Automatic cleaning device and automatic cleaning system

Abstract

The application discloses an automatic cleaning device (100) and an automatic cleaning system. The automatic cleaning device (100) comprises a device body (110), a main machine (110a), a walking device (110b) mounted on the main machine (110a) and a cleaning device (110c) mounted on the main machine (110a) and used for cleaning a cleaned area (A); a switch door device (120) comprising a driving unit (121) mounted on the device body (110) and an execution member (122) connected with the driving unit (121); wherein the execution member (122) moves under the driving of the driving unit (121) and / or the device body (110) to act on a door body (200) arranged in the cleaned area (A) to drive the door body (200) to open or close.

Description

Technical Field

[0001] This application belongs to the field of cleaning robot technology, specifically relating to an automatic cleaning device and an automatic cleaning system. Background Technology

[0002] Automatic cleaning equipment is a type of intelligent cleaning appliance, such as automatic dust-collecting sweeping robots and automatic sweeping machines. Automatic cleaning equipment can automatically complete the cleaning of indoor areas or specific areas according to a set program.

[0003] When operating, automatic cleaning equipment often needs to enter and exit a space, which is usually separated by doors. Often, users want to clean multiple spaces but forget to open the corresponding doors, or the automatic cleaning equipment, due to obstacle avoidance or wall-following functions, mistakenly closes open doors, resulting in incomplete cleaning and impacting the user experience. Summary of the Invention

[0004] To address the technical problem of incomplete cleaning caused by door obstruction in current automatic cleaning equipment, this application provides an automatic cleaning device and an automatic cleaning system.

[0005] A first aspect of this application provides an automatic cleaning device, comprising:

[0006] The equipment body includes a main unit, a walking device mounted on the main unit, and a cleaning device mounted on the main unit for cleaning the area to be cleaned;

[0007] A door opening and closing device includes a drive unit installed on the device body and an actuator connected to the drive unit;

[0008] The actuator moves under the drive of the drive unit and / or the walking device to act on the door body disposed in the area being cleaned, thereby causing the door body to open or close.

[0009] In some embodiments, the actuator is at least one of an adsorption element, a mechanical gripper, or a suction cup manipulator.

[0010] In some embodiments, when the actuator is an adsorption member, the adsorption member includes an adsorption portion; or, the adsorption member includes an adsorption portion and a flexible portion connected together, the flexible portion being connected to the drive unit.

[0011] In some embodiments, the cleaning device includes an exhaust device, and the adsorption unit is connected to the exhaust device via a pipe;

[0012] Alternatively, the door opening and closing device may further include an auxiliary ventilation device, which is installed on the main unit, and the adsorption unit is connected to the auxiliary ventilation device through a pipe.

[0013] In some embodiments, the drive unit includes a drive element and a transmission mechanism that drives it, the transmission mechanism being connected to the actuator; or, the drive unit is a linear displacement mechanism.

[0014] In some embodiments, where the drive unit includes a drive element and a transmission mechanism, the transmission mechanism includes two or more hinged links.

[0015] In some embodiments, the transmission mechanism includes three links: a driving link, a driven link, and an actuating link that is hinged to both the driving link and the driven link. Both the driving link and the driven link are hinged to the main unit. The driving member is connected to the driving link for force transmission, and the actuating link is connected to the actuating member.

[0016] In some embodiments, there are two driving components, namely a first driving component and a second driving component;

[0017] The transmission mechanism includes two links, namely a first link driven by the first driving member and a second link driven by the second driving member. The first link is hinged to the main unit, and the second link is connected to the actuator.

[0018] In some embodiments, at least one of the connecting rods is a bent rod.

[0019] In some embodiments, the host has a storage cavity inside; the drive unit is installed in the storage cavity, and the actuator extends out of the storage cavity under the drive of the drive unit.

[0020] In some embodiments, the door opening and closing device is mounted on top of the main unit.

[0021] A second aspect of this application provides an automatic cleaning system, including a cleaning base station and the automatic cleaning device described in the first aspect.

[0022] The automatic cleaning equipment provided in this application has at least the following technical effects:

[0023] The automatic cleaning equipment provided in this application includes a main unit, a walking device mounted on the main unit, and a cleaning device mounted on the main unit. A door opening and closing device is provided on the main unit, which includes a drive unit and its driven actuator. The actuator is used to act on the door body located in the area to be cleaned. Since the main unit has its own walking function, the actuator can move under the drive of the drive unit and / or the main unit to contact and act on the door body. When the drive unit and / or the walking device of the main unit is activated, the actuator can drive the door body to open or close, thereby enabling the automatic cleaning equipment to enter or exit a room separated by a door, or to clean the narrow area behind the door enclosed by the wall and the door body when it is open after the door is closed.

[0024] Because the automatic cleaning equipment provided in this application integrates a door opening and closing device, it can open and close the door autonomously, which expands the cleaning area and application scenarios of the automatic cleaning equipment and enhances its passability. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A schematic diagram of the structure of the automatic cleaning device in an embodiment of this application is shown.

[0027] Figure 2 It shows Figure 1 A bottom view of the main body of the automatic cleaning equipment.

[0028] Figure 3 A schematic diagram illustrating the working principle of the automatic cleaning device in an embodiment of this application is shown.

[0029] Figure 4a A schematic diagram of the structure of the actuator of an automatic cleaning device in one embodiment of this application is shown.

[0030] Figure 4b A schematic diagram of the structure of the actuator of the automatic cleaning device in another embodiment of this application is shown.

[0031] Figure 5 A schematic diagram of the opening and closing mechanism of an automatic cleaning device in some embodiments of this application is shown.

[0032] Figure 6a It shows the use of Figure 5 The automatic cleaning equipment with the door opening and closing device shown is in operation. Figure 1 .

[0033] Figure 6b It shows the use of Figure 5 The automatic cleaning equipment with the door opening and closing device shown is in operation. Figure 2 .

[0034] Figure 6c It shows the use of Figure 5 The automatic cleaning equipment with the door opening and closing device shown is in operation. Figure 3 .

[0035] Figure 6d It shows the use of Figure 5 The diagram shows the working status of the automatic cleaning equipment with the door opening and closing device.

[0036] Figure 6e It shows the use of Figure 5 The automatic cleaning equipment with the door opening and closing device shown is in operation. Figure 5 .

[0037] Figure 6f It shows the use of Figure 5 Figure 6 shows the working status of the automatic cleaning equipment with the door opening and closing device.

[0038] Figure 6g It shows the use of Figure 5 The automatic cleaning equipment with the door opening and closing device shown is in operation. Figure 7 .

[0039] Figure 6h It shows the use of Figure 5 Figure 8 shows the working status of the automatic cleaning equipment with the door opening and closing device.

[0040] Figure 7 A schematic diagram of the opening and closing mechanism of an automatic cleaning device in some other embodiments of this application is shown.

[0041] Figure 8a It shows the use of Figure 7 The automatic cleaning equipment with the door opening and closing device shown is in operation. Figure 1 .

[0042] Figure 8b It shows the use of Figure 7 The automatic cleaning equipment with the door opening and closing device shown is in operation. Figure 2 .

[0043] Figure 8c It shows the use of Figure 7 The automatic cleaning equipment with the door opening and closing device shown is in operation. Figure 3 .

[0044] Figure 9 Schematic diagrams of the structure of the automatic cleaning device in some embodiments of this application.

[0045] Figure 10 Schematic diagrams of the structure of the automatic cleaning device in other embodiments of this application.

[0046] Figure 11 This application also includes schematic diagrams of the structure of automatic cleaning equipment in some embodiments.

[0047] Explanation of reference numerals in the attached drawings: 100-Automatic cleaning equipment; 110-Equipment body; 110a-Main unit; 110b-Walking device; 110c-Cleaning device; 111-Exhaust device; 112-Storage cavity; 113-Pipe; 120-Door opening and closing device; 121-Drive unit; 1211-Drive component; 1211a-First drive component; 1211b-Second drive component; 1212-Transmission mechanism; 1212a-Linking rod; 1212b-Active link; 1212c-Driven link; 1212d-Actuating link; 1212e-First link; 1212f-Second link; 122-Actuating component; 1221-Adsorption part; 1222-Flexible part; 130-Auxiliary exhaust device; 200-Door body; 300-Door frame; 400-Wall; A-Area to be cleaned; B-Narrow area. Detailed Implementation

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0049] Furthermore, reference numerals and / or reference letters may be repeated in different examples in this application. Such repetition is for simplification and clarity purposes and does not in itself indicate a relationship between the various embodiments and / or settings discussed. In addition, this application provides examples of various specific processes and materials; however, those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0050] Robotic vacuum cleaners and other automated cleaning devices often need to enter and exit spaces while working, and these spaces are usually separated by doors. Often, users want to clean multiple spaces but forget to open the corresponding doors, or the automated cleaning device, due to obstacle avoidance or wall-following functions, mistakenly closes an open door, preventing further cleaning or the robot from returning to its dock, resulting in a poor user experience.

[0051] In a first aspect, this application provides an automatic cleaning device 100 that integrates a door opening and closing device 120, which can open and close the door autonomously, thereby solving the problem that current automatic cleaning devices 100 cannot thoroughly clean due to door obstruction.

[0052] Please see Figure 1 The automatic cleaning device 100 provided in this application embodiment includes a device body 110 and a door opening / closing device 120 disposed on the device body 110. Please refer to... Figure 2 The device body 110 includes a main unit 110a, a walking device 110b, and a cleaning device 110c. The main unit 110a serves as the mounting base for the automatic cleaning device 100, and both the walking device 110b and the cleaning device 110c are mounted on the main unit 110a. The shape and structure of the main unit 110a are not limited. For example, when the automatic cleaning device 100 is a robotic vacuum cleaner, the main unit 110a is typically a disc-shaped body. The walking device 110b includes a drive element and a walking mechanism driven by the drive element. For example, the drive element is a motor, and the walking mechanism is a transmission shaft and wheels connected by force transmission. In some embodiments, the walking mechanism may also be a track mechanism, a pulley mechanism, etc. The cleaning device 110c can clean the area A to be cleaned, including but not limited to functions such as garbage sweeping, garbage suction, mopping, and liquid spraying. The specific structures of the cleaning device 110c and the walking device 110b can refer to existing automatic cleaning devices, and this application does not impose any limitations. Therefore, the device body 110 has complete automatic walking and cleaning functions for cleaning the area A to be cleaned, such as the interior of a room or a specific area.

[0053] Please see Figure 1 and Figure 3 The door opening / closing device 120 is used to open or close the door 200 located in the area being cleaned, A. The door opening / closing device 120 includes a drive unit 121 and its driven actuator 122. The actuator 122 can directly act on the door 200. Since the device body 110 has a built-in walking function, the actuator 122 can move under the drive of the drive unit 121 and / or the walking device 110b to contact and act on the door 200. When the drive unit 121 and / or the walking device 110b are activated, the actuator 122 can drive the door 200 to open or close, thereby enabling the automatic cleaning device 100 to enter or exit a room separated by a door, or to clean the narrow area B behind the door after the door is closed, enclosed by the wall 400 and the door 200 in its open state. Figure 3 As shown.

[0054] In one implementation, the actuator 122 is jointly driven by the drive unit 121 and the walking device 110b of the device body 110. The walking device 110b of the device body 110 has greater power than the drive unit 121. Therefore, when the actuator 122 opens or closes the door 200, the walking device 110b can be used to drive the actuator 122 to make a large displacement movement, so that the actuator 122 quickly approaches the door 200. The drive unit 121 can then drive the actuator 122 to make a small displacement movement with high precision, so as to match the current position of the door 200 relative to the device body 110 and act precisely on the door 200.

[0055] In another implementation, the actuator 122 can be driven independently by the drive unit 121. When the device body 110 moves to a point where it contacts the door 200 and is blocked by the door 200, the drive unit 121 drives the actuator 122 to operate. The actuator 122 acts on the door 200, causing the door 200 to open or close. When the actuator 122 is driven independently by the drive unit 121, the door can be opened without moving the device body 110, placing no additional requirements on the navigation algorithm of the device body 110 itself. Other driving methods for the actuator 122 are not exhaustively listed here.

[0056] The actuator 122 can act on the door 200 through adsorption, mechanical gripping, or a combination thereof. In some embodiments, the actuator 122 is an adsorption element, which opens and closes the door by suction, such as a conventional suction cup or a flexible suction cup. Figure 4a and Figure 4b The illustration shows two different structures of the adsorption element; in some embodiments, the actuator 122 is a mechanical gripper that mechanically grasps the door 200. The structure of the mechanical gripper is not limited, such as a mechanical clamp, a bionic robotic hand, or a mechanical hook, which can directly grasp the door panel or door handle; in other embodiments, the actuator 122 is a suction cup robotic hand, which combines the functions of an adsorption element and a mechanical gripper, and applies force to the door 200 more accurately and effectively. The specific structural form of the actuator 122 is not limited in this application.

[0057] In some embodiments, the actuator 122 is an adsorption element. See also... Figure 4a The adsorption component includes an adsorption section 1221. The function of the adsorption section 1221 is to generate a certain vacuum when it is pressed tightly against the surface of the door body 200, thereby adsorbing onto the surface of the door body 200. For example, when the adsorption component is a common suction cup, the suction cup portion of the common suction cup constitutes the adsorption section 1221. Please refer to... Figure 4bIn some embodiments, the adsorption member, in addition to the adsorption part 1221, also includes a flexible part 1222 connected to the adsorption part 1221, and the flexible part 1222 is connected to the driving unit 121. The flexible part 1222 has a certain amount of movement, allowing relative displacement between the adsorption part 1221 and the driving unit 121. For example, in some embodiments, the flexible part 1222 is a columnar structure made of flexible materials such as rubber or silicone. Due to the elasticity of the material itself, the flexible part 1222 can deform to a certain extent. In some embodiments, the flexible part 1222 can be a hinge structure made of metal or plastic. The structural characteristics of the hinge structure allow the flexible part 1222 to move, thereby causing relative displacement between the adsorption part 1221 and the driving unit 121.

[0058] The adsorption part 1221 is tightly attached to the surface of the door body 200. There are generally two ways to achieve this: one is to apply external force to the adsorption part 1221, causing it to expel the air between itself and the door body 200 and thus adhere tightly to the door body 200. The actuator 122 is driven by the drive unit 121 and / or the traveling device 110b, so that the driving force of the drive unit 121 and / or the traveling device 110b can be used to expel the air between the adsorption part 1221 and the door body 200. The other method is to extract the air from the cavity inside the adsorption part 1221, causing it to adhere tightly to the door body 200. The corresponding adsorption part 1221 uses a vacuum suction cup.

[0059] Please see Figure 9 In some embodiments, considering that the cleaning device 110c of the device body 110 needs to use negative pressure to suck dust and other debris into the dust collection box during cleaning, the device body 110 usually comes with a built-in exhaust device 111, such as a fan or blower. By connecting the adsorption part 1221 to the exhaust device 111 of the cleaning device 110c through the pipe 113, the built-in exhaust device 111 of the device body 110 is used to evacuate the adsorption part 1221, so that the adsorption part 1221 is tightly attached to the door body 200. In this embodiment, only a flexible pipe 113 connecting the adsorption part 1221 and the exhaust device 111 needs to be added, which is low in cost and economical.

[0060] Please see Figure 10 In some embodiments, the door opening and closing device 120 further includes an auxiliary ventilation device 130. The auxiliary ventilation device 130 exists independently of the ventilation device 111 built into the device body 110. Therefore, the auxiliary ventilation device 130 will not affect the operation of the ventilation device 111 of the cleaning device 110c when it is working. The auxiliary ventilation device 130 is installed on the main unit 110a of the device body 110. The adsorption unit 1221 is connected to the auxiliary ventilation device 130 through the pipe 113, so that the entire door opening and closing device 120 can operate completely independently.

[0061] The door opening / closing device 120 can be built into the main unit 110a of the device body 110, or it can be exposed outside the device body 110. Please refer to [link / reference]. Figure 9 In some embodiments, the main body 110a of the device body 110 has an outward-facing storage cavity 112 inside. The drive unit 121 of the door opening / closing device 120 is installed in the storage cavity 112, and the actuator 122 extends out of the storage cavity 112 through the opening under the drive unit 121. When the device is off, in standby mode, or when the door does not need to be opened or closed, the actuator 122 is stored in the storage cavity 112, and the entire device has no external structure, improving the overall aesthetics of the automatic cleaning device 100.

[0062] Please see Figure 10 and Figure 11 In some embodiments, the door opening / closing device 120 is externally mounted, for example, on the top of the device body 110. This arrangement allows the door opening / closing device 120 to form an independent unit module, which can be added to the device body 110 of the existing automatic cleaning equipment 100. Furthermore, since the door opening / closing device 120 is relatively independent from the device body 110, it is convenient to maintain in case of a malfunction.

[0063] In the door opening and closing device 120, the drive unit 121 drives the actuator 122 to move. Please refer to [link / reference]. Figure 11 In some embodiments, the drive unit 121 is a linear displacement mechanism, such as a cylinder, electric cylinder, or electric telescopic rod. The fixed end of the linear displacement mechanism is connected to the device body 110, and the telescopic end is connected to the actuator 122. Please refer to [link to relevant documentation]. Figure 1 , Figure 9 and Figure 10 In some embodiments, the drive unit 121 includes a drive element 1211 and a transmission mechanism 1212 that drives it. The drive element 1211 is installed on the host 110a of the device body 110 and can be a motor, electric motor, etc. The power input end of the transmission mechanism 1212 is connected to the drive element 1211 and the power output end is connected to the actuator 122.

[0064] Common transmission mechanisms 1212 include gear mechanisms or linkage mechanisms. Considering that the force required for the actuator 122 to move the door body 200 is relatively small, in some embodiments, the transmission mechanism 1212 adopts a linkage mechanism. Specifically, the transmission mechanism 1212 includes two or more hinged linkages 1212a, such as... Figure 9 and Figure 10 As shown. The linkage mechanism has various structural forms, such as the double crank mechanism, the crank-rocker mechanism, and the double rocker mechanism, all of which can be used to drive the actuator 122. This application does not limit the specific structural form of the linkage mechanism.

[0065] The occupied space of the linkage mechanism changes according to its motion state. When the automatic cleaning device 100 is off, in standby mode, or when the door does not need to be opened or closed, the linkage mechanism is in a folded state to minimize the occupied area. Therefore, the structural shape of the link 1212a in the linkage mechanism can be set to match the external features of the device body 110. For example, in some embodiments, the automatic cleaning device 100 is a sweeping robot, and the device body 110 is generally disc-shaped. In this case, at least one link 1212a is a curved rod. Using a curved rod ensures that the entire linkage mechanism is contained within the vertical projection range of the device body 110. When the device body 110 has a storage cavity 112, such as Figure 9 As shown, the entire linkage mechanism can be completely housed in the storage cavity 112, and the entire device has no external extension structure. When using a curved rod, by setting the relative distance between each hinge point, the curved rod can also achieve the same movement as a straight rod.

[0066] Please see Figure 5 In some embodiments, the drive unit 121 is configured with only one drive member 1211, and the transmission mechanism 1212 includes three links: a driving link 1212b, a driven link 1212c, and an actuating link 1212d. The first ends of the driving link 1212b and the driven link 1212c are hinged to the main body 110a of the device body 110 (retaining only one rotational degree of freedom), and the second ends of the driving link 1212b and the driven link 1212c are hinged to the actuating link 1212d, forming a parallelogram four-bar linkage. The drive member 1211 is connected to the driving link 1212b for force transmission. The driving link 1212b is directly driven by the drive member 1211 to rotate or oscillate, and the driven link 1212c follows the driving link 1212b in rotating or oscillating. The actuator 1212d is connected to the actuator 122, and the actuator 1212d drives the actuator 122 to move.

[0067] Please see Figures 6a to 6h , showed Figure 5 The working process of the door opening and closing device 120 shown.

[0068] Specifically, if the equipment body 110 is unable to continue cleaning or return to its post due to obstruction by the gate 200 during normal cleaning or after cleaning, the equipment body 110 will pause its movement. Figure 6a As shown; the driving component 1211 drives the active link 1212b to move, and the driven link 1212c and the actuating link 1212d follow the movement of the active link 1212b. The entire transmission mechanism 1212 gradually unfolds, and the actuating link 1212d drives the actuating component 122 to move, as shown. Figure 6bAs shown; after the actuator 122 moves to a position that generates a stable force with the door 200, the drive element 1211 provides a reverse driving force and / or the device body 110 moves, causing the actuator 122 to drive the door 200 to open or close. For a pull-out door, the drive element 1211 provides a reverse driving force and / or the device body 110 moves backward (along...). Figure 6c (Move in the direction indicated by the middle arrow a), as shown Figure 6c As shown; the actuator 122 can pull the door 200 along... Figure 6c Rotate in the direction indicated by the middle arrow b to open door 200, as shown. Figure 6d As shown. For a push-open door, the drive unit 1211 drives the transmission mechanism 1212 to continue unfolding and / or the device body 110 to advance (along...). Figure 6e (Move in the direction indicated by the middle arrow a), as shown Figure 6e As shown, the actuator 122 can push the door 200 along... Figure 6e Rotate in the direction indicated by the middle arrow b to open the door 200.

[0069] After the door 200 is opened, the obstruction of the door 200 to the automatic cleaning device 100 is removed, and the automatic cleaning device 100 can bypass it (along...). Figure 6f (Move in the direction indicated by the middle arrow c) Door body 200, as shown Figure 6f As shown, the automatic cleaning equipment 100 moves to the next room to continue cleaning or returns to its original position.

[0070] Please see Figure 6g When the actuator 122 closes the door 200, the automatic cleaning device 100 drives the door 200 to move a certain distance in the closing direction, so that there is sufficient gap between the door 200 and the wall 400 for the automatic cleaning device 100 to enter (along the wall). Figure 6h (Move in the direction indicated by the middle arrow c), as shown Figure 6h As shown, the automatic cleaning device 100 can clean the narrow area B enclosed by the wall 400 and the door 200 when it is open.

[0071] Please see Figure 7 In some embodiments, the drive unit 121 is configured with two drive members 1211, namely a first drive member 1211a and a second drive member 1211b. The transmission mechanism 1212 includes two hinged links, namely a first link 1212e driven by the first drive member 1211a and a second link 1212f driven by the second drive member 1211b. The first link 1212e is hinged to the host 110a, and the second link 1212f is connected to the actuator 122. When the actuator 122 acts on the door 200, since the door 200 is hinged to the door frame 300, as... Figure 3 As shown, the door body 200 and the transmission mechanism 1212 together constitute a four-bar linkage.

[0072] Please see Figure 8a , Figure 8b and Figure 8c , showed Figure 7 The working process of the door opening and closing device 120 shown.

[0073] Specifically, if the equipment body 110 is unable to continue cleaning or return to its post due to obstruction by the gate 200 during normal cleaning or after cleaning, the equipment body 110 will pause its movement. Figure 8a As shown; the first driving member 1211a drives the first connecting rod 1212e to move, and the second driving member 1211b drives the second connecting rod 1212f to move, and the entire transmission mechanism 1212 gradually unfolds, as shown. Figure 8b As shown, the second link 1212f drives the actuator 122 to move. The movement of the actuator 122 is the sum of the movements of the first link 1212e and the second link 1212f. After the actuator 122 moves to a position that generates a stable force with the door 200, since the drive unit 121 is equipped with two drive elements 1211, it can provide a large driving force. Therefore, the device body 110 does not need to move forward. Only the first drive element 1211a and the second drive element 1211b provide a reverse driving force, which can drive the actuator 122 to retract, so that the actuator 122 drives the door 200 to open or close. Figure 8c As shown. After the door 200 removes its obstruction from the automatic cleaning device 100, the automatic cleaning device 100 can continue cleaning the next room or the narrow area B behind the door 200, or the automatic cleaning device 100 can return to its starting position. The travel trajectory of the automatic cleaning device 100 after driving the door 200 to open or close can be referenced. Figure 6f , Figure 6g , Figure 6h And the corresponding descriptions mentioned above will not be repeated here.

[0074] Since the drive unit 121 is equipped with two drive components 1211, the door 200 can be opened or closed even when the device body 110 is not moving, without imposing additional requirements on the navigation algorithm of the device body 110 itself. However, due to the addition of a drive component 1211, the weight of the entire automatic cleaning device 100 will increase slightly.

[0075] Therefore, when using the automatic cleaning device 100 provided in this application embodiment, if a user accidentally closes the door of the room they wish to clean, the automatic cleaning device 100 can still clean the corresponding room without requiring any special preparation from the user before cleaning. When either the automatic cleaning device 100 or the user accidentally closes the door of the room being cleaned, the automatic cleaning device 100 can also exit the corresponding room after cleaning is completed. Furthermore, since the automatic cleaning device 100 provided in this application embodiment can automatically close the door, it can automatically close the door after entering the room, thereby cleaning the narrow space B behind the open door.

[0076] A second aspect of this application provides an automatic cleaning system, which includes a cleaning base station and the automatic cleaning device 100 described in the first aspect. The automatic cleaning device 100 may be a robotic vacuum cleaner, a sweeping machine, etc., and this application does not impose any limitations.

[0077] In some embodiments, the automatic cleaning device 100 is a robotic vacuum cleaner. When the robotic vacuum cleaner enters the cleaning station, the entire drive unit 121 is in a folded state to minimize its size. When the robotic vacuum cleaner leaves the station to perform normal cleaning operations, the entire drive unit 121 remains in a folded state to avoid touching items placed in the cleaning area A and interfering with the cleaning work of the device body 110. The robotic vacuum cleaner can automatically open or close non-automatic doors without locking devices to clean the narrow area B behind the door, or enter or exit a room separated by a door. Because the automatic cleaning device 100 can handle various non-automatic doors without locking devices, the entire automatic cleaning system is not limited to indoor cleaning, and its cleaning area can be significantly expanded.

[0078] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0079] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0080] It should be noted that all directional indications in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0081] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0082] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0083] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0084] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0085] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. An automatic cleaning device (100), characterized in that, include: The equipment body (110) includes a main unit (110a), a walking device (110b) mounted on the main unit (110a), and a cleaning device (110c) mounted on the main unit (110a) for cleaning the area (A) to be cleaned. The door opening and closing device (120) includes a drive unit (121) installed on the main unit (110a) and an actuator (122) connected to the drive unit (121); the drive unit (121) includes a drive member (1211) and a transmission mechanism (1212) for driving it, the transmission mechanism (1212) being connected to the actuator (122); the transmission mechanism (1212) is a linkage mechanism; When the automatic cleaning device (100) is off, in standby mode, or when the door does not need to be opened or closed, the linkage mechanism is in a folded state and is housed within the vertical projection range of the device body (110). When the door needs to be opened or closed, the drive member (1211) drives the transmission mechanism (1212) to gradually unfold, and the transmission mechanism (1212) drives the actuator (122) to move. After the actuator (122) moves to a position that generates a stable force with the door (200) set in the cleaning area (A), the actuator (122) moves under the drive of the drive unit (121) and / or the walking device (110b) to drive the door (200) to open or close.

2. The automatic cleaning device (100) as described in claim 1, characterized in that: The actuator (122) is at least one of an adsorption component, a mechanical gripper, or a suction cup manipulator.

3. The automatic cleaning device (100) as described in claim 2, characterized in that: When the actuator (122) is an adsorption member, the adsorption member includes an adsorption part (1221); or, the adsorption member includes an adsorption part (1221) and a flexible part (1222) connected together, the flexible part (1222) being connected to the drive unit (121).

4. The automatic cleaning device (100) as described in claim 3, characterized in that: The cleaning device (110c) includes an exhaust device (111), and the adsorption unit (1221) is connected to the exhaust device (111) through a pipe (113). Alternatively, the door opening and closing device (120) may further include an auxiliary ventilation device (130), which is installed on the main unit (110a), and the adsorption unit (1221) is connected to the auxiliary ventilation device (130) through a pipe (113).

5. The automatic cleaning device (100) as described in any one of claims 1-4, characterized in that: The transmission mechanism (1212) includes two or more hinged links (1212a).

6. The automatic cleaning device (100) as described in claim 5, characterized in that: The transmission mechanism (1212) includes three connecting rods (1212a), namely a driving connecting rod (1212b), a driven connecting rod (1212c), and an actuating connecting rod (1212d) that is hinged to both the driving connecting rod (1212b) and the driven connecting rod (1212c). The driving connecting rod (1212b) and the driven connecting rod (1212c) are both hinged to the host (110a). The driving member (1211) is connected to the driving connecting rod (1212b) for force transmission. The actuating connecting rod (1212d) is connected to the actuating member (122).

7. The automatic cleaning device (100) as described in claim 5, characterized in that: The driving component (1211) is provided in two parts, namely a first driving component (1211a) and a second driving component (1211b). The transmission mechanism (1212) includes two connecting rods (1212a), namely a first connecting rod (1212e) driven by the first driving member (1211a) and a second connecting rod (1212f) driven by the second driving member (1211b). The first connecting rod (1212e) is hinged to the host (110a), and the second connecting rod (1212f) is connected to the actuator (122).

8. The automatic cleaning device (100) as described in claim 5, characterized in that: At least one of the connecting rods (1212a) is a bent rod.

9. The automatic cleaning device (100) as described in any one of claims 1-4, characterized in that: The host (110a) has a storage cavity (112) inside; the drive unit (121) is installed in the storage cavity (112), and the actuator (122) extends out of the storage cavity (112) under the drive of the drive unit (121).

10. The automatic cleaning device (100) as described in any one of claims 1-4, characterized in that: The door opening and closing device (120) is installed on the top of the main unit (110a).

11. An automatic cleaning system, characterized in that: Includes a cleaning base station and an automatic cleaning device (100) according to any one of claims 1-10.

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