Bearing assembly, pool robot control method and control system

Abstract

The invention discloses a bearing assembly, a pool robot control method and a pool robot control system, and the bearing assembly comprises a supporting part which is arranged at the edge of a pool; the bearing part comprises a first end and a second end which are oppositely arranged, a bearing surface is formed between the first end and the second end, and the first end is connected with the supporting part; wherein the bearing part at least has a first pose, and when the bearing part is in the first pose, a preset included angle is formed between the bearing surface and the supporting part, and the second end extends below the lowest preset water level of the pool, so that the bearing surface is used for bearing the pool robot to move to enter or leave the pool. By means of the bearing assembly, the pool robot can enter or leave the pool, manual carrying, throwing or fishing is not needed any more, and use is convenient.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a load-bearing component, a pool robot control method, and a control system. Background Art

[0002] Pool robots are used to perform tasks such as pool cleaning, disinfection, and emergency rescue in pools. Their ease of use, intelligence, and efficiency have made them increasingly popular. Pool robots must enter the pool before performing their tasks and leave for maintenance, standby, or storage. However, the height difference between the pool edge and the water surface typically makes it difficult for pool robots to enter or exit the pool directly from the edge. They must be manually transported in and out of the water, making them inconvenient. Summary of the Invention

[0003] The main technical problem solved by this application is to provide a bearing component, a pool robot control method and a control system, which can automatically control the pool robot to enter and leave the pool.

[0004] In order to solve the above technical problems, a technical solution adopted in this application is: to provide a bearing assembly, including: a support member, arranged at the edge of the pool; the bearing member, including a first end and a second end arranged opposite to each other, a bearing surface formed between the first end and the second end, and the first end connected to the support member; wherein, the bearing member has at least a first posture, when the bearing member is in the first posture, a preset angle is formed between the bearing surface and the support member, and the second end extends below the lowest preset water level of the pool, so that the bearing surface is used to carry the pool robot to move into or out of the pool.

[0005] The preset angle is greater than or equal to 45 degrees and less than 180 degrees, and / or the bearing member is rotatable relative to the supporting member.

[0006] In which, the supporting member can be rotated to a second position. When the supporting member is rotated to the second position, the angle formed between the supporting surface and the supporting member is different from the preset angle; and / or, the supporting member can be rotated to a third position. When the supporting member is rotated to the third position, the supporting surface faces the supporting member, and a first accommodating space is formed between the supporting surface and the supporting member, and the first accommodating space is used to accommodate the pool robot.

[0007] It also includes a driving component, which is connected to the carrier; the driving component can drive the carrier to rotate around the connection between the carrier and the support member along the rotation direction.

[0008] In which, the driving assembly includes a rotating shaft and a driving member, the rotating shaft is arranged on the support member or the first end, and the first end rotates on the support member through the rotating shaft; the driving member is connected to the rotating shaft, and the driving member is used to drive the rotating shaft so that the supporting member rotates relative to the support member; and / or, the supporting member includes a first supporting member and a second supporting member connected to the first supporting member, a first supporting surface is provided on the first supporting member, a second supporting surface is provided on the second supporting member, the first supporting surface and the second supporting surface are connected to form a supporting surface, and one end of the first supporting member is rotatably connected to the support member through the driving assembly; the supporting member also includes a rotating assembly, and the end of the first supporting member away from the support member is rotatably connected to the second supporting member through the rotating assembly; wherein, when the first supporting surface and the second supporting surface are rotated toward the support member, the support member, the first supporting surface and the second supporting surface are surrounded to form a second accommodating space, and the second accommodating space is used to accommodate the pool robot.

[0009] The carrier is provided with a locking portion, which is used to connect the pool robot to the carrier surface, and the locking portion can be retracted on the carrier surface; and / or, a photovoltaic component is provided on the back side of the carrier opposite to the carrier surface.

[0010] Among them, the support member includes a accommodating portion, the accommodating portion is formed with a accommodating groove, and a charging component and / or a cleaning component is arranged in the accommodating groove; and / or a charging component and / or a cleaning component is arranged on the supporting member; and / or an anti-slip portion is arranged on the supporting surface; and / or a plurality of scales are arranged on the supporting member along the direction from the first end to the second end; and / or the supporting member is provided with a detection member, which is used to detect the water depth of the pool.

[0011] In order to solve the above technical problems, another technical solution adopted in this application is: providing a pool robot control method, the method comprising: detecting that the pool robot currently has a need to enter or leave the pool; controlling the pool robot to move to the supporting member of the supporting assembly, so that the pool robot enters or leaves the pool with the help of the supporting member having at least a first posture, wherein the supporting member in the first posture extends below the lowest preset water level of the pool and forms a preset angle with the support member of the supporting assembly; wherein the support member is arranged at the edge of the pool, and the supporting member is connected to the support member.

[0012] The carrying component drives the pool robot to enter or leave the pool by changing the posture of the carrying component; and / or the pool robot enters or leaves the pool by moving on the carrying component.

[0013] In which, the supporting member also has a second posture and / or a third posture, wherein the angle formed between the supporting member in the second posture and the supporting member is different from the preset angle, and the supporting surface of the supporting member in the third posture faces the supporting member, and an accommodating space is formed between the supporting surface and the supporting member, and the accommodating space is used to accommodate the pool robot; wherein, after the pool robot leaves the pool or before entering the pool, the supporting member is in the second posture or the third posture.

[0014] Among them, controlling the pool robot to move onto the carrying component so that the pool robot enters or leaves the pool with the help of a carrying component having at least a first posture includes: in response to the demand to leave the pool, controlling the pool robot to move onto the carrying component in the first posture, wherein the carrying component drives the pool robot to leave the pool by changing the carrying component from the first posture to the second posture; in response to the demand to enter the pool, controlling the pool robot to move onto the carrying component in the second posture, wherein the carrying component drives the pool robot to enter the pool by changing the carrying component from the second posture to the first posture; and / or, the carrying component also includes a photovoltaic component , used to provide power and / or shade at least one of the pool robot, the carrier and the support; and / or, when the carrier is in the third position, the carrier can shield the pool robot; and / or, a photovoltaic component is provided on the back of the carrier surface for supporting the pool robot, and the photovoltaic component is used to power the pool robot and / or the carrier when the carrier is in the third position; and / or, controlling the pool robot to move to the carrier in the first position, including: controlling the pool robot to move from the bottom of the pool along the inner wall of the pool along a target moving route, and the target moving route can instruct the pool robot to find the carrier.

[0015] Among them, the carrying component changes the posture of the carrying component by rotating the carrying component; and / or, in the process of the carrying component driving the pool robot into or out of the pool, the carrying component is connected to the pool robot through a locking part provided on the carrying component; the pool robot is controlled to move to the carrying component of the carrying component so that the pool robot enters or leaves the pool with the help of the carrying component having at least a first posture, including: after the carrying component changes the posture of the carrying component, the locking part is controlled to be in a non-connected state so that the pool robot can detach from the carrying component; and / or, the pool robot is controlled to move to the carrying component of the carrying component so that the pool robot enters or leaves the pool with the help of the carrying component having at least a first posture, including: controlling the pool robot to move to the carrying component to trigger the carrying component to drive the pool robot into or out of the pool by changing the posture of the carrying component; the triggering condition for the carrying component to drive the pool robot into or out of the pool includes at least one of the following: the pool robot moves to the motion stop position on the carrying component, and the pool robot is connected to the carrying component.

[0016] Among them, controlling the pool robot to move onto the carrier to trigger the carrier component to drive the pool robot into or out of the pool by changing the posture of the carrier, includes: controlling the pool robot to move onto the carrier; connecting the pool robot to a motion stop position on the carrier; sending a trigger instruction to the carrier component to instruct the carrier component to change the posture of the carrier to drive the pool robot into or out of the pool.

[0017] Among them, connecting the pool robot to the motion stop position on the carrier includes: detecting that the pool robot moves to the motion stop position of the carrier, and connecting the pool robot to the motion stop position; or controlling the pool robot to move to a preset position, and then moving downward from the preset position, and during the downward movement, connecting the pool robot using the locking part at the motion stop position.

[0018] In order to solve the above technical problems, a technical solution adopted in this application is: to provide a pool robot control system, including: a pool robot and a carrying assembly; the pool robot is used to move to the carrying member of the carrying assembly, so that the pool robot enters or leaves the pool with the help of the carrying member having at least a first posture; the carrying member in the first posture extends below the lowest preset water level of the pool, and forms a preset angle with the support member of the carrying assembly; wherein the support member is arranged at the edge of the pool, and the carrying member is connected to the support member; the carrying assembly can drive the pool robot to enter or leave the pool by changing the posture of the carrying member, or the pool robot enters or leaves the pool by moving on the carrying member.

[0019] The beneficial effects of the present application are as follows: Different from the prior art, the present application provides a carrying assembly, a pool robot control method, system, device, and storage medium. The carrying assembly includes a support member and a carrying member, the support member is arranged at the edge of the pool; the carrying member includes a first end and a second end arranged opposite to each other, a carrying surface is formed between the first end and the second end, and the first end is connected to the support member; the carrying member has at least a first posture, when the carrying member is in the first posture, a preset angle is formed between the carrying surface and the support member, and the second end extends from the edge of the pool to below the lowest preset water level of the pool, so that the carrying surface is used to carry the pool robot to move into or out of the pool. Through the above arrangement, when the carrying surface forms a preset angle with the support member, the carrying surface can be tilted and extended to below the lowest preset water level of the pool, thereby connecting the edge of the pool with the water surface of the pool. The pool robot can move into or out of the pool with the support of the carrying surface, that is, the pool robot can be carried out of and into the water by the carrying assembly, and no longer needs to be manually carried, dropped, or salvaged, which is convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive work, among which:

[0021] Figure 1 This is a first structural diagram of an embodiment of a carrier assembly of the present application;

[0022] Figure 2 This is a second structural diagram of an embodiment of a carrier assembly of the present application;

[0023] Figure 3 This is an exploded schematic diagram of an embodiment of a load-bearing assembly of the present application;

[0024] Figure 4 This is a schematic diagram of a second posture of an embodiment of a carrier assembly of the present application;

[0025] Figure 5 This is a schematic diagram of a third posture of an embodiment of a carrier assembly of the present application;

[0026] Figure 6 It is a structural diagram of another embodiment of the load-bearing assembly of the present application;

[0027] Figure 7 This is a structural diagram of another embodiment of the carrier assembly of the present application;

[0028] Figure 8 This is a flow chart of an embodiment of a pool robot control method provided by the present application;

[0029] Figure 9 yes Figure 8 The flowchart of step S12 is shown as an embodiment;

[0030] Figure 10 This is a schematic diagram of a framework of an embodiment of a pool robot control system provided by the present application;

[0031] Figure 11 This is a schematic diagram of the framework of an embodiment of an electronic device provided by the present application;

[0032] Figure 12 It is a schematic diagram of the framework of the computer-readable storage medium provided by this application;

[0033] Figure numbers: 100, bearing assembly; 110, bearing member; 111, first end; 112, second end; 113, bearing surface; 1131, anti-slip portion; 114, first bearing member; 115, second bearing member; 116, rotating assembly; 117, locking portion; 118, baffle; 120, supporting member; 121, connecting portion; 122, accommodating portion; 1221, accommodating groove; 1221a, charging assembly; 123, inclined surface; 130, first accommodating space; 140, driving assembly; 141, rotating shaft; 142, driving member; 150, second accommodating space. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and effects of this application clearer and more specific, this application is further described in detail below with reference to the accompanying drawings and examples.

[0035] References to "embodiments" herein mean that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor are they independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0036] The following describes in detail the carrying assembly, pool robot control method, system, device and storage medium provided by the present invention in conjunction with the embodiments.

[0037] See also Figures 1 to 3 , Figure 1 This is a first structural diagram of an embodiment of a carrier assembly of the present application; Figure 2 This is a second structural diagram of an embodiment of a carrier assembly of the present application; Figure 3 1 is an exploded schematic diagram of an embodiment of a bearing assembly of the present application. The present application provides a bearing assembly 100, which includes a support member 120 and a bearing member 110. The support member 120 is arranged at the edge of a pool. The edge of the pool can be a location such as the pool wall or the bank of the pool. For example, the support member 120 can be arranged at the bank of the pool. The support member 120 can also be arranged on the pool wall of the pool. The support member 120 can be partially arranged at the edge of the pool, or the support member 120 can be entirely arranged at the edge of the pool. The bearing member 110 includes a first end 111 and a second end 112 that are arranged opposite to each other. A bearing surface 113 is formed between the first end 111 and the second end 112. The first end 111 is connected to the support member 120. The bearing member 110 has at least a first posture. When the bearing member 110 is in the first posture, a preset angle O is formed between the bearing surface 113 and the support member 120. The second end 112 extends below the lowest preset water level of the pool, so that the supporting surface 113 is used to support the pool robot to move into or out of the pool.

[0038] Specifically, the minimum preset water level refers to the lowest water surface position theoretically required when using the load-bearing assembly. When a preset angle O is formed between the load-bearing surface 113 and the support member 120, the load-bearing surface 113 can be perpendicular or inclined relative to the water surface of the pool. When the pool robot is at the edge of the pool, the pool robot can move from the first end 111 to the load-bearing surface 113. When the pool robot is in the pool, the pool robot can move from the second end 112 to the load-bearing surface 113. When the pool robot is on the load-bearing surface 113, the load-bearing surface 113 supports the movement of the pool robot.

[0039] With this arrangement, when support surface 113 forms a predetermined angle O with support member 120, support surface 113 can tilt or extend vertically below the pool's lowest predetermined water level, thereby connecting the pool's edge with the water surface. The pool robot can be carried directly by support surface 113 to move into and out of the pool. In other words, the pool robot can be launched and re-entered into the water via support assembly 100, eliminating the need for manual handling, placement, or retrieval, making it convenient to use.

[0040] The specific manner in which the carrying surface 113 carries the pool robot to move into or out of the pool can be that the pool robot actively moves along the carrying surface 113 relative to the support member 120, or the pool robot is driven by the carrying surface 113 to move relative to the support member 120. In one specific embodiment, the carrying surface 113 is fixed relative to the support member 120, and the pool robot moves along the carrying surface 113 to enter or leave the pool. In another specific embodiment, the pool robot is stationary relative to the carrying surface 113, and the carrying surface 113 moves relative to the support member 120 and drives the pool robot to enter or leave the pool. In yet another specific embodiment, the pool robot moves along the carrying surface 113, and the carrying surface 113 moves relative to the support member 120, and the pool robot enters or leaves the pool under the combined action of the movement of the pool robot and the movement of the carrying surface 113.

[0041] The connection between the first end 111 and the support member 120 may be a fixed connection or a movable connection, as long as the support member 110 can have the first posture, which is not limited here.

[0042] In one embodiment, the pool robot can actively move on the carrier 110 in the first posture, or be driven by the carrier 110 after moving to the first posture, so as to enter or leave the pool.

[0043] In one embodiment, a counterweight tank may be provided on the support member 120. This tank can increase the weight of the support member 120, thereby enhancing the stability of the support member 120 supporting the support member 110. The counterweight tank can contain liquid. As the amount of liquid in the tank increases, the weight of the tank increases, and the support force of the support member 120 on the support member 110 increases.

[0044] In one embodiment, the preset angle O is greater than or equal to 45 degrees and less than 180 degrees. Thus, the carrying surface 113 can be vertically or obliquely extended into the water of the pool, which is conducive to carrying the pool robot to or from the pool, and the carrying assembly 100 is easy to use.

[0045] The preset angle O includes but is not limited to 45 degrees, 50 degrees, 55 degrees, 60 degrees, 70 degrees, 80 degrees, 90 degrees, 95 degrees, 100 degrees, 110 degrees, 120 degrees, 130 degrees, 135 degrees, 140 degrees, 145 degrees, 150 degrees, 160 degrees, 170 degrees, 179 degrees, etc., and is not limited here.

[0046] In one embodiment, the carrier 110 is rotatable relative to the support 120. When the carrier 110 rotates relative to the support 120, the carrying surface 113 can carry and drive the pool robot to move relative to the support 120. The pool robot can enter or leave the pool under the drive of the carrier 110.

[0047] With this arrangement, the pool robot only needs to move onto the supporting surface 113, and the supporting member 110 will rotate and drive the pool robot into or out of the pool. The supporting member 110 assists the pool robot's movement, eliminating the need for the pool robot to generate strong driving force to climb on its own, making entry and exit into the pool more efficient and convenient.

[0048] See also Figure 4 , Figure 4 This is a schematic diagram of the second posture of an embodiment of the carrier assembly of this application. Figures 1 to 3 In one embodiment, the carrier 110 can rotate relative to the support member 120, specifically including: the carrier 110 can rotate to a second posture.

[0049] Optionally, when the support member 110 rotates to the second posture, the angle formed between the support surface 113 and the support member 120 is different from the preset angle O. For example, the second end 112 can move above the water surface of the pool or remain below the water surface of the pool after the second end 112 moves, and the angle between the support surface 113 and the surface of the support member 120 is less than a preset threshold value. This allows the pool robot to be more stably connected to the support member 110 when the support member 110 rotates to the second posture, or to overcome obstacles such as gravity on the support member 110 and move in a target direction. The specific preset threshold value can be pre-set based on the specific configuration of the support assembly 100 and experience, and is not limited here.

[0050] Preferably, when the carrier 110 rotates to the second position, the second end 112 moves above the water surface of the pool, and the carrier surface 113 is parallel to the surface of the support member 120. The carrier surface 113 can be parallel to the water surface of the pool and can be aligned and connected with the surface of the support member 120. Because the carrier surface 113 of the carrier 110 is parallel to the surface of the support member 120 in the second position, the pool robot only needs to perform simple parallel motion when moving between the carrier surface 113 and the surface of the support member 120, which improves the efficiency of entering or leaving the pool and is convenient to use.

[0051] Specifically, when the pool robot needs to leave the pool, the support member 110 can rotate from the first position to the second position, changing the angle between the support surface 113 and the support member 120. The pool robot located on the support surface 113 can better move along the support surface 113 to the surface of the support member 120. When the pool robot needs to enter the pool, the pool robot can better move from the surface of the support member 120 to the support surface 113. The rotation of the support member 110 from the second position to the first position facilitates the pool robot to actively move or be driven into the pool.

[0052] Through the above arrangement, the supporting member 110 can drive the pool robot or enable the pool robot to actively enter or leave the pool by rotating between the first posture and the second posture.

[0053] Further, see Figure 5 , Figure 5 This is a schematic diagram of the third posture of an embodiment of the carrier assembly of this application. Figures 1 to 4 The support member 110 can also rotate to a third position. When the support member 110 rotates to the third position, the support surface 113 faces the support member 120. The support surface 113 can be parallel to and spaced apart from the support member 120. A first accommodating space 130 is formed between the support surface 113 and the support member 120. The first accommodating space 130 is used to accommodate the pool robot. When the pool robot is in the first accommodating space 130, the orthographic projection of the support member 110 along the direction from the support member 110 to the support member 120 at least partially covers the pool robot.

[0054] With this arrangement, when the pool robot leaves the pool, it can be located within first accommodating space 130. At this point, carrier assembly 110 is positioned above the pool robot, shielding it from light and falling dust. After leaving the pool, the pool robot is less susceptible to aging and other malfunctions caused by prolonged exposure to sunlight, and less susceptible to dirt accumulation. The pool robot can be stored securely, and carrier assembly 100 is convenient to use.

[0055] In one embodiment, the carrier 110 rotates to a stowed position after the pool robot enters or leaves the pool. The stowed position may be when the carrier 110 rotates close to the pool wall or when the carrier 110 rotates close to the support member 120. The specific stowed position can be pre-set based on actual conditions and experience.

[0056] Please continue reading Figures 1 to 5 In one embodiment, the support assembly 100 further includes a drive assembly 140. The drive assembly 140 is connected to the support member 110. The drive assembly 140 can output power. The drive assembly 140 can drive the support member 110 to rotate along a rotational direction around the connection between the support member 110 and the support member 120. The rotational direction can be perpendicular to the support surface 113 and around the connection.

[0057] Through the above arrangement, carrier 110 is connected to support member 120 via drive assembly 140 and driven for rotation, resulting in a compact and streamlined structure. No additional structures are required on support member 120 or carrier 110 to increase the volume of carrier assembly 100. Furthermore, because carrier 110 is driven by drive assembly 140, carrier assembly 100 can autonomously control the rotation of carrier 110, eliminating the need for manual rotation and facilitating ease of use.

[0058] The drive assembly 140 can be directly connected to the carrier 110 or indirectly connected to the carrier 110. For example, the drive assembly 140 can be disposed at the connection between the carrier 110 and the support member 120. The drive assembly 140 is directly connected to the carrier 110. The carrier 110 is connected to the support member 120 via the drive assembly 140. The location of the drive assembly 140 can be determined based on actual conditions. For example, the drive assembly 140 can be disposed on the support member 120, on the carrier 110, or partially on the support member 120 and partially on the carrier 110.

[0059] In one embodiment, the driving assembly 140 includes a rotating shaft 141 and a driving member 142. The rotating shaft 141 is provided on the support member 120 or the first end 111. The axis of the rotating shaft 141 is parallel to the bearing surface 113. The first end 111 rotates on the support member 120 through the rotating shaft 141. The driving member 142 can be provided on the support member 120, can be provided on the bearing member 110, or can be provided independently. The driving member 142 is connected to the rotating shaft 141. The driving member 142 can output power to the rotating shaft 141. The driving member 142 can be a motor, etc. The driving member 142 is used to drive the rotating shaft 141 so that the bearing member 110 rotates relative to the support member 120.

[0060] Through the above arrangement, the carrier 110 can be simply connected to the support member 120 through the rotating shaft 141 and driven to rotate by the driving member 142 without the need for manual rotation of the rotating shaft 141. The carrier assembly 100 has a simple structure and is easy to use.

[0061] The rotating shaft 141 can be disposed on the first end 111 or on the support member 120, without limitation. In one embodiment, the rotating shaft 141 is disposed on the first end 111. The support member 120 is provided with an axial hole. The rotating shaft 141 is disposed within the axial hole, allowing the first end 111 to be rotatably connected to the support member 120. In another embodiment, the rotating shaft 141 is disposed on the support member 120. The first end 111 is provided with a through hole. The through hole is disposed around the outer circumference of the rotating shaft 141, allowing the first end 111 to be rotatably connected to the support member 120.

[0062] See also Figure 6 , Figure 6 This is a structural diagram of another embodiment of the carrier assembly of the present application. Figures 1 to 4 In another embodiment, the carrier 110 can rotate relative to the support member 120. Specifically, the carrier 110 includes a first carrier 114 and a second carrier 115 connected to the first carrier 114. The first carrier 114 is provided with a first bearing surface (not shown in the figure). The second carrier 115 is provided with a second bearing surface (not shown in the figure). The first bearing surface and the second bearing surface are connected to form a bearing surface 113. One end of the first carrier 114 is rotatably connected to the support member 120 via a driving assembly 140. When the driving assembly 140 drives the first carrier 114 to rotate, the first carrier 114 drives the second carrier 115 to rotate. The carrier 110 also includes a rotating assembly 116. The end of the first carrier 114 away from the support member 120 is rotatably connected to the second carrier 115 via the rotating assembly 116. When the second carrier 115 rotates relative to the first carrier 114, the angle between the first bearing surface and the second bearing surface changes.

[0063] When the first and second supporting surfaces are rotated toward support member 120, support member 120, the first and second supporting surfaces enclose a second accommodating space 150. Second accommodating space 150 is used to accommodate the pool robot. When the pool robot is located in second accommodating space 150, the orthographic projection of second supporting member 115 along the direction from second supporting member 115 toward support member 120 at least partially covers the pool robot.

[0064] With this arrangement, the pool robot can be positioned within second accommodating space 150. In this configuration, second support member 115 is positioned above the pool robot, while first support member 114 is positioned to one side of the pool robot. These two supports shield the pool robot from light and falling dust. After leaving the pool, the pool robot is less susceptible to aging and other malfunctions caused by prolonged exposure to sunlight, and less susceptible to dirt accumulation. The pool robot can be stored securely, and support assembly 100 is convenient to use.

[0065] Furthermore, the second support member 115 can further rotate relative to the first support member 114 about the rotating assembly 116, so that when the first support surface is perpendicular or inclined relative to the surface of the support member 120, the second support surface can be oriented toward and parallel to the surface of the support member 120. When the support member 120, the first support surface, and the second support surface are arranged to form the second accommodating space 150, the structure is more compact, and the support assembly 100 can occupy less space.

[0066] In one embodiment, the rotating assembly 116 includes a second rotating shaft (not shown in the figure). The second supporting member 115 is rotatably connected to the first supporting member 114 via the second rotating shaft.

[0067] The driving force for the second supporting member 115 to rotate around the second rotating shaft can be gravity, or a driving force provided by other structures, etc., which is not limited here. In one specific embodiment, when the first supporting member 114 rotates, the second supporting member 115 rotates around the second rotating shaft under the action of gravity until the second supporting surface faces the surface of the support member 120. In another specific embodiment, the rotating assembly 116 also includes a second driving member (not shown in the figure). The second driving member can be a motor, etc. The second driving member is used to drive the second rotating shaft so that the second supporting member 115 rotates relative to the first supporting member 114.

[0068] See also Figure 7 , Figure 7 This is a structural diagram of another embodiment of the carrier assembly of the present application. Figures 1 to 6 In one embodiment, the carrier 110 is provided with a locking portion 117. The locking portion 117 is used to connect the pool robot to the carrying surface 113. When the pool robot is connected to the carrying surface 113 by the locking portion 117, the pool robot cannot move relative to the carrying surface 113. When the locking portion 117 releases the connection between the pool robot and the carrying surface 113, the pool robot can move relative to the carrying surface 113.

[0069] Through the above arrangement, the supporting member 110 can lock the pool robot by the locking portion 117 when rotating, so that the pool robot is not likely to fall off the supporting surface 113 due to inertia, and the process of the pool robot entering or leaving the pool is more stable.

[0070] The locking portion 117 can connect the pool robot to the supporting surface 113 through structural locking, magnetic attraction, or other methods, which are not limited here. In one specific embodiment, the locking portion 117 is retractable relative to the supporting surface 113. When the locking portion 117 extends beyond the supporting surface 113, the locking portion 117 can be locked and fixed to the pool robot. The pool robot is fixed to the supporting surface 113 by the locking portion 117. When the locking portion 117 retracts into the supporting surface 113, the pool robot and the locking portion 117 are unlocked. The pool robot can move relative to the supporting surface 113.

[0071] In another specific embodiment, the locking portion 117 is magnetic. The magnetic field of the locking portion 117 is variable. The pool robot is provided with a corresponding magnetic component. When the magnetic field of the locking portion 117 changes to be magnetically attracted to the magnetic component, the pool robot is magnetically locked to the support surface 113. When the magnetic field of the locking portion 117 changes to no longer be magnetically attracted to the magnetic component, the electromagnet and the magnetic component are disengaged, and the pool robot can move relative to the support surface 113.

[0072] Through the above arrangement, the locking portion 117 can firmly connect the pool robot to the carrying surface 113 , so that the pool robot is not likely to slide off the carrying surface 113 , and the carrying assembly 100 is stable in use.

[0073] In another embodiment, a locking portion 117 is provided on the pool robot. The support surface 113 is provided with a locking structure that cooperates with the locking portion 117. The locking structure can be a groove, a locking hook, or the like. When the locking portion 117 extends from the pool robot, the locking portion 117 locks with the locking structure, securing the pool robot to the support surface 113.

[0074] Please continue reading Figures 1 to 7 In one embodiment, a photovoltaic assembly (not shown in the figure) is provided on the back side of the carrier 110 opposite to the carrier surface 113. The photovoltaic assembly is used to convert light energy into electrical energy. The photovoltaic assembly can be a solar panel, etc. The photovoltaic assembly can replenish electrical energy for the carrier 110 itself and for devices that are in direct or indirect contact with the carrier 110. For example, when the photovoltaic assembly is electrically connected to the support 120, the photovoltaic assembly can replenish electrical energy for electrical devices in the support 120, such as a pool robot that is in contact with the support 120. The method of replenishing electrical energy can be wired charging or wireless charging.

[0075] Through the above arrangement, the power for the electrical devices in the support member 120 can be provided by the photovoltaic assembly, without the need for additional wires for power connection. The installation is convenient and the arrangement is flexible, which also makes the support assembly 100 more environmentally friendly.

[0076] In one embodiment, the first end 111 of the carrier 110 is fixed to the support 120. Thus, the carrier 110 is directly fixed to the support 120, and the pool robot directly enters or leaves the pool along the inclined carrier surface 113, and the carrier assembly 100 has a simple structure.

[0077] The first end 111 of the carrier 110 and the support 120 can be connected by threaded connection, welding, bonding, etc., which are not limited here. As in this embodiment, the first end 111 of the carrier 110 and the support 120 are integrally formed.

[0078] In one embodiment, the support member 120 includes a receiving portion 122. The receiving portion 122 is formed with a receiving groove 1221. The receiving groove 1221 can accommodate the pool robot. The pool robot can move into the receiving groove 1221. The receiving groove 1221 is provided with a charging component 1221a and / or a cleaning component (not shown). The charging component 1221a is used to charge the pool robot, and the charging method can be wired charging or wireless charging. The cleaning component is used to clean the pool robot.

[0079] With the above arrangement, when the pool robot leaves the pool, it can be parked and stored in the receiving tank 1221. Furthermore, a charging assembly 1221a and / or a cleaning assembly can be provided in the receiving tank 1221, allowing maintenance such as charging and / or cleaning of the pool robot to be performed while the pool robot is in the receiving tank 1221. This makes the carrying assembly 100 more intelligent and convenient to use.

[0080] The arrangement and location of the charging assembly 1221a and the cleaning assembly can be determined according to actual circumstances. For example, in one embodiment, the accommodating tank 1221 is provided with the charging assembly 1221a. The charging assembly 1221a is provided on the bottom wall of the accommodating tank 1221. In another embodiment, the accommodating tank 1221 is provided with a cleaning assembly. The cleaning assembly is provided on the bottom wall or side wall of the accommodating tank 1221. In another embodiment, the accommodating tank 1221 is provided with the charging assembly 1221a and the cleaning assembly. The charging assembly 1221a is provided on the bottom wall of the accommodating tank 1221. The cleaning assembly is provided on the bottom wall or side wall of the accommodating tank 1221.

[0081] In one embodiment, the support member 120 includes a connecting portion 121. One end of the connecting portion is connected to the support member 110, and the other end is connected to the accommodating portion 122. The pool robot can move from the support member 110 to the connecting portion 121, and then from the connecting portion 121 to the accommodating portion 122.

[0082] Furthermore, an inclined surface 123 is formed between the connecting portion 121 and the accommodating portion 122. Thus, when the pool robot moves from the connecting portion 121 to the accommodating groove 1221, the pool robot can be guided by the inclined surface 123, and the movement is smoother and more stable, thereby increasing the stability of the supporting assembly 100.

[0083] In one embodiment, a charging assembly 1121a and / or a cleaning assembly are provided on the carrier 110. When the pool robot contacts the carrier 110, the carrier 110 performs maintenance operations such as charging and / or cleaning the pool robot. The carrier 110 can charge and / or clean the pool robot while it is resting on the carrier 110 in the first posture. When the carrier 110 can rotate to the third posture, the carrier 110 can also rotate to contact the pool robot after the pool robot is stored in the first accommodating space 130 to charge and / or clean the pool robot.

[0084] Please continue reading Figures 1 to 7 In one embodiment, the bearing surface 113 is provided with an anti-slip portion 1131. The anti-slip portion 1131 is used to increase the friction of the bearing surface 113. Thus, when the pool robot moves relative to the bearing surface 113, the pool robot is less likely to slip and the movement is more stable.

[0085] The number and distribution of the anti-slip portions 1131 can be determined based on actual conditions and are not limited here. In this embodiment, a plurality of anti-slip portions 1131 are provided. The plurality of anti-slip portions 1131 are spaced apart and arranged on the bearing surface 113 in a direction from the first end 111 to the second end 112.

[0086] The structure of the anti-slip portion 1131 can also be determined based on actual conditions, as long as it can achieve the effect of increasing friction. For example, in one embodiment, the anti-slip portion 1131 is a rubber strip protruding from the support surface 113. In another embodiment, the anti-slip portion 1131 is a plurality of raised dots spaced apart on the surface of the support surface 113.

[0087] In one embodiment, the support member 110 is provided with a plurality of scales (not shown) along the direction from the first end 111 to the second end 112. The scales are positioned to match the minimum preset water level of the pool. For example, when the support member 110 is in a preset position relative to the water surface of the pool, such as vertical, the position of at least one scale coincides with the minimum preset water level, making it easier for the user to add water to the pool according to the scale line corresponding to the minimum preset water level. With this arrangement, the user can intuitively determine whether the current water level in the pool meets the minimum requirement by looking at the scales, thereby reducing the probability that the pool robot will not be able to operate normally due to the pool water level being too shallow.

[0088] In one embodiment, the carrier 110 is provided with a detection element (not shown). The detection element is used to detect the water depth of the pool. The detection element can be a sensor capable of detecting distance, such as a laser sensor or an infrared sensor. The carrier 110 can also be provided with a communication module. The communication module signals the detection element. When the detection element detects that the water depth of the pool is below a preset minimum water level, the communication module sends a prompt to the user.

[0089] In one embodiment, a baffle 118 is further provided on the supporting surface 113. The baffle 118 is provided on an edge of the supporting surface 113 adjacent to both the first end 111 and the second end 112. The baffle 118 extends from the first end 111 toward the second end 112.

[0090] With this arrangement, when the pool robot is positioned on support surface 113, baffle 118 limits the pool robot's position, allowing it to move only from first end 111 toward second end 112, or vice versa. This prevents the pool robot from sliding off support surface 113, ensuring stable operation of support assembly 100.

[0091] In one embodiment, the second end 112 of the support 110 is provided with a guide structure (not shown in the figure). The guide structure is used to assist the pool robot in moving from the pool to the support 110. For example, in a specific embodiment, the guide structure is a guide slope formed by bending one end of the baffle 118 close to the second end 112. Along the direction from the first end 111 to the second end 112, the distance from the guide slope to the central axis of the support surface 113 gradually increases. The central axis of the support surface 113 refers to the center line of the support surface 113 along the direction from the first end 111 to the second end 112. When the pool robot moves from the pool to the support 110, the pool robot may contact the guide slope. The guide slope guides the pool robot toward the central axis of the support surface 113, so that the pool robot is guided onto the support surface 113.

[0092] As in another specific embodiment, a plurality of guide wheels (not shown in the figure) are provided on the side of the baffle 118 facing the central axis of the bearing surface 113. The guide wheels can rotate relative to the baffle 118. The rotation axis of the guide wheels is perpendicular to the bearing surface 113, or inclined at a certain angle relative to the bearing surface 113, such as 10 degrees or 20 degrees. The shape of the guide wheels can be set to be spherical or pancake-shaped. When the pool robot moves from the pool to the bearing member 110, the guide wheels can contact the side wall of the pool robot. When the guide wheels rotate, the pool robot is guided onto the bearing surface 113 under the rotation and guidance of the guide wheels.

[0093] Furthermore, guide grooves (not shown) matching the guide wheels can be provided on the side walls of the pool robot. The guide grooves can extend parallel to the support surface 113. When the pool robot moves from the pool toward the support member 110, the guide wheels can be embedded in the corresponding guide grooves and roll in contact with the bottom or side walls of the guide grooves. The pool robot is limited by the guide wheels and can only move parallel to the support surface 113. When the guide wheels rotate, the pool robot is guided onto the support surface 113 by the rotation of the guide wheels.

[0094] Through the above arrangement, the guide structure can assist the pool robot in moving from the pool to the support member 110, reducing the difficulty for the pool robot to climb onto the support member 110. In addition, if the pool robot is misaligned with the support surface 113 due to positioning errors, the guide structure can also help guide the pool robot to the aligned position, making the support assembly 100 more stable in use.

[0095] See also Figure 8 , Figure 8 This is a flow chart of an embodiment of the pool robot control method provided by this application. It should be noted that if there are substantially the same results, this embodiment is not based on Figure 1 The process sequence shown is limited. Figure 8 As shown, this embodiment includes:

[0096] S11: It is detected that the pool robot currently has a need to enter or leave the pool.

[0097] This embodiment is used to enable a pool robot to enter or exit a pool by using a support member having at least a first posture on a support assembly, thereby enabling the pool robot to automatically enter or exit the pool. The execution entity of this embodiment can be, but is not limited to, a pool robot, and can also be other processing equipment, such as a base station or a processor.

[0098] In one embodiment, the current need for the pool robot to enter or leave the pool can be determined based on a received instruction requiring the pool robot to enter or leave the pool, wherein the instruction can be a single instruction generated by a terminal device (for example, a mobile phone, a remote control, etc.), or it can be multiple instructions generated continuously or intermittently by the terminal device.

[0099] For example, when the pool robot is required to enter the pool to perform a target task, a corresponding instruction can be generated through the terminal device to control the robot to enter the pool and perform the target task. In this embodiment, the specific tasks performed by the pool robot are not limited; for example, the pool robot can be used to clean the pool, water surface, walls, etc., or it can also be used to disinfect the pool, water surface, walls, etc., and perform security patrols.

[0100] In another embodiment, the robot may detect the presence of any target scenario and determine that it needs to leave the pool. Target scenarios include at least one of the following: the battery level is below a threshold, the remaining capacity of the cleaning container is below a threshold, or the target task has been completed. The battery level threshold, capacity threshold, and target task are not specified and can be set based on actual usage needs.

[0101] S12: Control the pool robot to move onto the supporting member of the supporting assembly, so that the pool robot enters or leaves the pool with the help of the supporting member having at least the first posture.

[0102] In this embodiment, the support member in the first position extends below the lowest preset water level of the pool and forms a preset angle with the support member of the support assembly. When the support surface can be tilted and extended below the lowest preset water level of the pool, the edge of the pool can be connected to the water surface of the pool, allowing the pool robot to move into and out of the pool using the support surface. In other words, the pool robot can be moved in and out of the water using the support assembly, eliminating the need for manual handling, placement, or retrieval, making it convenient to use. For details about the support assembly, support member, support member, and the first position, please refer to the above description and will not be elaborated on here.

[0103] In one implementation scenario, after the pool robot moves onto the carrier of the carrying assembly, it leaves the pool by actively moving on the carrier away from the water surface, or enters the pool by actively moving on the carrier toward the water surface.

[0104] In another implementation scenario, the pool robot is a carrying component that drives the pool robot into or out of the pool by changing the posture of the carrying member. Optionally, the carrying component can change the posture of the carrying member by rotating the carrying member. Of course, the carrying component can also change the posture of the carrying member by controlling the carrying member to move up and down. The carrying member includes a first end and a second end that are relatively arranged, and a carrying surface is formed between the first end and the second end, so as to facilitate the control of the pool robot to move onto the carrying member of the carrying component, and then drive the pool robot into or out of the pool by changing the posture of the carrying member. Driving the pool robot into or out of the pool can be that the pool robot moves along the carrying surface, the carrying surface moves relative to the support, and the pool robot enters or leaves the pool under the combined action of its own movement and the movement of the carrying surface; or the pool robot can be stationary relative to the carrying surface, and the carrying surface moves relative to the support and drives the pool robot into or out of the pool.

[0105] In one embodiment, after detecting that the pool robot currently needs to enter or exit the pool, an adjustment instruction can be sent to the support assembly, thereby instructing the support assembly to adjust the support member in the support assembly to a target position through the adjustment instruction, so that the pool robot can move to the support assembly via the support member in the target position. The target position is that the angle between the support member and the inner wall of the pool is within a preset angle range. That is, the angle between the support member adjusted to the target position and the support member is within the preset angle range. The specific preset angle range can be determined according to actual needs, for example, it can be, but is not limited to, an angle range of 45-180 degrees, and can also be an angle range greater than or equal to 45-180 degrees.

[0106] In one embodiment, the carrier further has a second posture and / or a third posture, wherein the angle formed between the carrier in the second posture and the support member is different from the preset angle.

[0107] Optionally, the support member in the second position is above or below the water surface of the pool, and the angle between the support member and the surface is less than a preset threshold, so that when the support member rotates to the second position, the pool robot can be more stably connected to the support member or can overcome obstacles such as gravity on the support member and move in a target direction. The specific preset threshold can be pre-set based on the specific configuration of the support assembly and experience, and is not limited here. For example, the support member in the second position is above the water surface of the pool and substantially parallel to the surface of the support member, so that when the support member rotates to the second position, the pool robot can be lifted out of the water, thereby leaving the pool.

[0108] In this embodiment, the bearing surface of the bearing member in the third position faces the support member, and an accommodating space is formed between the bearing surface and the support member, and the accommodating space is used to accommodate the pool robot.

[0109] In one specific embodiment, when the pool robot is in the pool, the target position of the carrier is the first position. If it is detected that the pool robot currently needs to leave the pool, the pool robot can be controlled to move to the carrier in the first position, and then the carrier is changed from the first position to the second position to drive the pool robot out of the pool. Preferably, in order to facilitate the pool robot to be controlled to move quickly to the carrier when it is detected that the pool robot currently needs to leave the pool, the carrier can maintain the first position after the pool robot enters the pool with the help of the carrier.

[0110] Optionally, after changing the supporting member from the first posture to the second posture to drive the pool robot out of the pool, the supporting member can be further changed from the second posture to the third posture so that the supporting surface of the supporting member faces the support member, and the accommodating space formed between the supporting surface and the support member is used to accommodate the pool robot.

[0111] In another specific embodiment, when the pool robot is currently on the shore, the target position of the supporting member is the second position; further, if it is detected that the pool robot currently needs to enter the pool, the pool robot can be controlled to move to the supporting member in the second position, and the supporting assembly drives the pool robot into the pool by changing the supporting member from the second position to the first position.

[0112] In one embodiment, after the pool robot leaves the pool or before entering the pool, the supporting component is in the second posture or the third posture.

[0113] For example, after the pool robot was driven out of the pool by moving the supporting member from the first position to the second position last time, the supporting member is kept in the second position so that when it is detected that the pool robot currently has a need to enter the pool, the pool robot can be directly controlled to move to the supporting member in the second position.

[0114] Alternatively, when the supporting member is in the third position and after detecting that the pool robot currently has a need to enter the pool, the supporting member can be first adjusted from the third position to the second position, and then the pool robot can be controlled to move to the supporting member in the second position, thereby adjusting the supporting member from the second position to the first position to achieve entry into the water.

[0115] Of course, in other embodiments, after the pool robot leaves the pool or before entering the pool, the supporting member is in the first posture. In order to facilitate controlling the pool robot to quickly move to the supporting member when it is detected that the pool robot currently needs to enter the pool, the supporting member of the supporting assembly can be adjusted to the second posture when it is detected that the pool robot currently needs to enter the pool, so that the pool robot can quickly move to the supporting member in the second posture.

[0116] For details about the minimum preset water level, support member, preset angle, first posture, second posture and third posture, please refer to the above description and will not be repeated here.

[0117] In some embodiments, the carrying assembly further comprises a photovoltaic assembly for supplying power to at least one of the pool robot, the carrying member and the support member, and / or for shielding at least one of the pool robot, the carrying member and the support member.

[0118] The photovoltaic assembly may be arranged on a carrier, on a support, or independently of the carrier and the support, and the specific arrangement may be determined according to the actual use of the photovoltaic assembly.

[0119] Exemplarily, the photovoltaic component is used to shield at least one of the pool robot, the carrier and the support. In this scenario, the photovoltaic component can be a shed-like structure that is not connected to any of the pool robot, the carrier and the support, and is only used to shield at least one of the pool robot, the carrier and the support.

[0120] In one specific embodiment, a photovoltaic module is disposed on the backside of the support surface of the support member, which supports the pool robot. The photovoltaic module is used to convert light energy into electrical energy. The photovoltaic module can provide power to the support member itself and devices in direct or indirect contact with the support member. For example, when the photovoltaic module is electrically connected to the support member, it can provide power to electrical devices within the support member. Power replenishment can be achieved through wired or wireless charging. In one embodiment, the photovoltaic module is used to power the pool robot and / or the support member when the support member is in the third posture.

[0121] In one embodiment, if the pool robot detects a need to leave the pool, it can be controlled to sink to the pool bottom. The robot can then be controlled to move from the pool bottom along the inner wall to the support member along a target movement path. This can then be achieved by changing the position of the support member, leading the pool robot out of the pool. The target movement path can direct the pool robot to find the support member. In this embodiment, the inner wall of the pool includes the pool bottom and side walls.

[0122] The target movement route can be a random route, i.e., the pool robot can move randomly along the inner wall of the pool until the pool robot finds the load-bearing component. Of course, the target movement route can also be an N-shaped route, i.e., the pool robot can move along the inner wall of the pool in an N-shaped trajectory until the pool robot finds the load-bearing component. Of course, the target movement route can also be partially random and partially N-shaped. The specific target movement route can be determined according to actual needs and is not specifically limited here.

[0123] In addition, when the pool robot needs to leave the pool, it can also move from the current position of the pool robot in the pool to the water surface, and then move along the water surface to find the carrier; of course, after leaving the carrier and entering the pool, the pool robot can also record the movement route in the pool, so that when there is a need to leave the pool, a regression route can be generated according to the recorded movement route, and then the carrier can be found according to the regression route.

[0124] Furthermore, to prevent the pool robot from slipping off the carrier when the carrier assembly drives the pool robot into or out of the pool, an anti-slip portion and / or a locking portion may be provided on the carrier of the carrier assembly. The anti-slip portion increases friction between the pool robot and the carrier when the carrier assembly drives the pool robot into or out of the pool, and / or the locking portion securely connects the pool robot to the carrier. For details on the anti-slip portion and the locking portion, please refer to the above description.

[0125] In one embodiment, in a scenario where the carrying assembly is connected to the pool robot via a locking portion, after the carrying assembly changes the posture of the carrying component, the locking portion needs to be controlled to be in a non-connected state so that the pool robot can detach from the carrying assembly and enter or leave the pool.

[0126] Exemplarily, after the support member changes to a preset position, the locking portion is controlled to be in a disconnected state, allowing the pool robot to detach from the support assembly. The preset position, the current position of the support member, and the current needs of the pool robot are related. Exemplarily, if the current need of the pool robot is to enter the water, the preset position is the first position; if the current need of the pool robot is to leave the pool, the preset position is the second position.

[0127] It should be noted that in this implementation scenario, after controlling the pool robot to move to the carrier of the carrying component, a trigger signal is sent to the carrying component to trigger the carrying component to drive the pool robot into or out of the pool by changing the posture of the carrying component.

[0128] The pool robot must meet trigger conditions to trigger the carrier assembly to drive the pool robot into or out of the pool. The trigger conditions for the carrier assembly to drive the pool robot into or out of the pool include at least one of the following: the pool robot moves to a stop position on the carrier assembly, and the pool robot is connected to the carrier assembly.

[0129] In one embodiment, after detecting that the pool robot currently has a need to enter or leave the pool, the pool robot can be first controlled to move onto the carrying component, and then the pool robot can be connected to the motion stop position on the carrying component, so that the pool robot meets the conditions for triggering the carrying component to drive the pool robot into or out of the pool. After the above trigger conditions are met, a trigger instruction is sent to the carrying component to instruct the carrying component to drive the pool robot into or out of the pool. The process of controlling the pool robot to move onto the carrying component to trigger the carrying component to drive the pool robot into or out of the pool can be referred to below. Figure 9 Related description of the corresponding embodiment.

[0130] In another embodiment, a movement stop position may be pre-determined on the carrier assembly. When the pool robot moves to the movement stop position on the carrier assembly, it is determined that the pool robot has met the trigger condition, and a trigger instruction is then sent to the carrier assembly to instruct the carrier assembly to change the position of the carrier to drive the pool robot into or out of the pool. Alternatively, when the pool robot is connected to the carrier assembly, it is determined that the pool robot has met the trigger condition, and a trigger instruction is then sent to the carrier assembly to instruct the carrier assembly to change the position of the carrier to drive the pool robot into or out of the pool.

[0131] The above-described pool robot control method, upon detecting the pool robot's current need to enter or exit the pool, controls the pool robot to move onto the support member of the support assembly, thereby enabling the pool robot to enter or exit the pool with the support member in at least the first position. Because the support member, when in the first position, forms a predetermined angle between the support surface and the support member, and the second end extends from the edge of the pool to below the lowest predetermined water level of the pool, the support member in the first position connects the edge of the pool with the water surface, allowing the pool robot to move into or out of the pool with the support member, eliminating the need for manual handling, placement, or retrieval, resulting in convenient use.

[0132] See also Figure 9 , Figure 9 yes Figure 8 FIG. 1 is a flow chart of an embodiment of step S12. In this embodiment, step S12 controls the pool robot to move onto the supporting assembly so that the pool robot enters or leaves the pool with the aid of the supporting assembly having at least the first posture, including:

[0133] S21: Control the pool robot to move onto the carrying component.

[0134] The specific method of controlling the pool robot to move onto the carrying component can be referred to the relevant description of step S12, and will not be elaborated here.

[0135] S22: Connect the pool robot to the motion stop position on the carrying component.

[0136] It should be noted that before triggering the carrier assembly to drive the pool robot into or out of the pool, the pool robot can be connected to the carrier assembly so that the carrier assembly can stably drive the pool robot into or out of the pool. Therefore, in one embodiment, after controlling the pool robot to move onto the carrier assembly, the pool robot is first controlled to move to a movement stop position on the carrier assembly. Then, the locking portion at the movement stop position is used to connect the pool robot to achieve a stable connection between the pool robot and the carrier assembly, thereby allowing the pool robot to stably enter or exit the pool.

[0137] In this embodiment, the motion stop position is a position that facilitates the physical connection between the pool robot and the carrying component.

[0138] In one embodiment, when a sensor component is provided on the carrying component and the pool robot, the sensor component can be used to detect whether the pool robot moves to the movement stop position of the carrying component, and when it is detected that the pool robot moves to the movement stop position of the carrying component, the pool robot is connected to the movement stop position.

[0139] The sensing component includes a first in-position sensor provided on the pool robot and a second in-position sensor provided at a preset position or a motion stop position of the carrying component.

[0140] When it is detected that the pool robot moves to the movement stop position of the carrying assembly, the pool robot can be controlled to connect with the locking portion on the carrying assembly.

[0141] In one implementation scenario, the second in-position sensor is arranged at a preset position of the carrying component, which can be any position on the carrying component. When the sensing component detects that the pool robot has reached the preset position of the carrying component, the pool robot is controlled to continue moving for a preset time or a preset distance and then stop moving to determine that it is currently in the movement stop position; wherein the specific preset time or preset distance can be determined according to the preset position.

[0142] In another implementation scenario, the second in-position sensor is disposed at the movement stop position of the carrying component, so the sensor component can be directly used to detect whether the pool robot has reached the movement stop position of the carrying component.

[0143] In another embodiment, when the supporting component and the pool robot are not provided with a sensing component, in order to facilitate the pool robot to quickly move to the motion stop position, the pool robot can be controlled to move to a preset position, and then move downward from the preset position, and during the downward movement, the pool robot is connected using the locking portion at the motion stop position.

[0144] Optionally, because the waterline of a pool is relatively easy to identify, the waterline can be used as the preset position. For example, when the pool robot moves to the waterline, the pool robot will detect that there is no displacement at the waterline (the robot cannot move further at the waterline), or a water depth detector installed on the pool robot can detect the water depth. Of course, if other locations are also relatively easy to identify due to the pool robot's configuration or implementation scenario, the preset position can also be other easily identifiable locations, and this is not specifically limited here.

[0145] S23: Sending a trigger instruction to the carrying component to instruct the carrying component to change the posture of the carrying component to drive the pool robot to enter or leave the pool.

[0146] In this embodiment, after the pool robot is connected to the motion stop position on the carrying component, a trigger instruction is sent to the carrying component to trigger the carrying component to change the position of the carrying component, thereby driving the pool robot to enter or leave the pool.

[0147] In summary, this embodiment is used to connect the pool robot to the motion stop position on the supporting component so that the pool robot can be connected while the supporting component drives the pool robot into or out of the pool, thereby enabling the pool robot to smoothly enter or leave the pool.

[0148] In some embodiments, after the pool robot is controlled to move onto the carrier assembly and the carrier assembly changes the position of the carrier, the locking portion can be controlled to be in a disconnected state to allow the pool robot to detach from the carrier assembly. For example, the locking portion can be controlled to retract back from the carrier surface to be in the disconnected state, or the magnetic field of the locking portion can be changed to not be attracted to the pool robot to be in the disconnected state.

[0149] In one implementation scenario, after controlling the pool robot to move onto the carrier of the carrier assembly, the cleaning assembly can be used to perform self-cleaning or the charging assembly can be used to perform charging.

[0150] Optionally, after the pool robot is controlled to move onto the carrier of the carrier assembly and the position of the carrier is changed, the pool robot may not be controlled to detach from the carrier, and the pool robot may perform self-cleaning or charging while on the carrier. Of course, after the pool robot is controlled to move onto the carrier of the carrier assembly, the position of the carrier may not be changed, and the pool robot may not be controlled to detach from the carrier, but may directly perform self-cleaning or charging.

[0151] In other embodiments, after the carrier assembly changes the position of the carrier, the pool robot can be controlled to leave the carrier and perform self-cleaning or charging. If the pool robot needs to enter the pool, after the carrier assembly changes the position of the carrier, the pool robot can be controlled to leave the carrier and enter the water.

[0152] In some embodiments, the pool robot is required to enter the pool and sink to the bottom of the pool to perform a preset task. After the supporting component changes the position of the supporting component, the pool robot can be controlled to leave the supporting component, enter the water, and then sink to the bottom of the pool; of course, the pool robot can also be controlled to absorb water during the process of the supporting component changing the position of the supporting component, and after controlling the pool robot to leave the supporting component, it can directly sink to the bottom of the pool.

[0153] It should be noted that in some embodiments, the locking portion on the supporting assembly is controllable to be fixedly connected to the pool robot and detached from the pool robot, wherein the connection portion can be controlled to be fixedly connected to the pool robot or detached from the pool robot. In one embodiment, when it is detected that the pool robot needs to enter or leave the pool, and when it is detected that the pool robot has moved to the motion stop position of the supporting assembly, a connection instruction can be sent to the supporting assembly, so that the supporting assembly connects to the pool robot using the locking portion in the motion stop position, and then drives the pool robot to enter or leave the pool stably through the supporting assembly. After the position of the supporting assembly is changed, the locking portion is controlled to detach from the pool robot, so that the pool robot can be controlled to enter or leave the pool after leaving the supporting assembly.

[0154] In some embodiments, a detection member provided on the supporting member can also be used to detect the water depth of the pool, that is, the height between the water surface of the pool and the bottom wall of the pool. When it is detected that the water depth reaches (is less than or equal to) the minimum preset water level, a prompt message is sent to the user to prompt the user to add water to the pool.

[0155] See also Figure 10 , Figure 10 This is a schematic diagram of the framework of an embodiment of a pool robot control system provided by the present application. In this embodiment, the pool robot control system 1000 includes a pool robot 200 and a carrying assembly 100; the pool robot 200 is used to move onto a carrying member (not shown in the figure) of the carrying assembly 100, so that the pool robot 200 can enter or leave the pool with the help of the carrying member having at least a first posture; the carrying member in the first posture extends below the preset water level of the pool and forms a preset angle with the support member of the carrying assembly; the carrying assembly 100 can drive the pool robot 200 to enter or leave the pool by changing the posture of the carrying member, or the pool robot 200 can enter or leave the pool by moving on the carrying member. As a result, the pool robot 200 in the pool robot control system 1000 can enter or leave the pool through the carrying assembly 100, and no manual handling, placement or salvage is required. The pool robot system is convenient and easy to use.

[0156] In one embodiment, the pool robot and the supporting assembly can communicate with each other so that after the pool robot moves onto the supporting member of the supporting assembly, an adjustment instruction is sent to the supporting assembly, or after the pool robot moves onto the supporting member of the supporting assembly, an instruction to change the posture is sent to the supporting assembly, so that after receiving the adjustment instruction or the instruction to change the posture, the supporting assembly adjusts the supporting member in the supporting assembly to the target posture, or changes the posture of the supporting member.

[0157] Of course, in other embodiments, the pool robot and the carrier assembly may not communicate with each other. For example, after the pool robot moves to the carrier, the carrier assembly may be manually triggered (e.g., by touch control) to change its posture, or after the pool robot is manually controlled (e.g., by touch control) to move to the carrier assembly or place the pool robot on the carrier assembly, the carrier assembly may automatically change its posture.

[0158] See also Figure 11 , Figure 11 FIG. 3 is a schematic diagram of a framework of an embodiment of an electronic device provided by the present application. In this embodiment, the electronic device 30 includes a memory 31 and a processor 32 coupled to each other.

[0159] The memory 31 stores program instructions, and the processor 32 is configured to execute the program instructions stored in the memory 31 to implement the steps of any of the above-described method implementations. In a specific implementation scenario, the electronic device 30 may include, but is not limited to, a microcomputer and a server. In addition, the electronic device 30 may also include a mobile device such as a laptop computer and a tablet computer, which is not limited here.

[0160] Specifically, the processor 32 is used to control itself and the memory 31 to implement the steps of any of the above-mentioned embodiments. The processor 32 can also be called a CPU (Central Processing Unit). The processor 32 may be an integrated circuit chip with signal processing capabilities. The processor 32 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 32 can be implemented by an integrated circuit chip.

[0161] See also Figure 12 , Figure 12: is a schematic diagram of the framework of the computer-readable storage medium provided by the present application. The computer-readable storage medium 40 of the embodiment of the present application stores program instructions 41, and when the program instructions 41 are executed, the method provided by any embodiment of the above method and any non-conflicting combination is implemented. Among them, the program instructions 41 can form a program file and be stored in the above-mentioned computer-readable storage medium 40 in the form of a software product, so that a computer device (which can be a personal computer, a server, or a network device, etc.) executes all or part of the steps of the methods of each embodiment of the present application. The aforementioned computer-readable storage medium 40 includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, or terminal devices such as a computer, a server, a mobile phone, and a tablet.

[0162] The above solution, upon detecting the need for the pool robot to enter or exit the pool, controls the pool robot to move onto the support member of the support assembly, allowing the pool robot to enter or exit the pool with the support member in at least the first position. Because a predetermined angle is formed between the support surface and the support member when the support member is in the first position, and the second end extends from the edge of the pool to below the lowest predetermined water level of the pool, the support member in the first position connects the edge of the pool with the water surface, allowing the pool robot to move into or out of the pool with the support member, eliminating the need for manual handling, placement, or retrieval, resulting in convenient use.

[0163] The above description of the various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced with each other and will not be repeated herein for the sake of brevity.

[0164] The terms "first", "second" and "third" in this application are only used for descriptive purposes and should not be understood as indicating the number of the indicated technical features. Thus, the features defined as "first", "second" and "third" may explicitly or implicitly include at least one of these features. In the embodiments of the present application, all directional indications (such as up, down, left, right, front, back ...) are only used to explain the relative posture relationship, movement conditions, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units that are inherent to these processes, methods, products or devices.

[0165] The above description is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A bearing assembly, characterized in that: include: A support member is provided at the edge of the pool; The bearing member comprises a first end and a second end opposite to each other, wherein a bearing surface is formed between the first end and the second end, and the first end is connected to the support member; In which, the supporting member has at least a first posture. When the supporting member is in the first posture, a preset angle is formed between the supporting surface and the support member, and the second end extends below the lowest preset water level of the pool, so that the supporting surface is used to support the pool robot to move into or leave the pool.

2. The bearing assembly according to claim 1, characterized in that: The preset angle is greater than or equal to 45 degrees and less than 180 degrees, and / or the bearing member is rotatable relative to the supporting member.

3. The bearing assembly according to claim 1, characterized in that: The bearing member can be rotated to a second posture, and when the bearing member is rotated to the second posture, the angle formed between the bearing surface and the support member is different from the preset angle; and / or, The bearing member can be rotated to a third position. When the bearing member is rotated to the third position, the bearing surface faces the support member, and a first accommodating space is formed between the bearing surface and the support member. The first accommodating space is used to accommodate the pool robot.

4. The bearing assembly according to claim 1, characterized in that Also included is a drive assembly connected to the carrier; The driving assembly can drive the bearing member to rotate around a connection point between the bearing member and the support member along a rotation direction.

5. The load-bearing assembly according to claim 4, characterized in that: The driving assembly includes a rotating shaft and a driving member, wherein the rotating shaft is provided on the supporting member or the first end, and the first end rotates on the supporting member via the rotating shaft; The driving member is connected to the rotating shaft, and the driving member is used to drive the rotating shaft to rotate the bearing member relative to the supporting member; and / or, The bearing member includes a first bearing member and a second bearing member connected to the first bearing member, the first bearing member is provided with a first bearing surface, the second bearing member is provided with a second bearing surface, the first bearing surface and the second bearing surface are connected to form the bearing surface, and one end of the first bearing member is rotatably connected to the support member through the driving assembly; The bearing member further includes a rotating assembly, and one end of the first bearing member away from the support member is rotatably connected to the second bearing member through the rotating assembly; When the first bearing surface and the second bearing surface are rotated toward the support member, the support member, the first bearing surface and the second bearing surface are surrounded to form a second accommodating space, and the second accommodating space is used to accommodate the pool robot.

6. The load-bearing assembly according to claim 1, characterized in that: The carrier is provided with a locking portion, the locking portion is used to connect the pool robot to the carrier surface, and the locking portion is retractable on the carrier surface; and / or, A photovoltaic component is provided on the back side of the carrier opposite to the carrier surface.

7. The load-bearing assembly according to any one of claims 1 to 6, characterized in that: The support member includes a receiving portion, the receiving portion is formed with a receiving groove, and the charging component and / or the cleaning component is arranged in the receiving groove; and / or, The carrier is provided with a charging component and / or a cleaning component; and / or, The bearing surface is provided with an anti-slip portion; and / or, The carrier is provided with a plurality of scales along the direction from the first end to the second end; and / or, The bearing member is provided with a detection member, and the detection member is used to detect the water depth of the pool.

8. A pool robot control method, characterized in that: The method comprises: It is detected that the pool robot currently has a need to enter or leave the pool; The pool robot is controlled to move onto the supporting member of the supporting assembly so that the pool robot enters or leaves the pool with the aid of the supporting member having at least a first posture, wherein the supporting member in the first posture extends below the lowest preset water level of the pool and forms a preset angle with the support member of the supporting assembly; wherein the support member is arranged at the edge of the pool, and the supporting member is connected to the support member.

9. The method according to claim 8, characterized in that The carrying assembly drives the pool robot to enter or leave the pool by changing the posture of the carrying component; And / or, the pool robot enters or leaves the pool by moving on the carrier.

10. The method according to claim 9, characterized in that The carrier further has a second posture and / or a third posture, wherein the angle formed between the carrier and the support member in the second posture is different from the preset angle, and the carrier surface in the third posture faces the support member, and an accommodating space is formed between the carrier surface and the support member, and the accommodating space is used to accommodate the pool robot; Wherein, after the pool robot leaves the pool or before entering the pool, the supporting member is in the second posture or the third posture.

11. The method according to claim 10, characterized in that The controlling the pool robot to move onto the carrying component so that the pool robot enters or leaves the pool with the help of the carrying component having at least the first posture includes: In response to the demand to leave the pool, controlling the pool robot to move to the carrier in the first posture, wherein the carrier assembly drives the pool robot to leave the pool by changing the carrier from the first posture to the second posture; In response to the demand for entering the pool, controlling the pool robot to move to the carrier in the second posture, wherein the carrier assembly drives the pool robot into the pool by changing the carrier from the second posture to the first posture; And / or, the bearing assembly further comprises a photovoltaic assembly for supplying power to at least one of the pool robot, the bearing member and the support member, and / or providing sunshade; and / or, when the supporting member is in the third position, the supporting member is capable of shielding the pool robot; And / or, a photovoltaic component is provided on the back side of the bearing surface of the bearing member for bearing the pool robot, and the photovoltaic component is used to supply power to the pool robot and / or the bearing member when the bearing member is in the third posture; And / or, controlling the pool robot to move to the carrier in the first posture includes: The pool robot is controlled to move from the bottom of the pool along the inner wall of the pool in a target movement route, and the target movement route can instruct the pool robot to find the carrier.

12. The method according to claim 9, characterized in that The bearing assembly changes the posture of the bearing member by rotating the bearing member; and / or, in the process of the carrying assembly driving the pool robot to enter or leave the pool, the carrying assembly is connected to the pool robot via a locking portion provided on the carrying member; and controlling the pool robot to move onto the carrying member of the carrying assembly so that the pool robot enters or leaves the pool with the aid of the carrying member having at least the first posture, includes: After the bearing assembly changes the posture of the bearing member, controlling the locking portion to be in a non-connected state so that the pool robot can be separated from the bearing assembly; And / or, controlling the pool robot to move onto a carrier of a carrier assembly so that the pool robot enters or leaves the pool with the aid of the carrier having at least the first posture comprises: Controlling the pool robot to move onto the carrier to trigger the carrier assembly to change the position of the carrier to drive the pool robot into or out of the pool; The triggering condition for the carrying component to drive the pool robot to enter or leave the pool includes at least one of the following: the pool robot moves to a movement stop position on the carrying component, and the pool robot is connected to the carrying component.

13. The method according to claim 12, characterized in that The controlling the pool robot to move onto the carrier to trigger the carrier assembly to change the posture of the carrier to drive the pool robot into or out of the pool, including: Controlling the pool robot to move onto the carrier; Connecting the pool robot to a motion stop position on the carrier; A trigger instruction is sent to the carrying component to instruct the carrying component to change the posture of the carrying component to drive the pool robot to enter or leave the pool.

14. The method according to claim 13, characterized in that The step of connecting the pool robot to the motion stop position on the supporting member includes: Detecting that the pool robot moves to the movement stop position of the carrier, connecting the pool robot to the movement stop position; or, The pool robot is controlled to move to a preset position, and then moves downward from the preset position. During the downward movement, the pool robot is connected using the locking portion at the movement stop position.

15. A pool robot control system, characterized in that: include: Pool robots and load-bearing components; The pool robot is configured to move onto a supporting member of a supporting assembly so that the pool robot enters or leaves a pool with the aid of the supporting member in at least a first posture; the supporting member in the first posture extends below a preset minimum water level of the pool and forms a preset angle with the supporting member of the supporting assembly; wherein the supporting member is disposed at an edge of the pool, and the supporting member is connected to the supporting member; The carrying assembly can drive the pool robot to enter or leave the pool by changing the posture of the carrying component, or the pool robot can enter or leave the pool by moving on the carrying component.

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