Household mobile platform, cleaning robot and cleaning system

Abstract

The utility model discloses a home mobile platform, a cleaning robot and a cleaning system, and relates to the field of smart home. The household mobile platform comprises a platform body and a movable supporting structure. The platform body is provided with a mounting mechanism; the bottom or the side portion of the platform body is provided with a first connector, the top or the side portion of the cleaning robot is provided with a second connector, the first connector is used for being combined with the second connector so that the platform body can be located at the top of the cleaning robot, the top of the cleaning robot is provided with a laser radar, and the mounting mechanism is provided with a light guide groove penetrating from the inner side to the outer side. Light emitted by the laser radar passes through the light guide groove. According to the household moving platform and the cleaning robot, the household objects are driven to move through the household moving platform, the household objects can be transferred to other positions from one position or transferred to other rooms from one room, and the working range of the household objects is effectively expanded.

Description

[0001] This application is a divisional application of Chinese patent application filed on June 17, 2024, entitled "Home Mobile Platform, Cleaning Robot and Cleaning System", application number 2024213755085. Technical Field

[0002] This application relates to the field of smart home technology, and in particular to a home mobile platform, a cleaning robot, and a cleaning system. Background Technology

[0003] As people's living standards improve, more and more household items are entering homes. Currently, apart from smart home devices that can move (such as cleaning robots), most household items can only stay in a fixed location. However, for some household items, being able to move can effectively expand their working range.

[0004] This shows that some household items need to be moved. However, these items are often immovable, and moving them manually would be time-consuming and laborious. Utility Model Content

[0005] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a home mobile platform, cleaning robot and cleaning system to at least solve one of the problems in the prior art.

[0006] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0007] In a first aspect, embodiments of this application provide a home mobile platform capable of being integrated with a cleaning robot, the home mobile platform comprising:

[0008] The platform itself is used to set up home furnishings, and it has an installation mechanism at the bottom.

[0009] A movable support structure is connected to the bottom of the platform body to support and drive the platform body to move;

[0010] The platform body has a first connecting member at its bottom or side, and the cleaning robot has a second connecting member at its top or side. The first connecting member is used to connect with the second connecting member so that the platform body is located on top of the cleaning robot. The top of the cleaning robot is equipped with a laser radar. The mounting mechanism has a light guide groove that runs from the inside to the outside. After the cleaning robot is connected with the home mobile platform, the light emitted by the laser radar passes through the light guide groove.

[0011] The light guide channel in the home mobility platform provided in this application facilitates the passage of light emitted by the cleaning robot's LiDAR, enabling navigation via the LiDAR signals and the identification of obstacles such as furniture and walls to plan the optimal movement path. In this way, the cleaning robot moves household items via the home mobility platform, allowing items to be moved from one location to another, or from one room to another, effectively expanding the working range of the household items.

[0012] In addition, the home mobile platform according to this application may also have the following additional technical features:

[0013] In one embodiment of the first aspect, the mounting mechanism has an arcuate surface corresponding to the rear end face of the cleaning robot, and the light guide groove extends horizontally along the circumference of the mounting mechanism and forms an arc.

[0014] In one embodiment of the first aspect, the light guide groove extends through the mounting mechanism and is symmetrical in shape and length on both sides.

[0015] In one embodiment of the first aspect, the position and height of the light guide groove correspond to the lidar, and the height difference between the upper or lower edge of the light guide groove and the emission source of the lidar is 5mm-50mm.

[0016] In one embodiment of the first aspect, the home mobile platform further includes:

[0017] A first docking structure is disposed on the installation mechanism. The first docking structure is used to dock with a second docking structure on the cleaning robot to pre-position the home mobile platform with the cleaning robot.

[0018] The first identification module is capable of being identified by the second identification module of the cleaning robot. After the cleaning robot moves to the home mobile platform according to the identification result, the first docking structure is used to dock with the second docking structure to pre-position the home mobile platform and the cleaning robot.

[0019] In one embodiment of the first aspect, the light guide groove is higher than the first docking structure and higher than the first identification module.

[0020] In one embodiment of the first aspect, the circumferential length of the light guide groove accounts for 20%-95% of the circumferential length of the mounting mechanism.

[0021] In one embodiment of the first aspect, the light guide groove extends horizontally along the circumferential direction of the mounting mechanism at an angle of 20 degrees to 180 degrees.

[0022] Secondly, this application also provides a cleaning robot that can be combined with the home mobile platform described in any embodiment of the first aspect. The cleaning robot is equipped with a lidar on its top, and the light emitted by the lidar passes through the light guide groove of the home mobile platform.

[0023] Thirdly, this application also provides a cleaning system, including the home mobile platform described in any embodiment of the first aspect and the cleaning robot described in the second aspect, wherein the platform body of the home mobile platform is attached to the top of the cleaning robot.

[0024] The cleaning system provided in the embodiments of this application has the home mobile platform in any one of the first aspects and the cleaning robot in the second aspect. Therefore, the cleaning system has all the beneficial effects of the home mobile platform, which will not be described in detail here. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This illustration shows a one-view perspective three-dimensional structural diagram of a home mobility platform provided in one embodiment of this application;

[0027] Figure 2 This invention provides a schematic diagram of the home mobility platform from another perspective, based on one embodiment of the present application.

[0028] Figure 3 This is a schematic diagram from one perspective of the assembly structure of the first docking structure and the support member in one embodiment of this application;

[0029] Figure 4 This illustration shows another perspective view of the assembly structure of the first docking structure and the support member in one embodiment of this application;

[0030] Figure 5 It shows Figure 4 Sectional view along the BB direction;

[0031] Figure 6 A partial structural schematic diagram of the support member in one embodiment of this application is shown;

[0032] Figure 7A one-view perspective three-dimensional structural diagram of a cleaning robot provided in one embodiment of this application;

[0033] Figure 8 This illustration shows a schematic diagram from one perspective of the assembly structure of the first docking structure and the support member in another embodiment of this application;

[0034] Figure 9 This illustration shows a one-view perspective three-dimensional structural diagram of a home mobility platform provided in another embodiment of this application;

[0035] Figure 10 A partial cross-sectional view of a home mobility platform according to one embodiment of this application is shown;

[0036] Figure 11 This paper shows a schematic diagram of the brake assembly from one perspective in one embodiment of the present application;

[0037] Figure 12 A cross-sectional view of a guide mechanism in one embodiment of this application is shown;

[0038] Figure 13 This diagram illustrates a three-dimensional structural view of a base station provided in one embodiment of this application. Key component symbols: 100-Home mobile platform; 110-Platform body; 111-First identification module; 112-Third identification module; 113-First connecting member; 120-Mounting mechanism; 121-Elastic connection assembly; 1211-Elastic member; 1212-Connector; 12121-Second guide member; 12122-Guide post; 122-Light guide groove; 130-First docking structure; 131-First guide member; 140-Support member; 1401-Cover plate; 1402-Side plate; 1403-Accommodation space ; 141-First guide groove; 142-Second guide groove; 143-Third guide groove; 150-Modible support structure; 151-Outrigger; 152-Universal wheel; 160-First charging electrode; 170-Brake assembly; 171-Brake component; 1711-Second guide part; 172-Limit seat; 173-Drive component; 1731-Drive shaft; 174-First linkage component; 175-Second linkage component; 180-Guiding mechanism; 181-First guide part; 181a-Vertical guide groove; 190-Third docking structure;

[0039] 200 - Cleaning robot; 210 - Robot body; 220 - Second docking structure; 230 - Second identification module; 240 - Second charging electrode; 211 - Second connector; 250 - LiDAR;

[0040] 300 - Base station; 310 - Fourth identification module; 320 - Fourth docking structure. Detailed Implementation

[0041] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0042] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0043] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0044] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0045] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0046] Embodiments of this application provide a home mobile platform 100 that can interface with a cleaning robot 200.

[0047] like Figure 1 , Figure 2 and Figure 3 As shown, the home mobile platform 100 includes a platform body 110, a movable support structure 150, a first docking structure 130, and a support component 140.

[0048] The platform body 110 is used to set up home furnishings. Home furnishings can be set up on the platform body 110 in various ways, such as fixed setting, integral connection, detachable connection, or non-connection placement.

[0049] The home mobility platform 100 provided in this application has a platform body 110 that can accommodate home objects requiring mobility. These home objects can include air purifiers, humidifiers, books, cameras, dehumidifiers, aromatherapy diffusers, and can also be commonly used items such as medicines and water cups that may be moved within the home, or platforms or cabinets that house them. The home mobility platform 100 can interface with a cleaning robot 200. In this way, the cleaning robot 200 can move home objects via the home mobility platform 100. Driven by the cleaning robot 200, home objects can be moved from one location to another, or from one room to another. This effectively expands the working range of the home objects. The cleaning robot 200 can be a robotic vacuum cleaner, a robotic mop, or a combined vacuum and mop robot.

[0050] The movable support structure 150 is connected to the bottom of the platform body 110, and the movable support structure 150 is used to support and drive the platform body 110 to move. Specifically, the movable support structure 150 may include a roller mechanism and a belt sliding mechanism. For example, as shown... Figure 1 , Figure 2 As shown, the movable support structure 150 may specifically include legs 151 and casters 152 located at the ends of the legs 151. There are four movable support structures 150. This arrangement improves the stability of the platform body 110, allowing the home mobile platform 100 to move forward, backward, or turn smoothly alongside the cleaning robot 200. Therefore, the home mobile platform 100 is movable, facilitating movement by the cleaning robot 200 while reducing the load on the cleaning robot 200 and lowering the driving force exerted by the cleaning robot on the home mobile platform 100.

[0051] A mounting mechanism 120 is provided at the bottom of the platform body 110. A first docking structure 130 is provided on the mounting mechanism 120, and the first docking structure 130 is used to dock with the second docking structure 220 on the cleaning robot 200 to pre-position the home mobile platform 100 and the cleaning robot 200. A support member 140 is fixed to the mounting mechanism 120, and the support member 140 is provided with a first guide groove 141 extending vertically. A first guide member 131 is provided on the first docking structure 130, and the first guide member 131 can move within the first guide groove 141, so that the first docking structure 130 can move vertically relative to the mounting mechanism 120.

[0052] In this embodiment, by enabling the first guide member 131 to move within the first guide groove 141, the first docking structure 130 can move vertically relative to the mounting mechanism 120. This allows the cleaning robot 200 to traverse uneven surfaces by moving vertically, thus ensuring a stable connection between the first docking structure 130 and the second docking structure 220 of the cleaning robot 200 when traversing uneven surfaces after docking with the home mobile platform 100 and moving together. It should be noted that the vertical movement may be arc-shaped, tilted, or vertical.

[0053] In some embodiments, the support member 140 is further provided with a second guide groove 142 extending horizontally; the first guide member 131 is capable of moving horizontally within the second guide groove 142. It should be noted that the first guide member 131 may include guide members disposed on different or the same wall surface on the first mating structure 130. Therefore, 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.

[0054] In some embodiments, such as Figure 5 As shown, the installation mechanism 120 is also 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 horizontal direction within the second guide groove 142.

[0055] In this embodiment, the elastic connection component 121 enables the first docking structure 130 to move horizontally, while the first guide member 131 can move horizontally within the second guide groove 142 and vertically within the first guide groove 141. This allows the cleaning robot 200 to move horizontally and vertically when encountering uneven ground, facilitating its passage over uneven surfaces. Consequently, during the docking and joint movement of the home mobile platform 100 and the cleaning robot 200, a stable connection between the first docking structure 130 and the second docking structure 220 is ensured when traversing uneven ground.

[0056] like Figure 4 and Figure 5 As shown, in some embodiments, the elastic connection assembly 121 includes a connector 1212 and an elastic element 1211. The connector 1212 is connected to the first docking structure 130, and the elastic element 1211 is disposed 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 is combined with the cleaning robot 200, the elastic element 1211 is in a compressed state in the horizontal direction.

[0057] In this embodiment, after the first docking structure 130 and the second docking structure 220 dock together, the cleaning robot 200 and the home mobile platform 100 are positioned relative to each other. Then, the home mobile platform 100 and the cleaning robot 200 are combined. For example, the first connecting part of the home mobile platform 100 extends downward into the second connecting part of the cleaning robot 200 to form a firm snap-fit. At this time, the home mobile platform 100 and the cleaning robot 200 are relatively fixed in the horizontal direction, forming a certain compressive force and position restriction on the elastic element 1211, so that it is in a compressed state in the horizontal direction. The elastic element 1211 in the compressed state gives the first docking structure 130 an elastic force through the connecting body 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 carries the home mobile platform 100 to walk and cross obstacles, the first docking structure 130 and the second docking structure 220 will not separate from each other, and the electrical connection or signal connection remains stable.

[0058] In some embodiments, such as Figure 5 and Figure 6As shown, the support member 140 is also provided with a third guide groove 143, and the connecting body 1212 is provided with a second guide member 12121 that cooperates with the third guide groove 143. In this way, when the elastic member 1211 pushes against the connecting body 1212, the second guide member 12121 can move horizontally within the third guide groove 143. Under the restriction of the third guide groove 143, the connecting body 1212 cannot move vertically with the first docking structure 130. That is, the connecting body 1212 can only move horizontally at this time, so that the first docking structure 130 can move vertically relative to the connecting body 1212, so as to ensure the stable connection of the first docking structure 130 and the second docking structure 220 when passing through uneven ground.

[0059] like Figure 5 As shown, in some embodiments, the connector 1212 is provided with a horizontally extending guide post 12122, which is connected to or sleeved on the elastic member 1211. The guide post 12122 enables the connector 1212 to move easily in the horizontal direction.

[0060] Combination Figure 5 As shown, a cover plate 1401 is provided on the side of the support member 140 opposite to the first docking structure 130. The cover plate 1401 has a through hole for the guide post 12122 to pass through. An elastic member 1211 is disposed between the connecting body 1212 and the cover plate 1401. The elastic member 1211 can provide elastic force to the connecting body 1212, so that the connecting body 1212 can move in the horizontal direction. Through the cooperation between the guide post 12122 and the through hole on the cover plate 1401, the hole wall of the through hole plays a vertical limiting role for the guide post 12122, and at the same time, the through hole guides the guide post 12122 in the horizontal direction.

[0061] like Figure 5 and Figure 6 As shown, in some embodiments, the support member 140 includes two opposing side plates 1402. The end of each side plate 1402 away from the first abutment structure 130 is connected to the cover plate 1401, and the two side plates 1402 and the cover plate 1401 define a receiving space 1403, within which the elastic connecting assembly 121 is located. This allows the elastic connecting assembly 121 to be installed within the receiving space 1403, facilitating its extension and retraction.

[0062] like Figure 4As shown, in the embodiment of the support member 140 described above, 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 facing each side plate 1402. The second guide groove 142 is interconnected with the first guide groove 141. In this embodiment, by providing a first guide groove 141 and a second guide groove 142 on each side plate 1402, and correspondingly providing a first guide member 131 on the first docking structure 130, 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 or vertical direction, preventing the first docking structure 130 from shifting when moving, thereby ensuring a stable connection between the first docking structure 130 and the second docking structure 220.

[0063] Of course, in other embodiments, such as Figure 8 As shown, two first guide grooves 141 and two second guide grooves 142 can also be provided on the relatively longer side plate 1402. Correspondingly, two first guide members 131 are provided on the first docking structure 130 in the direction facing the side plate 1402, so that the first docking structure 130 is more stable when moving in the horizontal or vertical direction.

[0064] like Figure 3 , Figure 4 and Figure 6 As shown, in some embodiments, exemplarily, the first guide groove 141 is an arc-shaped groove or an inclined groove, and the second guide groove 142 is a straight groove, with the end of the straight groove connected to the end of the arc-shaped groove or the inclined groove. This allows the first guide member 131 to move horizontally along the straight groove, while the connection between the end of the straight groove and the end of the arc-shaped groove or the inclined groove facilitates the transition of the first guide member 131 from the straight groove to the arc-shaped groove.

[0065] In some embodiments, the height of the docking portion of the first docking structure 130 is less 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.

[0066] like Figure 2 and Figure 7As shown, in some embodiments, the home mobile platform 100 further includes a first identification module 111. The first identification module 111 can be identified by the second identification module 230 of the cleaning robot 200. After the cleaning robot 200 moves to the home mobile platform 100 according to the identification 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 identification module 230 of the cleaning robot 200 can identify the first identification module 111 of the home mobile platform 100, thereby identifying the specific location of the home mobile platform 100 and causing the cleaning robot 200 to move towards the home mobile platform 100. Then, the pre-positioning between the home mobile platform 100 and the cleaning robot 200 is achieved through the docking of the first docking structure 130 and the second docking structure 220. The first identification module 111 can be an infrared emitting module, a structural feature code, a sprayed feature code, etc.; the second identification module 230 can be an infrared receiving module, a lidar, a camera, etc. Pre-positioning refers to positioning the cleaning robot 200 and the home mobile platform 100 relative to each other before they are combined, so that the platform body 110 of the home mobile platform 100 can be combined with the top of the cleaning robot 200.

[0067] The vertical height difference between the first identification module 111 and the second identification module 230 is -20mm to 20mm. This ensures more accurate signal reception between the two modules, facilitating the cleaning robot 200's location of the home mobile platform 100. For example, the vertical height difference between the first identification module 111 and the second identification module 230 is 5mm. Of course, in other embodiments, the vertical height difference between the first identification module 111 and the second identification module 230 can also be -10mm, -8mm, -5mm, 1mm, 2mm, 4mm, 7mm, or 10mm.

[0068] Combination Figure 13As shown, in some embodiments, the home mobile platform 100 can also dock with the base station 300. A first docking structure 130 is provided on the inner side of the mounting mechanism 120, and a third docking structure 190 is provided on the outer side of the mounting mechanism 120. The inner and outer sides of the mounting mechanism 120 are arranged opposite to each other. The third docking structure 190 is used to dock with a fourth docking structure 320 on the base station 300. Thus, when the home mobile platform 100 is connected to the cleaning robot 200 and docked with the base station 300, the home mobile platform 100 is located between the cleaning robot 200 and the base station 300, which helps to reduce the overall space occupied by the cleaning robot 200, the base station 300, and the home mobile platform 100. The base station 300 can be a charging base station or a dust collection base station with charging function. Exemplarily, the third docking structure 190 is a docking slot, and the fourth docking structure 320 is a connector. Of course, in other embodiments, the third docking structure 190 can also be a connector, and the fourth docking structure 320 can be a docking slot.

[0069] like Figure 1 , Figure 7 and Figure 13 As shown, in some embodiments, the home mobile platform 100 further includes a third identification module 112, which can identify the fourth identification module 310 of the base station 300, enabling the home mobile platform 100 to move to the base station 300. With the third identification module 112 in place, when the cleaning robot 200 carries the home mobile platform 100, since the second identification module 230 of the cleaning robot 200 is blocked by the mounting mechanism 120 of the home mobile platform 100, it cannot 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, allowing the home mobile platform 100 to find the base station 300 with which it cooperates. The third identification module 112 can be an infrared receiving module, a lidar, a camera, etc.; the fourth identification module 310 can be an infrared emitting module, a structural feature code, a sprayed feature code, etc.

[0070] The vertical height difference between the third identification module 112 and the fourth identification module 310 is -20mm to 20mm. This ensures more accurate signal reception between the two modules, facilitating the home mobile platform 100 in locating the corresponding base station 300. For example, the vertical height difference between the third identification module 112 and the fourth identification module 310 is -6mm. Of course, in other embodiments, the vertical height difference between the third identification module 112 and the fourth identification module 310 can also be -10mm, -8mm, -2mm, 1mm, 3mm, 5mm, 7mm, or 10mm.

[0071] like Figure 1 and Figure 2 As shown, in some embodiments, the first identification module 111 is disposed on the inner side of the mounting mechanism 120, and the third identification module 112 is disposed on the outer side of the mounting mechanism 120. This avoids the third identification module 112 being obstructed after the cleaning robot 200 docks with the home mobile platform 100, thus facilitating the cooperation between the third identification module 112 and the fourth identification module 310, and making it easier for the home mobile platform 100 to find its cooperating base station 300. Simultaneously, the inner side of the mounting mechanism 120 is concave or matches the outer surface of the cleaning robot 200 near the second docking structure 220, so that when the cleaning robot 200 docks with the home mobile platform 100, the contact surface between the two is tighter, reducing space occupation.

[0072] like Figure 1 and Figure 9 As shown, in some embodiments, the mounting mechanism 120 extends downward from the bottom of the platform body 110 and is located at the rear end of the home mobile platform 100. Two first docking structures 130 are symmetrically arranged on the mounting mechanism 120. Correspondingly, two second docking structures 220 of the cleaning robot 200 are also provided, located at the rear end of the cleaning robot 200. This facilitates docking between the home mobile platform 100 and the cleaning robot 200 through their respective rear ends, thereby enabling the home mobile platform 100 to drive the cleaning robot 200 forward.

[0073] It should be noted that the front end of the home mobile platform 100 refers to the end of the home mobile platform 100 that operates normally (carrying home items) after it is connected with the cleaning robot 200, and the back end is the other end opposite to the front end; the front end of the cleaning robot 200 refers to the end of the cleaning robot 200 that operates normally (sweeping or mopping), and the back end is the other end opposite to the front end.

[0074] like Figure 7 and Figure 9 As shown, in some embodiments, the platform body 110 has a first connecting member 113 at its bottom or side, and the cleaning robot 200 has a second connecting member 211 at its top or side. The first connecting member 113 is used to connect with the second connecting member 211, so that the platform body 110 is located on top of the cleaning robot 200. In some cases, after the first docking structure 130 docks with the second docking structure 220, the home mobile platform 100 detects successful docking, and then uses the control device inside the platform body 110 to drive the first connecting member 113 downward through the drive device, so that it can extend into the second connecting member 211 of the cleaning robot 200 to connect the two.

[0075] like Figure 7 and Figure 9 As shown, in some embodiments, a lidar 250 is provided on the top of the cleaning robot 200, and a light guide groove 122 extending from the inside to the outside of the mounting mechanism 120. After the cleaning robot 200 is combined with the home mobile platform 100, the light emitted by the lidar 250 passes through the light guide groove 122. In this embodiment, the mounting mechanism 120 has an arc-shaped surface that is substantially corresponding to the rear end face of the cleaning robot 200. The light guide groove 122 extends horizontally along the circumference of the mounting mechanism 120 and forms an arc. The light guide groove 122 penetrates the mounting mechanism 120 and is symmetrical in shape and length on both sides (the axis of symmetry is along the front-back direction of the home mobile platform 100 as it moves with the cleaning robot 200 and passes through the center of the home mobile platform 100 or the cleaning robot 200). The position and height of the light guide groove 122 substantially correspond to the lidar 250. For example, the height difference between the upper or lower edge of the light guide groove 122 and the emission source (e.g., an infrared emitter) of the lidar 250 of the cleaning robot 200 is 5mm-50mm. The light guide groove 122 is higher than the first docking structure 130 and higher than the first identification module 111. The circumferential length of the light guide groove 122 accounts for 20%-95% of the circumferential length of the mounting mechanism 120. The angle at which the light guide groove 122 extends horizontally along the circumferential direction of the mounting mechanism 120 is 20 degrees to 180 degrees.

[0076] In this embodiment, the first connecting member 113 can be combined with the second connecting member 211, so that the home mobility platform 100 is fixed to the cleaning robot 200. In this way, the cleaning robot 200 moves home objects via the home mobility platform 100, allowing home objects to be moved from one location to another, or from one room to another. This effectively expands the working range of the home objects. Furthermore, the light guide groove 122 facilitates the passage of light emitted by the laser radar 250 of the cleaning robot 200, thereby facilitating navigation based on the signals emitted by the laser radar 250.

[0077] For example, the first connecting member 113 is a snap-fit ​​rod, and the second connecting member 211 is a snap-fit ​​groove corresponding to the position and size of the snap-fit ​​rod. Alternatively, the second connecting member 211 is a snap-fit ​​rod, and the first connecting member 113 is a snap-fit ​​groove corresponding to the position and size of the snap-fit ​​rod. In both cases, the two parts can be connected.

[0078] like Figure 3 and Figure 7As shown, in some embodiments, the home mobile platform 100 further includes a first rechargeable battery, a first charging circuit, and a first charging electrode 160. The first charging circuit is connected to the first rechargeable battery, and the first charging electrode 160 is connected to the first charging circuit. The first charging electrode 160 is used to contact the second charging electrode 240 of the cleaning robot 200 to charge the cleaning robot 200 or receive electrical energy from the cleaning robot 200.

[0079] The home mobility platform 100 has a first rechargeable battery, thus enabling it to store electrical energy. Electrical energy exchange is achieved between the home mobility platform 100 and the cleaning robot 200 by making contact between the first charging electrode 160 on the home mobility platform 100 and the second charging electrode 240 on the cleaning robot 200. This first charging circuit can be either a charging-only circuit or a charging-and-discharging circuit. The first rechargeable battery can transfer electrical energy to the cleaning robot 200 via the first charging electrode 160, allowing it to move or clean the floor; alternatively, the first rechargeable battery can also receive electrical energy from the cleaning robot 200 via the first charging electrode 160, which can then be used to power rechargeable home appliances (e.g., air purifiers, humidifiers, dehumidifiers) on the home mobility platform 100 or its own electronic devices (e.g., obstacle recognition devices or cliff detection sensors).

[0080] In some embodiments, the first charging electrode 160 can be disposed in the first docking structure 130, and the second charging electrode 240 can be disposed in the second docking structure 220 of the cleaning robot 200. This configuration integrates the charging electrode and the docking structure, allowing the first charging electrode 160 and the second charging electrode 240 to contact simultaneously with the docking of the first docking structure 130 and the second docking structure 220, without requiring a separate charging interface or additional power connection. Furthermore, when the home mobility platform 100 docks with the cleaning robot 200 and traverses uneven ground, the structural design of the first guide member 131, the first guide groove 141, and the second guide groove 142 ensures a stable connection between the first docking structure 130 and the second docking structure 220, while also maintaining contact between the first charging electrode 160 and the second charging electrode 240, preventing incomplete connections.

[0081] In some other embodiments, the first charging electrode 160 and the first docking structure 130 can be separated, and the second charging electrode 240 and the second docking structure 220 can also be separated.

[0082] like Figure 2 and Figure 7As shown, in some embodiments, the first docking structure 130 is a connector, and the second docking structure 220 is a slot. Exemplarily, the first docking structure 130 is a connector protruding horizontally from the inner side of the mounting mechanism 120. The first charging electrode 160 can be disposed at the bottom of the connector, and the second charging electrode 240 can be disposed on the inner wall of the slot, ensuring that the first charging electrode 160 or the second charging electrode 240 is not contaminated by external dust or water. When the first docking mechanism 130 is a connector and the second docking structure 220 is a slot, the height of the connector is less than the height of the slot, allowing the connector to move up and down relative to the slot within the slot.

[0083] Alternatively, in some other embodiments, the first docking structure 130 is a docking slot, and the second docking structure 220 is a connector. In this case, the first charging electrode 160 can be disposed on the inner wall of the docking slot, and the second charging electrode 240 can be disposed on the bottom of the connector.

[0084] like Figures 9 to 11 As shown, in some embodiments, the home mobility platform 100 further includes a braking assembly 170 disposed on the mounting mechanism 120. The braking assembly 170 includes a limiting seat 172, which is retractable relative to the mounting mechanism 120. In the extended state, the limiting seat 172 abuts against the ground to restrict the movement of the movable support structure 150 relative to the ground. In the retracted state, the limiting seat 172 disengages from the ground, allowing the movable support structure 150 to move relative to the ground. In this embodiment, by providing the braking assembly 170 so that the limiting seat 172 can abut against the ground, the movement of the movable support structure 150 relative to the ground is restricted. In this way, before the home mobile platform 100 is fully docked with the cleaning robot 200, the limiting seat 172 moves downward and abuts against the ground to stably fix the home mobile platform 100 on the ground, so that the cleaning robot 200 can dock with the home mobile platform 100. After the home mobile platform 100 is fully docked with the cleaning robot 200, the limiting seat 172 moves upward and detaches from the ground, so that the cleaning robot 200 can move the movable support structure 150, thereby moving the home mobile platform 100.

[0085] like Figure 9As shown, in some embodiments, before the first docking structure 130 docks with the second docking structure on the cleaning robot 200 to pre-position the home mobile platform 100 and the cleaning robot 200, the limiting seat 172 extends and abuts against the ground to stably fix the home mobile platform 100 on the ground, thus facilitating docking between the cleaning robot 200 and the home mobile platform 100. After the first docking structure 130 docks with the second docking structure for pre-positioning, the limiting seat 172 retracts and detaches from the ground. This facilitates the movement of the cleaning robot 200 to move the movable support structure 150, thereby moving the home mobile platform 100.

[0086] like Figure 11 and Figure 12 As shown, in some embodiments, the brake assembly 170 further includes a brake element 171, which is movable relative to the mounting mechanism 120 and connected to the limiting seat 172, so that the limiting seat 172 can extend and retract relative to the mounting mechanism 120. A guide mechanism 180 is fixedly provided inside the mounting mechanism 120. A first guide portion 181 is provided on the guide mechanism 180, and a second guide portion 1711 is provided on the brake element 171, which cooperates with the first guide portion 181. The second guide portion 1711 can move vertically along the first guide portion 181, so that the brake element 171 drives the limiting seat 172 to move vertically. This vertical movement may be an arc-shaped vertical movement, an inclined vertical movement, or a vertical vertical movement.

[0087] In this embodiment, by fixing the limiting seat 172 to the bottom of the brake component 171, the brake component 171 moves relative to the mounting mechanism 120. For example, the brake component 171 moves up and down relative to the mounting mechanism 120, thereby causing the limiting seat 172 to contact or detach from the ground. That is, before the home mobile platform 100 is docked with the cleaning robot 200, the brake component 171 moves downward, thereby causing the limiting seat 172 to move downward and contact the ground, so that the home mobile platform 100 is stably fixed on the ground, thus facilitating the docking of the home mobile platform 100 with the cleaning robot 200. After the home mobile platform 100 is docked with the cleaning robot 200, the brake component 171 moves upward, thereby causing the limiting seat 172 to move upward and detach from the ground, thus facilitating the subsequent movement of the home mobile platform 100 by the cleaning robot 200. Meanwhile, by providing a first guide portion 181 on the guide mechanism 180 and a second guide portion 1711 on the brake component 171, the first guide portion 181 and the second guide portion 1711 cooperate to facilitate the up and down movement of the brake component 171.

[0088] In the above embodiments, exemplarily, the first guide portion 181 is a vertical guide groove 181a, and the second guide portion 1711 is a guide block. That is, a vertical guide groove 181a is formed on the guide mechanism 180, and a guide block is provided on the brake member 171. The guide block cooperates with the vertical guide groove 181a, allowing the guide block to move within the vertical guide groove 181a. It should be noted that two vertical guide grooves 181a can be provided at intervals, and correspondingly, two guide blocks can be provided at intervals on the brake member 171. Of course, in other embodiments, one or three guide blocks and three vertical guide grooves 181a can be provided respectively. By setting the first guide portion 181 as a vertical guide groove 181a, the brake member 171 can move vertically downwards or upwards.

[0089] In other embodiments, the first guide portion 181 may also be a guide block, and the second guide portion 1711 may be a vertical guide groove 181a.

[0090] like Figure 11 As shown, in some embodiments, the brake assembly 170 further includes a drive member 173 and a linkage mechanism. Specifically, the linkage mechanism is connected to the drive member 173 and moves under the action of the drive member 173, and the linkage mechanism is connected to the brake member 171. When the drive member 173 drives the linkage mechanism to move, the linkage mechanism drives the brake member 171 to move, so that the limit seat 172 can extend and retract relative to the mounting mechanism 120.

[0091] In this embodiment, when the driving member 173 drives the linkage mechanism to move in the first direction, the linkage mechanism causes the brake member 171 to extend downward so that the limiting seat 172 abuts against the ground, thereby facilitating the docking of the home mobile platform 100 and the cleaning robot 200. When the driving member 173 drives the linkage mechanism to move in the second direction, the linkage mechanism causes the brake member 171 to retract upward so that the limiting seat 172 is lifted off the ground, thereby facilitating the subsequent movement of the home mobile platform 100 by the cleaning robot 200.

[0092] For example, the linkage mechanism includes a first linkage 174 and a second linkage 175. The first linkage 174 is connected to the drive shaft 1731 and rotates under the action of the drive shaft 173; the second linkage 175 is movably connected to the first linkage 174 and is connected to the brake 171.

[0093] In this configuration, the first direction is opposite to the second direction. For example, the first direction is counterclockwise and the second direction is clockwise. Of course, in other embodiments, the first direction can also be clockwise and the second direction can be counterclockwise.

[0094] like Figure 7As shown in the illustration, an embodiment of this application also provides a cleaning robot 200, which can dock with a home mobile platform 100. The cleaning robot 200 includes a robot body 210 and a second docking structure 220, which is located at the rear end of the robot body 210. The second docking structure 220 docks with a first docking structure 130 on the home mobile platform 100 to pre-position the cleaning robot 200 with the home mobile platform 100. The docking of the second docking structure 220 with the first docking structure 130 enables the home mobile platform 100 and the cleaning robot 200 to dock.

[0095] It should be noted that the front end refers to the end of the cleaning robot 200 in the direction of normal operation (sweeping or mopping), while the rear end is the other end opposite to the front end.

[0096] In some embodiments, the cleaning robot 200 further includes a second identification module 230, which can identify the first identification module 111 of the home mobile platform 100 used for setting home objects, thereby enabling the second docking structure 220 to dock with the first docking structure 130 on the home mobile platform 100. In this embodiment, the second identification module 230 can identify the first identification module 111 of the home mobile platform 100 used for setting home objects, thereby enabling the cleaning robot 200 to move towards 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. Throughout the process, the cleaning robot 200 automatically docks with the home mobile platform 100 after identification to establish a connection. Users can control the automatic connection and separation of the cleaning robot 200 and the home mobile platform 100 through terminal devices (such as APP or remote control), which helps to improve the convenience and reliability of the connection between the cleaning robot 200 and the home mobile platform 100. Once the cleaning robot 200 is connected to the home mobility platform 100, the cleaning robot 200 can easily move home objects via the home mobility platform 100. The structures of the first identification module 111 and the second identification module 230 have been described in detail in the embodiments of the home mobility platform 100 described above, and will not be repeated here.

[0097] The embodiments of this application also provide a cleaning system, including a home mobile platform 100 as described in any of the above embodiments and a cleaning robot 200 as described in any of the above embodiments, wherein the home mobile platform 100 is capable of docking with the cleaning robot 200.

[0098] The cleaning system provided in the embodiments of this application has the home mobile platform 100 and cleaning robot 200 in any of the above embodiments. Therefore, the cleaning system has all the beneficial effects of the home mobile platform 100 and cleaning robot 200, which will not be described in detail here.

[0099] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0100] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A home mobile platform capable of being integrated with a cleaning robot, characterized in that, The home mobile platform includes: The platform itself is used to set up home furnishings, and it has an installation mechanism at the bottom. A movable support structure is connected to the bottom of the platform body to support and drive the platform body to move; The platform body has a first connecting member at its bottom or side, and the cleaning robot has a second connecting member at its top or side. The first connecting member is used to connect with the second connecting member so that the platform body is located on top of the cleaning robot. The top of the cleaning robot is equipped with a laser radar. The mounting mechanism has a light guide groove that runs from the inside to the outside. After the cleaning robot is connected with the home mobile platform, the light emitted by the laser radar passes through the light guide groove.

2. The home mobile platform according to claim 1, characterized in that, The mounting mechanism has an arc-shaped surface corresponding to the rear end face of the cleaning robot, and the light guide groove extends horizontally along the circumference of the mounting mechanism and forms an arc.

3. The home mobile platform according to claim 1, characterized in that, The light guide groove runs through the mounting mechanism and is symmetrical in shape and length on both the left and right sides.

4. The home mobile platform according to claim 1, characterized in that, The position and height of the light guide groove correspond to the lidar, and the height difference between the upper or lower edge of the light guide groove and the emission source of the lidar is 5mm-50mm.

5. The home mobile platform according to claim 1, characterized in that, The home mobile platform also includes: A first docking structure is disposed on the installation mechanism. The first docking structure is used to dock with a second docking structure on the cleaning robot to pre-position the home mobile platform with the cleaning robot. The first identification module is capable of being identified by the second identification module of the cleaning robot. After the cleaning robot moves to the home mobile platform according to the identification result, the first docking structure is used to dock with the second docking structure to pre-position the home mobile platform and the cleaning robot.

6. The home mobile platform according to claim 5, characterized in that, The light guide groove is higher than the first docking structure and higher than the first recognition module.

7. The home mobility platform according to any one of claims 1 to 6, characterized in that, The circumferential length of the light guide groove accounts for 20%-95% of the circumferential length of the mounting mechanism.

8. The home mobile platform according to any one of claims 1 to 6, characterized in that, The light guide groove extends horizontally along the circumference of the mounting mechanism at an angle of 20 degrees to 180 degrees.

9. A cleaning robot, characterized in that, It can be combined with the home mobile platform according to any one of claims 1 to 8, wherein the top of the cleaning robot is provided with a lidar, and the light emitted by the lidar passes through the light guide groove of the home mobile platform.

10. A cleaning system, characterized in that, The invention includes the home mobile platform as described in any one of claims 1 to 8 and the cleaning robot as described in claim 9, wherein the platform body of the home mobile platform is attached to the top of the cleaning robot.

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