way, it is convenient for the cleaning robot 200 to move to drive the movable support structure 150 to move, thereby moving the household mobile platform 100.

[0101] like Fig.11 and Fig.12 As shown, in some embodiments, the brake assembly 170 further includes a brake member 171, which is movable relative to the mounting mechanism 120 and connected to the limit seat 172, so that the limit seat 172 can be extended relative to the mounting mechanism 120; the mounting mechanism 120 is fixed with a guide mechanism 180, the guide mechanism 180 is provided with a first guide portion 181, the brake member 171 is provided with a second guide portion 1711 that cooperates with the first guide portion 181, and the second guide portion 1711 can move in the up-down direction along the first guide portion 181, so that the brake member 171 drives the limit seat 172 to move in the up-down direction. The up-down movement may be an arc up-down movement, an inclined up-down movement, or a vertical up-down movement.

[0102] In this embodiment, by fixing the limit seat 172 at the bottom of the brake member 171, the brake member 171 is movable relative to the mounting mechanism 120, such as moving up and down relative to the mounting mechanism 120, thereby driving the limit seat 172 to abut against the ground or detach from the ground, that is, before the home mobile platform 100 is docked with the cleaning robot 200, the brake member 171 moves downward, thereby driving the limit seat 172 to move downward and abut against the ground, so that the home mobile platform 100 is stably fixed on the ground, thereby facilitating the home mobile platform 100 to dock with the cleaning robot 200; when the home mobile platform 100 is docked with the cleaning robot 200, the brake member 171 moves upward, thereby causing the limit seat 172 to move upward and detach from the ground, thereby facilitating the subsequent cleaning robot 200 to drive the home mobile platform 100 to move. At the same time, by providing the first guide portion 181 on the guide mechanism 180 and providing the second guide portion 1711 on the brake member 171 , the first guide portion 181 cooperates with the second guide portion 1711 to facilitate the brake member 171 to move up and down.

[0103] In the above embodiment, illustratively, the first guide portion 181 is a vertical guide groove 181a, and the second guide portion 1711 is a guide block, that is, a vertical guide groove 181a is provided on the guide mechanism 180, and a guide block is provided on the brake member 171, and the guide block cooperates with the vertical guide groove 181a so that the guide block can move in the vertical guide groove 181a. It should be noted that two vertical guide grooves 181a can be provided at intervals, and correspondingly, two guide blocks are provided at intervals on the brake member 171. Of course, in other embodiments, one or three guide blocks and vertical guide grooves 181a can be provided respectively. By setting the first guide portion 181 as the vertical guide groove 181a, the brake member 171 can move vertically downward or upward.

[0104] In other embodiments, the first guide portion 181 may also be a guide block, and the second guide portion 1711 may be a vertical guide groove 181a.

[0105] like Fig.11 As shown, in some embodiments, the brake assembly 170 further includes a driving member 173 and a linkage mechanism. Specifically, the linkage mechanism is connected to the driving member 173 and moves under the action of the driving member 173, and the linkage mechanism is connected to the brake member 171. When the driving member 173 drives the linkage mechanism to move, the linkage mechanism drives the brake member 171 to move, so that the limiting seat 172 can be extended and retracted relative to the mounting mechanism 120.

[0106] In this embodiment, when the driving member 173 drives the linkage member mechanism to move in the first direction, the linkage member mechanism drives the brake member 171 to extend downward so that the limit seat 172 abuts against the ground, thereby facilitating the docking of the home mobile platform 100 and the cleaning robot 200. When the driving member 173 drives the linkage member mechanism to move in the second direction, the linkage member mechanism drives the brake member 171 to retract upward so that the limit seat 172 is off the ground, thereby facilitating the subsequent cleaning robot 200 to drive the home mobile platform 100 to move.

[0107] Exemplarily, the linkage mechanism includes a first linkage 174 and a second linkage 175. The first linkage 174 is connected to the drive shaft 1731 and rotates under the action of the drive member 173; the second linkage 175 is movably connected to the first linkage 174, and the second linkage 175 is connected to the brake member 171.

[0108] The first direction is opposite to the second direction. Exemplarily, the first direction is counterclockwise, and the second direction is clockwise. Of course, in other embodiments, the first direction may also be clockwise, and the second direction may be counterclockwise.

[0109] like Figure 7As shown, the embodiment of the present application also provides a cleaning robot 200, which can be docked with the home mobile platform 100. The cleaning robot 200 includes a robot body 210 and a second docking structure 220, and the second docking structure 220 is arranged at the rear end of the robot body 210. The second docking structure 220 docks with the first docking structure 130 on the home mobile platform 100 to pre-position the cleaning robot 200 with the home mobile platform 100. The second docking structure 220 docks with the first docking structure 130 to achieve docking between the home mobile platform 100 and the cleaning robot 200.

[0110] It should be noted that the front end refers to one end of the running direction of the cleaning robot 200 in normal operation (sweeping or mopping the floor), and the rear end is the other end opposite to the front end.

[0111] In some embodiments, the cleaning robot 200 further includes a second recognition module 230, which can recognize the first recognition module 111 of the home mobile platform 100 for setting home objects, so that the second docking structure 220 can dock with the first docking structure 130 on the home mobile platform 100. In this embodiment, the second recognition module 230 can recognize the first recognition module 111 of the home mobile platform 100 for setting home objects, so that the cleaning robot 200 can move toward the home mobile platform 100, and then dock with the first docking structure 130 through the second docking structure 220 to achieve a pre-positioned connection between the home mobile platform 100 and the cleaning robot 200. The entire 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 connection and automatic separation of the cleaning robot 200 and the home mobile platform 100 through a terminal device (such as an APP or a remote control), 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, the cleaning robot 200 can conveniently drive the home objects to move through the home mobile platform 100. Among them, the structures of the first recognition module 111 and the second recognition module 230 have been described in detail in the embodiment of the home mobile platform 100, and will not be repeated here.

[0112] An embodiment of the present application further provides a cleaning system, comprising a home mobile platform 100 in any one of the above embodiments and a cleaning robot 200 in any one of the above embodiments, wherein the home mobile platform 100 can be docked with the cleaning robot 200.

[0113] The cleaning system provided in the embodiments of the present application has the household mobile platform 100 and the cleaning robot 200 in any one of the above-mentioned embodiments. Therefore, the cleaning system has all the beneficial effects of the household mobile platform 100 and the cleaning robot 200, which will not be elaborated here.

[0114] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0115] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A household mobile platform capable of docking with a cleaning robot, characterized in that: The home mobile platform includes: The platform body is used to place household items, and a mounting mechanism is provided at the bottom thereof; A movable supporting structure connected to the bottom of the platform body and used to support and drive the platform body to move; A first docking structure, which is arranged on the mounting mechanism, and the first docking structure is used to dock with a second docking structure on the cleaning robot to pre-position the home mobile platform and the cleaning robot; A support member, fixedly mounted on the mounting mechanism, and provided with a first guide groove extending up and down; The first docking structure is provided with a first guide member, and the first guide member can move in the first guide groove so that the first docking structure can move in the up and down directions relative to the mounting mechanism.

2. The home mobile platform according to claim 1, characterized in that: The support member is also provided with a second guide groove extending in a horizontal direction; the first guide member can move in a horizontal direction in the second guide groove.

3. The home mobile platform according to claim 2, characterized in that: The mounting mechanism is also provided with an elastic connection component connected to the first docking structure; when the elastic connection component causes the first docking structure to move in the horizontal direction, the first guide member moves in the horizontal direction in the second guide groove; the elastic connection component includes a connector and an elastic member, the connector is connected to the first docking structure, and the elastic member is arranged between the connector and the support member to provide elastic force to the connector, so that when the first docking structure and the second docking structure are docked and the home mobile platform is combined with the cleaning robot, the elastic member is in a compressed state in the horizontal direction.

4. The home mobile platform according to claim 3, characterized in that: The support member is also provided with a third guide groove, and the connector is provided with a second guide member matched with the third guide groove; When the elastic member pushes the connecting body, the second guiding member can move in the horizontal direction in the third guiding groove, and under the restriction of the third guiding groove, the connecting body cannot move in the up and down direction following the first docking structure.

5. The home mobile platform according to claim 3, characterized in that: The connecting body is provided with a guide column extending in a horizontal direction, and the guide column is connected to the elastic member or sleeved on the elastic member; A cover plate is arranged on a side of the support member facing away from the first docking structure, and a through hole for the guide column to pass through is arranged on the cover plate. The elastic member is arranged between the connector and the cover plate.

6. The home mobile platform according to claim 5, characterized in that: The support member includes two side plates arranged opposite to each other, one end of each side plate away from the first docking structure is respectively connected to the cover plate, and the two side plates and the cover plate define a receiving space, and the elastic connection component is located in the receiving space.

7. The home mobile platform according to claim 6, characterized in that: Each of the side plates is provided with the first guide groove and the second guide groove, and the first connecting member is provided in the direction of the first docking structure toward each of the side plates, and the second guide groove is communicated with the first guide groove.

8. The home mobile platform according to claim 7, characterized in that: The first guide groove is an arc groove or an oblique groove, and the second guide groove is a straight groove, and the end of the straight groove is connected to the end of the arc groove or the oblique groove.

9. The home mobile platform according to any one of claims 1 to 8, characterized in that: The height of the docking portion of the first docking structure is smaller than the height of the docking portion of the second docking structure, so that the first docking structure can move up and down relative to the second docking structure.

10. The home mobile platform according to any one of claims 1 to 8, characterized in that: The home mobile platform also includes a first identification module, which can be identified by the second identification module of the cleaning robot. After the cleaning robot moves to the home mobile platform according to the identification result, the first docking structure is used to dock with the second docking structure on the cleaning robot to pre-position the home mobile platform and the cleaning robot.

11. The home mobile platform according to claim 10, characterized in that: The home mobile platform further includes a third identification module, and the third identification module can identify a fourth identification module of a base station so as to move to the base station.

12. The home mobile platform according to claim 11, characterized in that: The third identification module is arranged on the outside of the mounting mechanism, and the first identification module is arranged on the inside of the mounting mechanism. The inner side of the mounting mechanism is concave arc-shaped or matches the outer surface of the cleaning robot close to the second docking structure; the height difference between the first identification module and the second identification module in the vertical direction is -20mm to 20mm; the height difference between the third identification module and the fourth identification module in the vertical direction is -20mm to 20mm.

13. The home mobile platform according to any one of claims 1 to 8, characterized in that: The mounting mechanism is formed by extending downward from the bottom of the platform body, and is arranged at the rear end of the home mobile platform. The first docking structures have two and are symmetrically arranged on the mounting mechanisms.

14. The home mobile platform according to any one of claims 1 to 8, characterized in that: A first coupling part is provided at the bottom or side of the platform body, and a second coupling part is provided at the top or side of the cleaning robot. The first coupling part is used to be coupled to the second coupling part so that the platform body is located at the top of the cleaning robot. A laser radar is provided at the top of the cleaning robot, and the mounting mechanism is provided with a light guide groove running from the inside to the outside, and the light emitted by the laser radar passes through the light guide groove.

15. The home mobile platform according to any one of claims 1 to 8, characterized in that: The home mobile platform also includes: a brake assembly, which is arranged on the mounting mechanism, and the brake assembly includes a limit seat, which can be extended and retracted relative to the mounting mechanism, and when in the extended state, the limit seat abuts against the ground to limit the movement of the movable support structure relative to the ground. In the retracted state, the limit seat is detached from the ground so that the movable support structure can move relative to the ground.

16. The home mobile platform according to claim 15, characterized in that: Before the first docking structure docks with the second docking structure on the cleaning robot to pre-position the home mobile platform and the cleaning robot, the limit seat extends out and abuts the ground. After the first docking structure docks with the second docking structure to pre-position, the limit seat retracts and leaves the ground.

17. The home mobile platform according to claim 15, characterized in that: The brake assembly also includes a brake member, which is movable relative to the mounting mechanism and connected to the limit seat, so that the limit seat can be extended and retracted relative to the mounting mechanism; a guide mechanism is fixedly provided in the mounting mechanism, and a first guide portion is provided on the guide mechanism, and a second guide portion cooperating with the first guide portion is provided on the brake member, and the second guide portion can move in the up and down directions along the first guide portion, so that the brake member drives the limit seat to move in the up and down directions.

18. The home mobile platform according to claim 17, characterized in that: The brake assembly also includes: Driving parts; a linkage mechanism, which is connected to the driving member and moves under the action of the driving member, and the linkage mechanism is connected to the brake member; When the driving member drives the linkage member mechanism to move, the linkage member mechanism drives the brake member to move, so that the limiting seat can be extended and retracted relative to the installation mechanism.

19. A cleaning robot, characterized in that: Able to dock with the household mobile platform according to any one of claims 1 to 18, the cleaning robot comprising a robot body and a second docking structure, wherein the second docking structure is arranged at the rear end of the robot body; The second docking structure docks with the first docking structure on the home mobile platform to pre-position the cleaning robot with the home mobile platform.

20. A cleaning system, characterized in that: It comprises the home mobile platform described in any one of claims 1 to 18 and the cleaning robot described in claim 19, wherein the home mobile platform can be docked with the cleaning robot.

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