Base station and cleaning system

Abstract

The invention belongs to the technical field of swimming pool cleaning equipment, and particularly relates to a base station and a cleaning system.The base station comprises a base station body, a second filter box, a first sealing box, an electric control board and at least one executing mechanism, and the second filter box is at least partially arranged in the base station body and used for receiving garbage discharged by the first filter box of a swimming pool robot; the first sealing box is arranged on the base station body and provided with a first sealing cavity, the electric control board is arranged in the first sealing cavity and comprises at least one first control unit, the at least one executing mechanism is connected with the first control unit, the executing mechanism at least comprises a second cleaning assembly, and the second cleaning assembly at least comprises a first spray head. The first spray head is used for spraying liquid to the first filter box to clean the first filter box, and the first control unit is at least used for controlling the first spray head to spray liquid, so that stable and controllable automatic cleaning of the swimming pool robot can be realized, and the continuous operation capability and the use convenience of the swimming pool robot are improved.

Description

[0001] This disclosure claims priority to PCT application No. PCT / CN2025 / 085184, filed on March 26, 2025, entitled “Control Method and Cleaning System for Cleaning System”, the entire contents of which are incorporated herein by reference.

[0002] This disclosure claims priority to Chinese Patent Application No. 2025108644645, filed on June 25, 2025, entitled “A Base Station and a Cleaning System”, the entire contents of which are incorporated herein by reference.

[0003] This disclosure claims priority to Chinese Patent Application No. 2025111810532, filed on August 22, 2025, entitled "A Base Station, a Cleaning System, a Cleaning System Control Method and a Pool Robot", the entire contents of which are incorporated herein by reference.

[0004] This disclosure claims priority to PCT application No. PCT / CN2025 / 126025, filed on September 30, 2025, entitled "A base station, a cleaning system, a cleaning system control method and a pool robot", the entire contents of which are incorporated herein by reference. Technical Field

[0005] This invention belongs to the technical field of swimming pool cleaning equipment, and in particular relates to a base station and cleaning system for an automatic swimming pool cleaning robot. Background Technology

[0006] Currently, to address the cleaning needs of pool bottoms, sidewalls, and surfaces, pool robots have gradually replaced manual cleaning as the mainstream solution. These devices typically consist of a main body and a first filter box inside, used to filter debris from the liquid. However, when debris accumulates in the first filter box to a certain level, current technology generally requires users to remove the robot from the water, manually open the outer casing, and remove the filter box for emptying and cleaning. If stubborn dirt adheres to the filter screen or the inner wall of the box, users also need to perform additional scrubbing or rinsing. This entire process is not only time-consuming and labor-intensive, resulting in a poor user experience, but also suffers from incomplete cleaning, cross-contamination, and low cleaning efficiency. Summary of the Invention

[0007] This invention aims to solve the technical problems of low cleaning efficiency of existing pool robots. It discloses a base station and cleaning system including a first control unit. By setting the first control unit in the base station body, the first control unit controls the various actuators to work together, thereby achieving the effect of autonomous cleaning of the pool robot by the base station.

[0008] The first objective of this application is to disclose a base station, comprising:

[0009] Base station body;

[0010] The second filter box is at least partially located within the base station body; the second filter box is used to receive waste discharged from the first filter box of the pool robot;

[0011] The first sealing box is disposed on the base station body and has a first sealing cavity;

[0012] An electronic control board is disposed within the first sealed cavity; the electronic control board includes at least one first control unit;

[0013] At least one actuator is connected to the first control unit;

[0014] The actuator includes at least a second cleaning component, which includes at least a first nozzle; the first nozzle is used to spray liquid onto the first filter box to clean the first filter box.

[0015] The first control unit is used to control the first nozzle to spray liquid.

[0016] The second objective of this application is to disclose a cleaning system, including

[0017] Pool robots; pool robots include

[0018] Second control unit;

[0019] Second communication module; the second communication module is connected to the second control unit;

[0020] The base station is the base station described above; the base station also includes...

[0021] First communication module; the first communication module is connected to the first control unit;

[0022] When the first communication module and the second communication module establish a communication connection, the first control unit controls at least the first nozzle to spray liquid.

[0023] Compared with existing technologies, the base station and cleaning system described in this invention have the following advantages:

[0024] This application provides a second cleaning component on the base station for spraying liquid onto the first filter box of a swimming pool robot. The first nozzle of the second cleaning component is controlled by a first control unit to spray liquid, so that the first filter box can be rinsed without manual cleaning. By transferring the waste from the swimming pool robot to the second filter box in the base station, the waste and sewage are collected and re-filtered in a centralized manner, reducing the frequency of manual cleaning. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of an embodiment of the base station provided in this disclosure;

[0026] Figure 2 This is a schematic diagram of a structure of an embodiment of a base station with a first sealed box provided in this disclosure;

[0027] Figure 3 yes Figure 1 A schematic diagram of a partial cross-sectional structure of a mid-base station;

[0028] Figure 4 This is an exploded structural diagram of an embodiment of the first sealed box and control assembly provided in this disclosure;

[0029] Figure 5 yes Figure 4 An exploded view of the wiring port assembly;

[0030] Figure 6 yes Figure 4 A cross-sectional structural diagram of the connector assembly;

[0031] Figure 7 This is an exploded structural diagram of an embodiment of the first sealed box and control assembly provided in this disclosure;

[0032] Figure 8 This is a partial cross-sectional view of an embodiment of the assembly and fixation of the first sealing cover and the electronic control board provided in this disclosure;

[0033] Figure 9 yes Figure 1 A schematic diagram of a partial structure of the base station shown in the image;

[0034] Figure 10 This is a partial structural diagram of the seventh position detection component in the base station provided in this disclosure;

[0035] Figure 11 This is a cross-sectional schematic diagram of an embodiment of the second cleaning component in a base station provided in this disclosure;

[0036] Figure 12 This is a partial structural schematic diagram of an embodiment of the base station provided in this disclosure;

[0037] Figure 13 This is a schematic diagram of a structure of an embodiment of a base station in which a first sealing box is fixed on a first support frame;

[0038] Figure 14 This is a schematic diagram of the structure of an embodiment of the power adapter provided in this disclosure;

[0039] Figure 15 yes Figure 14 The diagram shows the exploded structure of the power adapter.

[0040] Figure 16 This is a schematic diagram of the structure of an embodiment of the base station provided in this disclosure;

[0041] Figure 17 yes Figure 16 A schematic diagram of the partial cross-sectional structure of a base station;

[0042] Figure 18 yes Figure 16 A schematic diagram of the cross-sectional structure of a base station;

[0043] Figure 19 This is a schematic diagram of the structure of an embodiment of the base station provided in this disclosure;

[0044] Figure 20 This is a schematic diagram of one embodiment of the toggle assembly and unlocking lever of a base station;

[0045] Figure 21 This is a schematic diagram of an embodiment of the first shutdown mechanism in the base station provided in this disclosure;

[0046] Figure 22 This is a schematic diagram of an embodiment of the charging component in the base station provided in this disclosure;

[0047] Figure 23 This is a schematic diagram of the layout of an embodiment of the electronic control board in the first control unit;

[0048] Figure 24 This is an exploded structural diagram of an embodiment of the base station provided in this disclosure;

[0049] Figure 25 This is a cross-sectional schematic diagram of an embodiment of the base station provided in this disclosure;

[0050] Figure 26 yes Figure 25 Schematic diagram of a local structure in the middle;

[0051] Figure 27 yes Figure 25 A schematic diagram of the structure of an embodiment of the filter element;

[0052] Figure 28 This is a schematic diagram of an embodiment of a pool robot located on a base station body, which is provided in this disclosure, to clean the first filter box.

[0053] Figure 29 This is a schematic diagram of an embodiment where the pool robot is stopped on the base station with the first bottom cover closed and the third opening closed;

[0054] Figure 30 This is a cross-sectional structural schematic diagram of an embodiment of the pool robot provided in this disclosure;

[0055] Figure 31This is a partial cross-sectional schematic diagram of the locking mechanism and unlocking mechanism of the first filter box in the pool robot disclosed herein.

[0056] Figure 32 yes Figure 31 A partial structural schematic diagram of an embodiment of the cooperation between the locking mechanism and the unlocking mechanism;

[0057] Figure 33 This is a cross-sectional view of the first bottom cover of the first filter box of the pool robot provided in this disclosure in the open state;

[0058] Figure 34 This is a schematic diagram of the structure of one embodiment of the pool robot provided in this disclosure;

[0059] Figure 35 This is a schematic diagram of the structure of one embodiment of the pool robot provided in this disclosure;

[0060] Figure 36A This is a schematic diagram of the structure of an embodiment of the base station provided in this disclosure;

[0061] Figure 36B yes Figure 36A A partial structural diagram of the load-bearing mechanism;

[0062] Figure 37 This is a schematic diagram of a structural embodiment of the connection established between the pool robot and the base station provided in this disclosure;

[0063] Figure 38A This is a simplified diagram illustrating the state of the swimming pool robot walking from the bottom of the pool towards the pool wall where the base station is located.

[0064] Figure 38B This is a simplified diagram illustrating the state of the swimming pool robot walking towards the base station on the pool wall.

[0065] Figure 38C This is a simplified diagram illustrating the state of the swimming pool robot as it reaches a predetermined position on the pool wall.

[0066] Figure 38D This is a simplified schematic diagram showing the connection between the base station's pick-up and drop components and the pool robot.

[0067] Figure 38E This is a simplified schematic diagram of the state in which the walking mechanism of the pool robot abuts against the auxiliary wheels during the process of the carrier mechanism driving the pool robot back to the base station.

[0068] Figure 38F This is a simplified schematic diagram showing the state in which the carrier of this disclosure places the pool robot on the resting surface of the base station;

[0069] Figure 38GThis is a simplified schematic diagram of the state of the swimming pool robot after it has stopped on the resting surface and the base station's pick-up and drop components have detached from the swimming pool robot.

[0070] The markings in the diagram are as follows:

[0071] 1000 - Pool robot; 1001 - First main body; 1001j - Third clearance opening; 1016 - Fourth inlet; 1020 - Charging receiver; 1032 - Second water inlet; 1051 - First filter box; 10511d - Second baffle; 1052 - First dust chamber; 10531 - Third opening; 1054 - First bottom cover;

[0072] 1080-Locking mechanism; 10801-First limiting hole; 10802-First telescopic member; 108021-First limiting end; 108022-First mounting end; 10803-Fourth elastic member;

[0073] 2000-base station;

[0074] 20001 - Base station body; 20001a - Second upper cover; 200011 - Fourth receiving cavity; 200013 - Mounting plate; 2000131 - First mounting bracket; 2000132 - Third connecting part; 200021 - Fourth baffle; 2000252 - First support platform; 2000253 - Fourth connecting part; 2000254 - First connecting hole; 200027 - First side plate; 200028 - Second side plate; 200029 - Third side plate;

[0075] 2010 - Fifth cavity; 2020 - Sixth cavity;

[0076] 2054 - Third receiving cavity; 20541 - Guide step; 2055 - Fourth opening;

[0077] 2090 - Charging component; 2091 - Charging element; 20911 - Positive charging element; 20912 - Negative charging element; 2092 - First support column; 2093 - First elastic element; 2096 - First base;

[0078] 21101 - Third inlet; 21102 - Second filter box;

[0079] 2120 - First drain outlet; 2121 - Second water pump; 2122 - Water receiving tank; 2123 - Filter element; 21231 - Limiting element; 21232 - Protruding column; 21233 - Guide column;

[0080] 2150 - Second Dust Bin;

[0081] 2170 - Second cleaning component; 2171 - Support base; 2173 - First nozzle; 21731 - Liquid inlet component; 217311 - First liquid inlet component; 217312 - Second liquid inlet component; 2174 - Seventh motor; 2179 - First valve;

[0082] 2190 - First sealing box; 21901 - First base plate; 21902 - First sealing cover; 219021 - Support fixing part; 21903 - First sealing ring; 21904 - Connection port assembly; 219041 - Mounting part; 2190411 - Connection port; 2190411a - First part; 2190411b - Second part; 2190412 - Connecting thread; 219042 - Nut; 219043 - Compression ring; 219044 - Rubber plug; 219045 - Third sealing ring;

[0083] 21911 - Electronic control board;

[0084] 2192-Power adapter; 21921-Second base plate; 21922-Second sealing cover; 21923-AC interface; 21924-DC interface; 21925-Adapter board; 21926-Second sealing ring; 21927-Second support frame;

[0085] 2800 - Drying Components;

[0086] 7003-Unlocking mechanism; 70033-Second unlocking component; 70034-Fifth elastic component; 70035-First motor; 70037-First unlocking component; 70038-Sliding seat;

[0087] 7004-First closing mechanism; 70041-Push rod; 70042-Sixth motor; 7006-Toggle mechanism; 70062-Toggle; 70064-Third motor; 7010-First position detection component; 7011-Second position detection component; 7012-Seventh position detection component; 7013-Eighth position detection component; 7015-Fifth position detection component; 7018-Speaker; 7019-Lighting mechanism; 7020-Button component; 7021-Ninth position detection component; 7022-Tenth position detection component; 7023-First communication module.

[0088] 8000 - Load-bearing mechanism; 8001 - First arm; 80011 - First sub-arm; 80012 - Second sub-arm; 80013 - Bending area; 8002 - Second arm; 8003 - First connecting arm; 8004 - Second connecting arm; 8005 - Eighth motor; 8006 - Pick-up and drop-off component; 8007 - Auxiliary wheel; 8008 - Second sensor;

[0089] 9001 - Pool bottom; 9002 - Pool wall; 9003 - Shore. Detailed Implementation

[0090] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0091] It should be noted that all directional and positional terms used in this invention, such as "up," "down," "left," "right," "front," "back," "vertical," "horizontal," "inner," "outer," "top," "lower," "lateral," "longitudinal," and "center," are only used to explain the relative positional relationships and connections between components in a specific state (as shown in the accompanying drawings). They are merely for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. Furthermore, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated.

[0092] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0093] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0094] This application provides a cleaning system, which includes a pool robot 1000 and a base station 2000. The base station is used at least to clean the first filter box 1051 of the pool robot, so that the garbage in the first filter box is transferred from the pool robot or temporarily stored in the base station.

[0095] In some embodiments, the base station 2000 includes a base station body 20001, a second cleaning component 2170, and a second filtering component. The base station body 20001 includes a third receiving cavity 2054 and at least one fourth opening 2055, the fourth opening communicating the third receiving cavity with the outside. The second filtering component includes at least a second filter cartridge 21102, at least a portion of which is disposed within the third receiving cavity 2054, for receiving and further filtering debris from the first filter cartridge 1051. The second cleaning component 2170 includes at least one first nozzle 2173, disposed on the base station body 20001, the first nozzle 2173 cleaning the first filter cartridge 1051 by spraying liquid onto it. When the pool robot 1000 automatically returns to the base station body or the user places the pool robot on the base station body 20001, the first nozzle 2173 sprays liquid into the first filter box 1051 to rinse away the debris inside and adhering to the walls of the first filter box 1051, thereby cleaning the debris inside the first filter box 1051. The debris inside the first filter box 1051 falls into the second filter box 21102 through the fourth opening 2055, thus transferring the debris from the first filter box 1051 to the second filter box 21102. No user intervention is required during the cleaning process of the first filter box, achieving automatic cleaning. Furthermore, the second filter box is removably housed in the third receiving cavity, allowing the user to easily pull it out of the base station body to remove the collected debris. Additionally, a cover can be provided on the fourth opening, at least covering the fourth opening. For example, the cover can perfectly match the fourth opening, completely covering it to prevent dust, leaves, and other debris from falling into the third cavity and maintaining the cleanliness of the base station. Alternatively, the cover can not only completely cover the fourth opening but also cover components such as the sliding seat 70038 located near the fourth opening, preventing dust, leaves, and other debris from falling into the third cavity or landing on these components and affecting their normal operation, such as causing blockages or jamming. Alternatively, the cover can completely cover the base station's resting surface, preventing dust accumulation and malfunctions of components. The resting surface is the upper or top surface of the base station body, used for the pool robot to dock.

[0096] The pool robot 1000 is used to perform cleaning, disinfection, and rescue tasks in a target area. The target area can be any water-containing area where the pool robot 1000 can move. For example, the target area can include, but is not limited to, swimming pools, water tanks, oil wells, sewers, etc. The following description uses a swimming pool (or water tank) as an example. For a swimming pool, the pool includes at least a bottom and pool walls.

[0097] In some embodiments, such as Figure 28 , Figure 29 , Figure 33 As shown, the pool robot includes at least one liquid inlet, at least one first filter assembly 1050, at least one liquid outlet 1040, and at least one suction assembly 1060. The liquid inlet 1050 allows pool liquid to enter the first filter assembly, which filters the liquid, enabling the pool robot to clean at least one of the pool bottom, pool walls, waterline, and water surface. The liquid outlet 1040 discharges the filtered liquid from the first main body. The suction assembly 1060 generates suction force, drawing dust-laden water from the pool into the first filter assembly, where it is filtered. Debris carried in the liquid remains within the first filter assembly. The filtered liquid, after passing through the suction assembly, is finally discharged from the first main body through the liquid outlet.

[0098] In some embodiments, the first filtration assembly includes at least a first filter box 1051 (i.e., a first dust box), at least a portion of which is disposed within the first body, and the first filter box is used to filter liquids entering therein.

[0099] In some embodiments, the liquid inlet section includes at least a first inlet 1031, and the liquid outlet section includes at least one first outlet 1041; the first inlet 1031, the first filter assembly 1050, the suction assembly 1060, and the first outlet 1041 are sequentially fluidly connected to form a first water path for cleaning the bottom wall, side wall, or waterline of the pool. Figure 33 As shown, the first water inlet can be located on the first bottom cover; or on the bottom of the first main body.

[0100] In other embodiments, such as Figure 33 As shown, the liquid inlet section includes at least a second water inlet 1032, and the liquid outlet section includes at least a first water outlet 1041; the second water inlet 1032, the first filter assembly 1050, the suction assembly 1060 and the first water outlet 1041 are connected in sequence to form a second water channel for cleaning the water surface and water line.

[0101] In some embodiments, such as Figure 35 As shown, the first body is the shell of the pool robot. The first body includes a first end and a second end, one of which is a front part 10011 and the other is a rear part 10012. For example, the second water inlet is located on the first end or the second end of the first body.

[0102] In some embodiments, such as Figure 33As shown, the suction assembly 1060 includes a main water pump. The main water pump includes a main motor 10611 and an impeller 10612, with the motor driving the impeller to rotate. After being filtered by the first filtration assembly, the liquid flows through the impeller and is finally discharged from the pool robot through the first outlet 1041.

[0103] In some embodiments, the pool robot further includes at least two walking mechanisms, wherein the two walking mechanisms 1071 are respectively disposed on both sides of the first main body, and the walking mechanisms 1071 are used to drive the pool robot to walk on the pool bottom and pool wall.

[0104] For example, the walking mechanism 1071 may include at least two walking wheels and at least one motor for driving the walking wheels. For example, there are two walking wheels, symmetrically arranged on the first main body 1001. Or, as... Figure 35 As shown, each traveling mechanism 1071 includes a motor, a first traveling wheel, a second traveling wheel, and a track 117 wrapped around the outer periphery of the first and second traveling wheels. The drive motor drives the first traveling wheel to rotate, thereby driving the track and the second traveling wheel to rotate.

[0105] In some embodiments, the pool robot further includes a propulsion mechanism adapted to drive the pool robot to move in or on the water surface. For example, the propulsion mechanism includes at least one first thruster 10721, which is used to drive the pool robot to walk on the water surface or on the pool wall. The first thruster generates an upward thrust on the pool robot to ensure that the pool robot can walk on the pool wall and prevent the pool robot from falling off the pool wall.

[0106] In some embodiments, the pool robot further includes an surfacing and diving mechanism for enabling the pool robot to switch between underwater and surface conditions. For example, the surfacing and diving mechanism is located within the first body and is used to drive the pool robot to rise from underwater to the surface and float on the water; it can also be used to drive the pool robot to dive from the surface to underwater.

[0107] In some embodiments, the buoyancy and submersion mechanism includes at least one first float cavity, at least one first adjustment member, and at least one air inlet. The first float cavity is used to contain at least gas. One end of the air inlet is connected to the outside, and the other end of the air inlet is connected to the first float cavity or the first adjustment member. The first adjustment member is used to adjust the volume of gas in the first float cavity. The air inlet is exposed above the water surface or in the air when the pool robot climbs the pool wall; or when the pool robot is equipped with a second thruster that drives the pool robot from the bottom of the pool to the water surface, thus exposing the air inlet above the water surface or in the air; or when the pool robot is equipped with an airbag and at least one second float cavity, the airbag containing gas is pumped into the second float cavity by the first adjustment member or other pumps to drive the pool robot from the bottom of the pool to the water surface, thus exposing the air inlet above the water surface or in the air.

[0108] With the air intake above the water surface or in the air, under the action of the first adjusting component, external gas enters the float cavity through the air intake to increase the volume of gas in the float cavity, causing the pool robot to float on the water surface; or, the gas in the float cavity is discharged outside the float cavity through the air intake to reduce the volume of gas in the float cavity, causing the pool robot to descend from the water surface to the bottom of the pool.

[0109] In some embodiments, the first filter cartridge is disposed within a first receiving cavity of the first body; the pool robot further includes a pick-and-place port 1017 and a first cover 1018, wherein at least a portion of the pick-and-place port is disposed on the top of the first body and communicates with the first receiving cavity, and the first cover is movably disposed at the pick-and-place port to open or close the pick-and-place port. The pick-and-place port is used for a user to place the first filter cartridge into the first receiving cavity or to remove the first filter cartridge from the first receiving cavity.

[0110] In some embodiments, the pool robot further includes at least one image acquisition unit 1203 for acquiring images of objects in the pool or on the shore. For example, the image acquisition unit is a camera. There can be one, two, or more image acquisition units. For example, two image acquisition units for positioning or mapping can be provided on the pool robot.

[0111] For example, the image acquisition device is located at the first or second end, and the acquisition range of the image acquisition device is in front of the pool robot.

[0112] As the pool robot moves within the pool, the image acquisition device captures images of objects within the pool. These images can be at least one of the following: pool walls, pool bottom, water surface, liquid within the pool, debris, obstacles, base stations, etc.

[0113] In some embodiments, such as Figure 35 As shown, the pool robot also includes at least one first sensor 1206; as Figure 37As shown, the base station is equipped with at least one second sensor 8008. Underwater communication is established below the water surface via the first and second sensors, and the relative position between the pool robot and the base station is determined. For example, both the first and second sensors can be underwater acoustic sensors. Alternatively, both the first and second sensors can also be optical sensors.

[0114] For example, in some embodiments, the first sensor is disposed on the side of the first body. For example, the first sensor is disposed on the front side wall, rear side wall, left side wall, or right side wall of the first body.

[0115] For example, in some embodiments, the first sensor is located on top of the first body. When the pool robot moves on the bottom of the pool, the base station is located above the pool robot. Compared to having the first sensor located on the side of the first body, this avoids the first body blocking communication between the first and second sensors, ensuring normal communication between the first and second sensors, and accurately determining the relative position between the pool robot and the base station.

[0116] In a further embodiment, the first sensor is located on the top of the first body and close to the rear side wall of the first body to prevent the first sensor from being above the water surface when the pool robot moves along the pool wall, which would prevent the first sensor and the second sensor from communicating and affect the pool robot's ability to return to the base station.

[0117] To obtain the relative position of the pool robot and the base station, the total number of first and second sensors is typically at least three. At least one of the first and second sensors is two.

[0118] For example, there may be two first sensors and one second sensor, with the two first sensors symmetrically arranged on the first main body, forming a triangle relationship between the two first sensors and the second sensor. Alternatively, there may be one first sensor and two second sensors, with the two second sensors symmetrically arranged on the base station, forming a triangle relationship between the one first sensor and the two second sensors. Or, the total number of first and second sensors may be 4, 5, 6, etc.

[0119] In some embodiments, such as Figure 35 As shown, the pool robot also includes a handle 251, which is located on the first main body. The handle allows the user to lift the pool robot; it also allows the pick-and-place mechanism 8000 on the base station to lift and lower the pool robot.

[0120] For example, the handle is integrally formed on the first body, or the handle is detachably provided on the first body. In some embodiments, the first body is provided with a fourth clearance opening 252, which allows a user to reach into the fourth clearance opening 252 and grasp the handle to lift the pool robot. Alternatively, it allows a pick-and-place component of the carrier mechanism on the base station (mentioned below) to reach into the fourth clearance opening and grasp the handle to lift or lower the pool robot.

[0121] For example, in some embodiments, the handle is located on the front or rear of the first body.

[0122] In some embodiments, at least a portion of the first filter box is disposed within the first body 1001. The first filter box includes a third opening 10531 and a first bottom cover 1054. At least a portion of the third opening is disposed on the bottom of the first filter box, and the first bottom cover is movably disposed on the third opening for opening or closing the third opening. When the pool robot stops on the base station body, the first bottom cover opens the third opening, and the third opening communicates with the third inlet 21101 of the second filter box 21102, allowing the dust-laden water in the first filter box to flow into the second filter box.

[0123] Furthermore, in some embodiments, a fourth inlet 1016 is provided on the first main body, which communicates with the first filter box, allowing the first nozzle to extend into or exit the pool robot through the fourth inlet. The fourth inlet can be located on the side, top, or bottom of the pool robot. The pool robot also includes a baffle plate movably disposed at the fourth inlet for opening or closing the fourth inlet.

[0124] In some embodiments, the pool robot further includes a second baffle 10511d, which is movably disposed at the second water inlet to open or close the second water inlet.

[0125] In some embodiments, the second inlet serves as the fourth inlet, and the corresponding second baffle serves as a shield. Alternatively, in other embodiments, the aforementioned loading / unloading port can serve as the fourth inlet, and the corresponding first shielding cover 1018 serves as a shield.

[0126] Alternatively, in some embodiments, a fourth inlet is located at the bottom of the first body. A first nozzle extends into the first body from the bottom and sprays liquid onto the first filter cartridge.

[0127] Alternatively, in other embodiments, a fourth inlet is located on the first bottom cover of the first filter box, which is exposed to the external environment, and a first nozzle extends into the first filter box from the fourth inlet of the first bottom cover to spray liquid onto the first filter box.

[0128] In some embodiments, the base station includes a base station body 20001, a second filter box 21102, a first sealing box 2190, an electronic control board 21911, and at least one actuator. The second filter box is at least partially disposed within the base station body and is used to receive waste discharged from the first filter box 1051 of the pool robot. The first sealing box is disposed on the base station body and has a first sealing cavity. The electronic control board is disposed within the first sealing cavity and includes at least one first control unit. At least one actuator is connected to the first control unit. The actuator includes at least a second cleaning component, which includes at least a first nozzle 2173 for spraying liquid onto the first filter box to clean it. The first control unit is used to control the first nozzle to spray liquid. Further, in some embodiments, the actuator may also include a charging component, an unlocking mechanism, a lever mechanism, a first closing mechanism, etc. The first control unit is also used to control the actuator to perform charging, unlocking, and closing operations.

[0129] Furthermore, in some embodiments, the base station 2000 further includes at least one detection component. The at least one detection component is connected to the first control unit. The detection component is used to detect the operating parameters of the actuator and obtain a detection signal. The detection component sends the detection signal, the first control unit receives the detection signal, processes it, and generates a control command. The first control unit controls the actuator to operate based on the control command. The detection component includes a sensing component, a switching component, etc.

[0130] In some embodiments, the first control unit includes at least one of a processor, a controller, and a memory. The processor executes program instructions stored in the memory to implement the steps of the control method for the cleaning system. Specifically, the processor controls itself and / or the controller to drive any actuator to implement the steps of the control method for the cleaning system. The processor may also be referred to as a CPU (Central Processing Unit). The processor may be an integrated circuit chip with signal processing capabilities. The processor may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor. Furthermore, the processor may be implemented using integrated circuit chips.

[0131] In some embodiments, a computer-readable storage medium stores program instructions that, when executed, implement the methods provided by any embodiment of the control method of the cleaning system disclosed herein, and any non-conflicting combination thereof.

[0132] The program instructions can be formed into a program file and stored in the aforementioned computer-readable storage medium in the form of a software product, so that a computer device (which may be a personal computer, server, or network device, etc.) can execute all or part of the steps of the methods of the various embodiments of this disclosure. The aforementioned computer-readable storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, or terminal devices such as computers, servers, mobile phones, and tablets.

[0133] In some embodiments, such as Figures 2 to 4 As shown, a first sealed box 2190 is installed inside the base station. The first sealed box 2190 has a first sealed cavity, which is used to house and protect the electronic control board. The electronic control board includes at least one first control unit, which is electrically connected to the actuator and / or detection component. The first control unit receives and processes the detection signals sent by the detection component, and controls the actions of the second cleaning component, charging component, drying component, and other actuators to achieve integrated management of signal acquisition, status feedback, and control output. The first sealed cavity provides an independent and highly protected enclosed space for the base station's control core, ensuring that liquids inside the base station or water from the outside cannot come into contact with the electronic control board during base station operation, effectively preventing short circuits or component damage.

[0134] In some embodiments, such as Figures 4 to 6 As shown, the first sealing box 2190 is provided with a wiring port assembly 21904, through which conductive connecting wires can pass to complete electrical connections, preventing water leakage risks caused by cable through-holes. Furthermore, a third sealing ring 219045 is provided between the first sealing box 2190 and the wiring port assembly 21904 to prevent liquid from seeping in from the contact gap between the wiring port assembly 21904 and the first sealing box 2190.

[0135] In some embodiments, such as Figure 5 , Figure 6As shown, the connector assembly 21904 sequentially includes a mounting member 219041, a rubber plug 219044, and a nut 219042. The mounting member 219041 provides overall structural support and a positioning base for its components. A connector 2190411 is provided on the mounting member 219041. The connector has a first portion 2190411a and a second portion 2190411b, with the first portion closer to the first sealing box 2190 than the second portion. At least a portion of the rubber plug 219044 is located within the second portion of the connector. The conductive connecting wire passes through the connector and is covered by the rubber plug 219044. The rubber plug 219044, with its elastic covering properties, actively conforms to the outer wall of the conductive connecting wire to block liquid penetration along the wire. Nut 219042 is tightened to mounting part 219041 via connecting thread 2190412, creating a clamping force that ensures rubber plug 219044 tightly fits against the inner wall of the connector and the outer wall of the conductive wire, forming a seal. This structure allows the conductive wire to maintain a good sealing effect even with different wire diameters. Furthermore, connector assembly 21904 also includes a clamping ring 219043, located between rubber plug 219044 and nut 219042. The clamping ring 219043 transmits pressure to rubber plug 219044 when nut 219042 is tightened, causing it to deform and ensuring a tight fit between rubber plug 219044 and the inner wall of the connector and the outer wall of the conductive wire. In addition, the first part of the connector is filled with adhesive to further ensure a good seal. This overall structure maintains a high level of protection after the conductive wire is inserted, effectively preventing moisture from entering the first sealed cavity and affecting the operation of the first control unit.

[0136] In other embodiments, such as Figure 7 As shown, the mounting part 219041 of the connector assembly 21904 can be integrally formed with the first sealing box 2190, for example, the mounting part 219041 can be integrally formed with the first sealing cover 21902. A connector is provided on the mounting part 219041, and at least a portion of the rubber plug 219044 is located within the connector. The conductive connecting wire passes through the connector and is covered by the rubber plug 219044. The nut 219042 is tightened to the mounting part 219041 via the connecting thread 2190412, forming a clamping force that ensures the rubber plug 219044 tightly fits against the inner wall of the connector and the outer wall of the conductive wire, forming a complete seal. Furthermore, the connector assembly 21904 also includes a clamping ring 219043, located between the rubber plug 219044 and the nut 219042, used to transmit pressure to the rubber plug 219044 when the nut 219042 is tightened, causing it to deform. Even when sealing requirements are not high, the above-mentioned overall structure can still ensure a certain sealing effect, preventing moisture from entering the first sealing cavity and affecting the operation of the first control unit.

[0137] In some embodiments, such as Figure 4 , Figure 7 , Figure 8 As shown, the first sealing box 2190 includes a first base plate 21901 and a first sealing cover 21902, which together form an independent protective sealing cavity. A first sealing ring 21903 is also provided between the first base plate 21901 and the first sealing cover 21902. The first sealing ring 21903 forms a continuous sealing layer at the joint of the two, taking into account both maintenance convenience and waterproof reliability. Structurally, a support and fixing part 219021 is provided on the first sealing cover 21902. The support and fixing part is used to support and fix the electronic control board, providing a stable support platform; the first base plate 21901 serves as an upper protective component to close the cavity and form an overall sealed space. The two are reliably fixed through detachable structures such as threaded connection, snap-fit ​​connection, or bolt fastening. During assembly, the first sealing ring 21903 is located at the connecting edge of the first base plate 21901 and the first sealing cover 21902 or in the corresponding groove. As the first base plate 21901 and the first sealing cover 21902 gradually come together, the first sealing ring 21903 is deformed under pressure, tightly fitting the contact surfaces of the two and filling the tiny gaps, forming a circumferentially closed waterproof barrier to prevent external liquids from seeping into the sealed cavity. This structure maintains a high level of sealing while allowing for rapid disassembly and maintenance. Users can inspect, replace, or upgrade the internal electrical control board without damaging the overall structure, significantly reducing maintenance complexity and cost. In other embodiments, the first base plate 21901 can be used to support the electrical control board, and the first sealing cover 21902 serves as an upper protective component to seal the cavity and form an overall sealed space.

[0138] In some embodiments, such as Figure 3 , Figure 18 , Figure 28As shown, the base station body 20001 includes a fourth receiving cavity 200011, which is isolated from the third receiving cavity 2054. Functional partitioning is achieved through structural isolation. The third receiving cavity 2054 is used to collect waste and residual liquid from the first filter box of the pool robot, while the fourth receiving cavity 200011 is used to install and protect the first sealing box 2190. The two are physically separated by the second dust chamber 2150 of the base station body 20001, ensuring that waste, water, cleaning fluid, etc., cannot enter the control area. To further enhance the protection level, the fourth receiving cavity 200011 also has a raised structure, such as a support frame, support platform, or mounting bracket. This raised structure maintains a gap between the bottom of the first sealing box 2190 and the bottom of the fourth receiving cavity, so that even if rainwater enters the fourth receiving cavity 200011 during heavy rain, the water will not touch the first sealing box, thus preventing the control board from being soaked. This layered spatial layout creates independent areas for waste filtration, liquid discharge, waste cleaning, and the primary control unit. This facilitates maintenance and cleaning while significantly reducing the risks of liquid corrosion and misoperation. Furthermore, the elevated structure optimizes the internal wiring routing, ensuring that conductive wires are not pulled or covered by water, thus improving wiring safety and lifespan.

[0139] In some embodiments, such as Figure 3 , Figure 18 , Figure 28 As shown, the third receiving cavity 2054 and the fourth receiving cavity 200011 are arranged side-by-side, adjacent or non-adjacent, in the horizontal direction. For example, the third receiving cavity 2054 and the fourth receiving cavity 200011 are arranged adjacently left and right or front and back in the horizontal direction. Alternatively, in some embodiments, the third receiving cavity 2054 and the fourth receiving cavity 200011 are stacked, adjacent or non-adjacent, in the vertical direction. For example, the fourth receiving cavity 200011 is located below the third receiving cavity 2054 and arranged adjacently; or, the fourth receiving cavity 200011 is located above the third receiving cavity 2054 and arranged adjacently. Wherein, when the third receiving cavity 2054 and the fourth receiving cavity 200011 are arranged side-by-side or parallel in the horizontal direction within the base station body, the third receiving cavity 2054 is positioned closer to the first nozzle than the fourth receiving cavity 200011.

[0140] In some embodiments, such as Figure 13 , Figures 16 to 18As shown, the base station body 20001 includes a second dust chamber 2150, the inner cavity of which serves as a third receiving cavity 2054. A fourth receiving cavity 200011 is located outside the inner cavity of the second dust chamber 2150. The second dust chamber 2150 includes a first support platform 2000252 for supporting a first sealing box 2190 and a fourth connecting portion 2000253 for fixing the first sealing box 2190, forming a "support + positioning" combination structure for the first sealing box 2190. The first support platform 2000252 and the fourth connecting portion 2000253 are located within the fourth receiving cavity 200011. The first support platform 2000252 can lift the first sealing box 2190, creating a safe distance between it and the bottom of the fourth receiving cavity 200011, thereby preventing the bottom of the first sealing box 2190 from contacting water or condensate at the bottom of the cavity and reducing the risk of liquid immersion. The fourth connecting part 2000253 cooperates with the first sealing box through threads, snaps or other detachable fastening structures, which can effectively limit the displacement of the first sealing box 2190 in the horizontal, vertical and vertical directions, so that the first sealing box 2190 remains stable when the base station is subjected to vibration, impact of the pool robot docking or vibration generated by the operation of the cleaning nozzle, and will not cause problems such as loosening of internal circuits or misalignment of the wiring port sealing structure due to shaking.

[0141] In some embodiments, such as Figure 2 , Figure 3 , Figure 12 As shown, the base station body 20001 includes at least one mounting plate 200013, which is disposed within the inner cavity of the base station body 20001. In the height direction of the base station body 20001, the mounting plate 200013 divides the inner cavity of the base station body 20001 into at least a sixth receiving cavity 2020 and a third receiving cavity 2054, with at least a portion of the sixth receiving cavity located above the third receiving cavity. The third receiving cavity 2054 is used to collect waste and wastewater from the first filter box of the pool robot; the sixth receiving cavity 2020 is used to house at least a portion of at least one actuator. The mounting plate 200013 includes a first mounting bracket 2000131 and a third connecting portion 2000132, which are disposed within a fourth receiving cavity 200011. The first mounting bracket 2000131 is used to attach the first sealing box 2190, ensuring a safe distance between it and the bottom of the fourth receiving cavity 200011. The third connecting part 2000132 is used to fix the first sealing box 2190, preventing it from shifting or loosening due to vibration, impact, or load changes during base station operation, thus maintaining the stability of the internal circuit connection. The third connecting part 2000132 is detachably connected to the first sealing box 2190 via threads, snap-fit, or positioning pins.

[0142] In some embodiments, the first sealing box 2190 can be positioned vertically or horizontally according to spatial layout and structural requirements, forming a flexible installation method to adapt to different internal structural configurations. In some embodiments, such as Figure 2 , Figure 24 As shown, the first sealing box 2190 is placed vertically within the fourth receiving cavity 200011 to fully utilize the vertical space of the cavity and reduce the lateral area occupied. This provides more lateral space for the adjacent third receiving cavity 2054, increasing the volume of the second filter box 21102, improving the capacity for collecting garbage and sewage, reducing the frequency of user cleaning, and maintaining a compact structure for the entire base station, making it suitable for use in locations with limited installation space. Alternatively, in other embodiments, such as Figure 17 , Figure 18 As shown, the first sealing box 2190 lies flat inside the fourth receiving cavity 200011, and its internal electrical control board can be laid out in a planar manner for easy assembly and maintenance.

[0143] In some embodiments, the base station 2000 includes a power supply element. The power supply element can be reliably connected to the electronic control board within the first sealed box 2190 via a conductive connection wire, enabling precise energy delivery and ensuring the base station can properly charge and clean the pool robot. The power supply element is optional and can be located within the fourth receiving cavity 200011 or the sixth receiving cavity 2020, allowing for flexible adaptation to various operating conditions and spatial arrangements. The power supply element can be a power adapter 2192 or a second battery pack, both providing continuous power supply or portable independent power supply functions respectively in different scenarios.

[0144] In some embodiments, the power supply element is a second battery pack, which is disposed within the first sealed cavity; alternatively, the second battery pack has a waterproof layer on its exterior and is disposed within the base station body, but outside the first sealed cavity. The second battery pack is connected to the electronic control board 21911, and the first control unit can control the second battery pack to supply power to the charging component, so that the charging component charges the pool robot. This arrangement of the second battery pack allows the base station to be located away from the user's home power source during use. When the second battery pack is out of power or its power level is lower than a preset level, the user's home power source will then charge the second battery pack. This eliminates the need for the power source to continuously charge the base station, allowing the base station to be placed in any location, indoors or outdoors.

[0145] In other embodiments, such as Figure 3 , Figure 9As shown, the power supply component is a power adapter 2192, which is exposed outside the base station body; alternatively, the power adapter may be located inside the base station body. When the power adapter is located inside the base station body, it can be positioned in either the fourth receiving cavity 200011 or the sixth receiving cavity 2020, depending on the internal space and functional module distribution of the base station. When the power adapter is located in the sixth receiving cavity 2020, it can be flexibly positioned closer to or further away from the first nozzle 2173. Positioning the power adapter closer to the first nozzle shortens the length of the power supply cable, reduces the amount of wiring used, and lowers costs. In this embodiment, the power adapter is similar to a relay station; it does not store electrical energy but only transmits it. Specifically, the power adapter 2192 converts high-voltage AC power from the power grid into low-voltage DC power required by the base station, thereby providing a safe, stable, and compatible power supply to the base station.

[0146] In some embodiments, such as Figure 14 , Figure 15 As shown, the power adapter 2192 includes at least an adapter plate 21925, a second base plate 21921, and a second sealing cover 21922. The adapter plate is confined within a cavity formed by the second base plate 21921 and the second sealing cover 21922. A second sealing ring 21926 may also be provided between the second base plate 21921 and the second sealing cover 21922 to ensure a sealing effect. The power adapter 2192 may also include a heat sink, which is in close contact with the adapter plate 21925 and can effectively absorb and dissipate heat to prevent the adapter plate from overheating during long-term operation. The heat sink may be directly or indirectly attached to the heat-generating area of ​​the adapter plate 21925 or to the entire adapter plate 21925. In addition, the power adapter 2192 may also include a second support frame 21927, which stably supports the adapter plate 21925 to keep it fixed under conditions such as base station vibration and collision, and to prevent voltage instability or component loosening due to displacement. One end of the power adapter 2192 is provided with an AC interface 21923 for connecting to an external power source; the other end is provided with a DC interface 21924 for connecting to the control board 21911. The AC interface 21923 is preferably located facing the side or back of the base station body, so that users can connect to the external power source from the side or back, reducing cable tangling and space obstruction.

[0147] In some embodiments, such as Figure 2 , Figures 9 to 11 , Figures 16 to 23 , Figures 25 to 32As shown, the power adapter 2192 acts as a relay station, electrically connected to an external power source, and extends into the first sealed box 2190 via a conductive connecting wire to connect to the electronic control board 21911, thereby supplying power to the various actuators and detection components. The electronic control board 21911 includes at least one first control unit, which is electrically connected to each actuator and / or detection component, enabling centralized control and distributed signal acquisition of multiple modules such as cleaning, charging, door closing, drying, and unlocking. Wherein:

[0148] In some embodiments, the second cleaning assembly further includes a liquid inlet component 21731 and at least one first valve 2179, the first valve being disposed on the liquid inlet component. The first valve is used to cut off or allow the flow of cleaning water to the first nozzle 2173. One end of the liquid inlet component is in fluid communication with the cleaning water source, and the other end is connected to the first nozzle. The first valve is connected to a first control unit, which controls the opening or closing of the first valve to control the first nozzle to spray liquid or stop spraying liquid. The first valve can be a one-way valve. The one-way valve can be at least one of a solenoid valve, a baffle valve, a ball valve, a butterfly valve, etc. For example, in some embodiments, the one-way valve is a solenoid valve, which is disposed on the side of the base station body 20001, or a mounting base is provided on the support 2171 of the second cleaning assembly 2170 for mounting the solenoid valve.

[0149] Further, in some embodiments, the liquid inlet component includes a first liquid inlet component 217311 and a second liquid inlet component 217312. One end of the first liquid inlet component is movably disposed on one end of the second liquid inlet component, and the other end of the first liquid inlet component is connected to the first nozzle. The other end of the second liquid inlet component is in fluid communication with the clean water source. The second cleaning assembly also includes a first drive assembly, which includes at least a seventh motor 2174. The seventh motor is used to drive the first liquid inlet component to move relative to the second liquid inlet component, thereby causing the first nozzle to switch between a first position (i.e., an extended position) and a second position (i.e., a retracted position). A first control unit is connected to the seventh motor and is also used to control the operation of the seventh motor so that the first nozzle can switch between the first position and the second position. In the first position, the first nozzle extends into the pool robot and sprays liquid onto the first filter box; in the second position, the first nozzle retracts from the pool robot. It should be noted that in the first position, the first nozzle may also spray liquid onto the first filter box without extending into the pool robot.

[0150] In some embodiments, the base station further includes at least one seventh position detection component 7012 for detecting whether the first nozzle has rotated to a first position or a second position. In a specific example, there are two seventh position detection components, which cooperate with each other to detect whether the first nozzle has rotated to the first position or the second position, ensuring that the first nozzle accurately switches between the first position and the second position. The seventh position detection component is located on a support base. The seventh position detection component includes at least one of a sensing component and a switching component. The sensing component includes a sensing element and a sensing mating element. For example, one of the sensing element and the sensing mating element is a Hall sensor, and the other is an iron. The switching component includes a position switch and a mating element. For example, the position switch is a micro switch.

[0151] In some embodiments, the base station further includes an unlocking mechanism 7003, which includes at least a first unlocking member 70037 and a first motor 70035. The first motor is used to drive the first unlocking member to move upward, thereby driving the locking mechanism 1080 inside the pool robot to move, and thus releasing the locking mechanism from locking the first bottom cover of the first filter box. The first motor is connected to a first control unit, which is also used to control the operation of the first motor. There may be two first motors, located on opposite sides of the fourth opening and adjacent to the fourth opening. The first unlocking member is vertically mounted on the base station body adjacent to or near the fourth opening. In some embodiments, the base station further includes at least one sliding seat 70038, which is mounted on the base station's resting surface and adjacent to or near the fourth opening. The first unlocking member is slidably mounted within the sliding seat.

[0152] Furthermore, in some embodiments, the unlocking mechanism further includes a second unlocking member 70033 and a fifth elastic member 70034. The second unlocking member is at least partially disposed inside the pool robot. The pool robot also includes a third clearance opening 1001j, which is disposed on the bottom of the first main body to expose the force-bearing end of the second unlocking member to the outside. A first motor drives the first unlocking member to move upward, and the first unlocking member pushes the force-bearing end of the second unlocking member to drive the second unlocking member to rotate forward, so that the pushing end of the second unlocking member rotates into the first limiting hole, thereby pushing the first telescopic member to retract, and then the first telescopic member exits the first limiting hole. The biasing force generated by the fifth elastic member tends to keep the pushing end of the second unlocking member outside the first limiting hole. After the locking mechanism is unlocked, when the first motor drives the first unlocking member to move downward, the first unlocking member removes the force on the force-bearing end of the second unlocking member, and under the action of the fifth elastic member, the second unlocking member rotates in the opposite direction to exit the first limiting hole, and the pushing end of the second unlocking member returns to the outside of the first limiting hole. In this embodiment, one end of the fifth elastic element abuts against at least a portion of the second unlocking element, and the other end abuts against the outer wall of the first dust chamber 1052. In this embodiment, the fifth elastic element can be a torsion spring or a compression spring; alternatively, it can also be a tension spring.

[0153] The locking mechanism includes a first limiting hole 10801, a first locking member 10802, and a fourth elastic member 10803. The first limiting hole 10801 is located on the first frame. The first locking member is telescopically or slidably located on the first bottom cover, and has a first limiting end 108021 and a first mounting end 108022. The fourth elastic member is a compression spring, with one end located on the first mounting end of the first locking member and the other end located on the first bottom cover. The compression spring applies a biasing force to the first locking member in the direction of the first limiting hole, causing the first limiting end of the first locking member to tend to extend beyond the first bottom cover and into the first limiting hole, thereby locking the first bottom cover onto the first frame and keeping the third opening closed. Correspondingly, the unlocking mechanism is used to drive the first locking member to retract and exit the first limiting hole.

[0154] In some embodiments, the base station further includes a lever mechanism 7006, which is at least partially disposed within the third receiving cavity. The lever mechanism reciprocates to agitate debris within the second filter box. The first control unit is also configured to control the reciprocating movement of the lever mechanism. This movement includes swinging, sliding, etc.

[0155] Further, in some embodiments, the lever mechanism includes at least one third motor 70064 and at least one lever 70062, the third motor being used to drive the lever to reciprocate. The third motor is connected to a first control unit, which is also used to control the operation of the third motor. There can be two third motors, located on opposite sides of the fourth opening and adjacent to it. The lever reciprocates at least between a fourth position (i.e., the unlocked position) and a fifth position (i.e., the initial position). When the lever is in the fourth position, the third motor is also used to drive the first unlocking member to move upward, thereby driving the locking mechanism inside the pool robot to move, and thus releasing the locking mechanism from locking the first bottom cover of the first filter box, allowing the first bottom cover to open the third opening of the first filter box. At this time, the third motor and the first motor are the same motor; the third motor can not only drive the lever to reciprocate within the second filter box, but also drive the first unlocking member to move to release the locking mechanism from locking the first bottom cover. After the first bottom cover is unlocked, the first bottom cover can rotate by its own weight or by the weight of the first bottom cover and the waste and liquid inside the first filter box, thereby opening the third opening. When the lever is in the fifth position, it refers to either the upper or lower limit of the lever's movement.

[0156] After the first bottom cover opens the third opening of the first filter box, the first control unit controls the third motor to drive the lever to move between the fourth and fifth positions, but not to the fourth position. For example, the fifth and fourth positions include a sixth position, and the lever reciprocates between the fifth and sixth positions. It should be noted that during the reciprocating movement of the lever to remove debris, the lever may not reach the fifth and fourth positions, but may move between these two positions. For example, the fifth and fourth positions include a sixth and a seventh position, and the lever reciprocates between the sixth and seventh positions. When the first bottom cover closes the third opening, and it is not necessary for the first bottom cover to open the third opening, the first control unit can control the third motor to drive the lever to move between the fifth and fourth positions, but not to the fourth position.

[0157] In some embodiments, the base station further includes at least one ninth position detection component 7021 for detecting whether the movement of the lever is abnormal. After the ninth position detection component detects abnormal movement of the lever, the first control unit controls the first nozzle to stop spraying liquid. Specifically, when the first nozzle is rotatable and has a retracted position and an extended position, if the ninth position detection component detects abnormal movement of the lever, the first control unit controls the first nozzle to stop spraying liquid and return from the current position to the retracted position. In a specific example, there are two ninth position detection components, arranged on opposite sides of the fourth opening and corresponding to the fifth position respectively. For example, the ninth position detection component includes a Hall sensor and an iron block, wherein the iron block can be disposed on the lever, and the Hall sensor can be disposed on the base station body, for example, the Hall sensor is placed vertically on the base station body. When the Hall sensor detects the iron block, it indicates that the lever has moved to the fifth position; when the Hall sensor does not detect the iron block, it indicates that the lever has not moved to the fifth position, and the lever movement is abnormal.

[0158] In some embodiments, the base station further includes an eighth position detection component 7013 for detecting whether the first bottom cover 1054 of the first filter cartridge 1051 is open at the third opening, i.e., detecting whether the first bottom cover is closed at the third opening. For example, the eighth position detection component 7013 includes a Hall sensor and an iron block, wherein the iron block may be disposed on the first bottom cover, and the Hall sensor may be disposed on the base station body, for example, the Hall sensor may be vertically placed on the side of the fourth opening 2055. When the Hall sensor detects the iron block, it indicates that the first bottom cover is open at the third opening; otherwise, it indicates that the first bottom cover is closed at the third opening. In some embodiments, the eighth position detection component may also include a position switch.

[0159] In some embodiments, the base station further includes a first closing mechanism, which includes at least a sixth motor 70042 and at least one pushing component. The sixth motor is used to drive the pushing component to switch between a retracted state and an extended state. In the extended state, the pushing component is used to push the first bottom cover of the first filter cartridge toward the third opening of the first filter cartridge, causing the first bottom cover to close the third opening. The sixth motor is connected to a first control unit, which is also used to control the operation of the sixth motor. During the cleaning of the first filter cartridge by the first nozzle spraying liquid, the pushing component is in a retracted state to avoid the first bottom cover; after cleaning is completed, the pushing component switches from the retracted state to the extended state to push the first bottom cover to rotate toward the third opening to close the third opening. After the first bottom cover closes the third opening, the pushing component switches from the extended state back to the retracted state. In some embodiments, the pushing component includes at least one push rod 70041.

[0160] In some embodiments, the base station further includes a tenth positioning detection component 7022 for detecting whether the pushing component has moved into position, that is, detecting whether the first bottom cover has closed the third opening. For example, the tenth positioning detection component includes a switch component. There is at least one switch component. The switch component includes a positioning switch (e.g., a microswitch) and a mating member. The positioning switch is disposed on the base station body and on at least one side of the pushing component. The mating member is disposed on the pushing component and can be a protrusion. When the positioning switch is on, it indicates that the first bottom cover has closed the third opening; otherwise, it indicates that the first bottom cover has not closed the third opening.

[0161] In some embodiments, the base station further includes a fifth positioning detection component 7015 for detecting whether the second filter box 21102 is properly installed in the third receiving cavity, preventing the cleaning task from being performed if it is not properly installed. For example, the fifth positioning detection component includes a Hall sensor and an iron block. The iron block is disposed on the side wall of the second filter box, and the Hall sensor is correspondingly disposed on the side wall of the third or fourth receiving cavity; or, the iron block is disposed on the bottom of the second filter box, and the Hall sensor is correspondingly disposed on the bottom of the third receiving cavity. When the Hall sensor detects the iron block, it indicates that the second filter box is properly installed, and the cleaning work can begin accordingly; otherwise, it indicates that the second filter box is not properly installed, and the corresponding cleaning work will not be started temporarily.

[0162] In some embodiments, the base station further includes at least one of a first positioning detection component 7010 and a second positioning detection component 7011, for detecting whether the pool robot is stopped at a preset parking position (i.e., a charging position or a cleaning position). When the pool robot is detected to be stopped at the cleaning position, the first control unit can control the first nozzle 2173 to spray liquid to clean the first filter box; when the pool robot is detected to be stopped at the charging position, the first control unit can control the charging component 2090 to charge the pool robot. The first positioning detection component and the second positioning detection component differ in at least one of their types and locations. For example, the first positioning detection component may include a Hall sensor disposed on the pool robot and a magnetic component disposed on the base station body, or a Hall sensor disposed on the base station body and a magnetic component disposed on the pool robot. The second positioning detection component includes a positioning switch (e.g., a micro switch) disposed on the base station body and a mating component disposed on the pool robot (for triggering the positioning switch), or a positioning switch disposed on the pool robot and a mating component disposed on the base station body. Specifically, when the Hall sensor or positioning switch is disposed on the base station body, the Hall sensor or positioning switch may be disposed near or within the preset parking position. For example, when the preset parking position is the charging position, the Hall sensor can be placed near or within the charging position, and the positioning switch can be placed on or near the charging component. The second positioning detection component can be single or multiple as needed. For example, when the charging component 2090 includes a charging element 2091, a second positioning detection component can be placed near each charging element; or, the base station body can have at least two second positioning detection components, each corresponding to the side of the pool robot. In some embodiments, when the charging position and the cleaning position are different positions, the base station further includes at least one of a third and a fourth positioning detection component to detect whether the pool robot has reached the charging position or the cleaning position. The configuration of the third and fourth positioning detection components is basically similar to that of the first and second positioning detection components described above, and will not be repeated here.

[0163] In some embodiments, the base station further includes a charging component disposed on the base station body for charging the pool robot. The charging component is connected to a power supply element. For example, the charging component and the power supply element are connected via an electronic control board. The charging component includes at least a charging element 2091, which includes a positive charging element 20911 and a negative charging element 20912, and the positive and negative charging elements are electrically connected. The pool robot also includes a charging receiver 1020 disposed on the bottom of the first body. The charging element and the charging receiver charge the pool robot by contact, or the charging element and the charging receiver are wirelessly charged.

[0164] When the pool robot docks on the base station and the charging receiver contacts the charging component, the first control unit further controls the power supply element to supply power to the charging component, so that the charging component charges the pool robot. Alternatively, when the pool robot docks on the base station and the charging receiver contacts the charging component, and the first nozzle is cleaning the first filter cartridge, the first control unit further controls the voltage regulator to reduce the supply voltage of the power supply element to the charging component, so that the charging component is insufficient to charge the pool robot. Alternatively, when the pool robot leaves the base station and the charging receiver separates from the charging component, the first control unit further controls the voltage regulator to reduce the supply voltage of the power supply element to the charging component, so that the charging component is insufficient to charge the pool robot. The voltage regulator is located on the electronic control board and can be a linear regulator, a switching regulator, or an integrated power management chip, etc. The power supply voltage can include a first voltage and a second voltage. The first voltage is the voltage between the positive and negative charging components when the pool robot is not docked on the base station body. The first voltage can be 0V or 3.3V, etc. The second voltage is the voltage between the positive and negative charging components when the pool robot is charging. The first voltage is less than the second voltage. When the first voltage is 0V, if the detection component detects that the pool robot is docked on the base station body, the first control unit controls the power supply element to provide the second voltage to the charging component to charge the pool robot. The pool robot has an internal resistor connected to the charging receiver, and the first voltage is greater than 0V. When the pool robot docks on the base station body, the charging receiver and the charging component come into contact, forming a circuit. The aforementioned resistor will cause a change in the value of the first voltage. The first control unit can determine that the charging receiver and the charging component are in contact based on this change, and then control the power supply element to provide the second voltage to the charging component; and / or, when the first voltage is greater than 0V, the power supply element can also be controlled to provide the second voltage to the charging component when the detection component detects that the pool robot is docked on the base station body.

[0165] Furthermore, in some embodiments, the charging assembly further includes a first base 2096, which is movably mounted on the mounting plate 200013, and the charging component is fixed to the first base. Further, in some embodiments, at least one first support post 2092 is provided at the bottom of the first base, and a first elastic member 2093 is sleeved on the first support post, the first elastic member being confined between the mounting plate and the first base. During the process of the pool robot docking on the base station body, the first elastic member is compressed under external force, causing the charging component to move downwards, thus preventing collision damage between the pool robot and the charging component. When the pool robot docks on the base station body, the elastic force of the first elastic member acts on the first base, ensuring tight contact between the charging component and the charging receiver, thus ensuring the effective charging of the charging receiver by the charging component.

[0166] In some embodiments, the base station further includes a drying assembly 2800, which includes at least one fan for drying at least one type of waste in the charging assembly and the second filter box. The fan is connected to a first control unit, which is also used to control the operation of the fan. When the charging receiver at the bottom of the pool robot docks with the charging assembly, the drying assembly can also dry both the charging assembly and the charging receiver simultaneously. Further, in some embodiments, the drying assembly includes at least one air duct with at least one air outlet, through which the fan blows air onto at least one type of waste in the charging assembly and the second filter box for drying. For example, in some embodiments, since the positive charging component is more susceptible to electrochemical corrosion than the negative charging component, at least one air outlet faces the positive charging component, and the fan blows air onto the positive charging component through the air outlet to dry the positive charging component, ensuring that the positive charging component is in a dry state.

[0167] In some embodiments, the base station body includes a third receiving cavity and at least one first drain outlet 2120, a second filter box is disposed within the third receiving cavity, and at least one first drain outlet is disposed on the third receiving cavity. The base station also includes at least one second water pump 2121 for driving the liquid inside the third receiving cavity to be discharged from the base station body through the first drain outlet. The second water pump is connected to a first control unit, which is also used to control the operation of the second water pump.

[0168] Furthermore, in some embodiments, the base station also includes a water receiving chamber 2122, which is at least partially located below the third receiving cavity. The first drain outlet communicates with the sixth inlet (not shown) of the water receiving chamber, and the two are designed with an embedded connection. The cross-sectional area of ​​the sixth inlet is greater than or equal to the cross-sectional area of ​​the first drain outlet, fundamentally solving the problems of easy leakage, overflow, and poor drainage in existing base station water systems. The design that the cross-sectional area of ​​the sixth inlet is greater than that of the first drain outlet provides more ample space for water flow. Even if a large amount of clean water instantly accumulates in the third receiving cavity during the cleaning process, the sixth inlet can quickly receive the entire flow, preventing backflow or splashing. At least part of the second water pump is located within the water receiving chamber. This arrangement allows the liquid to be driven immediately upon entering the water receiving chamber, reducing the residence time of the liquid within the chamber. The base station body also includes a guide step 20541, located at the bottom of the third receiving cavity. The guide steps serve both to guide water flow and to fix the structure. They can guide the liquid entering the third containment chamber to converge towards the target area, and also act as a fixed platform to facilitate the connection and positioning of the water receiving tank below.

[0169] In some embodiments, a filter element 2123, such as a filter cover, may also be provided on the first drain outlet. The filter element can further filter the liquid filtered by the second filter box, preventing debris from entering the second water pump and affecting its normal operation, such as causing the second water pump to jam. The filter element overlaps the guide step, and the upper surface of the filter element is lower than or flush with the upper surface of the guide step. The guide step can position and / or limit the filter element. In some embodiments, the filter element is also provided with a limiting member 21231, which can be used in conjunction with the guide step to better limit the filter element in the horizontal direction. The filter element is also provided with a guide post 21233, wherein the length of the guide post is greater than the distance between the upper surface of the filter element and the bottom surface of the second filter box, so that the vertical travel of the guide post can be greater than the shortest distance between the filter element and the second filter box, ensuring that the filter element will not fall off from the first drain outlet. The filter element is detachably installed at the first drain outlet and can be removed from the fourth opening. The filter element is also provided with protrusions 21232. The protrusions are located on the upper surface of the filter element. On the one hand, they can support the second filter box and prevent the second filter box from deforming due to excessive garbage inside. On the other hand, they can provide gripping points for easy handling of the filter element.

[0170] In some embodiments, the base station further includes a button assembly 7020, which is connected to a first control unit. When a user presses the button assembly, the first control unit receives and processes the signal to generate a control command. The first control unit controls the actuator based on the control command, such as starting / stopping self-cleaning, pairing the base station with a pool robot, and configuring the base station for network connection. The button assembly 7020 is located on any side of the top of the base station body. In some embodiments, the base station further includes a lighting mechanism 7019, which is connected to the first control unit. The first control unit is also used to control the lighting mechanism to display lights of different colors or different brightness levels, providing the user with operation and status feedback. The lighting mechanism 7019 is located on any side of the top of the base station body. In some embodiments, the button assembly and the lighting mechanism are located on the same side of the top of the base station body.

[0171] In some embodiments, the base station further includes a first communication module 7023, which is connected to a first control unit. The pool robot includes a second control unit and a second communication module, which is connected to the second control unit. When the first communication module and the second communication module establish a communication connection, the first control unit controls at least the first nozzle to spray liquid. Further, in some embodiments, when the first communication module and the second communication module establish a communication connection, and at least one of the first and second communication modules establishes a communication connection with a third communication module of an electronic device, after the electronic device issues a cleaning command for the first filter cartridge through the third communication module, the first control unit controls at least the first nozzle to spray liquid.

[0172] Furthermore, when the first communication module and the second communication module do not establish a communication connection, the third communication module of the electronic device can establish a communication connection with the first communication module. After the electronic device issues a cleaning command for the first filter cartridge through the third communication module, the first control unit at least controls the first nozzle to spray liquid. The first communication module is located within the fourth receiving cavity. The first communication module is a device that supports information interaction in air and / or underwater; for example, the first communication module can be a communication device using signal types such as Bluetooth, infrared, or WIFI.

[0173] In some embodiments, the base station further includes a speaker 7018, which is connected to a first control unit. The first control unit is also used to control the speaker to perform voice broadcasts or voice prompts. For example, when the device is running, cleaning is complete, charging is in place, or a malfunction occurs, the speaker can emit sound signals in a timely manner, allowing users to clearly understand the device status even in environments far from the base station, thus achieving audible feedback and user-friendly human-machine interaction. The speaker is located within the fourth receiving cavity 200011.

[0174] In some embodiments, such as Figure 38A As shown, the base station is located at 9003 on the edge of the swimming pool. Figure 36B As shown, the base station also includes a carrying mechanism 8000, which is used to take out the pool robot from the pool and place it on the base station's resting surface; and to lift the pool robot resting on the resting surface and place it into the pool, so that the base station can automatically pick up and place the pool robot, so that the pool robot can automatically go ashore and automatically enter the water, without the user having to manually take the pool robot out of the pool and carry it to the base station, or manually put the pool robot into the pool.

[0175] In some embodiments, the carrier mechanism includes a drive assembly, a carrier member, and a pick-and-place assembly, wherein the pick-and-place assembly is mounted on the carrier member. The drive assembly is used to drive the carrier member to move, so that the carrier member has at least a first state and a second state, and switches between the first state and the second state.

[0176] In the first state, at least a portion of the carrier and at least a portion of the pick-and-place component extend into the pool, and the pick-and-place component can establish a connection with the pool robot. This allows the carrier to move the pick-and-place component, which in turn moves the pool robot to remove it from the pool.

[0177] When the drive component drives the carrier to move from the first state to the second state, the carrier moves the pool robot, the pool robot leaves the pool and moves towards the base station body until the pool robot is placed on the resting surface. The carrier mechanism completes the process of automatically taking the pool robot out of the pool and automatically placing it on the base station body. At this time, the carrier is in the second state.

[0178] In the second state, at least a portion of the carrier and at least a portion of the pick-and-place component are located above the base station body. In this state, the pick-and-place component can remain connected to the pool robot or disconnect from the pool robot.

[0179] Conversely, when the drive component moves the carrier from the second state to the first state, the pick-and-place component is currently establishing a connection with the pool robot. If the pick-and-place component is currently disconnected from the pool robot, it needs to establish a connection with the pool robot first. Then, the drive component moves the carrier, which in turn moves the pick-and-place component and the pool robot from the base station body towards the pool. Once the pool robot reaches the pool, the pick-and-place component disconnects from the pool robot, allowing the pool robot to leave the pick-and-place component and move within the pool. In other words, the pool robot leaves the base station and enters the pool, realizing the function of the base station automatically placing the pool robot into the pool. At this time, the carrier can be in the first state; or, the carrier can be in any state between the first and second states.

[0180] In some embodiments, when the pool robot is disconnected from the pick-and-place component, the carrier can continue to move toward the first state until the carrier reaches the first state, so that the pick-and-place component can re-establish a connection with the pool robot when the pool robot returns to the base station next time.

[0181] In some embodiments, the drive component drives the carrier to rotate. The carrier switches between a first state and a second state by rotating.

[0182] For example, in some embodiments, a first end of the carrier is connected to a drive assembly, and a pick-and-place assembly is located on a second end of the carrier.

[0183] In some embodiments, such as Figure 36A and Figure 36B As shown, the carrier includes a first arm 8001, a second arm 8002, and at least one first connecting arm 8003; the first connecting arm connects the first arm and the second arm.

[0184] For example, the first arm and the second arm are distributed approximately parallel to each other. One end of the first connecting arm is connected to the first arm, and the other end is connected to the second arm, with most or all of the first connecting arm located between the first arm and the second arm. A drive assembly is used to drive the first arm to rotate, which in turn drives the first connecting arm and the second arm to rotate, thereby switching the carrier between a first state and a second state.

[0185] In some embodiments, a first connecting arm is disposed on the second end of the carrier. For example, the first connecting arm is disposed on the second end of the first arm and the second end of the second arm, and the pick-and-place assembly is disposed on the first connecting arm.

[0186] In some embodiments, such as Figure 36A and Figure 36B As shown, the carrier also includes at least one second connecting arm 8004. For example, the second connecting arm is disposed on the first and second arms, and located between the first and second arms. Alternatively, the first and second connecting arms are disposed side-by-side on the first and second arms. Since the drive assembly drives the first arm to rotate, by providing the second connecting arm, the force applied to the first arm by the drive assembly can be promptly transmitted to the second arm, enabling the first and second arms to move smoothly and preventing unstable movement of the first and second arms from affecting the carrier's ability to drive the pool robot. The number of second connecting arms can also be three or four, or more; the specific number is not limited.

[0187] For example, the first end of the first arm is connected to the drive assembly; the first end of the second arm is rotatably mounted on the base station body; one end of the first connecting arm is connected to the second end of the first arm, and the other end of the first connecting arm is connected to the second end of the second arm, then the pick-and-place assembly is mounted on the first connecting arm. Alternatively, the first connecting arm is closer to the second end of the first arm and the second end of the second arm than the second connecting arm. Alternatively, the second connecting arm is located between the first connecting arm and the first end of the carrier.

[0188] In some embodiments, since the base station body is located on the edge of the swimming pool, the rotation of the support component is not affected by the pool walls or the edge of the pool. For example... Figure 36B As shown, the first and second arms have the same structure. For simplicity, the structure of the first arm will be used as an example. The first arm includes a first sub-arm 80011 and a second sub-arm 80012. The first and second sub-arms are connected and form an angle between them. This angle creates a bending area 80013 at the connection point of the first and second sub-arms. Together, the first and second sub-arms form a recessed clearance area. When the load-bearing component rotates, the clearance area can avoid the shore or pool wall, ensuring that the rotation of the load-bearing component is not interfered with by the shore or pool wall. For example, this angle can be obtuse, 90 degrees, or acute, as long as the clearance function is met.

[0189] In some embodiments, at least one second connecting arm is disposed in the bending area of ​​the first arm and the bending area of ​​the second arm.

[0190] In some embodiments, the drive assembly includes at least an eighth motor 8005, which is mounted on the base station body. A first arm and a second arm are respectively distributed on two sides of the base station body. For example, the first arm is located on the outside of the first side, and the second arm is located on the outside of the second side, with the first and second sides facing each other. Alternatively, the eighth motor may be mounted on the first side, driving the first arm to rotate.

[0191] In some embodiments, the pick-and-place assembly is disposed on the first arm or the second arm.

[0192] In other embodiments, the pick-and-place assembly is located on the first connecting arm. For example, the pick-and-place assembly is located in the middle of the first connecting arm, so that the first and second arms are subjected to balanced forces during the process of the carrier picking up and placing the pool robot, keeping the base station body stationary on the shore; if the forces on the first and second arms are uneven, it is easy to cause the base station body to shake or a heavier counterweight mechanism needs to be installed on the base station for balance.

[0193] In a modified embodiment, the carrier may further include the aforementioned first arm 8001, but exclude the aforementioned second arm, first connecting arm, and second connecting arm. The first end of the first arm serves as the first end of the carrier, and the second end of the first arm serves as the second end of the carrier.

[0194] In some embodiments, the pick-and-place assembly includes at least one pick-and-place member 8006, which has a third state and a fourth state. In the third state, the pick-and-place member establishes a connection with the pool robot, and when the carrier moves the pick-and-place member, the pick-and-place member moves the pool robot. For example, the connection established between the pick-and-place member and the pool robot can be at least one of the following methods: magnetic attraction, plug-in, gripping, etc.

[0195] For example, in some embodiments, the pick-and-place device is a suction cup, and an iron block is provided on the pool robot. The suction cup magnetically attracts the iron block, connecting the pool robot and the pick-and-place device.

[0196] Alternatively, in some embodiments, such as Figure 36A As shown, the pick-up and drop-off device is a hook, which hooks onto the pool robot to establish a connection between the pick-up and drop-off device and the pool robot.

[0197] Alternatively, the pick-and-place device can be a gripper or claw, which holds the pool robot to establish a connection between the pick-and-place device and the pool robot.

[0198] Alternatively, the device could be equipped with a snap-on mechanism, with the pool robot having a slot. The snap-on mechanism and slot work together to establish a connection between the device and the pool robot. Alternatively, the positions of the snap-on mechanism and slot could be reversed, with the device having a slot and the snap-on mechanism attached to the pool robot.

[0199] In some embodiments, a connection is established between the pick-and-place component and the handle of the pool robot, with the pick-and-place component acting on the handle to pick up and place the pool robot. For example, when the pick-and-place component is a suction cup, a metal block is located on the handle; or when the pick-and-place component is a hook, the hook extends into the fourth clearance opening to grip or hook the handle, thus establishing a connection between the pick-and-place component and the handle. Alternatively, the pick-and-place component is a gripper or claw, which grips the handle, thus establishing a connection between the pick-and-place component and the handle. Alternatively, one of the latch and the slot is the pick-and-place component, and the other is located on the handle.

[0200] In some embodiments, the pick-and-place component can also be connected to a portion of the first body of the pool robot, excluding the handle. That is, the pool robot has a mating part that connects to the pick-and-place component, or the pick-and-place component can be separated from the mating part. The mating part can be the aforementioned handle, or other structures provided on the first body.

[0201] In the fourth state, the pick-and-place component is disconnected from the pool robot. The carrier component moves the pick-and-place component, but the pick-and-place component does not move the pool robot. For example, if the pick-and-place component is at least one of a hook, gripper, or claw, it releases the handle of the pool robot. Alternatively, if the pick-and-place component is a suction cup, it moves away from the iron block of the pool robot, releasing the magnetic attraction between the suction cup and the iron block.

[0202] In some embodiments, the pick-and-place assembly further includes a ninth motor (not shown in the figure), which drives the pick-and-place member to move, thereby switching the pick-and-place member between a third state and a fourth state. For example, the ninth motor drives the pick-and-place member to rotate or slide. For example, the pick-and-place assembly is disposed on a first connecting arm, and the pick-and-place assembly further includes a mounting base fixed to the first connecting arm. The ninth motor is disposed on the first connecting arm and is drivenly connected to the pick-and-place member.

[0203] For example, when the pick-up / placement device is a hook, the ninth motor drives the hook to rotate in the forward direction, so that the hook extends into the fourth clearance opening and hooks the handle, and the pick-up / placement device is in the third state; conversely, when the ninth motor drives the hook to rotate in the reverse direction, the hook retracts from the fourth clearance opening to release the handle, so that the hook and handle are separated, and the pick-up / placement device is in the fourth state. Here, one of the forward and reverse directions is clockwise and the other is counterclockwise.

[0204] For example, in some embodiments, the driving component drives the carrier of the aforementioned structure to slide. For instance, the driving component drives the carrier to perform lifting and lowering movements, causing the carrier to switch between a first state and a second state.

[0205] In any of the foregoing embodiments, the driving component drives the carrier to move, so that during the switching between the first state and the second state, the movement of the carrier and the pick-and-place component will not interfere with the first nozzle on the base station body. That is, the arrangement of the carrier mechanism will not affect the cleaning of the first filter box of the pool robot by the first nozzle on the base station, the opening or closing of the first bottom cover of the first filter box, and the operation of the lever mechanism, etc.

[0206] In some embodiments, such as Figure 36AAs shown, the base station also includes at least one auxiliary wheel 8007, which is mounted on the base station body. When the drive component drives the carrier to move, causing the pick-and-place component to move the pool robot from the pool to the resting surface, the walking mechanism of the pool robot will abut against the auxiliary wheel. The auxiliary wheel provides auxiliary support to the pool robot, assisting the pool robot to return to the resting surface of the base station body.

[0207] For example, if there are two traveling mechanisms, there are also two auxiliary wheels, with one auxiliary wheel corresponding to each traveling mechanism. Alternatively, there can be one auxiliary wheel, with both traveling mechanisms abutting against it.

[0208] In some embodiments, the auxiliary wheel is rotatably mounted on the base station body via a bracket, so that when the walking mechanism comes into contact with the auxiliary wheel, rolling friction is generated between the auxiliary wheel and the walking mechanism, reducing the frictional force between them. The auxiliary wheel is a passive wheel; no motor is provided to drive the rotation of the auxiliary wheel. The rotation of the auxiliary wheel is driven by the frictional force generated by the walking mechanism abutting against the auxiliary wheel.

[0209] In some implementations, such as Figure 37 As shown, the aforementioned second sensor 8008 is located at the second end of the carrier. When the base station body is on land, the second end of the carrier is below the water surface, and the second sensor is also below the water surface. When the pool robot is below the water surface, the first sensor and the second sensor establish communication. For example, the second sensor 8008 can be located at the second end of the second arm; or at the second end of the first arm; or it can also be located on the first connecting arm, or on the pick-and-place assembly. For example, it can be located on the pick-and-place assembly.

[0210] In some embodiments, the positioning marker is located at the second end of the carrier. For example, the positioning marker can be a QR code or a reflective strip. When the base station body is on land, the second end of the carrier is below the water surface, and the positioning marker is also below the water surface. When the pool robot is below the water surface, both the positioning marker and the image acquisition unit 1203 are located in the water, so as to accurately identify the positioning marker in the same medium. For example, the positioning marker is located at the second end of the second arm; or at the second end of the first arm; or it can also be located on the first connecting arm; or it can be located on the pick-and-place assembly. For example, it can be located on the pick-and-place assembly.

[0211] In some embodiments, the cleaning system further includes a docking detection device for detecting whether the pool robot has moved to a designated docking position. For example, the docking detection device includes a Hall sensor and a magnet, one of which is located on the pool robot and the other is located on a base station.

[0212] Let's take the example of a swimming pool robot moving from the pool bottom 9001 to the pool wall 9002, and completing its docking with a base station on the pool wall. Figure 38AAs shown, the relative position of the pool robot and the base station is determined based on the first and second sensors, causing the pool robot to move from the bottom of the pool towards the location of the base station, until it reaches the area below the base station. Figure 38B As shown, the pool robot climbs from the bottom of the pool to the pool wall and moves along the wall towards the base station. During its movement, the image acquisition device captures images of the positioning markers and determines the relative position between the base station and the pool robot based on these images, thereby adjusting the pool robot's direction of movement and whether it reaches the docking position. Figure 38C As shown, after determining that the pool robot has moved to the docking position based on the detection signal of the docking detection component, the first control unit controls the pick-and-place component to switch from the fourth state to the third state, as follows: Figure 38D As shown, the pick-and-place function switches to the third state, establishing a connection between the pick-and-place device and the pool robot. Figure 38E As shown, the first control unit controls the drive assembly to drive the carrier component to move, switching from a first state to a second state. The walking mechanism abuts against the auxiliary wheels, and the auxiliary wheels assist the pool robot in moving towards the resting surface, moving to the position shown in the diagram. Figure 38F The second state shown depicts the pool robot stationary on the resting surface, while the third state involves picking up and placing items. (As shown...) Figure 38G As shown, the pick-and-place device switches from the third state to the fourth state. Alternatively, the pick-and-place device can remain in the third state without switching from the third state to the fourth state.

[0213] When the pool robot needs to be placed in the pool, the pick-and-place device is in its third state, establishing a connection with the pool robot. The first control unit controls the drive assembly to move the carrier component from the second state to the first state, thus moving the pool robot from its resting position into the pool. Once the pool robot enters the pool, the first control unit controls the pick-and-place device to switch from the third state to the fourth state, and the pool robot detaches from the pick-and-place device. When the pool robot detaches from the pick-and-place device, the carrier component can be in the first state, or any state between the first and second states. If the carrier component has not switched to the first state when the pool robot detaches from the pick-and-place device, the first control unit can control the drive assembly to continue moving the carrier component in the first state until the carrier component switches to the first state.

[0214] After triggering the return trip task to the base station, the pool robot can move towards the base station to perform operations such as docking, charging, and cleaning the first filter box. For example, when the pool robot's battery level is lower than a specified value, the first filter box reaches the cleaning condition, or the cleaning task is completed, the built-in program in the pool robot's second control unit can autonomously trigger the return trip task to the base station; or, after receiving a return trip instruction from the base station or a smart terminal, the pool robot's second control unit can trigger the return trip task to the base station.

[0215] After triggering the return trip mission to the base station, the pool robot can travel to the base station and dock with its support structure on the water surface. Alternatively, it can travel to the base station and dock with its support structure on the pool wall. Or, it can travel to the base station and dock with its support structure at the bottom of the pool. Or, it can travel to the base station and dock with its support structure while suspended in the water.

[0216] The following description uses the example of a swimming pool robot docking with a base station on the pool wall.

[0217] After triggering the return mission to the base station, if the pool robot is on the water surface, it can first be controlled to dive to the bottom of the pool, then move along the bottom of the pool towards the base station, move to the area below the base station, then climb from the bottom of the pool to the pool wall, and move along the pool wall towards the base station to achieve docking with the base station.

[0218] After triggering the return trip task to the base station, if the pool robot is located on the pool wall, it can move directly along the pool wall towards the base station to dock with it; or, the pool robot can sink to the bottom of the pool or move to the bottom of the pool, move along the bottom of the pool towards the base station, move to the area below the base station, climb from the bottom of the pool to the pool wall, and move along the pool wall towards the base station to dock with it.

[0219] After triggering the return trip mission to the base station, if the pool robot is located at the bottom of the pool, it can move along the bottom of the pool towards the base station, move to the area below the base station, climb up the pool wall from the bottom of the pool, and move along the pool wall towards the base station to achieve docking with the base station.

[0220] The pool robot moves to the area below the base station and then climbs the pool wall from the bottom to dock with it. This reduces the need for the robot to adjust its direction on the pool wall. The pool wall's surface shape, obstacles, and material are complex, and the first filter box usually contains a lot of debris when the robot returns. Adjusting the robot's direction while moving along the pool wall places high demands on the robot's power system and sensor accuracy, increasing the risk of falls. Therefore, reducing the robot's direction adjustment on the pool wall improves the success rate of its return trip. Furthermore, as shown in some embodiments below, to achieve accurate docking between the pool robot and the base station, the base station can be precisely located on the pool wall using an image acquisition device. The robot moves to the area below the base station and then climbs the pool wall from the bottom, ensuring that the base station's positioning marker is within the image acquisition range of the robot's device, avoiding the robot having to move along the pool wall to find the positioning marker.

[0221] In some embodiments, a first relative position between the base station and the pool robot can be determined using a first sensor on the pool robot and a second sensor on the base station. The second control unit can then control the movement direction of the pool robot on the bottom of the pool based on this first relative position, so that it moves towards the location of the base station and accurately moves to the area below the base station.

[0222] Alternatively, a third sensor can be installed on the pool wall near the base station or suspended in the water. This third sensor can communicate underwater with the first sensor and determine the relative position of the pool robot and the third sensor. Using the first and third sensors on the pool robot, a first relative position between the base station and the pool robot can be determined. Based on this first relative position, the pool robot adjusts its movement direction on the pool bottom to move towards the base station. After moving to the area below the base station, the pool robot climbs the pool wall from the bottom to dock with the base station.

[0223] After the pool robot moves to the area below the base station, it climbs up the pool wall from the bottom to dock with the base station.

[0224] The pool robot can move to a designated docking position on the pool wall to facilitate the placement and retrieval of components and establish a relationship with the robot, thus docking with the base station. For example, a first and second sensor are used to determine the first relative position between the pool robot and the base station to determine whether the robot has moved to the docking position. Alternatively, a positioning marker is provided at the docking position, and an image acquisition device is used to identify the positioning marker to determine whether the robot has moved to the docking position. In some embodiments, the cleaning system is equipped with a docking detection component. This component may include a Hall sensor on the pool robot and a magnet on the base station; the pool robot uses the Hall sensor to detect whether it has moved to the docking position.

[0225] For example, a first sensor and a second sensor can be used to determine the first relative position between the pool robot and the base station. A second control unit then uses this first relative position to dock the pool robot with the base station on the pool wall. The first relative position includes the lateral position between the pool robot and the base station. As the pool robot moves upwards along the pool wall, it can adjust its direction of movement based on this first relative position to ensure precise lateral docking with the base station. Alternatively, the first relative position may also include the vertical position between the pool robot and the base station. The pool robot determines its speed based on this vertical relative position to accurately control when to stop moving, ensuring precise vertical docking with the base station.

[0226] In some embodiments, the pool robot is equipped with an image acquisition device, and the base station is equipped with a positioning marker. When the pool robot moves along the pool wall towards the base station, the image acquisition device can collect the positioning marker on the base station (the positioning marker can be a QR code). The positioning marker collected by the image acquisition device can be used to determine a second relative position between the pool robot and the base station. Based on the second relative position, the pool robot moves along the pool wall towards the base station to ensure accurate docking with the base station.

[0227] The second relative position includes the relative position of the pool robot and the base station in the left-right direction. When the pool robot moves upward along the pool wall, it can adjust its direction of movement based on this second relative position to ensure precise docking with the base station in the left-right direction. And / or, the second relative position also includes the relative position of the pool robot and the base station in the vertical direction. The pool robot determines its movement speed based on its relative position in the vertical direction to accurately control when to stop moving, ensuring precise docking with the base station in the vertical direction.

[0228] Alternatively, positioning markers can be placed on the pool wall or suspended in the water. The pool robot uses an image acquisition device to collect the positioning markers and then determines its relative position with the positioning markers. Based on the relative position, it moves to the docking position. After determining that it has moved to the docking position, the pool robot stops moving.

[0229] As shown in the above embodiments, the carrier on the base station has a first state and a second state, and the pick-and-place device has a third state and a fourth state.

[0230] As shown in the above embodiments, after the pool robot is placed on the resting surface of the base station, the carrier can remain in the second state; or, after the pool robot is placed on the resting surface of the base station, the carrier can switch to a state other than the second state, such as the first state. After the pool robot is placed in the pool, the carrier can remain in the first state; or, after the pool robot is placed in the pool, the carrier can switch to a state other than the first state, such as the second state.

[0231] In some embodiments, the second sensor and the positioning marker are located on the carrier, and when the carrier is in the first state, the second sensor and the positioning marker are below the water surface; after the pool robot is placed in the pool, the carrier remains in the first state. When the pool robot is below the water surface, after triggering the return trip task to the base station, the first and second sensors can be used to determine the relative position between the pool robot and the base station in a timely manner, thereby controlling the pool robot to move towards the base station to perform the return trip task.

[0232] After the pool robot is placed in the pool, the carrier remaining in its first state may interfere with the robot's movement on the pool wall or the water surface. When moving on the pool wall, the pool robot can avoid obstacles by using the carrier based on the first relative position determined by the first and second sensors; and / or, the pool robot can determine the position of the carrier based on images captured by the image acquisition device and avoid obstacles accordingly. When moving on the water surface, the pool robot can determine the position of the carrier based on images captured by the image acquisition device and avoid obstacles accordingly.

[0233] When the pool robot is placed in the pool, the carrier remains in the first state. This not only interferes with the movement of the pool robot on the pool wall or water surface, but also makes it impossible to clean the area where the carrier is located.

[0234] In some embodiments, the carrier is in a second state when the pool robot is performing water surface cleaning, or at least when the pool robot is performing water surface cleaning in the area where the carrier is located, or at least when the pool robot is performing cleaning along the edge of the water surface; and / or, the carrier is in a second state when the pool robot is performing pool wall cleaning, or at least when the pool robot is performing cleaning in the area of ​​the pool wall occupied by the carrier.

[0235] After the pool robot completes surface cleaning, or after the pool robot completes surface cleaning of the area where the carrier is located, or after the pool robot completes cleaning along the edge of the water, the carrier switches from the second state to the first state. After the pool robot completes pool wall cleaning, or after the pool robot completes cleaning of the area of ​​the pool wall occupied by the carrier, the carrier switches from the second state to the first state. Alternatively, after a specified time has elapsed since the carrier switched to the second state, it switches back to the first state.

[0236] When the base station's carrier is in the first state, the target pool wall area is obtained by extending from the pool wall area occupied by the carrier to the bottom of the pool. The flatness, curvature, inclination, pool wall material, and obstacle distribution of the target pool wall area meet the preset requirements so that the pool robot can move smoothly along the pool wall to the base station. During the movement, the image acquisition device can be effectively used to accurately locate the position of the base station, thereby ensuring the success rate of docking between the pool robot and the base station.

[0237] In some embodiments, the positioning marker is located on the carrier. When the pool robot moves along the pool wall toward the base station, it uses an image acquisition device to acquire an image of the positioning marker. If the positioning marker is not partially within the acquisition range of the image acquisition device in the direction perpendicular to the pool wall, or if the positioning marker is not at the center of the field of view of the image acquisition device in the direction perpendicular to the pool wall, the carrier can be controlled to swing so that the positioning marker is within the acquisition range of the image acquisition device in the direction perpendicular to the pool wall, or if the positioning marker is at the center of the field of view of the image acquisition device in the direction perpendicular to the pool wall, so as to ensure that the pick-up and drop device can accurately dock with the pool robot and establish a relationship with the pool robot.

[0238] After the pool robot has moved to its docking position, the pick-and-place component can switch from the fourth state to the third state to establish a relationship with the pool robot. After the pick-and-place component establishes a relationship with the pool robot, the carrier component can switch from the first state to the second state to move the pool robot from the pool to the resting surface.

[0239] After the pool robot moves to the resting surface, the item pick-up and drop-off function can remain in the third state or switch from the third state to the fourth state. The pool robot can also remain stationary on the resting surface. For example, after moving to the resting surface, the pool robot and the base station may be in a charging and / or cleaning position, allowing the base station to perform charging and / or cleaning operations on the pool robot. Alternatively, the pool robot can also move on the resting surface to accurately move to the charging and / or cleaning position, allowing the base station to perform charging and / or cleaning operations on the pool robot.

[0240] When it is necessary to place the pool robot into the pool, the pick-and-place component can be in the third state to establish a relationship with the pool robot. After the pick-and-place component establishes a relationship with the pool robot, the carrier component can switch from the second state to the first state to move the pool robot from the resting surface into the pool. After the carrier component switches to the first state, the pick-and-place component switches from the third state to the fourth state to detach from the pool robot.

[0241] In some embodiments, the carrier may not switch to the first state. After the pool robot enters the water but before switching to the first state, the pick-and-place component switches from the third state to the fourth state to detach from the pool robot. After the pick-and-place component detaches from the pool robot, the carrier then switches to the first state.

[0242] Through the above structural design, the base station 2000 of this application achieves a highly integrated control system and a multi-point intelligent detection mechanism. When the base station 2000 is powered on, the external power supply is converted into stable low-voltage DC power via the power adapter 2192. The low-voltage DC power is then transmitted to the control board 21911 through conductive connecting lines. The control board 21911 distributes the power to different interfaces. Simultaneously, the first control unit of the control board 21911 receives and processes real-time signals from the detection components, generating control commands. Based on these control commands, the first control unit controls the actuators to perform tasks such as cleaning, charging, closing, drying, and unlocking. The specific execution process includes at least one of the following steps:

[0243] 1. Status detection of base stations and / or swimming pool robots

[0244] (1) Communication status detection: such as detecting the communication status between the pool robot and the base station. If the communication is abnormal, the base station, the pool robot, or the smart terminal can issue abnormal prompts such as communication interruption or the base station and the pool robot not being paired.

[0245] (2) Base station status detection: such as detecting whether the second filter box is installed in place. If the second filter box is not installed in place, the base station, the pool robot, or the smart terminal can issue an abnormal prompt that the second filter box is not installed.

[0246] (3) Status detection of the pool robot: This includes detecting whether the pool robot is in the preset parking position and whether the first filter box of the pool robot is installed. If the pool robot is not in the preset parking position, the base station, the pool robot, or the smart terminal can issue an abnormality prompt so that the user can adjust the position of the pool robot in time. For details on detecting whether the first filter box is installed, please refer to step 7.

[0247] If the status detection of the base station and / or the pool robot malfunctions, the first control unit can control the actuator to terminate the cleaning task and issue a notification to the user. If the status detection of the base station and the pool robot is normal, the first control unit will then control the actuator to continue the cleaning task.

[0248] It should be noted that the abnormal prompts in the embodiments of this specification can be issued by at least one of the following: smart terminal, pool robot, and base station. The prompting method can be interface display, voice prompt, light effect prompt, etc.

[0249] 2. The pool robot checks if it has enough power.

[0250] The pool robot is placed in the cleaning position. The user presses a button, or the pool robot and / or the base station initiate a cleaning command for the first filter box. Upon receiving the command, the first control unit controls the first communication module to send the command to the pool robot. After receiving the cleaning command for the first filter box, the pool robot first checks its battery level. If the battery level is sufficient for the base station to clean the pool robot, the pool robot can send a cleaning command to the first communication module. If the battery level is insufficient, the pool robot can send a charging command to the first communication module. Upon receiving the charging command, the first communication module sends the charging command to the first control unit. Upon receiving the charging command, the first control unit controls the charging component to charge the pool robot. Once the battery level is at least sufficient to clean the first filter box, the pool robot sends a stop charging command to the first communication module. Upon receiving the command, the first control unit controls the charging component to stop charging the pool robot. After stopping charging, the pool robot sends a cleaning command to the first communication module. Alternatively, provided the battery level is sufficient to clean the first filter cartridge, the pool robot can issue a prompt to initiate cleaning of the first filter cartridge. This could be done via voice prompt, by sending a notification to a smart terminal, or by sending a notification to the first communication module so that the first control unit can control the speaker to issue a voice prompt, etc. Upon receiving the prompt, the user triggers the command to clean the first filter cartridge.

[0251] 3. The pool robot opens the second water inlet.

[0252] Before the pool robot sends a cleaning command to the first communication module, if the second water inlet is closed, the pool robot, assuming sufficient power, can first control the movement of the second baffle to open the second water inlet. After the second water inlet is open, the pool robot then sends the cleaning command to the first communication module. This operation avoids interference between the first nozzle and the second baffle when the first nozzle rotates into the first body.

[0253] 4. The first control unit controls the first nozzle to switch to the first position.

[0254] After receiving a cleaning command via the first communication module, the first control unit can control the first nozzle to rotate, switching it from the second position to the first position. Simultaneously, the seventh position detection component detects whether the first nozzle has rotated to the correct position. If the first nozzle fails to rotate to the first position within a preset time, an error message is issued.

[0255] 5. The first control unit controls the first nozzle to spray liquid.

[0256] After receiving a signal that the first nozzle has rotated to the correct position, the first control unit can control the first valve to open, allowing the first nozzle to spray liquid and clean the first filter box. If the third opening is not closed before the first nozzle starts spraying liquid, the first control unit can first control the pushing component to move, thereby pushing the first bottom cover to close the third opening.

[0257] 6. The first control unit controls the lever assembly to move to the fourth position.

[0258] After the first nozzle sprays liquid for a first preset time, the first control unit can control the lever assembly to move from the fifth position to the fourth position, so that the first bottom cover moves and opens the third opening. For example, the first preset time can be 30 seconds.

[0259] 7. The first control unit determines whether the first bottom cover has opened the third opening.

[0260] The eighth positioning detection component detects whether the first bottom cover has opened the third opening and sends a detection signal to the first control unit. Upon receiving the detection signal, the first control unit processes the signal to determine whether the first bottom cover has opened the third opening. In some embodiments, the pool robot is further equipped with a sixth positioning detection component to detect whether the first bottom cover has closed the third opening. The sixth positioning detection component includes, but is not limited to, a Hall sensor and an iron block. With this structure, the first control unit can determine whether the first bottom cover has opened the third opening based on the above two detection results, improving the accuracy of the determination. And / or the first control unit can also determine whether the first filter box is installed based on the above two detection results.

[0261] If the third opening is not opened, the first control unit can control the lighting mechanism and / or the horn to issue an abnormality warning, or send a warning message to the smart terminal via the first communication module to remind the user of the cleaning abnormality. The first control unit can also control each mechanism to stop working, or control each mechanism to return to the position before cleaning the first filter box. The first control unit can also control the lever assembly to return to the fifth position, and then turn from the fifth position to the fourth position, so that the first bottom cover moves and opens the third opening.

[0262] 8. The first control unit controls the lever assembly to reciprocate between the fourth and fifth positions; or, the first control unit controls the lever assembly to reciprocate but the lever assembly does not reach the fourth position. During the movement, if the lever assembly does not reach the fifth position, the ninth position detection component sends a detection signal to the first control unit. The first control unit receives the detection signal, processes it, and generates a control command. Based on the control command, the first control unit can control the lighting mechanism and / or the horn to issue an abnormal warning.

[0263] 9. After the reciprocating motion of the lever assembly reaches the third preset duration, the first control unit controls the lever assembly to stop at the fifth position; or, if the lever assembly does not reach the fourth position during its reciprocating motion, the first control unit can control the lever assembly to continue moving after the reciprocating motion of the lever assembly reaches the third preset duration.

[0264] 10. The first control unit controls the first nozzle to stop spraying liquid; or, the first control unit controls the first nozzle to continue spraying liquid.

[0265] 11. The first control unit controls the pushing component to move to the extended state, pushing the first bottom cover to close the third opening. If the tenth positioning detection component detects that the pushing component has moved to the correct position, i.e., the first bottom cover has closed the third opening, the first control unit generates a command to start the second cleaning cycle and controls each actuator to work based on this command. If the tenth positioning detection component detects that the pushing component has not moved to the correct position, the first control unit can control the actuator to issue an abnormality prompt to the user; alternatively, the first control unit can also try to control the pushing component to move again. If the first bottom cover still fails to move after several attempts, the first control unit can control the actuator to issue an abnormality prompt to the user. The first control unit can also control each mechanism to stop working or control each mechanism to return to the position before cleaning the first filter box. In some embodiments, the first control unit can also receive the detection signal from the sixth positioning detection component on the pool robot or the detection result processed by the first control unit on the pool robot through the first communication module to comprehensively determine whether the first bottom cover has closed the third opening, thereby improving the accuracy of the judgment.

[0266] 12. After the first bottom cover closes the third opening, the first control unit can control the pushing component to remain in the extended state, so that the pushing component continues to push against the first bottom cover; or, it can control the pushing component to retract to the retracted state. If the pushing component remains in the extended state, the first control unit needs to control the pushing component to retract to the retracted state before the next cleaning cycle begins.

[0267] 13. Repeat steps 6-11 until the second cleaning cycle is complete; if a third or more cleaning cycles are required, continue repeating the above steps (details omitted). Before the next cleaning cycle begins, if the first nozzle is in a stopped spraying state, the first control unit must control the first nozzle to start spraying liquid to perform the next cleaning cycle on the first filter box. Once the overall cleaning is complete, step 10 selects to stop the first nozzle from spraying liquid.

[0268] 14. The first control unit controls the push assembly to retract to the retracted state. If the tenth position detection component detects that the push assembly has failed to retract to the retracted state, the first control unit may control the lighting mechanism and / or the horn to issue an abnormal warning.

[0269] 15. The first control unit controls the first nozzle to switch to the second position. After the seventh position detection component detects that the first nozzle has switched to the second position, the first control unit can send a cleaning completion signal to the pool robot and / or smart terminal through the first communication module. At least one of the base station, pool robot, and smart terminal can issue a cleaning completion prompt. If the seventh position detection component detects that the first nozzle has failed to return to the second position, the cleaning operation on the first filter box is also terminated. After a fifth preset time period following the first nozzle returning to the second position, if the base station also includes a second water pump, the first control unit must also control the second water pump to stop working.

[0270] 16. The pool robot controls the movement of the second baffle to close the second water inlet.

[0271] 17. After the first nozzle switches to the second position, the first control unit controls the charging component to continue charging the pool robot.

[0272] 18. After the pool robot is fully charged, it sends a stop charging signal to the first communication module. Upon receiving the signal, the first control unit controls the charging component to stop charging the pool robot.

[0273] It should be noted that the order in which the above steps are performed is not limited, and there may be overlap in the timing.

[0274] The first control unit dynamically adjusts the output commands by logically judging the combined state of various detection signals, ensuring that actions such as cleaning, charging, closing, and unlocking are performed in the correct sequence and do not interfere with each other, forming a complete automatic control closed loop. During operation, users can clearly understand the status of the base station through the speaker and light mechanism, enhancing the interactive experience.

[0275] During the cleaning process of the first filter box, the status of the base station and / or the pool robot, as well as the position of the first nozzle, can be continuously detected.

[0276] Each time the base station is powered on, it can perform a component status check, such as checking whether the first nozzle, lever assembly, and push assembly are operating normally. The component status check can be automatically triggered after the base station is powered on, or it can be triggered by the user with a prompt. After the component status check is triggered, the first control unit can control the first nozzle to switch from the retracted position to the extended position and then back to the retracted position; and / or control the lever assembly to move between the fourth and fifth positions; and / or control the push assembly to switch from the retracted state to the extended state and back to the retracted state; and use the position detection component, etc., to determine whether the movement of the first nozzle, lever assembly, and push assembly is normal. Each component can perform the check simultaneously or separately, without limitation. The base station does not clean the first filter box before completing the component status check. If an abnormality is detected in the component status check, the first control unit can control the lighting mechanism and / or the speaker on the base station to issue a corresponding abnormality prompt; or control the first communication module to send an abnormality signal to the smart terminal and / or the pool robot, and the smart terminal and / or the pool robot will then issue an abnormality prompt. The base station will only clean the first filter box if no abnormalities are detected in the component status.

[0277] In some embodiments, the electronic control board further includes at least one interface through which the control unit is electrically connected to the corresponding actuators and / or detection components. The number of interfaces can be appropriately reduced as needed to simplify circuit connections and make the circuit layout more concise. For example, by eliminating the drying component, the corresponding interface can be eliminated; the connection design of the button component and the lighting mechanism can be adjusted to connect them to the same interface. Of course, the number of interfaces can also be appropriately increased as needed. For example, if the base station also includes a first water pump, the electronic control board also has an interface electrically connected to the first water pump, and the first control unit controls the first water pump to operate, drawing water from the pool or river to the first nozzle, causing the first nozzle to spray water. Furthermore, the number of first control units on the electronic control board can be adjusted as needed, for example, to one, two, three, etc.

[0278] In some embodiments, such as Figure 3 , Figure 18 , Figure 28At least a portion of the sixth receiving cavity 2020 of the base station body 20001 is located above the third receiving cavity 2054 and the fourth receiving cavity 200011, and the sixth receiving cavity is isolated from the third and fourth receiving cavities. The sixth receiving cavity surrounds the fourth opening 2055. The sixth receiving cavity 2020 contains at least a portion of at least one of the following: a charging component 2090, a drying component 2800, an unlocking mechanism 7003, a lever mechanism 7006, a first closing mechanism 7004, and a second cleaning component 2170. Each mechanism is centrally controlled and performs distributed signal acquisition through a first control unit.

[0279] In some embodiments, the first closing mechanism 7004 includes a sixth motor and a pushing assembly. The sixth motor is located on a mounting plate of the sixth receiving cavity and is used to drive the pushing assembly to perform telescopic movements. At least a portion of the pushing assembly is disposed within the sixth receiving cavity 2020. Specifically, at least a portion of the pushing assembly extends out of the sixth receiving cavity, being in an extended state, to push the first bottom cover to move; or at least a portion of the pushing assembly retracts into the sixth receiving cavity, resetting to a retracted state. Further, the pushing assembly is located near, around, or on the periphery of the fourth opening to shorten the distance between the pushing assembly and the fourth opening, facilitating timely rotation of the first bottom cover toward the third opening when the pushing assembly extends. For example, at least a portion of the pushing assembly is located within the sixth receiving cavity and on one side of the fourth opening.

[0280] In some embodiments, at least a portion of the charging assembly 2090 and at least a portion of the drying assembly 2800 are disposed together within the sixth receiving cavity 2020 and arranged adjacent to each other. The fan of the drying assembly can directly act on the adjacent battery charging area to quickly dry the moisture on and around the battery surface, ensuring that the battery is in a dry and safe state before entering the charging process.

[0281] In some embodiments, the unlocking mechanism includes a first motor 70035 and a first unlocking component, with the first motor 70035 located within the sixth receiving cavity 2020. There are at least two first motors 70035 and first unlocking components; one first motor 70035 and one first unlocking component are positioned on one side of the fourth opening 2055, and the other first motor 70035 and another first unlocking component are positioned on the other side of the fourth opening 2055, symmetrically arranged on both sides of the fourth opening 2055, precisely corresponding to the locking positions on both sides of the first filter box 1051. When the first control unit issues an unlocking command, the first motor 70035 drives the first unlocking component 70037 to move synchronously, releasing the lock on the first bottom cover 1054, allowing waste to be discharged smoothly. The symmetrical arrangement on both sides of the fourth opening 2055 achieves balanced unlocking force, preventing the bottom cover from tilting and jamming, and improving the smoothness of opening and closing.

[0282] In some embodiments, the lever mechanism includes a third motor 70064 and a lever 70062. The third motor is located within the sixth receiving cavity 2020, and at least a portion of the lever is located within the second filter box. The lever mechanism is used to agitate the waste accumulated in the second filter box to spread or flatten the accumulated waste, evenly dispersing the waste within the inner cavity of the second filter box, improving the space utilization within the second filter box, preventing waste from accumulating below the fourth opening, and ensuring that the waste in the first filter box falls smoothly into the second filter box.

[0283] In some embodiments, such as Figure 20 As shown, the lever mechanism 7006 and the unlocking mechanism 7003 share a common motor. The motor (i.e., the first motor or the third motor) drives the first unlocking component 70037 and the lever 70062 to move through a multi-directional transmission structure, realizing the sequential actions of unlocking and garbage evacuation at different working stages of the motor. One end of the lever 70062 extends into the interior of the second filter box 21102, and can move the accumulated garbage before and after the first bottom cover 1054 is opened or closed, so that the garbage is evenly distributed. This design avoids configuring separate motors for the lever mechanism and the unlocking mechanism, reducing the number of components, wiring and control interfaces, and making the overall layout more compact.

[0284] With the aforementioned sixth accommodating cavity 2020, the base station achieves spatial centralization and environmental isolation of core functional components, keeping electrical modules away from liquids and impurities, significantly improving the overall operational reliability, and reducing electrical faults and maintenance costs caused by moisture or contamination. The centralized design of multiple modules improves the utilization rate of internal space, allowing the base station to accommodate multiple functions without increasing its size, while simplifying assembly processes, reducing production costs, and simplifying maintenance.

[0285] In some embodiments, such as Figure 3 , Figure 24 As shown, the third receiving cavity 2054 is formed by the mounting plate 200013 and the second dust chamber 2150, and is used to house the second filter box and contain wastewater and impurities generated during the cleaning process. The fourth receiving cavity 200011 is formed by the mounting plate 200013, the second dust chamber 2150, and the first side plate 200027. The first side plate 200027 is curved to fit the overall outline of the base station shell and is fastened by means of plug-in connection, so that the fourth receiving cavity 200011 can be both airtight and strong. The sixth receiving cavity 2020 is formed by the mounting plate 200013 and the second upper cover 20001a. The second upper cover is detachable to facilitate the later inspection and maintenance of the components in the sixth receiving cavity. The overall layout is a layered structure, with the upper functional compartment isolated from the lower waste and liquid compartments to prevent electrical components from getting damp, ensure that the modules do not interfere with each other, and enhance the safety and reliability of the base station.

[0286] In some embodiments, such as Figure 24 As shown, the base station 2000 also includes a second side plate 200028 and a third side plate 200029. The first side plate 200027, second side plate 200028, and third side plate 200029 are respectively snap-fitted to the second dust chamber 2150 and / or mounting plate 200013, achieving rapid assembly and high-strength positioning through structured plug-in connections. The first side plate 200027 and third side plate 200029 adopt curved contours to fit against the second dust chamber 2150 and / or mounting plate 200013, and are detachably connected using the same or similar snap-fit ​​structures, resulting in a smooth overall appearance and tight sealing. The first side plate 200027 defines the boundary of the fourth receiving cavity 200011. It engages with the mounting plate 200013 and / or the second dust chamber 2150 via a locking mechanism and a first connecting hole 2000254 on the first support platform 2000252, thereby achieving a fixed connection between the first side plate 200027, the mounting plate 200013, and the second dust chamber 2150, forming the fourth receiving cavity 200011. The second side plate 200028 serves both protective and structural reinforcement functions. It is connected to the second dust chamber 2150 and / or the mounting plate 200013 via a locking mechanism. The third side plate 200029, together with the second dust chamber and / or the mounting plate, encloses a cavity that accommodates at least part of the wiring and water supply channels. It is connected to the second dust chamber 2150 and / or the mounting plate 200013 via a locking mechanism, achieving functional isolation within the base station and preventing exposed pipes and wires. The multi-side plate snap-fit ​​connection structure can simplify the production process, reduce assembly errors, and improve modular maintenance efficiency while maintaining tightness.

[0287] In some embodiments, such as Figure 19 As shown, the base station 2000 also includes a fifth receiving cavity 2010. The fifth receiving cavity 2010 is disposed beside the third receiving cavity 2054 and the fourth receiving cavity 200011, arranged horizontally side-by-side to form an independent storage space for storing spare filter bags or other consumables. When the third receiving cavity 2054 and the fifth receiving cavity 2010 face the same side, they can be opened and closed together via the fourth baffle 200021. At least a portion of the sixth receiving cavity 2020 is located above the fifth receiving cavity 2010, achieving three-dimensional space utilization. The fifth receiving cavity allows users to store filter bags within the base station without additional storage space, facilitating maintenance and operation and improving the user experience.

[0288] The base station disclosed in this application can be used on land, for example, by placing it on the bank of a pool or on the ground. In this case, the base station is in an air environment, and the pool robot can automatically get out of the pool and walk onto the base station. For example, the base station also includes a support member, one end of which is attached to the base station body, and the other end extending below the surface of the pool water, allowing the pool robot to walk from the pool to the support member and then back to the base station body. Alternatively, the support mechanism described in the previous embodiments can be used to remove the pool robot from the pool and place it on a resting surface, and to lift the pool robot from the resting surface and place it back into the pool. Alternatively, the pool robot can be manually carried onto the base station body by a user.

[0289] When the base station is used on shore or on the ground, the first filter box is in the air, and the first nozzle sprays water at least to the side and / or bottom of the first filter box to rinse the side and / or bottom of the first filter box, not only flushing the garbage inside the first filter box out of the first filter box, but also washing away the garbage attached to the side and / or bottom of the first filter box.

[0290] When the base station is placed on the shore or on the ground, the water source for cleaning the first filter box can be municipal water from the user's home. For example, water from a tap. Since municipal water is pumped to the user's tap, the base station may or may not need to have a first water pump. Alternatively, the water source for cleaning the first filter box can be other types of water, such as water from a pool or river. In this embodiment, the base station needs to include at least one first water pump, which draws water from the pool or river to the first nozzle, causing the nozzle to spray water.

[0291] The liquid filtered by the second filter can be discharged into the user's sewer or outdoor lawn; alternatively, it can be discharged into a pool for reuse. Furthermore, the base station also includes a second water pump, which is used to pump the liquid filtered by the second filter out of the base station to accelerate the discharge of the liquid from the base station.

[0292] The base station disclosed in this application can also be placed inside a pool or in a placement area connected to the pool. For example, the base station can be placed on a raised platform inside the pool. For example, the raised platform can be a sun deck or steps within the pool, wherein the sun deck and steps can be separated in the pool, or the sun deck can serve as a step surface of the steps. Alternatively, a recessed placement area can be provided on the pool bank, and the placement area can be connected to the pool through an opening in the pool wall, where the base station can be installed. Alternatively, the base station can be installed on the pool wall; or on the bottom of the pool; or it can be placed in other locations within the pool. When the base station is installed inside the pool or in a placement area, a pool robot can automatically walk back to the base station body from the pool; or, the pool robot can be manually carried to the base station body by a user.

[0293] The base station also includes a drainage channel for discharging the liquid filtered by the second filter box outside the base station; one end of the drainage channel connects to the third receiving cavity, and the other end serves as the final drain outlet. In scenarios where the base station is placed in a pool or placement area, when the pool robot is stationary on the base station body, if the final drain outlet is at least partially or completely below the first liquid level in the pool, the base station also includes at least one second water pump for pumping the liquid filtered by the second filter box out of the base station. If the final drain outlet is above the first liquid level in the pool, the base station may or may not have a second water pump.

[0294] If the base station is placed in a pool or within a designated area, when the pool robot is stationary on the base station, if the first liquid level in the pool is lower than or roughly level with the fourth opening of the base station, the first filter box is located above the fourth opening and is therefore in the air. Alternatively, if the first liquid level in the pool is lower than the bottom of the first filter box, the first filter box is also in the air. The first nozzle sprays liquid onto the first filter box to clean it. The cleaning effect of the first nozzle on the first filter box is roughly the same as if the base station were on land or ground. In other words, the first nozzle sprays water onto the first filter box located in the air to clean the debris inside and adhering to the inner wall of the first filter box.

[0295] The main body of the pool robot is provided with at least one first water outlet, and at least part of the first water outlet is located on the top of the main body. When the pool robot cleans the liquid in the pool, the liquid filtered by the first filter box is discharged out of the pool robot through the first water outlet.

[0296] In scenarios where the base station is placed in a pool or within a designated area, when the pool robot is stationary on the base station, if the first liquid level in the pool is between the bottom of the first filter box and the first outlet, at least a portion of the side of the first filter box is positioned below the first liquid level, creating a second liquid level within the first filter box. This second liquid level can be higher, lower, or equal to the first liquid level. For example, when the pool robot is stationary on the base station, before the first nozzle and second water pump are running, the first liquid level in the pool is between the bottom of the first filter box and the first outlet; or, when at least one of the first nozzle and second water pump is running, the first liquid level in the pool is between the bottom of the first filter box and the first outlet.

[0297] For example, for ease of description, the side portion of the first filter box located below the second liquid surface is referred to as the first side portion, and the side portion of the first filter box located above the second liquid surface is referred to as the second side portion. Since the first side portion is located below the second liquid surface and the second side portion is located above the second liquid surface, that is, the second side portion is in the air environment, when the first nozzle sprays water onto the first side portion and the second side portion, the first impact force of the water sprayed onto the first side portion is greatly reduced, while the second impact force of the water sprayed onto the second side portion is not reduced. The first impact force is less than the second impact force. Therefore, the water sprayed by the first nozzle can clean the garbage attached to the second side portion, but cannot clean the garbage attached to the first side portion.

[0298] Therefore, in order to clean the debris attached to the first side of the first filter box, in this embodiment, the liquid in the first filter box is continuously drawn into the second filter box by operating the aforementioned second water pump (e.g., turning it on or increasing the operating parameters). The liquid is then filtered by the second filter box, making the outflow of water from the first filter box greater than the flow rate of liquid sprayed from the first nozzle into the first filter box (i.e., the inflow of water into the first filter box); or the drainage volume of the second water pump per unit time is greater than the spray volume of the first nozzle per unit time, causing the second liquid level in the first filter box to drop. This keeps the side of the first filter box continuously exposed above the second liquid level, i.e., in the air environment, thereby reducing the proportion of the first side on the side of the first filter box. This allows the water flow sprayed by the first nozzle to clean the second side above the second liquid level.

[0299] For example, in some embodiments, by operating the second water pump, the second liquid level in the first filter box is lowered to or below the third opening of the first filter box. This means that most of the sides of the first filter box are above the second liquid level, allowing the water jet from the first nozzle to clean most of the sides of the first filter box. For instance, if the second water pump is off before adjusting the second liquid level, the controller turns it on when adjustment is needed. Alternatively, if the second water pump is running before adjusting the second liquid level, the controller increases its operating parameters when adjustment is required. Furthermore, the base station also includes a sensor to detect the second liquid level, allowing the controller to control the second water pump to start or adjust its operating parameters based on the sensor's detection signal.

[0300] Alternatively, in some embodiments, the operation of the second water pump adjusts the height of the second liquid level in the first filter box to a preset height; once the second liquid level reaches the preset height, it is kept at the preset height to facilitate the first nozzle spraying liquid to clean the side of the first filter box.

[0301] For example, a first filter screen is provided on the side of the first filter box to form a first filter surface. Debris easily adheres to the first filter screen, so when the first nozzle cleans the side of the first filter box, it primarily cleans the first filter screen. The second water pump adjusts the height of the second liquid level to ensure that the first filter screen is positioned above the second liquid level, i.e., in the air environment. Alternatively, in some embodiments, a first filter screen may or may not be provided at the bottom of the first filter box. If a first filter screen is provided at the bottom of the first filter box, the second water pump adjusts the second liquid level to ensure that the first filter screen at the bottom of the first filter box is also positioned above the second liquid level, facilitating the cleaning of debris adhering to the first filter screen when the first nozzle sprays liquid onto the bottom of the first filter box.

[0302] In other words, if most or all of the first filter screen is below the second liquid surface, the liquid in the first filter box needs to be sucked away by the operation of the second water pump, so that most of the first filter screen is above the second liquid surface, that is, the first filter screen is in the air environment, which makes it easier for the first nozzle to spray liquid onto the first filter screen to wash away the garbage attached to the first filter screen.

[0303] Furthermore, if the base station is placed in a pool or designated area, when the pool robot is stationary on the base station, if the first liquid level in the pool is higher than the first outlet, when the second water pump operates to adjust the height of the second liquid level, the liquid in the pool will flow back through the first outlet into the first filter box. This increases the amount of water entering the first filter box, requiring the water pump to operate at higher parameters to lower the second liquid level so that most of the first filter screen is above the second liquid level. Therefore, in actual use, it is best to keep the first liquid level below the first outlet; however, it can also be above the first outlet. Alternatively, if the base station is placed in a pool or designated area, the second liquid level in the first filter box can be adjusted without using the second water pump; the first nozzle can also spray water onto the sides and bottom of the first filter box to clean it, although the cleaning effect is relatively weaker, it can still clean most of the debris inside the first filter box.

[0304] In some embodiments, if the base station is placed inside a pool or in a designated area, the pool robot is charged wirelessly by the base station.

[0305] In some embodiments, if the base station is placed in a pool or within a designated area, the water source for cleaning the first filter box can be liquid from the pool. In this case, the base station also includes the aforementioned first water pump to pump the liquid from the pool to the first nozzle. Alternatively, the water source for cleaning the first filter box can be municipal water from the user's home, such as tap water. In this embodiment, the liquid filtered by the second filter box can be discharged back into the pool for reuse; alternatively, it can be pumped into the user's sewer or onto the user's outdoor lawn by the operation of the second water pump.

[0306] Furthermore, regardless of whether the base station is used on land or on the ground, or placed in a pool or designated area, the base station also includes a pressurization component to ensure that the water jet from the first nozzle is high-pressure. The pressurization component can be located in the waterway between the clean water source and the first nozzle. For example, the pressurization component includes, but is not limited to, a booster pump, a water hammer pump, a pressure tank, a mechanical pressurization device, an elevated water tank, etc., or the water pressure of the jet from the first nozzle can be increased by reducing the size of the nozzle on the first nozzle.

[0307] The embodiments of this application have been described above with reference to the accompanying drawings. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. This application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A base station, characterized in that, include: Base station body; The second filter box is at least partially disposed within the base station body; The second filter box is used to receive waste discharged from the first filter box of the pool robot; A first sealing box is disposed on the base station body and has a first sealing cavity; An electronic control board is disposed within the first sealed cavity; the electronic control board includes at least one first control unit; At least one actuator is connected to the first control unit; The actuator includes at least a second cleaning component, which includes at least a first nozzle; the first nozzle is used to spray liquid onto the first filter box to clean the first filter box. The first control unit is used at least to control the first nozzle to spray liquid.

2. The base station as described in claim 1, characterized in that, The second cleaning component also includes Liquid inlet component; At least one first valve is provided on the liquid inlet component; the first valve is used to cut off or allow the flow of clean water to the first nozzle. One end of the liquid inlet component is in fluid communication with a clean water source, and the other end is connected to the first nozzle; The first valve is connected to the first control unit. The first control unit controls the opening or closing of the first valve to control the first nozzle to spray liquid or stop spraying liquid.

3. The base station as described in claim 2, characterized in that, The liquid inlet component includes First liquid inlet component; Second liquid inlet component; One end of the first liquid inlet component is movably disposed on one end of the second liquid inlet component, and the other end of the first liquid inlet component is connected to the first nozzle; the other end of the second liquid inlet component is in fluid communication with the clean water source. The second cleaning component also includes A first drive assembly, comprising at least a seventh motor, wherein the seventh motor is at least used to drive the first liquid inlet component to move relative to the second liquid inlet component, thereby causing the first nozzle to switch between a first position and a second position; In a first position, the first nozzle extends into the pool robot and sprays liquid onto the first filter box; In the second position, the first nozzle is removed from the pool robot; The first control unit is connected to the seventh motor, and the first control unit is also used to control the operation of the seventh motor so that the first nozzle can switch between the first position and the second position.

4. The base station as described in any one of claims 1-3, characterized in that, The base station body includes Third cavity; At least one fourth opening connects the third receiving cavity to the outside. The second filter box is disposed within the third receiving cavity; When the pool robot stops on the base station body, the fourth opening is used to allow the trash in the first filter box to fall into the second filter box; A lever mechanism is at least partially disposed within the third receiving cavity; the lever mechanism moves reciprocally to agitate the debris within the second filter box. The first control unit is also used to control the reciprocating movement of the lever mechanism.

5. The base station as described in claim 4, characterized in that, The lever mechanism includes At least one third motor; At least one lever; the third motor is used to drive the lever to reciprocate. The third motor is connected to the first control unit, and the first control unit is also used to control the operation of the third motor.

6. The base station as described in claim 5, characterized in that, The base station also includes At least one detection component is used to detect whether the movement of the lever is abnormal; After the detection component detects abnormal movement of the lever, the first control unit controls the first nozzle to stop spraying liquid.

7. The base station as described in claim 5 or 6, characterized in that, The lever reciprocates between at least the fourth and fifth positions; The base station also includes an unlocking mechanism, which includes at least [missing information]. First unlocking component; When the lever is in the fourth position, the third motor is also used to drive the first unlocking member to move upward, thereby driving the locking mechanism inside the pool robot to move, thereby releasing the locking mechanism from locking the first bottom cover of the first filter box, so that the first bottom cover can open the third opening of the first filter box.

8. The base station as described in any one of claims 1-7, characterized in that, The base station also includes A first shut-off mechanism; the first shut-off mechanism includes at least: Sixth motor; At least one actuating component; the sixth motor is at least used to drive the actuating component to switch between a retracted state and an extended state; In the extended state, the pushing component is used to push the first bottom cover of the first filter box toward the third opening of the first filter box, so that the first bottom cover closes the third opening; The sixth motor is connected to the first control unit, and the first control unit is also used to control the operation of the sixth motor.

9. The base station according to any one of claims 1-8, characterized in that, The base station body includes Third cavity; The second filter box is disposed within the third receiving cavity; At least one first drain outlet is provided on the third receiving cavity; The base station includes At least one second water pump is used to drive the liquid inside the third receiving cavity to be discharged from the first drain outlet outside the base station body; The second water pump is connected to the first control unit, and the first control unit is also used to control the operation of the second water pump.

10. A cleaning system, characterized in that, Including pool robots and base stations; The pool robot includes Second control unit; A second communication module; the second communication module is connected to the second control unit; The base station is any one of claims 1-9; the base station further includes... A first communication module; the first communication module is connected to the first control unit; When the first communication module and the second communication module establish a communication connection, the first control unit controls at least the first nozzle to spray liquid.

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