Cleaning system

Abstract

The embodiment of the utility model discloses a cleaning system which comprises movable cleaning equipment and a door opening device, the door opening device is at least used for being connected with a door leaf, and the door opening device is connected with the movable cleaning equipment. The door leaf can be driven to move at least between a closing position and a first opening position relative to the door pocket based on the position, relative to the door leaf, of the movable cleaning equipment and the position, relative to the door pocket, of the door leaf, and when the door leaf is located at the first opening position, the movable cleaning equipment can pass through the door pocket; the first opening position is located between the closing position and the maximum opening position or equal to the maximum opening position. The door opening device can be based on the position, relative to the door leaf, of the movable cleaning equipment and the position, relative to the door pocket, of the door leaf.

Description

Technical Field

[0001] The present application relates to the technical field of smart furniture, and in particular to a cleaning system. Background Art

[0002] Movable cleaning equipment may need to enter different rooms when cleaning. When the door is closed, the sweeper will not be able to enter the room for cleaning. The user needs to open the door first, which makes the cleaning operation more cumbersome. Utility Model Content

[0003] An embodiment of the present application provides a cleaning system, in which a door opening device can control the rotation of the door leaf relative to the door frame according to the position of the movable cleaning equipment relative to the door leaf and the position of the door leaf relative to the door frame, so that the cleaning equipment can enter and exit the corresponding room by itself.

[0004] The cleaning system includes a door opening device for a movable cleaning device, which is at least used to connect to the door leaf. The door opening device is connected to the movable cleaning device and can drive the door leaf to move relative to the door frame at least between a closed position and a first open position based on the position of the movable cleaning device relative to the door leaf and the position of the door leaf relative to the door frame. When the door leaf is in the first open position, the movable cleaning device can pass through the door frame. The first open position is between the closed position and the maximum open position or equal to the maximum open position.

[0005] Based on the cleaning system of the embodiment of the present application, the movable cleaning equipment needs to enter and exit different rooms in the house when moving in the house. The door opening device drives at least the door leaf to move between the closed position and the first open position relative to the door frame according to the position of the movable cleaning equipment relative to the door leaf and the opening angle of the door leaf relative to the door frame. Since the movable cleaning equipment can pass through the door frame when the door leaf is in the first open position, the movable cleaning equipment can freely enter and exit the corresponding room. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0007] Figure 1 This is a connection diagram of a cleaning system in one embodiment of the present application;

[0008] Figure 2 This is a structural diagram of a swing door in an embodiment of the present application;

[0009] Figure 3 This is a schematic structural diagram of the transmission member, the support member, the first limiting member, and the second limiting member in an embodiment of the present application after being connected;

[0010] Figure 4 This is a flow chart of a control method for a cleaning system in one embodiment of the present application;

[0011] Figure 5 This is a flow chart of a control method for a cleaning system in one embodiment of the present application.

[0012] Figure numerals: 100, cleaning system; 110, movable cleaning equipment; 120, door opening device; 121, driving assembly; 1211, driving member; 1212, clutch; 122, transmission assembly; 1221, transmission member; 1222, connecting member; 1223, buffer member; 1224, supporting member; 1225, first limiting member; 1226, second limiting member; 1227, limiting groove; 210, door leaf; 220, door frame. DETAILED DESCRIPTION

[0013] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0014] The robot vacuum cleaner may need to enter different rooms when cleaning. If the door is closed, the robot vacuum cleaner cannot enter the room for cleaning. The user needs to open the door first, which makes the cleaning operation more cumbersome.

[0015] To solve the above technical problems, please refer to Figures 1 to 2 As shown, an embodiment of the present application provides a cleaning system 100, wherein the door opening device 120 can open or close the door leaf 210 in response to the movable cleaning device 110, so as to facilitate the movable cleaning device 110 to perform cleaning operations in multiple rooms.

[0016] Please refer to Figures 1 to 2 As shown, the cleaning system 100 includes a movable cleaning device 110 and a door opening device 120. The door opening device is at least used to connect with the door leaf 210, and can drive the door leaf 210 to move relative to the door frame 220 at least between a closed position and a first open position based on the position of the movable cleaning device relative to the door leaf 210 and the position of the door leaf 210 relative to the door frame 220. When the door leaf 210 is in the first open position, the movable cleaning device 110 can pass through the door frame 220. The first open position is between the closed position and the maximum open position or equal to the maximum open position.

[0017] It can be understood that in the embodiment of the present application, the door opening device 120 drives the door leaf 210 to move relative to the door frame 220 on the premise that the door leaf 210 and the door frame 220 are not locked with each other.

[0018] The door leaf 210 and door frame 220 in the embodiment of the present application can constitute a swing door or a sliding door, etc., and the embodiment of the present application does not limit this. When the door leaf 210 and door frame 220 constitute a swing door, the position of the door leaf 210 relative to the door frame 220 is the opening angle of the door leaf 210 relative to the door frame 220; when the door leaf 210 and door frame 220 constitute a swing door, the position of the door leaf 210 relative to the door frame 220 is the translation distance of the door leaf 210 relative to the door frame 220.

[0019] The movable cleaning device 110 in the embodiment of the present application includes but is not limited to a sweeper, a mop, a mobile humidifier, etc., or the device can move on its own and does not have a cleaning function. The door opening device 120 can also drive the door leaf 210 to move relative to the door frame 220 based on the position of the device relative to the door leaf 210 and the opening angle of the door leaf 210 relative to the door frame 220.

[0020] Based on the cleaning system 100 of the embodiment of the present application, the movable cleaning device 110 needs to enter and exit different rooms in the house when moving in the house. The door opening device 120 drives at least the door leaf 210 to move between the closed position and the first open position relative to the door frame 220 according to the position of the movable cleaning relative to the door leaf 210 and the opening angle of the door leaf 210 relative to the door frame 220. Since the movable cleaning device 110 can pass through the door frame 220 when the door leaf 210 is in the first open position, the movable cleaning device 110 can freely close or open the corresponding room at this time, making it convenient for the movable cleaning device 110 to enter and exit the corresponding room; and for the swing door, the door leaf 210 can be closed after the movable cleaning device 110 enters the corresponding room to clean the sanitary dead corners behind the door leaf 210.

[0021] In some embodiments of the present application, the movable cleaning device 110 includes a first communication module, and the door opening device 120 includes a second communication module, and the second communication module is communicatively connected to the first communication module.

[0022] The movable cleaning device 110 and the door opening device 120 can realize information exchange after being communicated with each other through the first communication module and the second communication module, thereby realizing that the door opening device 120 can at least drive the door leaf 210 to move between the closed position and the first open position relative to the door frame 220 based on the position of the movable cleaning device relative to the door leaf 210 and the opening angle of the door leaf 210 relative to the door frame 220.

[0023] In the embodiment of the present application, one of the first communication module and the second through-hole module can be a signal transmitting module and the other can be a signal receiving module, or both the first communication module and the second communication module can be used for signal transmitting and signal receiving.

[0024] In some embodiments of the present application, the cleaning system also includes a first positioning module, a second positioning module and a controller. The first positioning module is electrically connected to the first communication module, and the first positioning module is used to obtain the position of the movable cleaning device 110; the second positioning module is electrically connected to the second communication module, and the second positioning module is used to obtain the position of the door leaf 210; the controller is arranged in the movable cleaning device 110 or the door opening device 120, and the controller is electrically connected to the first positioning module, the second positioning module and the door opening device 120.

[0025] After the first positioning module obtains the position of the movable cleaning device 110, it can feed back the position of the movable cleaning device 110 relative to the door leaf 210 to the controller through the first communication module and / or the second communication module. After the second positioning module obtains the position of the door leaf 210 relative to the door frame 220, it can feed back the position of the door leaf 210 to the controller through the first communication module and / or the second communication module. At this time, the controller can control the door opening device 120 according to the position of the movable cleaning device 110 relative to the door leaf 210 and the position of the door leaf 210 relative to the door frame 220.

[0026] The first positioning module is used to obtain the position of the movable cleaning device 110. In the embodiment of the present application, the first positioning module can be set on the movable cleaning device 110. In this case, the first positioning module can be configured as a locator, which directly locates the position of the movable cleaning device 110 in the house.

[0027] The second positioning module is used to obtain the position of the door leaf 210 relative to the door frame 220. In the embodiment of the present application, the second positioning module can be installed on the door frame 220 or the door leaf 210. In this case, when the door leaf 210 and the door frame 220 form a sliding door, the second positioning module can be configured as a displacement sensor, which is used to detect the translation distance of the door leaf 210 relative to the door frame 220. When the door leaf 210 and the door frame 220 form a swing door, the second positioning module can be configured as an angle sensor, which is used to detect the rotation angle of the door leaf 210 relative to the door frame 220. In the embodiment of the present application, the second positioning module can be installed on the movable cleaning device 110. In this case, the second positioning module can be configured as an imaging device, which is used to capture images of the door leaf 210 and the door frame 220 and feed the images back to the controller, which determines whether the distance between the door leaf 210 and the door frame 220 is sufficient for the movable cleaning device 110 to pass through.

[0028] The controller is used to control the door opening device 120 based on the position of the movable cleaning device 110 relative to the door leaf 210 fed back by the first positioning module and the position of the door leaf 210 relative to the door frame 220 fed back by the second positioning module. The controller in the embodiment of the present application can be set on the door opening device 120 or on the movable cleaning device 110. The controller is used to receive instructions and control the drive component 121 to drive the door leaf 210 to rotate. The controller in the embodiment of the present application can be set on the movable cleaning device 110 or on the door opening device 120. It can be understood that there are usually multiple rooms in a home, that is, there are multiple swing doors. In order to simplify the cleaning system 100, the controller in the present application is set on the movable cleaning device 110, and the original controller of the movable cleaning device 110 can be used. In this case, only one controller is required to control multiple door opening devices 120, saving the cost of the cleaning system 100.

[0029] In a specific embodiment of the present application, a first positioning module is provided on the movable cleaning device 110, so that the first positioning module can obtain the position of the movable cleaning device 110 in the room. The second positioning module is provided on the door opening device 120, so that the second positioning module can detect the translation distance or rotation angle of the door leaf 210. The controller is provided on the door opening device 120, so that the controller can issue instructions to the door opening device 120.

[0030] Please refer to Figure 2 As shown, in some embodiments of the present application, the door opening device 120 includes a transmission component 122 and a drive component 121, and the transmission component 122 is used for connecting with the door leaf; the drive component 121 is connected to the transmission component 122 for transmission, and the drive component 121 can drive the door leaf 210 to move relative to the door frame 220 between a closed position and a first open position via the transmission component 122.

[0031] After receiving the electrical signal from the controller, the driving component 121 drives the door leaf 210 to move relative to the door frame 220 at least between the first open position and the closed position via the transmission component 122, that is, the movable cleaning device 110 can autonomously open or close the door leaf 210, so that the movable cleaning device 110 can move autonomously in multiple rooms and complete cleaning operations in multiple rooms.

[0032] In this application, the control of the door opening device 120 by the mobile cleaning device 110 is divided into the following situations:

[0033] 1. The movable cleaning device 110 is outside the target room, the target room is not cleaned, and the movable cleaning device 110 cannot pass through the door leaf 210 (the door leaf 210 is in a closed position or the door leaf 210 is not opened enough for the movable cleaning device 110 to pass through). At this time, the driving component 121 drives the door leaf 210 to at least move to the first open position via the rotating component, so that the movable cleaning device 110 can enter the target room.

[0034] 2. The movable cleaning device 110 is in the target room, the target room is not cleaned, and the door leaf 210 is in an open state. At this time, the driving component 121 drives the door leaf 210 to a closed position via the rotating component, so that the movable cleaning device 110 can clean the sanitary dead corner behind the door leaf 210.

[0035] 3. The movable cleaning device 110 is in the target room, the target room has been cleaned, and the movable cleaning device 110 cannot pass through the door leaf 210 (the door leaf 210 is in the closed position or the door leaf 210 is opened too small for the movable cleaning device 110 to pass through. However, when the movable cleaning device 110 cleans the sanitary dead corner behind the door leaf 210, it usually controls the driving component 121 to drive the door leaf 210 to rotate to the closed position). At this time, the driving component 121 drives the door leaf 210 to at least move to the first open position via the rotating component, so that the movable cleaning device 110 can exit the target room.

[0036] In order to simplify the control of the driving component 121 by the movable cleaning device 110, in the embodiment of the present application, the driving component 121 only drives the door leaf 210 to switch between the closed position and the maximum open position. In this way, the door leaf 210 must be in the closed position or the maximum open position. When the door leaf 210 is in the closed position, it will not interfere with the sanitary dead corners after the movable cleaning device 110 cleans the door leaf 210; when the door leaf 210 is in the maximum open position, the movable cleaning device 110 must be able to pass through the swing door, and the door leaf 210 will not interfere with the movable cleaning device 110 entering or exiting the target room. There is no need to judge whether the opening amount of the door leaf 210 is sufficient for the movable cleaning device 110 to pass through, which simplifies the control between the movable cleaning device 110 and the door opening device 120.

[0037] Please refer to Figure 2 As shown, in some embodiments of the present application, the driving assembly 121 includes a driving member 1211 and a clutch 1212 , and the clutch 1212 is connected to the driving member 1211 and the transmission assembly 122 .

[0038] The driving member 1211 is used to provide power for the door opening device 120. When the door leaf 210 and the door frame 220 form a swing door, the driving member 1211 in the embodiment of the present application can be configured as a motor. The output shaft of the driving member 1211 is coaxially and fixedly connected to the clutch 1212. When the clutch 1212 is closed, the driving member 1211 can drive the transmission assembly 122 to rotate, thereby achieving rotation of the door leaf 210 relative to the door frame 220. When the door leaf 210 and the door frame 220 form a sliding door, the driving member 1211 in the embodiment of the present application can be configured as an air cylinder, an oil cylinder, or a telescopic rod. Taking the telescopic rod as an example, one end of the telescopic rod is connected to the door frame 220, and the other end is connected to the door leaf 210 via the clutch 1212 and the transmission assembly 122 connected in sequence. When the telescopic rod is extended or retracted, it can drive the door leaf 210 to move relative to the door frame 220. It can be understood that the driving member 1211 is electrically connected to the controller to receive control instructions from the controller, and the driving member 1211 can be fixed to the door frame 220 or the wall where the door frame 220 is located.

[0039] The clutch 1212 is used to engage or disengage power transmission. Specifically, the clutch 1212 includes a driving disc and a driven disc. The driving disc and the driven disc of the clutch 1212 can be temporarily separated and gradually engaged. It can be understood that when the door leaf 210 and the door cover 220 of the embodiment of the present application form a swing door, the driving member 1211 in the embodiment of the present application is coaxially fixedly connected to the driving disc of the clutch 1212. When the driving disc and the driven disc of the clutch 1212 are engaged, the power output by the driving member 1211 will be transmitted to the transmission member 1221 via the clutch 1212, thereby driving the door leaf 210 to rotate. In addition, in some embodiments of the present application, the transmission member 1221 is coaxially fixedly connected to the driven disc of the clutch 1212, and the transmission member 1221 can rotate about its own axis, that is, the connecting member 1222 and the door leaf 210 both rotate about the axis of the transmission member 1221.

[0040] When the door leaf 210 and the door frame 220 in the embodiment of the present application constitute a sliding door, the clutch 1212 may include a first magnetic attraction portion and a second magnetic attraction portion. At least one of the first magnetic attraction portion and the second magnetic attraction portion is configured as an electromagnet, and the other may be configured as an electromagnet or a permanent magnet. When the electromagnet is energized, the two are magnetically attracted to each other. When the electromagnet is de-energized, the user can freely open the door leaf 210.

[0041] In some embodiments of the present application, the driving assembly 121 further includes a detection member, which is electrically connected to the driving member 1211 and the controller, and is used to detect the force value of the driving member 1211.

[0042] The detection member is used to detect the force value of the driving member 1211. In combination with the above-mentioned configuration of the driving member 1211 as a motor, the detection member in the embodiment of the present application is used to detect the output torque of the motor (for example, a torque sensor). When the door leaf 210 rotates to the closed position, the maximum open position, or the door leaf 210 encounters an obstacle during the rotation process, the torque value of the driving member 1211 will suddenly increase. After the torque value exceeds the preset value of the driving member 1211, the detection member sends a stop signal to the driving member 1211 to protect the door opening device 120 and the swing door. The specific measurement method is to install a torque sensor on the output shaft of the motor to measure the torque output by the motor. This method is accurate and reliable and can directly obtain the actual torque value output by the motor.

[0043] Similarly, when the door leaf 210 and the door frame 220 form a sliding door, the above-mentioned driving member 1211 is configured as a telescopic rod, a cylinder or an oil cylinder, etc., and the detection member is used to detect the pressure value and the tension value of the driving member 1211. When the door leaf 210 moves to the closed position, the maximum opening position or the door leaf 210 encounters an obstacle during the translation process, the pressure value or the tension value of the driving member 1211 will suddenly increase. After the pressure value or the tension value exceeds the preset value of the driving member 1211, the detection member sends a stop signal to the driving member 1211.

[0044] Please refer to Figure 2 As shown, in some embodiments of the present application, the transmission assembly 122 includes a transmission member 1221 and a connecting member 1222. The transmission member 1221 is in transmission connection with the drive assembly 121; the connecting member 1222 is fixed to the transmission member 1221 and is used to connect to the door leaf 210. The drive assembly 121 drives the transmission member 1221 to move, and the rotating transmission member 1221 drives the connecting member 1222 to rotate synchronously. The connecting member 1222 drives the door leaf 210 to rotate relative to the door cover 220, so that the drive assembly 121 drives the door leaf 210 to rotate.

[0045] In the embodiment of the present application, when the door leaf 210 and the door frame 220 form a swing door, the transmission member 1221 can be configured as a rotating member that rotates around its own axis. The transmission member 1221 is arranged along the height direction of the door leaf 210 and is located on either side of the door leaf 210 along the width direction, so that the door leaf 210 can open left or right. The connecting member 1222 is fixed to the circumference of the rotating member. When the transmission member 1221 rotates around its own axis, it drives the connecting member 1222 to rotate synchronously, and the connecting member 1222 drives the door leaf 210 to rotate relative to the door frame 220. At the same time, when the door leaf 210 and the door frame 220 form a swing door, the transmission member 1221 is used as a hinged member when the door leaf 210 rotates.

[0046] Combined with the above-mentioned second positioning module for obtaining the position of the door leaf 210, when the door leaf 210 and the door frame 220 constitute a swing door, the second positioning module in the embodiment of the present application can obtain the rotation angle of the transmission member 1221, and then obtain the rotation angle of the door leaf 210; when the door leaf 210 and the door frame 220 constitute a sliding door, the second positioning module in the embodiment of the present application can obtain the translation distance of the transmission member 1221, and then obtain the translation distance of the door leaf 210.

[0047] In order to reduce the weight of the door opening device 120, in some embodiments of the present application, the transmission member 1221 is at least partially configured as a hollow structure. For example, the transmission member 1221 includes a hollow section and a solid section. The solid section is connected to the connecting member 1222. The hollow section reduces the weight of the transmission member 1221, and the solid section ensures the connection strength between the transmission member 1221 and the connecting member 1222 as well as its own structural strength. It can be understood that the number of hollow sections and solid sections can be multiple.

[0048] The connecting member 1222 is used to connect the transmission member 1221 and the door leaf 210. It can be understood that the number of connecting members 1222 can be multiple, and the multiple connecting members 1222 can be arranged along the axial direction of the transmission member 1221. The multiple connecting members 1222 can enhance the connection strength between the transmission member 1221 and the door leaf 210, and the force transmitted from the transmission member 1221 to the door leaf 210 will be dispersed to the multiple connection points between the multiple connecting members 1222 and the door leaf 210, thereby reducing the stress of the door leaf 210 at the multiple connection points between the door leaf 210 and the multiple connecting members 1222, thereby protecting the structure of the door leaf 210.

[0049] In the embodiment of the present application, when the door leaf 210 and door frame 220 form a sliding door, the transmission member 1221 can be configured as a transmission rod, the connecting member 1222 can be configured as a connecting rod connected to the first magnetic portion, and the door leaf 210 is connected to the second magnetic portion. Alternatively, the connecting member 1222 can be omitted, and the transmission member 1221 can be directly connected to the first magnetic portion to simplify the structure of the door opening device 120.

[0050] Please refer to Figure 2 As shown, in some embodiments of the present application, the transmission component 122 also includes a buffer 1223, one end of which is connected to the transmission component 1221, and the other end is connected to the drive component 121. When the external force borne by the buffer 1223 is greater than a preset value, the buffer 1223 can produce elastic deformation, and a large instantaneous impact force will be generated when the drive component 121 starts and stops. At this time, the buffer 1223 begins to undergo elastic deformation to buffer the instantaneous impact force generated by the drive component 121, so that the door leaf 210 is suddenly subjected to the large force generated when the drive component 121 starts and stops, which is converted into a large force generated when the drive component 121 starts and stops in a short time, thereby protecting the door leaf 210.

[0051] The buffer member 1223 in the embodiment of the present application can be configured as a torsion spring, a rubber elastic member, etc., and the deformable buffer member 1223 can also be used to adjust the installation error between the drive assembly 121 and the transmission member 1221. In the embodiment of the present application, the buffer member 1223 can be fixed between the transmission member 1221 and the clutch 1212.

[0052] Please refer to Figure 2 as well as Figure 3 As shown, in some embodiments of the present application, the transmission member 1221 is provided with a limiting groove 1227, and the transmission assembly 122 further includes a support member 1224. The support member 1224 is positioned in the limiting groove 1227 and is rotatably connected to the transmission member 1221. The driving assembly 121 is used to drive the transmission member 1221 and the connecting member 1222 to rotate relative to the support member 1224. It will be understood that this embodiment is only applicable when the door leaf 210 and the door frame 220 constitute a casement door.

[0053] The support member 1224 is used to support part of the weight of the transmission member 1221, the connecting member 1222 and the driving assembly 121. When the support member 1224 is not set, the door opening device 120 only connects the driving assembly 121 and the door frame 220, and the connection point between the driving assembly 121 and the door frame 220 needs to bear the weight of the transmission assembly 122 and the door leaf 210; after the support member 1224 is set, the support member 1224 contacts the side wall of the limiting groove 1227 to support the transmission member 1221, the connecting member 1222 and the driving assembly 121, thereby reducing the force that the connection point between the driving assembly 121 and the door frame 220 needs to bear.

[0054] At the same time, the number of support members 1224 can be multiple, and multiple support members 1224 are arranged along the height direction of the door leaf 210. The multiple support members 1224 can further improve the support for the transmission member 1221, the connecting member 1222, and the drive assembly 121. The multiple support members 1224 can prevent the transmission member 1221 from deflecting, that is, prevent the door leaf 210 from deflecting, and ensure the matching relationship between the door leaf 210 and the door cover 220. Referring to the figure, the number of support members 1224 is three, and the three support members 1224 are arranged at equal intervals.

[0055] In addition, since the support member 1224 is partially located in the limiting groove 1227, in order to achieve the assembly of the support member 1224 and the transmission member 1221, the support member 1224 in the embodiment of the present application includes a first arcuate portion, a second arcuate portion, and a connecting member 1222. The first arcuate portion and the second arcuate portion are connected to each other by the connecting member 1222. At least a portion of the inner wall of the first arcuate portion is slidably connected to the groove wall of the limiting groove 1227, and at least a portion of the inner wall of the second arcuate portion is slidably connected to the groove wall of the limiting groove 1227. In this way, the support member 1224 can be assembled into the limiting groove 1227. It can be understood that when both the first arcuate portion and the second arcuate portion are configured as semicircular structures, all the inner walls of the first arcuate portion are slidably connected to the groove wall of the limiting groove 1227, and all the inner walls of the first arcuate portion are slidably connected to the groove wall of the limiting groove 1227.

[0056] The limiting groove 1227 is used to accommodate at least part of the support member 1224. In the embodiment of the present application, there is no limitation on the shape, depth and width of the limiting groove 1227. The bottom wall of the limiting groove 1227 in the embodiment of the present application is coaxially arranged with the transmission member 1221.

[0057] In other embodiments of the present application, the transmission assembly 122 further includes a support member 1224 , which is fixed to the door frame 220 and fixedly sleeved on the peripheral wall of the transmission member 1221 , and the transmission member 1221 rotates relative to the door frame 220 via the support member 1224 .

[0058] At this time, the support member 1224 can be configured as a centripetal thrust bearing, the inner ring of the centripetal thrust bearing is fixedly connected to the peripheral wall of the transmission member 1221, and the outer ring of the centripetal thrust bearing is fixedly connected to the door frame 220. Since the centripetal thrust bearing can withstand unidirectional thrust, it can not only support the transmission member 1221, the connecting member 1222 and the driving assembly 121, but also convert the sliding friction between the support member 1224 and the transmission member 1221 into rolling friction, thereby reducing the torque required for the driving assembly 121 to drive the door leaf 210 to rotate.

[0059] Please refer to Figure 2 as well as Figure 3 As shown, in some embodiments of the present application, the transmission assembly 122 also includes a first limit member 1225 and a second limit member 1226, the first limit member 1225 is fixed to the peripheral side of the transmission member 1221; the second limit member 1226 is fixed to the support member 1224; wherein, when the door leaf 210 is in the maximum opening position, the first limit member 1225 abuts against the second limit member 1226, and the first limit member 1225 and the second limit member 1226 limit the maximum opening position of the door leaf 210 to prevent the door leaf 210 from opening too much and colliding with the wall.

[0060] The first limiting member 1225 and the second limiting member 1226 are both configured as limiting blocks. The first limiting member 1225 has a first limiting surface, and the second limiting member 1226 has a second limiting surface. When the door leaf 210 is at the maximum opening position, the first limiting surface abuts the second limiting surface.

[0061] In some embodiments of the present application, the first limiting member 1225 is connected to a vibration damper on the first limiting surface; and / or, the second limiting member 1226 is connected to a vibration damper on the second limiting surface. The vibration damper cushions the collision between the first limiting member 1225 and the second limiting member 1226 when the first limiting member 1225 contacts the second limiting member 1226. The vibration damper can be an elastic rubber product or an elastic plastic product, etc.

[0062] Figure 4 1 is a flow chart of a control method of a cleaning system 100 in an embodiment of the present application, the method comprising S110, S120 and S130; Figure 4 The method shown can be Figure 1 The controller of the movable cleaning device 110 shown in FIG. Figure 4 The method shown is described in detail.

[0063] In conjunction with the controller being provided on the movable cleaning device 110, the embodiment of the present application further discloses a control method, including:

[0064] S110, obtaining the target room;

[0065] S120, obtaining the position of the movable cleaning device 110 and the status of the target room door 210;

[0066] S130 , controlling the driving assembly 121 according to the position of the movable cleaning device 110 , the state of the target room door 210 , and the target room cleaning state.

[0067] Specifically, the controller obtains the position of the cleaning device and the state of the door leaf 210 and generates a control instruction, which is used to control the driving component 121.

[0068] The following combination Figure 5 The implementation of the above S120 is described with an example; Figure 5 As shown, the method includes S131, S132 and S133.

[0069] S131. When the movable cleaning device 110 is outside the door, the door leaf 210 of the target room is in a closed position, and the target room is not cleaned, the controller generates an opening instruction, which is used to control the driving component 121 to drive the door leaf 210 of the target room to rotate to the maximum opening position;

[0070] S132: When the movable cleaning device 110 is inside the door, the door leaf 210 of the target room is at the maximum open position, and the target room is not cleaned, the controller generates a closing instruction, which is used to control the driving component 121 to drive the door leaf 210 of the target room to rotate to the closed position;

[0071] S133 : When the movable cleaning device 110 is inside the door, the door leaf 210 of the target room is in the closed position, and the cleaning of the target room is completed, the controller generates an opening instruction.

[0072] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "upper", "lower", "left", "right", etc. indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the drawings. This is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0073] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A cleaning system, characterized in that: include: Mobile cleaning equipment; as well as, A door opening device, the door opening device is at least used to be connected to the door leaf, the door opening device is connected to the movable cleaning device, and can drive the door leaf to move relative to the door frame at least between a closed position and a first open position based on the position of the movable cleaning device relative to the door leaf and the position of the door leaf relative to the door frame, when the door leaf is in the first open position, the movable cleaning device can pass through the door frame, and the first open position is between the closed position and the maximum open position or equal to the maximum open position.

2. The cleaning system according to claim 1, wherein The movable cleaning device includes a first communication module, and the door opening device includes a second communication module, which is communicatively connected to the first communication module.

3. The cleaning system according to claim 2, wherein: Also includes: a first positioning module, the first positioning module being electrically connected to the first communication module, and the first positioning module being used to obtain the position of the movable cleaning device; A second positioning module, the second positioning module is electrically connected to the second communication module, and the second positioning module is used to obtain the position of the door leaf; and A controller is provided in the movable cleaning device or the door opening device, and the controller is electrically connected to the first positioning module, the second positioning module and the door opening device.

4. The cleaning system according to claim 1, wherein: The door opening device comprises: a transmission assembly for connecting to the door leaf; and A drive assembly is in transmission connection with the transmission assembly, and the drive assembly drives the door leaf to move between a closed position and a first open position relative to the door frame via the transmission assembly.

5. The door opening device according to claim 4, characterized in that: The drive assembly includes: drive member, and A clutch is connected to the driving member and the transmission assembly.

6. The door opening device according to claim 5, characterized in that: The drive assembly further includes: A detection member is connected to the driving member, and the detection member is used to detect the force value of the driving member.

7. The cleaning system according to claim 4, wherein: The transmission assembly comprises: a transmission member, in transmission connection with the drive assembly; and A connecting member is fixed to the transmission member and is used to connect with the door leaf.

8. The cleaning system according to claim 7, wherein: The transmission assembly further comprises: A buffer member has one end connected to the transmission member and the other end connected to the drive assembly.

9. The cleaning system according to claim 7, wherein: The transmission member is provided with a limiting groove, and the transmission assembly further comprises: The support member is positioned in the limiting groove and is rotatably connected to the transmission member. The driving assembly is used to drive the transmission member and the connecting member to rotate relative to the support member.

10. The cleaning system according to claim 9, wherein: The transmission assembly further comprises: a first limiting member fixed to a peripheral side of the transmission member; a second limiting member, fixed to the supporting member; Wherein, when the door leaf is at the maximum opening position, the first limiting member abuts against the second limiting member.

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