Charging base station docking system and docking method

Abstract

The invention provides a charging base station docking system and docking method for a pool cleaning robot. The docking system comprises a pool cleaning robot and a charging base station, the pool cleaning robot comprises a buoyancy control mechanism, and the buoyancy control mechanism can control the robot to float or sink; the charging base station comprises a charging electrode, and the charging electrode is used for charging the robot after the robot is in butt joint with the base station; the buoyancy control mechanism can control the robot to be in butt joint with or be separated from the base station in the water pool. The system can realize quick and efficient butt joint and separation of the robot and the base station, and is simple in structure.

Description

Technical Field

[0001] The disclosed embodiments relate to a docking system and a docking method for a charging base station of a pool cleaning robot in the field of automatic cleaning technology. Background Art

[0002] Automatic pool cleaning equipment, such as pool cleaning robots, need to be carried ashore by users for charging after underwater operations are completed. This charging method remains unchanged. Another method is for the robot to automatically find the base station in the pool and dock with the base station for charging, but this docking method often requires the robot to climb from the bottom of the pool along the pool wall to the base station, which has low docking efficiency. In addition, the structure and shape of the base station need to allow the robot to climb onto the base station, which limits the shape of the base station and makes the structure complex. In addition, when the robot leaves the base station after charging, it also needs to descend along the pool wall to the bottom of the pool, resulting in low efficiency and complex structures of the base station and the robot. Summary of the invention

[0003] According to one aspect of the present disclosure, a charging base station docking system for a pool cleaning robot is provided, comprising a pool cleaning robot and a charging base station, wherein the pool cleaning robot comprises a buoyancy control mechanism capable of controlling the robot to float up or sink down; the charging base station comprises a charging electrode, and the charging electrode is used to charge the robot after the robot is docked with the base station; the robot can move to the base station in the pool to dock with the base station.

[0004] In one or more embodiments, the base station is arranged on the pool wall, and the robot comprises a detection device, which can obtain the position of the base station, so that the robot moves to the base station in a floating or suspended state;

[0005] In one or more embodiments, moving the robot to the base station in a floating or suspended state includes controlling the robot to float from the bottom of the pool to the base station, or controlling the robot to sink from the water surface to the base station;

[0006] In one or more embodiments, the detection device includes a camera, a radar, a range sensor, or a communication device;

[0007] In one or more embodiments, controlling the robot to float from the bottom of the pool to the base station includes controlling the robot to move below at least a portion of the base station and controlling the robot to float by a buoyancy control mechanism, wherein a limiting mechanism is provided on the base station, and during the floating process of the robot, the limiting mechanism guides the robot to dock with the base station;

[0008] In one or more embodiments, controlling the robot to sink from the water surface to the base station includes controlling the robot to move above at least a portion of the base station, and controlling at least a portion of the robot to sink by a buoyancy control mechanism, wherein a limiting mechanism is provided on the base station, and during the sinking process of the robot, the limiting mechanism guides the robot to dock with the base station;

[0009] In one or more embodiments, the limiting mechanism includes a magnetic attraction structure or a guide track;

[0010] In one or more embodiments, wherein controlling the robot to move below at least a portion of the base station includes, based on the position of the base station, controlling the robot to move on the bottom of the pool to a position at a preset distance from the base station or to a position on the bottom of the pool where a sensor on the robot can detect the base station;

[0011] In one or more embodiments, wherein controlling the robot to move above at least a portion of the base station includes, based on the position of the base station, controlling the robot to move on the water surface to a position at a preset distance from the base station or to a position on the water surface where a sensor on the robot can detect the base station;

[0012] In one or more embodiments, when the robot needs to leave the base station, the buoyancy control mechanism can control the robot to float up or sink so that the robot is separated from the base station;

[0013] In one or more embodiments, the charging electrode faces the top of the water pool.

[0014] Also disclosed is a method for controlling a pool cleaning robot to dock and charge with a base station, and utilizing the docking system to control the robot to travel to the base station.

[0015] According to the docking system of the charging base station of the automatic pool cleaning device of the embodiment of the present disclosure, another method is that the robot automatically finds the base station in the pool and docks with the base station for charging, but this docking method often requires the robot to climb from the bottom of the pool along the pool wall to the base station, and the docking efficiency is low. In addition, the structure and shape of the base station need to allow the robot to climb onto the base station, which limits the form of the base station and makes the structure complex. In addition, when the robot leaves the base station after charging, it also needs to go down along the pool wall to the bottom of the pool, resulting in low efficiency and complex structures of the base station and the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the embodiment of the present disclosure, the following briefly introduces the drawings required for describing the embodiment. The drawings described below are only exemplary embodiments of the present disclosure.

[0017] Figure 1 It is a schematic diagram of the pool cleaning robot of the present invention approaching the base station underwater or on the water surface and docking with the base station. DETAILED DESCRIPTION

[0018] The following will refer to the attached Figure 1 In the drawings, the same or corresponding parts are given the same reference numerals, and their description will not be repeated.

[0019] like Figure 1 As shown, the pool cleaning robot 1 is an automatic cleaning device that can automatically clean up the stolen goods and garbage in the pool. The pool includes a swimming pool or a hydrotherapy pool. A charging base station 2 is provided on the wall of the pool. The pool cleaning robot 1 includes a buoyancy control mechanism. The buoyancy control mechanism includes an air bag or a water spraying mechanism. The sinking or floating is achieved by compressing the air bag or inflating it. The sinking or floating can also be achieved by changing the water spraying direction of the water spraying mechanism. After floating to the surface of the water, the robot can clean the stolen goods and garbage on the surface of the water. After sinking to the bottom of the pool, it cleans the bottom of the pool. The charging base station 1 includes a charging electrode 3, and the charging electrode 3 is used to charge the robot 1 after the robot 1 is docked with the base station 2. The contact surface between the robot 1 and the base station 2 can be parallel to the pool wall or the bottom of the pool.

[0020] The robot 1 is provided with a detection device, such as a radar, a camera, a ranging sensor, a communication device or a positioning device. The detection device can control the robot 1 to move toward the base station, so that the robot 1 moves in the pool to the vicinity of the base station 2 and approaches the limiting structure on the base station 2. With further movement, the limiting structure will guide the robot 1 to dock with the base station.

[0021] When the robot 1 is floating on the water surface for operation, if the battery is low, it needs to dock with the base station for charging. Therefore, the robot 1 approaches the base station 2 from the water surface through the above-mentioned detection device until it abuts against at least a part of the base station on the water surface or is at a preset distance from the contact surface of the base station (the preset distance can be the sensing distance of the sensor or a suitable distance for the robot to dock with the base station). At this time, the detection device can obtain the current positional relationship between the robot 1 and the base station 2. If the charging electrode on the robot is set at the bottom, based on the detected positional relationship, the robot can sink in a floating or suspended state, so that the robot approaches the limiting structure, and the limiting structure guides the electrode at the bottom of the robot to dock with the electrode of the base station. During the sinking process, the detection device is used to control the movement direction or posture of the robot. The driving device of the robot 1 may include a dial, a paddle or a water spray structure, and the driving device is used to change the movement direction and provide power for the movement. There are various forms of movement, which can be translation or flipping. Flipping includes head flipping or tail flipping. The specific selection of the movement form depends on the positional relationship between the robot at the current position and the above-mentioned contact surface.

[0022] Exemplarily, when the robot 1 floats on the water surface, it moves to a preset distance from the pool wall, and the positional relationship between the robot 1 and the base station 2 is monitored in real time by a detection device. If the detection device determines that only the robot's tail needs to be flipped in order to allow the robot's electrodes to dock with the base station's electrodes, the buoyancy adjustment device is commanded to compress the airbag, reduce the buoyancy of the tail, and cause the tail to flip and fall until the above-mentioned docking is achieved.

[0023] If the charging electrode on the robot 1 is arranged on the head, the robot 1 does not need to be turned over to make the bottom face the base station 2, and only needs to be translated horizontally or vertically in a floating state to achieve docking.

[0024] In addition, if the robot needs to be charged due to low battery after working at the bottom of the pool for a period of time, it can move from the bottom of the pool to the bottom of the base station through the above-mentioned detection device. At this time, the base station is a certain distance away from the robot, and the robot can be located at the bottom of the pool or at the pool wall. Then the robot is controlled to float up, and the detection device is used to adjust the movement direction and posture of the robot during the floating process, so that the robot gradually approaches the limit structure of the base station, and the limit structure guides the robot to dock with the base station.

[0025] In addition, the limiting mechanism includes a magnetic structure or a guide rail. If the detection result of the detection device is accurate and the ability to control the movement direction or flip angle of the robot is strong, the limiting mechanism can be eliminated and the robot 1 can be directly controlled to dock with the base station 2 through the detection device.

[0026] When the robot 1 needs to leave the base station 2, the buoyancy control mechanism can control the robot 1 to float up or sink so that the robot can leave the base station. If the robot needs to perform surface operations next, the robot is controlled to float up; if it needs to perform underwater operations, the robot is controlled to sink. After the robot is docked with the base station, the robot needs a snap-fit ​​structure or a fixed structure to fix it on the base station. Therefore, when floating up or sinking, the buoyancy of the robot needs to be large enough to allow the robot to get rid of the force applied to the robot by the snap-fit ​​structure or the fixed structure.

[0027] in addition, Figure 1 The contact surface between the robot 1 and the base station 2 is parallel to the pool wall, but the present invention is not limited to this. The contact surface can also be perpendicular to the pool wall, and the charging electrode faces the top or bottom of the pool. In this case, it is more convenient for the robot to dock with the base station from the water surface or the bottom of the pool. After the robot travels on the water surface or the bottom of the pool to face the contact surface of the base station, it can directly sink or float to achieve docking, without the need for a detection device to regulate the floating or sinking action, or the regulation degree is small.

[0028] The basic principle of the present disclosure is described above in combination with the embodiments. However, it should be pointed out that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the aforementioned details are only for the purpose of illustration and ease of understanding, not limitation, and the aforementioned details do not limit the present disclosure to being implemented by adopting the aforementioned details.

[0029] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. In different embodiments, these devices, apparatuses, equipment, and systems may be connected, arranged, or configured in any appropriate manner.

[0030] In addition, words such as "including", "comprising", "having" and the like are open-ended words, meaning "including but not limited to", and can be used interchangeably therewith. The words "or" and "and" used herein mean the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as but not limited to", and can be used interchangeably therewith.

[0031] It should also be noted that in the apparatus, device and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0032] The above description is given for the purpose of illustration and description. This description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A charging base station docking system for a pool cleaning robot, comprising a pool cleaning robot and a charging base station, characterized in that: The pool cleaning robot includes a buoyancy control mechanism, which can control the robot to float up or sink; the charging base station includes a charging electrode, which is used to charge the robot after the robot docks with the base station; the buoyancy control mechanism can control the robot to dock or detach from the base station in the pool.

2. The charging base station docking system according to claim 1, wherein: The base station is arranged on the pool wall, and the buoyancy control mechanism can control the robot to move to the base station in a floating or suspended state so as to achieve docking with the base station.

3. The charging base station docking system according to claim 2, wherein: Controlling the robot to move to the base station in a floating or suspended state includes controlling the robot to float up from underwater to the base station, or controlling the robot to sink from the water surface to the base station.

4. The charging base station docking system according to claim 2, wherein: The robot includes a detection device, which can obtain the position of the base station. The robot can approach the base station based on the position. The detection device includes a camera, a radar, a distance measuring sensor or a communication device.

5. The charging base station docking system according to claim 3, wherein: Controlling the robot to float from underwater to the base station includes controlling the robot to move below at least a portion of the base station and controlling the robot to float by a buoyancy control mechanism, wherein a limiting mechanism is provided on the base station, and during the robot's floating process, the limiting mechanism guides the robot to dock with the base station.

6. The charging base station docking system according to claim 3, wherein: Controlling the robot to sink from the water surface to the base station includes controlling the robot to move above at least a portion of the base station, and controlling at least a portion of the robot to sink through a buoyancy control mechanism, wherein a limiting mechanism is provided on the base station, and during the sinking process of the robot, the limiting mechanism guides the robot to dock with the base station.

7. The charging base station docking system according to claim 5 or 6, wherein: The limiting mechanism includes a magnetic attraction structure or a guide rail.

8. The charging base station docking system according to claim 5, wherein: Controlling the robot to move below at least a portion of the base station includes, based on the position of the base station, controlling the robot to move on the bottom of the pool to a position a preset distance from the base station or to a position on the bottom of the pool where a sensor on the robot can detect the base station.

9. The charging base station docking system according to claim 6, wherein: Controlling the robot to move above at least a portion of the base station includes, based on the position of the base station, controlling the robot to move on the water surface to a position a preset distance from the base station or to a position on the water surface where a sensor on the robot can detect the base station.

10. The charging base station docking system according to any one of claims 1 to 9, wherein: When the robot needs to leave the base station, the buoyancy control mechanism can control the robot to float up or sink so that the robot is separated from the base station.

11. The charging base station docking system according to any one of claims 1 to 9, wherein: The charging electrode faces the top of the water pool.

12. The charging base station docking system according to claim 4, wherein: Controlling the robot to move to the base station in a floating or suspended state includes detecting the positional relationship between the robot and the base station in real time through a detection device on the robot, and regulating the movement direction or posture of the robot based on the positional relationship. Preferably, the robot is provided with a driving device for changing the movement direction or posture based on the control signal of the detection device.

13. A charging base station docking method for a pool cleaning robot, characterized in that: include, Acquire the positional relationship between the robot and the base station; Based on the positional relationship, controlling the robot to move on the water surface or underwater and approach a base station; When the robot moves to meet the preset conditions, the robot is controlled to float up or sink, so that the robot docks with the base station for charging.

14. The docking charging method according to claim 13, wherein: The preset conditions include: the distance between the robot and the base station is less than or equal to a first preset distance, the detection device on the robot detects the base station, the robot abuts against at least a portion of the base station, the robot abuts against the wall of the pool, or the distance between the robot and the pool wall is less than or equal to a second preset distance.

15. The docking charging method according to claim 13, wherein: Controlling the robot to float up or sink includes, during the floating or sinking process, regulating the moving direction or posture of the robot.

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