Base station apparatus and liquid delivery method for a base station apparatus

Abstract

This application provides a base station device and a liquid delivery method for the base station device. The base station device includes a base station body, a carrying mechanism, and a counterweight mechanism. The base station body is disposed at the edge of a water tank. The carrying mechanism is movably connected to the base station body and is used to carry and transport a cleaning robot into or out of the water tank. The counterweight mechanism includes a counterweight chamber, a fluid channel, and a drive component. The counterweight chamber is disposed in the base station body and is used to store liquid to increase the weight of the base station body. The fluid channel communicates with the counterweight chamber, and the drive component is used to drive the fluid channel to deliver liquid to the counterweight chamber. Using the base station device of this application, the base station body has sufficient weight to counteract the reaction force and overturning moment generated by the swing arm structure on the base station body, improving the stability of the carrying mechanism in moving the cleaning robot into or out of the water tank, increasing the service life of the base station device, and reducing the transportation cost, production cost, and maintenance cost of the base station device.

Description

Technical Field

[0001] This application relates to the technical field of water tank cleaning, and in particular to a base station device and a liquid transportation method for the base station device. Background Technology

[0002] Existing base station equipment includes a base station body and a mounting mechanism mounted on the base station body. The mounting mechanism assists the cleaning robot in leaving or entering the pool. Due to the significant weight of the cleaning robot, the pulling force exerted by the mounting mechanism on the robot during its movement in or out of the pool is converted into a torque that causes the base station body to tip over or slide towards the pool. However, the counterweight of the existing base station equipment is unbalanced with the opposing torque exerted by the mounting mechanism on the base station body. This imbalance can lead to problems such as displacement, tipping, or even damage to the base station body, thus reducing the safety of the base station equipment. Summary of the Invention

[0003] This application provides a base station device and a liquid transportation method for the base station device to solve the technical problem of imbalance between the counterweight and the load-bearing mechanism of the existing base station device and the reverse torque applied to the base station body, which leads to displacement, overturning or even damage of the base station body and reduces the safety of the base station device.

[0004] In a first aspect, this application provides a base station device, including a base station body, a carrying mechanism, and a counterweight mechanism. The base station body is disposed at the edge of a water tank. The carrying mechanism is movably connected to the base station body and is used to carry and transport a cleaning robot into or out of the water tank. The counterweight mechanism includes a counterweight chamber, a fluid channel, and a driving component. The counterweight chamber is disposed in the base station body and is used to store liquid to increase the weight of the base station body. The fluid channel communicates with the counterweight chamber, and the driving component is used to drive the fluid channel to deliver liquid to the counterweight chamber.

[0005] Secondly, this application provides a liquid delivery method for a base station device, comprising the following steps: acquiring at least one state parameter of the base station device; and determining that when the at least one state parameter does not meet a preset parameter, controlling a drive component to drive a fluid channel to deliver a preset counterweight liquid to the counterweight chamber of the base station device.

[0006] Thirdly, this application provides a liquid delivery method for a base station device, comprising the following steps: receiving a work instruction; determining that the weight parameter or liquid level parameter of the liquid in the counterweight chamber of the base station device meets a first preset requirement, and according to the work instruction, controlling a carrying mechanism to carry a cleaning robot and swing it relative to the base station body to drive the cleaning robot to leave or enter a water tank; and determining that the weight parameter or liquid level parameter of the liquid does not meet the first preset requirement, controlling a driving component to drive a fluid channel to deliver a preset counterweight liquid to the counterweight chamber of the base station device.

[0007] This application provides a base station device and a liquid transportation method for the base station device. On the one hand, based on the counterweight mechanism provided on the base station body, the counterweight mechanism includes a counterweight chamber for storing liquid. By transporting liquid into the counterweight chamber, the weight of the base station body is increased, so that the base station body has sufficient weight to counteract the reaction force and overturning moment generated by the swing arm structure on the base station body, thereby improving the stability of the carrying mechanism driving the cleaning robot to leave or enter the water tank and increasing the service life of the base station device. On the other hand, based on the liquid in the counterweight chamber as a counterweight to maintain the stability of the base station body, the liquid in the counterweight chamber can be discharged during maintenance and transportation, and the liquid can be stored before the carrying mechanism drives the cleaning robot to leave or enter the water tank, thereby reducing the transportation cost, production cost and maintenance cost of the base station device. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only one possible implementation of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is a usage scenario diagram of the base station equipment provided in this application in its extended state.

[0010] Figure 2 This is a schematic diagram of the structure of a base station device in the extended state according to an embodiment of this application.

[0011] Figure 3 This is a schematic diagram of the structure of a base station device in the retracted state according to an embodiment of this application.

[0012] Figure 4 This is a schematic diagram of a base station device provided in another embodiment of this application, omitting the carrying mechanism.

[0013] Figure 5 This is a structural block diagram of a base station device provided in one embodiment of this application.

[0014] Figure 6 This is a flowchart of the steps of a liquid delivery method for a base station device provided in an embodiment of this application.

[0015] Figure 7 This is a flowchart of the steps of a liquid delivery method for a base station device provided in another embodiment of this application.

[0016] Key component symbols: Pool - 1a; Bank - 11a; Side wall - 12a; Bottom wall - 13a; Water storage cavity - 101a; Liquid surface - 102a; Base station equipment - 100; Base station body - 10; Function buttons - 11; Carrying mechanism - 20; First swing arm - 21; Second swing arm - 22; Connecting arm - 23; Hook - 24; Counterweight mechanism - 30; Counterweight chamber - 31; Liquid inlet - 311; Liquid outlet - 312; Weight sensor - 313; Liquid level sensor - 314; Fluid channel - 32; Liquid inlet channel - 321; Liquid outlet channel - 322; First channel -3221; Second Channel -3222; Cleaning Channel -324; First Control Valve -325; Second Control Valve -326; Reversing Valve -327; Drive Component -33; Negative Pressure Drive Source -331; Positive Pressure Drive Source -332; Liquid Parameter Detector -35; First Timer -351; Water Quality Detector -352; Flow Meter -36; Second Timer -37; Counter -38; Feeding Mechanism -40; Feeding Valve -41; Feeding Channel -42; Communication Mechanism -50; Control Mechanism -60; Storage Mechanism -70; Cleaning Robot -200; Height Direction -Z.

[0017] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0018] The following embodiments of this application will be described in conjunction with the accompanying drawings.

[0019] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Fixed connection" means that the components are connected to each other and their relative positional relationship remains unchanged after connection. "Rotary connection" means that the components are connected to each other and can rotate relative to each other after connection. The term "integral molding" means that during the formation of one of a plurality of components, that component is connected to the other components without requiring further processing (such as bonding, welding, snap-fit ​​connection, screw connection) to connect the two components together. The directional terms mentioned in the embodiments of this application, such as "top," "bottom," "inner," "outer," and "side," are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0020] Please refer to the following: Figure 1 and Figure 2 , Figure 1 This is a usage scenario diagram of the base station equipment 100 provided in this application in its extended state; Figure 2 This is a schematic diagram of the structure of a base station device 100 in its extended state according to an embodiment of this application. The base station device 100 includes a base station body 10, a carrying mechanism 20, and a counterweight mechanism 30. The base station body 10 is disposed at the edge of a water tank 1a. The carrying mechanism 20 is movably connected to the base station body 10 and is used to carry and transport a cleaning robot 200 into or out of the water tank 1a. The counterweight mechanism 30 includes a counterweight chamber 31, a fluid channel 32, and a drive member 33. The counterweight chamber 31 is disposed on the base station body 10 and is used to store liquid to increase the weight of the base station body 10. The fluid channel 32 communicates with the counterweight chamber 31. The drive member 33 is used to drive the fluid channel 32 to deliver liquid to the counterweight chamber 31.

[0021] This application provides a base station device 100. On one hand, a counterweight mechanism 30 is provided on the base station body 10. The counterweight mechanism 30 includes a counterweight chamber 31 for storing liquid. By supplying liquid to the counterweight chamber 31, the weight of the base station body 10 is increased, so that the base station body 10 has sufficient weight to counteract the reaction force and overturning moment generated by the swing arm structure on the base station body 10. This improves the stability of the carrying mechanism 20 driving the cleaning robot 200 to leave or enter the water tank 1a, and increases the service life of the base station device 100. On the other hand, since the liquid in the counterweight chamber 31 serves as a counterweight to maintain the stability of the base station body 10, the liquid in the counterweight chamber 31 can be discharged during maintenance and transportation, and the liquid can be stored before the carrying mechanism 20 drives the cleaning robot 200 to leave or enter the water tank 1a. This reduces the transportation cost, production cost, and maintenance cost of the base station device 100.

[0022] Figure 1 The purpose is only to schematically describe the arrangement between the base station body 10, the carrying mechanism 20 and the counterweight mechanism 30, and not to make specific limitations on the connection position, connection relationship and specific structure of each component. Figure 1 The structure of the base station device 100 illustrated in this embodiment is merely a schematic diagram and does not constitute a specific limitation on the base station device 100. In another possible implementation of this application, the base station device 100 may include more than Figure 1 The base station equipment 100 may also include, but is not limited to, identification mechanisms, other mechanisms, or combinations thereof. The identification mechanism is used to characterize the installation position of the base station equipment 100 relative to the water tank 1a, guiding the cleaning robot 200 back to the base station equipment 100 for charging or maintenance operations.

[0023] The pool 1a includes a bank 11a, side walls 12a, and a bottom wall 13a. The side walls 12a are connected to the four edges of the bottom wall 13a and together with the bottom wall 13a form a water storage cavity 101a. It should be noted that the term "bank 11a of pool 1a" refers to the edge of the water body in pool 1a, i.e., the land next to pool 1a. Pool 1a can be, but is not limited to, swimming pools, ornamental pools, and water storage pools. The cleaning robot 200 can be used for cleaning pool 1a, such as, but not limited to, cleaning swimming pools, water storage pools, and ornamental pools. This application uses the cleaning robot 200 for cleaning a swimming pool as an example for detailed description.

[0024] Exemplarily, in this embodiment, the base station body 10 is fixed to the bank 11a of the pool 1a. In one possible implementation, the base station body 10 can be fixed to the top edge wall of the pool 1a by a locking structure such as a suction cup or bolts; alternatively, the base station body 10 can also be fixed to the top edge wall of the pool 1a by means of adhesive bonding or welding to a metal structure on the surface of the top edge wall of the pool 1a. The method of fixing the base station body 10 to the top edge wall of the pool 1a is not specifically limited in this embodiment. The edge of the base station body 10 facing the pool 1a is connected to and aligned with the side wall 12a of the pool 1a, thereby facilitating the alignment and assembly of the base station body 10 and the pool 1a. Of course, in one possible implementation, the edge of the base station body 10 facing the pool 1a is spaced apart from the side wall 12a of the pool 1a.

[0025] The cleaning robot 200 is detachably mounted on the base station equipment 100. The base station equipment 100 drives the cleaning robot 200 into or out of the water tank 1a via the carrying mechanism 20. This enables the base station equipment 100 to drive the cleaning robot 200 to automatically leave and enter the water, eliminating the hassle of manual operation, saving time and labor costs, and improving the safety of the cleaning robot 200.

[0026] The cleaning equipment can be a pool robot, a swimming pool robot, an underwater cleaning device, etc., and this application embodiment is not limited to any particular type. The cleaning equipment is used to perform cleaning, disinfection, rescue, and other tasks in pool 1a. Pool 1a may include, but is not limited to, swimming pools, oil wells, sewers, etc., and this application embodiment uses a swimming pool as an example for description. It should be noted that the cleaning equipment can move on the bottom wall 13a and the side wall 12a of pool 1a.

[0027] The carrier mechanism 20 has an extended state and a retracted state. The base station equipment 100 also includes a power mechanism. The power mechanism is disposed on the carrier mechanism 20 or the base station body 10 and is used to drive the carrier mechanism 20 to move relative to the base station body 10, so that the carrier mechanism 20 switches between the extended state and the retracted state.

[0028] It should be noted that the "extended state" in this article refers to the state in which the cleaning robot 200 moves from the base station body 10 into the pool via the carrying mechanism 20. The "retracted state" in this article refers to the state in which the cleaning robot 200 moves from the pool into the base station body 10 via the carrying mechanism 20. The base station body 10 is used to support the cleaning robot 200 when the carrying mechanism 20 is in the retracted state. Thus, it is convenient for users to place or remove the cleaning robot 200 from the base station body 10 during water-based cleaning or water-based maintenance operations. Specifically, in the retracted state, the cleaning robot 200 and the base station body 10 are stacked in the height direction Z, thereby improving the structural compactness of the base station equipment 100, reducing the footprint, and facilitating the user's placement and removal of the cleaning robot 200. In the extended state, that is, when the carrying mechanism 20 rotates relative to the base station body 10 and extends into the water, the carrying mechanism 20 is in contact with or at a very small preset distance from the side wall 12a of the pool 1a, which facilitates the smooth movement of the cleaning robot 200 from the side wall 12a of the pool 1a into the space defined by the carrying mechanism 20, thereby improving the stability and reliability of the movement of the cleaning robot 200 relative to the carrying mechanism 20.

[0029] For example, in this embodiment, the driving component 33 is configured as a water pump. The water pump can be, but is not limited to, an air pump, a centrifugal pump, a plunger pump, etc. Of course, in one possible implementation, the driving component 33 can also be configured as a siphon structure, an electroosmotic flow structure, etc. The driving component 33 can be configured as a negative pressure driving source 331. In one possible implementation, the driving component 33 is configured as a positive pressure driving source 332; or, the driving component 33 includes both a negative pressure driving source 331 and a positive pressure driving source 332. The positive pressure driving source 332 is used to deliver driving liquid or driving gas to the counterweight chamber 31. The driving liquid is a preset counterweight liquid or a liquid different from the preset counterweight liquid. The negative pressure driving source 331 is used to deliver the preset counterweight liquid to the counterweight chamber 31. For example, in this embodiment, the preset counterweight liquid can be the liquid in the water tank 1a. Of course, in one possible implementation, the preset counterweight liquid can also be a liquid outside of the water tank 1a. For example, the preset counterweight liquid can be fresh water, seawater, high-density salt water, or a special counterweight liquid. This application embodiment does not make specific limitations.

[0030] In one implementation, the drive element 33 is only disposed within the liquid inlet channel 321. Therefore, based on the drive element 33 disposed within the liquid inlet channel 321, since the liquid inlet 311 and liquid outlet 312 of the counterweight chamber 31 are open, and the rest of the counterweight chamber 31 is sealed, when the liquid inlet channel 321 replenishes water to the counterweight chamber 31, the internal pressure of the counterweight chamber 31 increases, thereby enabling the liquid outlet channel 322 to actively drain water until the internal air pressure of the counterweight chamber 31 reaches a target air pressure threshold. The target air pressure threshold can be an air pressure close to atmospheric pressure; or, a user-defined air pressure value or a default air pressure value set by the base station device 100. In another implementation, the drive element 33 may also be disposed only within the liquid outlet channel 322 or the counterweight chamber 31; or, multiple drive elements 33 may be disposed within the liquid inlet channel 321 and the liquid outlet channel 322 respectively. This application embodiment does not impose specific limitations. The number, location, and product type of the driving components 33 can be set according to the actual situation, and this application embodiment does not impose specific limitations.

[0031] It should be noted that the preset counterweight liquid described herein can be a liquid whose water quality parameters meet the preset water quality parameters; or, the preset counterweight liquid can also be a liquid that is user-defined or the liquid that is defaulted to by the control mechanism 60 of the base station equipment 100. This application embodiment does not make specific limitations.

[0032] In one possible implementation, the counterweight mechanism 30 further includes a weight sensor 313 and a liquid level sensor 314. The weight sensor 313 is disposed inside or outside the counterweight chamber 31 and is used to acquire the weight parameter of the liquid inside the counterweight chamber 31. The liquid sensor is disposed inside the counterweight chamber 31 and is used to acquire the liquid level parameter of the liquid inside the counterweight chamber 31. Thus, the detection based on the weight parameter or liquid level parameter ensures that the weight of the liquid input into the counterweight chamber 31 meets the expected weight of the base station body 10, thereby giving the base station body 10 sufficient weight to counteract the reaction force and overturning moment generated by the swing arm structure on the base station body 10. This improves the stability of the carrying mechanism 20 in driving the cleaning robot 200 to leave or enter the pool 1a, and also improves the service life of the base station equipment 100.

[0033] In this embodiment, the counterweight chamber 31 and the base station body 10 are integrally formed. Therefore, on the one hand, the integration of the counterweight chamber 31 and the base station body 10 into a single structure improves the reliability and stability of the connection between the base station body 10 and the counterweight chamber 31, and also enhances the aesthetics of the base station equipment 100; on the other hand, the shell portion of the base station body 10 can serve as part of the counterweight chamber 31, optimizing space utilization and achieving a compact structure.

[0034] Of course, in one possible implementation, the counterweight chamber 31 is separately arranged from the base station body 10 and fixedly connected. The counterweight chamber 31 is disposed inside or outside the base station body 10. Thus, on the one hand, the counterweight chamber 31 can be designed and manufactured as an independent module, thereby enabling the counterweight chamber 31 to be matched with different base station body 10 models, and to be placed inside or on the side of the base station body 10 as needed, thereby improving the compactness and flexibility of the overall structure of the base station equipment 100; on the other hand, the counterweight chamber 31 is disposed inside the base station body 10. The counterweight chamber 31 being disposed outside the base station body 10 may include, but is not limited to, being disposed on the rear side of the base station body 10 away from the water tank 1a; or, being disposed on the top of the base station body 10; or, being disposed on at least one side of the base station body 10 in a direction parallel to the swing axis of the carrying mechanism 20, etc.

[0035] like Figure 2 and Figure 3 As shown, the fluid channel 32 includes a liquid inlet channel 321. One end of the liquid inlet channel 321 is connected to the counterweight chamber 31, and the other end of the liquid inlet channel 321 can extend into the liquid surface 102a of the water tank 1a. Thus, the drive unit 33 can inject liquid from the water tank 1a into the counterweight chamber 31 through the liquid inlet channel 321, and can also discharge liquid from the counterweight chamber 31 into the water tank 1a through the liquid inlet channel 321. On the one hand, it realizes precise and dynamic adjustment of the liquid in the counterweight chamber 31, enabling the base station equipment 100 to adapt to different usage scenarios such as transportation, maintenance, and work. On the other hand, compared with drawing water from lower underground or distant sources, using the liquid in the water tank 1a can shorten the length of the fluid channel 32, save costs, reduce the energy consumption of the drive unit 33, simplify the system structure of the base station equipment 100, and reduce manufacturing costs.

[0036] In some embodiments, the fluid channel 32 further includes a drain channel 322. The counterweight chamber 31 is connected between the inlet channel 321 and the drain channel 322, and the drive member 33 is also used to drive the drain channel 322 to drain the liquid in the counterweight chamber 31 to the water tank 1a or the outside of the water tank 1a. Therefore, by connecting the counterweight chamber 31 between the liquid inlet channel 321 and the liquid outlet channel 322, on the one hand, the liquid inlet channel 321, the counterweight chamber 31, and the liquid outlet channel 322 form a closed-loop feedback system, thereby improving the response speed, control accuracy, and energy efficiency of the drive unit 33 in performing liquid storage or liquid outlet operations on the liquid in the counterweight chamber 31, and realizing the intelligent function of the base station equipment 100; on the other hand, the drive unit 33 has both liquid suction and liquid outlet functions, and the liquid outlet channel 322 can discharge the liquid in the counterweight chamber 31 to the water tank 1a or a designated collection point, thereby avoiding the cumbersome operation caused by emptying the liquid in the counterweight chamber 31 through external suction equipment and suction pipes, simplifying the maintenance process, and saving maintenance time and costs.

[0037] Please refer to the following: Figure 2 and Figure 3 , Figure 3 This is a schematic diagram of the base station equipment 100 in its retracted state according to an embodiment of this application. The fluid channel 32 is disposed within the carrying mechanism 20. Therefore, on the one hand, by integrating the fluid channel 32 onto the carrying mechanism 20, installation space is saved, improving the structural compactness and aesthetics of the base station equipment 100. Furthermore, the fluid channel 32 is surrounded and protected by the physical structure of the carrying mechanism 20, enhancing the rigidity and reliability of the piping system and extending the lifespan of the fluid channel 32. On the other hand, when the carrying mechanism 20 is in its extended state, the end of the fluid channel 32 facing away from the counterweight chamber can extend into the liquid surface 102a of the water tank 1a, thereby enabling the storage of liquid in the counterweight chamber 31 to increase the weight of the base station body 10 and facilitating water circulation between the counterweight chamber 31 and the water tank 1a. Moreover, when the carrying mechanism 20 is in its retracted state, the end of the fluid channel 32 facing away from the counterweight chamber is located outside the water tank 1a, thus avoiding the problem of the carrying mechanism 20 failing due to long-term immersion in water and reducing the maintenance cost of the carrying mechanism 20. The fluid channel 32 can be a channel provided inside the carrying mechanism 20; or, it can be a separate pipe embedded inside the carrying mechanism 20. Specifically, the liquid inlet channel 321 and the liquid outlet channel 322 are provided inside the carrying mechanism 20.

[0038] Exemplarily, in this embodiment, the carrying mechanism 20 can be configured as an extraction mechanism. The extraction mechanism includes a first swing arm 21, a second swing arm 22, and a connecting arm 23. The first swing arm 21 and the second swing arm 22 are rotatably connected to the base station body 10, and the connecting arm 23 is connected between the first swing arm 21 and the second swing arm 22. The first swing arm 21 is provided with a liquid inlet channel 321. The second swing arm 22 is provided with a liquid outlet channel 322. The connecting arm 23 is used to connect or release the cleaning robot 200. In one possible implementation, the carrying mechanism 20 also includes a hook 24. The hook 24 is provided on the connecting arm 23 and is used to hook or release the cleaning robot 200. Of course, in one possible implementation, the carrying mechanism 20 can also be configured as a tray-type mechanism or a plate-type mechanism; or, the carrying mechanism 20 can also be configured as an elevator-type mechanism. The product type of the carrying mechanism 20 can be set according to the actual situation, and this application embodiment does not make specific limitations.

[0039] Specifically, the liquid inlet channel 321 passes through both ends of the first swing arm 21 in the extension direction of the first swing arm 21, and the liquid outlet channel 322 passes through both ends of the first swing arm 21 in the extension direction of the second swing arm 22. Thus, when the carrying mechanism 20 is in the extended state, the free ends of the first swing arm 21 and the second swing arm 22 facing away from the base station body 10 are below the liquid surface 102a of the water tank 1a, so that the liquid inlet channel 321 and the liquid outlet channel 322 are submerged in the liquid surface 102a of the water tank 1a. When the carrying mechanism 20 is in the retracted state, the free ends of the first swing arm 21 and the second swing arm 22 facing away from the base station body 10 are above the liquid surface 102a of the water tank 1a, so that the liquid inlet channel 321 and the liquid outlet channel 322 are away from the liquid surface 102a of the water tank 1a.

[0040] Please refer to the following: Figure 2 and Figure 4 , Figure 4 This is a schematic diagram of a base station device 100 provided in another embodiment of this application, omitting the carrying mechanism 20. In one possible implementation, the fluid channel 32 is independent of the carrying mechanism 20 and is disposed on the base station body 10. Therefore, by making the fluid channel 32 independent of the carrying mechanism 20 and disposed on the base station body 10, on the one hand, the flow path between the fluid channel 32 and the counterweight chamber 31 is shortened, and flow resistance is reduced, improving the efficiency of clean water delivery and sewage extraction; on the other hand, since the fluid channel 32 is independent of the carrying mechanism 20, which can extend into the liquid surface 102a of the finger pool 1a, the amount of liquid residue in the pipes provided within the carrying mechanism 20 is reduced, thereby inhibiting bacterial growth and odor generation from the design source; furthermore, the mechanical structure of the carrying mechanism 20 is simplified, and the problems of reduced structural strength and increased maintenance and cleaning difficulty caused by the fluid pipes on the carrying mechanism 20 are avoided.

[0041] like Figure 4 As shown, in this embodiment, the liquid inlet channel 321 and the liquid outlet channel 322 are independent of the carrying mechanism 20 and are disposed on the base station body 10. Specifically, the liquid inlet channel 321 and the liquid outlet channel 322 are disposed on the outer wall of the base station body 10 facing the water tank 1a and located at the bottom of the base station body 10, thereby shortening the length of the liquid inlet channel 321 and the liquid outlet channel 322 and improving the liquid exchange efficiency between the counterweight chamber 31 and the interior or exterior of the water tank 1a. Of course, in one possible implementation, the liquid inlet channel 321 and the liquid outlet channel 322 are respectively disposed on two side walls 12a of the base station body 10 in a direction parallel to the swing axis of the carrying mechanism 20; or, one of the liquid inlet channel 321 and the liquid outlet channel 322 is disposed on the outer wall of the base station body 10 facing the water tank 1a, and the other of the liquid inlet channel 321 and the liquid outlet channel 322 is disposed on one side wall 12a of the base station body 10 in a direction parallel to the swing axis of the carrying mechanism 20. It should be noted that the positions of the liquid inlet channel 321 and the liquid outlet channel 322 can be set according to the actual situation, and this application embodiment does not make specific limitations.

[0042] like Figure 4 As shown, the counterweight chamber 31 has an inlet 311 communicating with the inlet channel 321 and an outlet 312 communicating with the outlet channel 322. In a projection plane parallel to the height direction Z of the base station equipment 100, the inlet 311 and outlet 312 are aligned in the height direction Z of the base station equipment 100. Therefore, by setting the inlet 311 and outlet 312 at the same height of the base station body 10, the risk of liquid being emptied by gravity due to siphon effect when the base station equipment 100 is shut down is reduced.

[0043] Of course, in one possible implementation, the liquid inlet 311 and the liquid outlet 312 are offset in the height direction Z of the base station equipment 100 within a projection plane parallel to the height direction Z of the base station equipment 100. Therefore, when it is necessary to empty the liquid in the counterweight chamber 31, the liquid can flow down naturally by gravity, eliminating the need for or reducing the power of the water pump, and helping to completely drain the liquid from the counterweight chamber 31, reducing the residue of the original liquid. For example, in the orthographic projection plane parallel to the height direction Z of the base station equipment 100 and facing the water tank 1a, the liquid inlet 311 and the liquid outlet 312 are arranged diagonally.

[0044] Please refer to the following: Figure 2 , Figure 3 and Figure 5 , Figure 5This is a structural block diagram of a base station device 100 provided in one embodiment of this application. In one possible implementation, the counterweight mechanism 30 further includes a first control valve 325 and a second control valve 326. The first control valve 325 is disposed in the liquid inlet channel 321 and / or the counterweight chamber 31, and is used to open or close the liquid inlet channel 321 and the counterweight chamber 31. The second control valve 326 is disposed in the liquid outlet channel 322 and / or the counterweight chamber 31, and is used to open or close the liquid outlet channel 322 and the counterweight chamber 31. Thus, when the counterweight chamber 31 does not need to be supplied or discharged with liquid, the liquid inlet channel 321 is closed by the first control valve 325 and the liquid outlet channel 322 is closed by the second control valve 326, thereby avoiding the problem of liquid flowing out of the counterweight chamber 31 and preventing external dust, microorganisms or other impurities from entering the counterweight chamber 31 through the liquid inlet channel 321 or the liquid outlet channel 322, reducing the maintenance and cleaning costs of the counterweight chamber 31.

[0045] like Figure 2 and Figure 3 As shown, in one possible implementation, the drainage channel 322 includes a first channel 3221 and a second channel 3222. Both the first channel 3221 and the second channel 3222 are communicatively connected to the counterweight chamber 31. The drainage port 312 of the first channel 3221 faces the interior of the water tank 1a, and the drainage port 312 of the second channel 3222 faces the exterior of the water tank 1a. Therefore, based on the independent configuration of the first channel 3221 and the second channel 3222, and with the drain outlet 312 of the first channel 3221 facing the interior of the water tank 1a, while the drain outlet 312 of the second channel 3222 faces the exterior of the water tank 1a, on the one hand, the first channel 3221 can directly drain the clean liquid in the counterweight chamber 31 back into the water tank 1a, thus preventing the loss of the total water volume of the water tank 1a, which is energy-saving and environmentally friendly; on the other hand, the second channel 3222 discharges wastewater that may contain contaminants (such as rust, oil, etc.) in the counterweight chamber 31 to the exterior of the water tank 1a, thus avoiding the problem of wastewater in the counterweight chamber 31 being directly discharged into the water tank 1a and causing pollution; furthermore, the first channel 3221 and the second channel 3222 are independent of each other, thereby reducing the difficulty of cleaning and preventing cross-contamination of liquids, and providing high flexibility in use. Of course, in one possible implementation, the drain channel 322 may only include the first channel 3221. The drainage port 312 of the first channel 3221 can be adjusted relative to the installation position of the base station body, thereby allowing the drainage port 312 of the first channel 3221 to switch between facing the inside or outside of the water tank 1a. In another possible implementation, the drainage channel 322 can also be omitted, that is, the inlet channel 321 can serve as either a drainage or inlet channel; or, the liquid in the counterweight chamber 31 can be discharged through an external suction structure. This application embodiment does not impose specific limitations.

[0046] like Figure 2 and Figure 5 As shown, in one possible implementation, the counterweight mechanism 30 further includes a reversing valve 327. The reversing valve 327 is located at the junction of the first channel 3221 and the second channel 3222, and is used to connect the counterweight chamber 31 and the first channel 3221; or, the reversing valve 327 is used to connect the counterweight chamber 31 and the second channel 3222. Thus, a single reversing valve 327 enables the counterweight chamber 31 to connect with either the first channel 3221 or the second channel 3222, allowing the first channel 3221 and the second channel 3222 to share the same drive element 33, reducing costs, simplifying the structure of the counterweight mechanism 30, and improving the integration of the counterweight mechanism 30.

[0047] Of course, in one possible implementation, the first channel 3221 and the second channel 3222 can be arranged alternately. For example, the counterweight mechanism 30 further includes a third control valve, which is disposed in the second channel 3222 and / or the counterweight chamber 31, and is used to connect or disconnect the second channel 3222 and the counterweight chamber 31. A second control valve 326 is disposed in the first channel 3221 and / or the counterweight chamber 31, and is used to connect or disconnect the first channel 3221 and the counterweight chamber 31.

[0048] In one possible implementation, the counterweight mechanism 30 further includes a liquid parameter detection element 35. The liquid parameter detection element 35 is disposed on the base station body 10 and / or within the counterweight chamber 31, and is used to detect a first state parameter of the base station equipment 100. The first state parameter includes at least one of the water storage time of the liquid in the counterweight chamber 31 and a water quality parameter. The drive element 33 is also used to drive the fluid channel 32 to at least partially discharge the liquid in the counterweight chamber 31 to the outside of the water tank 1a when the first state parameter does not meet the first target state parameter. It is understood that when the water storage time of the liquid in the counterweight chamber 31 exceeds the target water storage time or the water quality parameter in the counterweight chamber 31 does not meet the target water quality parameter, the liquid in the counterweight chamber 31 may contain contaminants (such as rust, oil, etc.). Therefore, in this embodiment, the driving component 33 is also used to drive the fluid channel 32 to discharge at least a portion of the liquid in the counterweight chamber 31 to the outside of the water tank 1a when the first state parameter does not meet the first target state parameter, thereby avoiding the problem of sewage in the counterweight chamber 31 being directly discharged into the water tank 1a and causing pollution. It should be noted that the first target state parameter can be set according to factors such as prior data or simulation experimental data, and this embodiment does not impose specific limitations.

[0049] The liquid parameter detection element 35 includes, but is not limited to, at least one of a first timer 351 and a water quality detector 352. The first timer 351 is disposed on the base station body 10 and is used to acquire the water storage time, wherein the water storage time is the time elapsed since the last time the drive unit 33 delivered liquid to the counterweight chamber 31. The water quality detector 352 is disposed within the counterweight chamber 31 and is used to acquire water quality parameters.

[0050] It should be noted that water quality parameters refer to a series of measurable indicators used to quantitatively or qualitatively describe the physical, chemical, and biological characteristics of water bodies. Water quality parameters reflect the quality status of water bodies and include, but are not limited to, at least one of turbidity, color, suspended solids, pH, temperature, dissolved oxygen, conductivity, bacterial content, and fungal content. The water quality detector 352 can be, but is not limited to, a pH electrode, dissolved oxygen sensor, turbidity sensor, gas chromatograph, colorimeter, suspended solids / sludge concentration meter, conductivity meter, chemical oxygen demand analyzer, ammonia nitrogen / total phosphorus / total nitrogen analyzer, etc.

[0051] In one possible implementation, the counterweight mechanism 30 further includes, but is not limited to, at least one of a flow meter 36, a second timer 37, and a counter 38. The flow meter 36 is disposed within the counterweight chamber 31 and is used to count the circulating water volume of liquid delivered to the counterweight chamber 31 by the driving member 33 through the fluid channel 32. The second timer 37 is disposed on the base station body 10 and is used to count the circulation time of liquid delivery to the counterweight chamber 31 by the driving member 33 through the fluid channel 32. The counter 38 is used to count the number of times the driving member 33 empties the liquid from the counterweight chamber 31 through the fluid channel 32. The driving member 33 is also used to stop the driving fluid channel 32 from discharging the liquid from the counterweight chamber 31 into the water tank 1a when the circulating water volume, circulation time, or number of emptying times meets preset conditions, thereby reducing the energy consumption of the driving member 33 and reducing the total water loss in the water tank 1a.

[0052] Please refer to one possible implementation as well. Figure 2 , Figure 4 and Figure 5The base station equipment 100 also includes a feeding mechanism 40. The feeding mechanism 40 includes a feeding valve 41 and a feeding channel 42. The feeding valve 41 is disposed on the feeding channel 42 and is used to connect or disconnect the feeding channel 42 from the counterweight chamber 31. The feeding channel 42 is used to introduce a preset medium into the counterweight chamber 31. The preset medium includes at least one of a cleaning medium and a disinfection medium. Therefore, by connecting the feeding channel 42 to the counterweight chamber 31, the cleaning medium and / or disinfection medium circulate with the water circulation between the counterweight chamber 31 and the water tank 1a, thereby achieving uniform dispersion of the cleaning medium and / or disinfection medium to various locations in the water tank 1a, improving the cleaning and / or disinfection effect of the water tank 1a, and automating the cleaning or disinfection operation of the base station equipment 100 on the water tank 1a.

[0053] Understandably, cleaning media refers to substances or products used to physically remove suspended particles, dirt, algae, and organic pollutants from water and pool walls. The primary purpose of cleaning media is to improve the clarity, appearance, and physical cleanliness of the water in pool 1a. Cleaning media primarily achieve liquid cleaning within pool 1a through physical methods such as filtration, adsorption, and sedimentation. Cleaning media includes, but is not limited to, at least one of clarifying agents, flocculants, algaecides, and surface cleaners. Disinfection media are substances used to chemically kill or inhibit pathogenic microorganisms such as bacteria, viruses, fungi, and algal spores in water. The primary purpose of disinfection media is to prevent the spread of disease and ensure water quality safety. Disinfection media primarily achieve liquid disinfection within pool 1a through chemical methods such as oxidation, cell wall / membrane disruption, and enzyme interference. Disinfection media includes, but is not limited to, at least one of trichloroisocyanuric acid, calcium hypochlorite, sodium hypochlorite, sodium dichloroisocyanurate, bromochlorohydantoin, sodium bromide, hydrogen peroxide, ozone and ultraviolet light, and silver / copper ion generators.

[0054] In one possible implementation, the fluid channel 32 includes a cleaning channel 324, which is communicatively connected to the counterweight chamber 31. The opening of the drain port 312 of the cleaning channel 324 faces the base station body 10. Thus, the base station equipment 100 can clean itself and / or the cleaning robot 200 mounted on the base station body 10 via the cleaning channel 324, flushing away algae, dirt, water stains, etc., brought back by the cleaning robot 200. This automates the cleaning of itself and / or the cleaning robot 200, reducing maintenance costs. Furthermore, a clean cleaning robot 200 improves the cleaning efficiency of the water tank 1a, extends the service life of both the base station equipment 100 and the cleaning robot 200, and enhances the user experience of the base station equipment 100.

[0055] In this embodiment, the installation position of the drain outlet 312 of the cleaning channel 324 relative to the base station body 10 is adjustable, thereby increasing the cleaning range of the cleaning channel 324 for the base station equipment 100 and / or the cleaning robot 200, and improving the flexibility of the cleaning channel 324. Of course, in one possible implementation, the installation position of the drain outlet 312 of the cleaning channel 324 relative to the base station body 10 can also be fixed.

[0056] In one possible implementation, the cleaning channel 324 and the drainage channel 322 can be set independently of each other; or, the drainage channel 322 can be at least part of the cleaning channel 324. This application embodiment does not make specific limitations.

[0057] In one possible implementation, the base station device 100 further includes a communication mechanism 50 and a control mechanism 60. The communication mechanism 50 is mounted on the base station body 10 and is used for communication with third-party devices. The control mechanism 60 is connected to the communication mechanism 50 and is used to respond to a cleaning command received by the base station device 100 from the third-party device when the first state parameter of the base station device 100 meets the first target state parameter. The control mechanism 60 then controls the drive unit 33 to drive the cleaning channel 324 to clean the base station body 10. The first state parameter includes at least one of the water storage time of the liquid in the counterweight chamber 31 and water quality parameters. Thus, based on the cleaning command sent by the third-party device, the control mechanism 33 drives the cleaning channel 324 to clean the base station body 10 and / or the cleaning robot 200 mounted on the base station body, thereby automating the cleaning operation of the base station device 100 and / or the cleaning robot 200, reducing maintenance costs. The third-party device can be a computer, mobile phone, electronic device in the workshop, etc. The communication mechanism 50 can be, but is not limited to, Wi-Fi, Bluetooth, 2G, 3G, 5G, etc.

[0058] In one possible implementation, the base station body 10 is also provided with function buttons 11. Function buttons 11 are used to respond to user operations by controlling the rotation of the carrying mechanism 20 relative to the base station body 10, switching between a retracted state and an extended state. Function buttons 11 can also respond to user operations by controlling the counterweight mechanism 30 to enter a liquid conveying working mode. Function buttons 11 may include, but are not limited to, power switches, status parameter setting buttons, etc.

[0059] Understandably, the control mechanism 60 can be a Central Processing Unit (CPU), or other general-purpose control mechanisms 60, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The control mechanism 60 is the control center of the base station equipment 100, connecting all parts of the base station equipment 100 through various interfaces and lines.

[0060] In one possible implementation, the base station device 100 further includes a storage mechanism 70. The storage mechanism 70 can be used to store computer programs and / or modules. The control mechanism 60 implements various functions of the base station device 100 by running or executing the computer programs and / or modules stored in the storage mechanism 70, and by calling data stored in the storage mechanism 70. The storage mechanism 70 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, applications required for multiple functions (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created based on the use of the mobile phone (such as audio data, phonebook, etc.). Furthermore, the storage mechanism 70 may include high-speed random access memory, and may also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart media cards (SMC), secure digital (SD) cards, flash cards, multiple disk storage devices, flash memory devices, or other volatile solid-state storage devices.

[0061] This application discloses a liquid delivery method for a base station device 100. It increases the weight of the base station body 10 by delivering liquid to the counterweight chamber 31 via a fluid channel 32 driven by a drive component 33. On one hand, the base station body 10 has sufficient weight to counteract the reaction force and overturning moment generated by the swing arm structure, thereby improving the stability of the carrying mechanism 20 in driving the cleaning robot 200 away from or into the water tank 1a, and extending the service life of the base station device 100. On the other hand, the liquid in the counterweight chamber 31 serves as a counterweight to maintain the stability of the base station body 10. The liquid in the counterweight chamber 31 can be drained during maintenance and transportation, and stored before the carrying mechanism 20 drives the cleaning robot 200 away from or into the water tank 1a, thereby reducing the transportation, production, and maintenance costs of the base station device 100. These are described in detail below.

[0062] Please refer to the following: Figure 1 , Figure 6 and Figure 7 , Figure 6 This is a flowchart of the liquid delivery method of a base station device 100 provided in an embodiment of this application; Figure 7 This is a flowchart illustrating the steps of a liquid delivery method for a base station device 100 according to another embodiment of this application. The control mechanism 60 is also configured to execute all the steps in the liquid delivery method of the base station device 100 described below. For example, the control mechanism 60 is also configured to execute... Figure 6 Steps S601 to S602 in the process; or, the control mechanism 60 is also used to perform Figure 7 Steps S701 to S703 are described below. Specifically, the storage mechanism 70 stores program code. The control mechanism 60 is used to call the program code of the storage mechanism 70 to execute all the steps in the liquid delivery method described below.

[0063] like Figure 6 As shown, the liquid delivery method is applied to the aforementioned base station equipment 100. The liquid delivery method includes the following steps.

[0064] Step S601: Obtain at least one status parameter of the base station device.

[0065] Step S602: When it is determined that at least one state parameter does not meet the preset parameter, the driving component drives the fluid channel to deliver the preset counterweight liquid to the counterweight chamber of the base station equipment.

[0066] The liquid delivery method for base station equipment provided in this application, based on the determination that at least one state parameter does not meet the preset parameters, controls the driving component to drive the fluid channel to deliver preset counterweight liquid to the counterweight chamber of the base station equipment. On the one hand, the base station body has sufficient weight to counteract the reaction force and overturning moment generated by the swing arm structure on the base station body, thereby improving the stability of the carrying mechanism driving the cleaning robot to leave or enter the water pool and improving the service life of the base station equipment. On the other hand, when the state parameter does not meet the preset parameters, the preset counterweight liquid is controlled to be input into the preset counterweight liquid to adjust the relevant parameters of the original liquid in the counterweight chamber, thereby improving the user experience of the base station equipment.

[0067] In one possible implementation, the at least one state parameter includes a first state parameter. The first state parameter includes at least one of the water storage time of the liquid in the counterweight chamber and a water quality parameter. The step of controlling the drive unit to drive the fluid channel to deliver the preset counterweight liquid to the counterweight chamber of the base station equipment when the at least one state parameter does not meet the preset parameter includes: when the first state parameter does not meet the first target state parameter, controlling the drive unit to drive the fluid channel to deliver the preset counterweight liquid to the counterweight chamber of the base station equipment, and at least partially discharging the liquid in the counterweight chamber to the outside of the pool. Therefore, when the storage time and water quality parameters of the original liquid in the counterweight chamber do not meet the first target state parameters, it indicates that the water quality of the original liquid in the counterweight chamber has become abnormal. Therefore, this embodiment of the application discharges at least part of the original liquid in the counterweight chamber to the outside of the pool. On the one hand, it discharges the unnecessary liquid to the outside of the pool, ensuring the isolation between the internal system of the base station equipment and the external working environment, maintaining the cleanliness and stability of the internal system of the base station equipment, avoiding the phenomenon of the pool being contaminated by the liquid overflowing from the counterweight chamber, and avoiding the user smelling the odor released by the liquid in the counterweight chamber during the process of picking up and putting down the cleaning robot, thereby improving the user experience of the base station equipment. On the other hand, during the process of discharging the liquid in the counterweight chamber, a preset counterweight liquid is input into the counterweight chamber, thereby ensuring that the base station body has sufficient weight to resist the reaction force and overturning moment generated by the swing arm structure on the base station body.

[0068] The first timer can acquire the water storage time. The water storage time is the time elapsed since the last time the drive unit delivered liquid to the counterweight chamber, thus enabling the base station equipment to automatically calculate the water storage time. When the water storage time exceeds a preset water storage time, the water quality in the counterweight chamber will become abnormal. For example, the preset water storage time may be three days, one week, half a month, or one month. The preset water storage time can be pre-stored in a storage mechanism, or the user can manually input it based on prior knowledge; this application embodiment does not impose specific limitations. A water quality detector is used to acquire the water quality parameters.

[0069] In one possible implementation, the fluid channel includes an inlet channel and a outlet channel. Both the inlet channel and the outlet channel are communicatively connected to the counterweight chamber. Controlling the drive unit to drive the fluid channel to deliver the preset counterweight liquid to the counterweight chamber and to discharge at least a portion of the liquid in the counterweight chamber to the outside of the pool includes: controlling the drive unit to drive the outlet channel to discharge the liquid in the counterweight chamber to the outside of the pool; and after a preset capacity of liquid has been discharged from the counterweight chamber, controlling the drive unit to drive the inlet channel to deliver the preset counterweight liquid to the counterweight chamber, wherein the inlet channel and the outlet channel are independently configured or share a channel. Thus, the liquid in the counterweight chamber is discharged in a sequential order, ensuring that the amount of liquid injected each time is accurate and predictable, avoiding counterweight errors caused by the mixing of new and old liquids, and improving drainage efficiency. Exemplarily, in this embodiment, the inlet channel and the outlet channel are independently configured to avoid cross-contamination between them. Of course, in one possible implementation, the liquid inlet channel and the liquid outlet channel share a common channel, that is, the liquid inlet and liquid outlet of the counterweight chamber are carried out through the same channel, thereby simplifying the structure of the structural fluid channel.

[0070] The preset capacity can be equal to or less than the original liquid capacity of the counterweight chamber. For example, in this embodiment, the preset capacity can be equal to the original liquid capacity of the counterweight chamber, meaning that all the liquid in the counterweight chamber is drained. It should be noted that "all the liquid in the counterweight chamber is drained" means that all the liquid in the counterweight chamber is discharged, but this does not exclude water droplets adhering to the inner wall of the counterweight chamber. In one possible implementation, the preset capacity of liquid discharge from the counterweight chamber may also include the partial discharge of liquid from the counterweight chamber; this embodiment does not specifically limit this.

[0071] In one possible implementation, the liquid delivery method further includes: acquiring the number of times the driving component drives the drainage channel to empty the liquid in the counterweight chamber; and when the number of emptyings meets a target number, controlling the driving component to stop driving the drainage channel to discharge the liquid in the counterweight chamber to the outside of the pool. Thus, the control mechanism of the base station equipment can initially determine whether the counterweight chamber is properly cleaned based on the number of emptyings, thereby achieving automated cleaning of the counterweight chamber by the base station equipment. This avoids waste caused by excessive drainage due to human error or sensor malfunction (such as a liquid level sensor), or inadequate cleaning due to insufficient drainage. Furthermore, it avoids the problem of high energy consumption caused by real-time operation of the liquid parameter detection device, and reduces the lifespan of the liquid parameter detection device.

[0072] In one possible implementation, controlling the drive unit to drive the drainage channel to discharge the liquid in the counterweight chamber to the outside of the water tank includes: controlling the drive unit to drive the inlet channel to deliver driving fluid to the counterweight chamber, so as to discharge the liquid in the counterweight chamber to the outside of the water tank through the drainage channel. The driving fluid includes a driving liquid or a driving gas, wherein the driving liquid is the preset counterweight liquid; or, the driving liquid is a liquid different from the preset counterweight liquid. Thus, driven by the pressure of the driving gas or driving liquid, the liquid in the counterweight chamber is forced out through the lower-positioned drain channel until it is completely discharged outside the pool. On one hand, the gas itself is clean, thereby improving the cleaning ability and reliability of the driving gas in the counterweight chamber, and preventing backflow of external pool water or contamination of the internal drain channel and counterweight chamber. On the other hand, the positive pressure gas can fill the entire space of the counterweight chamber, squeezing out as much liquid as possible, reducing liquid residue, which is beneficial for precise control of the counterweight in the next cycle, preventing waste of liquid used for cleaning the counterweight chamber, and saving costs. The positive pressure drive source is used to deliver driving gas or driving liquid to the inlet channel.

[0073] In another possible implementation, controlling the drive unit to drive the drainage channel to discharge the liquid in the counterweight chamber to the outside of the pool includes: controlling the drive unit to drive the drainage channel to draw the liquid in the counterweight chamber to the outside of the pool through negative pressure. Therefore, on the one hand, compared to positive pressure blowing for liquid drainage, negative pressure suction is less likely to generate bubbles and avoids the risk of damage to the counterweight chamber or sealing structure due to excessive pressure; on the other hand, negative pressure suction only discharges the liquid and does not introduce any new substances into the counterweight chamber; furthermore, the inlet and outlet channels can share a single drive unit (such as a water pump), thereby simplifying the mechanical structure of the base station equipment.

[0074] In one possible implementation, controlling the drive component to drive the fluid channel to deliver the preset counterweight liquid to the counterweight chamber and at least partially discharge the liquid in the counterweight chamber to the outside of the pool includes: controlling the drive component to drive the drain channel to discharge the liquid in the counterweight chamber to the outside of the pool, and simultaneously controlling the drive component to drive the inlet channel to deliver the preset counterweight liquid to the counterweight chamber, wherein the inlet channel and the drain channel are independently configured. Therefore, since the water inlet and outlet of the counterweight chamber are synchronous and independent, the switching of the liquid delivery state of the base station equipment does not require waiting for one action to complete before starting another, thereby reducing the difficulty of control and management, improving the stability of the internal pressure of the counterweight chamber, avoiding burden on the drive component and sealing structure, reducing the workload of the drive component, and extending the lifespan of the counterweight mechanism.

[0075] In one possible implementation, the liquid delivery method further includes: acquiring the circulating water volume or circulation time of the liquid being delivered to the counterweight chamber by the driving component through the inlet channel; and controlling the driving component to stop driving the drain channel to discharge the liquid in the counterweight chamber into the pool when the circulating water volume meets the target circulating water volume or the circulation time meets the target circulation time. Thus, the control mechanism of the base station equipment can determine whether the counterweight chamber is properly cleaned based on the circulating water volume or circulation time, thereby achieving automated cleaning of the counterweight chamber by the base station equipment. This avoids waste caused by excessive drainage due to human error or sensor malfunction (such as a liquid level sensor), or inadequate cleaning due to insufficient drainage. Furthermore, it avoids the problem of high energy consumption caused by the real-time operation of the liquid parameter detection device, and reduces the lifespan of the liquid parameter detection device.

[0076] Of course, in another possible implementation, the liquid delivery method further includes: using a liquid parameter detection device to acquire the water quality parameters of the liquid in the counterweight chamber in real time; and controlling the drive to stop driving the drainage channel to discharge the liquid in the counterweight chamber to the outside of the water tank when the water quality parameters of the liquid in the counterweight chamber meet the target water quality parameters. Thus, based on the fact that the water quality parameters of the liquid in the counterweight chamber meet the target water quality parameters, controlling the drive to stop driving the drainage channel to discharge the liquid in the counterweight chamber to the outside of the water tank achieves qualitative control of the liquid drainage operation in the counterweight chamber. The base station equipment can intelligently determine when the drainage process is complete, improving the adaptive and intelligent operation of the base station equipment and avoiding resource waste caused by excessive drainage.

[0077] In one possible implementation, the at least one state parameter further includes a second state parameter, which includes the weight parameter or liquid level parameter of the liquid in the counterweight chamber; the liquid delivery method further includes: when determining that the water quality parameter of the preset counterweight liquid in the counterweight chamber meets the preset water quality parameter, and when determining that the second state parameter does not meet the second target state parameter, controlling the drive to stop driving the fluid channel to discharge the liquid in the counterweight chamber to the outside of the pool, and controlling the drive to drive the fluid channel to deliver the preset counterweight liquid to the counterweight chamber, so that the second state parameter meets the second target state parameter. Therefore, on the one hand, by adjusting the weight of the liquid in the counterweight chamber to meet the counterweight requirements of the base station equipment after determining that the water quality of the liquid in the counterweight chamber meets the requirements, the contamination of the pool is prevented, and the overall operating efficiency of inputting liquid into the counterweight chamber is improved. On the other hand, by supplying the counterweight chamber with the pre-set counterweight liquid that meets the second target state parameters after determining that the water quality parameters of the pre-set counterweight liquid in the counterweight chamber meet the pre-set water quality parameters, the weight of the base station body reaches the expected weight. This gives the base station body sufficient weight to counteract the reaction force and overturning moment generated by the swing arm structure on the base station body, thereby improving the stability of the carrying mechanism in driving the cleaning robot to leave or enter the pool and improving the service life of the base station equipment.

[0078] The first target state parameters can be pre-stored in a storage mechanism, or the user can manually input them based on prior knowledge; this embodiment does not impose specific limitations. A weight sensor is used to acquire the weight parameters of the liquid in the counterweight chamber. A liquid sensor is used to acquire the liquid level parameters of the liquid in the counterweight chamber.

[0079] In one possible implementation, controlling the drive unit to drive the fluid channel to deliver the preset counterweight liquid to the counterweight chamber so that the second state parameter satisfies the second target state parameter includes: when determining that the second state parameter satisfies the second target state parameter, controlling the drive unit to stop driving the fluid channel to deliver the preset counterweight liquid to the counterweight chamber, thereby avoiding the problem of resource waste caused by using a liquid independent of the pool for the preset counterweight liquid, and reducing the energy consumption of the base station equipment and saving costs.

[0080] In another possible implementation, controlling the drive unit to drive the liquid inlet channel to deliver the preset counterweight liquid to the counterweight chamber, so that the second state parameter satisfies the second target state parameter, includes: controlling the drive unit to drive the fluid channel to circulate the preset counterweight liquid between the counterweight chamber and the water tank, so that the second state parameter satisfies the second target state parameter. Thus, on the one hand, the liquid in the counterweight chamber is in a flowing state, thereby preventing impurities, biofilms, or solutes from depositing and scaling at the bottom and dead corners of the chamber, and maintaining the unobstructed flow of the entire fluid channel; on the other hand, the low-temperature liquid in the counterweight chamber will carry away the heat generated by the internal components of the base station equipment, thereby extending the service life of the base station equipment.

[0081] In one possible implementation, the liquid delivery method further includes: acquiring the specifications and / or motion parameters of the cleaning robot; and determining the second target state parameters based on the specifications and / or motion parameters. Thus, on the one hand, the base station equipment adaptively adjusts the liquid volume in the counterweight chamber based on different cleaning robots, thereby improving the accuracy of the counterweight mechanism in compensating for load changes in the base station equipment, ensuring the stability of the cleaning robot leaving or entering the water tank, and extending the lifespan of the base station equipment.

[0082] The method of controlling the drive component to drive the fluid channel to circulate the preset counterweight liquid between the counterweight chamber and the water tank, so that the second state parameter satisfies the second target state parameter, includes: acquiring the specification parameters and / or motion parameters of the cleaning robot; determining the second target state parameter based on the specification parameters and / or the motion parameters; analyzing the difference information between the second state parameter and the second target state parameter; and adjusting the input liquid flow rate of the inlet channel and / or adjusting the output liquid flow rate of the outlet channel based on the difference information, so that the second state parameter satisfies the second target state parameter. The specification parameters include, but are not limited to, at least one of volume, weight, and center of gravity position, and the motion parameters include, but are not limited to, at least one of motion trajectory, arm length, rotation angle, and rotation angular velocity. Therefore, by analyzing the second target state parameters based on the specifications and / or motion parameters of the cleaning robot, and adjusting the infusion parameters of the counterweight chamber based on the difference between the second state parameters and the second target state parameters, on the one hand, the base station equipment can adaptively adjust the liquid volume in the counterweight chamber based on different cleaning robots, thereby improving the accuracy of the counterweight mechanism in compensating for load changes in the base station equipment, ensuring the stability of the cleaning robot leaving or entering the water tank, and extending the life cycle of the base station equipment; on the other hand, by proportionally controlling the inlet and outlet flow rates, the precise increase or decrease of the liquid mass in the counterweight chamber can be achieved, thereby reducing the waste of preset counterweight liquid, and the bidirectional synchronous adjustment of the counterweight chamber helps to maintain the stability of the internal pressure of the counterweight chamber, reducing the load on the drive components and saving energy.

[0083] In one possible implementation, the liquid delivery method further includes: acquiring a second target state parameter associated with the specification parameters and / or the motion parameters. Exemplarily, in this embodiment, acquiring the second target state parameter associated with the specification parameters and / or the motion parameters includes: acquiring the second target state parameter associated with the current specification parameters and / or the motion parameters according to a predefined correspondence between the specification parameters and / or the motion parameters and the second target state parameter. For example, the heavier the cleaning robot, the larger the volume of liquid in the counterweight chamber, thereby enabling the counterweight mechanism of the base station equipment to adaptively counterweight the cleaning robot.

[0084] In one possible implementation, the drainage channel includes a first channel and a second channel. The drain outlet of the first channel faces the interior of the water tank, and the drain outlet of the second channel faces the exterior of the water tank. Controlling the drive unit to drive the drainage channel to discharge the liquid in the counterweight chamber to the exterior of the water tank includes: controlling a reversing valve to open the second channel and the counterweight chamber; and controlling the drive unit to drive the second channel to discharge the liquid in the counterweight chamber to the exterior of the water tank. Thus, on the one hand, the second channel discharges potentially contaminated wastewater (such as rust, oil, etc.) from the counterweight chamber to the exterior of the water tank, thereby avoiding the problem of wastewater from the counterweight chamber being directly discharged into the water tank and causing pollution. On the other hand, the first and second channels are independent of each other, thereby reducing cleaning difficulty and preventing cross-contamination of liquids, offering high flexibility in use. Furthermore, clean liquid in the counterweight chamber can be directly discharged back into the water tank through the first channel, thus preventing the loss of the total water volume in the water tank, resulting in energy saving and environmental protection.

[0085] In one possible implementation, the at least one state parameter includes a second state parameter, which includes the weight or level of the liquid in the counterweight chamber. When it is determined that the at least one state parameter does not meet a preset parameter, controlling the drive component to drive the fluid channel to deliver the preset counterweight liquid to the counterweight chamber of the base station equipment includes: when it is determined that the second state parameter does not meet a second target state parameter, controlling the drive component to drive the fluid channel to deliver the preset counterweight liquid to the counterweight chamber of the base station equipment; or, controlling the drive component to drive the fluid channel to circulate the preset counterweight liquid between the counterweight chamber and the water tank. Therefore, when it is determined that the second state parameter does not meet the second target state parameter, controlling the drive component to drive the fluid channel to deliver the preset counterweight liquid to the counterweight chamber of the base station equipment increases the weight of the base station body. This provides sufficient weight to counteract the reaction force and overturning moment generated by the swing arm structure on the base station body, thereby improving the stability of the carrying mechanism in moving the cleaning robot away from or into the water tank, and increasing the service life of the base station equipment.

[0086] Understandably, when the base station equipment is first installed and used, since the counterweight chamber does not store liquid, the drive unit can directly fill the counterweight chamber with water. In scenarios where the cleaning robot does not need to leave the base station equipment or return from the water tank to the base station equipment, the base station equipment can empty the liquid in the counterweight chamber, thereby inhibiting bacterial growth and odor generation, and improving the user experience.

[0087] In one possible implementation, the liquid delivery method further includes: when it is determined that the water quality parameters of the preset counterweight liquid in the fluid channel do not meet the preset water quality parameters, controlling the drive to stop driving the fluid channel to deliver the preset counterweight liquid to the counterweight chamber; and / or, controlling the output of a prompt message. Thus, on the one hand, before or during the injection of liquid into the counterweight chamber, the base station equipment system detects the water quality of the preset counterweight liquid that is about to flow in or is currently flowing in in real time, and controls the drive to stop driving the fluid channel to deliver the preset counterweight liquid to the counterweight chamber when the water quality is substandard, thereby preventing the substandard preset counterweight liquid from entering the pool and causing contamination; on the other hand, when the substandard water quality of the preset counterweight liquid is detected, a prompt message is output, allowing the user to intervene in a timely manner, thereby improving the counterweight efficiency of the base station equipment. The prompt message may include, but is not limited to, at least one of sound information, vibration information, graphic information, and light information. In some embodiments, the prompt message may also be transmitted to a third-party device via a communication mechanism.

[0088] In one possible implementation, the at least one state parameter includes a first state parameter, which includes at least one of the water storage time of the liquid in the counterweight chamber and a water quality parameter. The liquid delivery method further includes: when the first state parameter satisfies a first target state parameter, responding to a feeding command received by the base station equipment, controlling the feeding valve to open the counterweight chamber and the feeding channel for introducing a preset medium, and controlling the driving component to drive the fluid channel to discharge the preset counterweight liquid and the preset medium into the liquid in the water tank. The preset medium includes at least one of a cleaning medium and a disinfection medium. Therefore, by making the feeding channel and the counterweight chamber connectable, the cleaning medium and / or disinfection medium are injected into the water in the water tank along with the preset counterweight liquid in the counterweight chamber, thereby automating the cleaning or disinfection operation of the water tank by the base station equipment.

[0089] In one possible implementation, controlling the drive unit to drive the fluid channel to discharge the preset counterweight liquid and the preset medium into the liquid in the water tank includes: controlling the drive unit to drive the fluid channel to circulate the preset counterweight liquid and the preset medium between the counterweight chamber and the water tank, thereby realizing that the cleaning medium and / or disinfection medium circulates with the water circulation between the counterweight chamber and the water tank, thereby realizing that the cleaning medium and / or disinfection medium are evenly distributed to various positions in the water tank, improving the cleaning effect and / or disinfection effect of the water tank.

[0090] In another possible implementation, controlling the drive to drive the fluid channel to discharge the preset counterweight liquid and the preset medium into the liquid in the pool includes: controlling the drive to drive the fluid channel to empty the preset medium and the preset counterweight liquid in the counterweight chamber.

[0091] Of course, in another possible implementation, the liquid delivery method further includes: responding to a feeding command received by the base station equipment, controlling the feeding valve to open the counterweight chamber and the feeding channel for introducing a preset medium, and controlling the driving component to drive the fluid channel to discharge the preset medium into the liquid in the pool. In other words, the preset counterweight liquid can be emptied from the counterweight chamber before the preset medium is introduced. It should be noted that the input order and output method of the counterweight liquid and the preset medium can be set according to actual conditions, and this application embodiment does not impose specific limitations.

[0092] In one possible implementation, the at least one state parameter includes a first state parameter, which includes at least one of the liquid storage time in the counterweight chamber and a water quality parameter. The liquid delivery method further includes: when the first state parameter satisfies a first target state parameter, responding to a cleaning command received by the base station equipment from a third-party device, controlling the drive component to drive the cleaning channel to clean the base station equipment and / or the cleaning robot mounted on the base station body. Thus, based on the cleaning command sent by the third-party device, the drive component is controlled to drive the cleaning channel to clean the base station body and / or the cleaning robot mounted on the base station body, thereby achieving automated operation of the base station equipment cleaning the base station equipment and / or the cleaning robot, reducing maintenance costs.

[0093] like Figure 7 As shown, the liquid delivery method is applied to the aforementioned base station equipment. The liquid delivery method includes the following steps.

[0094] Step S701: Receive work instructions.

[0095] Step S702: When it is determined that the weight parameter or liquid level parameter of the liquid in the counterweight chamber of the base station equipment meets the first preset requirement, the carrying mechanism is controlled to carry the cleaning robot according to the work instruction and swing relative to the base station body to drive the cleaning robot to leave or enter the water pool.

[0096] Step S703: When it is determined that the weight parameter or the liquid level parameter of the liquid does not meet the first preset requirement, the driving component is controlled to drive the fluid channel to deliver the preset counterweight liquid to the counterweight chamber of the base station equipment.

[0097] The liquid delivery method for base station equipment provided in this application, based on the determination that at least one state parameter does not meet the preset parameters, controls the driving component to drive the fluid channel to deliver preset counterweight liquid to the counterweight chamber of the base station equipment. On the one hand, the base station body has sufficient weight to counteract the reaction force and overturning moment generated by the swing arm structure on the base station body, thereby improving the stability of the carrying mechanism driving the cleaning robot to leave or enter the water pool and improving the service life of the base station equipment. On the other hand, when it is determined that the weight parameter or liquid level parameter of the liquid in the counterweight chamber of the base station equipment does not meet the first preset requirement, the preset counterweight liquid is controlled to be input to adjust the original liquid weight parameter or liquid level parameter in the counterweight chamber, thereby enabling adaptive adjustment of the weight of the base station equipment and improving the user experience of the base station equipment.

[0098] In one possible implementation, the control drive unit drives the fluid channel to deliver a preset counterweight liquid to the counterweight chamber of the base station equipment, including: controlling the drive unit to drive the fluid channel to deliver the preset counterweight liquid to the counterweight chamber until the weight parameter or the liquid level parameter of the liquid in the counterweight chamber meets the first preset requirement; or, controlling the drive unit to drive the fluid channel to circulate the preset counterweight liquid between the counterweight chamber and the water tank. Therefore, on the one hand, when the weight or level parameters of the liquid in the counterweight chamber meet the first preset requirement, the driving component stops driving the fluid channel to deliver the preset counterweight liquid to the counterweight chamber of the base station equipment. This achieves qualitative control of the liquid inlet operation in the counterweight chamber, and the base station equipment can intelligently determine when the liquid inlet process is completed, improving the adaptive and intelligent operation of the base station equipment and preventing substandard water quality in the counterweight chamber from overflowing into the water tank and causing pollution. On the other hand, when water is circulated into the cavity of the counterweight chamber, the driving component drives the fluid channel to circulate the preset counterweight liquid between the counterweight chamber and the water tank, so that the liquid in the counterweight chamber is in a flowing state. This can prevent impurities, biofilms, or solutes from depositing and scaling at the bottom and dead corners of the chamber, keeping the entire fluid channel unobstructed. In addition, the low-temperature liquid in the counterweight chamber will carry away the heat generated by the internal components of the base station equipment, extending the service life of the base station equipment.

[0099] The method of controlling the drive component to drive the fluid channel to circulate the preset counterweight liquid between the counterweight chamber and the water tank includes: acquiring the specification parameters and / or motion parameters of the cleaning robot; determining a first preset requirement based on the specification parameters and / or the motion parameters; analyzing the difference information between the weight parameter or liquid level parameter and the first preset requirement; and adjusting the input liquid flow rate of the liquid inlet channel and / or adjusting the output liquid flow rate of the liquid outlet channel based on the difference information, so that the weight parameter or liquid level parameter meets the first preset requirement. The specification parameters include, but are not limited to, at least one of volume, weight, and center of gravity position, and the motion parameters include, but are not limited to, at least one of motion trajectory, arm length, rotation angle, and rotation angular velocity. Therefore, by analyzing the first preset requirement based on the specifications and / or motion parameters of the cleaning robot, and adjusting the infusion parameters of the counterweight chamber based on the difference between the weight parameters or liquid level parameters and the first preset requirement, on the one hand, the base station equipment can adaptively adjust the liquid volume in the counterweight chamber according to different cleaning robots, thereby improving the accuracy of the counterweight mechanism in compensating for load changes in the base station equipment, ensuring the stability of the cleaning robot leaving or entering the water tank, and extending the life cycle of the base station equipment; on the other hand, by proportionally controlling the inlet and outlet flow rates, the precise increase or decrease of the liquid mass in the counterweight chamber can be achieved, thereby reducing the waste of preset counterweight liquid, and the bidirectional synchronous adjustment of the counterweight chamber helps to maintain the stability of the internal pressure of the counterweight chamber, reducing the load on the drive components and saving energy.

[0100] In one possible implementation, the liquid delivery method further includes: acquiring a first preset requirement associated with the specification parameters and / or the motion parameters. Exemplarily, in this embodiment, acquiring the first preset requirement associated with the specification parameters and / or the motion parameters includes: acquiring the first preset requirement associated with the current specification parameters and / or the motion parameters based on a predefined correspondence between the specification parameters and / or the motion parameters and the first preset requirement. For example, the heavier the cleaning robot, the larger the volume of liquid in the counterweight chamber, thereby enabling the counterweight mechanism of the base station equipment to adaptively counterweight the cleaning robot.

[0101] In one possible implementation, the fluid channel includes an inlet channel and a outlet channel, both of which are communicatively connected to the counterweight chamber. Before controlling the drive unit to circulate the preset counterweight liquid between the counterweight chamber and the water tank via the fluid channel, the liquid delivery method further includes: obtaining at least one of the water storage time and water quality parameters of the liquid in the counterweight chamber; and when it is determined that the water storage time and / or the water quality parameters do not meet a second preset requirement, controlling the drive unit to drive the outlet channel to discharge the liquid in the counterweight chamber to the outside of the water tank; and after a preset capacity of liquid has been discharged from the counterweight chamber, controlling the drive unit to drive the inlet channel to deliver the preset counterweight liquid to the counterweight chamber, wherein the inlet channel and the outlet channel are independently configured or share a channel. Thus, the liquid in the counterweight chamber is discharged in a sequential manner, ensuring that the amount of liquid injected each time is accurate and predictable, avoiding counterweight errors caused by the mixing of new and old liquids, and improving drainage efficiency. For example, in this embodiment, the inlet channel and the outlet channel are set independently to avoid cross-contamination between them. Of course, in one possible implementation, the inlet channel and the outlet channel share a common channel, meaning that the inlet and outlet of the counterweight chamber are handled through the same channel, thus simplifying the structure of the fluid channel.

[0102] The preset capacity can be equal to or less than the original liquid capacity of the counterweight chamber. For example, in this embodiment, the preset capacity can be equal to the original liquid capacity of the counterweight chamber, meaning that all the liquid in the counterweight chamber is drained. It should be noted that "all the liquid in the counterweight chamber is drained" means that all the liquid in the counterweight chamber is discharged, but this does not exclude water droplets adhering to the inner wall of the counterweight chamber. In one possible implementation, the preset capacity of liquid discharge from the counterweight chamber may also include the partial discharge of liquid from the counterweight chamber; this embodiment does not specifically limit this.

[0103] In one possible implementation, the liquid delivery method further includes: acquiring the number of times the driving component drives the drainage channel to empty the liquid in the counterweight chamber; and when the number of emptyings meets a target number, controlling the driving component to stop driving the drainage channel to discharge the liquid in the counterweight chamber to the outside of the pool. Thus, the control mechanism of the base station equipment can initially determine whether the counterweight chamber is properly cleaned based on the number of emptyings, thereby achieving automated cleaning of the counterweight chamber by the base station equipment. This avoids waste caused by excessive drainage due to human error or sensor malfunction (such as a liquid level sensor), or inadequate cleaning due to insufficient drainage. Furthermore, it avoids the problem of high energy consumption caused by real-time operation of the liquid parameter detection device, and reduces the lifespan of the liquid parameter detection device.

[0104] In one possible implementation, controlling the drive unit to drive the drainage channel to discharge the liquid in the counterweight chamber to the outside of the pool includes: controlling the drive unit to drive the inlet channel to deliver driving fluid to the counterweight chamber, so as to discharge the liquid in the counterweight chamber to the outside of the pool through the drainage channel. The driving fluid includes a driving liquid or a driving gas, wherein the driving liquid is the preset counterweight liquid; or, the driving liquid is a liquid different from the preset counterweight liquid. Thus, under the pressure of the driving gas, the liquid in the counterweight chamber is forced out through the lower-positioned drainage channel until it is completely discharged to the outside of the pool. On the one hand, the gas itself is clean, thereby improving the cleaning ability and reliability of the driving gas for the counterweight chamber, and avoiding the problem of backflow of external pool water or contamination of the internal drainage channel and counterweight chamber; on the other hand, the positive pressure gas can fill the entire space of the counterweight chamber, squeezing out as much liquid as possible, reducing liquid residue, which is beneficial for precise control of the counterweight in the next cycle, preventing waste of liquid for cleaning the counterweight chamber, and saving costs. A positive pressure drive source is used to deliver gas into the liquid inlet channel.

[0105] Understandably, when the driving fluid is a driving liquid, controlling the driving component to drive the inlet channel to deliver the driving fluid to the counterweight chamber, so as to discharge the liquid in the counterweight chamber to the outside of the pool through the drain channel, includes: controlling the driving component to drive the inlet channel to deliver the driving liquid to the counterweight chamber, so that the drain channel discharges the liquid in the counterweight chamber to the outside of the pool through positive pressure. For example, the driving component is disposed within the inlet channel. Thus, based on the driving component disposed within the inlet channel, since the inlet and outlet of the counterweight chamber are open and the rest of the counterweight chamber is sealed, when the inlet channel replenishes water to the counterweight chamber, the internal pressure of the counterweight chamber increases, thereby enabling the drain channel to actively drain water until the internal air pressure of the counterweight chamber reaches the target air pressure threshold. The target air pressure threshold can be an air pressure close to atmospheric pressure; or, a user-defined or base station equipment default setting air pressure value.

[0106] In another possible implementation, controlling the drive unit to drive the drainage channel to discharge the liquid in the counterweight chamber to the outside of the pool includes: controlling the drive unit to drive the drainage channel to draw the liquid in the counterweight chamber to the outside of the pool through negative pressure. Therefore, on the one hand, compared to positive pressure blowing for liquid drainage, negative pressure suction is less likely to generate bubbles and avoids the risk of damage to the counterweight chamber or sealing structure due to excessive pressure; on the other hand, negative pressure suction only discharges the liquid and does not introduce any new substances into the counterweight chamber; furthermore, the inlet and outlet channels can share a single drive unit (such as a water pump), thereby simplifying the mechanical structure of the base station equipment.

[0107] In one possible implementation, controlling the drive component to drive the fluid channel to deliver the preset counterweight liquid to the counterweight chamber and at least partially discharge the liquid in the counterweight chamber to the outside of the pool includes: controlling the drive component to drive the drain channel to discharge the liquid in the counterweight chamber to the outside of the pool, and simultaneously controlling the drive component to drive the inlet channel to deliver the preset counterweight liquid to the counterweight chamber, wherein the inlet channel and the drain channel are independently configured. Therefore, since the water inlet and outlet of the counterweight chamber are synchronous and independent, the switching of the liquid delivery state of the base station equipment does not require waiting for one action to complete before starting another, thereby reducing the difficulty of control and management, improving the stability of the internal pressure of the counterweight chamber, avoiding burden on the drive component and sealing structure, reducing the workload of the drive component, and extending the lifespan of the counterweight mechanism.

[0108] In one possible implementation, the liquid delivery method further includes: acquiring the circulating water volume or circulation time of the liquid being delivered to the counterweight chamber by the driving component through the inlet channel; and controlling the driving component to stop driving the drain channel to discharge the liquid in the counterweight chamber into the pool when the circulating water volume meets the target circulating water volume or the circulation time meets the target circulation time. Thus, the control mechanism of the base station equipment can determine whether the counterweight chamber is properly cleaned based on the circulating water volume or circulation time, thereby achieving automated cleaning of the counterweight chamber by the base station equipment. This avoids waste caused by excessive drainage due to human error or sensor malfunction (such as a liquid level sensor), or inadequate cleaning due to insufficient drainage. Furthermore, it avoids the problem of high energy consumption caused by the real-time operation of the liquid parameter detection device, and reduces the lifespan of the liquid parameter detection device.

[0109] Of course, in another possible implementation, the liquid delivery method further includes: using a liquid parameter detection device to acquire the water quality parameters of the liquid in the counterweight chamber in real time; and controlling the drive to stop driving the drainage channel to discharge the liquid in the counterweight chamber to the outside of the water tank when the water quality parameters of the liquid in the counterweight chamber meet the target water quality parameters. Thus, based on the fact that the water quality parameters of the liquid in the counterweight chamber meet the target water quality parameters, controlling the drive to stop driving the drainage channel to discharge the liquid in the counterweight chamber to the outside of the water tank achieves qualitative control of the liquid drainage operation in the counterweight chamber. The base station equipment can intelligently determine when the drainage process is complete, improving the adaptive and intelligent operation of the base station equipment and avoiding resource waste caused by excessive drainage.

[0110] In another possible implementation, the fluid channel includes an inlet channel and a outlet channel, both of which are communicatively connected to the counterweight chamber. Before controlling the drive unit to drive the fluid channel to circulate the preset counterweight liquid between the counterweight chamber and the water tank, the liquid delivery method further includes: obtaining at least one of the water storage time and water quality parameters of the liquid in the counterweight chamber; when it is determined that the water storage time and / or the water quality parameters do not meet a second preset requirement, controlling the drive unit to drive the outlet channel to discharge the liquid in the counterweight chamber to the outside of the water tank, and simultaneously controlling the drive unit to drive the inlet channel to deliver the preset counterweight liquid to the counterweight chamber, wherein the inlet channel and the outlet channel are independently configured. Therefore, since the water inlet and outlet of the counterweight chamber are synchronous and independent, the switching of the liquid transport state of the base station equipment does not need to wait for one action to be completed before starting another action, thereby reducing the difficulty of control and management, improving the stability of the internal pressure of the counterweight chamber, avoiding the burden on the drive components and sealing structure, reducing the workload of the drive components, and extending the life cycle of the counterweight mechanism.

[0111] In one possible implementation, the liquid delivery method further includes: acquiring the circulating water volume or circulation time of the liquid being delivered to the counterweight chamber by the driving component through the inlet channel; and controlling the driving component to stop driving the drain channel to discharge the liquid in the counterweight chamber into the pool when the circulating water volume meets the target circulating water volume or the circulation time meets the target circulation time. Thus, the control mechanism of the base station equipment can determine whether the counterweight chamber is properly cleaned based on the circulating water volume or circulation time, thereby achieving automated cleaning of the counterweight chamber by the base station equipment. This avoids waste caused by excessive drainage due to human error or sensor malfunction (such as a liquid level sensor), or inadequate cleaning due to insufficient drainage. Furthermore, it avoids the problem of high energy consumption caused by the real-time operation of the liquid parameter detection device, and reduces the lifespan of the liquid parameter detection device.

[0112] Of course, in another possible implementation, the liquid delivery method further includes: using a liquid parameter detection device to acquire the water quality parameters of the liquid in the counterweight chamber in real time; and controlling the drive to stop driving the drainage channel to discharge the liquid in the counterweight chamber to the outside of the water tank when the water quality parameters of the liquid in the counterweight chamber meet the target water quality parameters. Thus, based on the fact that the water quality parameters of the liquid in the counterweight chamber meet the target water quality parameters, controlling the drive to stop driving the drainage channel to discharge the liquid in the counterweight chamber to the outside of the water tank achieves qualitative control of the liquid drainage operation in the counterweight chamber. The base station equipment can intelligently determine when the drainage process is complete, improving the adaptive and intelligent operation of the base station equipment and avoiding resource waste caused by excessive drainage.

[0113] In one possible implementation, the drainage channel includes a first channel and a second channel. The drain outlet of the first channel faces the interior of the water tank, and the drain outlet of the second channel faces the exterior of the water tank. Controlling the drive unit to drive the drainage channel to discharge the liquid in the counterweight chamber to the exterior of the water tank includes: controlling a reversing valve to open the second channel and the counterweight chamber; and controlling the drive unit to drive the second channel to discharge the liquid in the counterweight chamber to the exterior of the water tank. Thus, on the one hand, the second channel discharges potentially contaminated wastewater (such as rust, oil, etc.) from the counterweight chamber to the exterior of the water tank, thereby avoiding the problem of wastewater from the counterweight chamber being directly discharged into the water tank and causing pollution. On the other hand, the first and second channels are independent of each other, thereby reducing cleaning difficulty and preventing cross-contamination of liquids, offering high flexibility in use. Furthermore, clean liquid in the counterweight chamber can be directly discharged back into the water tank through the first channel, thus preventing the loss of the total water volume in the water tank, resulting in energy saving and environmental protection.

[0114] In one possible implementation, the liquid delivery method further includes: when it is determined that the water quality parameters of the preset counterweight liquid in the fluid channel do not meet the preset water quality parameters, controlling the drive to stop driving the fluid channel to deliver the preset counterweight liquid to the counterweight chamber; and / or, controlling the output of a prompt message. Thus, on the one hand, before or during the injection of liquid into the counterweight chamber, the base station equipment system detects the water quality of the preset counterweight liquid that is about to flow in or is currently flowing in in real time, and controls the drive to stop driving the fluid channel to deliver the preset counterweight liquid to the counterweight chamber when the water quality is substandard, thereby preventing the substandard preset counterweight liquid from entering the pool and causing contamination; on the other hand, when the substandard water quality of the preset counterweight liquid is detected, a prompt message is output, allowing the user to intervene in a timely manner, thereby improving the counterweight efficiency of the base station equipment. The prompt message may include, but is not limited to, at least one of sound information, vibration information, graphic information, and light information. In some embodiments, the prompt message may also be transmitted to a third-party device via a communication mechanism.

[0115] In one possible implementation, the liquid delivery method further includes: when determining that the liquid in the counterweight chamber meets preset water quality parameters, responding to a feeding command received by the base station equipment, controlling the feeding valve to open the counterweight chamber and the feeding channel for introducing a preset medium, and controlling the driving component to drive the fluid channel to discharge the preset counterweight liquid and the preset medium into the liquid in the water tank. The preset medium includes at least one of a cleaning medium and a disinfection medium. Thus, by making the feeding channel and the counterweight chamber communicative, the cleaning medium and / or disinfection medium are injected into the water in the water tank along with the preset counterweight liquid in the counterweight chamber, thereby automating the cleaning or disinfection operation of the water tank by the base station equipment.

[0116] In one possible implementation, controlling the drive unit to drive the fluid channel to discharge the preset counterweight liquid and the preset medium into the liquid in the water tank includes: controlling the drive unit to drive the fluid channel to circulate the preset counterweight liquid and the preset medium between the counterweight chamber and the water tank, thereby realizing that the cleaning medium and / or disinfection medium circulates with the water circulation between the counterweight chamber and the water tank, thereby realizing that the cleaning medium and / or disinfection medium are evenly distributed to various positions in the water tank, improving the cleaning effect and / or disinfection effect of the water tank.

[0117] In another possible implementation, controlling the drive to drive the fluid channel to discharge the preset counterweight liquid and the preset medium into the liquid in the pool includes: controlling the drive to drive the fluid channel to empty the preset medium and the preset counterweight liquid in the counterweight chamber.

[0118] Of course, in another possible implementation, the liquid delivery method further includes: responding to a feeding command received by the base station equipment, controlling the feeding valve to open the counterweight chamber and the feeding channel for introducing a preset medium, and controlling the driving component to drive the fluid channel to discharge the preset medium into the liquid in the pool. In other words, the preset counterweight liquid can be emptied from the counterweight chamber before the preset medium is introduced. It should be noted that the input order and output method of the counterweight liquid and the preset medium can be set according to actual conditions, and this application embodiment does not impose specific limitations.

[0119] In one possible implementation, the at least one state parameter includes a first state parameter, which includes at least one of the water storage time of the liquid in the counterweight chamber and a water quality parameter. The liquid delivery method further includes: when it is determined that the water quality parameter of the liquid in the counterweight chamber meets a preset water quality parameter, responding to a cleaning command sent by a third-party device received by the base station device, controlling the drive component to drive the cleaning channel to clean the base station device and / or the cleaning robot mounted on the base station body. Thus, based on the cleaning command sent by the third-party device, the drive component is controlled to drive the cleaning channel to clean the base station body and / or the cleaning robot mounted on the base station body, thereby achieving automated operation of the base station device cleaning the base station device and / or the cleaning robot, reducing maintenance costs.

[0120] It should be noted that, Figure 7 Liquid delivery methods in Figure 6 For similar or identical process steps in liquid delivery methods, please refer to [the relevant documentation / reference]. Figure 6 The liquid transport methods in this process will not be elaborated here.

[0121] This application also provides a computer storage medium, wherein the computer storage medium may store a program, which, when executed, includes some or all of the steps of the liquid delivery method for any base station equipment described in the above method embodiments.

[0122] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0123] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0124] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0125] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0126] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0127] If the integrated units described above are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which can be a personal computer, server, or network device, specifically a controller in the computer device) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium may include various media capable of storing program code, such as a USB flash drive, portable hard drive, magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM).

[0128] The above description is merely a specific implementation of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A base station device, characterized in that, include: The base station body is located at the edge of the pool; A carrying mechanism is movably connected to the base station body and is used to carry and transport the cleaning robot into or out of the pool. A counterweight mechanism, comprising a counterweight chamber, a fluid channel, and a driving component, wherein the counterweight chamber is disposed in the base station body and is used to store liquid to increase the weight of the base station body, the fluid channel is connected to the counterweight chamber, and the driving component is used to drive the fluid channel to deliver liquid to the counterweight chamber; The fluid channel is disposed within the carrying mechanism. When the carrying mechanism is in the extended state, the end of the fluid channel facing away from the counterweight chamber can extend into the liquid surface of the water tank to realize water circulation between the counterweight chamber and the water tank.

2. The base station equipment according to claim 1, characterized in that, The fluid channel includes a liquid inlet channel, one end of which is connected to the counterweight chamber, and the other end of which can extend into the liquid surface of the water tank.

3. The base station equipment according to claim 2, characterized in that, The fluid channel further includes a drain channel, the counterweight chamber is connected between the inlet channel and the drain channel, and the drive is also used to drive the drain channel to drain the liquid in the counterweight chamber to the water tank or the outside of the water tank.

4. The base station equipment according to claim 3, characterized in that, The counterweight chamber has an inlet communicating with the inlet channel and an outlet communicating with the outlet channel. In a projection plane parallel to the height direction of the base station equipment, the inlet and the outlet are aligned in the height direction of the base station equipment; or, the inlet and the outlet are offset in the height direction of the base station equipment.

5. The base station equipment according to claim 3, characterized in that, The counterweight mechanism further includes a first control valve and a second control valve. The first control valve is disposed in the liquid inlet channel and / or the counterweight chamber, and is used to open or close the liquid inlet channel and the counterweight chamber. The second control valve is disposed in the liquid outlet channel and / or the counterweight chamber, and is used to open or close the liquid outlet channel and the counterweight chamber.

6. The base station equipment according to claim 3, characterized in that, The drainage channel includes a first channel and a second channel, both of which are connected to the counterweight chamber. The drainage outlet of the first channel faces the inside of the water tank, and the drainage outlet of the second channel faces the outside of the water tank.

7. The base station equipment according to claim 6, characterized in that, The counterweight mechanism further includes a reversing valve, which is located at the junction of the first channel and the second channel. The reversing valve is used to connect the counterweight chamber and the first channel; or, the reversing valve is used to connect the counterweight chamber and the second channel.

8. The base station equipment according to any one of claims 1-7, characterized in that, The counterweight mechanism further includes a liquid parameter detection device, which is disposed on the base station body and / or the counterweight chamber, and is used to detect a first state parameter of the base station equipment. The first state parameter includes at least one of the water storage time of the liquid in the counterweight chamber and a water quality parameter. The driving component is also used to drive the fluid channel to discharge at least a portion of the liquid in the counterweight chamber to the outside of the water tank when the first state parameter does not meet the first target state parameter.

9. The base station equipment according to claim 8, characterized in that, The liquid parameter detection device includes at least one of a first timer and a water quality detector. The first timer is disposed on the base station body and is used to obtain the water storage time length, wherein the water storage time length is the time length of the last time the drive unit transported liquid to the counterweight chamber from the current time point. The water quality detector is disposed in the counterweight chamber and is used to obtain the water quality parameters.

10. The base station equipment according to claim 1, characterized in that, The counterweight mechanism further includes at least one of a flow meter, a second timer, and a counter. The flow meter is disposed in the counterweight chamber and is used to count the circulating water volume of the fluid channel driven by the driving component to deliver liquid to the counterweight chamber. The second timer is disposed on the base station body and is used to count the circulation time of the fluid channel driven by the driving component to deliver liquid to the counterweight chamber. The counter is used to count the number of times the drive unit drives the fluid channel to empty the liquid in the counterweight chamber. The drive unit is also used to stop driving the fluid channel to discharge the liquid in the counterweight chamber into the water tank when the circulating water volume, the circulating time, or the number of emptying times meet preset conditions.

11. The base station equipment according to any one of claims 1-7, characterized in that, The base station equipment also includes a feeding mechanism, which includes a feeding valve and a feeding channel. The feeding valve is disposed on the feeding channel and is used to connect or disconnect the feeding channel from the counterweight chamber. The feeding channel is used to introduce a preset medium into the counterweight chamber. The preset medium includes at least one of a cleaning medium and a disinfection medium.

12. The base station equipment according to any one of claims 1-7, characterized in that, The fluid channel includes a cleaning channel, which is connected to the counterweight chamber, and the opening of the drain port of the cleaning channel faces the base station body.

13. The base station equipment according to claim 12, characterized in that, The base station equipment further includes a communication mechanism and a control mechanism. The communication mechanism is disposed on the base station body and is used to communicate with third-party devices. The control mechanism is connected to the communication mechanism and is used to determine that when the first state parameter of the base station equipment meets the first target state parameter, it responds to the cleaning command sent by the third-party device received by the base station equipment and controls the drive component to drive the cleaning channel to clean the base station body and / or the cleaning robot carried on the base station body. The first state parameter includes at least one of the water storage time of the liquid in the counterweight chamber and water quality parameters.

14. The base station equipment according to any one of claims 1-7, characterized in that, The counterweight chamber is integrated with the base station body.

15. The base station equipment according to any one of claims 1-7, characterized in that, The counterweight chamber is separately configured from the base station body but is fixedly connected. The counterweight chamber is located inside or outside the base station body.

16. A liquid delivery method for base station equipment, characterized in that, Includes the following steps: Obtain at least one status parameter of the base station device; When it is determined that at least one state parameter does not meet the preset parameter, the control drive unit drives the fluid channel to deliver preset counterweight liquid to the counterweight chamber of the base station equipment; The control drive component drives the fluid channel to deliver a preset counterweight liquid to the counterweight chamber of the base station equipment, which includes controlling the drive component to drive the fluid channel to circulate the preset counterweight liquid between the counterweight chamber and the water tank, so that the state parameters meet the preset parameters.

17. The liquid delivery method according to claim 16, characterized in that, The fluid channel includes an inlet channel and an outlet channel, both of which are communicatively connected to the counterweight chamber; the liquid delivery method further includes: The system obtains the circulating water volume or circulation time of the liquid inlet channel driven by the drive component to deliver liquid to the counterweight chamber; and when the circulating water volume meets the target circulating water volume or the circulation time meets the target circulation time, the system controls the drive component to stop driving the drain channel to discharge the liquid in the counterweight chamber into the interior of the water tank.

18. The liquid delivery method according to claim 16, characterized in that, The at least one state parameter includes the weight parameter or liquid level parameter of the liquid in the counterweight chamber.

19. The liquid delivery method according to claim 16, characterized in that, The liquid delivery method further includes: When it is determined that the water quality parameters of the preset counterweight liquid in the fluid channel do not meet the preset water quality parameters, the driving component is controlled to stop driving the fluid channel to deliver the preset counterweight liquid to the counterweight chamber; and / or, a prompt message is output.

20. The liquid delivery method according to claim 16, characterized in that, The at least one state parameter includes a first state parameter, which includes at least one of the water storage time of the liquid in the counterweight chamber and a water quality parameter; the liquid delivery method further includes: When the first state parameter satisfies the first target state parameter, the system responds to the feeding command received by the base station device, controls the feeding valve to open the counterweight chamber and the feeding channel for introducing the preset medium, and controls the driving component to drive the fluid channel to discharge the preset counterweight liquid and the preset medium into the liquid in the water tank. The preset medium includes at least one of a cleaning medium and a disinfection medium.

21. The liquid delivery method according to claim 16, characterized in that, The fluid channel includes a cleaning channel, which is communicatively connected to the counterweight chamber. The at least one state parameter includes a first state parameter, which includes at least one of the liquid storage time in the counterweight chamber and a water quality parameter. The liquid delivery method further includes: When the first state parameter satisfies the first target state parameter, the system responds to the cleaning instruction sent by the third-party device received by the base station device and controls the driving component to drive the cleaning channel to clean the base station device and / or the cleaning robot mounted on the base station body of the base station device.

22. A liquid delivery method for base station equipment, characterized in that, Includes the following steps: Receive work instructions; When it is determined that the weight or level of the liquid in the counterweight chamber of the base station equipment meets the first preset requirement, the carrier mechanism is controlled to carry the cleaning robot according to the work instruction and swing relative to the base station body to drive the cleaning robot to leave or enter the water pool. When it is determined that the weight parameter or the liquid level parameter of the liquid does not meet the first preset requirement, the driving component is controlled to drive the fluid channel to deliver the preset counterweight liquid to the counterweight chamber of the base station equipment; The control drive component drives the fluid channel to deliver a preset counterweight liquid to the counterweight chamber of the base station equipment, which includes controlling the drive component to drive the fluid channel to circulate the preset counterweight liquid between the counterweight chamber and the water tank.

23. The liquid transport method according to claim 22, characterized in that, The fluid channel includes an inlet channel and an outlet channel, both of which are communicatively connected to the counterweight chamber. Before the driving component drives the fluid channel to circulate the preset counterweight liquid between the counterweight chamber and the water tank, the liquid delivery method further includes: Obtain at least one of the water storage time and water quality parameters of the liquid in the counterweight chamber; When the water storage time and / or the water quality parameters do not meet the second preset requirements, the driving component is controlled to drive the drainage channel to discharge the liquid in the counterweight chamber to the outside of the water tank; and after a preset capacity of liquid has been discharged from the counterweight chamber, the driving component is controlled to drive the inlet channel to deliver the preset counterweight liquid to the counterweight chamber, wherein the inlet channel and the drainage channel are independently configured or share a channel; or... When it is determined that the water storage time and / or the water quality parameters do not meet the second preset requirements, the driving component is controlled to drive the drain channel to discharge the liquid in the counterweight chamber to the outside of the water tank, and the driving component is simultaneously controlled to drive the inlet channel to deliver the preset counterweight liquid to the counterweight chamber, wherein the inlet channel and the drain channel are set independently.

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