A Pool Cleaning Robot System and a Docking Method for a Pool Cleaning Robot

Abstract

A pool cleaning robot system includes a pool cleaning robot and a return station. The pool cleaning robot can be put into the water of the pool. The return station is arranged on the pool wall of the pool. The pool cleaning robot is provided with an induction and recognition device, a diving device and a cleaning device. Among them, the diving device is used to control the pool cleaning robot to float on the water surface of the pool or sink to the bottom of the pool; the cleaning device is used to clean the dirt on the water surface or the bottom of the pool; the induction and recognition device is used to identify the position of the return station and generate corresponding position information, and the pool cleaning robot moves to the return station according to the position information. Correspondingly, the present invention also discloses a method for the pool cleaning robot to dock, which is implemented based on the above pool cleaning robot system. The pool cleaning robot can meet the two usage requirements of cleaning the pool water surface and the pool bottom at the same time, and the pool cleaning robot can also automatically dock, which is convenient for the operator to salvage.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater equipment, and particularly to a pool cleaning robot system and a method for a pool cleaning robot to dock at the shore. Background Art

[0002] With the development of social economy and the improvement of living standards, people have put forward higher requirements for cultural and entertainment facilities. As a fitness sport, swimming pools have received more and more attention. Swimming pools need to be cleaned regularly. With the development of automation technology, pool robots have emerged on the market. Pool robots can efficiently complete pool cleaning work in the pool, which can effectively save labor costs.

[0003] Existing pool robots are divided into surface pool robots and pool wall robots. Among them, surface pool robots can only float on the water surface and clean floating objects floating on the pool water surface, but cannot clean the bottom of the pool; pool wall robots can only sink to the bottom of the pool, but cannot clean the pool water surface. Existing pool robots have single functions and cannot meet the usage requirements of cleaning both the pool water surface and the pool bottom at the same time. In addition, because communication signals attenuate severely when transmitted underwater, pool wall robots cannot establish stable communication with shore equipment during operation, and operators cannot locate pool wall robots, nor can pool wall robots automatically float to the water surface, resulting in difficulties in salvaging existing pool robots.

[0004] Therefore, to solve the above technical problems, it is urgently necessary to design a pool cleaning robot system to achieve automatic docking of the pool cleaning robot at the shore. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: to provide a pool cleaning robot system and a method for a pool cleaning robot to dock at the shore, which can achieve automatic docking of the pool cleaning robot at the shore and can effectively solve the problems of single function and difficult positioning and salvaging of existing pool robots.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is: a pool cleaning robot system, including a pool cleaning robot and a return station. The pool cleaning robot can be put into the water of the pool, and the return station is arranged on the pool wall or the shore of the pool. An induction and recognition device, a diving device and a cleaning device are provided in the pool cleaning robot;

[0007] Wherein, the diving device is used to control the pool cleaning robot to float on the water surface of the pool or sink to the bottom of the pool; the cleaning device is used to clean the dirt on the water surface or the bottom of the pool; the induction and recognition device is used to recognize the position of the return station and generate corresponding position information, and the pool cleaning robot moves to the return station according to the position information.

[0008] Further, the induction and recognition device includes a rotating mechanism and a camera. The rotating mechanism is arranged on the pool cleaning robot, and the driving end of the rotating mechanism is connected to the camera.

[0009] Further, the return station includes a magnetic part arranged on the pool wall, and a metal block is arranged in the pool cleaning robot. When the pool cleaning robot moves to the return station, the magnetic part and the metal block are magnetically adsorbed.

[0010] Further, the return station further includes a wireless charging transmitting coil arranged on the pool wall, and a wireless charging receiving coil is also arranged in the pool cleaning robot.

[0011] Further, it further includes a solar panel. The solar panel is arranged on the bank of the pool, and the solar panel is electrically connected to the wireless charging transmitting coil.

[0012] Further, it further includes a storage battery. The storage battery is arranged on the bank or buried in the pool wall, and the storage battery is electrically connected to the solar panel and the wireless charging transmitting coil respectively.

[0013] Further, it further includes a base station. The base station is arranged on the bank of the pool, and a communication device is also arranged in the pool cleaning robot. The communication device is wirelessly communicatively connected to the base station.

[0014] Further, the communication device includes a GPS communication module and / or a WIFI communication module.

[0015] Further, the communication device further includes a communication antenna. The communication antenna is arranged on the top of the pool cleaning robot.

[0016] Further, the diving device includes an air chamber, an air inlet pipe and an air outlet pipe. The air chamber is arranged in the pool cleaning robot. The air inlet pipe and the air outlet pipe are respectively arranged on the top of the pool cleaning robot, and the air inlet pipe and the air outlet pipe are respectively connected to the air chamber in a penetrating manner. The communication antenna is arranged on the air inlet pipe and / or the air outlet pipe.

[0017] Another object of the present invention is to provide a method for a pool cleaning robot to dock at the shore. This method is applied to the above-mentioned pool cleaning robot and includes the following steps:

[0018] Obtain the current status information of the pool cleaning robot, and determine whether the current status information meets the preset normal operation conditions; when the current status information does not meet the normal operation conditions, the pool cleaning robot identifies the position of the return station and generates corresponding position information, and the pool cleaning robot locates and moves to the return station according to the position information.

[0019] Further, when the current status information does not meet the normal operation conditions, the pool cleaning robot identifies the position of the return station and generates corresponding position information, and the pool cleaning robot locates and moves to the return station according to the position information, specifically:

[0020] When the current status information does not meet the normal operation conditions, the floating system controls the pool cleaning robot to float on the water surface of the pool; the communication device is wirelessly connected to the base station, the communication device sends the status information to the base station, and the base station forwards the status information to the mobile device of the operator; the induction recognition device identifies the position of the return station and generates corresponding position information; the pool cleaning robot locates and moves to the return station according to the position information; the magnetic part of the return station is magnetically adsorbed to the metal block of the pool cleaning robot, and the wireless charging transmitting coil of the return station and the wireless charging receiving coil of the pool cleaning robot inductively interact with each other.

[0021] The beneficial effects of the present invention are as follows: In the actual application of the pool cleaning robot system provided by the present invention, the pool cleaning robot is first put into the water of the pool, and the diving device controls the pool cleaning robot to float on the water surface of the pool or sink to the bottom of the pool. Among them, when the pool cleaning robot floats on the water surface of the pool, the cleaning device can clean the dirt on the water surface of the pool; when the pool cleaning robot sinks to the bottom of the pool, the cleaning device can clean the dirt on the bottom of the pool. In addition, after the pool cleaning robot completes the cleaning operation, the pool cleaning robot identifies the return station through the return device, and the pool cleaning robot locates and moves to the return station according to the position information generated by each level of the return device. To sum up, the pool cleaning robot provided by the present invention can not only meet the cleaning requirements of both the water surface and the bottom of the pool at the same time, but also facilitate the operator to directly pick up the pool cleaning robot at the position of the return station. Description of the Drawings

[0022] Figure 1 It is a schematic diagram of the application scenario of the pool cleaning robot system in an embodiment of the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of the pool cleaning robot in an embodiment of the present invention;

[0024] Figure 3 Schematic diagram of the structure of the pool cleaning robot in another perspective in one embodiment of the present invention;

[0025] Figure 4 Schematic diagram of the structure of the human diving device in one embodiment of the present invention;

[0026] Figure 5 Schematic diagram of the structure of the diving device in another perspective in one embodiment of the present invention;

[0027] Label description:

[0028] 1. Pool cleaning robot; 11. Communication antenna; 12. Roller; 13. Roller shaft; 14. Scraper; 15. Diving device; 151. Water inlet pump; 152. Drain pump; 153. Intake valve; 154. Exhaust valve; 155. Air chamber; 16. First recovery bin; 17. First water inlet; 18. Intake pipe; 19. Exhaust pipe;

[0029] 2. Return station;

[0030] 3. Pool; 31. Pool wall; 32. Water surface; 33. Pool bottom;

[0031] 4. Solar panel;

[0032] 5. Base station. Specific embodiments

[0033] To describe in detail the technical content, achieved objectives and effects of the present invention, the following is described in conjunction with the embodiments and accompanied by the drawings.

[0034] Please refer to Figures 1-5 , a pool cleaning robot system, including a pool cleaning robot 1 and a return station 2. The pool cleaning robot 1 can be placed into the water of the pool 3. The return station 2 is arranged on the pool wall 31 or the shore of the pool 3. An induction and recognition device, a diving device 15 and a cleaning device are provided in the pool cleaning robot 1;

[0035] Among them, the diving device 15 is used to control the pool cleaning robot 1 to float on the water surface 32 or sink to the pool bottom; the cleaning device is used to clean the dirt on the water surface 32 or the pool bottom; the induction and recognition device is used to identify the position of the return station 2 and generate corresponding position information, and the pool cleaning robot 1 moves to the return station 2 according to the position information.

[0036] The most crucial concept of the present invention lies in: The present invention provides a pool cleaning robot system, including a pool cleaning robot 1 and a return station 2. The pool cleaning robot 1 is used for cleaning operations in the pool 3. The diving device 15 can control the position height of the pool cleaning robot 1 in the water, that is, the diving device 15 can control the pool cleaning robot 1 to float on the water surface 32 or sink to the bottom of the pool; when the pool cleaning robot 1 floats on the water surface 32, the cleaning system can clean the dirt floating on the water surface 32; when the pool cleaning robot 1 sinks to the bottom of the pool, the cleaning system can clean the dirt deposited at the bottom of the pool; that is, the function of the pool cleaning robot 1 is not limited to cleaning the water surface 32 of the pool 3 or cleaning the bottom 33 of the pool 3, but can simultaneously meet the two cleaning requirements;

[0037] In addition, the pool cleaning robot 1 is equipped with an induction and recognition device. The induction and recognition device can sense or recognize the return station 2 and generate corresponding position information. The pool cleaning robot 1 can calculate and plan a return route based on the position information and move along the return route to the return station 2. The operator can recover the pool cleaning robot 1 at the return station 2 without having to search for the pool cleaning robot 1 in the pool 3.

[0038] Among them, in practical applications, the induction and recognition device can specifically be selected from: GPS positioning devices, laser positioning devices, ultrasonic positioning devices, vision positioning devices, etc., which are positioning devices that can identify or sense the relative position between the pool cleaning robot 1 and the return station 2.

[0039] As can be seen from the above description, the beneficial effects of the present invention are: This pool cleaning robot system can not only simultaneously meet the two cleaning requirements of the water surface 32 of the pool 3 and the bottom 33 of the pool 3, but also realize the automatic return function, which is convenient for the operator to recover the pool cleaning robot 1 from the pool 3.

[0040] In some preferred embodiments of the present invention, such as Figure 2 And Figure 3As shown, the cleaning device includes a first recycling bin 16, a first water inlet 17, a first water outlet, a roller 13, and a plurality of scraping blades 14. Among them, the first recycling bin 16 is arranged in the pool cleaning robot 1, the first water inlet 17 is opened on the pool cleaning robot 1, the first water outlet is opened on the side wall and bottom of the pool cleaning robot 1, the first recycling bin 16 is respectively connected in communication with the first water inlet 17 and the first water outlet, a plurality of scraping blades 14 are arranged on the roller 13, and the roller 13 is arranged in the first water inlet 17. The working principle of the cleaning device is as follows: The first recycling bin 16 is arranged inside the pool cleaning robot 1, and the first water inlet 17 and the first water outlet which are respectively connected in communication with the first recycling bin 16 are opened on the pool cleaning robot 1. When the cleaning system is cleaning, the water in the pool 3 is injected into the first recycling bin 16 from the first water inlet 17. The first recycling bin 16 filters solids such as sundries and garbage in the water, and discharges the filtered water from the first water outlet.

[0041] In some other preferred embodiments of the present invention, the cleaning system further includes a second recycling bin, a third water outlet, and a second water outlet. The second water outlet is arranged on the side wall and top of the pool cleaning robot, and the third water inlet is opened at the bottom of the pool cleaning robot. The second water outlet and the third water inlet are respectively connected in communication with the second recycling bin. In this preferred embodiment, the cleaning system includes an independent first recycling bin and a second recycling bin, so that the cleaning system has two independent recycling channels. The first recycling channel is: first water inlet - first recycling bin - first water outlet; the second recycling channel is: third water inlet - second recycling bin - second water outlet; By setting two independent recycling channels, the risk that the recycling channel is blocked and the pool 3 cannot be effectively cleaned can be reduced accordingly.

[0042] In addition, in order to ensure that the pool cleaning robot 1 can achieve the autonomous movement function, a driving device is further arranged on the pool cleaning robot 1. The driving device may include rollers 12. When the pool cleaning robot 1 sinks to the bottom of the pool 3, the pool cleaning robot 1 rotates the rollers 12 and moves on the bottom of the pool; the driving device may also include a propeller. When the pool cleaning robot 1 floats on the water surface 32, the pool cleaning robot 1 is driven by the propeller.

[0043] In addition, the return station 2 may be arranged above the water surface 32. Then, when the pool cleaning robot 1 meets the return condition, the floating device first controls the pool cleaning robot 1 to float on the water surface 32, and then identifies and locates the position of the return station 2 through the induction recognition device. The pool cleaning robot 1 moves to the return station 2, so that the operator does not need to carry out the fishing operation, which is more convenient for the operator to recover the pool cleaning robot 1.

[0044] A radar module can also be set on the pool cleaning robot 1. When the pool cleaning robot 1 moves towards the return station 2, the radar module senses the distance between the pool cleaning robot 1 and the pool wall 31. When the distance between the side of the pool cleaning robot 1 close to the forward direction and the pool wall 31 decreases, the pool cleaning robot 1 reduces its moving speed to avoid the pool cleaning robot 1 colliding with the pool wall 31 and damaging the pool cleaning robot 31.

[0045] Further, the induction and recognition device includes a rotating mechanism and a camera. The rotating mechanism is arranged on the pool cleaning robot 1, and the driving end of the rotating mechanism is connected to the camera.

[0046] As can be seen from the above description, in some preferred embodiments of the present invention, the induction and recognition device can specifically be a visual recognition device. Then, the visual recognition device takes an image through the camera and calculates the relative position between the pool cleaning robot 1 and the return station 2 by recognizing the position, size, and angle of the return station in the image, etc.

[0047] In addition, the camera of the induction and recognition device can rotate under the drive of the rotating mechanism. Under the driving action of the rotating mechanism, the camera can automatically rotate to an angle where the image can capture the return station 2 to achieve a more flexible and intelligent positioning effect.

[0048] Further, the return station 2 includes a magnetic member arranged on the pool wall 31, and a metal block is arranged in the pool cleaning robot 1. When the pool cleaning robot 1 moves to the return station 2, the magnetic member and the metal block are magnetically adsorbed.

[0049] In some preferred embodiments of the present invention, the magnetic member can be an electromagnetic coil. When the electromagnetic coil is energized, under the action of the magnetic effect of the current, the electromagnetic coil generates a magnetic field, so that the electromagnetic coil and the metal block can be magnetically adsorbed. In addition, the main control device of the pool cleaning robot system can also control the energization or de - energization of the electromagnetic coil, and the electromagnetic coil is only energized when the pool cleaning robot 1 moves to the return station 2.

[0050] In some other preferred embodiments of the present invention, the magnetic member can be a permanent magnet. The permanent magnet does not need to worry that the return station 2 cannot magnetically fix the pool cleaning robot 1 when power is off.

[0051] In addition, the pool cleaning robot system can also arrange the magnetic member on the pool cleaning robot 1 and the metal block on the return station 2, which can also achieve the effect of magnetic adsorption between the return station and the pool robot.

[0052] As described above, when the pool cleaning robot 1 approaches the return station 2, the pool cleaning robot 1 can be attracted and fixed on the return station 2 by the magnetic part, so as to prevent the pool cleaning robot 1 from floating to other areas with the water flow when it is in the sleep state or power-off state.

[0053] Furthermore, the return station 2 further includes a wireless charging transmitting coil provided on the pool wall 31, and a wireless charging receiving coil is also provided in the pool cleaning robot 1.

[0054] As described above, the return station 2 can wirelessly charge the pool cleaning robot 1 through the wireless charging transmitting coil, and the magnetic adsorption ability between the magnetic part and the metal block can assist the wireless charging transmitting coil and the wireless charging receiving coil for alignment induction.

[0055] Furthermore, it further includes a solar panel 4, the solar panel 4 is provided on the shore of the pool 3, and the solar panel 4 is electrically connected to the wireless charging transmitting coil.

[0056] As described above, the solar panel 4 converts solar energy into electrical energy and charges and supplies power to the pool cleaning robot 1 through the wireless charging transmitting coil.

[0057] Furthermore, it further includes a storage battery, the storage battery is provided on the shore or buried in the pool wall 31, and the storage battery is electrically connected to the solar panel 4 and the wireless charging transmitting coil respectively.

[0058] As described above, the electrical energy generated by the solar panel 4 can be stored in the storage battery.

[0059] Furthermore, it further includes a base station 5, the base station 5 is provided on the shore of the pool 3, and a communication device is also provided in the pool cleaning robot 1, and the communication device is wirelessly communicatively connected to the base station 5.

[0060] As described above, the pool cleaning robot 1 establishes a wireless communication connection with the base station 5, and the current status information of the pool cleaning robot 1 can be sent to the base station 5 through the communication device, and the base station 5 then forwards the current status information of the pool cleaning robot 1 to the mobile terminal device of the operator, so that the operator can remotely monitor information such as the remaining battery level and the operation status of the cleaning device of the pool cleaning robot 1.

[0061] Furthermore, the communication device includes a GPS communication module and / or a WIFI communication module.

[0062] In some preferred embodiments of the present invention, the communication device is wirelessly communicatively connected to the base station 5 through the GPS communication module and realizes the positioning communication function.

[0063] In some other preferred embodiments of the present invention, the communication device is wirelessly communicatively connected to the base station 5 through a WIFI communication module.

[0064] Of course, the communication device can be provided with a GPS communication module and a WIFI communication module at the same time. In addition, the communication device also realizes the communication function by setting other conventional communication modules.

[0065] Furthermore, the communication device further includes a communication antenna 11, and the communication antenna 11 is disposed on the top of the pool cleaning robot 1.

[0066] As can be seen from the above description, since the wireless communication signal attenuates severely in water, in practical applications, when the pool cleaning robot 1 floats on the water surface 32, the wireless communication connection quality between the communication device and the base station 5 is higher and more stable. The communication antenna 11 is disposed on the top of the pool cleaning robot 1, which is beneficial to the communication antenna 11 emerging from the water surface 32 when the pool cleaning robot 1 floats on the water surface 32 and establishing a more stable wireless communication connection with the base station 5, thereby improving the communication quality between the pool cleaning robot 1 and the base station 5.

[0067] Furthermore, the diving device 15 includes an air chamber 155, an air inlet pipe 18 and an air outlet pipe 19. The air chamber 155 is disposed in the pool cleaning robot 1. The air inlet pipe 18 and the air outlet pipe 19 are respectively disposed on the top of the pool cleaning robot 1, and the air inlet pipe 18 and the air outlet pipe 19 are respectively and communicatively connected to the air chamber 155. The communication antenna 11 is disposed on the air inlet pipe 18 and / or the air outlet pipe 19.

[0068] As can be seen from the above description, the communication antenna 11 can be disposed alone on the air inlet pipe 18 or the air outlet pipe 19, or can be respectively disposed on the air inlet pipe 18 and the air outlet pipe 19. Disposing the communication antenna 11 on the air inlet pipe 18 or the air outlet pipe 19 can improve the overall structural integration degree of the pool cleaning robot 1.

[0069] In some preferred embodiments of the present invention, the diving device 15 further includes a water inlet pump 151, a drainage pump 152, an air inlet valve 153 and an air outlet valve 154. Among them, the water inlet end of the water inlet pump 151 is communicatively connected to the outside of the pool cleaning robot 1, the water outlet end of the water inlet pump 151 is communicatively connected to the air chamber 155, the air inlet valve 153 and the air outlet valve 154 are disposed on the top of the air chamber 155, the air inlet of the air inlet valve 153 is communicatively connected to the air inlet pipe 18, the air outlet of the air inlet valve 153 is communicatively connected to the air chamber 155, the air inlet of the air outlet valve 154 is communicatively connected to the air chamber 155, and the air outlet of the air outlet valve 154 is communicatively connected to the air outlet pipe 19.

[0070] In practical applications, when the pool cleaning robot 1 needs to sink from the water surface 32 of the pool 3 to the bottom, the water inlet pump 151 injects the water in the pool 3 into the air chamber 155, and the air outlet valve 154 discharges the air inside the air chamber 155, thereby increasing the overall weight of the pool cleaning robot 1. The buoyancy of the pool cleaning robot 1 in the water decreases, and the pool cleaning robot 1 sinks to the bottom of the pool 3; when the pool cleaning robot 1 needs to float from the bottom of the pool 3 to the water surface 32, the drain pump 152 discharges the water in the air chamber 155. The overall weight of the pool cleaning robot 1 decreases as the water in the air chamber 155 decreases, and the buoyancy of the pool cleaning robot 1 in the water increases as its weight decreases. The pool cleaning robot 1 floats to the water surface 32;

[0071] To improve the working efficiency of the drain pump 152 and the water inlet pump 151, the drain pump 152 and the water inlet pump 151 can be arranged at the bottom of the air chamber 155; when the drain pump 152 discharges the water in the air chamber 155, the operation of the drain pump 152 and the water flow it discharges generate an upward driving force on the pool cleaning robot 1, making the pool cleaning robot 1 float to the water surface 32 more quickly. When the pool cleaning robot 1 floats to the water surface 32, the air inlet valve 153 automatically opens under the action of air pressure and injects air into the air chamber 155, enabling the pool cleaning robot 1 to obtain a better floating effect.

[0072] The present invention also provides a method for the pool cleaning robot to approach the shore. This method is applied to the above-mentioned pool cleaning robot 1 and includes the following steps:

[0073] Obtain the current status information of the pool cleaning robot 1 and determine whether the current status information meets the preset normal operation conditions; when the current status information does not meet the normal operation conditions, the pool cleaning robot 1 identifies the position of the return station 2 and generates corresponding position information. The pool cleaning robot 1 locates and moves to the return station 2 according to the position information.

[0074] In some preferred embodiments of the present invention, the current status information of the pool cleaning robot 1 may include, but is not limited to: the remaining capacity information of the recycling bin of the cleaning device, the clogging status information of the filter holes, and the battery power information of the pool cleaning robot 1. The preset normal operation conditions may include, but are not limited to: the remaining capacity of the recycling bin is greater than 90%, the filter holes are in a smooth state, and the battery power of the pool cleaning robot 1 is higher than 10%. When any current status information fails to meet the preset normal operation conditions, the pool cleaning robot 1 returns to the return station 2.

[0075] Further, when the current status information does not meet the normal operation conditions, the pool cleaning robot 1 identifies the position of the return station 2 and generates corresponding position information. The pool cleaning robot 1 locates and moves to the return station 2 according to the position information. Specifically:

[0076] When the current status information does not meet the normal operation conditions, the floating system controls the pool cleaning robot 1 to float on the water surface 32 of the pool 3; the communication device is wirelessly connected to the base station 5, and the communication device sends the status information to the base station 5, and the base station 5 forwards the status information to the mobile device of the operator; the induction and identification device identifies the position of the return station 2 and generates corresponding position information; the pool cleaning robot 1 locates and moves to the return station 2 according to the position information; the permanent magnet of the return station 2 is magnetically adsorbed to the metal block of the pool cleaning robot 1, and the wireless charging transmitting coil of the return station 2 and the wireless charging receiving coil of the pool cleaning robot are inductively coupled to each other.

[0077] As can be seen from the above description, the pool cleaning robot 1 can send the remaining capacity information of the recycling bin of the cleaning device, the clogging state information of the filter holes, and the battery power information of the pool cleaning robot 1 to the base station 5, and the base station 5 forwards the above current status information to the mobile terminal of the operator; in addition, when the pool cleaning robot 1 returns to the return station 2, it can also automatically perform wireless charging.

[0078] In some preferred embodiments of the present invention, the operator can also preset the working cycle of the pool cleaning robot 1. For example, if it is cleaned once every twelve hours, the pool cleaning robot 1 will perform a cleaning operation every twelve hours, and automatically return to the return station 2 for charging after completing the cleaning operation. When the remaining capacity information of the recycling bin is less than 90%, the pool cleaning robot 1 sends a notification to clean the recycling bin to the mobile terminal of the operator through the base station 5.

[0079] Embodiment 1:

[0080] Please refer to Figures 1-5 , Embodiment 1 of the present invention is: a pool cleaning robot system, including a pool cleaning robot 1 and a return station 2. The pool cleaning robot 1 can be put into the water of the pool 3, and the return station 2 is arranged on the pool wall 31 of the pool 3. The pool cleaning robot 1 is provided with an induction and identification device, a diving device 15, a cleaning device and a driving device;

[0081] Among them, the diving device 15 is used to control the pool cleaning robot 1 to float on the water surface 32 of the pool 3 or sink to the bottom 33 of the pool 3; the cleaning device is used to clean the dirt on the water surface 32 or the bottom of the pool; the induction and recognition device is used to recognize the position of the return station 2 and generate corresponding position information, and the pool cleaning robot 1 moves to the return station 2 according to the position information.

[0082] Please refer to Figure 1 , in this embodiment, the return station 2 is arranged above the water level line of the pool 3. The induction and recognition device includes a rotating mechanism and a camera. The rotating mechanism is arranged on the pool cleaning robot 1, and the driving end of the rotating mechanism is connected to the camera. The camera captures the environmental image, and the induction and recognition device recognizes the position of the return station 2 in the image and generates corresponding position information;

[0083] In this embodiment, the return station 2 further includes a permanent magnet arranged on the pool wall 31, a wireless charging transmitting coil and a storage battery respectively buried in the pool wall 31. A metal block and a wireless charging receiving coil are respectively arranged in the pool cleaning robot 1. A solar panel 4 is arranged on the shore of the pool 3. When the pool cleaning robot 1 moves to the return station 2, the magnetic part is magnetically adsorbed to the metal block;

[0084] When the solar panel 4 irradiates sunlight during the day, it converts solar energy into electrical energy and stores it in the storage battery. The wireless charging receiving coil and the wireless charging transmitting coil inductively interact with each other, and the wireless charging receiving coil charges the pool cleaning robot 1 with the electrical energy from the mains or the storage battery.

[0085] From Figure 1 It can be seen that in this embodiment, a base station 5 is further included. The base station 5 is arranged on the shore of the pool 3. A communication device is further arranged in the pool cleaning robot 1. The communication device is wirelessly communicatively connected to the base station 5. In this embodiment, the communication device includes a WIFI communication module.

[0086] Please refer to Figure 2 And Figure 3, in this embodiment, the cleaning device includes a first recovery bin 16, a first water inlet 17, a first water outlet, a roller 13, and a plurality of scraping blades 14. Among them, the first recovery bin is arranged in the pool cleaning robot 1, the first water inlet 17 is opened on the pool cleaning robot 1, the first water outlet is opened on the side wall and bottom of the pool cleaning robot 1, the first recovery bin 16 is respectively and communicatively connected to the first water inlet 17 and the first water outlet, a plurality of scraping blades 14 are arranged on the roller 13, and the roller 13 is arranged in the first water inlet 17. The working principle of the cleaning device is as follows: The first recovery bin 16 is arranged inside the pool cleaning robot 1, and the pool cleaning robot 1 is provided with a first water inlet 17 and a first water outlet that are respectively and communicatively connected to the first recovery bin 16. When the cleaning system is cleaning, the water in the pool 3 is injected into the first recovery bin 16 from the first water inlet 17. The first recovery bin 16 filters solids such as sundries and garbage in the water, and discharges the filtered water from the first water outlet.

[0087] Please refer to Figure 4 and Figure 5 , the diving device 15 includes an air chamber 155, an air inlet pipe 18, an air outlet pipe 19, a water inlet pump 151, a drainage pump 152, an air inlet valve 153, and an air outlet valve 154. The air chamber 155 is arranged in the pool cleaning robot 1. The air inlet pipe 18 and the air outlet pipe 19 are respectively arranged on the top of the pool cleaning robot 1, and the air inlet pipe 18 and the air outlet pipe 19 are respectively and communicatively connected to the air chamber 155. The communication device further includes a communication antenna 11, and the communication antenna 11 is arranged on the air inlet pipe 18;

[0088] The water inlet end of the water inlet pump 151 is communicatively connected to the outside of the pool cleaning robot 1, the water outlet end of the water inlet pump 151 is communicatively connected to the air chamber 155. The air inlet valve 153 and the air outlet valve 154 are arranged on the top of the air chamber 155. The air inlet of the air inlet valve 153 is communicatively connected to the air inlet pipe 18, the air outlet of the air inlet valve 153 is communicatively connected to the air chamber 155, the air inlet of the air outlet valve 154 is communicatively connected to the air chamber 155, and the air outlet of the air outlet valve 154 is communicatively connected to the air outlet pipe 19.

[0089] In practical applications, the method for the pool cleaning robot 1 to reach the shore includes the following steps:

[0090] Obtain the current status information of the pool cleaning robot 1, and determine whether the current status information meets the preset normal operation conditions;

[0091] When the current status information does not meet the normal operation conditions, the floating system controls the pool cleaning robot 1 to float on the water surface 32;

[0092] The communication device is wirelessly communicatively connected to the base station 5, and the communication device sends the status information to the base station 5, and the base station 5 forwards the status information to the mobile device of the operator;

[0093] The induction and identification device identifies the location of the return station 2 and generates corresponding location information;

[0094] The pool cleaning robot 1 locates and moves to the return station 2 according to the location information;

[0095] The permanent magnet of the return station 2 is magnetically adsorbed to the metal block of the pool cleaning robot 1, and the wireless charging transmitting coil of the return station 2 and the wireless charging receiving coil of the pool cleaning robot mutually induce.

[0096] In this embodiment, the return station 2 is provided with a metal block, and the pool cleaning robot 1 is provided with a permanent magnet, so that the two are magnetically adsorbed, and the same effect can also be achieved.

[0097] In summary, the pool cleaning robot system provided by the present invention is provided with a diving device 15 on the pool cleaning robot 1, so that the pool cleaning robot 1 can float on the water surface 32 and can also sink to the bottom of the pool, and it can meet the two usage requirements of cleaning the water surface 32 and cleaning the bottom of the pool at the same time; the pool cleaning robot system further includes a return station 2 provided on the pool wall 31, and the return station 2 is provided above the water surface 32, so that the pool cleaning robot 1 can float on the water surface 32 and automatically return to the return station 2, and the operator can easily recover the pool cleaning robot 1 from the return station 2 without searching and salvaging the pool cleaning robot 1 in the pool 3.

[0098] In addition, the pool cleaning robot 1 can be wirelessly communicatively connected to the base station 5, and send its current status information to the base station 5, and then the base station 5 forwards the current status information of the pool cleaning robot 1 to the mobile terminal device of the operator, which is more convenient for the operator to remotely monitor the operation status and the body status of the pool cleaning robot 1.

[0099] In addition, the pool cleaning robot 1 can realize a wireless charging function at the return station 2, reducing the management work of the operator for the pool cleaning robot 1, and the pool cleaning robot system can use solar energy and convert solar energy into electric energy, and the cost of using the pool cleaning robot system is low, economical and environmentally friendly.

[0100] The above are only embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A pool cleaning robot system, characterized in that, Comprising a pool cleaning robot and a return station, the pool cleaning robot can be put into the water of the pool, the return station is arranged on the pool wall or the shore of the pool, and an induction recognition device, a diving device and a cleaning device are arranged in the pool cleaning robot; Wherein, the diving device is used to control the pool cleaning robot to float on the water surface of the pool or sink to the bottom of the pool; the cleaning device is used to clean the dirt on the water surface or the bottom of the pool; the induction recognition device is used to identify the position of the return station and generate corresponding position information, and the pool cleaning robot moves to the return station according to the position information.

2. The pool cleaning robot system according to claim 1, wherein The induction recognition device includes a rotating mechanism and a camera, the rotating mechanism is arranged on the pool cleaning robot, and the driving end of the rotating mechanism is connected to the camera.

3. The pool cleaning robot system according to claim 1, characterized in that The return station includes a magnetic part arranged on the pool wall, and a metal block is arranged in the pool cleaning robot. When the pool cleaning robot moves to the return station, the magnetic part and the metal block are magnetically adsorbed.

4. The pool cleaning robot system according to claim 1, characterized in that, The return station further includes a wireless charging transmitting coil arranged on the pool wall, and a wireless charging receiving coil is also arranged in the pool cleaning robot.

5. The pool cleaning robot system according to claim 4, characterized in that It further includes a solar panel, the solar panel is arranged on the shore of the pool, and the solar panel is electrically connected to the wireless charging transmitting coil.

6. The pool cleaning robot system according to claim 5, wherein It further includes a storage battery, the storage battery is arranged on the shore or buried in the pool wall, and the storage battery is electrically connected to the solar panel and the wireless charging transmitting coil respectively.

7. The pool cleaning robot system according to claim 1, wherein It further includes a base station, the base station is arranged on the shore of the pool, and a communication device is also arranged in the pool cleaning robot, and the communication device is wirelessly communicatively connected to the base station.

8. The pool cleaning robot system according to claim 7, wherein The communication device includes a GPS communication module and / or a WIFI communication module.

9. The pool cleaning robot system according to claim 7, wherein, The communication device further includes a communication antenna, and the communication antenna is arranged on the top of the pool cleaning robot.

10. The pool cleaning robot system according to claim 9, wherein The diving device includes an air chamber, an air inlet pipe and an air outlet pipe, the air chamber is arranged in the pool cleaning robot, the air inlet pipe and the air outlet pipe are respectively arranged on the top of the pool cleaning robot, and the air inlet pipe and the air outlet pipe are respectively communicated with the air chamber, and the communication antenna is arranged on the air inlet pipe and / or the air outlet pipe.

11. A method for a pool cleaning robot to dock, which is applied to the pool cleaning robot according to any one of claims 1-10, characterized in that, Including the following steps: Obtain the current state information of the pool cleaning robot, and judge whether the current state information meets the preset normal operation conditions; When the current state information does not meet the normal operation conditions, the pool cleaning robot identifies the position of the return station and generates corresponding position information, and the pool cleaning robot locates and moves to the return station according to the position information.

12. The method for the pool cleaning robot to reach the shore according to claim 11, wherein, When the current state information does not meet the normal operation conditions, the pool cleaning robot identifies the position of the return station and generates corresponding position information, and the pool cleaning robot locates and moves to the return station according to the position information, specifically as follows: When the current status information does not meet the normal operation conditions, the floating system controls the pool cleaning robot to float on the water surface of the pool; the communication device is wirelessly connected to the base station, and the communication device sends the status information to the base station, and the base station forwards the status information to the mobile device of the operator; the induction and recognition device recognizes the position of the return station and generates corresponding position information; the pool cleaning robot locates and moves to the return station according to the position information; The magnetic part of the return station is magnetically adsorbed to the metal block of the pool cleaning robot, and the wireless charging transmitting coil of the return station and the wireless charging receiving coil of the pool cleaning robot are mutually inductive.

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