Intelligent object carrying device and cleaning system

Abstract

The utility model is suitable for the technical field of cleaning equipment, and provides an intelligent object carrying device and a cleaning system.The intelligent object carrying device comprises a bearing platform and a movable supporting structure connected to the bottom of the bearing platform and used for supporting the bearing platform; the movable supporting structure comprises supporting legs and roller structures located at the bottoms of the supporting legs. A detection device and a force transmission structure are arranged in the supporting leg, the roller structure abuts against one end of the force transmission structure, and the other end of the force transmission structure abuts against the detection device so as to detect the pressure of the force transmission structure abutting against the detection device; according to the intelligent object carrying device, the detection device and the force transmission structure are arranged on the intelligent object carrying device, the force transmission structure is connected with the rolling wheel structure to support the bearing platform, and the force borne on the force transmission structure is detected through the detection device, so that the force detected by the detection device is compared with the preset threshold value; therefore, the damage to the intelligent loading device caused by overweight loading on the bearing platform is reduced.

Description

Technical Field

[0001] This application belongs to the technical field of cleaning equipment, and particularly relates to an intelligent load-carrying device and a cleaning system. Background Art

[0002] A cleaning robot is a type of intelligent household appliance that can automatically complete floor cleaning work in a room based on a preset program and map. Currently, common cleaning robots usually only have functions such as sucking, sweeping, and wiping of garbage and sundries to complete basic floor cleaning. To enable the cleaning robot to enter narrow spaces such as under a table or under a bed, the volume of the cleaning robot should not be too large, and it is difficult for a small-sized cleaning robot to integrate more functions (such as a spray dust suppression function, a fragrance function, etc.). Summary of the Utility Model

[0003] In view of the above problems, this application provides an intelligent load-carrying device and a cleaning system, which can alleviate the contradiction between the need for the cleaning robot to enter narrow spaces and the need for multiple functions.

[0004] In a first aspect, an embodiment of this application provides an intelligent load-carrying device, including:

[0005] A carrying platform and a movable support structure connected to the bottom of the carrying platform and used to support the carrying platform;

[0006] The carrying platform is used to carry various household items of different weights;

[0007] The movable support structure includes legs and a roller structure located at the bottom of the legs;

[0008] Detection devices and force transmission structures are provided inside the legs. The roller structure abuts against one end of the force transmission structure to transmit the gravity of the household items borne by the roller structure to the force transmission structure, and the other end of the force transmission structure abuts against the detection device to detect the pressure of the force transmission structure against the detection device.

[0009] The technical solution of this embodiment provides an intelligent load-carrying device. Detection devices and force transmission structures are provided on the legs of the movable support structure of the intelligent load-carrying device. The force transmission structure is connected to the roller structure of the movable support structure, and the force borne on the force transmission structure is detected by the detection device, so as to compare the force detected by the detection device with a preset threshold value, thereby reducing the weight of the load on the carrying platform.

[0010] In some embodiments, the force transmission structure is movably disposed in the leg along the height direction of the leg, so that the force transmission structure can transmit different magnitudes of pressure to the detection device.

[0011] In the technical solution of this embodiment, the force transmission structure is movable, so that the force transmission structure can apply different magnitudes of force to the detection device, thereby enabling the detection device to better detect the pressure it receives.

[0012] In some embodiments, the force transmission structure includes a first force transmission member and a second force transmission member connected to the first force transmission member;

[0013] One end of the second force transmission member abuts against the roller structure, the other end of the second force transmission member abuts against one end of the first force transmission member, and the other end of the first force transmission member abuts against the detection device.

[0014] In the technical solution of this embodiment, since the force transmission structure needs to be connected to both the detection device and the roller structure, and the requirements of the detection device and the roller structure for the connected structure are different; accordingly, the force transmission structure is made to include a first force transmission member and a second force transmission member, and the first force transmission member and the second force transmission member are respectively connected to the detection device and the roller structure, so that the first force transmission member and the second force transmission member can be independently arranged respectively and meet different requirements.

[0015] In some embodiments, the first force transmission member is movably arranged in the leg relative to the detection device along the height direction of the leg;

[0016] The second force transmission member is movably arranged in the leg relative to the first force transmission member along the height direction of the leg, and the material hardness of the second force transmission member is higher than that of the first force transmission member.

[0017] In the technical solution of this embodiment, both the first force transmission member and the second force transmission member can move. Since the pressure on the bearing platform can fall on the force transmission structure through the roller structure, this setting enables the force transmission structure to better exert a reaction force on the detection device, so as to facilitate the detection device to detect the force it receives. And because the acting force borne by the roller structure is relatively large, the material hardness of the second force transmission member in contact with the roller structure is greater than that of the first force transmission member.

[0018] In some embodiments, the leg includes a main body portion and a guide groove provided in the main body portion; the first force transmission member and the second force transmission member can move along the guide groove.

[0019] The technical solution of this embodiment provides a specific structure of some legs. A guide groove is provided in the main body portion to limit the movement directions of the first force transmission member and the second force transmission member through the guide groove; this setting enables the first force transmission member and the second force transmission member to move relative to the detection device to facilitate the detection device to detect the pressure, and can also limit the movement directions of the first force transmission member and the second force transmission member to prevent the first force transmission member and the second force transmission member from skewing, so that the first force transmission member and the second force transmission member can transmit the acting force to the detection device more stably.

[0020] In some embodiments, the roller structure includes a connecting shaft and a universal wheel fixed to the bottom of the connecting shaft. One end of the force transmission structure abuts against the connecting shaft, and the connecting shaft is at least partially movably disposed in the leg along the height direction of the leg to transmit different pressures to the force transmission structure.

[0021] The technical solution of this embodiment provides some specific structures of the rolling universal wheel, enabling the roller structure to be connected to the force transmission structure through the connecting shaft so that the connecting shaft can support the force transmission structure. At the same time, when household items are placed on the bearing platform, the connecting shaft can transmit pressure to the force transmission structure to press the force transmission structure against the detection device, thus facilitating the detection device to detect the pressure of the household items on the bearing platform.

[0022] In some embodiments, a holding member is also fixedly provided inside the leg, and the holding member and the force transmission structure are located on opposite sides of the detection device. The detection device is connected to the holding member, and a channel is provided inside the holding member, through which the wire electrically connected to the detection device passes.

[0023] In the technical solution of this embodiment, the detection device is arranged on the holding member to support the detection device through the holding member, thus facilitating the force transmission structure to apply pressure to the detection device better and also facilitating the detection device to detect the force applied by the force transmission structure better.

[0024] In some embodiments, the number of legs is at least three, and the at least three legs are evenly spaced around the center of the bearing platform, and each leg is provided with the detection device and the force transmission structure.

[0025] In the technical solution of this embodiment, the number of legs is at least three and they are evenly spaced around the center of the bearing platform, so that the legs can provide more stable support for the bearing platform.

[0026] In some embodiments, the detection device is a strain type pressure sensor. The intelligent load-carrying device further includes a control module. The detection device is communicatively connected to the control module and is used to send a real-time pressure detection signal to the control module.

[0027] In the technical solution of this embodiment, the detection signal of the detection device is obtained through the control module, so that when the weight carried by the intelligent load-carrying device exceeds the preset threshold, it can be discovered in time, thereby reducing the damage to the intelligent load-carrying device and the cleaning robot.

[0028] In some embodiments, a connecting member is provided on the bearing platform. The connecting member is used to cooperate with the cleaning robot so that the bearing platform is combined with the top of the cleaning robot and is moved by the cleaning robot.

[0029] In the technical solution of this embodiment, a connecting member is provided so that the cleaning robot can be connected to the carrying platform through the connecting member, thereby facilitating the cleaning robot to drive the intelligent load-carrying device to move synchronously.

[0030] In a second aspect, some embodiments of the present application further provide a cleaning system, including the intelligent load-carrying device provided by some embodiments of the first aspect; and

[0031] a cleaning robot, the carrying platform can be combined with the top of the cleaning robot, so that the intelligent load-carrying device can be moved through the cleaning robot.

[0032] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the following specifically describes the specific embodiments of the present application. Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0034] Figure 1 Stereo schematic of the intelligent load-carrying device provided by some embodiments of the present application Figure 1 .

[0035] Figure 2 Stereo schematic of the intelligent load-carrying device provided by some embodiments of the present application Figure 2 .

[0036] Figure 3 Front view schematic of the intelligent load-carrying device provided by some embodiments of the present application.

[0037] Figure 4 For Figure 3 Partial cross-sectional schematic at A-A in

[0038] Figure 5 Internal structure schematic of the leg in the intelligent load-carrying device provided by some embodiments of the present application.

[0039] Figure 6 Schematic of the intelligent load-carrying device provided by some embodiments of the present application carrying household items and combined with the cleaning robot.

[0040] Figure 7 Schematic of the intelligent load-carrying device provided by some embodiments of the present application carrying household items.

[0041] The meanings of the markings in the figure are as follows:

[0042] 100, intelligent load-carrying device;

[0043] 10, bearing platform; 11, connecting member;

[0044] 20, movable support structure; 21, leg; 211, main body part; 212, guide groove; 22, detection device; 23, force transmission structure; 231, first force transmission member; 232, second force transmission member; 24, holding member; 25, roller structure; 251, connecting shaft; 252, universal wheel;

[0045] 200, household object;

[0046] 300, cleaning robot. Detailed implementation manners

[0047] The embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solutions of the present application more clearly, so they are only examples and cannot be used to limit the protection scope of the present application.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusion.

[0049] In the description of the embodiments of this application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of this application, "a plurality of" means more than two unless otherwise specifically defined.

[0050] Referring to "embodiments" herein means that the specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0051] In the description of the embodiments of the present application, the term "and / or" is merely a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0052] In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two). Similarly, "multiple groups" refers to two or more groups (including two groups), and "multiple pieces" refers to two or more pieces (including two pieces).

[0053] In the description of the embodiments of the present application, the orientation or positional relationship indicated by technical terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the embodiments of the present application.

[0054] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated as a whole; it can also be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0055] A cleaning robot is a type of intelligent household appliance that can automatically complete floor cleaning work in a room based on a preset program and map.

[0056] Current cleaning robots usually only have the function of cleaning garbage and sundries, such as functions of sucking, sweeping, and wiping garbage and sundries, so as to complete the basic cleaning of the floor. In order to enable the cleaning robot to enter narrow spaces such as under the table and under the bed, the volume of the cleaning robot is usually not too large; and it is very difficult to integrate other functions (such as spray dust reduction function, fragrance function, etc.) into the cleaning robot without increasing the volume of the cleaning robot.

[0057] In order to increase the functions of a cleaning robot, a platform can be set on the cleaning robot, and users can place an air humidifier, an aromatherapy machine or other household items on the platform according to their needs to expand the functions of the cleaning robot. However, when the cleaning robot needs to enter narrow spaces such as under tables, chairs or beds, users also need to remove the household items on the platform, which requires users to always pay attention to the dynamics of the cleaning robot, contrary to the original intention of users to use the cleaning robot to save time and attention.

[0058] Moreover, an overweight object on the platform can easily cause the cleaning robot to move slower, reduce the cleaning efficiency, and the cleaning robot carrying an overweight object for a long time is also likely to reduce the service life of its driving components, thus leading to a decrease in the service life of the cleaning robot.

[0059] Based on the above considerations, in order to alleviate the contradiction between the need for the cleaning robot to enter narrow spaces and the need for multiple functions, and at the same time to alleviate the impact of the cleaning robot carrying other household items on its service life, the present application provides an intelligent load-carrying device. Detection devices and force-transmitting structures are arranged on the legs of the movable support structure of the intelligent load-carrying device, and the roller structure of the movable support structure abuts against one end of the force-transmitting structure, so that the other end of the force-transmitting structure abuts against the detection device.

[0060] In such an intelligent load-carrying device, users can place various household items (such as an air humidifier, an aromatherapy machine, an air purifier, books, medicines, cabinets, etc.) on the intelligent load-carrying device according to their needs. Since the intelligent load-carrying device is relatively independent of the cleaning robot, the cleaning robot can move independently or drive the intelligent load-carrying device to move synchronously. Thus, the cleaning robot can drive the intelligent load-carrying device to move synchronously in an open space, and the cleaning robot itself can also move alone into narrow spaces, thereby alleviating the contradiction between the need for the cleaning robot to enter narrow spaces and the need for multiple functions; the intelligent load-carrying device can detect the pressure of the household items placed on it on the bearing platform through the detection device, so as to monitor the load of the intelligent load-carrying device. Users can determine whether the household items placed on the intelligent load-carrying device will damage the intelligent load-carrying device according to the pressure value detected by the detection device, thereby being able to reduce the negative impact on the service life of the intelligent load-carrying device.

[0061] The intelligent load-carrying device provided by the embodiments of the present application can be applied to a cleaning robot; it can be applied in a home environment and can also be applied in a shopping mall, a hospital or other environments.

[0062] For the convenience of description, the following embodiments take the intelligent load-carrying device 100 provided by some embodiments of the present application being applied to a cleaning robot 300 and applied in a home environment as an example for description.

[0063] In the first aspect, refer to Figures 1 to 4, the intelligent load-carrying device 100 provided by this application includes a carrying platform 10 and a movable support structure 20 connected to the bottom of the carrying platform 10 and used to support the carrying platform 10. Among them, the carrying platform 10 is used to carry various household items 200 of different weights; the movable support structure 20 includes legs 21, a roller structure 25, a detection device 22, and a force transmission structure 23. The detection device 22 and the force transmission structure 23 are arranged inside the legs 21. The roller structure 25 abuts against one end of the force transmission structure 23 to transmit the gravity of the household item 200 borne by the roller structure 25 to the force transmission structure 23. The other end of the force transmission structure 23 abuts against the detection device 22, and the detection device 22 is used to detect the pressure of the force transmission structure 23 abutting against the detection device 22; the roller structure 25 is arranged at the bottom of the legs 21.

[0064] The carrying platform 10 is a structure for carrying the household item 200. The carrying platform 10 can be a platform-like structure, such as a square platform, a circular platform, or a platform of other shapes. The carrying platform 10 can also be a box structure with one or more sides open, such as a rectangular box with two sides open, a cylindrical box with its peripheral side open, or a box structure of other shapes; the material of the carrying platform 10 can include metal, plastic, or other materials.

[0065] The movable support structure 20 refers to a structure that supports the carrying platform 10, and the movable support structure 20 can move so that the carrying platform 10 can drive the household item 200 to move.

[0066] The legs 21 refer to a structure that supports the carrying platform 10. The legs 21 are used to provide support for the carrying platform 10 so that the carrying platform 10 can stably carry the household item 200 placed thereon; the legs 21 can be arranged on the side of the carrying platform 10 facing the ground, and the legs 21 can also be arranged on the periphery of the carrying platform 10; the shape of the legs 21 can be prismatic, cylindrical, or other regular shapes, and the shape of the legs 21 can also be an irregular shape; the legs 21 can be fixedly connected (including detachable fixed connection or non-detachable fixed connection) to the carrying platform 10 by clamping, screwing, welding, bonding, or other means, and the legs 21 can also be integrally formed with the carrying platform 10; the material of the legs 21 can include metal, plastic, or other materials.

[0067] The detection device 22 refers to a structure in the movable supporting structure 20 for detecting the pressure of the household object 200 on the supporting platform 10. The detection device 22 may include a pressure sensor, a pressure transmitter, an elastic pressure gauge or other devices capable of detecting pressure; the detection device 22 is arranged inside the support leg 21 to reduce external interference with its detection results, and at the same time it can also play a role in protecting the detection device 22; the detection device 22 can be fixedly connected (including detachable fixed connection or non-detachable fixed connection) in the support leg 21 by screwing, clamping, bonding or other means.

[0068] The force transmission structure 23 refers to a structure in the movable support structure 20 for supporting the detection device 22 and transmitting force to the detection device 22. One end of the force transmission structure 23 abuts against the roller structure 25 to transmit the force of the roller structure 25 to the force transmission structure 23, and the other end of the force transmission structure 23 abuts against the detection device 22 to detect the pressure of the force transmission structure 23 abutting against the detection device 22 through the detection device 22. When the household object 200 is carried on the carrying platform 10, the gravity of the household object 200 can be transmitted to the force transmission structure 23 through the roller structure 25 and applied to the detection device 22. At this time, the supporting force value detected by the detection device 22 can represent the gravity of the household object 200.

[0069] It can be understood that the detection device 22 can display the detected pressure on the smart loading device 100, and can also send it to the user's mobile device (such as a mobile phone). At the same time, it can also prompt the user of the upper limit of the pressure that the carrying platform 10 can withstand by presetting a threshold in the smart loading device 100, so that the user can place the household object 200 according to the upper limit of pressure and the pressure value detected by the detection device 22.

[0070] The force transmission structure 23 may include only one structural member, or may include two or more structural members; the force transmission structure 23 may include a rod or a combination of rods, the force transmission structure 23 may also include a plate or a combination of plates, or may include structural members of other shapes.

[0071] The roller structure 25 refers to a structure in the intelligent loading device 100 used to assist the intelligent loading device 100 in walking, and the roller structure 25 may include a universal wheel, a directional wheel or other wheel structures; the roller structure 25 is arranged at the bottom of the leg 21, and the bottom of the leg 21 refers to the side of the leg 21 away from the supporting platform 10; the roller structure 25 is connected to the other end of the force transmission structure 23 away from the detection device 22, so that the pressure carried on the supporting platform 10 can be transmitted to the force transmission structure 23 and then to the detection device 22 through the roller structure 25.

[0072] Since the detection device 22 is located inside the leg 21 while the roller structure 25 is located outside the leg 21, one end of the force transmission structure 23 abutting against the detection device 22 can be located inside the leg 21, and one end of the force transmission structure 23 connected to the roller structure 25 can extend outside the leg 21.

[0073] In this embodiment, a user can place various household items 200 (such as an air humidifier, an aromatherapy machine, an air purifier, a book, medicine, a cabinet, etc.) on the intelligent loading device 100 as needed. Since the intelligent loading device 100 is independent of the cleaning robot 300, the cleaning robot 300 can move independently or drive the intelligent loading device 100 to move synchronously. As a result, the cleaning robot 300 can drive the intelligent loading device 100 to move synchronously in an open space, and the cleaning robot 300 can also move independently into a narrow space, thereby alleviating the contradiction between the need for the cleaning robot 300 to enter a narrow space and the need for multiple functions, and meeting the personalized needs of different users.

[0074] In this embodiment, the intelligent loading device 100 can determine the pressure exerted by the household item 200 placed thereon on the bearing platform 10 through the detection device 22, so as to facilitate monitoring the load of the robot. The user can determine whether the household item 200 placed on the intelligent loading device 100 will cause damage to the intelligent loading device 100 according to the pressure value detected by the detection device 22, thereby being able to reduce the negative impact on the service life of the intelligent loading device 100.

[0075] Reference Figure 3 、 Figure 4 In some embodiments, the force transmission structure 23 is movably disposed in the leg 21 along the height direction of the leg 21, so that the force transmission structure 23 can transmit different magnitudes of pressure to the detection device 22.

[0076] Figure 3 、 Figure 4 In, the direction in which the Y-axis is located is the height direction of the leg 21.

[0077] The force transmission structure 23 is movably disposed in the leg 21 and can move along the height direction of the leg 21, that is, the force transmission structure 23 can move relative to the detection device 22. When household items 200 of different weights are placed on the bearing platform 10, this setting enables the detection device 22 to detect different pressures.

[0078] When the weights of the items carried on the bearing platform 10 are different, the movable setting of the force transmission structure 23 can facilitate the detection device 22 to better detect the corresponding different pressure values, so as to improve the accuracy of the detection device 22.

[0079] It is understandable that the inside of the outrigger 21 can provide an active space for the force transmission structure 23; when the force transmission structure 23 can move relative to the detection device 22 and can apply different pressures, the active space of the force transmission structure 23 should be small; for example, the active space of the force transmission structure 23 can be in millimeters or micrometers.

[0080] In this embodiment, the force transmission structure 23 is made movable so that the force transmission structure 23 can transmit different magnitudes of pressure to the detection device 22, thereby enabling the detection device 22 to better detect the pressure it receives.

[0081] Reference Figure 3 、 Figure 4 In some embodiments, the force transmission structure 23 includes a first force transmission member 231 and a second force transmission member 232 connected to the first force transmission member 231; one end of the second force transmission member 232 abuts against the roller structure 25, the other end of the second force transmission member 232 abuts against one end of the first force transmission member 231, and the other end of the first force transmission member 231 abuts against the detection device 22.

[0082] The first force transmission member 231 refers to the structure in the force transmission structure 23 that abuts against the detection device 22; the shape of the first force transmission member 231 can be prismatic, cylindrical or other regular shapes, or can be an irregular shape.

[0083] The second force transmission member 232 refers to the structure in the force transmission structure 23 that is connected to the roller structure 25; the shape of the second force transmission member 232 can be prismatic, cylindrical or other regular shapes, or can be an irregular shape; the roller structure 25 can be fixedly connected (including detachable fixed connection or non-detachable fixed connection) to the second force transmission member 232 by welding, bonding, screwing, clamping or other means.

[0084] One end of the first force transmission member 231 facing away from the detection device 22 is connected to the second force transmission member 232, and the first force transmission member 231 and the second force transmission member 232 can be in contact connection, that is, they abut against each other.

[0085] The materials of the first force transmission member 231 and the second force transmission member 232 can be the same or different; the structures of the first force transmission member 231 and the second force transmission member 232 can be the same or different.

[0086] Since the first force transmission member 231 is used to abut against the detection device 22, at least part of the first force transmission member 231 is accommodated in the outrigger 21, that is, the first force transmission member 231 can be completely accommodated in the outrigger 21, or only partially accommodated in the outrigger 21.

[0087] Since the second force transmission member 232 is used to connect with the roller structure 25, at least part of the second force transmission member 232 extends outside the leg 21, that is, the second force transmission member 232 can be completely located outside the leg 21 or only partially located outside the leg 21; the position of the second force transmission member 232 also needs to be determined according to the connection relationship between the first force transmission member 231 and the second force transmission member 232. When the first force transmission member 231 abuts against the second force transmission member 232, one end of the second force transmission member 232 close to the first force transmission member 231 should be located inside the leg 21 to prevent the second force transmission member 232 from slipping out of the leg 21 and causing the roller structure 25 to fall off.

[0088] Since the force transmission structure 23 needs to be connected to both the detection device 22 and the roller structure 25, and the detection device 22 and the roller structure 25 have different requirements for the connected structure; accordingly, in this embodiment, the force transmission structure 23 includes a first force transmission member 231 and a second force transmission member 232, and the first force transmission member 231 and the second force transmission member 232 are respectively connected to the detection device 22 and the roller structure 25, so that the first force transmission member 231 and the second force transmission member 232 can be independently arranged and meet different requirements.

[0089] Reference Figure 3 、 Figure 4 In some embodiments, the first force transmission member 231 is movably disposed in the leg 21 relative to the detection device 22 along the height direction of the leg 21; the second force transmission member 232 is movably disposed in the leg 21 relative to the first force transmission member 231 along the height direction of the leg 21; the material hardness of the second force transmission member 232 is higher than that of the first force transmission member 231.

[0090] The first force transmission member 231 is movable relative to the detection device 22. When different weights of household items 200 are placed on the bearing platform 10, this setting enables the detection device 22 to detect different pressures.

[0091] The second force transmission member 232 is movable relative to the first force transmission member 231. When different weights of household items 200 are placed on the bearing platform 10, this setting enables the detection device 22 to detect different pressures.

[0092] It can be understood that when the first force transmission member 231 and the second force transmission member 232 can move relative to the detection device 22 and can apply different pressures, the movement spaces of the first force transmission member 231 and the second force transmission member 232 should be small; for example, the movement spaces of the first force transmission member 231 and the second force transmission member 232 can both be in millimeters or micrometers.

[0093] The material hardness of the second force transmission member 232 is higher than that of the first force transmission member 231; for example, the material of the second force transmission member 232 can include metal, and the material of the first force transmission member 231 can include plastic.

[0094] Since the first force transmission member 231 is used to abut against the detection device 22, the material of the first force transmission member 231 has a relatively small hardness, so as to reduce the weight of the first force transmission member 231. At the same time, it can reduce the damage to the detection device 22 when the first force transmission member 231 abuts against and collides with the detection device 22, and can also save the manufacturing cost.

[0095] Since the second force transmission member 232 is used to connect with the roller structure 25, the second force transmission member 232 has a relatively high hardness. When the roller structure 25 can be disassembled and replaced, this setting can also improve the wear resistance of the second force transmission member 232, thereby increasing the service life of the second force transmission member 232.

[0096] In this embodiment, both the first force transmission member 231 and the second force transmission member 232 can move. Since the pressure on the bearing platform 10 can be transmitted to the second force transmission member 232, the first force transmission member 231 and then to the detection device 22 through the roller structure 25, it is convenient for the detection device 22 to detect the force it receives.

[0097] Reference Figure 3 、 Figure 4 , in some embodiments, the leg 21 includes a main body portion 211 and a guiding groove 212 provided in the main body portion 211; the first force transmission member 231 and the second force transmission member 232 can move along the guiding groove 212.

[0098] The main body portion 211 refers to the structure of the leg 21 for accommodating the force transmission structure 23 and the detection device 22, and the main body portion 211 can also provide a fixed basis for the guiding groove 212; the main body portion 211 is connected to the bearing platform 10, and the main body portion 211 can be fixedly connected (including detachable fixed connection or non-detachable fixed connection) to the bearing platform 10 by welding, bonding, screwing, clamping or other means, and the main body portion 211 can also be integrally formed with the bearing platform 10; the shape of the main body portion 211 can be prismatic, cylindrical or other regular shapes, and the shape of the main body portion 211 can also be an irregular shape; the material of the main body portion 211 can include metal, plastic or other materials.

[0099] A cavity can be provided in the main body portion 211 to accommodate the detection device 22 and the force transmission structure 23, and the shape of the cavity can be a cuboid space, a cylindrical space or other space shapes.

[0100] The guide groove 212 refers to a structure in the leg 21 for limiting the movement direction of the first force transmission member 231 and the second force transmission member 232; because the first force transmission member 231 and the second force transmission member 232 both move along the height direction of the leg 21, and the pressure borne by the first force transmission member 231 and the second force transmission member 232 is also parallel to the height direction of the leg 21, the guide groove 212 can limit the movement of the first force transmission member 231 and the second force transmission member 232 along other directions, so that the first force transmission member 231 and the second force transmission member 232 can better transmit pressure to the detection device 22.

[0101] Along the length direction of the vertical guide groove 212 , the cross-sectional shape of the guide groove 212 can be square, semicircular, trapezoidal or other shapes.

[0102] In this embodiment, a guide groove 212 is provided in the main body 211 to limit the movement direction of the first force transmission member 231 and the second force transmission member 232 through the guide groove 212; this arrangement enables the first force transmission member 231 and the second force transmission member 232 to move relative to the detection device 22 to facilitate the detection device 22 to detect pressure, and also limits the movement direction of the first force transmission member 231 and the second force transmission member 232 to avoid the first force transmission member 231 and the second force transmission member 232 from tilting, thereby allowing the first force transmission member 231 and the second force transmission member 232 to transmit pressure to the detection device 22 along the length direction of the guide groove 212.

[0103] refer to Figures 3 to 5 In some embodiments, the roller structure 25 includes a connecting shaft 251 and a universal wheel 252 fixed to the bottom of the connecting shaft 251. One end of the force transmission structure 23 abuts against the connecting shaft 251. The connecting shaft 251 is at least partially movably disposed in the leg 21 along the height direction of the leg 21 to transmit different pressures to the force transmission structure 23.

[0104] The connecting shaft 251 refers to a structure in the roller structure 25 used to connect to the force transmission structure 23. The connecting shaft 251 abuts against the force transmission structure 23 so that the connecting shaft 251 can provide support for the force transmission structure 23; the shape of the connecting shaft 251 can be cylindrical, prismatic or other shapes; the material of the connecting shaft 251 can include metal, plastic or other materials.

[0105] The universal wheel 252 is fixed to the bottom of the connecting shaft 251, and the bottom of the connecting shaft 251 refers to the end of the connecting shaft 251 away from the force transmission structure 23; the universal wheel 252 can be fixedly connected to the connecting shaft 251 by snapping, screwing, welding, bonding, or other methods (including detachable fixed connection or non-detachable fixed connection).

[0106] This embodiment provides some specific structures of the roller structure 25, enabling the roller structure 25 to be connected to the force transmission structure 23 through the connecting shaft 251, so that the connecting shaft 251 can provide support for the force transmission structure 23. At the same time, when the household object 200 is placed on the bearing platform 10, the connecting shaft 251 can transmit pressure to the force transmission structure 23 to press the force transmission structure 23 against the detection device 22, thereby facilitating the detection device 22 to detect the pressure of the household object 200 on the bearing platform 10.

[0107] Reference Figures 3 to 5 , in some embodiments, a fixing member 24 is further provided inside the leg 21, and the fixing member 24 and the force transmission structure 23 are respectively located on opposite sides of the detection device 22. The detection device 22 is connected to the fixing member 24, and a channel is provided inside the fixing member 24, and the wire electrically connected to the detection device 22 passes through the channel.

[0108] The fixing member 24 refers to the structure in the movable support structure 20 that provides a fixed foundation for the detection device 22; the shape of the fixing member 24 can be prismatic, cylindrical or other shapes, or it can be plate-shaped or other shapes; the fixing member 24 is connected to the leg 21, and the fixing member 24 can be fixedly connected (including detachable fixed connection or non-detachable fixed connection) to the leg 21 by welding, bonding, clamping, screwing or other means, or the fixing member 24 can also be integrally formed with the leg 21; the material of the fixing member 24 can be the same as or different from the material of the leg 21, and the material of the fixing member 24 can include metal, plastic or other materials.

[0109] The fixing member 24 and the force transmission structure 23 are respectively located on opposite sides of the detection device 22. Since the detection device 22 is used to detect the pressure exerted on it by the force transmission structure 23, the fixing member 24 is provided on the side of the detection device 22 facing away from the force transmission structure 23 to provide support for the detection device 22.

[0110] A channel is provided inside the fixing member 24 for the cable of the detection device 22 to pass through. The cross-sectional shape of the channel can be circular, square or other shapes, and the channel can extend in a straight line or bend and extend based on a straight line.

[0111] In this embodiment, the detection device 22 is provided on the fixing member 24 to support the detection device 22 through the fixing member 24, thereby facilitating the force transmission structure 23 to apply pressure to the detection device 22 better, and also facilitating the detection device 22 to detect the force applied by the force transmission structure 23 better. The fixing member 24 can also provide a channel for the cable electrically connected to the detection device 22.

[0112] Reference Figure 1 , Figure 2, in some embodiments, the number of the legs 21 is at least three, and at least three legs 21 are evenly spaced around the center of the bearing platform 10. A detection device 22 and a force transmission structure 23 are provided in each leg 21.

[0113] The number of the legs 21 can be three, or four or more. A movable support structure 20 is provided in each leg 21; multiple legs 21 can better support the bearing platform 10, and it is not easy to cause the bearing platform 10 to tilt. At the same time, the pressure borne by the movable support structure 20 in a single leg 21 can be reduced.

[0114] Exemplarily, the number of the legs 21 is four.

[0115] At least three legs 21 are evenly spaced around the center of the bearing platform 10 to provide a more stable support for the bearing platform 10. Exemplarily, when there are three legs 21, all the legs 21 are evenly spaced around the center of the bearing platform 10; when there are four or more legs 21, only some of the legs 21 can be evenly spaced around the center of the bearing platform 10, or all the legs 21 can be evenly spaced around the center of the bearing platform 10.

[0116] When the bearing platform 10 is a circular plate-like structure, the center of the bearing platform 10 can be its center of the circle; when the bearing platform 10 is a square or rectangular plate-like structure, the center of the bearing platform 10 can be the intersection of its diagonals; when the bearing platform 10 is of other shapes or irregular shapes, the center of the bearing platform 10 can be its center of gravity. At this time, at least three legs 21 are evenly spaced around its center can also provide a relatively stable support for the bearing platform 10.

[0117] In this embodiment, the number of the legs 21 is at least three and they are evenly spaced around the center of the bearing platform 10, so that the movable support structure 20 can provide a more stable support for the bearing platform 10.

[0118] In some embodiments, the detection device 22 is a strain type pressure sensor. The intelligent load-carrying device 100 further includes a control module. The detection device 22 is communicatively connected to the control module and is configured to send a real-time pressure detection signal to the control module.

[0119] The detection device 22 is a strain type pressure sensor. The strain type pressure sensor has high measurement accuracy, high stability, large measurement range, small size, light weight, and fast response, and can meet the requirements of the intelligent load-carrying device 100.

[0120] The control module is used to communicate with the detection device 22 to receive the real-time pressure detection signal of the detection device 22. The information carried by the real-time pressure detection signal of the detection device 22 includes the pressure value detected by the detection device 22 in real time. The control module may include structures such as a single-chip microcomputer and a digital signal processor.

[0121] A pressure threshold can be preset in the control module so that the control module can compare the pressure value detected by the detection device 22 in real time with the pressure threshold. For example, the control module can give an alarm to the user when the detected pressure value is greater than the pressure threshold.

[0122] For example, the control module can communicate with the user's mobile phone. When the detected pressure value is greater than the pressure threshold, the control module can send an alarm signal to the connected mobile phone.

[0123] For example, the intelligent load-carrying device 100 may further include a warning device. The warning device is used to communicate with the control module and can be controlled by the control module to emit a warning signal. The warning signal can be an acoustic signal (such as emitting a prompt sound), and the warning signal can also be an optical signal (such as forming a flashing light), etc. The warning device may include a speaker, a warning light or other structures.

[0124] In this embodiment, the detection signal of the detection device 22 is obtained through the control module, so that when the weight carried by the intelligent load-carrying device 100 exceeds the preset threshold, it can be discovered in time, thereby reducing the damage to the intelligent load-carrying device 100 and the cleaning robot 300.

[0125] Reference Figure 1 、 Figure 2 , in some embodiments, a connecting member 11 is provided on the carrying platform 10. The connecting member 11 is used to cooperate with the cleaning robot 300 so that the carrying platform 10 is combined with the top of the cleaning robot 300 and is moved by the cleaning robot 300.

[0126] The connecting member 11 refers to the structure in the intelligent load-carrying device 100 used to connect with the cleaning robot 300. The shape of the connecting member 11 can be cylindrical, prismatic or other regular shapes, or can be U-shaped, T-shaped or other irregular shapes.

[0127] The connecting member 11 is provided on the carrying platform 10. The connecting member 11 can be fixedly connected (including detachable fixed connection or non-detachable fixed connection) to the carrying platform 10 by screwing, clamping, welding, bonding or other means. The connecting member 11 can be provided on any side of the carrying platform 10. For example, the connecting member 11 can be provided on the side of the carrying platform 10 facing the ground, or can also be provided on the periphery of the carrying platform 10.

[0128] The cleaning robot 300 can be a floor-sweeping robot, a mopping robot, a sweeping and mopping integrated robot, or other cleaning devices. Taking the cleaning robot 300 as an example, the cleaning robot 300 can move to the vicinity of the intelligent loading device 100 and be connected to the carrying platform 10 through the connecting member 11, so that the cleaning robot 300 can drive the intelligent loading device 100 to move synchronously. The cleaning robot 300 can also detach from the carrying platform 10 to move independently.

[0129] In this embodiment, the connecting member 11 is provided so that the cleaning robot 300 can be connected to the carrying platform 10 through the connecting member 11, thereby facilitating the cleaning robot 300 to drive the intelligent loading device 100 to move synchronously.

[0130] In a second aspect, referring to Figure 6 , Figure 7 , some embodiments of the present application further provide a cleaning system, including the intelligent loading device 100 provided in some embodiments of the first aspect.

[0131] The cleaning system further includes a cleaning robot 300, which can be a floor-sweeping robot, a mopping robot, or a sweeping and mopping integrated robot.

[0132] The intelligent loading device 100 can be combined with the top of the cleaning robot 300, that is, the cleaning robot 300 can move below the carrying platform 10. This setting enables the cleaning robot 300 to drive the intelligent loading device 100 to move. For example, the cleaning robot 300 is provided with an automatically opening and closing buckle, which can buckle and hold the connecting member 11. At this time, the cleaning robot 300 can drive the intelligent loading device 100 to move synchronously. The buckle can also be opened and detached from the connecting member 11, and at this time, the cleaning robot 300 can move independently.

[0133] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be covered by the scope of the claims and the description of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. An intelligent loading device, characterized in that: include: A carrying platform and a movable supporting structure connected to the bottom of the carrying platform and used to support the carrying platform; The carrying platform is used to carry household items of various weights; The movable support structure includes a leg and a roller structure located at the bottom of the leg; A detection device and a force transmission structure are provided in the supporting leg. The roller structure is in contact with one end of the force transmission structure to transmit the gravity of the household item borne by the roller structure to the force transmission structure. The other end of the force transmission structure is in contact with the detection device to detect the pressure of the force transmission structure against the detection device.

2. The intelligent loading device according to claim 1, characterized in that: The force transmission structure is movably arranged in the support leg along the height direction of the support leg, so that the force transmission structure can transmit pressures of different magnitudes to the detection device.

3. The intelligent loading device according to claim 2, characterized in that: The force transmission structure comprises a first force transmission member and a second force transmission member connected to the first force transmission member; One end of the second force transmission member abuts against the roller structure, the other end of the second force transmission member abuts against one end of the first force transmission member, and the other end of the first force transmission member abuts against the detection device.

4. The intelligent loading device according to claim 3, characterized in that: The first force transmission member is movably disposed in the support leg relative to the detection device along the height direction of the support leg; The second force transmission member is movably disposed in the support leg relative to the first force transmission member along a height direction of the support leg, and the material hardness of the second force transmission member is higher than that of the first force transmission member.

5. The intelligent loading device according to claim 4, characterized in that: The supporting leg comprises a main body and a guide groove arranged in the main body; the first force transmission member and the second force transmission member can move along the guide groove.

6. The intelligent loading device according to any one of claims 2 to 5, characterized in that: The roller structure includes a connecting shaft and a universal wheel fixed to the bottom of the connecting shaft. One end of the force transmission structure abuts against the connecting shaft. The connecting shaft is at least partially movably arranged in the leg along the height direction of the leg to transmit different pressures to the force transmission structure.

7. The intelligent loading device according to any one of claims 1 to 5, characterized in that: A retaining member is also fixed in the support leg, and the retaining member and the force transmission structure are respectively located on opposite sides of the detection device. The detection device is connected to the retaining member, and a channel is provided in the retaining member, and the wires electrically connected to the detection device pass through the channel.

8. The intelligent loading device according to any one of claims 1 to 5, characterized in that: The number of the supporting legs is at least three, and at least three supporting legs are evenly spaced and arranged around the center of the supporting platform, and each of the supporting legs is provided with the detecting device and the force transmission structure.

9. The intelligent loading device according to any one of claims 1 to 5, characterized in that: The detection device is a strain gauge pressure sensor. The intelligent loading device further comprises a control module. The detection device is communicatively connected to the control module and is used to send a real-time pressure detection signal to the control module.

10. The intelligent loading device according to any one of claims 1 to 5, characterized in that: The carrying platform is provided with a connecting piece, and the connecting piece is used to cooperate with the cleaning robot so that the carrying platform is combined with the top of the cleaning robot and moved by the cleaning robot.

11. A cleaning system, characterized in that: comprising the intelligent carrier device as described in any one of claims 1 to 10; as well as The cleaning robot, the carrying platform can be combined with the top of the cleaning robot, so that the intelligent carrying device can be moved by the cleaning robot.

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