Systems and methods for charging cordless underwater pool-cleaning robots

Abstract

An electronic pool-cleaning system includes a power station configured for mounting on a pool deck or floating on a water surface, and a cordless pool-cleaning robot configured to perform cleaning operations on a pool bottom. When signal emitters and guidance sensors cause the power station and the pool-cleaning robot to align with each other, charging input and output devices dock with each other, allowing the power station to charge the pool-cleaning robot on the bottom of the pool while the power station is still mounted on the pool deck or floating on the water surface. Upon completion of charging, the charging input and output devices decouple from each other, and the pool-cleaning robot continues pool-cleaning operations.

Description

SYSTEMS AND METHODS FOR CHARGING CORDLESS UNDERWATER POOL-CLEANING ROBOTSRELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Application Serial No. 63 / 685,602, filed August 21, 2024, which is incorporated herein by reference.TECHNICAL FIELD

[0002] This application relates to charging and guiding systems for cordless underwater pool-cleaning robots.BACKGROUND

[0003] Traditional corded pool-cleaning robots rely on a power cord, which often leads to tangling and obstruction on the pool’s edge or surface, thereby restricting their effectiveness. On the other hand, cordless pool-cleaning robots, powered by batteries, mitigate cord entanglement issues, but are constrained by limited battery capacity. Consequently, they frequently run out of power before completing substantial cleaning tasks. They need to be manually retrieved from the water for lengthy recharging periods, and then be submerged into the pool again to resume cleaning, thus undermining their convenience.

[0004] The common practice for recharging cordless pool-cleaning robots often involves manual intervention. Typically, when the pool-cleaning robot is located near a wall at the bottom of the swimming pool, a user may employ a long hook to reach into the bottom of the pool, hook the pool-cleaning robot, and pull it out onto the pool deck for recharging by connecting it to a power source. However, this process can be cumbersome and timeconsuming, particularly for large pools, requiring multiple cycles of retrieval, recharging, and reinsertion into the pool. Moreover, the manual nature of the retrieval and recharging process introduces delays and inefficiencies. Users may struggle to retrieve the pool-cleaning robot promptly from the bottom of the pool for recharging, or encounter difficulties reintroducing the pool-cleaning robot into the pool for continuous cleaning, further impeding the pool cleaning process.SUMMARY

[0005] Based on the discussion above as well as other problems and disadvantages of the related art, there is a need for a system that can enable timely and automatic recharging of cordless pool-cleaning robots underwater without the need for manual intervention. Such a system can streamline the recharging process, eliminating the laborious tasks of retrieval,137587-5001-WO - 1 -recharging, and reinsertion, thereby allowing the pool-cleaning robot to seamlessly continue its underwater cleaning tasks once fully charged.

[0006] This disclosure describes an electronic pool-cleaning system comprising a power station located at the water surface or pool deck, and a cordless pool-cleaning robot located at the bottom of a swimming pool. The power station provides charging functionality to the cordless pool-cleaning robot while the pool-cleaning robot is located at the bottom of the swimming pool. The power station may comprise a power receiving module to accept external electrical energy, an optional power storage module, and a charging output device for providing electrical energy to charge the rechargeable battery of a cordless pool-cleaning robot. Corresponding to the charging function of the power station, the cordless pool-cleaning robot is equipped with a charging input device for receiving charging power. The power station may be fixed on the pool deck or floating on the water surface.

[0007] To enable the underwater pool-cleaning robot to access the charging service provided by the power station, the power station is capable of emitting signals into the swimming pool. These signals guide the pool-cleaning robot to a charging location, which may be situated at the bottom of the pool directly beneath the power station. To enable navigation of the cordless pool-cleaning robot to the charging location, the pool-cleaning robot utilizes sensors to detect external signals. The pool-cleaning robot then uses these signals for guidance and control, in coordination with onboard navigation devices, enabling autonomous arrival at the charging location.

[0008] When the cordless pool-cleaning robot reaches the charging location, the power station’s charging output device can be lowered from the power station to dock with the poolcleaning robot’s charging input device. Alternatively, the pool-cleaning robot’s charging input device can ascend from the pool-cleaning robot to dock with the power station’s charging output device. Once the power station’s charging output device and the poolcleaning robot’s charging input device are docked with each other, the power station can proceed to charge a power storage module inside the cordless pool-cleaning robot via the pool-cleaning robot’s charging input device.

[0009] Upon completion of the charging process, if the charging output device had initially been lowered from the power station, it may be raised back to and retrieved by the power station. Alternatively, if the charging input device had initially ascended from the pool-cleaning robot, it may be lowered back to and retrieved by the pool-cleaning robot. To enable the retrieving, the power station may include mechanisms for deploying and retracting137587-5001-WO - 2 -the charging output device, or the pool-cleaning robot may include mechanisms for deploying and retracting the charging input device.

[0010] This disclosure also describes a guidance system that may be used by a power station and / or an underwater pool-cleaning robot to position themselves with respect to one another to facilitate the charging process described above. A stationary device (comprising one of the power station and the pool-cleaning robot) may emit signals (such as photoelectric, acoustic, or RF signals) to guide a moving device (comprising the other of the power station and the pool-cleaning robot) to the charging location indicated by the stationary device. If necessary, the stationary device may further utilize signals to guide the alignment of the moving device with the stationary device. One of these two devices is located on the water surface or on the pool deck, and the other of these two devices is located underwater.

[0011] The guidance system utilizes multiple distinguishable signals to form a signal set. A signal emission module including one or more signal emitters of the stationary device emits the signal set. When a signal sensing module including one or more sensors of the moving device perceives the signal set, a processor and navigation module of the moving device control the movement of the moving device to reach an area indicated by the stationary device by perceiving and recognizing encoded information contained in the signal set. If needed, the signal set can further guide the alignment between the moving device and the stationary device.

[0012] The signal set may comprise multiple distinguishable signal sources categorized into a guidance signal set comprising one or more guidance signals, and an alignment signal set comprising one or more alignment signals. The guidance signal set may be the first signal set encountered by the moving device, and the area covered by the guidance signal set may form a guidance zone. When the moving device enters the guidance zone, it can receive guidance from the guidance signal set to enter a target zone indicated by the stationary device. After the moving device enters the target zone indicated by the stationary device, further guidance may be needed for the moving device to align with the stationary device. Within this target zone, an alignment signal set may further guide the moving device to align with the stationary device. The area covered by the alignment signal set may form an alignment zone.

[0013] The signal set comprising multiple distinguishable signal sources may be emitted by a signal emitter array. The signal emitter array may arrange multiple signal emitters into a configuration, allowing the signal set emitted by the signal emitter array to form a signal137587-5001-WO - 3 -coverage pattern that can guide the moving device based on the configuration of the signal emitter array. One or more signal emitter arrays may be installed on the stationary device to emit one or more signal sets, guiding the moving device to reach the target zone indicated by the stationary device.

[0014] The signal reception sensors installed on the moving device may be arranged into one or more sensor arrays based on the layout of the signal set(s) emitted by the signal emitter array(s). By detecting and recognizing the encoded information from different signal sources contained in the signal set(s) through the sensor array(s), the moving device may determine movement behavior (translation or rotation) and direction, which are used to control the movement of the moving device.BRIEF DESCRIPTION OF THE DRAWINGS

[0015] For a better understanding of the various described implementations, reference should be made to the Detailed Description below, in conjunction with the following drawings. Like reference numerals refer to corresponding parts throughout the drawings.

[0016] FIGS. 1 A-1B are block diagrams depicting a pool-cleaning system comprising a power station and a pool-cleaning robot in accordance with some implementations.

[0017] FIGS. 2A-2B are diagrams depicting a pool-cleaning robot being guided into a charging position under a fixed power station in accordance with some implementations.

[0018] FIGS. 3 A-3B are diagrams depicting a charging output device lowering from the fixed power station and coupling to a charging input device on the pool-cleaning robot in accordance with some implementations.

[0019] FIGS. 4A-4B are diagrams depicting a charging input device rising from the poolcleaning robot and coupling to a charging output device on the fixed power station in accordance with some implementations.

[0020] FIGS. 5A-5B are diagrams depicting a pool-cleaning robot being guided into a charging position under a floating power station in accordance with some implementations.

[0021] FIGS. 6A-6B are diagrams depicting a charging output device lowering from the floating power station and coupling to a charging input device on the pool-cleaning robot in accordance with some implementations.137587-5001-WO - 4 -

[0022] FIGS. 7A-7B are diagrams depicting a charging input device rising from the poolcleaning robot and coupling to a charging output device on the floating power station in accordance with some implementations.

[0023] FIGS. 8A-8B are diagrams depicting a self-propelled floating power station being guided into a charging position over a pool-cleaning robot in accordance with some implementations.

[0024] FIGS. 9-10 are perspective diagrams depicting a signal set emitted by a fixed power station and a floating power station, respectively, for guiding a pool-cleaning robot into a charging position in accordance with some implementations.

[0025] FIG. 11 is a perspective diagram depicting a signal set emitted by a pool-cleaning robot for guiding a floating power station into a charging position in accordance with some implementations.

[0026] FIGS. 12A-12F are overhead diagrams depicting an example guidance process in which a pool-cleaning robot is guided into a charging position by a signal set in accordance with some implementationsDETAILED DESCRIPTION

[0027] FIG. 1 A is a block diagram depicting a pool-cleaning system 100 in accordance with some implementations. The pool-cleaning system 100 comprises a power station 110 and a pool-cleaning robot 120.

[0028] The power station 110 (also referred to as a power supply station) may be arranged in a fixed configuration and / or in a floating configuration. In the fixed configuration, the power station 110 (referred to as a fixed power station) is physically coupled to the pool deck with at least a portion overhanging the side of the pool. In the floating configuration, the power station 110 (referred to as a floating power station) is decoupled from the pool deck and positioned on the surface of the pool, where it may either be a stationary floating object or integrated into a waterborne, self-propelled device. The power station 110 includes one or more processors 111, memory 112, an optional navigation module 113 (for the floating configuration), a power receiving module 114, one or more signal emitters 116 (also referred to as an emitter array), and a charging output device 118.

[0029] The processor(s) 111 include one or more central processing units (CPUs) or any other electronic circuitry configured to execute instructions comprising a computer program (e.g., the programs stored in the memory 112).137587-5001-WO - 5 -

[0030] The memory 112 includes a non-transitory computer readable storage medium, such as volatile memory (e.g., one or more random access memory devices) and / or nonvolatile memory (e.g., one or more flash memory devices, magnetic disk storage devices, optical disk storage devices, or other non-volatile solid state storage devices). The memory may include one or more storage devices remotely located from the processor(s). The memory stores programs (described herein as modules and corresponding to sets of instructions) that, when executed by the processor(s) 111, cause the power station 110 to perform functions as described herein. The modules and data described herein need not be implemented as separate programs, procedures, modules, or data structures. Thus, various subsets of these modules and data may be combined or otherwise rearranged in various implementations.

[0031] The navigation module 113 is included in some implementations of the floating configuration of the power station 110, and may include navigation hardware (e.g., motors, propellers, impellers, touch sensors, distance sensors, and so forth) and navigation software (e.g., programs configured to cause the hardware to maneuver the floating power station 110 across the pool surface and around walls and obstacles such as curves, stairs, and corners). The navigation module 113 may additionally or alternatively include stabilizing mooring and station keeping devices to maintain stability of the floating power station 110 on the water surface.

[0032] The power receiving module 114 is configured to accept one or more external electrical power sources. The power receiving module 114 comprises power conversion and storage circuitry coupled to a receptacle to accept electrical power from a corded power source (e.g., for the fixed power station configuration), and / or coupled to a solar array to harvest electrical power from the sun (e.g., for the floating power station configuration). The power receiving module 114 may optionally include a power storage module (e.g., a battery). The power receiving module 114 may accept electrical power from a corded power source regardless of whether the power station 110 is in the fixed or floating configuration, and may accept electrical power from a solar array regardless of whether the power station 110 is in the fixed or floating configuration.

[0033] The signal emitters 116 are configured to emit a pattern of guidance signals toward the bottom of the pool to guide the pool-cleaning robot 120 to a position where the pool-cleaning robot 120 can receive charging service from the power station 110 (referred to as the charging location or the charging position). The signal emitters 116 may emit137587-5001-WO - 6 -photoelectric signals or any other type of signal that can be emitted and sensed in an underwater environment, such as acoustic signals, radio frequency (RF) signals, laser signals, and so forth.

[0034] The charging output device 118 is configured to couple (dock) with a corresponding charging input device 128 on the pool-cleaning robot 120 and transmit electricity for the purpose of charging a power storage module 124 of the pool-cleaning robot 120. The charging output device 118 and the charging input device 128 may respectively comprise a plug and a receptacle, a receptacle and a plug, a first plug and a second plug, or any other combination of structures comprising electrical contacts configured to electrically couple to each other when the structures are docked to each other.

[0035] The pool-cleaning robot 120 is an underwater cordless self-propelled pool cleaning device that can be recharged while submerged in the water. The pool-cleaning robot 120 includes one or more processors 121, memory 122, a navigation module 123, a power storage module 124, a sensing module 126 (also referred to as a sensor array), and a charging input device 128.

[0036] The processor(s) 121 include one or more central processing units (CPUs) or any other electronic circuitry configured to execute instructions comprising a computer program (e.g., the programs stored in the memory 122).

[0037] The memory 122 includes a non-transitory computer readable storage medium, such as volatile memory (e.g., one or more random access memory devices) and / or nonvolatile memory (e.g., one or more flash memory devices, magnetic disk storage devices, optical disk storage devices, or other non-volatile solid state storage devices). The memory may include one or more storage devices remotely located from the processor(s). The memory stores programs (described herein as modules and corresponding to sets of instructions) that, when executed by the processor(s) 121, cause the pool-cleaning robot 120 to perform functions as described herein. The modules and data described herein need not be implemented as separate programs, procedures, modules, or data structures. Thus, various subsets of these modules and data may be combined or otherwise rearranged in various implementations.

[0038] The navigation module 123 includes navigation hardware (e.g., motors, propellers, impellers, touch sensors, distance sensors, and so forth) and navigation software (e.g., programs configured to cause the hardware to maneuver the pool-cleaning robot 120 across the bottom of the pool, walls, and stairs). The navigation module 123 may additionally or137587-5001-WO - 7 -alternatively include stabilizing mooring and station keeping devices to maintain stability of the pool-cleaning robot 120 underneath the water surface.

[0039] The power storage module 124 comprises storage circuitry (e.g., a battery) configured to store electrical power received from the power station 110 via the charging input device 128. Electrical power stored in the storage module 124 can be used to power the various systems of the pool-cleaning robot 120 (e.g., processors, motors, sensors, cleaning hardware, and so forth) while functioning to clean the pool.

[0040] The sensing module 126 comprises one or more guidance and / or alignment sensors that are configured to sense guidance and / or alignment signals emitted by the signal emitters 116 of the power station 110. The processor(s) 121 use the signals sensed by the sensing module 126 to control the navigation module 123 to move the pool-cleaning robot 120 to a position where the pool-cleaning robot 120 can receive charging service from the power station 110 (referred to as the charging location or the charging position). The sensing module 116 may sense photoelectric signals or any other type of signal that can be emitted and sensed in an underwater environment, such as acoustic signals, RF signals, laser signals, and so forth.

[0041] The charging input device 128 is configured to couple (dock) with a corresponding charging output device 118 on the power station 110 and receive electricity for the purpose of charging the power storage module 124 of the pool-cleaning robot 120. The charging output device 118 and the charging input device 128 may respectively comprise a plug and a receptacle, a receptacle and a plug, a first plug and a second plug, or any other combination of structures comprising electrical contacts configured to electrically couple to each other when the structures are docked to each other.

[0042] In some implementations, the charging output device 118 is deployable and retractable, and the charging input device 128 is fixed to the pool-cleaning robot (as described below with reference to FIGS. 3A-3B and 6A-6B). In some implementations, the charging output device 118 is fixed to the power station 110, and the charging input device 128 is deployable and retractable (as described below with reference to FIGS. 4A-4B and 7A- 7B). In some implementations, both the charging output device 118 and the charging input device 128 are deployable and retractable.

[0043] FIG. IB is a block diagram depicting a pool-cleaning system 102 in accordance with some implementations. The pool-cleaning system 102 comprises a floating power station 110 (with a navigation module 113) and a pool-cleaning robot 120 as described above137587-5001-WO - 8 -with reference to system 100 in FIG. 1A. However, in system 102, the pool-cleaning robot 120 includes the signal emitter(s) 116 and the power station 110 includes the sensing module 126. All other components and aspects of system 102 are similar to those described above with reference to corresponding labels in system 100. System 100 (FIG. 1 A), in which the power station 110 is the stationary device and the pool-cleaning robot 120 is the moving device during the guidance process, is described in more detail below with reference to FIGS. 2A-7B, 9-10, and 12A-12F. System 102 (FIG. IB), in which the power station 110 is the moving device and the pool-cleaning robot 120 is the stationary device during the guidance process, is described in more detail below with reference to FIGS. 8A-8B and 11.

[0044] FIGS. 2A-4B and 5A-7B are diagrams depicting a pool-cleaning robot 120 being guided into a charging position under a power station 110 in accordance with some implementations. References to a “power station 110” in the following discussion apply equally to a fixed power station 110 located on the pool deck 201 (as depicted in FIGS. 2A- 4B) and a floating power station 110 located on the water surface 202 (as depicted in FIGS. 5A-7B).

[0045] Referring to FIGS 2A-2B (fixed power station) and 5 A-5B (floating power station), the signal emitter 116 of the power station 110 emits signals (e.g., photoelectric signals) toward the bottom of the swimming pool to guide the pool-cleaning robot 120 to a position where the pool-cleaning robot 120 can receive charging service from the power station 110. In some implementations, these signals serve a dual function: guidance and alignment. One or more guidance signals 204 cover a guidance area, and one or more alignment signals 206 cover an alignment area smaller than the guidance area. The guidance signals 204 allow the pool-cleaning robot 120 to perceive, via the sensing module 126, whether the pool-cleaning robot 120 has entered the guidance area, in which the power station 110 can control and guide the pool-cleaning robot 120. In the guidance area, the poolcleaning robot 120 can further receive guidance from the guidance signals 204 to enter the alignment area, in which the pool-cleaning robot 120 can receive the alignment signals 206. The alignment signals 206 guide the pool-cleaning robot 120 on the bottom of the pool, aligning the charging input device 128 on the pool-cleaning robot 120 with the charging output device 118 on the power station 110 for subsequent docking and charging. The charging output device 118 on the power station 110 can be located above or below the water surface 202.137587-5001-WO - 9 -

[0046] The guidance and alignment signal emitters 116 are not limited to being simultaneously installed on the charging output device 118 of the power station 110. The signal emitters 116 can additionally or alternatively be installed on the main body of the power station 110 simultaneously, or one or more signal emitters 116 can be installed on the charging output device 118 and one or more signal emitters 116 can be installed on the main body of the power station 110. Likewise, the guidance and alignment signal sensors of the sensing module 126 are not limited to being simultaneously installed on the charging input device 128 of the pool-cleaning robot 120. The signal sensors can additionally or alternatively be installed on the main body of the pool-cleaning robot 120 simultaneously, or one or more signal sensors can be installed on the charging input device 128 and one or more signal sensors can be installed on the main body of the pool-cleaning robot 120.

[0047] Referring to FIGS. 3A-3B (fixed power station) and 6A-6B (floating power station), in some implementations, the charging output device 118 is a deployable and retractable device that lowers from the power station 110 and couples to (docks with) the charging input device 128 on the pool-cleaning robot 120 during a charging operation, and then decouples (undocks) and retracts back to the power station 110 when charging is complete. Specifically, once both the power station 110 and the pool-cleaning robot 120 confirm alignment between the charging output device 118 and the charging input device 128, the power station 110 releases (deploys) the charging output device 118, which descends from the power station 110 to couple to the charging input device 128. The charging output device 118 is coupled to an electric power transmission line 304, which connects the charging output device 118 to the power station 110. The power transmission line 304 may be a flexible cable or any other conduit suitable for safe transmission of electricity in an aquatic environment. In this configuration, the charging output device 118 has negative buoyancy, allowing it to sink toward the bottom of the pool. A flexible cable can be operated using a release and retract mechanism 302 (e.g., a winch) included in the power station 110 to release and control the descent of the charging output device 118 or retract and control its ascent. Alternatively, the electric power transmission line 304 can be a rigid and extendable structure, allowing the charging output device 118 to descend or ascend. In this configuration, the charging output device 118 may not necessarily require negative buoyancy. When the charging output device 118 makes contact and couples to the charging input device 128, the power station 110 may commence charging of the pool-cleaning robot 120 by delivering electricity received by the power receiving module 114 to the charging input device 128 of the pool-cleaning robot 120 using the charging output device 118. When charging is137587-5001-WO - 10 -complete, the release and retract mechanism 302 retrieves the charging output device 118, causing the charging output device 118 to retract back to the power station 110.

[0048] Referring to FIGS. 4A-4B (fixed power station) and 7A-7B (floating power station), in some implementations, the charging input device 128 is a deployable and retractable device that rises from the pool-cleaning robot 120 and couples to (docks with) the charging output device 118 on the power station 110 during a charging operation, and then decouples (undocks) and retracts back to the pool-cleaning robot 120 when charging is complete. Specifically, in this alternative or additional implementation, once both the power station 110 and the pool-cleaning robot 120 confirm alignment between the charging output device 118 and the charging input device 128, the pool-cleaning robot 120 releases (deploys) the charging input device 128, which ascends from the pool-cleaning robot 120 to couple to the charging output device 118, which is positioned below the water surface 202. The charging input device 128 is coupled to an electric power transmission line 304, which connects the charging input device 128 to the pool-cleaning robot 120. The power transmission line 304 may be a flexible cable or any other conduit suitable for safe transmission of electricity in an aquatic environment. In this configuration, the charging input device 128 has positive buoyancy, allowing it to float towards the water surface 202. A flexible cable can be operated using release and retract mechanism (e.g., a winch) included in the pool-cleaning robot 120 to release and control the ascent of the charging input device 128 or retract and control its descent. Alternatively, the electric power transmission line 304 can be a rigid and extendable structure, allowing the charging input device 128 to ascend or descend. In this configuration, the charging input device 128 may not necessarily require positive buoyancy. When the charging input device 128 makes contact and couples to the charging output device 118, the power station 110 may commence charging of the poolcleaning robot 120 by delivering electricity received by the power receiving module 114 to the charging input device 128 of the pool-cleaning robot 120 using the charging output device 118. When charging is complete, the release and retract mechanism of the pool-cleaning robot 120 retrieves the charging input device 128, causing the charging input device 128 to retract back to the pool-cleaning robot 120.

[0049] FIGS. 8A-8B are diagrams depicting a self-propelled floating power station 110 being guided into a charging position over a pool-cleaning robot 120 in accordance with some implementations. When the floating power station 110 is self-propelled, it can autonomously travel to position itself above the pool-cleaning robot 120 stationed at the bottom of the pool to provide charging service. In this scenario, the pool-cleaning robot 120137587-5001-WO - 11 -comprises one or more signal emitters (functionally equivalent to the signal emitter(s) 116 described above), and the floating power station 110 comprises a sensing module (functionally equivalent to the sensing module 126 described above). Stated another way, in this alternative implementation, the signal emitter(s) 116 and the sensing module 126 are switched, with the signal emitter(s) being included in the pool-cleaning robot 120 and the sensing module being included in the power station 110.

[0050] Referring to FIGS 8A-8B, the signal emitter 116 of the pool-cleaning robot 120 emits signals (e.g., photoelectric signals) upward toward the water surface 202 to guide the floating power station 110 to a position above the pool-cleaning robot 120 where the floating power station 110 can provide charging service to the pool-cleaning robot. These signals serve a dual function: guidance and alignment. One or more guidance signals 204 cover a guidance area, and one or more alignment signals 206 cover an alignment area smaller than the guidance area. The guidance signals 204 allow the floating power station 110 to perceive, via the sensing module 126, whether the floating power station 110 has entered the guidance area, in which the pool-cleaning robot 120 can control and guide the floating power station 110. In the guidance area, the floating power station 110 can further receive guidance from the guidance signals 204 to enter the alignment area, in which the floating power station 110 can receive the alignment signals 206. The alignment signals 206 guide the floating power station 110 on the water surface 202, aligning the charging input device 128 on the poolcleaning robot 120 with the charging output device 118 on the floating power station 110 for subsequent docking and charging. The charging output device 118 on the floating power station 110 can be located above or below the water surface 202.

[0051] The guidance and alignment signal emitters 116 are not limited to being simultaneously installed on the charging input device 128 of the pool-cleaning robot 120. The signal emitters 116 can additionally or alternatively be installed on the main body of the poolcleaning robot 120 simultaneously, or one or more signal emitters 116 can be installed on the charging input device 128 and one or more signal emitters 116 can be installed on the main body of the pool-cleaning robot 120. Likewise, the guidance and alignment signal sensors of the sensing module 126 are not limited to being simultaneously installed on the charging output device 118 of the floating power station 110. The signal sensors can additionally or alternatively be installed on the main body of the floating power station 110 simultaneously, or one or more signal sensors can be installed on the charging output device 118 and one or more signal sensors can be installed on the main body of the floating power station 110.137587-5001-WO - 12 -

[0052] When the floating power station 110 is aligned with the pool-cleaning robot 120, the charging output device 118 on the floating power station 110 can descend to dock with the charging input device 128 on the pool-cleaning robot 120 (as depicted in FIGS. 6A-6B), or the charging input device 128 on the pool-cleaning robot 120 can ascend to dock with the charging output device 118 on the power station 110 (as depicted in FIGS. 7A-7B). When the charging output device 118 and the charging input device 128 make contact and couple to each other, the power station 110 may commence charging of the pool-cleaning robot 120 by delivering electricity received by the power receiving module 114 to the charging input device 128 of the pool-cleaning robot 120 using the charging output device 118. When charging is complete, the charging output device 118 may be retrieved by the power station 110, or the charging input device 128 may be retrieved by the pool-cleaning robot 120.

[0053] FIGS. 9-10 are perspective diagrams depicting a signal set 902 emitted by a fixed power station 110 and a floating power station 110, respectively, for guiding a pool-cleaning robot 120 into a charging position in accordance with some implementations. References to a “power station 110” in the following discussion apply equally to a fixed power station 110 located on the pool deck 201 (as depicted in FIG. 9) and a floating power station 110 located on the water surface 202 (as depicted in FIG. 10).

[0054] Referring to FIGS. 9-10, the power station 110 is stationary relative to the moving pool-cleaning robot 120 (and thus may be referred to as a stationary device), regardless of its configuration as a fixed or floating power station, and the pool-cleaning robot 120 moves relative to the stationary power station 110 (and thus may be referred to as a moving device). The power station 110, while located in a stationary position on the pool deck 201 or on the water surface 202, emits a signal set 902 underwater to guide the pool-cleaning robot 120 to move to a location capable of implementing docking and charging (referred to as the target zone 906). When the pool-cleaning robot 120 reaches the target zone 906, the charging output device 118 on the power station 110 can descend to dock with the charging input device 128 on the pool-cleaning robot 120 (as depicted in FIGS. 3 A-3B or 6A-6B), or the charging input device 128 on the pool-cleaning robot 120 can ascend to dock with the charging output device 118 on the power station 110 (as depicted in FIGS. 4A-4B or 7A-7B).

[0055] The signal emitters of the signal emitter array 116 emit a signal set 902 composed of multiple distinguishable signal sources toward the bottom of the pool. The signal emitters of the signal emitter array 116 can be installed on the body of the power station 110, or on the body of the charging output device 118, or some installed on the body of the power station137587-5001-WO - 13 -110 (e.g., guidance signal emitter array) and some installed on the body of the charging output device 118 (e.g., alignment signal emitter array).

[0056] The area covered by the signal set 902 emitted from the signal emitter array 116 may include two types of zones based on their functional emphasis: the guidance zone 904 covered by the guidance signal set 204, and the target zone 906 covered by the alignment signal set 206. The target zone 906 may sometimes be referred to as the alignment zone. Alternatively, the target zone 906 may comprise an alignment zone located within the target zone 906 (e.g., the target zone 906 may comprise area ABC in FIGS. 12A-12F, while the alignment zone may comprise area D in FIGS. 12A-12F).

[0057] Within the guidance zone 904, each signal in the guidance signal set 204 has its own identification. These signals, when arranged and emitted in the guidance zone 904, form a guidance signal coverage pattern 908. The pool-cleaning robot 120 receives guidance from the guidance signal coverage pattern 908 to enter the target zone 906 indicated by the power station 110. If the pool-cleaning robot 120 in the target zone 906 needs to further align its charging input device 128 with the charging output device 118 of the power station 110 for docking and charging, the power station 110 can emit an alignment signal set 206 to form an alignment zone (also referred to as an alignment area) within the target zone 906. Alternatively, the target zone 906 may be the alignment zone. Each signal in the alignment signal set 206 has its own identification. These signals, when arranged and emitted in the target zone 906 (or the alignment zone), form an alignment signal coverage pattern.

[0058] The pool-cleaning robot 120 receives guidance from the alignment signal coverage pattern to align its charging input device 128 with the charging output device 118 of the power station 110. The alignment signal set 206 can be emitted simultaneously with the guidance signal set 204 or emitted after the pool-cleaning robot 120 enters the target zone 906 to guide the alignment action of the pool-cleaning robot 120.

[0059] The sensors of the sensor array 126 used by the pool-cleaning robot 120 to detect the signal set 902 can be installed on the body of the pool-cleaning robot 120, or on the body of the charging input device 128, or some installed on the body of the pool-cleaning robot 120 (e.g., guidance sensor array) and some installed on the body of the charging input device 128 (e.g., alignment sensor array).

[0060] When one or more guidance sensors of the sensing module 126 of the poolcleaning robot 120 detect a guidance signal 204 in the guidance zone 904, the processor 121 of the pool-cleaning robot 120 determines a new direction of travel for the pool-cleaning137587-5001-WO - 14 -robot 120 based on (i) the identifications of the detected guidance signals 204, and (ii) the spatial relationship between the detected guidance signals 204 and the guidance signal coverage pattern 908. Then, the processor 121 issues a motion command to the navigation module 123 causing the pool-cleaning robot 120 to travel in the new direction. As the poolcleaning robot 120 travels in the new direction, if one or more guidance sensors of the sensing module 126 detect another guidance signal 204, the processor 121 re-evaluates the direction in which the pool-cleaning robot is traveling based on (i) the identifications of the detected guidance signals 204, and (ii) the spatial relationship between the detected guidance signals 204 and the guidance signal coverage pattern 908. Subsequently, the processor 121 issues a new motion command to the navigation module 123 causing the pool-cleaning robot 120 to travel in another direction. This navigation process continues until at least a predetermined threshold of guidance sensors of the sensing module 126 detect alignment signals 206 corresponding to the target zone 906, at which point the processor 121 may issue a command to the navigation module 123 causing the pool-cleaning robot 120 to stop traveling, or the processor 121 may issue further commands to the navigation module 123 to perform alignment operations as described below.

[0061] In the target zone 906, one or more alignment sensors of the sensing module 126 of the pool-cleaning robot 120 detect the alignment signals 206. The processor 121 determines a new movement behavior (translation or rotation) for the pool-cleaning robot 120 based on (i) the identifications of the detected alignment signals 206, and (ii) the spatial relationship between the detected alignment signals 206 and the alignment signal coverage pattern. Then, the processor 121 issues a motion command to the navigation module 123 causing the pool-cleaning robot 120 to perform the new movement behavior (translation or rotation). As the pool-cleaning robot 120 performs the new movement behavior, if one or more alignment sensors of the sensing module 126 detect another alignment signal 206, the processor 121 re-evaluates the movement behavior of the pool-cleaning robot 120 based on (i) the identifications of the detected alignment signals 206, and (ii) the spatial relationship between the detected alignment signals 206 and the alignment signal coverage pattern. Subsequently, the processor 121 issues a new motion command to the navigation module 123 causing the pool-cleaning robot 120 to perform another movement behavior. This alignment process continues until at least a predetermined threshold of alignment sensors of the sensing module 126 detect alignment signals 206 within the target zone 906, at which point the processor 121 issues a command to the navigation module 123 causing the pool-cleaning robot 120 to stop moving.137587-5001-WO - 15 -

[0062] FIG. 11 is a perspective diagram depicting a signal set 902 emitted by a poolcleaning robot 120 for guiding a floating power station 110 into a charging position in accordance with some implementations.

[0063] Referring to FIG. 11, the pool-cleaning robot 120 is stationary relative to the moving floating power station 110 (and thus may be referred to as a stationary device), and the floating power station 110 moves relative to the stationary pool-cleaning robot 120 (and thus may be referred to as a moving device). The pool-cleaning robot 120, while located in a stationary position on the bottom of the pool, emits a signal set 902 toward the water surface 202 to guide the floating power station 110 to move to a location capable of implementing docking and charging (referred to as the target zone 906). When the floating power station 110 reaches the target zone 906, the charging output device 118 on the floating power station 110 can descend to dock with the charging input device 128 on the pool-cleaning robot 120 (as depicted in FIGS. 6A-6B), or the charging input device 128 on the pool-cleaning robot 120 can ascend to dock with the charging output device 118 on the floating power station 110 (as depicted in FIGS. 7A-7B).

[0064] The signal emitters of the signal emitter array 116 emit a signal set 902 composed of multiple distinguishable signal sources toward the bottom of the pool. The signal emitters of the signal emitter array 116 can be installed on the body of the pool-cleaning robot 120, or on the body of the charging input device 128, or some installed on the body of the poolcleaning robot 120 (e.g., guidance signal emitter array) and some installed on the body of the charging input device 128 (e.g., alignment signal emitter array).

[0065] The area covered by the signal set 902 emitted from the signal emitter array 116 may include two types of zones based on their functional emphasis: the guidance zone 904 covered by the guidance signal set 204, and the target zone 906 covered by the alignment signal set 206.

[0066] Within the guidance zone 904, each signal in the guidance signal set 204 has its own identification. These signals, when arranged and emitted in the guidance zone 904, form a guidance signal coverage pattern 908. The floating power station 110 receives guidance from the guidance signal coverage pattern 908 to enter the target zone 906 indicated by the pool-cleaning robot 120. If the floating power station 110 in the target zone 906 needs to further align its charging output device 118 with the charging input device 128 of the poolcleaning robot 120 for docking and charging, the pool-cleaning robot 120 can emit an alignment signal set 206 to form an alignment zone (also referred to as an alignment area)137587-5001-WO - 16 -within the target zone 906. Alternatively, the target zone 906 may be the alignment zone. Each signal in the alignment signal set 206 has its own identification. These signals, when arranged and emitted in the target zone 906 (or the alignment zone), form an alignment signal coverage pattern.

[0067] The floating power station 110 receives guidance from the alignment signal coverage pattern to align its charging output device 118 with the charging input device 128 of the pool-cleaning robot. The alignment signal set 206 can be emitted simultaneously with the guidance signal set 204 or emitted after the floating power station 110 enters the target zone 906 to guide the alignment action of the floating power station 110.

[0068] The sensors of the sensor array 126 used by the floating power station 110 to detect the signal set 902 can be installed on the body of the floating power station 110, or on the body of the charging output device 118, or some installed on the body of the floating power station 110 (e.g., guidance sensor array) and some installed on the body of the charging output device 118 (e.g., alignment sensor array).

[0069] When one or more guidance sensors of the sensing module 126 of the floating power station 110 detect a guidance signal 204 in the guidance zone 904, the processor 111 of the floating power station 110 determines a new direction of travel for the floating power station 110 based on (i) the identifications of the detected guidance signals 204, and (ii) the spatial relationship between the detected guidance signals 204 and the guidance signal coverage pattern 908. Then, the processor 111 issues a motion command to the navigation module 113 causing the floating power station 110 to travel in the new direction. As the floating power station 110 travels in the new direction, if one or more guidance sensors of the sensing module 126 detect another guidance signal 204, the processor 111 re-evaluates the direction in which the floating power station 110 is traveling based on (i) the identifications of the detected guidance signals 204, and (ii) the spatial relationship between the detected guidance signals 204 and the guidance signal coverage pattern 908. Subsequently, the processor 111 issues a new motion command to the navigation module 113 causing the floating power station 110 to travel in another direction. This navigation process continues until at least a predetermined threshold of guidance sensors of the sensing module 126 detect alignment signals 206 corresponding to the target zone 906, at which point the processor 111 may issue a command to the navigation module 113 causing the floating power station 110 to stop traveling, or the processor 111 may issue further commands to the navigation module 113 to perform alignment operations as described below.137587-5001-WO - 17 -

[0070] In the target zone 906, one or more alignment sensors of the sensing module 126 of the floating power station 110 detect the alignment signals 206. The processor 111 determines a new movement behavior (translation or rotation) for the floating power station 110 based on (i) the identifications of the detected alignment signals 206, and (ii) the spatial relationship between the detected alignment signals 206 and the alignment signal coverage pattern. Then, the processor 111 issues a motion command to the navigation module 113 causing the floating power station 110 to perform the new movement behavior (translation or rotation). As the floating power station 110 performs the new movement behavior, if one or more alignment sensors of the sensing module 126 detect another alignment signal 206, the processor 111 re-evaluates the movement behavior of the floating power station 110 based on (i) the identifications of the detected alignment signals 206, and (ii) the spatial relationship between the detected alignment signals 206 and the alignment signal coverage pattern.Subsequently, the processor 111 issues a new motion command to the navigation module 113 causing the floating power station 110 to perform another movement behavior. This alignment process continues until at least a predetermined threshold of alignment sensors of the sensing module 126 detect alignment signals 206 within the target zone 906, at which point the processor 111 issues a command to the navigation module 113 causing the floating power station 110 to stop moving.

[0071] FIGS. 12A-12F are overhead diagrams depicting an example guidance and alignment process in which a pool-cleaning robot 120 is guided into a charging position by a signal set emitted by a power station (e.g., a fixed power station 110 located on the pool deck 201 as depicted in FIGS. 2A-4B and 9, or a floating power station 110 located on the water surface 202 as depicted in FIGS. 5A-7B and 10). In this example, the pool-cleaning robot 120 is the moving device and the power station that emits the signal set (to guide and align the pool-cleaning robot 120) is the stationary device. In other examples, the power station is the moving device and it is guided and aligned by the signal set emitted by the pool-cleaning robot 120 as the stationary device (as depicted in FIGS. 8A-8B and 11).

[0072] This example corresponds to the disclosure above with reference to FIGS. 2A-2B, 5A-5B, 9, and 10. In this example: the signal set (902 in FIGS. 9-10) projects to circles A, B, C, and D; the guidance signals (204 in FIGS. 9-10) project to circles A, B, and C; the alignment signal (206 in FIGS. 9-10) projects to circle D; the guidance zone (904 in FIGS. 9- 10) includes the area inside circles A, B, and C; the target zone (906 in FIGS. 9-10) includes the area in which all three circles A, B, and C intersect (area ABC); the guidance signal coverage pattern (908 in FIGS. 9-10) is designated by the borders of circles A, B, and C; and137587-5001-WO - 18 -the alignment signal coverage pattern is designated by the border of circle D. Thus, the target zone comprises area ABC, and the alignment zone comprises area D.

[0073] In other examples, both the target zone and the alignment zone may comprise area ABC, or both the target zone and the alignment zone may comprise area D, or there may be only a target zone (comprising area ABC or comprising area D only) and no alignment zone, or there may be only an alignment zone (comprising area ABC or comprising area D only) and no target zone.

[0074] In this example, the pool-cleaning robot 120 (the moving device) enters the guidance zone A and receives guidance from the guidance signals to move into the alignment zone D. The guidance signal coverage pattern comprises three circles (A, B, and C), with each circle hosting a guidance signal coverage, and each guidance signal having its own distinct identification. The three guidance signals (a guidance signal set) are emitted by an array of three guidance signal emitters (116 in FIGS. 9-10) arranged to form the coverage pattern (circles A, B, and C). In this implementation, the signal coverage pattern formed by the combination of circles A, B, and C can be divided into regions based on the intersections of the circles, namely, non-intersecting regions, regions where two circles intersect, and regions where all three circles intersect. Using letters A, B, and C to represent the identifications of these three guidance signals, the identifications for the non-intersecting regions are A, B, and C; the identifications for the regions in which two circles intersect are AB, BC, and AC; and the identifications for the region in which all three circles intersect is ABC, which is the target zone. In this example, there is another signal emitter emitting an alignment signal in the target zone, represented by the letter D as its identification and forming an alignment zone (D) within the target zone (ABC). In this example, the guidance sensor array comprises a first subset of guidance sensors (guidance sensor array 126a) and a second subset of guidance sensors (guidance sensor array 126b).

[0075] In this example, the straight-forward direction of the pool-cleaning robot 120 is considered the X-axis (denoted by an X), the center of the charging input device 128 on the pool-cleaning robot 120 is considered the origin O, and a line passing through the origin O, pointing to the right of the pool-cleaning robot 120 and perpendicular to the X-axis is considered the Y-axis (denoted by a Y). These axes establish a Cartesian coordinate system with four quadrants. In this example, one guidance signal sensor is deployed in each of the four quadrants, and each sensor can recognize identifications of all guidance signals (A, B, C, and D).137587-5001-WO - 19 -

[0076] Referring to FIG. 12A, the moving pool-cleaning robot 120 first enters Area A. The guidance signal sensor in the second quadrant of the pool-cleaning robot 120 detects the guidance signal with the identification of A, and the processor 121 of the pool-cleaning robot 120 identifies it as such. However, the guidance signal sensors in the first, third, and fourth quadrants do not detect any guidance signals. Therefore, the processor 121 of the poolcleaning robot 120 determines that moving toward the second quadrant of the pool-cleaning robot 120 will lead to the target zone. Consequently, the processor 121 commands the navigation module 123 to cause the pool-cleaning robot 120 to turn left by an angle a and then proceed straight.

[0077] Referring to FIG. 12B, the pool-cleaning robot 120 continues straight until encountering Area AB. The guidance signal sensor in the second quadrant of the poolcleaning robot 120 detects guidance signals with identifications A and B simultaneously, while the guidance signal sensors in the first, third, and fourth quadrants only detect a guidance signal with the identification A. According to the guidance signal coverage pattern, Area AB is closer to the target zone than Area A. Therefore, the processor 121 of the poolcleaning robot 120 determines that moving toward the second quadrant of the pool-cleaning robot 120 will lead to the target zone. Consequently, the processor 121 commands the navigation module 123 to cause the pool-cleaning robot 120 to turn left by an angle P and then proceed straight.

[0078] Referring to FIG. 12C, the pool-cleaning robot 120 continues straight until encountering Area ABC. The guidance signal sensor in the second quadrant of the poolcleaning robot 120 simultaneously detects guidance signals with identifications A, B, and C, while the guidance signal sensors in the first, third, and fourth quadrants simultaneously detect guidance signals with identifications A and B. According to the guidance signal coverage pattern, the target zone is Area ABC. Therefore, the processor 121 of the poolcleaning robot 120 determines that moving toward the second quadrant of the pool-cleaning robot 120 will lead further into the target zone. Consequently, the processor 121 commands the navigation module 123 to cause the pool-cleaning robot 120 to turn left by an angle y and then proceed straight.

[0079] Referring to FIG. 12D, the pool-cleaning robot 120 continues straight until the guidance signal sensors in all four quadrants simultaneous detect guidance signals with identifications A, B, and C. At this point, the charging input device 128 of the pool-cleaning robot 120 is positioned within the target zone.137587-5001-WO - 20 -

[0080] In this example, the charging input device 128 of the pool-cleaning robot 120 is equipped with an alignment sensor array 126b. The configuration of this alignment sensor array consists of one alignment sensor in each of the four quadrants. In some implementations, each alignment sensor can only detect the alignment signal with the identification D. In some implementations, each alignment sensor can detect the guidance signals and the alignment signal, with the processor 121 only acting on alignment signal detections. In some implementations, there is only one sensor array 126, and each sensor in the sensor array 126 can detect both guidance and alignment signals. In this example, when all four alignment sensors enter Area D covered by the alignment signal, alignment is achieved.

[0081] Referring to FIG. 12E, the alignment sensors in the second and third quadrants have completely entered the coverage area of alignment signal D, while the alignment sensors in the first and fourth quadrants have only partially entered the coverage area of alignment signal D. Consequently, the alignment sensors in the second and third quadrants receive the full power of the alignment signal (or detect a threshold of power), while the alignment sensors in the first and fourth quadrants receive only partial power of the alignment signal (or do not detect a threshold of power). This means that the intensity of the alignment signal received by the sensors in the second and third quadrants is greater than the intensity of the alignment signal received by the sensors in the first and fourth quadrants. Therefore, the processor 121 of the pool-cleaning robot 120 determines that moving in the negative Y-axis direction will bring all alignment sensors into the alignment zone D. Consequently, the processor 121 commands the navigation module 123 to cause the pool-cleaning robot 120 to turn left by an angle 5 and proceed forward.

[0082] Referring to FIG. 12F, once the alignment sensors in all four quadrants receive alignment signals 206 of equal intensity (or they all detect a threshold of power), the processor 121 of the pool-cleaning robot 120 determines that all four alignment sensors have entered the coverage area of alignment signal D (defining the alignment zone), indicating that the charging input device 128 of the pool-cleaning robot 120 has reached a state of alignment. Consequently, the processor 121 commands the navigation module 123 to cause the poolcleaning robot 120 to stop moving. At this time, charging activities as described above with reference to FIGS. 3A-3B, 4A-4B, 6A-6B, or 7A-7B may commence.

[0083] In some implementations, the guidance signal coverage pattern may include fewer than three or more than three circles. In some implementations, the alignment signal coverage137587-5001-WO - 21 -pattern may include more than one circle. In some implementations, there may be more than two guidance signal coverage patterns, each including one or more circle. In some implementations, there may be more than two alignment signal coverage patterns, each including one or more circle. In some implementations, there may be zero alignment signal coverage patterns. In some implementations, the signals included in the guidance signal coverage pattern and / or the alignment signal coverage pattern may encompass shapes other than circles.

[0084] Reference have been made in detail to various implementations, examples of which are illustrated in the accompanying drawings. In the above detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention and the described implementations. However, the invention may be practiced without these specific details. In other instances, well-known methods, procedures, components, and circuits have not been described in detail so as not to unnecessarily obscure aspects of the implementations.

[0085] It will be understood that, although the terms “first,” “second,” etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first device could be termed a second device, and, similarly, a second device could be termed a first device, without changing the meaning of the description, so long as all occurrences of the first device are renamed consistently and all occurrences of the second device are renamed consistently. The first device and the second device are both devices, but they are not the same device.

[0086] The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the claims. As used in the description of the implementations and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. For example, “A, B, and / or C” means: A only; B only; C only; A and B; A and C; B and C; or A, B, and C. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one137587-5001-WO - 22 -or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0087] As used herein, the term “if’ may be construed to mean “when” or “upon” or “in response to determining” or “in accordance with a determination” or “in response to detecting,” that a stated condition precedent is true, depending on the context. Similarly, the phrase “if it is determined [that a stated condition precedent is true]” or “if [a stated condition precedent is true]” or “when [a stated condition precedent is true]” may be construed to mean “upon determining” or “in response to determining” or “in accordance with a determination” or “upon detecting” or “in response to detecting” that the stated condition precedent is true, depending on the context.

[0088] The foregoing description, for purpose of explanation, has been described with reference to specific implementations. However, the illustrative discussions above are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in view of the above teachings. The implementations were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best utilize the invention and various implementations with various modifications as are suited to the particular use contemplated.137587-5001-WO - 23 -

Claims

CLAIMSWhat is claimed is:

1. An electronic pool-cleaning system comprising: a power station configured for mounting on a pool deck or floating on a water surface, the power station including: one or more first processors and memory, a plurality of signal emitters, and a charging output device; a cordless pool-cleaning robot configured to perform cleaning operations on a pool bottom, the pool-cleaning robot including: one or more second processors and memory, a plurality of guidance sensors, a charging input device, and a power storage module; wherein the one or more first processors and memory store one or more power station programs for execution by the one or more first processors, the one or more power station programs including instructions that cause the one or more first processors to: cause the plurality of signal emitters to transmit a signal set toward a target zone at the pool bottom underneath the power station; cause the charging output device to dock with the charging input device upon confirming that the pool-cleaning robot is in the target zone; and cause the charging output device to transmit a charging current to the poolcleaning robot through the charging input device; the one or more second processors and memory store one or more robot programs for execution by the one or more second processors, the one or more robot programs including instructions that cause the one or more second processors to: cause the plurality of guidance sensors to receive one or more signals of the signal set transmitted by the plurality of signal emitters of the power station; direct the pool-cleaning robot to the target zone at the pool bottom based on the received one or more signals; and cause the charging current received through the charging input device to charge the power storage module.

2. The electronic pool-cleaning system of claim 1, wherein: the charging input device is fixed to the pool-cleaning robot; and the one or more power station programs further include instructions that cause the one or more first processors to: cause the charging output device to descend toward the pool bottom, enabling the charging output device to dock with the charging input device; and when charging of the power storage module is complete, cause the charging output device to ascend back to the power station.137587-5001-WO - 24 -3. The electronic pool-cleaning system of claim 1, wherein: the charging output device is fixed to the power station; and the one or more robot programs further include instructions that cause the one or more second processors to: cause the charging input device to ascend toward the water surface, enabling the charging output device to dock with the charging input device; and when charging of the power storage module is complete, cause the charging input device to descend back to the pool-cleaning robot.

4. The electronic pool-cleaning system of claim 1, wherein: the one or more robot programs further include instructions that cause the one or more second processors to: identify the one or more signals received from the plurality of guidance sensors; and direct the pool-cleaning robot to the target zone based on the identity of the received one or more signals.

5. The electronic pool-cleaning system of claim 4, wherein: the signal set includes a plurality of guidance signals that respectively correspond to a plurality of areas forming a guidance signal coverage pattern, with the target zone corresponding to a convergence of each of the plurality of areas; and the one or more robot programs further include instructions that cause the one or more second processors to: determine a current area of the plurality of areas forming the guidance signal coverage pattern in which the pool-cleaning robot is located based on the identity of the received one or more signals; determine an angle of rotation based on the current area; and cause the pool-cleaning robot to rotate and proceed toward the target zone according to the angle of rotation.

6. The electronic pool-cleaning system of claim 5, wherein: the signal set further includes a plurality of alignment signals that respectively correspond to an alignment zone within the target zone; and the one or more robot programs further include instructions that cause the one or more second processors to: determine a current alignment of the pool-cleaning robot based on the identity of the received one or more signals; determine a target zone angle of rotation based on the current alignment; and137587-5001-WO - 25 -cause the pool-cleaning robot to rotate and proceed toward the alignment zone according to the target zone angle of rotation.

7. The electronic pool-cleaning system of claim 1, wherein the plurality of signal emitters and the plurality of guidance sensors are arranged in patterns that are complementary to each other when the power station and the pool-cleaning robot are aligned with each other.

8. The electronic pool-cleaning system of claim 1, wherein at least some of the plurality of signal emitters are disposed on or about the charging output device, and at least some of the guidance sensors are disposed on or about the charging input device.

9. The electronic pool-cleaning system of claim 1, wherein the power station is configured to transmit the charging current to the pool-cleaning robot on the pool bottom while the power station is mounted on the pool deck or floating on the water surface.

10. The electronic pool-cleaning system of claim 1, wherein the one or more robot programs further include instructions that, upon determining that the power storage module is finished charging, cause the charging input device to decouple from the charging output device and the pool-cleaning robot to proceed with pool-cleaning operations.

11. An electronic pool-cleaning system comprising: a power station configured for floating on a water surface, the power station including: one or more first processors and memory, a plurality of guidance sensors, and a charging output device; a cordless pool-cleaning robot configured to perform cleaning operations on a pool bottom, the pool-cleaning robot including: one or more second processors and memory, a plurality of signal emitters, a charging input device, and a power storage module; wherein the one or more second processors and memory store one or more robot programs for execution by the one or more first processors, the one or more robot programs including instructions that cause the one or more second processors to: cause the plurality of signal emitters to transmit a signal set toward a target zone at the water surface above the pool-cleaning robot; cause the charging input device to dock with the charging output device upon confirming that the power station is in the target zone; and137587-5001-WO - 26 -cause a charging current received through the charging input device to charge the power storage module; the one or more second processors and memory store one or more power station programs for execution by the one or more first processors, the one or more power station programs including instructions that cause the one or more first processors to: cause the plurality of guidance sensors to receive one or more signals of the signal set transmitted by the plurality of signal emitters of the pool-cleaning robot; direct the power station to the target zone at the water surface based on the received one or more signals; and cause the charging output device to transmit the charging current to the poolcleaning robot through the charging input device.

12. The electronic pool-cleaning system of claim 11, wherein: the charging input device is fixed to the pool-cleaning robot; and the one or more power station programs further include instructions that cause the one or more first processors to: cause the charging output device to descend toward the pool bottom, enabling the charging output device to dock with the charging input device; and when charging of the power storage module is complete, cause the charging output device to ascend back to the power station.

13. The electronic pool-cleaning system of claim 11, wherein: the charging output device is fixed to the power station; and the one or more robot programs further include instructions that cause the one or more second processors to: cause the charging input device to ascend toward the water surface, enabling the charging output device to dock with the charging input device; and when charging of the power storage module is complete, cause the charging input device to descend back to the pool-cleaning robot.

14. The electronic pool-cleaning system of claim 11, wherein: the one or more power station programs further include instructions that cause the one or more first processors to: identify the one or more signals received from the plurality of guidance sensors; and direct the power station to the target zone based on the identity of the received one or more signals.

15. The electronic pool-cleaning system of claim 14, wherein:137587-5001-WO - 27 -the signal set includes a plurality of guidance signals that respectively correspond to a plurality of areas forming a guidance signal coverage pattern, with the target zone corresponding to a convergence of each of the plurality of areas; and the one or more power station programs further include instructions that cause the one or more first processors to: determine a current area of the plurality of areas forming the guidance signal coverage pattern in which the power station is located based on the identity of the received one or more signals; determine an angle of rotation based on the current area; and cause the power station to rotate and proceed toward the target zone according to the angle of rotation.

16. The electronic pool-cleaning system of claim 15, wherein: the signal set further includes a plurality of alignment signals that respectively correspond to an alignment zone within the target zone; and the one or more power station programs further include instructions that cause the one or more first processors to: determine a current alignment of the power station based on the identity of the received one or more signals; determine a target zone angle of rotation based on the current alignment; and cause the power station to rotate and proceed toward the alignment zone according to the target zone angle of rotation.

17. The electronic pool-cleaning system of claim 11, wherein the plurality of signal emitters and the plurality of guidance sensors are arranged in patterns that are complementary to each other when the power station and the pool-cleaning robot are aligned with each other.

18. The electronic pool-cleaning system of claim 11, wherein at least some of the plurality of signal emitters are disposed on or about the charging input device, and at least some of the guidance sensors are disposed on or about the charging output device.

19. The electronic pool-cleaning system of claim 11, wherein the power station is configured to transmit the charging current to the pool-cleaning robot on the pool bottom while the power station is floating on the water surface.

20. The electronic pool-cleaning system of claim 11, wherein the one or more power station programs further include instructions that, upon determining that the power137587-5001-WO - 28 -storage module is finished charging, cause the charging output device to decouple from the charging input device to allow the pool-cleaning robot to proceed with poolcleaning operations.137587-5001-WO - 29 -

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