Home mobile platform, cleaning robot, base station, and cleaning system

Abstract

The present application relates to a home mobile platform, a cleaning robot, a base station, and a cleaning system. The home mobile platform can dock with the cleaning robot, and the home mobile platform comprises a platform, a movable supporting structure, a first identification module, and a first docking structure; the platform is used for arranging a household object; the movable supporting structure is connected to the bottom of the platform, and the movable supporting structure is used for supporting the platform and driving the platform to move; the first identification module is arranged on the platform; a mounting mechanism is provided at the bottom of the platform, and the first docking structure is arranged on the mounting mechanism; the first identification module can be identified by a second identification module of the cleaning robot, and when the cleaning robot moves to the home mobile platform on the basis of an identification result, the first docking structure is used for docking with a second docking structure on the cleaning robot so as to pre-position the home mobile platform and the cleaning robot.

Description

Home mobile platforms, cleaning robots, base stations and cleaning systems

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application respectively claims the application number 2024202697029 filed with the China Patent Office on February 2, 2024, entitled “Home Mobile Platform, Cleaning Robot and Cleaning System”, the application number 2024103079042 filed with the China Patent Office on March 15, 2024, entitled “Home Mobile Platform, Cleaning Robot and Cleaning System”, the application number 2024106231253 filed with the China Patent Office on May 15, 2024, entitled “Home Mobile Platform and Cleaning System”, the application number 2024211486173 filed with the China Patent Office on May 22, 2024, entitled “A Home Mobile Device, Home Object and Cleaning System”, and the application number 2024211486174 filed with the China Patent Office on June 6, 2024. The application claims priority to the Chinese patent application with application number 2024212915301 filed with the Patent Office, entitled “Household carrying device, cleaning robot and cleaning system”, application number 2024213755085 filed with the Chinese Patent Office on June 17, 2024, entitled “Household mobile platform, cleaning robot and cleaning system”, application number 2024107806309 filed with the Chinese Patent Office on June 17, 2024, entitled “Household mobile platform and cleaning system”, and application number 2024213949413 filed with the Chinese Patent Office on June 18, 2024, entitled “Household mobile platform, household equipment and smart home system”. Part or all of the content of the above priority is incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of smart home technology, and in particular to a home mobile platform, a cleaning robot, a base station and a cleaning system. Background Art

[0004] As people's living standards improve, more and more household items are entering homes. Currently, with the exception of movable household items (such as cleaning robots), most household items can only be in fixed positions. However, for some household items, if they can be moved, their working range can be effectively improved. Take air purifiers as an example. Air purifiers can usually only effectively purify the room where they are located. In addition, when the room area is large, the effective purification range of the air purifier is difficult to cover the entire room. If the air purifier can be moved, its air purification range can be expanded.

[0005] This shows that some household items need to be moved for work, but these household items are often immovable, and if they are moved by manpower, it will be time-consuming and labor-intensive.

[0006] Application Contents

[0007] In view of this, the purpose of this application is to overcome the shortcomings of the existing technology and provide a home mobile platform, cleaning robot, base station and cleaning system, which aims to meet the needs of moving some household objects while avoiding time-consuming and labor-intensive problems.

[0008] In order to achieve the above-mentioned object, the first aspect of the present application provides a household mobile platform capable of docking with a cleaning robot, the household mobile platform comprising: a platform, a movable support structure, a first recognition module and a first docking structure;

[0009] The platform is used to set up household objects;

[0010] 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 first identification module is provided on the platform. The bottom of the platform is provided with a mounting mechanism, and the first docking structure is provided on the mounting mechanism.

[0011] The first recognition module can be recognized by the second recognition module of the cleaning robot, and after the cleaning robot moves to the home mobile platform according to the recognition result, the first docking structure is used to dock with the second docking structure on the cleaning robot to pre-position the home mobile platform and the cleaning robot.

[0012] The mobile home platform provided in this application can be equipped with household items that require mobile use. These household items can include air purifiers, humidifiers, books, cameras, dehumidifiers, and aromatherapy devices. They can also include items commonly used by users, such as medicines and water cups, that may be passed around the home, or platforms or cabinets for storing them. After the mobile home platform docks with a cleaning robot, the mobile home platform and the cleaning robot are pre-positioned and connected together. This facilitates the subsequent movement of household items by the cleaning robot using the mobile home platform. Furthermore, the cleaning robot's second recognition module can recognize the mobile home platform's first recognition module, thereby identifying the specific location of the mobile home platform and causing the cleaning robot to move toward the mobile home platform. The pre-positioning between the mobile home platform and the cleaning robot is then achieved by docking the first docking structure with the second docking structure. This improves the convenience and reliability of the connection between the mobile home platform and the cleaning robot. The entire process relies on the cleaning robot automatically docking with the mobile home platform after recognition, allowing the two to connect. Users can control the automatic docking and detachment of the cleaning robot and the mobile home platform through a terminal device (such as an app or remote control). BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0014] FIG1 is a schematic structural diagram of a household mobile platform carrying household items in one embodiment of the present application;

[0015] FIG2 is a schematic structural diagram of a home mobile platform in an embodiment of the present application;

[0016] FIG3 is a schematic structural diagram of a home mobile platform in one embodiment of the present application from another perspective;

[0017] FIG4 is a schematic structural diagram of a first coupling member and a driving mechanism in one embodiment of the present application;

[0018] FIG5 is a schematic structural diagram of the first coupling member and the driving mechanism in one embodiment of the present application from another perspective;

[0019] FIG6 is a schematic structural diagram of a linkage structure in an embodiment of the present application;

[0020] FIG7 is a schematic structural diagram of a driving mechanism, a first detection switch, and a second detection switch in one embodiment of the present application;

[0021] FIG8 is a schematic structural diagram of a first docking structure in one embodiment of the present application;

[0022] FIG9 is a schematic diagram showing the connection between the first charging electrode and the first docking structure in one embodiment of the present application;

[0023] FIG10 is a schematic diagram of the exploded structure of the first charging electrode and the first docking structure in one embodiment of the present application;

[0024] FIG11 is a schematic structural diagram of a cleaning robot in an embodiment of the present application;

[0025] FIG12 is a schematic structural diagram of the cleaning robot in one embodiment of the present application from another perspective;

[0026] FIG13 is a structural diagram of the home mobile platform in one embodiment of the present application from another perspective;

[0027] FIG14 is a schematic structural diagram of a base station in an embodiment of the present application;

[0028] FIG15 is a schematic structural diagram of a fourth docking structure in one embodiment of the present application;

[0029] FIG16 is a schematic diagram of the exploded structure of the fourth charging electrode and the fourth docking structure in one embodiment of the present application;

[0030] FIG17 is a perspective schematic diagram of a home mobile platform provided by some embodiments of the present application;

[0031] FIG18 is a bottom view schematic diagram of a home mobile platform provided by some embodiments of the present application;

[0032] FIG19 is a schematic diagram of the internal structure of a home mobile platform provided in some embodiments of the present application;

[0033] FIG20 is a perspective schematic diagram of a first connecting component and a second connecting component in a home mobile platform provided by some embodiments of the present application;

[0034] FIG21 is a partial enlarged schematic diagram of point A in FIG20;

[0035] Figure 22 is a front view schematic diagram of the first connection component and the second connection component in the home mobile platform provided in some embodiments of the present application.

[0036] FIG23 is a schematic cross-sectional view at BB in FIG22;

[0037] FIG24 is a schematic cross-sectional view of CC in FIG22;

[0038] FIG25 is a schematic top view of a cleaning robot provided in some embodiments of the present application;

[0039] FIG26 is a partial enlarged schematic diagram of point D in FIG25;

[0040] FIG27 is a schematic diagram of a three-dimensional structure of a home mobile platform provided by some embodiments of the present application from a one-view perspective;

[0041] FIG28 is a schematic diagram of a three-dimensional structure of a household object provided by some embodiments of the present application from a one-view perspective;

[0042] FIG29 is a schematic diagram of the structure of a home mobile platform provided by some embodiments of the present application from one perspective;

[0043] FIG30 is a schematic cross-sectional view of a point EE in FIG29;

[0044] FIG31 is a schematic diagram of a three-dimensional structure of a camera module in a mobile home platform provided by some embodiments of the present application from a single perspective;

[0045] FIG32 is an exploded schematic diagram of a home mobile platform and home objects provided by some embodiments of the present application from one perspective;

[0046] FIG33 is a cross-sectional view of the platform and the buckle mechanism of the home mobile platform in FIG32 , with the buckle member in the extended state;

[0047] FIG34 is a cross-sectional view of the platform and the buckle mechanism of the home mobile platform in FIG32 , with the buckle member in a retracted state;

[0048] FIG35 is an exploded schematic diagram of the platform and the buckle mechanism of the home mobile platform in FIG32 ;

[0049] FIG36 is a schematic diagram of the three-dimensional structure of a home mobile platform provided by one embodiment of the present application from another perspective;

[0050] FIG37 is a schematic diagram of a three-dimensional structure of a home mobile platform provided by an embodiment of the present application from another perspective;

[0051] FIG38 is a schematic diagram of a three-dimensional structure of a home mobile platform provided by one embodiment of the present application from another perspective;

[0052] FIG39 is a partial cross-sectional structural diagram of a home mobile platform provided by one embodiment of the present application;

[0053] FIG40 is a schematic diagram of the assembly structure of the mounting mechanism, the first docking structure, and the brake assembly according to one embodiment of the present application from one perspective;

[0054] FIG41 is a schematic cross-sectional view at point FF in FIG40 ;

[0055] FIG42 is a schematic structural diagram of a brake assembly provided in one embodiment of the present application;

[0056] FIG43 is a schematic diagram of the exploded structure of a brake assembly in one embodiment of the present application;

[0057] FIG44 is a schematic diagram of the assembly structure of the main body mechanism and the brake assembly from one perspective in one embodiment of the present application;

[0058] FIG45 is a schematic diagram from one perspective of the assembly structure of the first docking structure and the support member in one embodiment of the present application;

[0059] FIG46 is a schematic structural diagram of a brake component from one perspective in one embodiment of the present application;

[0060] FIG47 is a schematic structural diagram of a main body mechanism from one perspective in one embodiment of the present application;

[0061] FIG48 is a schematic cross-sectional view at point HH in FIG47 ;

[0062] FIG49 is a schematic diagram of the assembly structure of the main body mechanism and the brake assembly from another perspective in one embodiment of the present application;

[0063] FIG50 is a schematic cross-sectional view of point II in FIG49;

[0064] FIG51 is a schematic diagram of a three-dimensional structure of a limit seat according to one embodiment of the present application from one perspective;

[0065] FIG52 is a schematic diagram from one perspective of the assembly structure of the first docking structure and the support member in another embodiment of the present application;

[0066] FIG53 is a schematic diagram of the assembly structure of the first docking structure and the support member in FIG52 from another perspective;

[0067] FIG54 is a schematic cross-sectional view of the GG portion in FIG53;

[0068] Figure 55 is a schematic diagram of the partial structure of the support member in one embodiment of the present application.

[0069] Key Component Symbols: 100 - Home Mobile Platform; 10 - First Connecting Assembly; 11 - First Housing; 11a - First Mounting Component; 11b - First Connector; 12 - Base Component; 12a - Main Body; 12b - Limiting Component; 12c - Cable; 12d - First Attachment; 13 - First Communication Electrode; 14 - First Elastic Connection Structure; 20 - Second Connecting Assembly; 21 - Second Housing; 21a - Second Mounting Component; 21b - Second Connector; 22 - Second Elastic Connection Structure; 30 - Snap Mechanism; 31 - Snap Component; 301 - Snap Portion; 302 - Winding Portion; 3021 - Winding Groove; 303 - Elastic Component; 32 - Pull Cord; 33 - Toggle Component; 34 - Sliding Groove; 110 - Platform; 1101 - First Detection Component; 1102 - Second Detection Component; 111 - Limiting Component; 113 - Charging Electrode; 114 - Third communication electrode; 115 - Accommodation cavity; 116 - Clamping hole; 117 - Wire hole; 120 - Movable support structure; 121 - Support leg; 122 - Universal wheel; 131 - Driving mechanism; 1312 - Transmission member; 1313 - Guide member; 1314 - Linkage structure; 1315 - Mounting hole; 1316 - Connecting member; 132 - First coupling member; 133 - First detection switch; 1331 - First contact; 134 - Second detection switch; 1341 - Second contact; 135 - Main body; 1351 - Accommodation slot; 1352 - Communication slot; 140 - Mounting mechanism; 141 - First identification module; 142 - Third docking structure; 143 - Third charging electrode; 144 - Third identification module; 145 - Dust collection channel; 146 - First sealing ring; 147 - Second guide member; 148 - Light guide slot; 150 - First docking structure; 151 - First elastic connecting assembly; 1511 - First connector; 1512 - First elastic member; 1513 - First guide post; 152 - First charging electrode; 150a - Second elastic connecting assembly; 153 - First movable member; 154 - Second guide post; 155 - Second elastic member; 156 - First docking base; 157 - First through-slot; 158 - First connecting member; 160 - Camera module; 161 - Connecting seat; 162 - Connecting rod; 163 - Camera; 164 - Detection structure; 1641 - Elastic arm; 1642 - Roller; 1643 - Base; 165 - Action portion; 170 - Obstacle recognition device; 171 - Front striker; 172 - Rear striker

[0070] 180 - Support member; 181 - First guide groove; 182 - Second guide groove; 183 - Third guide groove; 190 - Brake assembly; 191 - Brake member; 1911 - Second guide portion; 1912 - First fixing portion; 1913 - First positioning structure; 192 - Limit seat; 1921 - Anti-slip structure; 1922 - Second fixing portion; 1923 - First reinforcing rib; 1924 - Second reinforcing rib; 1925 - Second positioning structure; 193 - Driving member; 1931 - Driving shaft; 1932 - Driving motor; 194 - First linkage member; 195 - Second linkage member; 196 - Detection component; 197 - Guide mechanism; 1971 - First guide portion; 1971a - Vertical guide groove; 1972 - Stop mechanism; 200 - Cleaning robot; 210 - Robot body; 211 - Second coupling member; 212 - Second docking structure; 213 - Second charging electrode; 214 - Dust outlet; 220 - Second identification module; 230 - Third connecting assembly; 231 - Second communication electrode; 232 - First plug-in slot; 233 - Second attachment member; 240 - Fourth connecting assembly; 241 - Second plug-in slot; 250 - LiDAR; 300 - Base station; 310 - Base station body; 311 - Dust inlet; 312 - Second sealing ring; 320 - Fourth docking structure; 320a - Third elastic connecting assembly; 321 - Fourth charging electrode; 322 - Second movable member; 323 - Third guide post; 324 - Second docking base; 325 - Third elastic member; 326 - Second through slot; 330 - Fourth identification module; 400 - Household item; 410 - Fourth communication electrode; 420- buckle slot. DETAILED DESCRIPTION

[0071] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0072] In the description of this application, it should be understood that the terms "upper", "lower", "horizontal", "top", "bottom", "inside", "outside", "axial", "circumferential", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They 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, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this application.

[0073] 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 the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0074] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or abutment, or indirect connection through an intermediate medium; internal communication between two elements, or interaction between two elements. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0075] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a smaller horizontal height than the second feature.

[0076] As shown in Figures 1-3 and 12, an embodiment of the first aspect of the present application provides a mobile home platform 100 capable of docking with a cleaning robot 200. The mobile home platform 100 includes a platform 110, a movable support structure 120, a first identification module 141, and a first docking structure 150. The platform 110 is used to place household items 400. The household items 400 can be placed on the platform 110 in various ways, such as fixed, integrally connected, or non-connected. The movable support structure 120 is connected to the bottom of the platform 110 and is used to support and drive the platform 110 to move. The first recognition module 141 is disposed on the platform 110. A mounting mechanism 140 is disposed at the bottom of the platform 110. A first docking structure 150 is disposed on the mounting mechanism 140. The first recognition module 141 can be recognized by the second recognition module 220 of the cleaning robot 200. After the cleaning robot 200 moves to the mobile home platform 100 based on the recognition result, the first docking structure 150 is used to dock with the second docking structure 212 on the cleaning robot 200 to pre-position the mobile home platform 100 and the cleaning robot 200. After the mobile home platform 100 and the cleaning robot 200 are pre-positioned, the mobile home platform 100 and the cleaning robot 200 are connected together. Subsequently, the cleaning robot 200 can carry and drive the mobile home platform 100 to move. The cleaning robot 200 can be a sweeping robot, a mopping robot, or a sweeping and mopping robot.

[0077] In some embodiments, the movable support structure 120 may specifically include a roller mechanism and a belt sliding mechanism. Optionally, as shown in Figures 2 and 3, the movable support structure 120 may specifically include legs 121 and universal wheels 122 located at the ends of the legs 121. There are four movable support structures 120. This arrangement is conducive to improving the support stability of the platform 110, allowing the home mobile platform 100 to follow the cleaning robot 200 and move forward, backward, or turn. As a result, the home mobile platform 100 has mobility, making it easier for the cleaning robot 200 to drive the home mobile platform 100 to move, while reducing the load-bearing capacity of the cleaning robot 200 and reducing the driving force of the cleaning robot 200 on the home mobile platform 100.

[0078] The mobile home platform 100 in the embodiment of the present application can be equipped with a platform 110 for household items 400 that require mobile use. These household items 400 can include air purifiers, humidifiers, books, cameras, dehumidifiers, and aromatherapy devices. They can also include items commonly used by users, such as medicines and water cups, that may be passed around the home, or platforms 110 or cabinets for storing these items. After the mobile home platform 100 and the cleaning robot 200 are docked, the mobile home platform 100 and the cleaning robot 200 are pre-positioned and connected together. This facilitates the subsequent movement of the household items 400 by the cleaning robot 200 via the mobile home platform 100. Furthermore, referring to Figures 3 and 12 , the cleaning robot 200's second recognition module 220 can recognize the first recognition module 141 of the mobile home platform 100, thereby identifying the specific location of the mobile home platform 100 and causing the cleaning robot 200 to move toward the mobile home platform 100. The first docking structure 150 then docks with the second docking structure 212 to achieve pre-positioning between the mobile home platform 100 and the cleaning robot 200. This improves the convenience and reliability of connecting the mobile home platform 100 and the cleaning robot 200. The entire process relies on the cleaning robot 200 identifying the mobile home platform 100 and automatically docking with it to connect the two. The user can control the automatic docking and detachment of the cleaning robot 200 and the mobile home platform 100 through a terminal device (e.g., an app or remote control). The first recognition module 141 can be an infrared transmitter module, a structural signature code, a spray signature code, etc.; the second recognition module 220 can be an infrared receiver module, a lidar, a camera, etc.

[0079] The vertical height difference between the first recognition module 141 and the second recognition module 220 is between -20 mm and 20 mm. This allows for more accurate signal reception between the first recognition module 141 and the second recognition module 220, making it easier for the cleaning robot 200 to find the mobile home platform 100. For example, the vertical height difference between the first recognition module 141 and the second recognition module 220 is 5 mm. Of course, in other embodiments, the vertical height difference between the first recognition module 141 and the second recognition module 220 may also be -10 mm, -8 mm, -5 mm, 1 mm, 2 mm, 4 mm, 7 mm, or 10 mm.

[0080] In some embodiments, as shown in Figures 3 and 8, the mounting mechanism 140 is further provided with a first elastic connection component 151 for enabling the first docking structure 150 to move in the horizontal direction to match the second docking structure 212, or the first docking structure 150 is used to match the second docking structure 212 of the cleaning robot 200 to which the first elastic connection component 151 is connected. By providing the first elastic connection component 151, during the docking process, the first docking structure 150 and the second docking structure 212 are elastically matched, preventing the mobile home platform 100 and the cleaning robot 200, which are both movable devices (for example, both have rollers), from easily pushing each other to move during docking, while the rigid fit cannot provide buffering, resulting in the first docking structure 150 and the second docking structure 212 being unable to dock properly.

[0081] In some embodiments, as shown in Figures 3 and 8, the first elastic connection assembly 151 includes a first connector 1511 and a first elastic member 1512. The first connector 1511 is connected to the first docking structure 150 and is movably connected to the mounting mechanism 140, allowing the first docking structure 150 to move horizontally. The first elastic member 1512 is disposed between the first connector 1511 and the mounting mechanism 140. The first elastic member 1512 provides elastic force to the first connector 1511, allowing the first connector 1511 to move horizontally. The first connector 1511 is connected to the first docking structure 150, so that the first connector 1511 transmits the horizontal force to the first docking structure 150, allowing the first docking structure 150 to move horizontally. The first elastic member 1512 and the first connector 1511 constitute the first elastic connection assembly 151, which can prevent the first docking structure 150 and the second docking structure 212 from being unable to dock due to rigid fit.

[0082] Alternatively, in other embodiments, the first elastic connection assembly 151 includes a first connector 1511 and a first elastic member 1512. The first connector 1511 is connected to the second docking structure 212 and is movably connected to the robot body 210 on the cleaning robot 200, so that the second docking structure 212 can move in the horizontal direction. The first elastic member 1512 is disposed between the first connector 1511 and the robot body 210 on the cleaning robot 200. The first elastic member 1512 provides elastic force to the first connector 1511 so that the first connector 1511 can move in the horizontal direction. The first connector 1511 is connected to the second docking structure 212, that is, is disposed in the cleaning robot 200, so that the first connector 1511 transmits the horizontal force to the second docking structure 212 so that the second docking structure 212 can move in the horizontal direction. The first elastic member 1512 and the first connector 1511 form a first elastic connection assembly 151 , which can prevent the first docking structure 150 and the second docking structure 212 from being unable to dock properly due to rigid fit.

[0083] In some embodiments, as shown in Figures 3 and 8, a first guide column 1513 extending in a horizontal direction is provided on the first connecting body 1511. The first guide column 1513 is connected to or sleeved on the first elastic member 1512. Through the first guide column 1513, the first docking structure 150 or the second docking structure 212 can only move in the horizontal direction and cannot move in other directions.

[0084] In some embodiments, as shown in Figures 3, 8, 9 and 12, the home mobile platform 100 also includes a first rechargeable battery, a first charging circuit and a first charging electrode 152. The first charging circuit is connected to the first rechargeable battery, and the first charging electrode 152 is connected to the first charging circuit. The first charging electrode 152 is used to contact the second charging electrode 213 of the cleaning robot 200 to charge the cleaning robot 200 or receive electrical energy from the cleaning robot 200.

[0085] The home mobile platform 100 has a first rechargeable battery, so it can store electrical energy. By making the first charging electrode 152 on the home mobile platform 100 and the second charging electrode 213 on the cleaning robot 200 contact each other, electrical energy can be exchanged between the home mobile platform 100 and the cleaning robot 200. The first charging circuit can be a charging circuit that only charges, or a charging circuit that can charge and discharge. The first rechargeable battery can transmit electrical energy to the cleaning robot 200 through the first charging electrode 152 to facilitate the cleaning robot 200 to obtain electrical energy and then move or clean the floor; or the first rechargeable battery can also receive electrical energy from the cleaning robot 200 through the first charging electrode 152, and this electrical energy is used to power the rechargeable household objects 400 on the home mobile platform 100 (for example: air purifier, humidifier, dehumidifier) ​​or the electronic devices of the home mobile platform 100 itself (for example: obstacle recognition device).

[0086] Furthermore, in some embodiments, referring to Figures 1, 3, and 11, a first control module for communicating with the cleaning robot 200 is provided inside the platform 110, and the first control module is connected to the first charging electrode 152, and is used to control the home mobile platform 100 to receive electrical energy from the cleaning robot 200 through the first charging electrode 152 when the home mobile platform 100 is not docked with the base station 300, so that the home mobile platform 100 reaches a first preset power level, or to control the home mobile platform 100 to charge the cleaning robot 200 through the first charging electrode 152 so that the cleaning robot 200 reaches a second preset power level.

[0087] In this embodiment, the first control module can control the power interaction between the home mobile platform 100 and the cleaning robot 200. Specifically, when the power level of the home mobile platform 100 does not reach a first preset power level, for example, the first preset power level is 30% or 40% of the total power level of the home mobile platform 100, the first control module can control the home mobile platform 100 to receive power from the cleaning robot 200 through the first charging electrode 152, thereby preventing the home mobile platform 100 from entering a low-power state. This is conducive to improving the intelligence of the home mobile platform 100. When the cleaning robot 200 does not reach a second preset power level, for example, the second preset power level is 30%, 40%, 50% of the total power level of the cleaning robot 200, the first control module can control the home mobile platform 100 to charge the cleaning robot 200 through the first charging electrode 152, thereby ensuring the normal operation of the cleaning robot 200 (e.g., moving, sweeping, mopping).

[0088] In some embodiments, as shown in Figures 9 and 12, the first charging electrode 152 can be provided in the first docking structure 150, and the second charging electrode 213 can be provided in the second docking structure 212 of the cleaning robot 200. This configuration allows the charging electrode and the docking structure to be integrated together. When the first docking structure 150 and the second docking structure 212 are docked, the first charging electrode 152 and the second charging electrode 213 can be in contact without the need for a separate charging interface or additional power connection. In other embodiments, the first charging electrode 152 and the first docking structure 150 can be provided separately, and the second charging electrode 213 and the second docking structure 212 can also be provided separately.

[0089] In some embodiments, as shown in Figures 3 and 12, the first docking structure 150 is a docking joint, and the second docking structure 212 is a docking slot. The first docking structure 150 is provided on the first side of the mounting mechanism 140, and the shape of the first side of the mounting mechanism 140 corresponds to the shape of the outer wall surface of the cleaning robot 200 near the second docking structure 212 or is concavely curved. Optionally, the first docking structure 150 is a docking joint that protrudes horizontally on the first side of the mounting mechanism 140, the first charging electrode 152 can be provided at the bottom of the docking joint, and the second charging electrode 213 can be provided on the inner wall of the docking slot, which can ensure that the first charging electrode 152 or the second charging electrode 213 is not contaminated by external dust or water.

[0090] Alternatively, in other embodiments, the first docking structure 150 is a docking slot and the second docking structure 212 is a docking head. In this case, the first charging electrode 152 can be disposed on the inner wall of the docking slot and the second charging electrode 213 can be disposed on the bottom of the docking head.

[0091] Furthermore, in some embodiments, as shown in FIG10 , the first docking structure 150 or the second docking structure 212 is connected to a second elastic connecting component 150a. The second elastic connecting component 150a is connected to the first charging electrode 152 or the second charging electrode 213, so that the first charging electrode 152 and the second charging electrode 213 can elastically abut and contact each other in the vertical direction. In this embodiment, the elastic action of the second elastic connecting component 150a is utilized to maintain the upward and downward movement trend of the first charging electrode 152 or the second charging electrode 213. In this way, when the first docking structure 150 and the second docking structure 212 are docked, the first charging electrode 152 and the second charging electrode 213 can be more closely contacted, thereby avoiding the problem of false connection.

[0092] Furthermore, as shown in FIG10 , the second elastic connection assembly 150a includes a first movable member 153 and a second elastic member 155 connected to the first movable member 153. The first charging electrode 152 is disposed on the first movable member 153. The second elastic member 155 provides elastic force to the first movable member 153, so that the first charging electrode 152 located on the first movable member 153 can move up and down.

[0093] In some embodiments, as shown in FIG10 , the first docking structure 150 includes a first docking base 156 and a second guide post 154 disposed vertically on the first docking base 156. The first docking base 156 is provided with a first through-slot 157. The first movable member 153 is disposed in the first through-slot 157. The second elastic member 155 is sleeved on or connected to the second guide post 154. The second elastic member 155 is sleeved on or connected to the second guide post 154 so that the second elastic member 155 moves along the extension direction of the second guide post 154, thereby moving the first charging electrode 152 along the extension direction of the second guide post 154 (i.e., the vertical direction). This ensures closer contact between the first charging electrode 152 and the second charging electrode 213, thereby avoiding the problem of false connection.

[0094] Optionally, when the second elastic connection assembly 150a is disposed in the second docking structure 212 of the cleaning robot 200, the second elastic connection assembly 150a includes a first movable member 153 and a second elastic member 155 connected to the first movable member 153. The second charging electrode 213 is disposed on the first movable member 153. The second docking structure 212 may also include a first docking base 156 and a second guide post 154 disposed vertically on the first docking base 156. The first docking base 156 is provided with a first through-slot 157. The first movable member 153 is disposed in the first through-slot 157. The second elastic member 155 is sleeved on the second guide post 154 or connected to the second guide post 154. In this way, the second charging electrode 213 can be moved along the extension direction of the second guide post 154 (i.e., the vertical direction), thereby making the contact between the first charging electrode 152 and the second charging electrode 213 in the vertical direction closer, thereby avoiding the problem of false connection.

[0095] In some embodiments, as shown in Figures 1, 2, 13, and 14, the mobile home platform 100 is also capable of docking with a base station 300. A first docking structure 150 is provided on a first side of the mounting mechanism 140, and a third docking structure 142 is provided on a second side of the mounting mechanism 140. The first and second sides of the mounting mechanism 140 are arranged opposite each other, and the third docking structure 142 is configured to dock with a fourth docking structure 320 on the base station 300. In this way, when the mobile home platform 100 is connected to the cleaning robot 200 and docked with the base station 300, the mobile home platform 100 is positioned between the cleaning robot 200 and the base station 300, thereby reducing the overall space occupied by the cleaning robot 200, the base station 300, and the mobile home platform 100. The base station 300 can be a charging base station or a dust collection base station with a charging function.

[0096] Typically, when the base station 300 is a dust collection base station, a dust collection chamber is generally provided in the dust collection base station, and a dust bag or dust cup can be provided in the dust collection chamber. After the cleaning robot 200 is docked and connected to the home mobile platform 100, the cleaning robot 200 can transfer the collected dust to the dust bag or dust cup in the dust collection chamber of the base station 300 through the home mobile platform 100 after completing the cleaning task.

[0097] It should be noted that after the cleaning robot 200 is docked with the home mobile platform 100, it can move with the home mobile platform 100 to the location of the base station 300. Then, the third docking structure 142 on the home mobile platform 100 is docked with the fourth docking structure 320 on the base station 300. At this time, the cleaning robot 200 is indirectly docked with the base station 300 through the home mobile platform 100.

[0098] Of course, when the cleaning robot 200 is separated from the home mobile platform 100, the cleaning robot 200 can also dock with the fourth docking structure 320 on the base station 300 through the second docking structure 212. At this time, the cleaning robot 200 is directly docked with the base station 300.

[0099] It can be seen that the cleaning robot 200 in this embodiment can be docked with the base station 300 both when it is connected to the home mobile platform 100 and when it is separated from the home mobile platform 100.

[0100] In some embodiments, as shown in FIG. 13 to FIG. 15 , the home mobile platform 100 further includes a third charging electrode 143 , which is configured to contact a fourth charging electrode 321 located at the base station 300 to receive power from the base station 300 .

[0101] The mobile home platform 100 has a first rechargeable battery, thereby storing electrical energy. By bringing the third charging electrode 143 on the mobile home platform 100 into contact with the fourth charging electrode 321 on the base station 300, the base station 300 can charge the mobile home platform 100. This electrical energy is used to provide power to the cleaning robot 200 via the first charging electrode 152, or to power rechargeable household items 400 on the mobile home platform 100 (e.g., air purifiers, humidifiers, dehumidifiers) or electronic devices on the mobile home platform 100 (e.g., obstacle recognition devices).

[0102] Of course, when the cleaning robot 200 is directly docked with the fourth docking structure 320 of the base station 300 through the second docking structure 212 , the second charging electrode 213 can also contact the fourth charging electrode 321 . At this time, the base station 300 can charge the cleaning robot 200 .

[0103] Referring to Figures 1, 3, 12 and 14, when the home mobile platform 100 is connected to the cleaning robot 200, the home mobile platform 100 is docked with the base station 300 and contacts the fourth charging electrode 321 on the base station 300 through the third charging electrode 143 to receive electrical energy from the base station 300. Then, the home mobile platform 100 can also indirectly transmit electrical energy to the cleaning robot 200 through the first charging electrode 152 and the second charging electrode 213.

[0104] As shown in Figures 12 and 14, when the cleaning robot 200 directly docks with the fourth docking structure 320 of the base station 300 through the second docking structure 212 alone, the second charging electrode 213 of the cleaning robot 200 can also contact the fourth charging electrode 321. At this time, the base station 300 directly transmits electrical energy to the cleaning robot 200.

[0105] In some embodiments, as shown in Figures 13 to 15, the third charging electrode 143 is disposed on the third docking structure 142, and the fourth charging electrode 321 is disposed on the fourth docking structure 320. In this embodiment, the third charging electrode 143 is disposed on the third docking structure 142, and the fourth charging electrode 321 is disposed on the fourth docking structure 320 of the base station 300. This configuration allows the charging electrode and the docking structure to be integrated. When the third docking structure 142 and the fourth docking structure 320 are docked, the third charging electrode 143 and the fourth charging electrode 321 can be in contact without the need for a separate charging interface, saving installation space and eliminating the need for additional power connection. In other embodiments, the third charging electrode 143 and the third docking structure 142 can be separated, and the fourth charging electrode 321 and the fourth docking structure 320 can also be separated.

[0106] In some embodiments, the third docking structure 142 is a docking slot, and the fourth docking structure 320 is a docking head. Optionally, the third docking structure 142 is a docking slot recessed in the second side of the mounting mechanism 140, and the third charging electrode 143 is disposed on the inner wall of the docking slot, thereby ensuring that the third charging electrode 143 is not contaminated by external dust or water.

[0107] Alternatively, in other embodiments, the third docking structure 142 is a docking head, and the fourth docking structure 320 is a docking slot.

[0108] In some embodiments, a third elastic connection component 320a is connected to the third docking structure 142. The third elastic connection component 320a is connected to the third charging electrode 143, so that the third charging electrode 143 and the fourth charging electrode 321 can elastically abut against each other in the vertical direction. In this embodiment, the elastic action of the third elastic connection component 320a is utilized to maintain the upward and downward movement trend of the third charging electrode 143. In this way, when the third docking structure 142 and the fourth docking structure 320 are docked, the contact between the third charging electrode 143 and the fourth charging electrode 321 can be closer, thereby avoiding the problem of false connection. Optionally, as shown in Figure 10, the third elastic connection component 320a can have the same structure as the second elastic connection component 150a.

[0109] In other embodiments, as shown in Figures 14 to 16, a third elastic connecting component 320a is connected to the fourth docking structure 320. The third elastic connecting component 320a is connected to the fourth charging electrode 321, so that the third charging electrode 143 and the fourth charging electrode 321 can elastically abut and contact each other in the vertical direction. In this embodiment, the elastic action of the third elastic connecting component 320a is utilized to maintain the upward and downward movement trend of the fourth charging electrode 321. In this way, when the third docking structure 142 and the fourth docking structure 320 are docked, the third charging electrode 143 and the fourth charging electrode 321 can be more closely contacted, thereby avoiding the problem of false connection.

[0110] Optionally, when the third elastic connection assembly 320a is disposed in the third docking structure 142 of the home mobile platform 100, the third elastic connection assembly 320a includes a second movable member 322 and a third elastic member 325 connected to the second movable member 322, and the third charging electrode 143 is disposed on the second movable member 322. The third docking structure 142 includes a second docking base 324 and a third guide post 323 disposed vertically on the second docking base 324. The second docking base 324 is provided with a second through-slot 326. The second movable member 322 is disposed in the second through-slot 326. The third elastic member 325 is sleeved on or connected to the third guide post 323. Therefore, the third elastic member 325 is sleeved on the third guide post 323 or connected to the third guide post 323, so that the third elastic member 325 moves along the extension direction of the third guide post 323, so that the third charging electrode 143 moves along the extension direction of the third guide post 323 (that is, the up and down direction), so that the contact between the third charging electrode 143 and the fourth charging electrode 321 is closer, thereby avoiding the problem of false connection.

[0111] In some embodiments, as shown in Figures 1, 3, 12, and 14, the first control module is connected to the first charging electrode 152 and / or the third charging electrode 143. When the mobile home platform 100 is docked with the base station 300, the first control module is configured to control the mobile home platform 100 to transmit power received from the base station 300 to the cleaning robot 200 via the first charging electrode 152, so that the cleaning robot 200 reaches a third preset power level, or to control the mobile home platform 100 to store power received from the base station 300 via the third charging electrode 143. The third preset power level may be the same as or different from the second preset power level, depending on the software mechanism within the first control module.

[0112] In this embodiment, the first control module of the home mobile platform 100 further has the function of controlling the power transmission between the home mobile platform 100, the cleaning robot 200, and the base station 300. Specifically, when the home mobile platform 100 is docked with the base station 300 and connected to the cleaning robot 200, if the cleaning robot 200 has not reached a third preset power level, such as 80%, 85%, or 90% of the total power of the cleaning robot 200, the first control module can control the home mobile platform 100 to transmit the power received from the base station 300 to the cleaning robot 200 via the first charging electrode 152, so that the cleaning robot 200 can operate normally. At this time, the power from the base station 300 is transmitted to the home mobile platform 100 via the fourth charging electrode 321 and the third charging electrode 143, and then the home mobile platform 100 transmits the power to the cleaning robot 200 via the first charging electrode 152 and the second charging electrode 213. When the battery level of the cleaning robot 200 reaches a third preset level, the first control module can control the home mobile platform 100 to store the power received from the base station 300 via the third charging electrode 143, so that the home mobile platform 100 will not experience power shortages. The home mobile platform 100 acts as an intermediate bridge between the cleaning robot 200 and the base station 300. The first control module of the home mobile platform 100 can transmit signals with the cleaning robot 200 via Bluetooth signals and communication electrodes to quickly determine the battery level of the cleaning robot 200. It can also control the storage or transmission of the power received from the base station 300 to the cleaning robot 200, thereby ensuring that both the cleaning robot 200 and the home mobile platform 100 have sufficient power to maintain normal operation.

[0113] In some embodiments, as shown in FIG2 , a charging electrode 113 is disposed on the top of the platform 110. The charging electrode 113 is used to charge a household object 400 disposed on the platform 110. This can extend the operating time of the household object 400. In this case, the household object 400 is a rechargeable household object (e.g., an air purifier, a humidifier, or a dehumidifier).

[0114] In some embodiments, as shown in Figures 3, 9, and 13, the third charging electrode 143 and the first charging electrode 152 are respectively disposed on opposite sides of the bottom of the platform 110. Thus, when the mobile home platform 100 is connected to the cleaning robot 200 and is charging with the base station 300, the mobile home platform 100 is located between the cleaning robot 200 and the base station 300, thereby facilitating contact between the first charging electrode 152 of the mobile home platform 100 and the second charging electrode 213 of the cleaning robot 200 for charging or discharging, while simultaneously allowing the third charging electrode 143 of the mobile home platform 100 to contact the fourth charging electrode 321 of the base station 300 for charging. This also helps reduce the overall space occupied by the cleaning robot 200, the base station 300, and the mobile home platform 100.

[0115] In some embodiments, as shown in Figures 2, 3 and 4 and with reference to Figure 11, the home mobile platform 100 further includes a first coupling member 132, which is located on the platform 110. The first coupling member 132 is used to couple with the second coupling member 211 on the cleaning robot 200. After the first docking structure 150 of the home mobile platform 100 is docked with the second docking structure 212 of the cleaning robot 200, the first coupling member 132 and the second coupling member 211 are combined to fix the platform 110 to the top of the cleaning robot 200, and the home mobile platform 100 can subsequently be driven to move by the cleaning robot 200. Fixed connection can refer to limiting the movement of both parties in the horizontal direction only by means of interlocking, etc., and the vertical direction is not completely fixed. It can also refer to achieving complete fixation by means of snap-fitting, magnetic attraction, etc., to limit the movement of both parties in the horizontal, vertical and other directions.

[0116] It is understood that before the mobile home platform 100 and the cleaning robot 200 are fixedly connected, the cleaning robot 200 needs to move to the bottom of the platform 110 and dock with the first docking structure 150 of the mobile home platform 100 via the second docking structure 212 of the cleaning robot 200. The first connecting member 132 then engages the second connecting member 211 of the cleaning robot 200 to achieve the fixed connection between the mobile home platform 100 and the cleaning robot 200. At this point, the platform 110 is fixed to the top of the cleaning robot 200, and the cleaning robot 200 can drive the movable support structure 120 of the mobile home platform 100 to move.

[0117] In this embodiment, the first coupling member 132 of the mobile home platform 100 can be coupled to the second coupling member 211 of the cleaning robot 200, thereby securing the mobile home platform 100 to the cleaning robot 200. This allows the cleaning robot 200 to move the household object 400 via the mobile home platform 100, allowing the household object 400 to be moved from one location to another or from one room to another. This effectively expands the working range of the household object 400. Furthermore, the coordination between the cleaning robot 200 and the mobile home platform 100 allows the household object 400 to be moved, saving time, effort, and efficiency compared to manual labor. Furthermore, when the cleaning robot 200 is moving the household object 400 via the mobile home platform 100, the two remain securely connected, eliminating the risk of disengagement between the cleaning robot 200 and the mobile home platform 100, thereby improving the reliability of movement.

[0118] In some embodiments, as shown in Figure 4, a driving mechanism 131 is connected to the first combining member 132 or the second combining member 211, and the driving mechanism 131 is used to drive the first combining member 132 and the second combining member 211 to combine or separate. Optionally, the driving mechanism 131 is arranged in the home mobile platform 100 and is connected to the first combining member 132, so that the driving mechanism 131 can drive the first combining member 132 to move, thereby realizing the combination or separation of the first combining member 132 and the second combining member 211. Such a setting is conducive to improving the convenience and automation of the combination or separation of the first combining member 132 and the second combining member 211. The user can control the automatic combination or separation of the first combining member 132 and the second combining member 211 through a terminal device (such as an APP or a remote control).

[0119] In some embodiments, as shown in Figures 4 and 5, the drive mechanism 131 includes a motor (not shown) and a transmission member 1312. The motor is fixedly connected to the platform 110 or the cleaning robot 200. The transmission member 1312 is connected to the motor and is used to drive the first connecting member 132 or the second connecting member 211 to move, thereby causing the first connecting member 132 and the second connecting member 211 to engage or disengage. Optionally, the drive mechanism 131 is disposed in the home mobile platform 100 and is connected to the first connecting member 132, so that the drive mechanism 131 can drive the first connecting member 132 to move. When the motor is operating, the motor drives the transmission member 1312 to move, and the transmission member 1312 drives the first connecting member 132 to move, thereby causing the first connecting member 132 and the second connecting member 211 to engage or disengage. Such a configuration is conducive to improving the convenience and automation of the engagement or disengagement of the first connecting member 132 and the second connecting member 211. The user can control the drive mechanism 131 through a terminal device (e.g., an app or a remote control) to control the automatic engagement or disengagement of the first connecting member 132 and the second connecting member 211.

[0120] Further, as shown in Figures 3, 4, 5 and 11, the first combining component 132 is located at the bottom or side of the platform 110, and the second combining component 211 is located at the top or side of the cleaning robot 200. The driving mechanism 131 is used to drive the first combining component 132 or the second combining component 211 to rise and fall so that the first combining component 132 and the second combining component 211 can be combined or separated, wherein, when the first combining component 132 descends, the first combining component 132 and the second combining component 211 can be combined, and when the first combining component 132 rises, the first combining component 132 and the second combining component 211 are separated; or when the second combining component 211 rises, the first combining component 132 and the second combining component 211 can be combined, and when the second combining component 211 descends, the first combining component 132 and the second combining component 211 are separated.

[0121] Optionally, as shown in Figures 3, 4, 5, and 11, the first coupling member 132 is located at the bottom of the platform 110, and the second coupling member 211 is located at the top of the cleaning robot 200. The driving mechanism 131 drives the first coupling member 132 to rise and fall, thereby achieving the coupling or separation of the first coupling member 132 and the second coupling member 211. When the first coupling member 132 descends, the first coupling member 132 and the second coupling member 211 can be coupled, and when the first coupling member 132 ascends, the first coupling member 132 and the second coupling member 211 are separated. In this way, by driving the first coupling member 132 to rise and fall, the convenience of coupling between the home mobile platform 100 and the cleaning robot 200 is improved.

[0122] In some embodiments, as shown in Figures 3, 4, 5, and 11, there are multiple first coupling members 132 or multiple second coupling members 211, and the drive mechanism 131 is used to drive multiple first coupling members 132 or multiple second coupling members 211 to move simultaneously. Optionally, there are multiple first coupling members 132, and the drive mechanism 131 can drive multiple first coupling members 132 of the home mobile platform 100 to connect with multiple second coupling members 211 of the cleaning robot 200, thereby improving the connection stability between the two. In addition, multiple first coupling members 132 are driven by the same drive mechanism 131, which helps reduce the production cost of the home mobile platform 100.

[0123] In some embodiments, as shown in Figures 4 and 5, the driving mechanism 131 further includes a guide member 1313 and a linkage structure 1314. The linkage structure 1314 is in transmission connection with the transmission member 1312, and the linkage structure 1314 is movably connected to the guide member 1313 so that the linkage structure 1314 moves along a predetermined direction. When the guide member 1313 is fixed to the platform 110, the plurality of first coupling members 132 are all connected to the linkage structure 1314. When the guide member 1313 is fixed to the cleaning robot 200, the plurality of second coupling members 211 are all connected to the linkage structure 1314. The linkage structure 1314 is in transmission connection with the transmission member 1312. For example, the two can be connected by a synchronous belt drive, a cylinder drive, a ball screw drive, an electric push rod drive, etc. When the motor is operating, it drives the transmission member 1312 to rotate. Since the linkage structure 1314 is in transmission connection with the transmission member 1312, the transmission member 1312 can drive the linkage structure 1314 to move linearly in a predetermined direction when rotating, thereby driving the first coupling member 132 or the second coupling member 211 connected to the linkage structure 1314 to move linearly, thereby achieving the coupling between the first coupling member 132 and the second coupling member 211. In addition, during the movement of the linkage structure 1314, the guide member 1313 can limit the movement direction of the linkage structure 1314, so that the linkage structure 1314 moves linearly in a predetermined direction (e.g., up and down) and does not move in other directions.

[0124] Optionally, the driving mechanism 131 is provided on the home mobile platform 100 , the guide member 1313 of the driving mechanism 131 is fixedly connected to the platform 110 , and the plurality of first coupling members 132 are all connected to the linkage structure 1314 .

[0125] In some embodiments, as shown in Figures 4 to 6, the transmission member 1312 is a screw, and the linkage structure 1314 has a mounting hole 1315 and a plurality of connecting members 1316 arranged around the mounting hole 1315. The mounting hole 1315 is sleeved outside the screw and is threadedly connected to the screw, and each connecting member 1316 is connected to the first connecting member 132 or the second connecting member 211. The mounting hole 1315 of the linkage structure 1314 is sleeved outside the thread of the transmission member 1312. The rotation of the screw drives the linkage structure 1314 to move linearly. The linkage structure 1314 then drives the first connecting member 132 or the second connecting member 211 to move linearly through the connecting members 1316, thereby achieving the connection or separation of the first connecting member 132 and the second connecting member 211.

[0126] Optionally, each connecting member 1316 is connected to a first combining member 132 , and the linkage structure 1314 drives the first combining member 132 to move linearly through the connecting member 1316 to achieve the connection or separation of the first combining member 132 and the second combining member 211 .

[0127] In some embodiments, as shown in Figures 3 and 4 , the platform 110 is internally provided with a housing for accommodating the drive mechanism 131. The first coupling member 132 is a snap-on member, such as a snap-on block, a snap-on rod, or a hook. A through-hole is provided at the bottom of the platform 110, through which the linkage structure 1314 and / or the first coupling member 132 are inserted. The housing of the drive mechanism 131 within the platform 110 not only protects the motor, transmission member 1312, and other structures, but also enhances the simplicity of the appearance of the mobile home platform 100.

[0128] In some embodiments, as shown in Figures 5 and 11 , the first coupling member 132 is a clamping rod, and the second coupling member 211 is a clamping slot corresponding to the position and size of the clamping rod. Alternatively, the second coupling member 211 is a clamping rod, and the first coupling member 132 is a clamping slot corresponding to the position and size of the clamping rod. In either case, a mating connection between the two can be achieved.

[0129] In some embodiments, the platform 110 is provided with a first communication electrode, which is used to electrically connect to a second communication electrode of the cleaning robot 200 .

[0130] In some embodiments, the first control module of the home mobile platform 100 is configured to determine whether communication between the home mobile platform 100 and the cleaning robot 200 is successful based on the electrical connection between the first and second communication electrodes. This not only helps improve the intelligence of the home mobile platform 100, but also increases the convenience of obtaining communication connection information between the home mobile platform 100 and the cleaning robot 200.

[0131] Furthermore, in some embodiments, the first communication electrode is provided on the first coupling member 132, and the second communication electrode is provided on the second coupling member. That is, when the first coupling member 132 and the second coupling member 211 are in combination, the first communication electrode contacts the second communication electrode on the cleaning robot 200. When the first coupling member 132 and the second coupling member 211 are separated, the first communication electrode is separated from the second communication electrode on the cleaning robot 200. That is, the communication electrode and the coupling member between the home mobile platform 100 and the cleaning robot 200 are integrated into one, without the need to additionally set up an interface for the communication electrode. This is conducive to improving the convenience of connecting the first communication electrode and the second communication electrode and the degree of integration of the home mobile platform 100. In other embodiments, the first coupling member 132 and the first communication electrode can be separately provided, and in this case, the second coupling member 211 and the second communication electrode can also be separately provided.

[0132] In some embodiments, as shown in FIG7 , a first detection switch 133 is connected to the drive mechanism 131 or the platform 110 to determine whether the first engaging member 132 and the second engaging member 211 are properly engaged. The provision of the first detection switch 133 helps improve the reliability of the engagement between the two. The first detection switch 133 may be a micro switch, a photoelectric switch, or the like.

[0133] For example, a first detection switch 133 is connected to the linkage structure 1314 of the driving mechanism 131. The first detection switch 133 is a micro switch having a first contact 1331. When the first contact 1331 of the first detection switch 133 moves downward following the output end of the driving mechanism 131 until the first contact 1331 abuts against the inner wall of the platform 110, the first detection switch 133 sends a signal. At this time, the first coupling member 132 is fully extended from the platform 110, indicating that the first coupling member 132 and the second coupling member 211 have been combined in place. The first detection switch 133 transmits the information to the first control module to facilitate the subsequent movement of the home mobile platform 100 and the cleaning robot 200 together.

[0134] In some embodiments, the driving mechanism 131 or the platform 110 is further provided with a second detection switch 134 for determining whether the first connecting member 132 and the second connecting member 211 are completely separated. The second detection switch 134 can be a micro switch, a photoelectric switch, or the like.

[0135] For example, the platform 110 also includes a limit member 111 that is mounted on the linkage structure 1314 and the transmission member 1312. The limit member 111 is used to limit the movement stroke of the linkage structure 1314 on the transmission member 1312. The driving mechanism 131 is arranged on the platform 110. A second detection switch 134 is provided on the inner wall of the limit member 111. The second detection switch 134 is located above the first detection switch 133. The second detection switch 134 is a micro switch, which has a second contact 1341. When the linkage structure 1314 on the driving mechanism 131 moves upward until the linkage structure 1314 of the driving mechanism 131 contacts the second contact 1341 of the second detection switch 134, the second detection switch 134 sends a signal. At this time, the first coupling member 132 is completely retracted to the inside of the platform 110, indicating that the first coupling member 132 and the second coupling member 211 are separated into place. The second detection switch 134 transmits this information to the first control module, so that the cleaning robot 200 can move alone after the subsequent home mobile platform 100 is separated from the cleaning robot 200.

[0136] Furthermore, as shown in Figure 2, the mobile home platform 100 also includes at least one obstacle recognition device 170. This obstacle recognition device 170 is located on the front, rear, and / or side of the platform 110 and is used to identify obstacles in front of, behind, and / or to the sides of the platform 110. As the cleaning robot 200 moves with the mobile home platform 100, the obstacle recognition device 170 can identify surrounding obstacles, facilitating obstacle avoidance during movement. The obstacle recognition device 170 can be a collision sensor, an infrared sensor, a line laser, or the like.

[0137] It is understood that although the cleaning robot 200 itself has the ability to avoid obstacles, because the mobile home platform 100 is taller and larger than the cleaning robot 200, the cleaning robot 200's obstacle avoidance function alone cannot guarantee that the platform 110 will not collide with obstacles when the cleaning robot 200 is moving with the mobile home platform 100. Therefore, by providing obstacle recognition devices 170 on the front, rear, and / or sides of the platform 110, obstacles around the mobile home platform 100 can be better detected.

[0138] In some embodiments, as shown in Figures 2 and 13 , the obstacle recognition device 170 is a collision sensor, and the platform 110 is provided with a front collision plate 171 and / or a rear collision plate 172, which are connected to the collision sensor. This helps improve the obstacle avoidance capability and strength of the mobile home platform 100.

[0139] Furthermore, the mobile home platform 100 also includes a communication module electrically connected to the first control module. The first control module is connected to the obstacle recognition device 170 and transmits obstacle information obtained by the obstacle recognition device 170 to the cleaning robot 200. The communication module may be, for example, an infrared wireless communication module, a Bluetooth wireless communication module, or a communication chip, and the first control module may be, for example, a control chip. Thus, after obtaining obstacle information from the obstacle recognition device 170, the cleaning robot 200 can effectively identify obstacles in the environment, thereby enabling the cleaning robot 200 to avoid obstacles in a timely manner while moving with the mobile home platform 100.

[0140] It should be noted that, in this application, the front in front and back refers to the direction in which the cleaning robot 200 moves during normal operation (mopping or sweeping the floor), and the rear refers to the direction opposite to the direction in which the cleaning robot 200 moves during normal operation (mopping or sweeping the floor).

[0141] In some embodiments, as shown in Figures 1, 3, and 12-14, the mobile home platform 100 can be connected to a cleaning robot 200 and docked with a base station 300. The platform 110 is also provided with a dust collection channel 145. When the base station 300 is a dust collection base station, when the mobile home platform 100 is connected to the cleaning robot 200 and docked with the base station 300, the dust outlet 214 of the cleaning robot 200 communicates with the dust inlet 311 of the base station 300 through the dust collection channel 145.

[0142] In this embodiment, when the home mobile platform 100 is connected to the cleaning robot 200 and docked with the base station 300, the dust outlet 214 of the cleaning robot 200 is connected to the dust inlet 311 of the base station 300 via the dust collection channel 145. Dust and garbage in the cleaning robot 200 pass through the dust outlet 214, the dust collection channel 145 of the platform 110, and then through the dust inlet 311 and are absorbed into the base station 300, ensuring the normal cleaning function of the cleaning robot 200. This can also improve the versatility and functional diversity of the home mobile platform 100.

[0143] In some embodiments, as shown in Figures 3 and 12 , a first sealing ring 146 is provided on the end surface of the dust collection channel 145 for contact with the end surface of the dust outlet 214 . The first sealing ring 146 is used to prevent airflow from leaking out. In this embodiment, the provision of the first sealing ring 146 helps improve the sealing performance of the dust collection channel 145 . During the process of the base station 300 sucking garbage and dust from the cleaning robot 200 , the first sealing ring 146 can prevent airflow or dust from leaking out.

[0144] In some embodiments, as shown in Figures 3 and 12, the channel cross-sectional shape of the dust collecting channel 145 is adapted to the dust outlet cross-sectional shape of the dust outlet 214, the channel cross-sectional length of the dust collecting channel 145 is greater than the dust outlet cross-sectional length of the dust outlet 214 by 0.5-10mm, and the channel cross-sectional width of the dust collecting channel 145 is greater than the dust outlet cross-sectional width of the dust outlet 214 by 0.5-10mm. In this embodiment, the channel cross-sectional shape of the dust collecting channel 145 is adapted to the dust outlet cross-sectional shape of the dust outlet 214. For example, both are square, rectangular, circular, fan-shaped, etc. Further, the channel cross-sectional length of the dust collecting channel 145 is greater than the dust outlet cross-sectional length by 0.5-10mm, and the channel cross-sectional width of the dust collecting channel 145 is greater than the dust outlet cross-sectional width by 0.5-10mm. In this way, on the one hand, it is beneficial for the dust collection channel 145 and the dust outlet 214 to overlap as much as possible in cross section, so that the dust of the cleaning robot 200 can flow into the base station 300 through the dust collection channel 145. On the other hand, it is beneficial to improve the convenience and reliability of the docking of the dust collection channel 145 and the dust outlet 214, and can improve the convenience of installing the first sealing ring 146.

[0145] In some embodiments, as shown in Figures 1 to 3 and Figure 13, the dust collection channel 145 is provided on the mounting mechanism 140 and is connected to opposite sides of the mounting mechanism 140. This embodiment proposes a specific location for the dust collection channel 145. The dust collection channel 145 is provided on the mounting mechanism 140 and is connected to opposite sides of the mounting mechanism 140, and the mounting mechanism 140 is located at the bottom of the platform 110. In this way, the position of the dust collection channel 145 is lower, so that the dust collection channel 145 can match the position of the dust outlet 214 of the cleaning robot 200 and the dust inlet 311 of the base station 300, thereby improving the dust collection effect.

[0146] 3 , there are two first docking structures 150 , and the dust collection channel 145 is located between the two first docking structures 150 . This helps improve the docking stability between the mounting mechanism 140 on the home mobile platform 100 and the cleaning robot 200 .

[0147] In some embodiments, as shown in FIG13 , there are two third docking structures 142 , and the dust collection channel 145 is located between the two third docking structures 142 . This helps to improve the stability of the docking between the mounting mechanism 140 on the home mobile platform 100 and the base station 300 .

[0148] In some embodiments, as shown in Figures 17 and 25 , there are multiple first coupling members 132, each comprising a first connecting assembly 10. The first connecting assembly 10 may comprise a connector, a snap-fit, or other structure. The first connecting assembly 10 may be connected to the bottom or the side of the platform 110. There are multiple second coupling members 211, each comprising a third connecting assembly 230.

[0149] The first connecting assembly 10 includes a first shell 11 and a base member 12 . The first shell 11 is connected to the platform 110 . The base member 12 is at least partially disposed in the first shell 11 , that is, the base member 12 may be only partially located in the first shell 11 or entirely located in the first shell 11 .

[0150] A first communication electrode 13 is provided at one end of the base component 12 away from the platform 110. The first communication electrode 13 is used to communicate with the second communication electrode 231 of the third connecting component 230 to realize data and signal exchange between the home mobile platform 100 and the cleaning robot 200.

[0151] The third connecting component 230 may include a slot, a snap or other structure; the third connecting component 230 includes a second communication electrode 231, and the second communication electrode 231 can be communicatively connected with the first communication electrode 13, so that the cleaning robot 200 can exchange data and signals with the home mobile platform 100.

[0152] Depending on the position of the first connecting assembly 10, the third connecting assembly 230 can be located on the top or side of the cleaning robot 200. Alternatively, the first connecting assembly 10 is located at the bottom of the platform 110, and the third connecting assembly 230 is located at the top of the cleaning robot 200. The first connecting assembly 10 can be raised or lowered to facilitate engagement with or disengagement from the third connecting assembly 230.

[0153] The first connecting component 10 can be connected to the third connecting component 230 so that the cleaning robot 200 can drive the home mobile platform 100 to move; the first connecting component 10 can also be disconnected from the third connecting component 230 so that the cleaning robot 200 can move independently.

[0154] In this embodiment, the cleaning robot 200 can move and work independently, and can also drive the home mobile platform 100 to move synchronously. When the cleaning robot 200 drives the home mobile platform 100 to move synchronously, an atomizer, an aromatherapy machine or other devices can be placed on the home mobile platform 100 as needed to meet the personalized needs of different users. When the cleaning robot 200 needs to enter a narrow space, the cleaning robot 200 can separate from the home mobile platform 100 and enter independently, thereby meeting the need of the cleaning robot 200 to enter a narrow space; a first connecting component 10 is provided on the platform 110, and the first connecting component 10 includes a base component 12 that is at least partially provided in the first shell 11, so that the first communication electrode 13 on the base component 12 can be communicated and connected with the cleaning robot 200, so that the first communication electrode 13 can be connected to the cleaning robot 200, so that the home mobile platform 100 can exchange data and signals with the cleaning robot 200, and can reduce the loss of data and signals.

[0155] In some embodiments, as shown in Figures 19 to 23, the base member 12 can be movably provided on the first shell 11, that is, the base member 12 can move relative to the first shell 11; the base member 12 can pass through the first shell 11, or can be provided on one side of the first shell 11, and a slide rail, a channel or other structure can be provided on the first shell 11 to allow the base member 12 to move relative to the first shell 11; because the first shell 11 is connected to the platform 110, the base member 12 can move relative to the platform 110 at this time.

[0156] As shown in FIG. 26 , the base member 12 can be moved relative to the first shell 11 so that when the platform 110 moves driven by the cleaning robot 200 , the first communication electrode 13 and the second communication electrode 231 of the third connecting assembly 230 can be stably connected in communication.

[0157] When the first connecting component 10 is connected to the third connecting component 230, the base component 12 is connected to the third connecting component 230, and the base component 12 is movable relative to the first shell 11; accordingly, when the cleaning robot 200 walks on bumpy road conditions such as door sills and steps, the base component 12 can move synchronously with the cleaning robot 200 (for example, up and down movement caused by bumps) and can move relative to the first shell 11, so that the first communication electrode 13 can be stably connected to the second communication electrode 231, so that the home mobile platform 100 can exchange data and signals with the cleaning robot 200 more stably and reduce the loss of data and signals.

[0158] In some embodiments, as shown in FIG. 19 to FIG. 23 , the base member 12 includes a main body 12 a and a limiting element 12 b connected to the main body 12 a , and the first communication electrode 13 is connected to the main body 12 a ;

[0159] The main body 12a refers to a structure in the base member 12 that is used to provide a fixed foundation for structures such as the first communication electrode 13. When the first connecting component 10 is connected to the third connecting component 230 of the cleaning robot 200, the main body 12a is close to the third connecting component 230.

[0160] The limiting element 12 b refers to a structure in the base member 12 for limiting the displacement of the main body 12 a . The limiting element 12 b is connected to the main body 12 a and can abut against the first shell 11 to limit the base member 12 from falling out of the first shell 11 .

[0161] It can be understood that the limiting element 12 b is only used to limit the base member 12 from escaping from the first housing 11 , and will not interfere with the connection between the first communication electrode 13 and the second communication electrode 231 .

[0162] This embodiment provides some specific structures of the base member 12 so that the base member 12 can move relative to the first shell 11 but is not easily separated from the first shell 11 and falls, thereby improving the structural stability of the first connecting assembly 10.

[0163] In some embodiments, as shown in Figures 19 to 23, the base component 12 also includes a cable 12c, which connects the main body 12a and the limiting element 12b. The limiting element 12b is located above the main body 12a. A communication wire is provided in the cable 12c, and the communication wire is electrically connected to the first communication electrode 13.

[0164] The cable 12c is used to connect the main body 12a and the limiting element 12b, wherein the main body 12a is located below the limiting element 12b, and the limiting element 12b is located above the main body 12a; optionally, the main body 12a is located at one end of the first shell 11 close to the cleaning robot 200, and the limiting element 12b is located at the end of the first shell 11 away from the cleaning robot 200.

[0165] The cable 12c has a certain bending and deformation ability. Under the action of the limiting element 12b, the main body 12a is not easy to fall out of the first shell 11; at the same time, the floating of the main body 12a with the cleaning robot 200 may cause the cable 12c to bend, reducing the interference of the limiting element 12b on the floating of the main body 12a with the cleaning robot 200, so that the first communication electrode 13 can communicate with the second communication electrode 231 more stably.

[0166] A communication wire is provided in the cable 12c, one end of the communication wire is electrically connected to the first communication electrode 13, and the other end of the communication wire can be electrically connected to the control module, control chip and other structures of the home mobile platform 100, so as to facilitate the exchange of data and signals between the home mobile platform 100 and the cleaning robot 200.

[0167] In this embodiment, the main body 12a and the limiting element 12b are connected by a cable 12c, so that the limiting element 12b can limit the displacement of the base member 12; a communication wire is set in the cable 12c to facilitate the transmission and exchange of data and signals between the first communication electrode 13 and the cleaning robot 200. For example, when the home mobile platform 100 encounters an obstacle, the home mobile platform 100 transmits the signal to the first communication electrode 13 and then to the cleaning robot 200 via the communication wire, so that the cleaning robot 200 changes its direction of movement to avoid the obstacle; when the home mobile platform 100 is low on power, the home mobile platform 100 transmits the signal to the first communication electrode 13 and then to the cleaning robot 200 via the communication wire, so that the cleaning robot 200 charges the home mobile platform 100.

[0168] In some embodiments, as shown in Figures 19 to 23, the first housing 11 includes a first mounting member 11a and a first connector 11b connected to the first mounting member 11a. The first mounting member 11a is connected to the platform 110. Optionally, the first mounting member 11a is fixedly connected to the platform 110. One end of the first connector 11b is accommodated in the first mounting member 11a, and the other end of the first connector 11b extends outside the first mounting member 11a. The first connector 11b can be fixedly connected to the first mounting member 11a or can be movable relative to the first mounting member 11a. It is understood that when the first connector 11b is movable relative to the first mounting member 11a, the first connector 11b cannot be removed from the first mounting member 11a.

[0169] The first connector 11b is used to plug into the first plug-in slot 232 of the third connecting component 230, so that the first connecting component 10 can be connected to the third connecting component 230; optionally, in combination with Figures 25 and 26, the second communication pole piece 231 is located in the first plug-in slot 232. When the first connector 11b is plugged into the first plug-in slot 232, the first communication pole piece 13 and the second communication pole piece 231 are connected in the first plug-in slot 232, so as to protect the first communication pole piece 13 and the second communication pole piece 231 through the first plug-in slot 232, reduce the interference of the external environment on the first communication pole piece 13 and the second communication pole piece 231, and improve the connection stability of the first communication pole piece 13 and the second communication pole piece 231.

[0170] The limiting element 12b may abut against the first mounting member 11a to limit the base component 12 from falling off. At this time, at least a portion of the limiting element 12b may be located outside the first mounting member 11a.

[0171] As shown in FIG. 23 , the limiting element 12 b may also abut against the first plug connector 11 b to limit the base member 12 from falling off. At this time, at least a portion of the limiting element 12 b is located inside the first plug connector 11 b .

[0172] This embodiment provides some specific structures of the first shell 11 so that the first shell 11 can be connected to the third connecting component 230 through the first connector 11b; at the same time, the first mounting member 11a and / or the first connector 11b can limit the displacement of the limiting element 12b, thereby limiting the displacement of the base component 12 and preventing the base component 12 from falling off.

[0173] In some embodiments, as shown in Figures 19 to 23, the first connector 11b can be movably connected to the first mounting member 11a, and a channel, a slide groove or other structure can be set in the first mounting member 11a, and the first connector 11b is connected to the channel or slide groove so that the first connector 11b can move relative to the first mounting member 11a.

[0174] When the first connector 11 b is plugged into the first plug slot 232 , the first connector 11 b can move relative to the first mounting member 11 a , so that the home mobile platform 100 can be better combined with the cleaning robot 200 .

[0175] The first mounting member 11a contains a first elastic connection structure 14, which can be a spring, a rubber strip or other elastic structure; one end of the first elastic connection structure 14 is connected to the first connector 11b, and the other end is connected to the first mounting member 11a. The first elastic connection structure 14 is used to apply a force to the first connector 11b toward the cleaning robot 200 so that the first connector 11b and the first connector slot 232 of the third connecting component 230 can be stably combined.

[0176] Optionally, after the first mounting member 11a is driven by the driving mechanism 131 inside the platform 110 and moves downward so that the first connector 11b is inserted into the first plug-in slot 232, the first connector 11b can move slightly upward and compress the first elastic connecting structure 14. At this time, the first elastic connecting structure 14 can apply a downward force to the first connector 11b to press the first connector 11b to the bottom of the first plug-in slot 232, so that the first connector 11b can be more stably plugged into the first plug-in slot 232.

[0177] When the cleaning robot 200 drives the home mobile platform 100 to move and bump up and down, the first connector 11b can move up and down with the cleaning robot 200. Under the action of the first elastic connection structure 14, the first connector 11b is not easy to disengage from the first plug-in slot 232, so that the first communication electrode 13 can be more stably connected to the second communication electrode 231, so that the home mobile platform 100 can more stably exchange data and signals with the cleaning robot 200, and can reduce the loss of data and signals.

[0178] In this embodiment, a first elastic connection structure 14 is provided, and the first elastic connection structure 14 applies a force to the first connector 11b in the direction of the cleaning robot 200, so that the first connector 11b can be better plugged into the cleaning robot 200 and the first connector 11b is less likely to fall out of the cleaning robot 200, thereby improving the stability of the connection between the home mobile platform 100 and the cleaning robot 200.

[0179] In some embodiments, as shown in Figures 19 to 23 and Figure 26, a first attachment 12d is further provided at the end of the base member 12 facing away from the platform 110, and the first attachment 12d is located at the end of the base member 12 close to the cleaning robot 200; the first attachment 12d is used to cooperate with the second attachment 233 of the third connecting component 230 to attach the base member 12 to the third connecting component 230, so that the first communication electrode 13 and the second communication electrode 231 are stably communicated.

[0180] Optionally, the first attachment 12d is a magnetic part, and the second attachment 233 is a magnetic part. This arrangement can facilitate the first attachment 12d to be fixed to the second attachment 233, and also facilitate the first attachment 12d to be detached from the second attachment 233, thereby facilitating the connection or detachment of the first connecting component 10 and the third connecting component 230. The first attachment 12d can be a magnet, the second attachment 233 can also be a magnet, or one of the first attachment 12d and the second attachment 233 can be a magnet, and the other can be an iron sheet. In some cases, the first attachment member 12d can be a plug-in member, and the second attachment member 233 can be a socket. In this case, the first attachment member 12d can be plugged into the second attachment member 233 and have an interference fit with the second attachment member 233 to attach the base member 12 to the third connecting assembly 230. In this case, the first attachment member 12d can be adsorbed onto the second attachment member 233 to attach the base member 12 to the third connecting assembly 230. It is understood that the first attachment member 12d and the second attachment member 233 can also have other structures that can cooperate with each other, and are not limited to the above two types.

[0181] When one end of the base member 12 is fixedly connected to the third connecting assembly 230, the outer wall of the base member 12 is spaced apart from the inner wall of the first shell 11, that is, the base member 12 does not contact the inner wall of the first shell 11, so as to reduce the interference of the first shell 11 on the activity state of the base member 12.

[0182] The term "fixed connection" may refer to completely fixing and restricting the movement of both parties in the horizontal and vertical directions, or may refer to restricting the movement of both parties in the horizontal direction without completely fixing the vertical direction, or restricting the movement of both parties in the vertical direction without completely fixing the horizontal direction. In the case where the base member 12 is fixed to the third connecting assembly 230, the third connecting assembly 230 can transmit force to the base member 12 and can drive the base member 12 to move synchronously, so as to ensure a stable communication connection between the first communication electrode 13 and the second communication electrode 231.

[0183] When the home mobile platform 100 is connected to the third connecting component 230 of the cleaning robot 200 through the first connecting component 10, the base component 12 is fixed to the second attaching component 233 of the cleaning robot 200 through the first attaching component 12d. The base component 12 can move synchronously with the cleaning robot 200. When the cleaning robot 200 is bumpy, the base component 12 can move up and down accordingly. At this time, because the base component 12 is not in contact with the first shell 11, the first shell 11 is not likely to interfere with the movement of the base component 12, so that the base component 12 can better move synchronously with the cleaning robot 200, so that the first communication electrode 13 can be more stably connected to the second communication electrode 231, and data loss is less likely to occur.

[0184] The first attachment 12d is adjacent to the first communication pole piece 13. Depending on the shape of the first attachment 12d, the first attachment 12d can surround the first communication pole piece 13 or be located on one side of the first communication pole piece 13. Since the main function of the first attachment 12d being fixed to the second attachment 233 is to stably connect the first communication pole piece 13 to the second communication pole piece 231, placing the first attachment 12d adjacent to the first communication pole piece 13 can enable the first communication pole piece 13 to be more stably connected to the second communication pole piece 231.

[0185] Referring to Figure 18, in some embodiments, the first connecting component 10 is located on the first axis of the platform 110 along the walking direction of the home mobile platform 100, so that when the platform 110 moves driven by the cleaning robot 200, the first communication electrode 13 of the first connecting component 10 and the second communication electrode 231 of the third connecting component 230 are stably connected in communication.

[0186] The first axis refers to a virtual axis about which the platform 110 can be symmetrical. The first axis passes through the center of the platform 110, and the structure of the platform 110 on both sides of the first axis can be symmetrical or approximately symmetrical; the direction of the first axis is the forward and backward direction in which the cleaning robot 200 drives the household mobile platform 100 to move.

[0187] The first connecting component 10 is set on the first axis of the platform 110 along the walking direction of the home mobile platform 100. When the cleaning robot 200 drives the home mobile platform 100 to move in a straight line, the force applied to the first connecting component 10 is relatively stable and it is not easy to withstand forces in other directions that may cause it to be dislocated or offset.

[0188] In this embodiment, the first connecting component 10 is arranged on the first axis of the platform 110 to further increase the stability of the first connecting component 10 connected to the cleaning robot 200, so that the home mobile platform 100 can exchange data and signals with the cleaning robot 200 more stably and better reduce the loss of data and signals.

[0189] In some embodiments, as shown in FIG. 18 , the plurality of first coupling members 132 further include a second connection component 20 , and the plurality of second coupling members 211 further include a fourth connection component 240 .

[0190] The second connecting component 20 refers to the structure in the platform 110 for connecting to the cleaning robot 200. The second connecting component 20 is used to connect to the fourth connecting component 240 of the cleaning robot 200; the second connecting component 20 may include a connector, a snap or other structure; the second connecting component 20 may be connected to the bottom of the platform 110, or may be connected to the side of the platform 110.

[0191] The fourth connecting component 240 may include a slot, a buckle or other structures.

[0192] There are two second connecting components 20, and the two second connecting components 20 are symmetrically distributed on both sides of the first axis. In this way, when the cleaning robot 200 drives the home mobile platform 100 to move, the two second connecting components 20 and the two fourth connecting components 240 can be stably connected; at the same time, this arrangement also enables the force applied by the home mobile platform 100 through the first connecting component 10 and the second connecting component 20 to act on the central area of ​​the cleaning robot 200, and also enables the moving direction and orientation of the home mobile platform 100 and the cleaning robot 200 to be consistent, thereby reducing the situation where the movement directions and orientations of the home mobile platform 100 and the cleaning robot 200 are deviated from each other, and the home mobile platform 100 drifts away from the cleaning robot 200.

[0193] Depending on the position of the second connecting assembly 20, the fourth connecting assembly 240 can be located on the top or side of the cleaning robot 200. Optionally, the second connecting assembly 20 is located at the bottom of the platform 110, and the fourth connecting assembly 240 is located at the top of the cleaning robot 200. The second connecting assembly 20 can be raised or lowered to facilitate connection with or disconnection from the fourth connecting assembly 240.

[0194] The second connecting component 20 can be connected to the fourth connecting component 240 so that the cleaning robot 200 can drive the home mobile platform 100 to move; the second connecting component 20 can also be disconnected from the fourth connecting component 240 so that the cleaning robot 200 can move independently.

[0195] In some embodiments, as shown in Figures 19 to 24, the second connecting assembly 20 includes a second shell 21, the second shell 21 includes a second mounting member 21a and a second connector 21b, and the second mounting member 21a is connected to the platform 110; optionally, the second mounting member 21a is fixedly connected to the platform 110.

[0196] The second connector 21b is connected to the second mounting member 21a, one end of the second connector 21b is accommodated in the second mounting member 21a, and the other end of the second connector 21b extends outside the second mounting member 21a; the second connector 21b is movably connected to the second mounting member 21a. It can be understood that when the second connector 21b can move relative to the second mounting member 21a, the second connector 21b cannot fall out of the second mounting member 21a.

[0197] The second plug-in connector 21 b is used to be plugged into the second plug-in slot 241 of the fourth connecting component 240 , so that the second connecting component 20 can be connected to the fourth connecting component 240 .

[0198] As shown in Figure 24, the second mounting member 21a accommodates a second elastic connecting structure 22, one end of the second elastic connecting structure 22 is connected to the second connector 21b, and the other end is connected to the second mounting member 21a. The second elastic connecting structure 22 is used to apply a force to the second connector 21b toward the cleaning robot 200 so that the second connector 21b and the second connector slot 241 of the fourth connecting component 240 can be stably combined.

[0199] The second mounting member 21a contains a second elastic connection structure 22, which can be a spring, a rubber strip or other elastic structure; one end of the second elastic connection structure 22 is connected to the second connector 21b, and the other end is connected to the second mounting member 21a. The second elastic connection structure 22 is used to apply a force to the second connector 21b toward the cleaning robot 200 so that the second connector 21b and the second connector slot 241 of the fourth connecting component 240 can be stably combined.

[0200] Optionally, after the second mounting member 21a is driven by the driving mechanism 131 inside the platform 110 and moves downward so that the second connector 21b is inserted into the second plug-in slot 241, the second connector 21b can move slightly upward and compress the second elastic connecting structure 22. At this time, the second elastic connecting structure 22 can apply a downward force to the second connector 21b to press the second connector 21b to the bottom of the second plug-in slot 241, so that the second connector 21b can be more stably plugged into the second plug-in slot 241.

[0201] When the cleaning robot 200 drives the home mobile platform 100 to move and bump up and down, the second connector 21b can move up and down with the cleaning robot 200. Under the action of the second elastic connection structure 22, the second connector 21b is not easy to disengage from the second connector slot 241, thereby improving the stability of the connection between the home mobile platform 100 and the cleaning robot 200.

[0202] In some embodiments, as shown in Figures 27 and 28 , the home mobile platform 100 further includes a third communication electrode 114, which is configured to electrically connect to the fourth communication electrode 410 of the home object 400 to enable communication between the home object 400 and the home mobile platform 100. The third communication electrode 114 may be located on the top or side of the platform 110.

[0203] By setting the third communication electrode 114, after the household object 400 is set on the platform 110, the third communication electrode 114 maintains contact with the fourth communication electrode 410 to establish a communication connection, so that the household object 400 and the household mobile platform 100 can communicate and transmit control instructions. The control instructions can come from the cleaning robot 200, the user's terminal device (such as a remote control device, a smartphone), etc. For example, the user can operate the remote control device and send a control instruction to the household object 400 through the household mobile platform 100 to control the opening or closing of the household object 400. The status of the household object 400 itself (for example, when the household object 400 is an air purifier, such as detecting the air quality) can also be communicated to the household mobile platform 100, allowing the user to use the terminal device through the household mobile platform 100 to control the working intensity of the household object 400 (for example, when the household object 400 is an air purifier, the working intensity is the purification speed).

[0204] In some embodiments, as shown in FIG36 , the home mobile platform 100 further includes a camera module 160 ; while the home mobile platform 100 is moving with the help of the cleaning robot 200 , the camera module 160 can monitor the situation in every corner of the home, including the switches of smart homes (such as smart lights, smart air conditioners, smart cooking appliances) and whether the objects in the home (such as the elderly, babies, pets) are safe, etc.

[0205] In some embodiments, as shown in Figures 29 to 31, the camera module 160 is movably provided on the platform 110 so as to be able to switch between an initial position and a detection position. One of the camera module 160 and the platform 110 is provided with a detection structure 164, and the other of the camera module 160 and the platform 110 is provided with an action portion 165. When the camera module 160 switches to the detection position, the action portion 165 cooperates with the detection structure 164, and the detection structure 164 can be triggered to cause the home mobile platform 100 to change its direction of movement. The triggering of the detection structure 164 may include a change in the state of a component in the detection structure 164, or the detection structure 164 may detect certain signals and be triggered, but is not limited thereto. The camera module 160 may, for example, be able to rotate, slide, or float up and down relative to the platform 110 to achieve switching of its own position. In the present application, the camera module 160 is set to be able to be movably set relative to the platform 110 to switch positions. When the cleaning robot 200 is moving with the home mobile platform 100, when the camera module 160 collides with an obstacle, the camera module 160 switches from the initial position to the detection position, so that the detection structure 164 detects this change, and then enables the home mobile platform 100 to avoid the obstacle during movement.

[0206] In some embodiments, referring to Figures 30 to 32 , the platform 110 is provided with a communication module (not shown). The detection structure 164 is electrically connected to the communication module, and is configured to transmit the triggered information to the cleaning robot 200 via the communication module, so that the cleaning robot 200 can drive the household mobile platform 100 to change its direction of movement. The communication module can be a wired communication module (e.g., a communication electrode) or a wireless communication module (e.g., a Wi-Fi or Bluetooth module).

[0207] 30 and 31 , in some embodiments, the camera module 160 includes a connection base 161 movably disposed on the platform 110 and a camera structure connected to the connection base 161. The platform 110 is provided with a receiving cavity 115, and the connection base 161 is disposed within the receiving cavity 115. The camera structure includes a camera head 163 and a connecting rod 162. The camera head 163 is disposed on the top of the connecting rod 162. The lower portion of the connecting rod 162 is configured to be detachably mounted above the connection base 161, allowing the camera structure to be detachably mounted on the connection base 161.

[0208] The connecting rod 162 in the camera structure is configured to be detachably mounted on the connecting seat 161, so that the user can install or remove the camera structure as needed, thereby being able to replace camera structures of different specifications or not setting up the camera structure to meet the requirements of different users for the home environment.

[0209] In some embodiments, as shown in Figures 29 to 31, the detection structure 164 is a micro switch provided on the camera module 160. The micro switch includes a base 1643 and an elastic arm 1641 connected to the base 1643. The base 1643 is provided on the camera module 160. When the camera module 160 is hit by an external obstacle, the camera module 160 switches to the detection position, the action portion 165 abuts the elastic arm 1641, and the distance between the base 1643 and the elastic arm 1641 changes, so that the detection structure 164 is triggered. The distance between the base 1643 and the elastic arm 1641 is specifically the distance H between the base 1643 and the free end of the elastic arm 1641.

[0210] Specifically, base 1643 is connected to one end of camera module 160. When camera module 160 switches to the detection position, action portion 165 remains in contact with elastic arm 1641. One end of camera module 160 moves away from action portion 165, increasing the distance between base 1643 and elastic arm 1641 and triggering detection structure 164. Action portion 165 includes an area on platform 110 that faces and is adjacent to the micro switch.

[0211] When the camera module 160 is hit by an external obstacle, the camera module 160 switches to the detection position, which can drive the base 1643 on the micro switch to move together. Since the action part 165 of the platform 110 always keeps abutting against the elastic arm 1641, the elastic arm 1641 does not move with the micro switch. At this time, the position of the elastic arm 1641 remains unchanged, but the base 1643 on the micro switch moves with the camera module 160. At this time, the distance between the base 1643 and the elastic arm 1641 increases, so that the detection structure 164 is triggered, so that the home mobile platform 100 changes its movement direction.

[0212] Specifically, the elastic arm 1641 is also provided with a roller 1642 that is abutted by the action portion 165 on the platform 110. The roller 1642 always maintains contact with the platform 110. By providing the roller 1642, the friction between the platform 110 and the elastic arm 1641 is reduced, thereby reducing the wear of the platform 110. It should also be noted that in this embodiment, the detection structure 164 is a micro switch, which is triggered and generates a detection signal by the change in the distance between the base 1643 on the detection structure 164 and the elastic arm 1641. The detection structure 164 can of course be a photoelectric switch; the detection structure 164 can also be triggered by blocking the photoelectric switch. That is, in this application, the form of triggering the detection structure 164 is not limited to this.

[0213] The detection structure 164 is mounted on the connection base 161 of the camera module 160. The connection base 161 is rotatably connected to the platform 110. When the camera 163 encounters an obstacle, the connection base 161 rotates along with the camera 163, causing the base 1643 on the detection structure 164 to move. This increases the distance between the base 1643 and the elastic arm 1641, thereby triggering the detection structure 164.

[0214] In some embodiments, referring to Figures 32, 33, and 34, the household mobile platform 100 further includes a snap mechanism 30 disposed on the platform 110. The snap mechanism 30 is used to snap onto a household object 400 to secure the household object 400 to the platform 110. The platform 110 can be coupled to the top of the cleaning robot 200 and moved by the cleaning robot 200.

[0215] It can be understood that the snap mechanism 30 has a locked state and a disengaged state. When the snap mechanism 30 is in the locked state, the household item 400 can be snap-fastened and fixed to the platform 110, so that the cleaning robot 200 can drive the household mobile platform 100 to move and transport it to a designated location; and when the snap mechanism 30 is in the disengaged state, the household item 400 can be easily removed from the platform 110, making it easier to place the household item 400 at a designated location.

[0216] Referring to Figures 32, 33, and 34, the mobile home platform 100 can transport various household items 400 that require mobility, depending on the user's needs. By placing these household items 400 on the platform 110, the household items 400 can be directly connected to the platform 110 via the snap mechanism 30, or the storage box of the household item 400 can be connected to the platform 110 via the snap mechanism 30. Then, through the coordination between the mobile home platform 100 and the cleaning robot 200, the mobile home platform 100, driven by the cleaning robot 200, can easily move the household items 400 located on the platform 110. For example, books in a storage box can be moved from the living room to the bedroom, an air purifier can be moved from the bedroom to the living room, or medications stored in a storage box can be moved from the kitchen to the bedroom. The snap mechanism 30 allows the household item 400 to be detachably connected to the platform 110. After being transported to a designated location, the household item 400 can be easily removed from the platform 110 and placed at a designated location, thereby improving the convenience of transporting the household item 400.

[0217] In some embodiments, referring to Figures 33 and 34, the latch mechanism 30 includes a retractable latch 31. The latch 31 is used to secure the household item 400 to the platform 110 when in an extended state, and when the latch 31 is in a retracted state relative to the platform 110, the household item 400 can be placed on the platform 110 or removed from the platform 110, thereby improving convenience of use.

[0218] Referring to Figures 33 and 34 , the platform 110 has a receiving cavity 115, and the snap mechanism 30 is at least partially disposed within the receiving cavity 115. The snap member 31 of the snap mechanism 30 is slidably disposed within the receiving cavity 115 and is capable of sliding back and forth along a horizontal plane under the action of an external force. The snap mechanism 30 also includes an elastic element 303 connected to the snap member 31. The elastic element 303 has an elastic restoring force and is also located within the receiving cavity 115. The elastic element 303 is capable of undergoing compression deformation under the action of an external force and returning to its original shape after the external force is removed. The connection between the elastic element 303 and the snap member 31 may include the elastic element 303 abutting the snap member 31, or the end of the elastic element 303 being relatively fixedly connected to the snap member 31 by means of a hanging ring, a hook, a snap-fitting portion, or the like.

[0219] Please refer to Figures 33 and 34. The platform 110 is provided with a latching hole 116 that communicates with the accommodating cavity 115. The latching member 31 is arranged adjacent to the latching hole 116. The elastic element 303 can drive the latching member 31 to extend from the latching hole 116 to latch the household object 400 and secure the household object 400 to the platform 110, preventing the household object 400 from detaching from the platform 110 or tipping over. Alternatively, the latching member 31 can be retracted from the latching hole 116 into the accommodating cavity 115 under the action of an external force, thereby facilitating the placement of the household object 400 on the platform 110 or the removal of the household object 400 from the platform 110.

[0220] Please refer to Figures 33 to 35. The home mobile platform 100 also includes a pull rope 32 for pulling the fastener 31. The pull rope 32 is connected to the fastener 31. When an external force acts on the pull rope 32, the pull rope 32 pulls the fastener 31 and causes the fastener 31 to overcome the elastic force of the elastic element 303 and retract at the fastening hole 116.

[0221] Optionally, the drawstring 32 is made of a flexible material, such as nylon or cotton, and is capable of bending.

[0222] Please refer to Figures 32 to 35. In some embodiments, the fastener 31 includes a fastening portion 301 for fastening the household item 400 and a winding portion 302 connected to the fastening portion 301. The fastening portion 301 can extend out of the fastening hole 116. The fastening portion 301 is used to cooperate with the fastening groove 420 of the household item 400. The elastic member 303 is connected to the winding portion 302, and the pull rope 32 is wound in the winding portion 302.

[0223] It is understood that by pulling the pull cord 32 with an external force, the pull cord 32 can drive the winding portion 302 to slide, thereby retracting the buckle portion 301 into the accommodating chamber 202, which is simple and convenient to operate. After the external force withdraws the pull cord 32, the elastic member 303 can drive the buckle portion 301 to re-expose the accommodating chamber 115 from the locking hole 116. Referring to Figures 33 to 35, optionally, the elastic member 303 is a compression spring, the two ends of which respectively abut the baffle and the winding portion 302 of the platform 110, thereby achieving compression deformation of the compression spring or driving the buckle 31. Of course, in some embodiments, the elastic member 303 can also be a tension spring, the two ends of the tension spring being respectively connected to the baffle and the winding portion 302 by means of a hanging ring, a hook, a clamping portion, etc., thereby achieving tensile deformation of the tension spring.

[0224] 33 to 35 , in some embodiments, the winding portion 302 is provided with a winding groove 3021 , through which the pull rope 32 passes and is wound around the winding portion 302 . The winding groove 3021 can improve the reliability of the connection between the pull rope 32 and the winding portion 302 .

[0225] Optionally, the inner wall of the winding groove 3021 toward the buckle portion 301 is arc-shaped, and the pull rope 32 extends along the arc-shaped inner wall and is wrapped around the winding portion 302, so that the pull rope 32 can apply tension to the winding portion 302 through the winding groove 3021, so that the buckle 31 can be pulled smoothly.

[0226] In some embodiments, referring to Figures 33 to 35 , the platform 110 further defines a sliding slot 34. The mobile home platform 100 further includes a toggle member 33 disposed within the sliding slot 34 for manually controlling the pull cord 32. The pull cord 32 is connected to the toggle member 33, which slides within the sliding slot 34 to pull the pull cord 32 to retract the latch 31 within the latch hole 116, or to release the pull cord 32 to extend the latch 31 from the latch hole 116. The toggle member 33 is manually driven to slide within the sliding slot 34 a predetermined distance, causing the toggle member 33 to pull the pull cord 32. The predetermined distance is greater than or equal to the length of the latch portion 301 exposed from the accommodating cavity 115. For example, the predetermined distance can be 0.5 cm, 1 cm, or 2 cm.

[0227] Please refer to Figures 32 to 35. Optionally, the toggle member 33 has a first position and a second position. When the toggle member 33 is in the first position of the sliding groove 34, the latch portion 301 is in an extended state; when the user manually toggles the toggle member 33 to slide in the sliding groove 34 and makes it in the second position of the sliding groove 34, the movement of the toggle member 33 will drive the pull rope 32 to move synchronously, and the pull rope 32 applies a force to the winding portion 302 of the latch 31. The two latches 31 respectively overcome the elastic force of the two elastic elements 303, so that the latch portion 301 changes from an extended state to a retracted state. At this time, it is convenient for the user to manually place the household item 400 on the platform 110 or remove the household item 400 from the platform 110. After the household item 400 is installed, the user releases the toggle member 33. The latching portion 301 of the latching member 31 returns to its original extended position under the action of the elastic element 303. The toggle member 33 slides along the sliding groove 34 from the second position to the first position. The latching portion 301 then engages with the latching groove 420 of the household item 400, thereby securing the household item 400 to the platform 110. The above process can be repeated to remove the household item 400 from the platform 110. This process will not be described in detail here.

[0228] In the embodiments of Figures 33 to 35, the platform 110 is further provided with a wire hole 117 connected to the accommodating chamber 115, and the inner wall of the accommodating chamber 115 is provided with a wire fixing groove, one end of the pull rope 32 is fixed in the wire fixing groove, and the other end of the pull rope 32 is sequentially wound around the two winding parts 302 and passes through the accommodating chamber 115 at the wire hole 117 for manual control.

[0229] It should be noted that, as shown in Figure 32, the household object 400 can cooperate with the household mobile platform 100. The household object 400 is provided with a buckle groove 420, and the household mobile platform 100 is provided with a platform 110. The buckle groove 420 is used to cooperate with the buckle mechanism 30 of the platform 110, so that the household object 400 is fixed to the platform 110, so that the platform 110 can drive the household object 400 to move.

[0230] In some embodiments, as shown in Figures 45, 52, and 53, the home mobility platform 100 further includes a support member 180, which is fixed to the mounting mechanism 140 and is provided with a first guide groove 181 extending vertically. The first docking structure 150 is provided with a first guide member 158, which is movable within the first guide groove 181, thereby enabling the first docking structure 150 to move vertically relative to the mounting mechanism 140.

[0231] In this embodiment, by enabling the first guide member 158 to move within the first guide groove 181, the first docking structure 150 can move vertically relative to the mounting mechanism 140. This allows the cleaning robot 200 to move vertically when encountering uneven surfaces, thereby facilitating the traversal of the uneven surfaces. Consequently, after the home mobile platform 100 and the cleaning robot 200 are docked and move together, the first docking structure 150 and the second docking structure 212 of the cleaning robot 200 are ensured to maintain a stable connection when traversing uneven surfaces. It should be noted that the vertical movement may be an arc-shaped, inclined, or vertical movement.

[0232] In some embodiments, as shown in Figures 53 and 54 , the support member 180 is further provided with a second guide groove 182 extending horizontally; the first guide member 158 is capable of horizontally moving within the second guide groove 182. It should be noted that the first guide member 158 may be provided on different walls or the same wall of the first docking structure 150. Therefore, the first guide member 158 moving in the first guide groove 181 and the second guide groove 182 may be the same guide member or different guide members, without specific limitation herein.

[0233] In other embodiments, as shown in Figure 45, the support member 181 can be provided with two first guide grooves 181 and two second guide grooves 182. Correspondingly, the first docking structure 150 is provided with two first guide members 158. In this way, the first docking structure 150 is more stable when moving in the horizontal direction or the up and down direction.

[0234] As shown in Figure 54, in some embodiments, the mounting mechanism 140 is further provided with a first elastic connection component 151 connected to the first docking structure 150; when the first elastic connection component 151 causes the first docking structure 150 to move in the horizontal direction, the first guide member 158 moves in the horizontal direction in the second guide groove 182.

[0235] In this embodiment, by setting the first elastic connection component 151, the first docking structure 150 can move in the horizontal direction. At the same time, the first guide member 158 can move in the horizontal direction in the second guide groove 182, and the first guide member 158 can also move in the up and down directions in the first guide groove 181. In this way, when the cleaning robot 200 encounters an undulating ground, the first docking structure 150 can move in the horizontal direction and the up and down directions to facilitate passing through the undulating ground. As a result, after the home mobile platform 100 and the cleaning robot 200 are docked and move together, when passing through the undulating ground, it is ensured that the first docking structure 150 and the second docking structure 212 can be stably connected.

[0236] In some embodiments, as shown in Figure 54, the first elastic connection assembly 151 includes a first connector 1511 and a first elastic member 1512. The first connector 1511 is connected to the first docking structure 150. The first elastic member 1512 is arranged between the first connector 1511 and the support member 180 to provide elastic force to the first connector 1511, so that when the first docking structure 150 and the second docking structure 212 are docked and the home mobile platform 100 is combined with the cleaning robot 200, the first elastic member 1512 is in a compressed state in the horizontal direction.

[0237] In this embodiment, after the first docking structure 150 and the second docking structure 212 are docked with each other, the positions of the cleaning robot 200 and the home mobile platform 100 can be relatively positioned, and then the home mobile platform 100 and the cleaning robot 200 are combined. For example, the first coupling member 132 of the home mobile platform 100 extends downward into the second coupling member 211 of the cleaning robot 200 to form a firm snap connection. At this time, the home mobile platform 100 and the cleaning robot 200 are relatively fixed in the horizontal direction, and a certain compression force and position restriction are formed on the first elastic member 1512, so that it is in a compressed state in the horizontal direction. The first elastic member 1512 in the compressed state gives elastic force to the first docking structure 150 through the first connecting body 1511, so that the first docking structure 150 and the second docking structure 212 can always be stably connected. Even when the cleaning robot 200 is walking or crossing a bump with the home mobile platform 100, the first docking structure 150 and the second docking structure 212 will not detach from each other, and the electrical connection or signal connection remains stable. As can be seen from FIG. 54 , the first connecting body 1511 may abut against the first docking structure 150 , but in other embodiments, the first connecting body 1511 may also be directly connected to the first docking structure 150 .

[0238] In some embodiments, as shown in Figures 53 to 55, the support member 180 is further provided with a third guide groove 183, and the first connector 1511 is provided with a second guide member 147 that cooperates with the third guide groove 183. Thus, when the first elastic member 1512 pushes against the first connector 1511, the second guide member 147 can move horizontally within the third guide groove 183. Under the restraining effect of the third guide groove 183, the first connector 1511 cannot move vertically with the first docking structure 150. That is, the first connector 1511 can only move horizontally at this time, allowing the first docking structure 150 to move vertically relative to the first connector 1511, thereby ensuring a stable connection between the first docking structure 150 and the second docking structure 212 when traversing uneven terrain.

[0239] As shown in FIG13 , in some embodiments, the mobile home platform 100 can also dock with a base station 300. A first docking structure 130 is provided on the inner side of the mounting mechanism 120, and a third docking structure 142 is provided on the outer side of the mounting mechanism 120. The inner and outer sides of the mounting mechanism 120 are arranged opposite each other. The third docking structure 142 is configured to dock with a fourth docking structure 320 on the base station 300. In this way, when the mobile home platform 100 is connected to the cleaning robot 200 and docked with the base station 300, the mobile home platform 100 is positioned between the cleaning robot 200 and the base station 300, which helps reduce the overall space occupied by the cleaning robot 200, the base station 300, and the mobile home platform 100. The base station 300 can be a charging base station or a dust collection base station with charging capabilities. Exemplarily, the third docking structure 142 is a docking slot, and the fourth docking structure 320 is a docking head. Of course, in other embodiments, the third docking structure 142 can also be a docking head, and the fourth docking structure 320 can be a docking slot.

[0240] In some embodiments, as shown in Figures 12, 14, 36, and 37, the mobile home platform 100 further includes a third recognition module 144. This third recognition module 144 can recognize the fourth recognition module 330 of the base station 300, enabling the mobile home platform 100 to move to the base station 300. With the third recognition module 144, when the cleaning robot 200 carries the mobile home platform 100 and moves, the cleaning robot 200's second recognition module 220 is blocked by the mounting mechanism 140 of the mobile home platform 100, preventing it from locating the fourth recognition module 330 of the base station 300 through the second recognition module 220. Therefore, the third recognition module 144 of the mobile home platform 100 can cooperate with the fourth recognition module 330 of the base station 300, allowing the mobile home platform 100 to locate the base station 300 it is cooperating with. The third recognition module 144 can be an infrared receiver module, a laser radar, a camera, or the like; and the fourth recognition module 330 can be an infrared transmitter module, a structural signature code, a spray signature code, or the like.

[0241] The vertical height difference between the third identification module 144 and the fourth identification module 330 is between -20 mm and 20 mm. This allows for more accurate signal reception between the third identification module 144 and the fourth identification module, thereby facilitating the home mobile platform 100 to find the corresponding base station 300. For example, the vertical height difference between the third identification module 144 and the fourth identification module 330 is -6 mm. Of course, in other embodiments, the vertical height difference between the third identification module 144 and the fourth identification module 330 may also be -10 mm, -8 mm, -2 mm, 1 mm, 3 mm, 5 mm, 7 mm, or 10 mm.

[0242] In some embodiments, as shown in Figures 12 and 14, the first recognition module 141 is disposed on the inner side of the mounting mechanism 140, and the third recognition module 144 is disposed on the outer side of the mounting mechanism 140. This prevents the third recognition module 144 from being obscured after the cleaning robot 200 docks with the mobile home platform 100, thereby facilitating the coordination between the third recognition module 144 and the fourth recognition module 330, and facilitating the mobile home platform 100 in locating the corresponding base station 300. Furthermore, the inner side of the mounting mechanism 140 is concavely curved or matches the outer surface of the cleaning robot 200 near the second docking structure 212. This ensures a closer contact surface between the cleaning robot 200 and the mobile home platform 100 when docked, reducing space usage.

[0243] In some embodiments, as shown in FIG38 , a mounting mechanism 140 extends downward from the bottom of the platform 110 and is disposed at the rear end of the mobile home platform 100. Two first docking structures 150 are provided, symmetrically disposed on the mounting mechanism 140. Correspondingly, two second docking structures 212 are also provided on the cleaning robot 200, each disposed at the rear end of the cleaning robot 200. This facilitates docking between the mobile home platform 100 and the cleaning robot 200 through their respective rear ends, thereby facilitating subsequent movement of the cleaning robot 200 by the mobile home platform 100.

[0244] In some embodiments, as shown in Figures 12 and 38, the platform 110 includes a mounting mechanism 140 disposed at its bottom, and a laser radar 250 is disposed on the top of the cleaning robot 200. The mounting mechanism 140 is provided with a light guide slot 148 extending from the inside to the outside. After the cleaning robot 200 is coupled to the home mobile platform 100, light emitted by the laser radar 250 passes through the light guide slot 148. In this embodiment, the mounting mechanism 140 has an arcuate surface that substantially corresponds to the rear end surface of the cleaning robot 200. The light guide slot 148 extends horizontally along the circumference of the mounting mechanism 140 and forms an arc. The light guide groove 148 runs through the mounting mechanism 140 and is symmetrical in shape and length on both sides (the axis of symmetry is along the front-to-back direction of the mobile home platform 100 as it moves with the cleaning robot 200 and passes through the center of the mobile home platform 100 or the cleaning robot 200). The position and height of the light guide groove 148 substantially correspond to those of the laser radar 250. For example, the height difference between the upper or lower edge of the light guide groove 148 and the emission source (e.g., infrared emission tube) of the laser radar 250 of the cleaning robot 200 is 5mm-50mm. The light guide groove 148 is higher than the first docking structure 150 and higher than the first identification module 141. The circumferential length of the light guide groove 148 accounts for 20%-95% of the circumferential length of the mounting mechanism 140. The angle at which the light guide groove 148 extends horizontally along the circumference of the mounting mechanism 140 is 20 to 180 degrees.

[0245] In this embodiment, the first coupling member 132 can be coupled to the second coupling member 211, securing the mobile home platform 100 to the cleaning robot 200. This allows the cleaning robot 200 to move household items 400 via the mobile home platform 100, allowing the household items 400 to be moved from one location to another or from one room to another. This effectively expands the operating range of the household items 400. Furthermore, the light guide 148 facilitates the passage of light emitted by the cleaning robot 200's laser radar 250, thereby facilitating navigation using the signals emitted by the laser radar 250.

[0246] In some embodiments, as shown in Figures 39 to 41, the home mobile platform 100 also includes a brake assembly 190, which is arranged on the platform 110. The brake assembly 190 includes a limit seat 192, which can be extended and retracted relative to the platform 110, and when in the extended state, the limit seat 192 can abut against the ground to limit the movement of the movable support structure 120-relative to the ground. In the retracted state, the limit seat 192 is separated from the ground so that the movable support structure 120-can move relative to the ground.

[0247] In this embodiment, a brake assembly 190 is provided so that a limit seat 192 thereon can be extended and retracted relative to the platform 110. When extended, the limit seat 192 can abut against the ground, thereby limiting the relative movement of the movable support structure 120. In this way, before the mobile home platform 100 is docked with the cleaning robot 200, the limit seat 192 abuts against the ground, so that the mobile home platform 100 is stably fixed on the ground, thereby facilitating the docking of the cleaning robot 200 with the mobile home platform 100. When the mobile home platform 100 and the cleaning robot 200 are docked, the limit seat 192 retracts. At this time, the limit seat 192 is in a retracted state, so that the limit seat 192 is separated from the ground, and the movable support structure 120 can move relative to the ground, thereby facilitating the subsequent movement of the mobile home platform 100 by the cleaning robot 200.

[0248] In some embodiments, as shown in Figures 42 to 44, the brake assembly 190 further includes a brake member 191, which is movable relative to the platform 110 and connected to the limit seat 192, so that the limit seat 192 can be extended and retracted relative to the platform 110. In this embodiment, the limit seat 192 is fixed to the bottom of the brake member 191, and the brake member 191 is movable relative to the platform 110. For example, the brake member 191 moves up and down relative to the platform 110, causing the limit seat 192 to extend or retract relative to the platform 110, thereby driving the limit seat 192 to abut against or detach from the ground. That is, before the mobile home platform 100 is docked with the cleaning robot 200, the brake member 191 moves downward, thereby driving the limit seat 192 to move downward and abut against the ground, so that the mobile home platform 100 is stably fixed to the ground, thereby facilitating the docking of the mobile home platform 100 with the cleaning robot 200. After the mobile home platform 100 is docked with the cleaning robot 200, the brake member 191 moves upward, thereby causing the limit seat 192 to move upward and detach from the ground, thereby facilitating the subsequent movement of the mobile home platform 100 by the cleaning robot 200. The up and down movement may be an arc-shaped up and down movement, an inclined up and down movement, or a vertical up and down movement.

[0249] In some embodiments, as shown in Figures 46 to 48 , a guide mechanism 197 is fixedly disposed within the platform 110. For example, the guide mechanism 197 includes a first guide portion 1971, and the brake member 191 includes a second guide portion 1911 that cooperates with the first guide portion 1971. The second guide portion 1911 is capable of moving vertically along the first guide portion 1971, thereby enabling the brake member 191 to drive the stopper 192 to move vertically. In this embodiment, the guide mechanism 197 allows the brake member 191 to move vertically along the guide mechanism 197, thereby driving the stopper 192 to move vertically. Thus, the guide mechanism 197 cooperates with the brake member 191, facilitating the movement of the brake member 191 and ensuring more stable movement of the brake member 191 relative to the platform 110. Furthermore, by providing the first guide portion 1971 on the guide mechanism 197 and the second guide portion 1911 on the brake member 191, the first guide portion 1971 cooperates with the second guide portion 1911 to facilitate movement of the brake member 191.

[0250] In some embodiments, as shown in Figures 48 to 50, the first guide portion 1971 is exemplarily a vertical guide groove 1971a, and the second guide portion 1911 is a guide block. Specifically, the vertical guide groove 1971a is provided on the guide mechanism 197, and the guide block is provided on the brake member 191. The guide block cooperates with the vertical guide groove 1971a to enable the guide block to move within the vertical guide groove 1971a. It should be noted that two vertical guide grooves 1971a can be provided at intervals, and correspondingly, two guide blocks can be provided at intervals on the brake member 191. Of course, in other embodiments, one, three, four, or other guide blocks can be provided, respectively, for example. By providing the first guide portion 1971 as the vertical guide groove 1971a, the brake member 191 can be moved vertically downward or upward.

[0251] In other embodiments, the first guide portion 1971 may also be a guide block, and the second guide portion 1911 may also be a vertical guide groove 1971a.

[0252] In some embodiments, as shown in Figures 47 and 48, the second guide portion 1911 is a guide block, and the guide mechanism 197 is connected to a stop mechanism 1972. The stop mechanism 1972 is used to stop the side wall of the brake member 191, preventing the brake member 191 from swinging relative to the guide mechanism 197 with the second guide portion 1911 (guide block) as a fulcrum. In other words, under the restraining action of the stop mechanism 1972, the guide block can only move up and down along the vertical guide groove 1971a, that is, the brake member 191 can only move up and down, preventing the brake member 191 from swinging in the horizontal direction. In this way, the limit seat 192 is also prevented from swinging in the horizontal direction when it contacts the ground, resulting in poor braking of the home mobile platform 100.

[0253] Exemplarily, both ends of the guide mechanism 197 are connected to a stopping mechanism 1972, which is a vertical stop block symmetrically connected to the guide mechanism 197. Both ends of the guide mechanism 197 are provided with a vertical stop block, which can be fitted on the two opposite side walls of the brake component 191.

[0254] In some embodiments, as shown in Figures 42 and 43, the brake assembly 190 further includes a driver 193 and a linkage mechanism. Specifically, the linkage mechanism is connected to the driver 193 and moves under the action of the driver 193, and the linkage mechanism is connected to the brake member 191. When the driver 193 drives the linkage mechanism to move, the linkage mechanism drives the brake member 191 to move, so that the limit seat 192 can be extended and retracted relative to the platform 110.

[0255] In this embodiment, when the driving member 193 drives the linkage mechanism to move in the first direction, the linkage mechanism drives the brake member 191 to move downward, so that the limit seat 192 moves downward and abuts the ground, thereby facilitating the docking of the home mobile platform 100 and the cleaning robot 200. When the driving member 193 drives the linkage mechanism to move in the second direction, the linkage mechanism drives the brake member 191 to move upward, so that the limit seat 192 moves upward and away from the ground, thereby facilitating the subsequent movement of the home mobile platform 100 by the cleaning robot 200.

[0256] As shown in Figures 42 and 43, the linkage mechanism exemplarily includes a first linkage 194 and a second linkage 195. The first linkage 194 is connected to the driving member 193 and rotates under the action of the driving member 193; the second linkage 195 is movably connected to the first linkage 194 and connected to the brake member 191.

[0257] In this way, when the driving member 193 drives the first linkage member 194 to rotate along the first direction, the second linkage member 195 moves downward to drive the brake member 191 to move downward so that the limit seat 192 extends downward and abuts against the ground, thereby facilitating the docking of the home mobile platform 100 and the cleaning robot 200.

[0258] When the driving member 193 drives the first linkage member 194 to rotate in the second direction, the second linkage member 195 moves upward to drive the brake member 191 to move upward so that the limit seat 192 retracts upward and leaves the ground, thereby facilitating the subsequent cleaning robot 200 to drive the home mobile platform 100 to move.

[0259] Wherein, the first direction is opposite to the second direction. Exemplarily, the first direction is counterclockwise and the second direction is clockwise. Of course, in other embodiments, the first direction may also be clockwise and the second direction may be counterclockwise.

[0260] In some embodiments, as shown in FIG42 , the drive member 193 includes a drive shaft 1931 and a drive motor 1932. The drive motor 1932 drives the drive shaft 1931 to rotate. The drive shaft 1931 is connected to the linkage mechanism to drive the linkage mechanism to move. With the drive shaft 1931 connected to the linkage mechanism, the drive shaft 1931 rotates under the action of the drive motor 1932, thereby driving the linkage mechanism to rotate.

[0261] In some embodiments, the first linkage 194 is a swing arm, and the second linkage 195 is also a swing arm. The drive shaft 1931 drives the first linkage 194 to swing, and drives the second linkage 195 to swing through the first linkage 194. The second linkage 195 drives the brake member 191 to move, and the second guide portion 1911 (that is, the guide block) of the brake member 191 cooperates with the first guide portion 1971 (vertical guide groove) of the guide mechanism 197, so that the brake member 191 can only move up and down in the vertical direction.

[0262] In other embodiments, the first linkage member 194 may be a drive gear, and the second linkage member 195 may be a rack. The rotation of the drive gear drives the rack to move vertically, thereby driving the brake member 191 to move vertically. For example, the first linkage member 194 may be a screw, and the second linkage member 195 may be a sleeve that cooperates with the screw. The structures of the first linkage member 194 and the second linkage member 195 are not limited to this.

[0263] In some embodiments, as shown in Figures 42 and 12, the brake assembly 190 further includes a detection component 196, which is disposed on the brake member 191 and moves with the brake member 191. When the brake member 191 moves in the up and down directions, the detection component 196 also moves with the brake member 191. Exemplarily, the detection component 196 and the brake member 191 can be integrally formed. Of course, in other embodiments, the detection component 196 and the brake member 191 can also be two components, which are fixedly connected by screws or clamping, welding, bonding, or the like.

[0264] A first detection element 1101 and / or a second detection element 1102 are fixedly disposed in the platform 110 , and the first detection element 1101 and / or the second detection element 1102 are electrically connected to the control device of the home mobile platform 100 ;

[0265] When the first detection element 1101 detects the detection component 196, the brake member 191 moves to the first preset position, and the control device of the home mobile platform 100 controls the driving member 193 to stop driving the brake member 191 to move downward, and the brake member 191 has been extended into place.

[0266] When the second detection element 1102 detects the detection component 196, the brake member 191 moves to the second preset position, and the control device of the home mobile platform 100 controls the driving member 193 to stop driving the brake member 191 to move upward, and the brake member 191 has retracted into place.

[0267] In one embodiment, a first detection element 1101 is fixedly disposed in the platform 110 .

[0268] In another embodiment, a second detection element 1102 is fixedly disposed in the platform 110 .

[0269] Exemplarily, a first detection element 1101 and a second detection element 1102 are fixedly provided in the platform 110. Specifically, when the first detection element 1101 detects the detection component 196, the detection component 196 has moved to the position of the first detection element 1101, at which time the brake member 191 has been braked into place (the limit seat 192 is in close contact with the ground), and the first detection element 1101 transmits this information to the control device of the home mobile platform 100, so that the control device controls the driving member 193 to stop rotating, that is, the brake member 191 stops moving downward; when the second detection element 1102 detects the detection component 196, the detection component 196 has moved to the position of the second detection element 1102, at which time the brake member 191 has retracted into the platform 110 and retracted into place, and the second detection element 1102 transmits this information to the control device of the home mobile platform 100, which controls the driving member 193 to stop working, so that the brake member 191 stops moving upward.

[0270] It should be noted that the second detection element 1102 is higher than the first detection element 1101 , and the second detection element 1102 is arranged opposite to the first detection element 1101 .

[0271] In some embodiments, as shown in Figures 43 and 44, a main body 135 is fixedly mounted within the platform 110, and the brake component 191 is retracted and extended within the main body 135. The main body 135 is provided with a receiving slot 1351, and the detection component 196 moves within the receiving slot 1351. Connecting slots 1352 are provided at both ends of the top of the main body 135. The drive motor 1932 and the drive shaft 1931 are both mounted on the top of the main body 135, and the drive shaft 1931 passes through the two connecting slots 1352. This allows the brake component 191 to retract and extend within the main body 135, preventing interference between the brake component 191 and other components within the platform 110 during retraction and extension, thereby improving the stability of the brake assembly 190 during its overall movement. Optionally, a guide mechanism 197 is provided within the main body 135. In specific embodiments, the guide mechanism 197 may also be a component of the main body 135.

[0272] In some embodiments, as shown in FIG51 , the stopper 192 is a plate-like structure, with a first reinforcing rib 1923 and a second reinforcing rib 1924 disposed on the top of the stopper 192. The first reinforcing rib 1923 and the second reinforcing rib 1924 are intersectingly arranged. Thus, the intersecting first reinforcing rib 1923 and the second reinforcing rib 1924 enhance the overall structural strength of the stopper 192, making the stopper 192 more secure when in contact with the ground.

[0273] In other embodiments, as shown in FIG43 , the bottom of the retaining seat 192 is provided with an anti-slip structure 1921. The anti-slip structure 1921 can be anti-slip grooves or a plurality of protrusions. This can increase the friction between the bottom of the retaining seat 192 and the ground, thereby ensuring that the home mobile platform 100 can be stably fixed to the ground.

[0274] In some other embodiments, for example, the bottom of the limiting seat 192 is made of a soft material. For example, the limiting seat 192 is made of a soft rubber integrally molded. In this way, the bottom of the limiting seat 192 has a certain elasticity, thereby increasing the contact area between it and the ground, and also increasing the friction between the bottom of the limiting seat 192 and the ground, so that the home mobile platform 100 can be stably fixed on the ground.

[0275] In some embodiments, as shown in Figures 46 and 51 , a first positioning structure 1913 is provided at the bottom of the brake member 191, and a second positioning structure 1925 is provided at the top of the limiting seat 192. The first positioning structure 1913 and the second positioning structure 1925 cooperate with each other. One of the first positioning structure 1913 and the second positioning structure 1925 has a positioning portion, and the other is a positioning slot, into which the positioning portion is inserted. The brake member 191 also has at least two first fixing portions 1912 at the bottom, located on opposite sides of the first positioning structure 1913. The limiting seat 192 has at least two second fixing portions 1922 at the top, located on opposite sides of the second positioning structure 1925. The first fixing portions 1912 and the second fixing portions 1922 are fixedly connected by fasteners. In this way, when the brake component 191 and the limit seat 192 are assembled, they are first positioned by the first positioning structure 1913 and the second positioning structure 1925, that is, the positioning part and the positioning groove are inserted and positioned, and then the first fixing part 1912 and the second fixing part 1922 are fixedly connected by fasteners to facilitate the assembly of the brake component 191 and the limit seat 192.

[0276] In one embodiment, illustratively, the first positioning structure 1913 is a positioning portion, the second positioning structure 1925 is a positioning groove, both the first fixing portion and the second fixing portion 1922 are two and are connecting holes, and the fastener is a locking screw.

[0277] In another embodiment, illustratively, the first positioning structure 1913 is a positioning groove, the second positioning structure 1925 is a positioning portion, both the first fixing portion and the second fixing portion 1922 are two and are connecting holes, and the fastener is a locking screw.

[0278] Of course, in other embodiments, the number of the first fixing portion and the second fixing portion 1922 may also be three, four, five, etc. The fasteners may also be rivets or adhesives.

[0279] In some embodiments, before the cleaning robot 200 moves to the mobile home platform 100 and docks with the first docking structure 150 via the second docking structure 212 for pre-positioning, the stopper 192 extends and abuts the ground. After the second docking structure 212 docks with the first docking structure 150 for pre-positioning or the first coupling member 132 and the second coupling member 211 engage, the stopper 192 retracts and lifts off the ground. In this embodiment, to facilitate docking of the cleaning robot 200 with the mobile home platform 100, the stopper 192 retracts and lifts off the ground after the first docking structure 150 docks with the second docking structure 212 for pre-positioning or the first coupling member 132 and the second coupling member 211 engage. This facilitates the movement of the cleaning robot 200 to drive the movable support structure 120, thereby moving the mobile home platform 100. After the first coupling member 132 and the second coupling member 211 engage, the connection between the mobile home platform 100 and the cleaning robot 200 becomes more stable, at which point the stopper 192 can be retracted and lifted off the ground. Among them, pre-positioning refers to the relative positioning of the cleaning robot 200 and the home mobile platform 100 before they are combined, so as to facilitate the subsequent combination of the platform 110 of the home mobile platform 100 with the top of the cleaning robot 200.

[0280] It should be noted that the front end of the home mobile platform 100 refers to one end of the running direction of normal operation (carrying household objects 400) after the home mobile platform 100 is docked with the cleaning robot 200, and the rear end is the other end opposite to the front end; the front end of the cleaning robot 200 refers to one end of the running direction of normal operation (sweeping or mopping the floor) of the cleaning robot 200, and the rear end is the other end opposite to the front end.

[0281] In one embodiment, the mobile home platform 100 further includes an obstacle detection device, which is disposed within the mobile home platform 100 and may include an inertial measurement unit (IMU), an angular velocity detection sensor, or a gyroscope. The obstacle detection device may be used to detect whether the angle between the mobile home platform 100 and the ground has changed.

[0282] When the household object 400 collides with an obstacle that exceeds the height of the platform 110, the force generated by the collision will cause the household object 400 to tilt. The household object 400 cooperates with the household mobile platform 100 through the snap mechanism 30 and is fixed to the household mobile platform 100, which causes the angle between the household mobile platform 100 and the ground to change. Then, the obstacle detection device can detect that the household object 400 has collided with an obstacle that exceeds the height of the platform 110, and the information is transmitted to the cleaning robot 200 through the communication module, so that the cleaning robot 200 drives the household mobile platform 100 to change the direction of movement.

[0283] It should be further explained that since the first docking structure 150 of the home mobile platform 100 cooperates with the second docking structure 212 of the cleaning robot 200 through the first elastic connection component 151, and the first coupling member 132 of the home mobile platform 100 and the second coupling member 211 of the cleaning robot 200 are combined through the first elastic connection structure 14 and the second elastic connection structure 22, the home mobile platform 100 and the cleaning robot 200 are elastically connected, so the home mobile platform 100 can be slightly deflected relative to the cleaning robot 200. When the household object 400 collides, the home mobile platform 100 and the household object 400 are deflected and the angle between them and the ground changes. However, the angle between the cleaning robot 200 and the ground will not change, so as to ensure the stable operation of the cleaning robot 200 and facilitate the subsequent change of movement direction of the home mobile platform 100.

[0284] As shown in Figures 3 and 12, an embodiment of the second aspect of the present application proposes a cleaning robot 200 that can dock with a home mobile platform 100. The cleaning robot 200 includes a robot body 210, a second identification module 220 and a second docking structure 212. The second docking structure 212 is arranged on one side of the robot body 210, and the second identification module 220 is arranged on the robot body 210; the second identification module 220 can identify the first identification module 141 of the home mobile platform 100 for setting the home object 400, so that the second docking structure 212 docks with the first docking structure 150 on the home mobile platform 100 to pre-position the cleaning robot 200 and the home mobile platform 100.

[0285] In this embodiment, the second recognition module 220 can recognize the first recognition module 141 of the household mobile platform 100 used to set the household object 400, thereby causing the cleaning robot 200 to move toward the household mobile platform 100. The second docking structure 212 then docks with the first docking structure 150 to achieve a pre-positioned connection between the household mobile platform 100 and the cleaning robot 200. The entire process relies on the cleaning robot 200 to automatically dock with the household mobile platform 100 after recognition to connect the two. The user can control the automatic connection and separation of the cleaning robot 200 and the household mobile platform 100 through a terminal device (such as an app or a remote control), which is conducive to improving the convenience and reliability of the connection between the cleaning robot 200 and the household mobile platform 100. Once the cleaning robot 200 is connected to the household mobile platform 100, it can easily move the household object 400 through the household mobile platform 100. The structures of the first recognition module 141 and the second recognition module 220 have been described in detail in the above-mentioned embodiment of the first aspect and will not be repeated here.

[0286] In some embodiments, as shown in Figures 8 and 12, the robot body 210 is configured to enable the second docking structure 212 to move horizontally to match the first elastic connection component 151 of the first docking structure 150, or the second docking structure 212 is configured to match the first docking structure 150 connected to the bottom of the home mobile platform 100 with the first elastic connection component 151. By providing the first elastic connection component 151, the second docking structure 212 is elastically matched with the first docking structure 150, preventing the home mobile platform 100 and the cleaning robot 200 from being unable to dock properly due to both being mobile devices.

[0287] In some embodiments, as shown in Figures 3 and 12, the cleaning robot 200 further includes a second rechargeable battery (not shown), a second charging circuit (not shown), and a second charging electrode 213. The second charging circuit is connected to the second rechargeable battery, and the second charging electrode 213 is connected to the second charging circuit. The second charging electrode 213 is used to contact the first charging electrode 152 of the home mobile platform 100. The second charging circuit can be a charging-only circuit, or a charging and discharging circuit.

[0288] The cleaning robot 200 has a second rechargeable battery, which allows it to store electrical energy. By bringing the second charging electrode 213 on the cleaning robot 200 into contact with the first charging electrode 152 on the mobile home platform 100, electrical energy can be exchanged between the mobile home platform 100 and the cleaning robot 200. For example, the mobile home platform 100 can use its own stored electrical energy to charge the cleaning robot 200, or vice versa.

[0289] In some embodiments, as shown in Figures 10 and 12, the second charging electrode 213 is disposed on the second docking structure 212, and the first charging electrode 152 is disposed on the first docking structure 150. This configuration allows the charging electrode and the docking structure to be integrated together. When the first docking structure 150 and the second docking structure 212 are docked, the first charging electrode 152 and the second charging electrode 213 can be in contact without the need for a separate charging interface or additional power connection. In other embodiments, the second charging electrode 213 and the second docking structure 212 can be separated; the first charging electrode 152 and the first docking structure 150 can be separated.

[0290] In some embodiments, as shown in Figures 10 and 12, the second docking structure 212 is a docking socket, and the first docking structure 150 is a docking head. Alternatively, the second docking structure 212 is a docking head, and the first docking structure 150 is a docking socket. Optionally, the second docking structure 212 is a docking socket recessed in the robot body 210, and the second charging electrode 213 is disposed on the inner wall of the docking socket.

[0291] In some embodiments, as shown in FIG8 and FIG12 , a second elastic connecting component 150a is connected to the second docking structure 212 or the first docking structure 150. The second elastic connecting component 150a is connected to the second charging electrode 213 or the first charging electrode 152, so that the second charging electrode 213 and the first charging electrode 152 can elastically abut against each other in the vertical direction. This makes the contact between the first charging electrode 152 and the second charging electrode 213 closer, thereby avoiding the problem of false connection.

[0292] In some embodiments, as shown in Figures 12 and 14, the cleaning robot 200 can also dock with the base station 300, and the second docking structure 212 is used to dock with the fourth docking structure 320 located on one side of the base station 300. The second charging electrode 213 is used to contact the fourth charging electrode 321 located on the base station 300 to receive power from the base station 300.

[0293] In this embodiment, even when the cleaning robot 200 is separated from the home mobile platform 100, the cleaning robot 200 can dock with the fourth docking structure 320 on the base station 300 via the second docking structure 212. In this case, the cleaning robot 200 is directly docked with the base station 300. Furthermore, the second charging electrode 213 can also contact the fourth charging electrode 321 of the base station 300, allowing the base station 300 to charge the cleaning robot 200.

[0294] In some embodiments, as shown in Figures 12 and 14, the second charging electrode 213 is provided on the second docking structure 212, and the fourth charging electrode 321 is provided on the fourth docking structure 320. This arrangement can also integrate the charging function with the docking structure. When the second docking structure 212 and the fourth docking structure 320 are docked, the second charging electrode 213 and the fourth charging electrode 321 can be in contact, without the need for a separate charging interface or additional power connection.

[0295] In some embodiments, the second docking structure 212 is a docking slot, and the fourth docking structure 320 is a docking head. Alternatively, in other embodiments, the second docking structure 212 is a docking head, and the fourth docking structure 320 is a docking slot.

[0296] In some embodiments, the second docking structure 212 is connected to a second elastic connection component 150a, which is connected to the second charging electrode 213, so that the second charging electrode 213 and the fourth charging electrode 321 can elastically abut against each other in the vertical direction. This makes the contact between the second charging electrode 213 and the fourth charging electrode 321 closer, thereby avoiding the problem of false connection.

[0297] In other embodiments, as shown in Figures 12 and 14, a third elastic connection component 320a is connected to the fourth docking structure 320, and the third elastic connection component 320a is connected to the fourth charging electrode 321, so that the second charging electrode 213 and the fourth charging electrode 321 can elastically abut and contact each other in the vertical direction. In this way, the contact between the second charging electrode 213 and the fourth charging electrode 321 is closer, thereby avoiding the problem of false connection.

[0298] In some embodiments, as shown in Figures 1, 3, and 11, the cleaning robot 200 can also be combined with the household mobile platform 100. The cleaning robot 200 also includes a second coupling member 211 provided on the robot body 210. The second coupling member 211 is used to cooperate with the first coupling member 132 of the household mobile platform 100 on which the household object 400 can be placed. After the second docking structure 212 of the cleaning robot 200 and the first docking structure 150 of the household mobile platform 100 are docked, the second coupling member 211 and the first coupling member 132 are combined to fix the household mobile platform 100 to the top of the robot body 210, and the household mobile platform 100 can be driven to move by the cleaning robot 200. Fixed connection can refer to limiting the movement of both parties in the horizontal direction only by interlocking or other means, without completely fixing them in the vertical direction. It can also refer to achieving complete fixation by means of snap-fitting, magnetic attraction, etc., limiting the movement of both parties in the horizontal and vertical directions.

[0299] It is understood that before the mobile home platform 100 and the cleaning robot 200 are fixedly connected, the cleaning robot 200 needs to move to the bottom of the platform 110 and dock with the first docking structure 150 of the mobile home platform 100 via the second docking structure 212 of the cleaning robot 200. Then, the second connecting member 211 is connected to the first connecting member 132 of the mobile home platform 100 to achieve the fixed connection between the mobile home platform 100 and the cleaning robot 200. At this point, the platform 110 is fixed to the top of the cleaning robot 200, and the cleaning robot 200 can drive the movable support structure 120 of the mobile home platform 100 to move.

[0300] The cleaning robot 200 in the embodiment of the present application is equipped with a second coupling member 211, which is configured to engage with the first coupling member 132 of the mobile home platform 100, on which the household object 400 is mounted, thereby connecting the mobile home platform 100 to the cleaning robot 200. Once connected, the platform 110 is secured to the top of the cleaning robot 200, and the cleaning robot 200 can drive the movable support structure 120 of the mobile home platform 100 to move. This allows the cleaning robot 200 to move the household object 400 via the mobile home platform 100. Driven by the cleaning robot 200, the household object 400 can be moved from one location to another, or from one room to another. This effectively expands the working range of the household object 400. Furthermore, the coordination between the cleaning robot 200 and the mobile home platform 100 saves time, effort, and efficiency compared to manual handling.

[0301] 3, 5, and 12, the second coupling member 211 is located at the top or side of the robot body 210, and the first coupling member 132 is located at the bottom or side of the home mobile platform 100. There are multiple second coupling members 211 or first coupling members 132.

[0302] In some embodiments, the second coupling member 211 is a clamping rod, and the first coupling member 132 is a clamping slot corresponding to the position and size of the clamping rod. Alternatively, the first coupling member 132 is a clamping rod, and the second coupling member 211 is a clamping slot corresponding to the position and size of the clamping rod. In either case, a mating connection between the two can be achieved.

[0303] In some embodiments, as shown in Figures 3, 5, and 12, the robot body 210 is provided with a second communication electrode, which is used to electrically connect to the first communication electrode on the platform 110 of the mobile home platform 100. The cleaning robot 200 also includes a second control module electrically connected to the second communication electrode. The second control module is configured to determine whether communication between the mobile home platform 100 and the cleaning robot 200 is successful based on the electrical connection between the second communication electrode and the first communication electrode. This not only helps improve the intelligence of the cleaning robot 200, but also improves the convenience of obtaining communication connection information between the mobile home platform 100 and the cleaning robot 200.

[0304] Furthermore, in some embodiments, the second communication electrode is provided on the second coupling member 211, and the first communication electrode is provided on the first coupling member 132. That is, when the second coupling member 211 and the first coupling member 132 are in combination, the second communication electrode contacts the first communication electrode on the home mobile platform 100. When the second coupling member 211 and the first coupling member 132 are separated, the second communication electrode is separated from the first communication electrode of the home mobile platform 100. That is, this embodiment integrates the communication electrode and the coupling member between the cleaning robot 200 and the home mobile platform 100 into one, without the need to additionally set up an interface for the communication electrode. This is conducive to improving the convenience of connecting the first communication electrode and the second communication electrode and the degree of integration of the cleaning robot 200. In other embodiments, the second coupling member 211 and the second communication electrode can also be set separately, in which case the first coupling member 132 and the first communication electrode can be set separately.

[0305] 21 , 23 , 25 , and 26 , in some embodiments, the second coupling member 211 is provided in plurality, the plurality of second coupling members comprising a third connection assembly 230, the first coupling member 132 is provided in plurality, the plurality of first coupling members 132 comprising a first connection assembly 10, the third connection assembly 230 comprising a second communication electrode 231, and the second communication electrode 231 is capable of communicating with the first communication electrode 13 on the base member 12 of the first connection assembly 10, so as to enable the cleaning robot 200 to exchange data and signals with the home mobile platform 100. The third connection assembly 230 also comprises a second attachment member 233 for cooperating with the first attachment member 12d on the base member 12 of the first connection assembly 10 to attach the base member 12 to the robot body 210, thereby enabling a stable communication connection between the second communication electrode 231 and the first communication electrode 13 of the first connection assembly 10.

[0306] 25 and 26 , in some embodiments, the third connecting component 230 further includes a first plug-in slot 232 . The first plug-in slot 232 refers to a slot structure provided on the robot body 210 . The first plug-in slot 232 may be a square slot, a circular slot, or a slot of other shapes.

[0307] The second communication electrode 231 and the second attachment 233 are located in the first plug-in slot 232 , and the first plug-in slot 232 is used to cooperate with the first connector 11b of the first connecting component 10 so that the home mobile platform 100 can be combined with the top of the robot body 210 .

[0308] The third connecting component 230 is located on the second axis of the robot body 210 along the moving direction of the cleaning robot 200, so that when the cleaning robot 200 drives the home mobile platform 100 to move, the second communication electrode 231 of the third connecting component 230 and the first communication electrode 13 of the first connecting component 10 are stably communicated.

[0309] The second axis is a virtual axis about which the robot body 210 is symmetrical. The second axis passes through the center of the robot body 210, and the structure of the robot body 210 on both sides of the second axis is symmetrical or approximately symmetrical. The direction of the second axis is the forward and backward direction in which the cleaning robot 200 drives the mobile home platform 100. When the mobile home platform 100 is driven and moved by the cleaning robot 200, the direction of the second axis is parallel to the direction of the first axis.

[0310] The third connecting component 230 is set on the second axis of the robot body 210 along its walking direction. When the cleaning robot 200 drives the home mobile platform 100 to move in a straight line, the force applied to the third connecting component 230 is relatively stable and it is not easy to withstand forces in other directions that may cause it to be dislocated or offset.

[0311] In this embodiment, the third connecting component 230 is arranged on the second axis of the cleaning robot 200 to further increase the stability of the third connecting component 230 connected to the home mobile platform 100, so that the cleaning robot 200 can exchange data and signals with the home mobile platform 100 more stably and can better reduce the loss of data and signals.

[0312] The embodiment of the third aspect of the present application provides a base station 300, which can be docked with the home mobile platform 100 or the cleaning robot 200. The base station 300 can be a dust collection base station or a charging base station.

[0313] As shown in Figures 12, 13, and 14, the base station 300 includes a base station body 310 and a fourth docking structure 320 disposed on the base station body 310. When the base station 300 is docked with the home mobile platform 100, the fourth docking structure 320 is used to dock with the third docking structure 142 of the home mobile platform 100, which is capable of placing the home object 400, to position the home mobile platform 100. When the base station 300 is docked with the cleaning robot 200, the fourth docking structure 320 is also used to dock with the second docking structure 212 of the cleaning robot 200 to position the cleaning robot 200.

[0314] In this application, when the base station 300 is docked with the mobile home platform 100, the fourth docking structure 320 of the base station 300 is used to dock with the third docking structure 142 of the mobile home platform 100 to position the mobile home platform 100. When the base station 300 is docked with the cleaning robot 200, the fourth docking structure 320 is also used to dock with the second docking structure 212 of the cleaning robot 200 to position the cleaning robot 200. In other words, the fourth docking structure 320 can dock with both the cleaning robot 200 and the mobile home platform 100 simultaneously, thereby expanding the application scenarios of the base station 300 and improving its adaptability. Since the home mobile platform 100 itself is mobile, when the home mobile platform 100 automatically docks with the cleaning robot 200 so that the home mobile platform 100 and the cleaning robot 200 can be positioned and matched, it is necessary to set a first docking structure 150 on the home mobile platform 100 to cooperate with the second docking structure 212 of the cleaning robot 200. When the second docking structure 212 is set on the cleaning robot 200, in order to enable the cleaning robot 200 to dock and position and match with the base station 300 alone, it is necessary to set a fourth docking structure 320 on the base station 300 to position and match with the second docking structure 212 of the cleaning robot 200.

[0315] In some embodiments, as shown in Figures 12, 13, and 14, the base station 300 further includes a fourth charging electrode 321 disposed on the base station body 310. The fourth charging electrode 321 is configured to contact the third charging electrode 143 of the home mobile platform 100 to provide electrical energy to the home mobile platform 100. This electrical energy can be used to power rechargeable household items on the home mobile platform 100 (e.g., an air purifier, a humidifier, a dehumidifier) ​​or electronic devices on the home mobile platform 100 itself (e.g., an obstacle recognition device). The fourth charging electrode 321 is also configured to contact the second charging electrode 213 of the cleaning robot 200 to provide electrical energy to the cleaning robot 200. This electrical energy is used to facilitate the movement or cleaning of the cleaning robot 200. In this embodiment, the fourth charging electrode 321 on the base station 300 can contact the third charging electrode 143 of the home mobile platform 100 and can also contact the second charging electrode 213 of the cleaning robot 200. That is to say, the base station 300 can charge both the home mobile platform 100 and the cleaning robot 200.

[0316] Furthermore, as shown in Figures 12 to 16 , the fourth charging electrode 321 is provided on the fourth docking structure 320, the third charging electrode 143 is provided on the third docking structure 142, and the second charging electrode 213 is provided on the second docking structure 212. Thus, when the fourth docking structure 320 of the base station 300 docks with the third docking structure 142 of the home mobile platform 100 to establish a connection between the two, the fourth charging electrode 321 and the third charging electrode 143 are also connected, and the base station 300 can charge the home mobile platform 100. When the fourth docking structure 320 docks with the second docking structure 212 of the cleaning robot 200 to establish a connection between the two, the fourth charging electrode 321 and the second charging electrode 213 are also connected, and the base station 300 can charge the cleaning robot 200. This arrangement allows the charging pads of the base station 300 and the docking structure for connecting to the cleaning robot 200 or the mobile home platform 100 to be integrated, eliminating the need for a separate charging port for charging the cleaning robot 200 or the mobile home platform 100, and eliminating the need for additional power connection, thereby facilitating improved integration of the base station 300. In other embodiments, when there is sufficient space on the base station 300, the fourth charging pad 321 and the fourth docking structure 320 can also be disposed at different locations on the base station 300, thereby separating the charging and docking functions of the base station 300; the third charging pad 143 and the third docking structure 142 can also be disposed separately; and the second charging pad 213 and the second docking structure 212 can also be disposed separately.

[0317] Furthermore, as shown in Figures 14 to 16 , the fourth docking structure 320 is connected to a third elastic connection component 320a. This third elastic connection component 320a is connected to the fourth charging electrode 321, enabling elastic contact between the fourth charging electrode 321 and the third charging electrode 143 in the vertical direction, or between the fourth charging electrode 321 and the second charging electrode 213 in the vertical direction. The elastic action of the third elastic connection component 320a allows the fourth charging electrode 321 to maintain its upward and downward motion. This allows the fourth charging electrode 321 to maintain a tighter contact with the third docking structure 142 of the mobile home platform 100, thereby preventing the problem of loose connections. When the fourth docking structure 320 docks with the second charging electrode 213 of the cleaning robot 200, the fourth charging electrode 321 maintains a tighter contact with the second charging electrode 213, thereby preventing the problem of loose connections.

[0318] As shown in FIG16 , the third elastic connection assembly 320a includes a second movable member 322 and a third elastic member 325 connected to the second movable member 322. The fourth charging electrode 321 is disposed on the second movable member 322. Thus, the elastic force provided by the third elastic member 325 to the second movable member 322 allows the fourth charging electrode 321 located on the second movable member 322 to move, thereby achieving closer contact between the fourth charging electrode 321 and the third charging electrode 143 or the second charging electrode 213.

[0319] Furthermore, the fourth docking structure 320 includes a second docking base 324 and a third guide post 323 vertically disposed on the second docking base 324. The second docking base 324 is provided with a second through-slot 326. The second movable member 322 is disposed in the second through-slot 326. The third elastic member 325 is sleeved on or connected to the third guide post 323. Thus, the sleeved or connected third elastic member 325 on the third guide post 323 allows the third elastic member 325 to move along the extension direction of the third guide post 323, thereby causing the fourth charging electrode 321 to move along the extension direction of the third guide post 323 (i.e., vertically). This allows for closer vertical contact between the fourth charging electrode 321 and the third charging electrode 143, or between the fourth charging electrode 321 and the second charging electrode 213, thereby avoiding the problem of false contact.

[0320] In some embodiments, the fourth docking structure 320 is a docking connector, the third docking structure 142 is a docking slot, and the second docking structure 212 is a docking slot. Alternatively, in other embodiments, the fourth docking structure 320 is a docking slot, the third docking structure 142 is a docking connector, and the second docking structure 212 is a docking connector. By plugging the docking connector into the docking slot, the mobile home platform 100 or cleaning robot 200 can be positioned in the area corresponding to the base station 300 and remain relatively stationary.

[0321] In some embodiments, as shown in Figure 14 , the fourth docking structure 320 is a docking head protruding horizontally from the sidewall of the base station body 310, with the fourth charging electrode 321 located at the bottom of the docking head. The fourth docking structure 320, a docking head protruding horizontally from the sidewall of the base station body 310, facilitates direct docking of the mobile home platform 100 or cleaning robot 200 with the docking head protruding horizontally from the sidewall of the base station body 310 through its docking slot after horizontal movement. Positioning the fourth charging electrode 321 at the bottom of the docking head protects it from contamination by external water and dust.

[0322] In some embodiments, as shown in Figures 13 and 14, the base station 300 also includes a fourth identification module 330 arranged on the base station body 310. The fourth identification module 330 can be identified by the third identification module 144 of the home mobile platform 100, so that the fourth docking structure 320 and the third docking structure 142 are docked in the horizontal direction to position the home mobile platform 100.

[0323] In this embodiment, the fourth identification module 330 on the base station body 310 can be recognized by the third identification module 144 of the home mobile platform 100, thereby enabling the fourth docking structure 320 on the base station 300 to dock with the third docking structure 142 on the home mobile platform 100, thereby locating the home mobile platform 100. In other words, the third identification module 144 of the home mobile platform 100 can identify the fourth identification module 330 of the base station 300, thereby determining the specific location of the base station 300 and causing the home mobile platform 100 to move toward the base station 300. This helps improve the convenience and reliability of the connection between the base station 300 and the home mobile platform 100. The fourth identification module 330 can be an infrared transmitter module, a structural signature code, a spray-painted signature code, etc.; the third identification module 144 can be an infrared receiver module, a lidar, a camera, etc.

[0324] In some embodiments, the fourth recognition module 330 can be recognized by the second recognition module 220 of the cleaning robot 200, thereby enabling the second docking structure 212 to dock with the fourth docking structure 320 in a horizontal direction to position the cleaning robot 200. In this embodiment, the fourth recognition module 330 on the base station body 310 can also be recognized by the second recognition module 220 of the cleaning robot 200. In other words, the second recognition module 220 of the cleaning robot 200 can recognize the fourth recognition module 330 of the base station 300, thereby identifying the specific location of the base station 300 and causing the cleaning robot 200 to move toward the base station 300. This helps improve the convenience and reliability of the connection between the base station 300 and the cleaning robot 200. The fourth recognition module 330 can be an infrared emission module, a structural feature code, a spray feature code, etc.; the second recognition module 220 can be an infrared receiving module, a lidar, a camera, etc.

[0325] As shown in Figures 1 and 14, when the cleaning robot 200 is connected to the home mobile platform 100 and drives the home mobile platform 100 to move to the corresponding position of the base station 300 and docks with the base station 300, the platform 110 of the home mobile platform 100 is located on the top of the cleaning robot 200, and the platform 110 blocks part of the structure of the second recognition module 220 of the cleaning robot 200. At this time, the second recognition module 220 of the cleaning robot 200 first identifies the approximate position of the base station 300, and then identifies the specific position of the base station 300 through the third recognition module 144 of the home mobile platform 100, so that the fourth docking structure 320 and the first docking structure 150 are docked in the horizontal direction to position the home mobile platform 100. As shown in Figures 12 and 14, when the cleaning robot 200 moves alone to the corresponding position of the base station 300 and docks with the base station 300, the second identification module 220 is not blocked, so the specific position of the base station 300 can be identified, so that the fourth docking structure 320 and the second docking structure 212 are docked in the horizontal direction to position the cleaning robot 200.

[0326] In some embodiments, as shown in Figures 3, 12 and 14, the base station 300 also includes a dust inlet 311 arranged on the base station body 310; the dust inlet 311 is used to connect with the dust outlet 214 of the cleaning robot 200 through the dust collection channel 145 of the home mobile platform 100 when the home mobile platform 100 is connected to the cleaning robot 200.

[0327] In this embodiment, the base station 300 is also provided with a dust inlet 311. When the base station 300 is docked with the mobile home platform 100 and the cleaning robot 200 is connected to the mobile home platform 100, the dust outlet 214 of the cleaning robot 200 communicates with the dust inlet 311 of the base station 300 via the dust collection channel 145. Dust and debris within the cleaning robot 200 passes through the dust outlet 214, the dust collection channel 145 of the mobile home platform 100, and then through the dust inlet 311 and is absorbed into the base station 300. When the base station 300 is directly docked with the cleaning robot 200, the dust outlet 214 of the cleaning robot 200 communicates with the dust inlet 311 on the base station body 310. Dust and debris within the cleaning robot 200 can be directly absorbed into the base station 300 through the dust outlet 214 and the dust inlet 311. This ensures the normal use of the cleaning function of the cleaning robot 200, thereby increasing the functional diversity of the base station 300.

[0328] In some embodiments, a second sealing ring 312 is provided on the end surface of the dust inlet 311 for contact with the end surface of the dust collection channel 145. The second sealing ring 312 is used to prevent airflow from leaking out. The provision of the second sealing ring 312 helps improve the sealing between the dust inlet 311 and the dust collection channel 145. When the base station 300 absorbs garbage and dust from the cleaning robot 200, the second sealing ring 312 can prevent airflow or dust from leaking out.

[0329] In some embodiments, as shown in FIG14 , there are two fourth docking structures 320 , which are respectively disposed on opposite sides of the dust inlet 311 . Thus, firstly, the two fourth docking structures 320 help improve the reliability and stability of docking, thereby avoiding poor docking between the base station 300 and the cleaning robot 200 or between the base station 300 and the home mobile platform 100 . Secondly, when the base station 300 and the home mobile platform 100 are docked or the base station 300 and the cleaning robot 200 are docked, the dust inlet 311 and the dust collection channel 145 or the dust inlet 311 and the dust outlet 214 can be connected simultaneously.

[0330] The fourth aspect of the present application provides a cleaning system, comprising the mobile home platform 100 described in the first aspect, the cleaning robot 200 described in the second aspect, and the base station 300 described in the third aspect. The mobile home platform 100 can dock with the cleaning robot 200 or the base station 300, and the cleaning robot 200 can dock with the base station 300.

[0331] First, the mobile home platform 100 can dock with the cleaning robot 200, thereby establishing a physical connection with the cleaning robot 200, effectively expanding the working range of the household object 400. Furthermore, the movement of the household object 400 achieved through the coordination of the cleaning robot 200 and the mobile home platform 100 offers the advantages of time-saving, labor-saving, and high-efficiency compared to relying on manual labor to move the household object 400. Second, the mobile home platform 100 can also dock with the base station 300, thereby establishing a physical connection with the base station 300. This allows the base station 300, the mobile home platform 100, and the cleaning robot 200 to be integrated into one, allowing the base station 300 to simultaneously perform functions such as charging and dust collection for both the mobile home platform 100 and the cleaning robot 200. Third, the base station 300 can also establish a separate physical connection with the cleaning robot 200. This allows the base station 300 to independently perform functions such as charging and dust collection for the cleaning robot 200.

[0332] In this embodiment, in the cleaning system, when the cleaning robot 200 is not connected to the mobile home platform 100, the cleaning robot 200 can directly dock with the base station 300, and the dust outlet 214 of the cleaning robot 200 can be directly connected to the dust inlet 311 of the base station 300, so that the base station 300 can collect dust from the cleaning robot 200. When the cleaning robot 200 is connected to the mobile home platform 100, when the cleaning robot 200 drives the mobile home platform 100 to move near the base station 300, the cleaning robot 200 separates the mobile home platform 100, and the dust outlet 214 of the cleaning robot 200 is connected to the dust inlet 311 of the base station 300 through the dust collection channel 145 at the bottom of the mobile home platform 100 for dust collection, thereby reducing the space occupied by the equipment and the complexity of the control program.

[0333] In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless they are mutually inconsistent.

[0334] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A household mobile platform capable of docking with a cleaning robot, characterized in that: The home mobile platform includes: a platform, a movable support structure, a first identification module and a first docking structure; The platform is used to set up household objects; 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 first identification module is provided on the platform. The bottom of the platform is provided with a mounting mechanism, and the first docking structure is provided on the mounting mechanism. The first recognition module can be recognized by the second recognition module of the cleaning robot, and after the cleaning robot moves to the home mobile platform according to the recognition result, the first docking structure is used to dock with the second docking structure on the cleaning robot to pre-position the home mobile platform and the cleaning robot.

2. The home mobile platform according to claim 1, characterized in that: The mounting mechanism is also configured to enable the first docking structure to move horizontally to match the first elastic connection component of the second docking structure, or the first docking structure is configured to match the second docking structure on the cleaning robot to which the first elastic connection component is connected.

3. The home mobile platform according to claim 2, characterized in that: The first elastic connection assembly includes a first connector and a first elastic member. The first connector is connected to the first docking structure and is movably connected to the mounting mechanism so that the first docking structure can move in a horizontal direction. The first elastic member is arranged between the first connector and the mounting mechanism.

4. The home mobile platform according to claim 3, characterized in that: A first guide post extending in a horizontal direction is provided on the first connecting body, and the first guide post is connected to the first elastic member or is sleeved on the first elastic member.

5. The home mobile platform according to claim 1, characterized in that: The home mobile platform also includes a first rechargeable battery, a first charging circuit and a first charging electrode. The first charging circuit is connected to the first rechargeable battery, the first charging electrode is connected to the first charging circuit, and the first charging electrode is used to contact the second charging electrode of the cleaning robot to charge the cleaning robot or receive electrical energy from the cleaning robot.

6. The home mobile platform according to claim 5, characterized in that: A first control module for communicating with the cleaning robot is provided inside the platform; The first control module is connected to the first charging electrode, and is used to control the home mobile platform to receive electrical energy from the cleaning robot through the first charging electrode so that the home mobile platform reaches a first preset power level when the home mobile platform is not docked with the base station; or to control the home mobile platform to charge the cleaning robot through the first charging electrode so that the cleaning robot reaches a second preset power level.

7. The home mobile platform according to claim 5, characterized in that: The first charging electrode is arranged on the first docking structure, and the second charging electrode is arranged on the second docking structure; the first docking structure is a docking head, and the second docking structure is a docking slot, or the first docking structure is a docking slot, and the second docking structure is a docking head.

8. The home mobile platform according to claim 7, characterized in that: The first docking structure is arranged on the first side of the mounting mechanism, and the shape of the first side of the mounting mechanism corresponds to the shape of the outer wall of the cleaning robot near the second docking structure or is a concave arc shape; the first docking structure is the docking head protruding along the horizontal direction on the first side of the mounting mechanism, and the first charging electrode is arranged at the bottom of the docking head.

9. The home mobile platform according to claim 7, characterized in that: A second elastic connection component is connected to the first docking structure or the second docking structure, and the second elastic connection component is connected to the first charging electrode piece or the second charging electrode piece, so that the first charging electrode piece and the second charging electrode piece can elastically abut against each other in the up and down directions.

10. The home mobile platform according to claim 9, characterized in that: The second elastic connection component includes a first movable member and a second elastic member connected to the first movable member, and the first charging electrode is arranged on the first movable member.

11. The home mobile platform according to claim 10, characterized in that: The first docking structure includes a first docking base and a second guide column arranged on the first docking base along the up-down direction; A first through slot is provided on the first docking base, the first movable member is inserted into the first through slot, and the second elastic member is sleeved on the second guide post or connected to the second guide post.

12. The home mobile platform according to any one of claims 1 to 11, characterized in that: The home mobile platform can also dock with a base station. The first docking structure is provided on the inner side of the mounting mechanism, and the third docking structure is provided on the outer side of the mounting mechanism. The inner and outer sides of the mounting mechanism are arranged opposite to each other, and the third docking structure is used to dock with the fourth docking structure on the base station.

13. The home mobile platform according to claim 12, characterized in that: The home mobile platform further includes a third charging electrode, which is used to contact a fourth charging electrode located at the base station to receive electrical energy from the base station.

14. The home mobile platform according to claim 13, characterized in that: The third charging electrode is arranged on the third docking structure, and the fourth charging electrode is arranged on the fourth docking structure; the third docking structure is a docking slot, and the fourth docking structure is a docking head, or the third docking structure is a docking head, and the fourth docking structure is a docking slot.

15. The home mobile platform according to claim 14, characterized in that: The third docking structure is the docking slot recessed on the second side of the mounting mechanism, and the third charging electrode is arranged on the inner wall of the docking slot.

16. The home mobile platform according to claim 13, characterized in that: A first control module for communicating with the cleaning robot is provided inside the platform; the third charging electrode is connected to the first control module, and the first control module is used to control the home mobile platform to transmit the electric energy received from the base station to the cleaning robot so that the cleaning robot reaches a third preset power level when the home mobile platform is docked with the base station; or to control the home mobile platform to store the electric energy received from the base station through the third charging electrode.

17. The home mobile platform according to any one of claims 1-11, characterized in that: A charging electrode is provided on the top of the platform, and the charging electrode is used to charge household items placed on the platform.

18. The home mobile platform according to any one of claims 1-11, characterized in that: The home mobile platform also includes a first coupling member located on the platform, which is used to cooperate with a second coupling member on the cleaning robot. After the first docking structure is docked with the second docking structure, the first coupling member and the second coupling member are combined to fix the platform to the top of the cleaning robot, and the home mobile platform can be driven to move by the cleaning robot.

19. The home mobile platform according to claim 18, characterized in that: A driving mechanism is connected to the first combining member or the second combining member, and the driving mechanism is used to drive the first combining member and the second combining member to combine or separate; The driving mechanism comprises: a motor, fixedly connected to the platform or the cleaning robot; A transmission member is connected to the motor and is used to drive the first combining member or the second combining member to move, thereby combining or separating the first combining member and the second combining member.

20. The home mobile platform according to claim 19, characterized in that: The first combining member is located at the bottom or side of the platform, and the second combining member is located at the top or side of the cleaning robot; The driving mechanism is used to drive the first combining member to move up and down, so as to combine or separate the first combining member and the second combining member; Wherein, when the first combining member descends, the first combining member and the second combining member can be combined, and when the first combining member ascends, the first combining member and the second combining member are separated.

21. The home mobile platform according to claim 19, characterized in that: There are multiple first combining members, and the driving mechanism is used to drive the multiple first combining members to move simultaneously.

22. The home mobile platform according to claim 21, characterized in that: The driving mechanism also includes a linkage structure and a guide member, the guide member is fixed to the platform, the linkage structure is in transmission connection with the transmission member, the linkage structure is movably connected to the guide member so that the linkage structure moves along a predetermined direction, and multiple first coupling members are all connected to the linkage structure.

23. The home mobile platform according to claim 22, characterized in that: The transmission member is a screw rod, and the linkage structure has a mounting hole and a plurality of connecting members arranged around the mounting hole. The mounting hole is sleeved outside the screw rod and is threadedly connected to the screw rod, and each of the connecting members is connected to the first coupling member.

24. The home mobile platform according to claim 22, characterized in that: The platform is provided with an accommodating cavity for accommodating the driving mechanism. The first coupling member is a clamping member. A through hole is provided on the platform. The linkage structure and / or the first coupling member is passed through the through hole.

25. The home mobile platform according to claim 18, characterized in that: The first coupling member is a clamping rod, and the second coupling member is a clamping groove corresponding to the position and size of the clamping rod; or the second coupling member is a clamping rod, and the first coupling member is a clamping groove corresponding to the position and size of the clamping rod.

26. The home mobile platform according to claim 18, characterized in that: The platform is provided with a first communication electrode for electrically connecting to a second communication electrode on the cleaning robot.

27. The home mobile platform according to claim 26, characterized in that: The first communication electrode is provided on the first combining piece, and the second communication electrode is provided on the second combining piece.

28. The home mobile platform according to claim 26, characterized in that: The home mobile platform includes a first control module electrically connected to the first communication electrode, and the first control module is configured to determine whether the home mobile platform and the cleaning robot communicate successfully based on the electrical connection status of the first communication electrode and the second communication electrode.

29. The home mobile platform according to claim 19, characterized in that: The platform or the driving mechanism is connected to a first detection switch for determining whether the first combining member and the second combining member are in place; and / or the platform or the driving mechanism is further provided with a second detection switch for determining whether the first combining member and the second combining member are completely separated.

30. The home mobile platform according to claim 29, characterized in that: At least one of the first detection switch and the second detection switch is a photoelectric switch.

31. The home mobile platform according to any one of claims 1 to 11, characterized in that: The home mobile platform further comprises at least one obstacle identification device, which is arranged at the front, rear and / or side of the platform and is used to identify obstacles in front of, behind and / or on the sides of the platform; The platform is provided with a communication module for communicating with the cleaning robot, and the communication module can transmit the obstacle information obtained by the obstacle recognition device to the cleaning robot.

32. The home mobile platform according to claim 12, characterized in that: The platform is provided with a dust collection channel, which is provided on the mounting mechanism and communicates with two opposite sides of the mounting mechanism; Wherein, when the home mobile platform is connected to the cleaning robot and the home mobile platform is docked with the base station, the dust outlet of the cleaning robot is connected to the dust inlet of the base station through the dust collection channel.

33. The home mobile platform according to claim 32, characterized in that: The channel cross-sectional shape of the dust collecting channel is adapted to the dust outlet cross-sectional shape of the dust outlet, the channel cross-sectional length is 0.5-10mm greater than the dust outlet cross-sectional length, and the channel cross-sectional width is 0.5-10mm greater than the dust outlet cross-sectional width.

34. The home mobile platform according to any one of claims 1 to 11, characterized in that: The home mobile platform further includes a support member, which is fixed to the mounting mechanism and is provided with a first guide groove extending up and down; The first docking structure is provided with a first guide member, and the first guide member can move in the first guide groove so that the first docking structure can move in the up and down directions relative to the mounting mechanism.

35. The home mobile platform according to claim 34, characterized in that: The support member is further provided with a second guide groove extending in a horizontal direction; the first guide member can move in a horizontal direction in the second guide groove.

36. The home mobile platform according to claim 35, characterized in that: The mounting mechanism is also provided with a first elastic connection component connected to the first docking structure; when the first elastic connection component causes the first docking structure to move in the horizontal direction, the first guide member moves in the horizontal direction in the second guide groove; the first elastic connection component includes a first connector and a first elastic member, the first connector is connected to the first docking structure, and the first elastic member is arranged between the first connector and the support member to provide elastic force to the first connector, so that when the first docking structure and the second docking structure are docked and the home mobile platform is combined with the cleaning robot, the first elastic member is in a compressed state in the horizontal direction.

37. The home mobile platform according to claim 36, characterized in that: The support member is further provided with a third guide groove, and the first connector is provided with a second guide member that cooperates with the third guide groove; When the first elastic member pushes the first connector, the second guide member can move horizontally in the third guide groove, and under the restriction of the third guide groove, the first connector cannot move in the vertical direction following the first docking structure.

38. The home mobile platform according to any one of claims 1 to 11, characterized in that: The mounting mechanism is formed by extending downward from the bottom of the platform body and is arranged at the rear end of the home mobile platform. There are two first docking structures, which are symmetrically arranged on the mounting mechanism.

39. The home mobile platform according to claim 18, characterized in that: A laser radar is provided on the top of the cleaning robot, and the mounting mechanism is provided with a light guide groove running from the inside to the outside. After the cleaning robot is combined with the home mobile platform, the light emitted by the laser radar passes through the light guide groove.

40. The home mobile platform according to any one of claims 1-11, characterized in that: The home mobile platform further includes a third identification module, wherein the third identification module can identify a fourth identification module of a base station and thus move to the base station; The third identification module is arranged on the outside of the mounting mechanism, and the first identification module is arranged on the inside of the mounting mechanism. The inner side of the mounting mechanism is concave arc-shaped or matches the outer surface of the cleaning robot close to the second docking structure; the height difference between the first identification module and the second identification module in the vertical direction is -20mm to 20mm; the height difference between the third identification module and the fourth identification module in the vertical direction is -20mm to 20mm.

41. The home mobile platform according to claim 18, characterized in that: The home mobile platform also includes a brake assembly, which is provided on the platform. The brake assembly includes a limit seat, which can be extended and retracted relative to the platform. When in the extended state, the limit seat abuts against the ground to limit the movement of the movable support structure relative to the ground. When in the retracted state, the limit seat is separated from the ground so that the movable support structure can move relative to the ground.

42. The home mobile platform according to claim 41, characterized in that: The brake assembly further includes a brake member, which is movable relative to the platform and connected to the limit seat, so that the limit seat can be extended and retracted relative to the platform.

43. The home mobile platform according to claim 42, characterized in that: A guide mechanism is fixed in the platform, and a first guide portion is provided on the guide mechanism. A second guide portion cooperating with the first guide portion is provided on the brake component. The second guide portion can move in the up and down directions along the first guide portion, so that the brake component drives the limit seat to move in the up and down directions.

44. The home mobile platform according to claim 43, characterized in that: The first guide portion is a vertical guide groove, and the second guide portion is a guide block; or The first guide portion is a guide block, and the second guide portion is a vertical guide groove.

45. The home mobile platform according to claim 43, characterized in that: The second guide portion is a guide block. The guide mechanism is connected to a stopping mechanism, which is used to stop the side wall of the brake component to prevent the brake component from swinging relative to the guide mechanism with the guide block as a fulcrum.

46. The home mobile platform according to claim 41, characterized in that The brake assembly further comprises: driving parts; a linkage mechanism connected to the driving member and moving under the action of the driving member, wherein the linkage mechanism is connected to the brake member; When the driving member drives the linkage member mechanism to move, the linkage member mechanism drives the brake member to move, so that the limiting seat can be extended and retracted relative to the platform.

47. The home mobile platform according to claim 46, characterized in that: The linkage mechanism comprises: a first linkage member connected to the driving member and rotating under the action of the driving member; a second linkage member, movably connected to the first linkage member, and the second linkage member is connected to the brake member; When the driving member drives the first linkage member to rotate in the first direction, the second linkage member moves downward to drive the brake member to move downward, so that the limiting seat extends downward and abuts against the ground; When the driving member drives the first linkage member to rotate in the second direction, the second linkage member moves upward to drive the brake member to move upward, so that the limiting seat retracts upward and leaves the ground; The first direction is opposite to the second direction.

48. The home mobile platform according to claim 46, characterized in that The driving member includes a driving shaft and a driving motor. The driving motor drives the driving shaft to rotate. The driving shaft is connected to the linkage mechanism to drive the linkage mechanism to move.

49. The home mobile platform according to claim 48, characterized in that The brake assembly further includes a detection component, which is disposed on the brake member and moves with the brake member; A first detection element and / or a second detection element are fixedly provided in the platform, and the first detection element and / or the second detection element are electrically connected to the control device of the home mobile platform; When the first detection element detects the detection component, the brake member moves to the first preset position, and the control device controls the driving member to stop driving the brake member to move downward; When the second detecting element detects the detecting component, the brake member moves to the second preset position, and the control device controls the driving member to stop driving the brake member to move upward.

50. The home mobile platform according to claim 41, characterized in that Before the cleaning robot moves to the home mobile platform and docks with the first docking structure through the second docking structure for pre-positioning, the limit seat extends and abuts the ground. After the second docking structure docks with the first docking structure for pre-positioning or after the first combining member and the second combining member are combined, the limit seat retracts and leaves the ground.

51. The home mobile platform according to claim 18, characterized in that: There are multiple first combining parts, and the multiple first combining parts include a first connecting component. There are multiple second combining parts, and the multiple second combining parts include a third connecting component. The first connecting component includes a first shell and a base component. The first shell is connected to the platform. The base component is provided with a first communication electrode at one end away from the platform. The base component is at least partially arranged in the first shell. The first communication electrode is used for communication connection with the second communication electrode of the third connecting component.

52. The home mobile platform according to claim 51, characterized in that: The base component can be movably provided on the first shell, so that when the platform moves driven by the cleaning robot, the first communication electrode is stably connected to the second communication electrode of the third connecting component.

53. The home mobile platform according to claim 52, characterized in that: The base component includes a main body and a limiting element connected to the main body, and the first communication electrode is connected to the main body; The limiting element is used to abut against the first shell to limit the base component from falling out of the first shell.

54. The home mobile platform according to claim 53, characterized in that: The base component further includes a cable, which connects the main body and the limiting element. The limiting element is located above the main body. A communication wire is provided in the cable, and the communication wire is electrically connected to the first communication electrode.

55. The home mobile platform according to claim 53, characterized in that: The first shell includes a first mounting member and a first connector connected to the first mounting member; the first mounting member is connected to the platform, one end of the first connector is accommodated in the first mounting member, and the other end of the first connector extends outside the first mounting member, the first connector is used to plug into the first connector slot of the third connecting component, and the limiting element is used to abut against the first mounting member and / or the first connector to limit the base component from falling off.

56. The home mobile platform according to claim 55, characterized in that: The first connector is movably connected to the first mounting member; The first mounting member contains a first elastic connection structure, one end of the first elastic connection structure is connected to the first connector, and the other end is connected to the first mounting member, and the first elastic connection structure is used to apply a force to the first connector toward the cleaning robot so that the first connector can be stably combined with the first connector slot of the three-connection component.

57. The home mobile platform according to claim 51, characterized in that The base member is further provided with a first attachment member at one end facing away from the platform, for cooperating with the second attachment member of the third connecting assembly to attach the base member to the third connecting assembly, thereby ensuring a stable communication connection between the first communication electrode piece and the second communication electrode piece; When one end of the base member is fixedly connected to the third connecting assembly, the outer wall of the base member is spaced apart from the inner wall of the first shell.

58. The home mobile platform according to claim 51, characterized in that The first connecting component is located on the first axis of the platform along the moving direction of the home mobile platform, so that when the platform moves driven by the cleaning robot, the first communication electrode of the first connecting component and the second communication electrode of the third connecting component are stably connected in communication.

59. The home mobile platform according to claim 58, characterized in that Multiple first connecting parts also include a second connecting component, and multiple second connecting parts also include a fourth connecting component, and the second connecting component is used to connect to the fourth connecting component of the cleaning robot; the number of the second connecting components is two, and the two second connecting components are symmetrically distributed on both sides of the first axis.

60. The home mobile platform according to claim 59, characterized in that: The second connecting assembly includes a second housing, the second housing includes a second mounting member and a second connector, and the second mounting member is connected to the platform; One end of the second connector is accommodated in the second mounting member, and the other end of the second connector extends outside the second mounting member; The second connector is movably connected to the second mounting member; The second mounting member contains a second elastic connection structure, one end of the second elastic connection structure is connected to the second connector, and the other end is connected to the second mounting member, and the second elastic connection structure is used to apply a force to the second connector toward the cleaning robot so that the second connector can be stably combined with the second connector slot of the fourth connecting component.

61. The home mobile platform according to any one of claims 1-11, characterized in that: The home mobile platform also includes a third communication electrode, which is arranged on the top or side of the platform. The third communication electrode is used to electrically connect to the fourth communication electrode of the home object so that the home object can communicate with the home mobile platform.

62. The home mobile platform according to any one of claims 1-11, characterized in that: The mobile home platform further includes a camera module, the camera module being movably mounted on the platform to switch between an initial position and a detection position, one of the camera module and the platform being provided with a detection structure, and the other of the camera module and the platform being provided with an action portion; When the camera module is hit by an external obstacle, the camera module switches to the detection position, the action part cooperates with the detection structure, and the detection structure can be triggered to cause the home mobile platform to change its movement direction.

63. The home mobile platform according to claim 62, characterized in that: The platform is provided with a communication module, and the detection structure is electrically connected to the communication module for transmitting the triggered information to the cleaning robot through the communication module, so that the cleaning robot drives the home mobile platform to change the direction of movement.

64. The home mobile platform according to claim 62, characterized in that: The camera module includes a connecting seat arranged on the platform and a camera structure connected to the connecting seat, the camera structure includes a connecting rod and a camera, the camera is arranged on the top of the connecting rod, and the lower part of the connecting rod is used to be detachably installed above the connecting seat so that the camera structure can be detachably installed on the connecting seat.

65. The home mobile platform according to any one of claims 1-11, characterized in that: The household mobile platform further includes a buckle mechanism, which is provided on the platform and is used to buckle household items so as to secure the household items to the platform; The platform can be combined with the top of the cleaning robot and move driven by the cleaning robot.

66. The home mobile platform according to claim 65, characterized in that: The buckle mechanism includes a retractable buckle, which is used to fix the household item to the platform when in an extended state, or to place the household item on the platform or remove the household item from the platform when in a retracted state.

67. The home mobile platform according to claim 66, characterized in that: The platform has a receiving cavity, the snap mechanism is at least partially disposed in the receiving cavity, the snap mechanism further includes an elastic element connected to the snap member, the platform is provided with a snap hole, the snap hole is communicated with the receiving cavity, and the elastic element can drive the snap member to extend from the snap hole to snap the household item.

68. The home mobile platform according to claim 67, characterized in that: The home mobile platform further includes a pull rope connected to the buckle and used for pulling the buckle to overcome the elastic force of the elastic element and retract into the buckle hole.

69. The home mobile platform according to claim 68, characterized in that The platform is also provided with a sliding groove, and the home mobile platform also includes a toggle member arranged in the sliding groove for manually controlling the pull rope. The pull rope is connected to the toggle member, and the toggle member slides in the sliding groove and is used to pull the pull rope to retract the fastener at the locking hole, or loosen the pull rope to extend the fastener at the locking hole.

70. A cleaning robot capable of docking with a home mobile platform, characterized in that: The cleaning robot includes a robot body, a second identification module and a second docking structure, wherein the second docking structure is provided on one side of the robot body, and the second identification module is provided on the robot body; The second recognition module can recognize the first recognition module of the home mobile platform used to set the home object, so that the second docking structure docks with the first docking structure on the home mobile platform to pre-position the cleaning robot and the home mobile platform.

71. The cleaning robot according to claim 70, characterized in that The cleaning robot also includes a second rechargeable battery, a second charging circuit and a second charging electrode. The second charging circuit is connected to the second rechargeable battery, the second charging electrode is connected to the second charging circuit, and the second charging electrode is used to contact the first charging electrode of the home mobile platform.

72. The cleaning robot according to claim 71, characterized in that The second charging electrode is arranged on the second docking structure, and the first charging electrode is arranged on the first docking structure; The second docking structure is a docking slot and the first docking structure is a docking joint, or the second docking structure is a docking joint and the first docking structure is a docking slot.

73. The cleaning robot according to claim 71, characterized in that The second docking structure is a docking slot recessed in the robot body, and the second charging electrode is arranged on the inner wall of the docking slot.

74. The cleaning robot according to claim 71, characterized in that The cleaning robot can also dock with a base station, and the second docking structure can also be used to dock with a fourth docking structure located on one side of the base station; the second charging electrode is also used to contact the fourth charging electrode located at the base station to receive electrical energy from the base station.

75. The cleaning robot according to any one of claims 70-74, characterized in that The cleaning robot further includes a second coupling member located on the robot body, configured to cooperate with the first coupling member on the home mobile platform; After the second docking structure is docked with the first docking structure, the second coupling member is combined with the first coupling member to fix the home mobile platform to the top of the robot body, and the home mobile platform can be driven to move by the cleaning robot.

76. The cleaning robot according to claim 75, characterized in that The first coupling member is a clamping rod, and the second coupling member is a clamping groove corresponding to the position and size of the clamping rod; or the second coupling member is a clamping rod, and the first coupling member is a clamping groove corresponding to the position and size of the clamping rod.

77. The cleaning robot according to claim 75, characterized in that The robot body is provided with a second communication electrode, which is used to be electrically connected to the first communication electrode on the home mobile platform.

78. The cleaning robot according to claim 77, characterized in that The cleaning robot also includes a second control module electrically connected to the second communication electrode, and the second control module is configured to determine whether the cleaning robot communicates successfully with the home mobile platform based on the electrical connection between the second communication electrode and the first communication electrode.

79. The cleaning robot according to claim 78, characterized in that The second communication electrode is provided on the second combining member, and the first communication electrode is provided on the first combining member.

80. The cleaning robot according to claim 79, characterized in that There are a plurality of second combining members, and the plurality of second combining members include a third connecting component; there are a plurality of first combining members, and the plurality of first combining members include a first connecting component; The third connecting component includes a second communication electrode, which is used to communicate with the first communication electrode on the base component of the first connecting component of the home mobile platform.

81. The cleaning robot according to claim 80, characterized in that The third connecting component also includes a second attachment for cooperating with the first attachment on the base member to attach the base member to the robot body, thereby enabling the second communication pole piece to be stably connected to the first communication pole piece of the first connecting component.

82. The cleaning robot according to claim 81, characterized in that The third connecting component also includes a first plug-in slot, and the second communication electrode and the second attachment are located in the first plug-in slot. The first plug-in slot is used to cooperate with the first connector of the first connecting component so that the home mobile platform can be combined with the top of the robot body; the third connecting component is located on the second axis of the robot body along the moving direction of the cleaning robot, so that when the cleaning robot drives the home mobile platform to move, the second communication electrode of the third connecting component and the first communication electrode of the first connecting component are stably communicated.

83. A base station, characterized in that The base station is capable of docking with any one of the household mobile platforms according to claims 1-69 or the cleaning robot according to any one of claims 70-82, wherein the base station includes a base station body and a fourth docking structure provided on the base station body, and when the base station is docked with the household mobile platform, the fourth docking structure docks with a third docking structure of the household mobile platform capable of placing a household object to position the household mobile platform; When the base station is docked with the cleaning robot, the fourth docking structure is docked with the second docking structure of the cleaning robot to position the cleaning robot.

84. The base station according to claim 83, characterized in that The base station also includes a fourth charging electrode arranged on the base station body, which is used to contact the third charging electrode of the home mobile platform to provide electrical energy to the home mobile platform. The fourth charging electrode is also used to contact the second charging electrode of the cleaning robot to provide electrical energy to the cleaning robot.

85. The base station according to claim 84, characterized in that The fourth charging electrode is arranged on the fourth docking structure, the third charging electrode is arranged on the third docking structure, and the second charging electrode is arranged on the second docking structure.

86. The base station according to claim 85, characterized in that The fourth docking structure is connected to a third elastic connection component, and the third elastic connection component is connected to the fourth charging electrode, so that the fourth charging electrode can elastically abut against the third charging electrode in the up and down directions, or the fourth charging electrode can elastically abut against the second charging electrode in the up and down directions.

87. The base station according to claim 86, characterized in that The third elastic connection component includes a second movable member and a third elastic member connected to the second movable member, and the fourth charging electrode is arranged on the second movable member.

88. The base station according to claim 87, characterized in that The fourth docking structure includes a second docking base and a third guide column arranged on the second docking base along the up and down directions; the second docking base is provided with a second through groove, the second movable member is passed through the second through groove, and the third elastic member is sleeved on the third guide column or connected to the third guide column.

89. The base station according to claim 88, characterized in that The fourth docking structure is a docking head protruding from the side wall of the base station body in a horizontal direction, and the fourth charging electrode is located at the bottom of the docking head.

90. A cleaning system, characterized in that The invention comprises a household mobile platform according to any one of claims 1 to 69, a cleaning robot according to any one of claims 70 to 82, and a base station according to any one of claims 83 to 89; The home mobile platform can be docked with the cleaning robot or the base station; The cleaning robot can be docked with the base station.

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