Household mobile platform and cleaning system

Abstract

The utility model discloses a home mobile platform and a cleaning system, and relates to the field of smart home. The household mobile platform comprises a platform body, a movable supporting structure and a brake assembly. The platform body is used for arranging household articles; the movable supporting structure is used for supporting and driving the platform body to move; the brake assembly comprises a limiting seat, the limiting seat can stretch out and draw back relative to the platform body, and in the stretching-out state, the limiting seat can abut against the ground so as to limit movement of the movable supporting structure relative to the ground. According to the household mobile platform provided by the invention, the limiting seat can abut against the ground in the extending state, so that the movable supporting structure can be limited to move relative to the ground, the household mobile platform is stably fixed to the ground, and a mobile robot can be conveniently in butt joint with the household mobile platform; and when the limiting seat is in the retraction state, the limiting seat is separated from the ground, so that the follow-up mobile robot conveniently drives the household mobile platform to move.

Description

Technical Field

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

[0002] As people's living standards improve, more and more household items have entered the home. At present, except for 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 and a cleaning system to solve the problem in the prior art that the home mobile platform is easy to move when docking with the cleaning robot, but it is inconvenient for the two to dock and combine.

[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, which is used to be combined with a mobile robot to move under the drive of the mobile robot; the home mobile platform includes:

[0007] The platform body is used to set up household objects;

[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 brake assembly is arranged on the platform body, and the brake assembly includes a limit seat, which can be extended and retracted relative to the platform body. 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. 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.

[0010] The mobile home platform provided by the present application can be provided with household items that need to be used on the platform body. The household items can be air purifiers, humidifiers, books, cameras, dehumidifiers, aromatherapy devices, and can also be items that may be transferred within the home, such as medicines and water cups commonly used by users, or platforms or cabinets for accommodating them. The mobile home platform can be docked with a mobile robot and combined with the mobile robot. In this way, the mobile robot can drive the household items to move through the mobile home platform. Driven by the mobile robot, 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. In the present application, by providing a brake assembly, the limit seat on it can be extended and retracted relative to the platform body, and when in the extended state, the limit seat can abut against the ground, so that it can limit the movement of the movable support structure relative to the ground. In this way, before the home mobile platform is docked with the mobile robot, the limit seat is moved downward and abutted against the ground so that the home mobile platform is stably positioned on the ground, so as to facilitate the docking of the mobile robot with the home mobile platform; when the home mobile platform is docked with the mobile robot, the home mobile platform is combined with the mobile robot, and the limit seat is retracted to separate the limit seat from the ground, thereby facilitating the subsequent mobile robot to drive the home mobile platform to move.

[0011] In addition, the home mobile platform according to the present application may also have the following additional technical features:

[0012] In one embodiment of the first aspect, the brake assembly further includes a brake member, which is movable relative to the platform body and connected to the limit seat, so that the limit seat can be extended and retracted relative to the platform body.

[0013] In one of the embodiments of the first aspect, a guide mechanism is fixedly provided in the platform body, a first guide portion is provided on the guide mechanism, 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.

[0014] In one embodiment of the first aspect, at least two first guide portions are provided, and at least two first guide portions are symmetrically arranged on the guide mechanism; at least two second guide portions are provided, and at least two second guide portions are symmetrically arranged on the brake member.

[0015] In one embodiment of the first aspect, the first guide portion is a vertical guide groove, and the second guide portion is a guide block; or

[0016] The first guide portion is a guide block, and the second guide portion is a vertical guide groove.

[0017] In one embodiment of the first aspect, the second guide portion is a guide block, the guide mechanism is connected to a stopping mechanism, and the stopping mechanism is used to stop the side wall of the brake member to prevent the brake member from swinging relative to the guide mechanism with the guide block as a fulcrum.

[0018] In one embodiment of the first aspect, the brake assembly further comprises:

[0019] Driving parts;

[0020] 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;

[0021] When the driving member drives the linkage member mechanism to move, the linkage member mechanism drives the brake member to move, so that the limit seat can be extended and retracted relative to the platform body.

[0022] In one embodiment of the first aspect, the linkage mechanism comprises:

[0023] A first linkage member, connected to the driving member and rotating under the action of the driving member;

[0024] A second linkage member is movably connected to the first linkage member, and the second linkage member is connected to the brake member;

[0025] When the driving member drives the first linkage member to rotate along the first direction, the second linkage member moves downward to drive the brake member to move downward, so that the limiting seat extends downward and abuts against the ground;

[0026] When the driving member drives the first linkage member to rotate along the second direction, the second linkage member moves upward to drive the brake member to move upward, so that the limiting seat retracts upward to be off the ground;

[0027] The first direction is opposite to the second direction.

[0028] In one embodiment of the first aspect, a first connecting portion is provided on the first linkage member, and a second connecting portion is provided on the second linkage member, and the first connecting portion cooperates with the second connecting portion so that the first linkage member can drive the second linkage member to rotate;

[0029] The first connection part is a socket, and the second connection part is a pin plugged into the socket, or the first connection part is a pin, and the second connection part is a socket; the pin is plugged into the socket.

[0030] In one embodiment of the first aspect, the driving member includes a driving shaft and a driving motor, the driving motor drives the driving shaft to rotate, and the driving shaft is connected to the linkage mechanism to drive the linkage mechanism to rotate.

[0031] In one embodiment of the first aspect, the brake assembly further includes a detection member, which is disposed on the brake member and moves with the brake member;

[0032] A first detection switch and / or a second detection switch are fixedly disposed in the platform body, and the first detection switch and / or the second detection switch are electrically connected to the control device of the household mobile platform;

[0033] When the first detection switch detects the detection member, the brake member moves to the first preset position, and the control device controls the driving member to stop driving the brake member to move downward;

[0034] When the second detection switch detects the detection member, the brake member moves to the second preset position, and the control device controls the driving member to stop driving the brake member to move upward.

[0035] In one embodiment of the first aspect, the first detection switch and / or the second detection switch is a photoelectric switch, a circuit board is fixedly disposed in the platform body, and the first detection switch and / or the second detection switch is fixedly disposed on the circuit board.

[0036] In one of the embodiments of the first aspect, a main body mechanism is fixedly provided in the platform body, the brake component is retracted and extended inside the main body mechanism, the main body mechanism is provided with a receiving groove, and the detection component moves in the receiving groove; through grooves are provided at both ends of the top of the main body mechanism, the drive motor and the drive shaft are both installed on the top of the main body mechanism and the drive shaft passes through the two through grooves.

[0037] In one embodiment of the first aspect, two brake components are provided, the two brake components are symmetrically arranged on the platform body, and the bottoms of the two brake components are respectively connected to two ends of the limiting seat.

[0038] In one embodiment of the first aspect, the limiting seat is a plate-shaped structure, and a first reinforcing rib and a second reinforcing rib are provided on the top of the limiting seat, and the first reinforcing rib and the second reinforcing rib are arranged crosswise with each other.

[0039] In one of the embodiments of the first aspect, a first positioning structure is provided at the bottom of the brake member, and a second positioning structure is provided at the top of the limiting seat, and the first positioning structure cooperates with the second positioning structure; one of the first positioning structure and the second positioning structure is provided with a positioning portion, and the other is a positioning groove, and the positioning portion is inserted into the positioning groove; at least two first fixing portions are also provided at the bottom of the brake member, and at least two of the first fixing portions are located on opposite sides of the first positioning structure, and at least two second fixing portions are provided on the top of the limiting seat, and the first fixing portion and the second fixing portion are fixed by fasteners.

[0040] In one embodiment of the first aspect, a non-slip structure is provided at the bottom of the limiting seat.

[0041] In one embodiment of the first aspect, the mobile robot is a cleaning robot, and a first docking structure is provided on the platform body for docking with a second docking structure of the cleaning robot. Before the cleaning robot moves to the home mobile platform and docks with the first docking structure through the second docking structure for pre-positioning, the limit seat extends out and abuts the ground. After the second docking structure docks with the first docking structure for pre-positioning, the limit seat retracts and leaves the ground.

[0042] In one embodiment of the first aspect, the mobile robot is a cleaning robot, and a first coupling part is provided at the bottom or side of the platform body, and the first coupling part is used to be coupled to the second coupling part of the cleaning robot, so that the platform body is coupled to the top of the cleaning robot and the cleaning robot drives the household mobile platform to move.

[0043] In a second aspect, the present application also provides a cleaning system, comprising a cleaning robot and the home mobile platform described in any one of the embodiments of the first aspect, wherein the home mobile platform can be combined with the cleaning robot.

[0044] 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. 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

[0045] 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.

[0046] 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;

[0047] Figure 2 Another perspective structural diagram of a home mobile platform provided by an embodiment of the present application is shown;

[0048] Figure 3 A schematic diagram of an assembly structure of a mounting mechanism, a first docking structure, and a brake assembly provided by an embodiment of the present application from a one-view perspective is shown;

[0049] Figure 4 Shows Figure 3 Sectional view along AA direction;

[0050] Figure 5 A partial cross-sectional structural schematic diagram of a home mobile platform provided by an embodiment of the present application;

[0051] Figure 6 A schematic diagram of the assembly structure of the main body mechanism and the brake assembly from one perspective in one embodiment of the present application is shown;

[0052] Figure 7 A schematic diagram of the assembly structure of the main body mechanism and the brake assembly from another perspective in one embodiment of the present application is shown;

[0053] Figure 8 Shows Figure 7 Schematic diagram of the cross-sectional structure of DD;

[0054] Fig. 9 A schematic diagram of the structure of a brake assembly provided by an embodiment of the present application is shown;

[0055] Fig.10 A schematic diagram of the structure of the main body mechanism in one embodiment of the present application is shown;

[0056] Fig.11 Shows Fig.10 Sectional view along CC direction;

[0057] Fig.12 A schematic diagram of the structure of a brake component from one perspective in one embodiment of the present application is shown;

[0058] Fig.13 A schematic diagram of a three-dimensional structure of a limit seat in one embodiment of the present application is shown;

[0059] Fig.14 A schematic diagram of the exploded structure of a brake assembly in one embodiment of the present application is shown;

[0060] Fig.15A 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;

[0061] Fig.16 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;

[0062] Fig.17 Shows Fig.16 Cross-sectional view along the BB direction;

[0063] Fig.18 A partial structural schematic diagram of a support member in one embodiment of the present application is shown;

[0064] Fig.19 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;

[0065] Fig. 20 A schematic diagram of a three-dimensional structure of a mobile robot provided by an embodiment of the present application from a one-view perspective;

[0066] Fig.21 A schematic diagram of a three-dimensional structure of a home mobile platform provided by an embodiment of the present application from another perspective;

[0067] Fig. 22 A schematic diagram of a three-dimensional structure of a base station from a one-view perspective is provided in one embodiment of the present application.

[0068] Description of the main component symbols: 100-home mobile platform; 110-platform body; 1101-first detection switch; 1102-second detection switch; 111-first identification module; 112-third identification module; 113-first combination member; 114-main body; 1141-accommodating groove; 1142-through groove; 120-installation mechanism; 121-elastic connection component; 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-accommodating space; 141-first guide groove; 142-second guide groove; 143-third guide groove; 150-brake assembly ;151-brake member;1511-second guide portion;1512-first fixed portion;1513-first positioning structure;152-limiting seat;1521-anti-slip structure;1522-second fixed portion;1523-first reinforcing rib;1524-second reinforcing rib;1525-second positioning structure;153-driving member;1531-driving shaft;1532-driving motor;154-first linkage member;1541-first connecting portion;155-second linkage member;1551-second connecting portion;156-detecting member;160-guiding mechanism;161-first guiding portion;161a-vertical guide groove;162-stopping mechanism;170-movable supporting structure;171-support leg;172-universal wheel;180-first charging electrode;190-third docking structure;

[0069] 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;

[0070] 300 - base station; 310 - fourth identification module; 320 - fourth docking structure. DETAILED DESCRIPTION

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] The embodiment of the present application provides a home mobile platform 100, which is used to be combined with a mobile robot to move under the drive of the mobile robot. For the convenience of describing the following embodiments, the mobile robot is described by taking a cleaning robot 200 as an example, but the mobile robot is not limited to the cleaning robot 200. The cleaning robot 200 can be a sweeping robot, a mopping robot, or a sweeping and mopping robot.

[0077] like Figure 2 , Figure 3 and Figure 5 As shown, the household mobile platform 100 includes a platform body 110 , a movable support structure 170 and a brake assembly 150 .

[0078] 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.

[0079] The movable support structure 170 is connected to the bottom of the platform body 110 , and the movable support structure 170 is used to support and drive the platform body 110 to move.

[0080] In some embodiments, the movable support structure 170 may include a roller mechanism, a belt sliding mechanism. Figure 1 , Figure 2 As shown, the movable support structure 170 may specifically include a support leg 171 and a universal wheel 172 located at the end of the support leg 171; there are four movable support structures 170, 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.

[0081] The brake assembly 150 is disposed on the platform body 110, and the brake assembly 150 includes a limit seat 152. The limit seat 152 can be extended and retracted relative to the platform body 110, and when in the extended state, the limit seat 152 can abut against the ground to limit the movement of the movable support structure 170 relative to the ground. When in the retracted state, the limit seat 152 is separated from the ground so that the movable support structure 170 can move relative to the ground.

[0082] The home mobile platform 100 provided in the present application can be provided with home objects with mobile use requirements on its platform body 110. Home objects 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. The home mobile platform 100 can be docked with the cleaning robot 200. In this way, the cleaning robot 200 can drive the home objects to move through the home mobile platform 100. Driven by the cleaning robot 200, home objects can be transferred from one position to another, or from one room to another room. In this way, the working range of home objects can be effectively expanded. In the present application, by setting a brake assembly 150, the limit seat 152 thereon can be telescopic relative to the platform body 110, and when in the extended state, the limit seat 152 can abut against the ground, so that it can limit the movement of the movable support structure 170 relative to the ground. In this way, before the home mobile platform 100 is docked with the cleaning robot 200, the limit seat 152 is in contact with the ground, so that the home mobile platform 100 is stably fixed on the ground, so that the cleaning robot 200 can dock with the home mobile platform 100; when the home mobile platform 100 is docked with the cleaning robot 200, the limit seat 152 is retracted. At this time, the limit seat 152 is in a retracted state, so that the limit seat 152 is separated from the ground, and the movable support structure 170 can move relative to the ground, thereby facilitating the subsequent cleaning robot 200 to drive the home mobile platform 100 to move.

[0083] like Figures 7 to 9 As shown, in some embodiments, the brake assembly 150 further includes a brake member 151 , which is movable relative to the platform body 110 and connected to the limit seat 152 , so that the limit seat 152 can be extended and retracted relative to the platform body 110 . In this embodiment, the limit seat 152 is fixed to the bottom of the brake member 151, and the brake member 151 moves relative to the platform body 110, for example, the brake member 151 moves up and down relative to the platform body 110, so that the limit seat 152 is extended and retracted relative to the platform body 110, thereby driving the limit seat 152 to abut against the ground or leave the ground, that is, before the home mobile platform 100 is docked with the cleaning robot 200, the brake member 151 moves downward, thereby driving the limit seat 152 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 151 moves upward, thereby causing the limit seat 152 to move upward and leave the ground, thereby facilitating the subsequent cleaning robot 200 to drive the home mobile platform 100 to move. The up and down direction movement may be an arc up and down movement, an inclined up and down movement, or a vertical up and down movement.

[0084] like Figure 8 , Fig.10 and Fig.11 As shown, in some embodiments, a guide mechanism 160 is fixedly provided in the platform body 110. For example, a first guide portion 161 is provided on the guide mechanism 160, and a second guide portion 1511 cooperating with the first guide portion 161 is provided on the brake member 151. The second guide portion 1511 can move in the up-down direction along the first guide portion 161, so that the brake member 151 drives the limit seat 152 to move in the up-down direction. In this embodiment, by providing the guide mechanism 160, the brake member 151 can move up and down along the guide mechanism 160 to drive the limit seat 152 to move up and down. In this way, the guide mechanism 160 cooperates with the brake member 151 to facilitate the movement of the brake member 151, so that the brake member 151 moves more stably relative to the platform body 110. At the same time, by providing the first guide portion 161 on the guide mechanism 160 and providing the second guide portion 1511 on the brake member 151, the first guide portion 161 cooperates with the second guide portion 1511 to facilitate the movement of the brake member 151.

[0085] like Fig. 9 , Fig.11 As shown, in some embodiments, at least two first guide portions 161 are provided, and at least two first guide portions 161 are symmetrically arranged on the guide mechanism 160; at least two second guide portions 1511 are provided, and at least two second guide portions 1511 are symmetrically arranged on the brake member 151. In this way, it is more stable when the guide mechanism 160 and the brake member 151 are moved and matched. Exemplarily, two first guide portions 161 are provided, and two second guide portions 1511 are also provided, and the two first guide portions 161 are symmetrically arranged on the guide mechanism 160, and the two second guide portions 1511 are symmetrically arranged on the brake member 151. Of course, in other embodiments, the first guide portion 161 and the second guide portion 1511 can also be provided with one, three, four, five, etc., respectively, which will not be listed here.

[0086] like Fig.11 As shown, in some embodiments, illustratively, the first guide portion 161 is a vertical guide groove 161a, and the second guide portion 1511 is a guide block, that is, a vertical guide groove 161a is provided on the guide mechanism 160, and a guide block is provided on the brake member 151, and the guide block cooperates with the vertical guide groove 161a so that the guide block can move in the vertical guide groove 161a. It should be noted that two vertical guide grooves 161a can be provided at intervals, and correspondingly, two guide blocks are provided at intervals on the brake member 151. Of course, in other embodiments, the guide block and the vertical guide groove 161a can also be provided with one, three, four, etc. respectively. By setting the first guide portion 161 as the vertical guide groove 161a, the brake member 151 can move vertically downward or upward.

[0087] In other embodiments, the first guide portion 161 may also be a guide block, and the second guide portion 1511 may also be a vertical guide groove 161a.

[0088] like Figure 8 , Fig. 9 As shown, in some embodiments, the second guide portion 1511 is a guide block, and the guide mechanism 160 is connected to a stop mechanism 162, which is used to stop the side wall of the brake member 151 to prevent the brake member 151 from swinging relative to the guide mechanism 160 with the second guide portion 1511 (guide block) as a fulcrum. That is, under the limiting action of the stop mechanism 162, the guide block can only move up and down with the vertical guide groove 161a, that is, the brake member 151 can only move up and down, and the brake member 151 is prevented from swinging in the horizontal direction. In this way, when the limit seat 152 abuts against the ground, it is also prevented from swinging in the horizontal direction, resulting in the failure to brake the home mobile platform 100 well.

[0089] Exemplarily, both ends of the guide mechanism 160 are connected to a stopping mechanism 162, which is a vertical stop block symmetrically connected to the guide mechanism 160. Both ends of the guide mechanism 160 are provided with a vertical stop block, and the vertical stop blocks can be fitted on two opposite side walls of the brake member 151.

[0090] like Fig. 9 and Fig.14 As shown, in some embodiments, the brake assembly 150 further includes a driving member 153 and a linkage mechanism. Specifically, the linkage mechanism is connected to the driving member 153 and moves under the action of the driving member 153, and the linkage mechanism is connected to the brake member 151. When the driving member 153 drives the linkage mechanism to move, the linkage mechanism drives the brake member 151 to move, so that the limit seat 152 can be extended and retracted relative to the platform body 110.

[0091] In this embodiment, when the driving member 153 drives the linkage member mechanism to move in the first direction, the linkage member mechanism drives the brake member 151 to move downward, so that the limit seat 152 moves downward and abuts against the ground, thereby facilitating the docking of the home mobile platform 100 and the cleaning robot 200. When the driving member 153 drives the linkage member mechanism to move in the second direction, the linkage member mechanism drives the brake member 151 to move upward, so that the limit seat 152 moves upward and leaves the ground, thereby facilitating the subsequent cleaning robot 200 to drive the home mobile platform 100 to move.

[0092] like Fig. 9 and Fig.14As shown, illustratively, the linkage mechanism includes a first linkage 154 and a second linkage 155. The first linkage 154 is connected to the driving member 153 and rotates under the action of the driving member 153; the second linkage 155 is movably connected to the first linkage 154, and the second linkage 155 is connected to the brake member 151.

[0093] In this way, when the driving member 153 drives the first linkage member 154 to rotate along the first direction, the second linkage member 155 moves downward to drive the brake member 151 to extend downward so that the limit seat 152 abuts against the ground, thereby facilitating the docking of the home mobile platform 100 and the cleaning robot 200.

[0094] When the driving member 153 drives the first linkage member 154 to rotate along the second direction, the second linkage member 155 moves upward to drive the brake member 151 to retract upward to make the limiting seat 152 leave the ground, thereby facilitating the subsequent cleaning robot 200 to drive the home mobile platform 100 to move.

[0095] 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.

[0096] like Figure 8 and Fig. 9 As shown, in some embodiments, the first linkage member 154 is provided with a first connection portion 1541, and the second linkage member 155 is provided with a second connection portion 1551, and the first connection portion 1541 cooperates with the second connection portion 1551 so that the first linkage member 154 can drive the second linkage member 155 to rotate. The first connection portion 1541 cooperates with the second connection portion 1551 to realize the active connection between the first linkage member 154 and the second linkage member 155, so that the second linkage member 155 can be driven to rotate when the first linkage member 154 rotates.

[0097] Continue reading Figure 8 As shown, in the above embodiment, illustratively, the first connection part 1541 is a socket, and the second connection part 1551 is a pin plugged into the socket, and the pin moves along the socket and can abut against the inner wall of the end of the socket, so that the first linkage member 154 drives the second linkage member 155 to rotate. The structure of the socket and the pin is simple and easy to manufacture.

[0098] Of course, in other embodiments, the first connection portion 1541 may also be a plug, and the second connection portion 1551 may be a socket, and the plug is plugged into the socket.

[0099] like Fig. 9As shown, in some embodiments, the driving member 153 includes a driving shaft 1531 and a driving motor 1532. The driving motor 1532 drives the driving shaft 1531 to rotate, and the driving shaft 1531 is connected to the linkage mechanism to drive the linkage mechanism to move. The driving shaft 1531 is connected to the linkage mechanism, so that the driving shaft 1531 rotates under the action of the driving motor 1532, thereby driving the linkage mechanism to rotate.

[0100] In some embodiments, the first linkage 154 is a swing arm, and the second linkage 155 is also a swing arm. The driving shaft 1531 drives the first linkage 154 to swing, and drives the second linkage 155 to swing through the first linkage 154. The second linkage 155 drives the brake member 151 to move. The second guide portion 1511 (also known as the guide block) of the brake member 151 cooperates with the first guide portion 161 (vertical guide groove) of the guide mechanism 160, so that the brake member 151 can only move up and down in the vertical direction.

[0101] In other embodiments, the first linkage member 154 may also be a driving gear, and the second linkage member 155 may be a rack. The driving gear rotates to drive the rack to move in the vertical direction, thereby driving the brake member 151 to move in the vertical direction. Exemplarily, the first linkage member 154 may also be a screw rod, and the second linkage member 155 may be a sleeve that cooperates with the screw rod. The structural forms of the first linkage member 154 and the second linkage member 155 are not limited to this.

[0102] like Fig. 9 and Fig.12 As shown, in some embodiments, the brake assembly 150 also includes a detection member 156, and the detection member 156 is disposed on the brake member 151 and moves with the brake member 151. When the brake member 151 moves in the up and down directions, the detection member 156 also moves with the brake member 151. Exemplarily, the detection member 156 and the brake member 151 can be integrally formed. Of course, in other embodiments, the detection member 156 and the brake member 151 can also be two components, which are fixedly connected by screws or clamping, welding, bonding, etc.

[0103] A first detection switch 1101 and / or a second detection switch 1102 are fixedly disposed in the platform body 110, and the first detection switch 1101 and / or the second detection switch 1102 are electrically connected to the control device of the home mobile platform 100;

[0104] When the first detection switch 1101 detects the detection member 156, at this time, the brake member 151 moves to the first preset position, and the control device of the home mobile platform 100 controls the driving member 153 to stop driving the brake member 151 to move downward, and the brake member 151 has been extended into place.

[0105] When the second detection switch 1102 detects the detection member 156, the brake member 151 moves to the second preset position, and the control device of the home mobile platform 100 controls the driving member 153 to stop driving the brake member 151 to move upward, and the brake member 151 has retracted into place.

[0106] In one embodiment, a first detection switch 1101 is fixedly disposed in the platform body 110 .

[0107] In another embodiment, a second detection switch 1102 is fixedly disposed in the platform body 110 .

[0108] Exemplarily, a first detection switch 1101 and a second detection switch 1102 are fixedly provided in the platform body 110. Specifically, when the first detection switch 1101 detects the detection member 156, the detection member 156 has moved to the position of the first detection switch 1101, and at this time, the brake member 151 has braked in place (the limit seat 152 is in close contact with the ground), and the first detection switch 1101 transmits the information to the control device of the home mobile platform 100, so that the control device controls the driving member 153 to stop rotating, that is, the brake member 151 stops moving downward; when the second detection switch 1102 detects the detection member 156, the detection member 156 has moved to the position of the second detection switch 1102, and at this time, the brake member 151 has retracted into the platform body 110 and retracted into place, and the second detection switch 1102 transmits the information to the control device of the home mobile platform 100, and the control device controls the driving member 153 to stop working, so that the brake member 151 stops moving upward.

[0109] It should be noted that the second detection switch 1102 is higher than the first detection switch 1101 , and the second detection switch 1102 is arranged opposite to the first detection switch 1101 .

[0110] Exemplarily, the first detection switch 1101 and / or the second detection switch 1102 are photoelectric switches, a circuit board is fixedly provided in the platform body 110, and the first detection switch 1101 and / or the second detection switch 1102 are fixedly provided on the circuit board. Of course, in other embodiments, the first detection switch 1101 and / or the second detection switch 1102 may also be a micro switch; or one of the first detection switch 1101 and the second detection switch 1102 is a micro switch and the other is a photoelectric switch; the specific structure of the detection switch is not limited.

[0111] like Figures 6 to 8As shown, in some embodiments, a main body 114 is fixedly provided in the platform body 110, the brake member 151 is extended and retracted inside the main body 114, the main body 114 is provided with a receiving groove 1141, and the detection member 156 moves in the receiving groove 1141; through grooves 1142 are provided at both ends of the top of the main body 114, the driving motor 1532 and the driving shaft 1531 are both installed on the top of the main body 114, and the driving shaft 1531 passes through the two through grooves 1142. In this way, the brake member 151 can be extended and retracted in the main body 114, and the brake member 151 is prevented from interfering with other components in the platform body 110 when extending and retracting, thereby improving the stability of the brake assembly 150 during the overall activity process. Optionally, the guide mechanism 160 is provided in the main body 114. In a specific embodiment, the guide mechanism 160 can also be a component structure of the main body 114.

[0112] like Figure 7 , Fig. 9 As shown, in some embodiments, two brake members 151 are provided, and the two brake members 151 are symmetrically arranged on the platform body 110, and the bottoms of the two brake members 151 are connected to the limit seat 152. In this way, the connection between the brake member 151 and the limit seat 152 is more stable. At the same time, the bottoms of the two brake members 151 apply pressure to the limit seat 152, so that the bottom of the limit seat 152 is more closely in contact with the ground, ensuring that the home mobile platform 100 can be stably fixed on the ground, so as to facilitate the docking of the home mobile platform 100 with the cleaning robot 200. Two first linkage members 154 and two second linkage members 155 are also provided accordingly. In this way, the two ends of the driving shaft 1531 are respectively connected to the first linkage member 154, so that when the driving shaft 1531 rotates, the two first linkage members 154 are driven to rotate, thereby driving the two second linkage members 155 to rotate, so that the two brake members 151 move in the up and down directions.

[0113] like Fig.13 As shown, in some embodiments, the limiting seat 152 is a plate-like structure, and a first reinforcing rib 1523 and a second reinforcing rib 1524 are disposed on the top of the limiting seat 152, and the first reinforcing rib 1523 and the second reinforcing rib 1524 are disposed crosswise. In this way, the overall structural strength of the limiting seat 152 is improved by the crosswise arrangement of the first reinforcing rib 1523 and the second reinforcing rib 1524, so that the limiting seat 152 is more reliable when it abuts against the ground.

[0114] like Figure 4 and Fig.14As shown, in other embodiments, illustratively, the bottom of the limiting seat 152 is provided with an anti-skid structure 1521. The anti-skid structure 1521 can be an anti-skid pattern, or a plurality of protrusions, etc. In this way, the friction between the bottom of the limiting seat 152 and the ground can be increased, so that the home mobile platform 100 can be stably fixed on the ground.

[0115] In some other embodiments, the bottom of the limit seat 152 is made of soft material, for example, the limit seat 152 is made of soft rubber in one piece, so that the bottom of the limit seat 152 has a certain elasticity, thereby increasing the contact area between it and the ground, and also increasing the friction between the bottom of the limit seat 152 and the ground, so that the home mobile platform 100 can be stably fixed on the ground.

[0116] like Fig.12 and Fig.13 As shown, in some embodiments, the bottom of the brake member 151 is provided with a first positioning structure 1513, and the top of the limiting seat 152 is provided with a second positioning structure 1525, and the first positioning structure 1513 and the second positioning structure 1525 cooperate with each other; one of the first positioning structure 1513 and the second positioning structure 1525 is provided with a positioning portion, and the other is a positioning groove, and the positioning portion is inserted into the positioning groove; the bottom of the brake member 151 is also provided with at least two first fixing portions 1512, and the at least two first fixing portions 1512 are located on opposite sides of the first positioning structure 1513, and the top of the limiting seat 152 is provided with at least two second fixing portions 1522, and the at least two second fixing portions 1522 are located on opposite sides of the second positioning structure 1525. The first fixing portion 1512 and the second fixing portion 1522 are fixedly connected by fasteners. In this way, when the brake component 151 and the limit seat 152 are assembled, they are first positioned by matching with the first positioning structure 1513 and the second positioning structure 1525, that is, the positioning part and the positioning groove are inserted and positioned, and then the first fixing part 1512 and the second fixing part 1522 are fixedly connected by fasteners, which facilitates the assembly of the brake component 151 and the limit seat 152.

[0117] In one embodiment, illustratively, the first positioning structure 1513 is a positioning portion, the second positioning structure 1525 is a positioning groove, the first fixing portion 1512 and the second fixing portion 1522 are both two and are connecting holes, and the fastener is a locking screw.

[0118] In another embodiment, illustratively, the first positioning structure 1513 is a positioning groove, the second positioning structure 1525 is a positioning portion, the first fixing portion 1512 and the second fixing portion 1522 are both two and are connecting holes, and the fastener is a locking screw.

[0119] Of course, in other embodiments, the number of the first fixing portion 1512 and the second fixing portion 1522 may also be three, four, five, etc. The fasteners may also be rivets or adhesives.

[0120] like Fig. 20 and Fig.21 As shown, in some embodiments, the mobile robot is a cleaning robot 200, and a first docking structure 130 is provided on the platform body 110. The first docking structure 130 is used to dock with the second docking structure 220 of the cleaning robot 200. Before the cleaning robot 200 moves to the home mobile platform 100 and docks with the first docking structure 130 through the second docking structure 220 for pre-positioning, the limit seat 152 extends and abuts against the ground. After the second docking structure 220 docks with the first docking structure 130 for pre-positioning, the limit seat 152 retracts and leaves the ground. In this embodiment, in order to facilitate the docking of the cleaning robot 200 with the home mobile platform 100; after the first docking structure 130 docks with the second docking structure 220 for pre-positioning, the limit seat 152 retracts and leaves the ground. In this way, it is convenient for the cleaning robot 200 to move to drive the movable support structure 170 to move, thereby moving the home mobile platform 100. 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.

[0121] like Fig. 20 and Fig.21 As shown, in some embodiments, the mobile robot is a cleaning robot 200, and a first coupling member 113 is provided at the bottom or side of the platform body 110, and the first coupling member 113 is used to be coupled to the second coupling member 211 of the cleaning robot 200, so that the platform body 110 is coupled to the top of the cleaning robot 200 and the cleaning robot 200 drives the household mobile platform 100 to move. 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 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 the second coupling member 211 of the cleaning robot 200 can be extended to combine the two.

[0122] like Fig. 20 , Fig.21As shown, the platform body 110 includes a mounting mechanism 120 arranged at the bottom thereof, 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 running 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 arcuate surface that basically corresponds to the rear end surface of the cleaning robot 200, and the light guide groove 122 extends in the horizontal direction along the circumference of the mounting mechanism 120 and forms an arc; the light guide groove 122 runs through the mounting mechanism 120 and the left and right sides are symmetrical in shape and length (the axis of symmetry is along the front and back direction of the home mobile platform 100 moving 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 basically correspond to the laser radar, for example: the height difference between the upper edge or lower edge of the light guide groove 122 and the emission source (such as an infrared transmitting tube) of the laser radar 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. The angle of the light guide groove 122 extending horizontally along the circumference of the mounting mechanism 120 is 20 degrees to 180 degrees.

[0123] 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.

[0124] 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.

[0125] like Figure 2 and Fig.15As shown, in some embodiments, the household mobile platform 100 further includes a first docking structure 130 and a support member 140. The platform body 110 includes a mounting mechanism 120 disposed at the bottom thereof; the first docking structure 130 is disposed 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 household mobile platform 100 and the cleaning robot 200. The support member 140 is fixedly disposed on 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.

[0126] In this embodiment, 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-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 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.

[0127] In some embodiments, Figure 4 As shown, the brake assembly 150 is arranged on the mounting mechanism 120, and the brake member 151 is movable relative to the mounting mechanism 120 and connected to the limit seat 152, so that the limit seat 152 can be extended and retracted relative to the mounting mechanism 120; a guide mechanism 160 is fixedly arranged in the mounting mechanism 120.

[0128] like Fig.16 , Fig.18 and Fig.19 As shown, 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.

[0129] In some embodiments, Fig.16 , Fig.17As 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.

[0130] 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 / or 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.

[0131] like Fig.16 and Fig.17 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.

[0132] 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 113 of the home mobile platform 100 extends downward into the second coupling member 211 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, and 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.

[0133] like Fig.17As shown, in some embodiments, the support member 140 is further 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.

[0134] like Fig.18 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.

[0135] Combination Fig.17 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.

[0136] like Fig.17 and Fig.18 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.

[0137] In the embodiment of the 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.

[0138] like Fig.19 As shown, of course, in other embodiments, 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, and correspondingly, the first docking structure 130 is provided with two first guide members 131 in the direction of the side plate 1402, so that the first docking structure 130 is more stable when moving in the horizontal direction or the up and down direction.

[0139] like Fig.15 , Fig.16 and Fig.18 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, and the straight groove is connected to the arc 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.

[0140] 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 .

[0141] like Figure 2 and Fig. 20As 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.

[0142] In the above embodiment, the height difference between the first recognition module 111 and the second recognition module 230 in the vertical direction is -10mm to 10mm. 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.

[0143] 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 relative to each other, and the third docking structure 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 300 or a dust collection base station with a charging function. Exemplarily, the third docking structure 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.

[0144] Combination Figure 1 , Fig. 20 and Fig. 22 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.

[0145] In the above embodiment, the height difference between the third identification module 112 and the fourth identification module 310 in the vertical direction is -10mm to 10mm. In this way, the signal reception between the third identification module 112 and the fourth identification module 310 is more accurate, thereby facilitating 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 may also be -10mm, -8mm, -2mm, 1mm, 3mm, 5mm, 7mm, 10mm.

[0146] 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 adjacent 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.

[0147] like Figure 1 and Fig.21As 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.

[0148] 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.

[0149] like Fig.15 and Fig. 20 As shown, in some embodiments, the home mobile platform 100 also includes a first rechargeable battery, a first charging circuit and a first charging electrode 180. The first charging circuit is connected to the first rechargeable battery, the first charging electrode 180 is connected to the first charging circuit, and the first charging electrode 180 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.

[0150] The home mobile platform 100 has a first rechargeable battery, so it can store electric energy. By making the first charging electrode 180 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 180 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 180, 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).

[0151] In some embodiments, the first charging electrode 180 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 180 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 180 and the second charging electrode 240 can maintain contact, avoiding the occurrence of false connection.

[0152] In other embodiments, the first charging electrode 180 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.

[0153] like Figure 2 and Fig.19 As 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 180 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 180 or the second charging electrode piece 240 is not polluted by dust or water from the outside. When the first docking structure 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.

[0154] 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 180 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.

[0155] like Fig. 20As 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 on one side 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.

[0156] 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.

[0157] An embodiment of the present application further provides a cleaning system, comprising the cleaning robot 200 in any one of the above embodiments and the home mobile platform 100 in any one of the above embodiments, and the home mobile platform 100 can be combined with the cleaning robot 200.

[0158] 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.

[0159] 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.

[0160] 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 home mobile platform, characterized in that: The home mobile platform is used to be combined with a mobile robot to move under the drive of the mobile robot; The home mobile platform includes: The platform body is used to set up household items; A movable supporting structure connected to the bottom of the platform body and used to support and drive the platform body to move; A brake assembly is arranged on the platform body, and the brake assembly includes a limit seat, which can be extended and retracted relative to the platform body. 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. 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.

2. The home mobile platform according to claim 1, characterized in that: The brake assembly also includes a brake member, which is movable relative to the platform body and connected to the limit seat, so that the limit seat can be telescoped relative to the platform body.

3. The home mobile platform according to claim 2, characterized in that: A guide mechanism is fixed in the platform body, a first guide portion is arranged on the guide mechanism, a second guide portion cooperating with the first guide portion is arranged on the brake member, and the second guide portion can move in the up and down direction along the first guide portion so that the brake member drives the limit seat to move in the up and down direction.

4. The home mobile platform according to claim 3, characterized in that: There are at least two first guide parts, and at least two of them are symmetrically arranged on the guide mechanism; there are at least two second guide parts, and at least two of them are symmetrically arranged on the brake member.

5. The home mobile platform according to claim 3, characterized in that: The first guide portion is a vertical guide groove, and the second guide portion is a guide block; or The first guide portion is a guide block, and the second guide portion is a vertical guide groove.

6. The home mobile platform according to claim 3, characterized in that: The second guide portion is a guide block. The guide mechanism is connected to a stopping mechanism, and the stopping mechanism is used to stop the side wall of the brake member to prevent the brake member from swinging relative to the guide mechanism with the guide block as a fulcrum.

7. The home mobile platform according to any one of claims 2 to 6, 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 limit seat can be extended and retracted relative to the platform body.

8. The home mobile platform according to claim 7, characterized in that: The linkage mechanism comprises: A first linkage member, connected to the driving member and rotating under the action of the driving member; A second linkage member is movably connected to the first linkage member, and the second linkage member is connected to the brake member; When the driving member drives the first linkage member to rotate along the first direction, the second linkage member moves downward to drive the brake member to move downward, so that the limiting seat extends downward and abuts against the ground; When the driving member drives the first linkage member to rotate along the second direction, the second linkage member moves upward to drive the brake member to move upward, so that the limiting seat retracts upward to be off the ground; The first direction is opposite to the second direction.

9. The home mobile platform according to claim 8, characterized in that: A first connecting part is provided on the first linkage member, and a second connecting part is provided on the second linkage member. The first connecting part cooperates with the second connecting part so that the first linkage member can drive the second linkage member to rotate; the first connecting part is a socket, and the second connecting part is a pin plugged into the socket, or the first connecting part is a pin, and the second connecting part is a socket; the pin is plugged into the socket.

10. The home mobile platform according to claim 7, characterized in that: The driving member includes a driving shaft and a driving motor. The driving motor drives the driving shaft to rotate. The driving shaft is connected to the linkage mechanism to drive the linkage mechanism to move.

11. The home mobile platform according to claim 10, characterized in that: The brake assembly further includes a detection member, which is disposed on the brake member and moves with the brake member; A first detection switch and / or a second detection switch are fixedly disposed in the platform body, and the first detection switch and / or the second detection switch are electrically connected to the control device of the household mobile platform; When the first detection switch detects the detection member, the brake member moves to the first preset position, and the control device controls the driving member to stop driving the brake member to move downward; When the second detection switch detects the detection member, the brake member moves to the second preset position, and the control device controls the driving member to stop driving the brake member to move upward.

12. The home mobile platform according to claim 11, characterized in that: The first detection switch and / or the second detection switch is a photoelectric switch. A circuit board is fixedly arranged in the platform body, and the first detection switch and / or the second detection switch is fixedly arranged on the circuit board.

13. The home mobile platform according to claim 11, characterized in that: A main body is fixedly provided in the platform body, the brake component is retracted and extended inside the main body, the main body is provided with a receiving groove, and the detection component moves in the receiving groove; through grooves are provided at both ends of the top of the main body, the drive motor and the drive shaft are both installed on the top of the main body and the drive shaft passes through the two through grooves.

14. The home mobile platform according to any one of claims 2 to 6, characterized in that: The two brake components are provided with two brake components, which are symmetrically arranged on the platform body, and the bottoms of the two brake components are respectively connected to the two ends of the limiting seat.

15. The home mobile platform according to claim 14, characterized in that: The limiting seat is a plate-shaped structure, and a first reinforcing rib and a second reinforcing rib are arranged on the top of the limiting seat, and the first reinforcing rib and the second reinforcing rib are arranged to cross each other.

16. The home mobile platform according to any one of claims 2 to 6, characterized in that: A first positioning structure is provided at the bottom of the brake member, and a second positioning structure is provided at the top of the limiting seat, and the first positioning structure cooperates with the second positioning structure; one of the first positioning structure and the second positioning structure is provided with a positioning portion, and the other is a positioning groove, and the positioning portion is inserted into the positioning groove; at least two first fixing portions are also provided at the bottom of the brake member, and at least two of the first fixing portions are located on opposite sides of the first positioning structure; at least two second fixing portions are provided on the top of the limiting seat, and the first fixing portion and the second fixing portion are fixedly connected by fasteners.

17. The home mobile platform according to any one of claims 1 to 6, characterized in that: The bottom of the limiting seat is provided with an anti-slip structure.

18. The home mobile platform according to any one of claims 1 to 6, characterized in that: The mobile robot is a cleaning robot, and a first docking structure is provided on the platform body for docking with a second docking structure of the cleaning robot. Before the cleaning robot moves to the home mobile platform and docks with the first docking structure through the second docking structure for pre-positioning, the limit seat extends out and abuts the ground. After the second docking structure docks with the first docking structure for pre-positioning, the limit seat retracts and leaves the ground.

19. The home mobile platform according to any one of claims 1 to 6, characterized in that: The mobile robot is a cleaning robot, and a first coupling part is provided at the bottom or side of the platform body, and the first coupling part is used to be coupled to the second coupling part of the cleaning robot, so that the platform body is coupled to the top of the cleaning robot and the cleaning robot drives the household mobile platform to move.

20. A cleaning system, characterized in that: The invention comprises a cleaning robot and a household mobile platform according to any one of claims 1 to 19, wherein the household mobile platform can be combined with the cleaning robot.

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