Household mobile platform, intelligent cleaning machine and cleaning system

Abstract

The utility model discloses a home mobile platform, an intelligent cleaning machine and a cleaning system, and relates to the field of home. The household mobile platform comprises a platform body, a movable supporting structure and a positioning mark. The platform is used for arranging household articles; the movable supporting structure is connected with the bottom of the platform and used for supporting and driving the platform to move. The positioning mark is arranged on the platform and / or the movable supporting structure; the positioning sensor at the front end, the rear end or the top of the intelligent cleaning machine recognizes the positioning mark, and the intelligent cleaning machine is guided to move towards the position close to the platform or move towards the bottom of the platform. According to the household moving platform, the household objects are arranged on the platform, movement of the household objects is achieved through cooperation of the intelligent cleaning machine and the household moving platform, and compared with manual carrying of the household objects, the household moving platform has the advantages of saving time and labor and being efficient.

Description

[0001] This application, filed with the Chinese Patent Office on January 24, 2025, application number [Application Number Missing], is required to be submitted.

[0002] Priority to Chinese Patent Application No. 2025201729239, entitled "Home Mobile Platform, Cleaning Robot and Cleaning System", the contents of which are incorporated herein by reference in part. Technical Field

[0003] This application relates to the field of home technology, and in particular to a home mobile platform, a smart cleaning machine, and a cleaning system. Background Technology

[0004] Cleaning robots can sweep and mop the floor during operation, thus cleaning it thoroughly. However, existing cleaning robots cannot move various household items or transfer certain functions of household items to different locations in the home during the cleaning process, requiring users to manually move household items, which wastes manpower and resources. 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 mobility platform, intelligent cleaning machine and cleaning system, which aims to meet the needs of moving some home items while avoiding the problems of time and labor.

[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 that can be combined with a smart cleaning machine. The home mobile platform includes: a platform, a movable support structure, and a positioning marker.

[0008] The platform is used to set up home furnishings;

[0009] The movable support structure is connected to the bottom of the platform, and the movable support structure is used to support and drive the platform to move;

[0010] The positioning marker is located on the platform and / or the movable support structure;

[0011] The positioning sensor at the front, rear, or top of the intelligent cleaning machine identifies the positioning mark and guides the intelligent cleaning machine to move closer to the platform or to the bottom of the platform.

[0012] The home mobility platform provided in this application uses positioning sensors at the front, rear, or top of the smart cleaning machine to guide it towards or to the bottom of the platform, facilitating integration between the smart cleaning machine and the platform. Home items, such as air purifiers, humidifiers, books, cameras, dehumidifiers, and aromatherapy diffusers, can be placed on the platform. These items can also include commonly used medicines, water cups, and other items that may be moved around the home, or the platform or cabinet that houses them. Driven by the smart cleaning machine, these items can be moved from one location to another, or from one room to another. The placement of home items on the platform can be fixed, integrated, or disconnected. This effectively expands the working range of the home items. Furthermore, the combination of the smart cleaning machine and the home mobility platform offers advantages over manual handling in terms of time and effort savings and efficiency.

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

[0014] In one embodiment of the first aspect, a connector is provided at the bottom of the rear end or side of the platform;

[0015] The positioning mark includes a second mark, which is disposed on the inner side of the connector;

[0016] The positioning sensor includes a second sensor. The second sensor, located on the top or front of the smart cleaning machine, identifies the second mark and guides the smart cleaning machine to move closer to the platform or to the bottom of the platform.

[0017] In one embodiment of the first aspect, the positioning mark further includes a first mark, which is disposed on the outer side of the movable support structure, the peripheral wall of the platform, and / or the outer side of the connector;

[0018] The positioning sensor also includes a first sensor. Before the second mark is detected by the second sensor on the top or front of the smart cleaning machine, the first mark is detected by the first sensor on the top or front of the smart cleaning machine, guiding the smart cleaning machine to move closer to the platform.

[0019] In one embodiment of the first aspect, the home mobile platform further includes: an alignment mark, the alignment mark being disposed on the bottom surface of the platform and having a preset distance from the connector; after the second mark is identified by the second sensor on the top or front end of the smart cleaning machine, when the alignment sensor on the top of the smart cleaning machine confirms the alignment mark, the platform is aligned with the smart cleaning machine, and the smart cleaning machine stops moving.

[0020] In one embodiment of the first aspect, the inner side of the connector is concave arc-shaped, and the inner side shape of the connector is designed to mate with the outer side of the smart cleaning machine.

[0021] In one embodiment of the first aspect, the home mobility platform further includes a snap-fit ​​groove located at the bottom or side of the platform. After the platform is aligned with the smart cleaning machine, the snap-fit ​​groove is used to engage with a snap-fit ​​post on the top or side of the smart cleaning machine so that the platform is fixedly attached to the top of the smart cleaning machine.

[0022] In one embodiment of the first aspect, the movable support structure includes two first movable support structures located opposite each other at the rear end of the platform and two second movable support structures located opposite each other at the front end of the platform. The two first movable support structures are located on opposite sides of the central axis of the moving direction of the home mobile platform; the two second movable support structures are located on opposite sides of the central axis of the moving direction of the home mobile platform, and the intelligent cleaning machine can enter the bottom of the platform through the gap between the two second movable support structures.

[0023] Alternatively, the movable support structure includes a first movable support structure located relative to the rear end of the platform and two second movable support structures located relative to the front end of the platform. The first movable support structure is located on the central axis of the moving direction of the home mobile platform; the two second movable support structures are located on opposite sides of the central axis of the moving direction of the home mobile platform, and the intelligent cleaning machine can enter the bottom of the platform through the gap between the two second movable support structures.

[0024] In one embodiment of the first aspect, when the home mobile platform is combined with the smart cleaning machine, both the first movable support structure and the second movable support structure are equidistant from the side edge of the smart cleaning machine.

[0025] In one embodiment of the first aspect, a battery unit is inserted into or internally located at the rear end of the platform; a charging interface is located on the top or side of the platform, the charging interface being electrically connected to the battery unit, and the home appliance can receive electrical energy from the battery unit through the charging interface.

[0026] Secondly, this application also provides an intelligent cleaning machine that can be integrated with a home mobile platform. The intelligent cleaning machine includes a robot body and a positioning sensor, wherein the positioning sensor is located at the front end, rear end, or top of the robot body.

[0027] The positioning sensor identifies the positioning marker of the home mobile platform used to set home objects, causing the smart cleaning machine to move closer to the home mobile platform or to the bottom of the home mobile platform.

[0028] In one embodiment of the second aspect, the positioning sensor includes a second sensor located at the front, rear, or top of the robot body, and the positioning mark includes a second mark; the second sensor identifies the second mark of the home mobile platform used for setting home objects, causing the smart cleaning machine to move closer to the home mobile platform or to the bottom of the home mobile platform.

[0029] In one embodiment of the second aspect, the positioning sensor includes a first sensor located at the front, rear, or top of the robot body, and the positioning mark includes a first mark; before identifying the second mark of the home mobile platform for setting home objects by the second sensor, the first mark of the home mobile platform for setting home objects is identified by the first sensor, thereby causing the smart cleaning machine to move closer to the home mobile platform.

[0030] In one embodiment of the second aspect, the intelligent cleaning machine further includes an alignment sensor located on top of the robot body;

[0031] After the second sensor identifies the second mark of the home mobile platform for setting home objects, when the alignment sensor confirms the alignment mark on the bottom of the home mobile platform, the smart cleaning machine aligns with the platform and stops moving.

[0032] In one embodiment of the second aspect, the intelligent cleaning machine further includes a snap-fit ​​post located on the top or side of the robot body. After the intelligent cleaning machine is aligned with the platform, the snap-fit ​​post is used to engage with a snap-fit ​​groove on the bottom or side of the home mobile platform so that the top of the robot body is fixedly connected to the home mobile platform.

[0033] Thirdly, this application also provides a cleaning system, including the intelligent cleaning machine described in any embodiment of the second aspect and the home mobile platform described in any embodiment of the first aspect, wherein the home mobile platform can be combined with the intelligent cleaning machine.

[0034] The cleaning system provided by the embodiments of this application has the home mobile platform in any embodiment of the first aspect and the intelligent cleaning machine in any embodiment of the second aspect. Therefore, the cleaning system has all the beneficial effects of the home mobile platform and the intelligent cleaning machine, which will not be described in detail here. Attached Figure Description

[0035] 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.

[0036] 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;

[0037] Figure 2 This illustration shows a schematic diagram of the home mobility platform provided in one embodiment of the present application from a single perspective.

[0038] Figure 3 This invention provides a schematic diagram of the home mobility platform from another perspective, based on one embodiment of the present application.

[0039] Figure 4 This invention provides a three-dimensional structural schematic diagram of a home mobility platform according to one embodiment of the present application from another perspective.

[0040] Figure 5 A schematic diagram of the structure of a home mobile platform combined with a smart cleaning machine after installing home appliances, according to another embodiment of this application;

[0041] Figure 6 This illustration shows a one-view perspective three-dimensional structural diagram of a home mobility platform provided in another embodiment of this application;

[0042] Figure 7 This illustration shows a perspective view of the structure of an intelligent cleaning machine according to an embodiment of this application.

[0043] Figure 8 This is a schematic diagram of the structure of a home mobile platform combined with a smart cleaning machine according to an embodiment of this application.

[0044] Key component symbols: 100-Home mobile platform; 110-Platform; 120-Movable support structure; 121-Second movable support structure; 122-First movable support structure; 131-First mark; 132-Second mark; 140-Connector; 151-Alignment mark; 161-Snap-in slot; 170-Charging interface; 200-Intelligent cleaning machine; 210-Robot body; 211-First sensor; 212-Second sensor; 213-Alignment sensor; 214-Snap-in post; 300-Home object. Detailed Implementation

[0045] 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.

[0046] 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.

[0047] 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.

[0048] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," 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; or they can refer to abutment. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0049] 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.

[0050] like Figure 1 , Figure 5 and Figure 8 As shown, an embodiment of this application provides a home mobile platform 100, which can be used in conjunction with a smart cleaning machine 200. It can be a shelf without any battery unit, or it can be equipped with a battery unit or other devices to interface with a base station. When the smart cleaning machine 200 is near the home mobile platform 100, the home mobile platform 100 can automatically establish a physical connection with the smart cleaning machine 200, allowing the smart cleaning machine 200 to move the home mobile platform 100. The home mobile platform 100 can serve as a carrier structure for home objects 300, meaning that home objects 300 can be placed on the home mobile platform 100, thereby fulfilling the mobile use needs of the home objects 300. The smart cleaning machine 200 can be a sweeping robot, a mopping robot, or a combined sweeping and mopping robot.

[0051] like Figure 1 , Figure 2 and Figure 4 As shown, the home mobile platform 100 can be combined with the smart cleaning machine 200. The home mobile platform 100 includes a platform 110, a movable support structure 120, and positioning markers. The platform 110 is used to place home objects 300. The movable support structure 120 is connected to the bottom of the platform 110 and is used to support and move the platform 110. Positioning markers are located on the platform 110 and / or the movable support structure 120. The platform 110 is supported on the ground by the movable support structure 120. Home objects 300 can be placed on the home mobile platform 100 in various ways, such as fixed placement, integrated connection, or non-connected placement. Home objects 300 can be, for example, air purifiers, humidifiers, books, cameras, dehumidifiers, aromatherapy diffusers, or other items that users frequently use, such as medicines and water cups, that may be moved around the home, or the platform 110 or cabinet that houses them. The platform 110 can be round, square, or other shapes.

[0052] like Figure 1 As shown, in one embodiment, a location marker is provided on platform 110, exemplarily.

[0053] like Figure 2 As shown, in another embodiment, exemplarily, a positioning mark is provided on the movable support structure 120.

[0054] In yet another embodiment, exemplarily, positioning markers are respectively provided on platform 110 and movable support structure 120.

[0055] like Figure 3 and Figure 4 As shown, in some embodiments, the movable support structure 120 includes legs and casters or ordinary rollers, tracks, etc., disposed at the bottom of the legs. The movable support structure 120 may also consist only of casters or ordinary rollers, tracks, etc., disposed on the platform 110. This arrangement allows the home mobile platform 100 to move forward, backward, or turn smoothly alongside the intelligent cleaning machine 200. The number of movable support structures 120 can be three or four. This arrangement helps improve the stability of the platform 110.

[0056] The positioning sensors at the front, rear, or top of the intelligent cleaning machine 200 identify the positioning marker and guide the intelligent cleaning machine 200 to move closer to the platform 110 and / or to the bottom of the platform 110.

[0057] It should be noted that in this application, "front" in "front and back" refers to the direction of movement of the intelligent cleaning machine 200 during normal operation (mopping or sweeping).

[0058] like Figure 1 and Figure 7 As shown, in some embodiments, a connector 140 is provided at the bottom of the rear end or side of the platform 110. The positioning marker includes a second marker 132, which is located on the inner side of the connector 140. The positioning sensor includes a second sensor 212. The second marker 132 is detected by the second sensor 212 at the top or front end of the intelligent cleaning machine 200, guiding the intelligent cleaning machine 200 to move closer to the platform 110 or towards the bottom of the platform 110. The inner side of the connector 140 is concave, and its shape is designed to mate with the outer side (especially the rear end face) of the intelligent cleaning machine 200.

[0059] In some embodiments, the second mark 132 may be a laser identification code (e.g., a raised or recessed structural feature code or a pattern identification code), and the second sensor 212 may be a lidar. The lidar can rotate 360 ​​degrees to facilitate the detection of the laser identification code. If the laser identification code is detected by the lidar, the intelligent cleaning machine 200 is guided to move closer to the home mobile platform 100 or to the bottom of the home mobile platform 100.

[0060] like Figure 1 , Figure 2 , Figure 4 As shown, in some embodiments, the positioning mark further includes a first mark 131, which is disposed on the outer side of the movable support structure 120, the peripheral wall of the platform 110, and / or the outer side of the connector 140.

[0061] Combination Figure 7 As shown, the positioning sensor also includes a first sensor 211. Before the second mark 132 is detected by the second sensor 212 on the top or front of the smart cleaning machine 200, the first mark 131 is detected by the first sensor 211 on the top or front of the smart cleaning machine 200, guiding the smart cleaning machine 200 to move closer to the platform 110. In some embodiments, exemplarily, the first mark 131 may be a visual identification code (e.g., a QR code), and the first sensor 211 may be a camera that can accurately detect the visual identification code on the surrounding wall of the platform 110.

[0062] like Figure 2 As shown, in one embodiment, exemplarily, a first mark 131 is provided on the outer side of the movable support structure 120.

[0063] like Figure 1 As shown, in another embodiment, exemplarily, a first mark 131 is provided on the peripheral wall surface of platform 110.

[0064] like Figure 4 As shown, in yet another embodiment, exemplarily, a first mark 131 is provided on the outer side of the connector 140.

[0065] It is understood that in other embodiments, the first mark 131 is provided on the outer side of the movable support structure 120 and the peripheral wall of the platform 110; the first mark 131 is provided on the outer side of the movable support structure 120 and the outer side of the connector 140; the first mark 131 is provided on the peripheral wall of the platform 110 and the outer side of the connector 140.

[0066] It should be noted that the peripheral walls of platform 110 include the front face, the middle face, and the rear face of platform 110. The visual identification codes of each movable support structure 120 of platform 110 can also be different, and can be different from the visual identification code of connector 140. The visual identification codes of each end face of the peripheral walls of platform 110 are also different. When the first sensor 211 identifies the corresponding visual identification code, the intelligent cleaning machine 200 moves to the bottom of the front end of platform 110.

[0067] like Figure 3As shown, the home mobile platform 100 may also include an alignment mark 151, which is located on the bottom surface of the platform 110 and has a preset distance from the inner side of the connector 140. After the second mark 132 is identified by the second sensor 212 on the top or front of the smart cleaning machine 200, when the alignment sensor 213 on the top of the smart cleaning machine 200 confirms the alignment mark 151, the platform 110 is aligned with the smart cleaning machine 200, and the smart cleaning machine 200 stops moving.

[0068] It should be noted that the alignment mark 151 is located on the bottom surface of the platform 110 and has a preset distance between it and the inner side of the connector 140. The preset distance is d, which is greater than 0 mm. That is, the projections of the alignment mark 151 and the connector 140 on the bottom surface of the platform 110 do not coincide.

[0069] Combination Figure 3 As shown, alignment mark 151 can be the object being detected, and alignment sensor 213 can be a photoelectric switch. When the photoelectric switch of the intelligent cleaning machine 200 detects the object being detected, the alignment sensor 213 confirms alignment mark 151. Alignment mark 151 can be a light-recognition component (e.g., a light-shielding component, a light-absorbing component, a light-guiding component, a recessed component, etc.), and alignment sensor 213 can be one or more pairs of infrared sensors. One pair of infrared sensors includes an infrared receiver and an infrared emitter. Since the bottom of platform 110 is a solid surface, when the light-recognition component is a light-shielding component, the infrared light is blocked; when the light-recognition component is a light-shielding component, the infrared light is blocked. If the light-recognition component is a recessed part, such as a groove, the infrared signal will be weak. If the light-recognition component is a light-absorbing component, the infrared light will be absorbed. If the light-recognition component is a light-guiding component, the infrared light will be guided to an angle that the infrared receiver cannot receive. If the infrared sensor enters the bottom of the platform 110 and can continuously receive the infrared signal reflected from the bottom of the platform 110 for a period of time, but suddenly cannot receive the infrared signal, such as if the infrared light is blocked by a light-shielding component, or if the light-recognition component is a groove causing the infrared sensor to receive a weak infrared signal, then the alignment sensor 213 confirms the alignment mark 151. Alignment refers to the intelligent cleaning machine 200 being directly below the platform 110, at which point the home mobile platform 100 can be combined with the intelligent cleaning machine 200. The light-recognition component can also be made of a material different from the bottom of the platform 110 or a material of a different color. If the infrared signal value received by the infrared sensor from the light-recognition component is different from the infrared signal value received by the infrared sensor from the bottom of the platform, then the alignment sensor 213 confirms the alignment mark 151.

[0070] like Figure 7As shown, in some embodiments, the smart cleaning machine 200 may include only the second sensor 212, and the home mobile platform 100 may include only the second mark 132; in other embodiments, the smart cleaning machine 200 may include only the second sensor 212 and the first sensor 211, and the home mobile platform 100 may include only the second mark 132 and the first mark 131; in still other embodiments, the smart cleaning machine 200 may include the second sensor 212, the first sensor 211 and the alignment sensor 213, and the home mobile platform 100 may include the second mark 132, the first mark 131 and the alignment mark 151.

[0071] like Figure 1 , Figure 3 , Figure 7 As shown, in some embodiments, the home mobile platform 100 further includes a snap-fit ​​groove 161. The snap-fit ​​groove 161 is located at the bottom or side of the platform 110. After the platform 110 is aligned with the smart cleaning machine 200, the snap-fit ​​groove 161 is used to engage with the snap-fit ​​post 214 on the top or side of the smart cleaning machine 200 to fix the platform 110 to the top of the smart cleaning machine 200. The engagement of the snap-fit ​​groove 161 and the snap-fit ​​post 214 results in a simple structure and facilitates the fixation of the platform 110 to the top of the smart cleaning machine 200.

[0072] It should be noted that "fixed connection" can refer to restricting the horizontal movement of both parties only through interlocking or other means, without completely fixing them in the vertical direction. It can also refer to achieving complete fixation through snap-fitting, magnetic attraction, or other means, restricting the movement of both parties in all directions, including horizontal and vertical.

[0073] In some embodiments, the plurality of movable support structures 120 may include a first movable support structure located relative to the rear end of the platform 110 and two second movable support structures located relative to the front end of the platform 110. The first movable support structure is located on the central axis of the moving direction of the home mobile platform 100; the two second movable support structures are located on opposite sides of the central axis of the moving direction of the home mobile platform 100, and the intelligent cleaning machine 200 can enter the bottom of the platform 110 through the gap between the two second movable support structures.

[0074] like Figure 2 and Figure 3As shown, in other embodiments, a total of four movable support structures 120 may be provided, including two first movable support structures 122 located opposite the rear end of the platform 110 and two second movable support structures 121 located opposite the front end of the platform 110. The two first movable support structures 122 are located on opposite sides of the central axis of the front movement direction of the home mobile platform 100, and the two second movable support structures 121 are located on opposite sides of the central axis of the rear movement direction of the home mobile platform 100. The intelligent cleaning machine 200 can enter the bottom of the platform 110 through the gap between the two second movable support structures 121. The four movable support structures 120 may also be evenly arrayed on the bottom of the platform.

[0075] In some embodiments, when the home mobile platform 100 is combined with the smart cleaning machine 200, the first movable support structure 122 and the second movable support structure 121 are both equidistant from the side edge of the smart cleaning machine 200. At this time, the home mobile platform 100 and the smart cleaning machine 200 are stably combined, facilitating the smart cleaning machine 200 to carry the home mobile platform 100 to complete the corresponding task objectives.

[0076] like Figure 6 As shown, in some embodiments, a battery unit is inserted into or internally located at the rear end of the platform 110; a charging interface 170 is provided on the top or side of the platform 110, which is electrically connected to the battery unit, allowing the home appliance 300 to receive electrical energy from the battery unit via the charging interface 170. The home mobile platform 100 also includes a first charging electrode, which is used to contact a second charging electrode located at a base station to receive electrical energy from the base station (e.g., a dust collection base station or a charging base station), which is stored within the battery unit. By making the first charging electrode on the home mobile platform 100 contact the second charging electrode on the base station, the base station can charge the home mobile platform 100, and this electrical energy is used to power the rechargeable home appliance 300 (e.g., an air purifier, humidifier, dehumidifier) ​​on the home mobile platform 100 via the charging interface 170.

[0077] like Figure 5 , Figure 7 As shown in the illustration, this application embodiment also provides an intelligent cleaning machine 200, which can be integrated with a home mobile platform 100. The intelligent cleaning machine 200 includes a robot body 210 and a positioning sensor, which is located at the front end, rear end, or top of the robot body 210.

[0078] The positioning sensor identifies the positioning mark of the home mobile platform 100 used to set home objects 300, causing the smart cleaning machine 200 to move closer to the home mobile platform 100 or to the bottom of the home mobile platform 100.

[0079] The positioning sensor may include a second sensor 212, which is located at the front end, rear end, or top of the robot body 210. The positioning mark may include a second mark 132. The second sensor 212 identifies the second mark 132 of the home mobile platform 100 used for setting home objects 300, causing the intelligent cleaning machine 200 to move closer to the home mobile platform 100 or to the bottom of the home mobile platform 100.

[0080] In some embodiments, the second sensor 212 may be a lidar, and the second mark 132 may be a laser identification code (e.g., a raised or recessed structural feature code or a pattern identification code). The lidar can rotate 360 ​​degrees to facilitate the detection of the laser identification code. If the laser identification code is detected by the lidar, the smart cleaning machine 200 will move closer to the home mobile platform 100 or move to the bottom of the home mobile platform 100.

[0081] The positioning sensor may further include a first sensor 211, which is located at the front, rear, or top of the robot body 210. The positioning marker may further include a first marker 131. Before the second marker 132 for setting up the home mobile platform 100 is identified by the second sensor 212, the first marker 131 for setting up the home mobile platform 100 is identified by the first sensor 211, thereby causing the intelligent cleaning machine 200 to move closer to the home mobile platform 100. In some embodiments, the first sensor 211 is a camera, and the first marker 131 may be a visual identification code (e.g., a QR code). The camera can accurately detect the visual identification code on the perimeter wall of the platform 110 of the home mobile platform 100.

[0082] like Figure 3 , Figure 7 As shown, the intelligent cleaning machine 200 also includes an alignment sensor 213, which is located on the top of the robot body 210. After the second sensor 212 identifies the second mark 132 of the home mobile platform 100 used for setting home objects 300, when the alignment sensor 213 confirms the alignment mark 151 on the bottom of the home mobile platform 100, the intelligent cleaning machine 200 is aligned with the platform 110 and the intelligent cleaning machine 200 stops moving.

[0083] Combination Figure 3As shown, alignment mark 151 can be the object being detected, and alignment sensor 213 can be a photoelectric switch. When the photoelectric switch of the intelligent cleaning machine 200 detects the object being detected, the alignment sensor 213 confirms alignment mark 151. Alignment mark 151 can be a light-recognition component (e.g., a light-shielding component, a light-absorbing component, a light-guiding component, a recessed component, etc.), and alignment sensor 213 can be one or more pairs of infrared sensors. One pair of infrared sensors includes an infrared receiver and an infrared emitter. Since the bottom of platform 110 is a solid surface, when the light-recognition component is a light-shielding component, the infrared light is blocked; when the light-recognition component is a light-shielding component, the infrared light is blocked. If the light-recognition component is a recessed part, such as a groove, the infrared signal will be weak. If the light-recognition component is a light-absorbing component, the infrared light will be absorbed. If the light-recognition component is a light-guiding component, the infrared light will be guided to an angle that the infrared receiver cannot receive. If the infrared sensor enters the bottom of the platform 110 and can continuously receive the infrared signal reflected from the bottom of the platform 110 for a period of time, but suddenly cannot receive the infrared signal, such as if the infrared light is blocked by a light-shielding component, or if the light-recognition component is a groove causing the infrared sensor to receive a weak infrared signal, then the alignment sensor 213 confirms the alignment mark 151. Alignment refers to the intelligent cleaning machine 200 being directly below the platform 110, at which point the home mobile platform 100 can be combined with the intelligent cleaning machine 200. The light-recognition component can also be made of a material different from the bottom of the platform 110 or a material of a different color. If the infrared signal value received by the infrared sensor from the light-recognition component is different from the infrared signal value received by the infrared sensor from the bottom of the platform, then the alignment sensor 213 confirms the alignment mark 151.

[0084] like Figure 1 , Figure 7 As shown, in some embodiments, the intelligent cleaning machine 200 further includes a snap-fit ​​post 214. The snap-fit ​​post 214 is located on the top or side of the robot body 210. After the intelligent cleaning machine 200 is aligned with the platform 110, the snap-fit ​​post 214 is used to engage with the snap-fit ​​groove 161 on the bottom or side of the home mobile platform 100, so that the top of the intelligent cleaning machine 200 is fixedly connected to the home mobile platform 100. When the snap-fit ​​post 214 is extended, it protrudes from the top or side of the robot body 210, at which time the snap-fit ​​post 214 and the snap-fit ​​groove 161 can engage. When the snap-fit ​​post 214 is retracted, it separates from the snap-fit ​​groove 161. The phrase "the snap-fit ​​post 214 is located on the top or side of the robot body 210" means that the snap-fit ​​post is located on the top or side of the robot body 210 when it is extended.

[0085] The top of the snap-fit ​​post 214 is lower than or flush with the upper surface of the intelligent cleaning machine 200. When the snap-fit ​​post 214 is extended, it protrudes from the top of the robot body 210. That is, when the intelligent cleaning machine 200 is aligned with the home mobile platform 100, the snap-fit ​​post 214 protrudes upward from the upper surface of the intelligent cleaning machine 200 and engages with the snap-fit ​​groove 161, thereby fixing the home mobile platform 100 to the top of the intelligent cleaning machine 200.

[0086] Before the smart cleaning machine 200 is aligned with the platform 110, the top of the locking post 214 is either lower than or flush with the upper surface of the smart cleaning machine 200, which allows the smart cleaning machine 200 to maintain a good appearance and prevents the locking post 214 from colliding with other home appliances in the house.

[0087] Of course, in other embodiments, the end of the locking post 214 is located inside the robot body 210 or flush with the side of the robot body 210. When the locking post 214 is extended, it protrudes from the side of the robot body 210. That is, when the intelligent cleaning machine 200 is aligned with the home mobile platform 100, the locking post 214 protrudes outward from the side of the robot body 210 and engages with the locking groove 161, thereby fixing the top of the robot body 210 to the home mobile platform 100. Before the intelligent cleaning machine 200 is aligned with the platform 110, the end of the locking post 214 is located inside the robot body 210 or flush with the side of the robot body 210, which allows the intelligent cleaning machine 200 to maintain a good appearance, and the locking post 214 will not collide with other home appliances in the house.

[0088] like Figure 5 and Figure 8 As shown, embodiments of this application also provide a cleaning system, which includes the aforementioned home mobile platform 100 and intelligent cleaning machine 200, wherein the home mobile platform 100 can be combined with the intelligent cleaning machine 200.

[0089] The cleaning system provided in this embodiment has the home mobile platform 100 and the intelligent cleaning machine 200 in any of the above embodiments. Therefore, the cleaning system has all the beneficial effects of the home mobile platform 100 and the intelligent cleaning machine 200, which will not be described in detail here.

[0090] 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.

[0091] 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 smart cleaning machine, characterized in that, The home mobility platform includes: a platform, a movable support structure, and positioning markers; The platform is used to set up home furnishings; The movable support structure is connected to the bottom of the platform, and the movable support structure is used to support and drive the platform to move; The positioning marker is located on the platform and / or the movable support structure; The positioning sensor at the front, rear, or top of the intelligent cleaning machine identifies the positioning mark and guides the intelligent cleaning machine to move closer to the platform or to the bottom of the platform.

2. The home mobile platform according to claim 1, characterized in that, A connector is provided at the bottom of the rear or side of the platform; The positioning mark includes a second mark, which is disposed on the inner side of the connector; The positioning sensor includes a second sensor. The second sensor, located on the top or front of the smart cleaning machine, identifies the second mark and guides the smart cleaning machine to move closer to the platform or to the bottom of the platform.

3. The home mobile platform according to claim 2, characterized in that, The positioning mark also includes a first mark, which is disposed on the outer side of the movable support structure, the peripheral wall of the platform, and / or the outer side of the connector; The positioning sensor also includes a first sensor. Before the second mark is detected by the second sensor on the top or front of the smart cleaning machine, the first mark is detected by the first sensor on the top or front of the smart cleaning machine, guiding the smart cleaning machine to move closer to the platform.

4. The home mobile platform according to claim 2, characterized in that, The home mobile platform further includes an alignment mark, which is located on the bottom surface of the platform and has a preset distance from the connector; after the second sensor on the top or front of the smart cleaning machine identifies the second mark, when the alignment sensor on the top of the smart cleaning machine confirms the alignment mark, the platform is aligned with the smart cleaning machine, and the smart cleaning machine stops moving.

5. The home mobile platform according to claim 2, characterized in that, The inner side of the connector is concave arc-shaped, and the shape of the inner side of the connector is designed to fit with the outer side of the intelligent cleaning machine.

6. The home mobile platform according to any one of claims 1 to 5, characterized in that, The home mobile platform also includes a snap-fit ​​slot, which is located at the bottom or side of the platform. After the platform is aligned with the smart cleaning machine, the snap-fit ​​slot is used to engage with the snap-fit ​​post on the top or side of the smart cleaning machine so that the platform is fixedly attached to the top of the smart cleaning machine.

7. The home mobile platform according to claim 6, characterized in that, The movable support structure includes two first movable support structures located opposite each other at the rear end of the platform and two second movable support structures located opposite each other at the front end of the platform. The two first movable support structures are located on opposite sides of the central axis of the moving direction of the home mobile platform; the two second movable support structures are located on opposite sides of the central axis of the moving direction of the home mobile platform, and the intelligent cleaning machine can enter the bottom of the platform through the gap between the two second movable support structures. Alternatively, the movable support structure includes a first movable support structure located relative to the rear end of the platform and two second movable support structures located relative to the front end of the platform, wherein the first movable support structure is located on the central axis of the moving direction of the home mobile platform; Two second movable support structures are located on opposite sides of the central axis of the home mobile platform in the direction of movement, and the intelligent cleaning machine can enter the bottom of the platform through the gap between the two second movable support structures.

8. The home mobile platform according to claim 7, characterized in that, When the home mobile platform is combined with the smart cleaning machine, both the first movable support structure and the second movable support structure are equidistant from the side edge of the smart cleaning machine.

9. The home mobility platform according to any one of claims 1 to 5, characterized in that, The platform has a battery unit inserted into or inside its rear end; the platform has a charging interface on its top or side, which is electrically connected to the battery unit, and the home appliance can receive power from the battery unit through the charging interface.

10. A smart cleaning machine capable of integrating with a home mobile platform, characterized in that, The intelligent cleaning machine includes a robot body and a positioning sensor, wherein the positioning sensor is located at the front end, rear end or top of the robot body; The positioning sensor identifies the positioning marker of the home mobile platform used to set home objects, causing the smart cleaning machine to move closer to the home mobile platform or to the bottom of the home mobile platform.

11. The intelligent cleaning machine according to claim 10, characterized in that, The positioning sensor includes a second sensor, which is located at the front, rear, or top of the robot body. The positioning mark includes a second mark. The second sensor identifies the second mark of the home mobile platform used to set home objects, causing the smart cleaning machine to move closer to the home mobile platform or to the bottom of the home mobile platform.

12. The intelligent cleaning machine according to claim 11, characterized in that, The positioning sensor includes a first sensor, which is located at the front, rear, or top of the robot body. The positioning mark includes a first mark. Before the second mark of the home mobile platform for setting home objects is identified by the second sensor, the first mark of the home mobile platform for setting home objects is identified by the first sensor, thereby causing the smart cleaning machine to move closer to the home mobile platform.

13. The intelligent cleaning machine according to claim 11, characterized in that, The intelligent cleaning machine also includes an alignment sensor, which is located on the top of the robot body; After the second sensor identifies the second mark of the home mobile platform for setting home objects, when the alignment sensor confirms the alignment mark on the bottom of the home mobile platform, the smart cleaning machine aligns with the platform and stops moving.

14. The intelligent cleaning machine according to claim 13, characterized in that, The intelligent cleaning machine also includes a snap-fit ​​post, which is located on the top or side of the robot body. After the intelligent cleaning machine is aligned with the platform, the snap-fit ​​post is used to engage with the snap-fit ​​groove on the bottom or side of the home mobile platform so that the top of the robot body is fixedly connected to the home mobile platform.

15. A cleaning system, characterized in that, Includes the home mobile platform according to any one of claims 1 to 9 and the intelligent cleaning machine according to any one of claims 10 to 14; The home mobile platform can be integrated with the smart cleaning machine.

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