Base station of automatic pool cleaning device and control method of base station

Abstract

The present application provides a base station (10) of an automatic pool cleaning device (20), comprising: a body (110), a retraction assembly (120) and a grabbing member (130), at least a part of the body (110) being disposed outside a pool; the collecting and releasing assembly (120) is connected with the body (110), the collecting and releasing assembly (120) comprises a driving part (121) and a connecting wire harness (122), and the collecting and releasing assembly (120) can collect and release the connecting wire harness (122) through the driving part (121) to put the grabbing part (130) into the water pool and move the grabbing part (130) from the water pool to the pool bank; and the grabbing piece (130) can grab the automatic pool cleaning device (20).

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the technical field of a base station of an automatic pool cleaning device, and more particularly to a base station of an automatic pool cleaning device and a control method thereof. Background Art

[0002] With the increasing frequency of use and application scenarios of pool cleaning robots, it has become important to salvage the existing pool cleaning robots from the pool when they no longer perform their tasks due to reasons such as completion of the task or low battery. Considering that the pool cleaning robots operate in the pool and are heavy, the salvage process is heavy and cumbersome, increasing the user's workload, making operation inconvenient, and reducing the degree of automation. Summary of the Invention

[0003] In response to the deficiencies of the above-mentioned prior art, the present application provides a base station for an automatic pool cleaning device, comprising: a main body, a retractable assembly, and a grabbing member, wherein at least a portion of the main body is arranged outside the pool; the retractable assembly is connected to the main body, the retractable assembly includes a driving member and a connecting harness, the retractable assembly can retract the connecting harness through the driving member to place the grabbing member into the pool and move the grabbing member from the pool to the pool bank; and the grabbing member can grab the automatic pool cleaning device.

[0004] Furthermore, the grasping member includes at least one of an electromagnet, a permanent magnet, a gripper, a hook and a suction cup.

[0005] Furthermore, in the case that the grabbing member includes the electromagnet, the connecting harness includes a wire, and the wire is capable of supplying power to the electromagnet.

[0006] Furthermore, the retractable assembly also includes a telescopic member and a pulley, the pulley carries the connecting wire harness, the pulley is arranged at the free end of the telescopic member, the telescopic member can be extended in a first direction until the projection of the pulley facing the pool protrudes from the pool wall, and the telescopic member can be retracted in a second direction.

[0007] Furthermore, the base station of the automatic pool cleaning device further includes a communication component, wherein the communication component is capable of communicating with the automatic pool cleaning device.

[0008] Furthermore, the base station also includes a charging component, wherein the charging component is arranged on the main body, and the charging component can dock with the automatic pool cleaning device and charge the automatic pool cleaning device.

[0009] The present application also provides a control method for a base station of an automatic pool cleaning device, wherein the base station of the automatic pool cleaning device includes: a main body, a retractable assembly and a grabbing member, at least a portion of the main body is arranged outside the pool, the retractable assembly is connected to the main body, and the retractable assembly includes a driving member and a connecting harness, wherein the control method includes: controlling the retractable assembly to release the connecting harness through the driving member to place the grabbing member into the pool; controlling the grabbing member to grab the automatic pool cleaning device; and controlling the retractable assembly to retract the connecting harness to salvage the automatic pool cleaning device in the pool.

[0010] Furthermore, the grabbing member includes an electromagnet, wherein controlling the grabbing member to grab the automatic pool cleaning device includes: when the automatic pool cleaning device moves to a predetermined distance threshold from the grabbing member, powering the electromagnet through the connecting wiring harness, and attracting the automatic pool cleaning device through the magnetic force generated by the electromagnet.

[0011] Furthermore, after the automatic pool cleaning device is salvaged from the pool, the control method further includes: docking the automatic pool cleaning device with a charging component of the base station.

[0012] Furthermore, after the automatic pool cleaning device is salvaged from the pool, the control method further includes: stopping power supply to the electromagnet.

[0013] Furthermore, before releasing the connection harness, the control method further includes: receiving a request signal from the automatic pool cleaning device through a communication component of the base station.

[0014] Furthermore, after the automatic pool cleaning device is salvaged from the pool, the control method further includes: grabbing the automatic pool cleaning device by the grabbing member; controlling the retracting assembly to release the connecting harness, thereby returning the automatic pool cleaning device to the pool.

[0015] Furthermore, the retractable assembly also includes a telescopic member and a pulley, the pulley carries the connecting harness, and the pulley is arranged at the free end of the telescopic member, wherein before releasing the connecting harness, the control method also includes: controlling the telescopic member to extend in a first direction until the projection of the pulley facing the pool protrudes from the pool wall.

[0016] The embodiments described in this application have the following beneficial effects:

[0017] The base station and control method for an automatic pool cleaning device provided in this application enable the automatic pool cleaning device to return to the base station without the user having to manually transport the automatic pool cleaning device. The base station control method provided in this application reduces the user's workload, improves operational convenience, has a high degree of automation, and improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for describing the embodiments. The drawings described below are only exemplary embodiments of the present disclosure.

[0019] Figure 1A A schematic diagram of the base station grabbing pool automatic cleaning device provided by the present application is shown;

[0020] Figure 1B Another schematic diagram of the base station grabbing pool automatic cleaning device provided by the present application is shown; and

[0021] Figure 2 A flow chart of a base station control method provided in this application is shown.

[0022] Label Description

[0023] 10. Base station; 20. Automatic pool cleaning device; 110. Main body; 120. Retractable assembly; 130. Grabbing member; 121. Driving member; 122. Connecting wire harness; 123. Telescopic member; 124. Pulley. DETAILED DESCRIPTION

[0024] The embodiments of the present disclosure are described below in conjunction with the accompanying drawings. The described embodiments are only part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other unless there is a conflict.

[0025] First refer to Figure 1A and Figure 1B as well as Figure 2 The base station 10 of the automatic pool cleaning device 20 provided in the present application and the control method thereof are exemplarily described. Figure 1A and Figure 1B This is a schematic diagram showing the base station grabbing pool automatic cleaning device provided by the present application, Figure 2 1 is a flowchart illustrating a control method 200 of the base station 10 of the present application.

[0026] The automatic pool cleaning device 20 can be a device such as an automatic cleaning device or a pool cleaning robot, capable of cleaning a pool-shaped structure. This application does not limit the specific embodiment of the automatic pool cleaning device 20, as long as it can implement the principles of this application. Unless otherwise specified, the following description of the automatic pool cleaning device 20 will use a robot as an example.

[0027] The base station 10 may include at least one of the following components, such as a charging component, a waste collection component, and a water quality detection component, to meet the different needs of the robot. This application does not limit the type or function of the base station 10; any type of base station 10 is sufficient as long as it can implement the technical principles of the present invention. The following will further illustrate the base station 10 with reference to specific examples.

[0028] Taking the base station 10 including a garbage recycling device as an example, if the degree of dirt collection in the garbage basket inside the robot reaches a predetermined level, affecting the normal cleaning operation, the robot can return to the base station 10 and dock with the garbage recycling device so that the garbage recycling device can clean the garbage basket of the automatic pool cleaning device 20.

[0029] For example, if base station 10 includes water quality testing equipment, the robot can return to base station 10 and use the water quality testing equipment to obtain a water sample from the robot. The robot then performs a water quality test on the sample, thereby obtaining data on the water quality of the pool. The robot can then adjust its cleaning strategy based on the water quality test results, for example, by extending the cleaning time.

[0030] Taking the base station 10 as an example, the charging component can charge the automatic pool cleaning device 20. The charging component is arranged on the main body 110, and the charging component can dock with the automatic pool cleaning device 20 and charge the automatic pool cleaning device 20. The charging component can be connected to the mains electricity, or a battery and / or solar charging device can be pre-installed in the charging component. If the current power of the robot is lower than the predetermined power threshold, it indicates that the remaining power of the robot is insufficient to support the robot to continue cleaning operations, and the robot needs to return to the base station 10 and recharge.

[0031] The base station 10 of the automatic pool cleaning device 20 provided in the present application includes: a main body 110, a retractable assembly 120 and a grabbing member 130, wherein at least a portion of the main body 110 is arranged outside the pool; the retractable assembly 120 is connected to the main body 110, and the retractable assembly 120 includes a driving member 121 and a connecting harness 122, and the retractable assembly 120 can retract the connecting harness 122 through the driving member 121 to place the grabbing member 130 into the pool and move the grabbing member 130 from the pool to the pool bank; and the grabbing member 130 can grab the automatic pool cleaning device 20.

[0032] The main body 110 is made of materials such as engineering plastics and metals that have characteristics such as waterproofness, corrosion resistance, and high structural strength, which can extend the service life of the base station 10. At least a portion of the base station 10 is arranged outside the pool, and the outside of the pool includes, for example, the outside of the pool bank, the space above the pool bank, and the space above the water surface that is higher than the pool bank. For example, in the case where the main body 110 includes a charging component, the charging component includes a charging interface, and the charging interface can be located outside the pool or inside the pool; for another example, the entire main body 110 is located outside the pool. The above description is only exemplary, and those skilled in the art can set the location of the base station as needed.

[0033] The retractable assembly 120 can be, for example, a component such as a winch that can be retracted. For example, the winch can rotate the rotating mechanism by electric or hydraulic means to drive the cable to be retracted. The retractable assembly 120 is connected to the body 110, and the connection method can be, for example, welding, bolt connection, plug connection, etc. Figure 1A and Figure 1B The retractable assembly 120 is, for example, disposed on the upper portion of the body 110. The present application does not limit the connection method and the location of the retractable assembly 120 and the body 110, as long as the technical principle of the present application can be realized.

[0034] The retraction assembly 120 may include, for example, a driver 121 and a connecting harness 122. Taking a winch as an example, the retraction assembly 120 may include a driver 121, for example, the winch's rotating mechanism, and the connecting harness 122, for example, the winch's cable. The rotating mechanism rotates and drives the cable to retract and extend. The connecting harness 122 may be formed, for example, from a steel wire rope, nylon rope, fiber rope, steel pipe, aluminum pipe, etc., and may be waterproof, corrosion-resistant, and high-strength. The above description of the retraction assembly 120 is merely exemplary.

[0035] The grabbing member 130 can grab the automatic pool cleaning device 20. The grabbing member 130 (which will be described in detail below with reference to specific examples) can be set at the free end of the connecting harness 122, for example, and the grabbing member 130 can move following the retraction and extension of the connecting harness 122. In one case, the driving member 121 rotates in a clockwise direction to release the connecting harness 122, that is, to increase the length of the connecting harness 122, and the grabbing member 130 set at the free end of the connecting harness 122 moves following the release of the connecting harness 122. If the grabbing member 130 is located above the pool, the connecting harness 122 is released, the grabbing member 130 will move downward, and the connecting harness 122 will be released to a certain length, such as Figure 1A As shown, the grabbing member 130 follows the connecting wire 122 into the pool. If the driving member 121 rotates counterclockwise, the connecting wire 122 is retracted, and the grabbing member 130 follows the connecting wire 122 to the pool bank. The above description is merely exemplary, and this application does not limit the manner in which the driving member retracts and releases the connecting wire (e.g., the direction of rotation).

[0036] After the grabbing member 130 completes grabbing the automatic pool cleaning device 20 , the automatic pool cleaning device 20 can also move following the retraction and extension of the connecting harness 122 .

[0037] The grabbing member 130 may include, for example, at least one of an electromagnet, a permanent magnet, a gripper, a hook, and a suction cup.

[0038] The gripping member 130 comprises, for example, an electromagnet. When the electromagnet is energized, it generates magnetism, attracting ferromagnetic materials (e.g., pure iron, mild steel, etc.). When the electromagnet is deenergized, the magnetism disappears. Therefore, the automatic pool cleaning device 20 to be gripped must be provided with ferromagnetic material or be made of ferromagnetic material.

[0039] The gripping member 130 may include, for example, a permanent magnet. A permanent magnet draws ferromagnetic materials with its own magnetic field, eliminating the need for continuous power supply. This offers advantages such as energy conservation, low cost, and a low failure rate. However, after the permanent magnet has drawn the automatic pool cleaning device 20, manual separation is typically required.

[0040] The gripping member 130 includes, for example, a gripper. The gripper is made of, for example, a corrosion-resistant, high-strength material such as metal or engineering plastic. The gripper can be, for example, a parallel gripper, an angled gripper, or a multi-finger gripper. Parallel grippers are suitable for gripping regular objects (e.g., rectangular handles provided on the robot housing), while angled grippers and multi-finger grippers are suitable for gripping irregular objects (e.g., protrusions provided on the surface of the robot housing). The gripper can be driven, for example, by a servo motor, a cylinder, or hydraulics.

[0041] The gripper may include, for example, a hook. The hook is made of a corrosion-resistant, high-strength material such as metal or engineering plastic, and is inexpensive and easy to manufacture. For example, the hook may be a C-shaped hook or an S-shaped hook. Accordingly, the automatic pool cleaning device 20 may need to be provided with a corresponding lifting ring.

[0042] The gripper may include a suction cup, for example. The suction cup may be made of materials such as rubber and silicone. The suction cup may generate an adsorption force by, for example, using a pressure difference between the inside and outside of the suction cup to absorb the automatic pool cleaning device 20. The surface of the automatic pool cleaning device 20 must be smooth and flat.

[0043] Those skilled in the art may select the specific type of the grabbing member 130 according to actual conditions.

[0044] For example, in the case where the grabbing member 130 includes the electromagnet, the connecting harness 122 may include, for example, wires, and the wires may be capable of supplying power to the electromagnet.

[0045] As described above, when the gripping member 130 includes an electromagnet, current must be transmitted to the electromagnet via the connecting harness 122. Therefore, the connecting harness 122 must include wires, which can be made of conductive materials such as copper, aluminum, and silver. The power supply can be located on the body 110, for example. The wires electrically connect the power supply and the electromagnet, forming a closed circuit between the power supply, the electromagnet, and the wires.

[0046] The following will combine the various components provided on the main body 110 described above to Figure 1A The base station 10 is shown as an example of grabbing an automatic pool cleaning device 20 for detailed description.

[0047] For example, when the automatic pool cleaning device 20 needs to return to the base station 10, the base station 10 controls the driving member 121 to rotate clockwise, thereby releasing the connecting harness 122. In this example, the connecting harness 122 may have a certain rigidity, so that the connecting harness 122 can maintain a predetermined shape or substantially maintain a predetermined shape in a natural state. For example, the connecting harness 122 can maintain (or substantially maintain) a predetermined shape during the period when the driven member 121 is released. Figure 1A The connecting harness 122 is in the tilted state shown (the tilt angle of the connecting harness 122 may be determined by the actual situation). The connecting harness 122 maintains this tilted state (or substantially maintains this tilted state) so that it can be positioned Figure 1A The driving member 121 shown is not blocked by the pool bank when released, and is thus smoothly released into the pool, thereby enabling the grabbing member 130 provided at the free end of the connecting harness 122 to approach the automatic pool cleaning device 20 until the grabbing member 130 is able to grab the automatic pool cleaning device 20.

[0048] Alternatively, the structure of the main body 110 enables the wiring harness connecting harness 122 to reach a predetermined underwater position during the release of the driven member 121. For example, the main body 110 has an arm extending toward the pool, and the driving member 121 is arranged on the arm. After the connection harness 122 is released, it can reach the predetermined underwater position in a natural state, thereby enabling the grabbing member 130 arranged at the free end of the connection harness 122 to approach the automatic pool cleaning device 20 until the grabbing member 130 can grab the automatic pool cleaning device 20.

[0049] The gripping method of the gripping member 130 has been described in detail above and will not be repeated here. The driving member 121 then rotates counterclockwise, retrieving the connecting harness 122, thereby driving the gripping member 130 and the automatically grasped pool cleaning device 20 toward the main body 110. After the automatically grasping pool cleaning device 20 is moved to a position above the pool bank, the driving member 121 rotates clockwise or counterclockwise around the main body 110 by a predetermined angle, placing the automatically grasping pool cleaning device 20 on the pool bank and docking with the base station 10.

[0050] Combined with the following Figure 1B The base station 10 of the automatic pool cleaning device 20 provided in this application is further described.

[0051] The retractable component 120 may also include a telescopic member 123 and a pulley 124, for example. The pulley 124 carries the connecting harness 122, and the pulley 124 is arranged at the free end of the telescopic member 123. The telescopic member 123 can be extended in a first direction until the projection of the pulley 124 facing the pool protrudes from the wall of the pool, and the telescopic member 123 can be retracted in a second direction.

[0052] from Figure 1A and Figure 1B In comparison, Figure 1B The base station 10 shown is connected to Figure 1A The main difference between the base station 10 shown is that Figure 1B The base station 10 shown has a telescopic member 123 and a pulley 124. Figure 1B The main differences between the two are described exemplarily.

[0053] like Figure 1B As shown, the telescopic member 123 can be, for example, a rod-shaped mechanical component with a telescopic function. The telescopic member 123 can change its own length according to actual needs. The telescopic member 123 can be connected to the body 110, and the free end of the telescopic member 123 that can be telescoped is provided with a pulley 124. The pulley 124 can be, for example, a fixed pulley that can change the direction of the force. The telescopic member 123 can be extended in a first direction (the first direction is, for example, Figure 1BThe telescopic member 123 is extended in the direction toward the pool until the free end of the pulley 124 protrudes from the pool wall, and the connection harness 122 connected to the pulley 124 is released to allow the grabbing member 130 to be immersed in the water. The telescopic member 123 can be retracted in the second direction (the second direction is, for example, Figure 1B The telescopic member 123 shortens in the direction away from the pool).

[0054] In one embodiment, the telescopic member 123 can be arranged horizontally, and the connecting harness 122 is connected to the telescopic member 123, that is, the connecting harness 122 is placed horizontally on the telescopic member 123, and the connecting harness 122 is turned to a vertical downward direction at the pulley 124. If the automatic pool cleaning device 20 located in the pool is to be grabbed, the telescopic member 123 is extended in a first direction until the pulley 124 protrudes from the pool wall, and the connecting harness 122 is drooped facing the pool, and the driving member 121 applies a force along the horizontal portion of the connecting harness 122. Figure 1B The horizontal rightward force is converted into a vertical downward force by the pulley 124, so that the driving member 121 releases the connecting harness 122, and the connecting harness 122 stretches until the grabbing member 130 is located in the pool. Then, the driving member 121 applies a force along the horizontal portion of the connecting harness 122. Figure 1B The horizontal force in the middle left direction causes the driving member 121 to retract the connecting harness 122, thereby driving the grasping member 130 (and the robot grasped by the grasping member 130) to move upward from the water body and eventually out of the water surface. Then, the telescopic member 123 retracts in the second direction, further driving the robot grasped by the grasping member 130 to move toward the main body 110, thereby moving the automatic pool cleaning device 20 from the pool to the base station without manual operation.

[0055] The base station 10 of the automatic pool cleaning device 20 may further include a communication component, wherein the communication component is capable of communicating with the automatic pool cleaning device 20 .

[0056] The communication component can be disposed on the body 110 of the base station 10 or in the connecting harness 122. The communication component can exchange data and transmit signals with the automatic pool cleaning device 20 and the user.

[0057] For example, in a case where the base station 10 includes a charging component, if the automatic pool cleaning device 20 is low on power and needs to be charged, the automatic pool cleaning device 20 sends a request signal to the communication component of the base station 10. After receiving the request signal, the base station 10 controls the retracting component 120 to release the grabbing component 130, so that the grabbing component 130 moves to a position where it can grab the automatic pool cleaning device 20, and the communication component of the base station 10 sends a position signal to the automatic pool cleaning device 20.

[0058] For example, after the base station 10 is connected to the automatic pool cleaning device 20, the communication component of the base station 10 sends various data of the automatic pool cleaning device 20 to the user (eg, to a mobile phone APP) to interact with the user. The above description is only exemplary.

[0059] Refer to the following Figure 2 The present application provides a control method 200 for an automatic pool cleaning device 20. The present application further provides a control method 200 for a base station 10 of the automatic pool cleaning device 20, wherein the base station 10 of the automatic pool cleaning device 20 comprises: a body 110, a retractable assembly 120, and a grabbing member 130, wherein at least a portion of the body 110 is disposed outside the pool, the retractable assembly 120 is connected to the body 110, and the retractable assembly 120 comprises a driving member 121 and a connecting harness 122. The control method 200 comprises: in step S201, controlling the retractable assembly 120 to release the connecting harness 122 via the driving member 121 to place the grabbing member 130 into the pool; in step S202, controlling the grabbing member 130 to grab the automatic pool cleaning device 20; and in step S203, controlling the retractable assembly 120 to retract the connecting harness 122 to salvage the automatic pool cleaning device 20 from the pool.

[0060] The base station 10 and the retractable assembly 120 of the automatic pool cleaning device 20 have been described in detail above and will not be repeated here.

[0061] First, proceeding to step S201, in which the retractable assembly 120 is controlled to release the connecting harness 122 via the driving member 121, thereby placing the gripping member 130 into the pool. The retractable assembly 120 releases the connecting harness 122 in the manner described above until the gripping member 130 is placed into the pool. The gripping member 130 may be placed into the pool, for example, by being completely immersed in the water, or by having the lower portion of the gripping member 130 immersed in the water.

[0062] Next, the process proceeds to step S202. In step S202, the gripping member 130 is controlled to grip the automatic pool cleaning device 20. The gripping member 130 is, for example, at least one of a magnet, a permanent magnet, a gripper, a hook, and a suction cup. The gripping member 130, which has been placed in the pool, is controlled to grip the automatic pool cleaning device 20. The gripping method may be magnetic attraction, clamping, hooking, or negative pressure gripping.

[0063] Next, step S203 is entered. In step S203, the retractable assembly 120 is controlled to retract the connecting harness 122 to salvage the automatic pool cleaning device 20 in the pool. Figure 1AIn the case where the retractable assembly 120 includes a driving member 121 and a connecting harness 122, the driving member 121 rotates in a specific direction, and the connecting harness 122 is retracted in a direction away from the pool. Even if the automatic pool cleaning device 20 is retracted toward the base station 10 to salvage the automatic pool cleaning device 20 in the pool, the automatic pool cleaning device 20 can be moved to the base station 10.

[0064] The situations in which the automatic pool cleaning device 20 needs to be moved to the base station 10 may be, for example, at least one of the following: the automatic pool cleaning device 20 is low on power and needs to be returned to the base station 10 for charging; the automatic pool cleaning device 20 is faulty and needs to be returned to the base station 10 for repair; and the automatic pool cleaning device 20 receives a user instruction to return to the base station 10.

[0065] In step S202, the grabbing member 130 may, for example, include an electromagnet, wherein controlling the grabbing member 130 to grab the automatic pool cleaning device 20 includes: when the automatic pool cleaning device 20 moves to a predetermined distance threshold from the grabbing member 130, powering the electromagnet through the connecting harness 122, and attracting the automatic pool cleaning device 20 through the magnetic force generated by the electromagnet.

[0066] In the case where the grabbing member 130 includes an electromagnet, the connecting harness 122 can, for example, be provided with a wire. When the automatic pool cleaning device 20 moves to a predetermined distance threshold from the grabbing member 130, that is, when the automatic pool cleaning device 20 moves to a distance where the magnetic force of the electromagnet is sufficient to attract the automatic pool cleaning device 20, the connecting harness 122 including the wire supplies power to the electromagnet, causing the electromagnet to generate a magnetic force and attract the automatic pool cleaning device 20. The stronger the magnetism of the electromagnet, the larger the predetermined distance threshold. Therefore, a reasonable setting of the predetermined distance threshold makes it more appropriate to energize the electromagnet at a more appropriate time, thereby avoiding wasting electricity by energizing the electromagnet too early. Those skilled in the art can set the predetermined distance threshold based on actual conditions.

[0067] After the automatic pool cleaning device 20 is retrieved from the pool, the control method further includes: docking the automatic pool cleaning device 20 with the charging component of the base station 10 .

[0068] After step S203, the control method further includes, if the automatic pool cleaning device 20 is unable to continue normal cleaning operations due to low battery (e.g., battery level less than 15%) and returns to the base station 10, electrically connecting the automatic pool cleaning device 20 to the charging component located at the base station 10 after moving to the base station 10. For example, the plug of the charging component located at the base station 10 is connected to the corresponding charging socket on the automatic pool cleaning device 20. The above control method enables the automatic pool cleaning device 20 to complete charging without human intervention. The above description is only exemplary.

[0069] After the automatic pool cleaning device 20 is retrieved from the pool, the control method further includes: stopping power supply to the electromagnet.

[0070] After step S203, the power supply to the electromagnet needs to be stopped so that the magnetism of the electromagnet disappears, and the automatic pool cleaning device 20 can be removed from the gripping member 130 without manual operation and placed on the base station 10. For example, after the automatic pool cleaning device 20 is salvaged from the pool, the automatic pool cleaning device 20 moves to the base station 10, and the automatic pool cleaning device 20 or the sensor on the base station 10 recognizes that the automatic pool cleaning device 20 has moved to the predetermined position. The controller of the base station 10 controls the base station 10 to stop supplying power to the electromagnet, so that the magnetism of the electromagnet disappears and the automatic pool cleaning device 20 can no longer be attracted, so that the automatic pool cleaning device 20 falls to the predetermined position and docks with the device on the base station 10.

[0071] Before releasing the connection harness 122 , the control method further includes: receiving a request signal from the automatic pool cleaning device 20 via the communication component of the base station 10 .

[0072] In the case where the automatic pool cleaning device 20 cannot continue to complete normal cleaning operations due to low power and returns to the base station 10, the automatic pool cleaning device 20 first sends a request signal to the communication component of the base station 10. The request signal, for example, includes data interaction between the automatic pool cleaning device 20 and the base station 10, so that the base station 10 knows that the automatic pool cleaning device 20 has low power and needs to be charged, so that the base station 10 can control the retractable component 120 to release the connecting harness 122, thereby completing the preparation for grabbing the automatic pool cleaning device 20.

[0073] The above examples are merely exemplary, and the above control method is also applicable in other situations where the automatic pool cleaning device 20 needs to return to the base station 10 .

[0074] After the automatic pool cleaning device 20 is salvaged from the pool, the control method further includes: grabbing the automatic pool cleaning device 20 through the grabbing member 130; controlling the retracting assembly 120 to release the connecting harness 122, thereby returning the automatic pool cleaning device 20 to the pool.

[0075] After the automatic pool cleaning device 20 moves to the pool bank and completes docking with the base station 10, the grabbing member 130 grabs the automatic pool cleaning device 20 again. For example, in the case where the grabbing member 130 is an electromagnet, the base station 10 charges the electromagnet again so that the electromagnet can adsorb the automatic pool cleaning device 20.

[0076] After the grabbing member 130 grabs the automatic pool cleaning device 20, the driving member 121 rotates, thereby releasing the connecting harness 122. When the connecting harness 122 is released to a certain length, the automatic pool cleaning device 20 is sent back into the pool, that is, the automatic pool cleaning device 20 sinks into the water of the pool.

[0077] The retractable component 120 also includes a telescopic member 123 and a pulley 124, the pulley 124 carries the connecting harness 122, and the pulley 124 is arranged at the free end of the telescopic member 123, wherein before releasing the connecting harness 122, the control method also includes: controlling the telescopic member 123 to extend along the first direction until the projection of the pulley 124 facing the pool protrudes from the wall of the pool.

[0078] The arrangement position, connection mode and relationship between the telescopic member 123 and the pulley 124 of the retractable assembly 120 and the connection harness 122 have been described in detail above and will not be repeated here. Figure 1B The projection of the pulley 124 from left to right as shown in the figure protrudes from the wall of the pool (as shown in FIG. Figure 1B ), facilitating contact between the grabbing member 130 provided on the connecting harness 122 and the automatic pool cleaning device 20 located in the pool. The above-described control method avoids a situation in which, when the connecting harness 122 is released, the projection of the pulley 124 facing the pool remains on the pool bank, preventing the connecting harness 122 and the grabbing member 130 from entering the pool and instead accumulating on the pool bank. It also avoids a situation in which, after the projection of the pulley 124 facing the pool overlaps with the pool wall, the grabbing member 130 is unable to effectively grasp the automatic pool cleaning device 20 (for example, a hook-type grabbing member 130 is unable to contact a corresponding hook ring on the automatic pool cleaning device 20) after the connecting harness 122 and grabbing member 130 are released.

[0079] The provision of the telescopic member 123 can make the contact between the grabbing member 130 and the automatic pool cleaning device 20 more flexible, and the length of the telescopic member 123 can be adjusted according to the different distances between the automatic pool cleaning device 20 and the pool wall.

[0080] In the description of this specification, the reference terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless they are mutually inconsistent.

[0081] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0082] In this application, unless otherwise specified, directional words such as "up" and "down" are generally used with respect to the directions shown in the drawings, or with respect to the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "left" and "right" are generally used with respect to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit this application.

[0083] The above is merely an exemplary embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various modifications or substitutions within the technical scope described in this application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A base station (10) of an automatic pool cleaning device (20), comprising: The main body (110), the retractable assembly (120) and the grabbing member (130), wherein: At least a portion of the body (110) is disposed outside the pool; The retractable assembly (120) is connected to the body (110), and the retractable assembly (120) includes a driving member (121) and a connecting wire harness (122). The retractable assembly (120) can put the grabbing member (130) into the pool and move the grabbing member (130) from the pool to the bank by retracting the connecting wire harness (122) via the driving member (121); and The gripping member (130) is capable of gripping the automatic pool cleaning device (20).

2. The base station (10) according to claim 1, wherein The grabbing member (130) comprises at least one of an electromagnet, a permanent magnet, a gripper, a hook and a suction cup.

3. The base station (10) according to claim 2, wherein In the case where the grabbing member (130) includes the electromagnet, the connecting harness (122) includes wires, and the wires are capable of supplying power to the electromagnet.

4. The base station (10) according to claim 1, wherein The retractable assembly (120) further comprises a telescopic member (123) and a pulley (124), wherein the pulley (124) carries the connecting wire harness (122), and the pulley (124) is arranged at the free end of the telescopic member (123). The telescopic member (123) can be extended in a first direction until the projection of the pulley (124) facing the pool protrudes from the pool wall, and the telescopic member (123) can be retracted in a second direction.

5. The base station (10) of the automatic pool cleaning device (20) according to claim 1 further comprises a communication component, wherein: The communication component is capable of communicating with the automatic pool cleaning device (20).

6. The base station (10) according to claim 1, further comprising a charging component, wherein The charging component is arranged on the body (110), and the charging component can dock with the automatic pool cleaning device (20) and charge the automatic pool cleaning device (20).

7. A method for controlling a base station (10) of an automatic pool cleaning device (20), the base station (10) of the automatic pool cleaning device (20) comprising: A body (110), a retractable assembly (120), and a grabbing member (130), wherein at least a portion of the body (110) is disposed outside a pool, the retractable assembly (120) is connected to the body (110), and the retractable assembly (120) includes a driving member (121) and a connecting harness (122), wherein the control method includes: Controlling the retractable assembly (120) to release the connecting harness (122) via the driving member (121) to place the grabbing member (130) into the pool; controlling the grabbing member (130) to grab the automatic pool cleaning device (20); and The retractable assembly (120) is controlled to retract the connecting harness (122) to salvage the automatic pool cleaning device (20) in the pool.

8. The control method according to claim 7, wherein: The grabbing member (130) includes an electromagnet, wherein controlling the grabbing member (130) to grab the automatic pool cleaning device (20) includes: when the automatic pool cleaning device (20) moves to a predetermined distance threshold from the grabbing member (130), powering the electromagnet through the connecting harness (122), and attracting the automatic pool cleaning device (20) through the magnetic force generated by the electromagnet.

9. The control method according to claim 7, after the automatic pool cleaning device (20) is salvaged from the pool, the control method further comprises: The automatic pool cleaning device (20) is docked with the charging component of the base station (10).

10. The control method according to claim 8, after the automatic pool cleaning device (20) is salvaged from the pool, the control method further comprises: Power to the electromagnet is deactivated.

11. The control method according to claim 7, wherein: Before releasing the connection harness (122), the control method further comprises: receiving a request signal from the automatic pool cleaning device (20) via a communication component of the base station (10).

12. The control method according to claim 7, after the automatic pool cleaning device (20) is salvaged from the pool, the control method further comprises: Grabbing the automatic pool cleaning device (20) via the grabbing member (130); The retractable assembly (120) is controlled to release the connecting harness (122), thereby returning the automatic pool cleaning device (20) to the pool.

13. The control method according to claim 7, wherein: The retractable assembly (120) further comprises a telescopic member (123) and a pulley (124), wherein the pulley (124) carries the connecting wire harness (122), and the pulley (124) is arranged at a free end of the telescopic member (123), wherein before releasing the connecting wire harness (122), the control method further comprises: The telescopic member (123) is controlled to extend in a first direction until the projection of the pulley (124) facing the pool protrudes from the pool wall.

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