Water-based station and pool cleaning device

Abstract

A water-based station and a pool cleaning device, the water-based station comprising a base station body, a drag mechanism, a detection assembly and a controller; the base station body has a placement position, and the base station body is arranged on the bank of the pool; the drag mechanism is movably connected with the base station body and can move relative to the base station body between a first position and a second position; the drag mechanism is used for placing in the pool at the first position and placing in the placement position at the second position, and the drag mechanism is used for dragging the pool cleaning device; the detection assembly is used for outputting a detection signal; the controller is arranged on the base station body or the drag mechanism, the controller is electrically connected with the detection assembly, and the controller is used for controlling the drag mechanism to perform a preset operation in the case that it is determined according to the detection signal that there is an obstacle in the placement position.

Description

Technical Field

[0001] This invention relates to the field of swimming pool cleaning technology, specifically to an off-water base station and a swimming pool cleaning device. Background Technology

[0002] As people's living standards improve, the use of private swimming pools is becoming increasingly popular. Pool cleaning equipment, as a convenient and automated tool, is widely used in pool cleaning and maintenance. After cleaning is completed, the equipment is submerged in water, requiring users to manually remove it. This retrieval process is somewhat dangerous, and prolonged submersion can shorten the lifespan of the equipment.

[0003] Therefore, to avoid the drawbacks of pool cleaning equipment being submerged in water and requiring manual retrieval, a water-removal base station is installed to work with the equipment. However, in current technology, the water-removal base station is constantly exposed to the external environment, so foreign objects may be trapped on it, such as plant residue (twigs, leaves), household waste (plastic bags, clothing), hard objects (stones), etc., or even human parts may have penetrated into the base station body. Therefore, how to avoid the impact of obstacles on the towing process during the retrieval of pool cleaning equipment becomes crucial. Summary of the Invention

[0004] The purpose of this invention is to provide an off-water base station and a pool cleaning device to solve the problem of obstacles affecting the off-water base station's ability to carry pool cleaning equipment.

[0005] To achieve the objectives of this invention, the following technical solution is provided:

[0006] In a first aspect, the present invention provides a water-removable base station for swimming pool cleaning equipment, comprising: a base station body, a towing mechanism, a detection component, and a controller; the base station body has a placement position, the base station body being used to be installed on the edge of a swimming pool; the towing mechanism is movably connected to the base station body and is movable relative to the base station body between a first position and a second position, the towing mechanism being used to be placed in the swimming pool in the first position and placed in the placement position in the second position, the towing mechanism being used to tow the swimming pool cleaning equipment; the detection component is used to output a detection signal; the controller is disposed on the base station body or the towing mechanism, the controller being electrically connected to the detection component, the controller being used to control the towing mechanism to perform a preset operation when it is determined, based on the detection signal, that an obstacle exists at the placement position.

[0007] In one embodiment, the water-free base station further includes a power mechanism, which includes a drive structure and a transmission structure. The drive structure is disposed on one of the base station body and the towing mechanism. The transmission structure is connected to the drive structure and to the other of the base station body and the towing mechanism. The drive structure is electrically connected to the controller. The drive structure is used to drive the towing mechanism to move through the transmission structure.

[0008] In one embodiment, the transmission structure includes a first connecting rod, and the driving structure is disposed on the base station body; the first connecting rod includes a first end and a second end, the first end is rotatably connected to the towing mechanism, the second end is rotatably connected to the base station body, and the driving structure is used to drive the first connecting rod to rotate relative to the base station body.

[0009] In one embodiment, the transmission structure further includes a second link, which is rotatably connected to the drive structure and the first link, respectively. The drive structure drives the second link to move, thereby causing the first link to rotate relative to the base station body.

[0010] In one embodiment, the towing mechanism includes an inlet, a sealing section, and a connecting end. The pool cleaning equipment enters the towing mechanism from the inlet. The sealing section is disposed opposite to the inlet. The connecting end is connected to the side of the sealing section facing away from the inlet and is connected to the first end.

[0011] In one embodiment, the driving structure includes a driving motor disposed in the base station body, and the driving motor drives the transmission structure to move; the detection component includes a current sampling circuit, which is used to detect the current of the driving motor to output the detection signal, and the controller is used to determine that there is an obstacle at the placement position when the current of the driving motor is greater than a first threshold.

[0012] In one embodiment, the base station body includes a host body and a support wheel. The support wheel is rotatably connected to the host body. During the movement of the towing mechanism, the towing mechanism drives the support wheel to rotate, and the towing mechanism applies pressure to the support wheel. The detection component includes a pressure sensor, which is used to detect the magnitude of the real-time pressure on the support wheel to output the detection signal. The controller is used to determine that there is an obstacle at the placement location when the real-time pressure on the support wheel is less than a second threshold.

[0013] In one embodiment, the main body includes a first surface and a second surface connected together. The first surface is parallel to the side of the pool, and the second surface has an angle with the first surface. A groove is formed at the connection between the first surface and the second surface. The bearing wheel is received in the groove and protrudes from the first surface and the second surface.

[0014] In one embodiment, the base station body further includes a first terminal, which is used to dock with a second terminal on the pool cleaning device, so that the base station body outputs charging power to the pool cleaning device; the detection component includes a docking detection circuit electrically connected to the first terminal, which is used to output the detection signal; the controller is used to determine the docking status of the first terminal and the second terminal according to the detection signal; if the first terminal and the second terminal fail to dock successfully within a preset time, it is determined that there is an obstacle at the placement position.

[0015] In one embodiment, the base station body further includes a host body, the first terminal is connected to the host body, the first terminal protrudes from the plane where the placement position is located, the towing mechanism has a slot, and when the towing mechanism is in the second position, the first terminal extends into the slot and docks with the second terminal.

[0016] In one embodiment, the detection component includes an attitude detection sensor for detecting the actual motion attitude of the towing mechanism, and the controller is used to compare a preset attitude with the actual motion attitude and determine, based on the comparison result, that there is an obstacle at the placement position.

[0017] In a second aspect, the present invention provides a swimming pool cleaning device, comprising a water-off base station and a swimming pool cleaning device as described in any of the embodiments of the first aspect, wherein the water-off base station is used to dock the swimming pool cleaning device.

[0018] The water-off base station provided by this invention is used in a swimming pool cleaning device, specifically for docking swimming pool cleaning equipment. A towing mechanism retrieves the swimming pool cleaning equipment from the pool and can drive the equipment back to its designated position on the base station body. A detection component is installed to detect the water-off base station and output a detection signal. The controller can determine whether there are obstacles at the placement position based on the received detection signal. When the controller determines that there are obstacles at the placement position, it can control the towing mechanism to perform a preset operation. This protects the towing mechanism and the swimming pool cleaning equipment on it, preventing obstacles from affecting the retrieval of the swimming pool cleaning equipment by the water-off base station and avoiding damage to the towing mechanism or the base station body during the towing process. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 An exterior view of a pool cleaning device installed in a pool, representing one implementation method;

[0021] Figure 2 This is a schematic diagram of the electrical connections of an off-water base station according to one implementation method;

[0022] Figure 3 This is a cross-sectional view of a power mechanism driving a towing mechanism to move in one embodiment;

[0023] Figure 4 This is an external view of one embodiment of a power mechanism driving a towing mechanism to move;

[0024] Figure 5 This is an external view of one implementation method where a power mechanism drives a towing mechanism to move an obstacle.

[0025] Figure 6 This is an external view of a towing mechanism moved to a placement position according to one embodiment;

[0026] Figure 7 This is an external view of one embodiment of the towing mechanism not moved to the placement position;

[0027] Figure 8 This is a flowchart of a control method for an off-water base station, one implementation method.

[0028] Explanation of reference numerals in the attached figures:

[0029] Pool cleaning device-1000, water-free base station-100, pool cleaning equipment-200, base station body-110, placement slope-110A, main body-111, first surface-1111, second surface-1112, groove-1113, bearing wheel-112, first terminal-113, towing mechanism-120, inlet-121, sealing part-122, connecting end-123, slot-124, power mechanism-130, drive structure-130A, transmission structure-130B, first connecting rod-131, first end-1311, second end-1312, second connecting rod-132, detection component-140, current sampling circuit-141, pressure sensor-142, docking detection circuit-143, attitude detection sensor-144, controller-150, pool-2000, obstacle-3000. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or it can be in a middle component. When a component is said to be "connected" to another component, it can be directly connected to the other component or it may be in a middle component.

[0032] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used in this invention includes any and all combinations of one or more of the associated listed items.

[0033] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0034] The present invention provides a swimming pool cleaning device 1000.

[0035] In one implementation method, please refer to Figure 1 The pool cleaning device 1000 includes a water-off base station 100 and a pool cleaning device 200, wherein the water-off base station 100 is docked with the pool cleaning device 200. Specifically, the pool cleaning device 200 is deployed into the pool 2000 to clean the bottom and side walls of the pool 2000. The water-off base station 100 is located on the edge of the pool 2000, specifically on the bank of the pool 2000. In other embodiments, the water-off base station 100 can also be located on the side wall of the pool 2000, above the water surface.

[0036] In one embodiment, the off-water base station 100 is also used to charge the pool cleaning equipment 200. Specifically, the pool cleaning equipment 200 includes a working state and a stopped state. In the working state, the pool cleaning equipment 200 leaves the off-water base station 100 and performs cleaning work in the pool. In the stopped state, the pool cleaning equipment 200 returns to the off-water base station 100 and can be charged at the off-water base station 100.

[0037] This invention provides an off-water base station 100, please refer to [reference needed]. Figures 1-7 .

[0038] In one implementation method, please refer to Figure 1 and Figure 2 The water-based base station 100 includes a base station body 110, a towing mechanism 120, a detection component 140, and a controller 150. The base station body 110 has a placement position and is used to be installed on the edge of a swimming pool. The towing mechanism 120 is movably connected to the base station body 110 and can move between a first position and a second position relative to the base station body 110. In the first position, the towing mechanism 120 is placed in the swimming pool, and in the second position, it is placed at the placement position. The towing mechanism 120 is used to tow the swimming pool cleaning equipment 200. The detection component 140 is used to output detection signals. The controller 150 is located in either the base station body 110 or the towing mechanism 120, and is electrically connected to the detection component 140. The controller 150 is used to control the towing mechanism 120 to perform a preset operation when the detection signal determines that an obstacle exists at the placement position.

[0039] The base station body 110 serves as the main body for docking the pool cleaning equipment 200. The base station body 110 may have a charging mechanism for charging the pool cleaning equipment 200. Of course, the base station body 110 is also used for connecting to an external power source, or for interacting with the outside world. In a specific embodiment, the base station body 110 charges the pool cleaning equipment 200 through a charging interface, and interacts with external smart devices through interactive hardware. In a specific embodiment, the base station body 110 is located on the edge of the pool to prevent water from entering and damaging its internal circuitry, and also to ensure that after the pool cleaning equipment 200 is retrieved, it will not interfere with the activities of people inside the pool.

[0040] The towing mechanism 120 is the main body for receiving, releasing, and securing the pool cleaning equipment 200. The towing mechanism 120 is movably connected to the base station body 110 and can move between a first position and a second position. The first position is located inside the pool; in a specific embodiment, the first position can be the side wall of the pool. After the towing mechanism 120 moves to the first position (i.e., the pool side wall), the pool cleaning equipment 200 can detach from the towing mechanism 120, i.e., leave the water-free base station 100, and clean the side wall of the pool. The second position is located at the placement position, i.e., the position on the base station body 110 for placing the towing mechanism 120.

[0041] It is understandable that the pool cleaning equipment 200 only returns to a stopped state and can be charged after the towing mechanism 120 has fully returned to the second position and engaged and fixed with the base station body 110. However, in the existing technology, since the base station body 110 is exposed to the external environment for a long time, foreign objects may be trapped on the base station body 110 when the towing mechanism 120 has not returned to the second position. These foreign objects may include plant residue (twigs, leaves), household waste (plastic bags, clothing), hard objects (stones), or even human parts that may have entered the base station body 110. When the towing mechanism 120 returns from the first position to the second position, these foreign objects block the towing mechanism 120, preventing it from fully returning to the second position. Therefore, these foreign objects are obstacles to the towing mechanism 120. If the towing mechanism 120 continues to move towards the second position due to the obstruction of these obstacles, it may easily cause damage to the water-removed base station 100, such as cracking of the towing mechanism 120 or the base station body 110, or overload and burnout of the motor. Therefore, it is crucial to avoid obstacles affecting the movement of the towing mechanism 120.

[0042] To address the aforementioned technical problems, this invention includes a detection component 140 in the water-removing base station 100. The detection component 140 is electrically connected to a controller 150. During the movement of the towing mechanism 120 from a first position to a second position, the detection component 140 detects the operational information of each mechanism in the water-removing base station 100 and sends this information to the controller (i.e., sends a detection signal). Upon receiving the detection signal, the controller 150 determines whether an obstacle exists at the placement position. If an obstacle is detected, the controller 150 controls the towing mechanism 120 to perform a preset operation. In a specific embodiment, the towing mechanism 120 performing the preset operation may include: the controller 150 controlling the towing mechanism 120 to stop moving, or the controller 150 controlling the towing mechanism 120 to return to the first position. Of course, if the controller 150 determines that no obstacle exists, the controller 150 controls the towing mechanism 120 to continue moving to return to the second position.

[0043] In specific embodiments, the detection component 140 detects whether there is an obstacle at the placement position using two methods: active detection and passive detection. Active detection involves the detection component 140 detecting the presence of an obstacle at the placement position, directly obtaining the result that an obstacle exists, and outputting a detection signal. This type of active detection can use devices such as cameras, radar, and infrared sensors to directly acquire the position of the obstacle at the placement position and output the detection result. Furthermore, active detection can obtain obstacle information in advance and stop the towing mechanism 120 before it touches the obstacle, thus preventing damage to the towing mechanism 120.

[0044] Alternatively, a passive detection method can be used where the detection component 140 outputs information about changes in other components during the movement of the towing mechanism 120 to the controller 150. The controller 150 then determines whether an obstacle exists at the placement position based on the detection information. This type of passive detection can detect changes in the current of the water-based base station 100, the movement trajectory of moving parts, and the posture of the towing mechanism 120 during movement. If the change in the current of the water-based base station 100 is too large, or if the movement trajectory or posture of the parts deviates, it can be determined that an obstacle exists. Passive detection can obtain information about the obstacle even after the towing mechanism 120 has already come into contact with it, resulting in more accurate judgments and lower costs.

[0045] The water-removable base station 100 provided by this invention is used for a swimming pool cleaning device. A towing mechanism 120 retrieves the swimming pool cleaning equipment 200 from the pool and can drive the swimming pool cleaning equipment 200 back to its placement position on the base station body 110. A detection component 140 is set up to detect the water-removable base station 100 and output a detection signal. The controller can determine whether there is an obstacle at the placement position based on the received detection signal. When the controller determines that there is an obstacle at the placement position, it can control the towing mechanism to perform a preset operation. This protects the towing mechanism 120 and the swimming pool cleaning equipment 200 on the towing mechanism 120, preventing obstacles from affecting the water-removable base station 100's retrieval of the swimming pool cleaning equipment 200, and preventing damage to the towing mechanism 120 or the base station body 110 during the towing process.

[0046] In one implementation method, please refer to Figure 3 and Figure 4 The water-based base station 100 also includes a power mechanism 130, which includes a drive structure 130A and a transmission structure 130B. The drive structure 130A is disposed on one of the base station body 110 and the towing mechanism 120. The transmission structure 130B is connected to the drive structure 130A and to the other of the base station body 110 and the towing mechanism 120. The drive structure 130A is electrically connected to the controller 150. The drive structure 130A is used to drive the towing mechanism 120 to move through the transmission structure 130B.

[0047] Specifically, the power mechanism 130 is the main component that drives the towing mechanism 120 to move. The drive structure 130A and the transmission structure 130B are connected in cooperation. The drive structure 130A is used to generate power, and the transmission structure 130B is used to transmit power and adaptively adjust the posture of the towing mechanism 120 during movement so that the towing mechanism 120 can release the pool cleaning equipment 200 in a first position or stably return to a second position.

[0048] In a specific embodiment, the drive structure 130A can be disposed in the base station body 110, and the transmission structure 130B is used to connect the towing mechanism 120 and the drive structure 130A. The drive structure 130A drives the transmission structure 130B to move, thereby driving the towing mechanism 120 to move. Alternatively, the drive structure 130A can be disposed in the towing mechanism 120, and the transmission structure 130B is used to connect the base station body 110 and the drive structure 130A. The detection component 140 is used to detect the working status of the power mechanism 130 and output the working status of the power mechanism 130 as a detection signal.

[0049] The drive structure 130A is also electrically connected to the controller 150. The controller 150 controls the drive structure 130A to start and generate power to drive the towing mechanism 120 to move. It can also control the drive structure 130A to stop, thus stopping the towing mechanism 120. After the detection component 140 outputs a detection signal, the controller 150 receives the signal and determines whether an obstacle exists based on it. This allows it to control the drive structure 130A and the transmission structure 130B to stop the towing mechanism 120, preventing damage to the water-based base station 100.

[0050] This invention improves driving efficiency by setting up a power mechanism 130, which includes a drive structure 130A and a transmission structure 130B. The drive structure 130A drives the transmission structure 130B to move, thereby driving the towing mechanism 120 back to its placement position. Furthermore, the drive structure 130A is electrically connected to the controller 150. After the detection component 140 outputs a detection signal indicating the working status of the power mechanism 130, the controller 150 uses the detection signal to determine if there is an obstacle. When an obstacle is detected, the controller 150 controls the drive structure 130A to stop, thereby preventing damage to the power mechanism 130.

[0051] In one implementation, Figures 3 to 5 The transmission structure 130B includes a first connecting rod 131, and the drive structure 130A is disposed on the base station body 110. The first connecting rod 131 includes a first end 1311 and a second end 1312. The first end 1311 is rotatably connected to the towing mechanism 120, and the second end 1312 is rotatably connected to the base station body 110. The drive structure 130A is used to drive the first connecting rod 131 to rotate relative to the base station body 110.

[0052] Specifically, the transmission structure 130B includes a first link 131, and the drive structure 130A is disposed on the base station body 110. The first link 131 connects the drive structure 130A and the towing mechanism 120. In the water-removing base station 100, the function of the first link 131 can include transmission and conversion (transmitting power, changing the direction and magnitude of force), motion adjustment (converting linear motion into rotational motion, realizing the complex motion of the towing mechanism 120), and improving mechanical efficiency and stability. Therefore, the first link 131 can have a preset movement path, and the first link 131 always maintains the preset movement path to reciprocate in order to realize the movement of the towing mechanism 120.

[0053] In a specific embodiment, the detection component 140 can detect the motion status of the first link 131 and output the motion status of the first link 131 as a detection signal to the controller. The motion status of the first link 131 may include the real-time motion posture of the first link 131, the motion path of the first link 131, and the motion angle of the first link 131. It is understood that the preset path of the first link 131 is fixed, and during the movement of the first link 131 along the preset path, the spatial coordinates and spatial displacement of the first link 131 are determinable, and both the spatial coordinates and spatial displacement are located within a portion of the preset path. When the detection component 140 detects a change in the spatial coordinates or spatial displacement of the first link 131 during its movement, i.e., when the detection component 140 detects that the actual motion process of the first link 131 does not conform to the preset path, the detection component 140 can output a detection signal.

[0054] In other embodiments, the detection component 140 can detect in advance whether there are obstacles on the preset path of the first link 131 or on the first link 131. That is, the detection component 140 adopts active detection to detect obstacles on the preset path or on the first link 131. Specifically, after the drive structure 130A is started, the towing mechanism 120 moves from the first position to the second position, and the detection component 140 detects obstacles on the path that the first link 131 has not yet reached. When an obstacle is detected on the path that the first link 131 has not yet reached, the detection component 140 detects it and sends a detection signal, and the controller 150 stops the drive structure 130A according to the detection signal. Alternatively, the detection component 140 can detect obstacles on the preset path of the first link 131 after the pool cleaning equipment 200 returns to the towing mechanism 120, and before the drive structure 130A is started. Of course, the detection component 140 can be a device including a camera, radar, infrared sensor, etc.

[0055] The present invention improves the moving efficiency and stability of the towing mechanism 120 by setting a first link 131, and sends the movement of the first link 131 to the controller 150 by setting a detection component 140 to detect the movement of the first link 131 and determine whether there is an obstacle. This ensures that obstacles in the movement of the towing mechanism 120 are detected in time, and avoids damage to the towing mechanism 120 or the base station body 110.

[0056] In one implementation, Figures 3 to 5 The transmission structure 130B also includes a second link 132, which is rotatably connected to the drive structure 130A and the first link 131. The drive structure 130A drives the second link 132 to move, thereby causing the first link 131 to rotate relative to the base station body 110. The detection component 140 can be used to detect whether there are obstacles on the first link 131 and / or the second link 132, and the detection component 140 can also be used to detect whether there are obstacles in the movement path of the first link 131 and / or the second link 132.

[0057] In a specific implementation, the second link 132 connects the first end 1311 and the second end 1312 of the first link 131. The drive structure 130A drives the second link 132 to move along the first direction X. The second link 132 thereby drives and causes the first link 131 to rotate around the second end 1312, so that the towing mechanism 120 moves from the first position to the second position. It can be understood that the cooperation between the first link 131 and the second link 132 can not only realize transmission, but also be used to change the direction of movement of the towing mechanism 120, so that the towing mechanism 120 can stably return to the placement position.

[0058] In one implementation method, please refer to Figure 1 and Figure 6 The towing mechanism 120 includes an inlet 121, a blocking part 122, and a connecting end 123. The pool cleaning equipment 200 enters the towing mechanism 120 from the inlet 121. The blocking part 122 is arranged opposite to the inlet 121. The connecting end 123 is connected to the side of the blocking part 122 facing away from the inlet 121 and is connected to the first end 1311.

[0059] Specifically, the pool cleaning device 200 enters the towing structure 120 through the inlet 121. In a specific embodiment, when the towing mechanism 120 is in the first position, the inlet of the towing mechanism 120 faces the bottom wall of the pool. It can be understood that the first position is the side wall of the pool, so the inlet 121 of the towing mechanism 120 faces the bottom wall of the pool, and the pool cleaning device 200 can enter the towing mechanism 120 from bottom to top along the depth direction of the pool. The blocking part 122 is located opposite the inlet 121, meaning that the pool cleaning device 200 is blocked by the blocking part 122 when entering the towing mechanism 120 from bottom to top. The pool cleaning device 200 can be connected to the blocking part 122. The connecting end 123 is provided on the side of the blocking part 122 facing away from the inlet 121, and the connecting end 123 protrudes from the side of the blocking part 122 to connect to the first end 1311.

[0060] In one implementation method, please refer to Figure 2 and Figure 3 The drive structure 130A includes a drive motor, which is disposed in the base station body 110. The drive motor drives the transmission structure 130B to move. The detection component 140 includes a current sampling circuit 141, which is used to detect the current of the drive motor and output a detection signal. The controller 150 is used to determine that there is an obstacle at the placement position when the current of the drive motor is greater than a first threshold.

[0061] Specifically, the drive structure 130A includes a drive motor, which is installed in the base station body 110. The drive motor drives the transmission structure 130B to move, thereby moving the towing mechanism 120. In a specific embodiment, the drive structure 130A includes a lead screw and a connecting member. The connecting member is connected to the lead screw, which is connected to the drive motor. The connecting member is also connected to the transmission structure 130B. The drive motor drives the connecting member to move along the axial direction of the lead screw, thereby moving the transmission structure 130B. The transmission structure 130B can drive the towing mechanism 120 by changing the direction of the force. The extension direction of the lead screw is the first direction X mentioned above.

[0062] In a specific embodiment, the current sampling circuit 141 is electrically connected to the drive motor. The current sampling circuit 141 can supply current to the motor and also collect the magnitude of the current passing through it. The current sampling circuit 141 collects the real-time current magnitude in the circuit and sends the detected real-time current data as a detection signal to the controller 150. The controller 150 uses the current magnitude as a judgment criterion. It can be understood that when the drive motor drives the transmission structure 130B to move, its output power should be constant, and the current should also remain constant when the voltage is constant. When the drive motor is blocked by an obstacle, or when the transmission structure 130B (or the towing mechanism 120) is blocked by an obstacle, the drive motor continues to output power and increases, resulting in an increase in the current in the circuit, which indicates that there is an obstacle at the placement position. Therefore, the first threshold mentioned above can be the current magnitude of the drive motor when it is working normally (without obstacles).

[0063] This invention collects the current of the drive motor by setting a current sampling circuit 141, and the controller 150 uses this to determine whether there is an obstacle. The current sampling circuit 141 has the advantages of low cost and simple setting method. Therefore, the current sampling circuit 141 can improve detection efficiency and reduce detection cost. Moreover, the circuit design does not need to consider the position of the detection component in order to complete the detection, so as to avoid the situation where the movement of the part interferes with the detection component.

[0064] In one implementation method, please refer to Figures 2 to 5 The base station body 110 includes a main body 111 and a support wheel 112. The support wheel 112 is rotatably connected to the main body 111. During the movement of the towing mechanism 120, the towing mechanism 120 drives the support wheel 112 to rotate and applies pressure to the support wheel 112. The detection component 140 includes a pressure sensor 142, which is used to detect the magnitude of the real-time pressure on the support wheel 112 and output a detection signal. The controller 150 is used to determine that there is an obstacle at the placement location when the real-time pressure on the support wheel 112 is less than a second threshold.

[0065] The main body 111 is the main component used to support the towing mechanism 120 and the pool cleaning equipment 200. In a specific embodiment, the main body 111 includes a placement position, which includes a placement ramp 110A. The placement ramp 110A forms an angle α with the side wall of the pool and an angle β with the edge of the pool. The towing mechanism 120 is placed on the placement ramp 110A. The transmission structure 130B drives the towing mechanism 120 to move upward along the side wall of the pool until it contacts the main body 110. Then, the towing mechanism 120 abuts against the support wheel 112 and moves upward along the ramp until it is fully placed on the placement ramp 110A. The function of the support wheel 112 is to reduce interference during the movement of the towing mechanism 120 from the side of the pool to the placement ramp 110A and to reduce friction to reduce energy consumption and ensure smooth movement. Therefore, in the absence of obstacles, the towing mechanism 120 will always abut against the support wheel 112 during movement.

[0066] In a specific embodiment, pressure sensor 142 is used to detect the applied pressure on the support wheel 112. During the movement of the towing mechanism 120, the towing mechanism 120 is always in contact with the support wheel 112 and applies pressure. If, during the operation of the power mechanism 130 of the towing mechanism 120, the towing mechanism 120 is lifted by a foreign object, and there is no contact or the intimacy of contact between the towing mechanism 120 and the support wheel 112 decreases, the pressure output by the pressure sensor becomes smaller and less than the second threshold. The pressure value received by the controller 150 becomes smaller, and the controller 150 determines that there is an obstacle. Then, it can control the towing mechanism 120 to stop moving to avoid continuously squeezing the foreign object.

[0067] In one implementation method, please refer to Figure 4 The main body 111 includes a first surface 1111 and a second surface 1112 connected together. The first surface 1111 is parallel to the side of the pool, and the second surface 1112 has an angle with the first surface 1111. A groove 1113 is formed at the connection between the first surface 1111 and the second surface 1112. The support wheel 112 is received in the groove 1113 and protrudes from the first surface 1111 and the second surface 1112.

[0068] Specifically, the second surface 1112 can form an angle of 90° or greater with the first surface 1111. In a specific embodiment, the second surface 1112 can form a 90° angle with the first surface 1111, that is, the second surface 1112 is parallel to the plane of the pool's edge. A groove 1113 is provided at the connection between the first surface 1111 and the second surface 1112, and the bearing wheel 112 is engaged in the groove 1113 and rotatably connected to the main body 111. It can be understood that when the towing mechanism 120 moves along the side of the pool, it will pass through the first surface 1111, and because the bearing wheel 112 protrudes from the first surface 1111, the towing mechanism 120 connects to and presses against the bearing wheel 112; when the towing mechanism 120 moves and rotates to pass through the second surface 1112, because the bearing wheel 112 still protrudes from the second surface 1112, the towing mechanism 120 remains connected to and presses against the bearing wheel 112. This not only enables the towing mechanism 120 to change its direction of movement during rotation, but also transforms the original sliding friction into rolling friction, reducing friction and improving the movement efficiency of the towing mechanism 120.

[0069] Specifically, the first terminal 113 is disposed on the aforementioned placement slope 110A and protrudes from the placement slope 110A. Since the bottom surface of the towing mechanism is parallel to the placement surface after the towing mechanism returns to the second position, and the placement slope 110A is a slope relative to the horizontal plane, in order to fix the towing mechanism 120, the first terminal 113 can be inserted into the towing mechanism 120, and the slot 124 cooperates with the first terminal 113 to prevent the towing mechanism 120 from sliding downward.

[0070] In one implementation method, please refer to Figures 3 to 7 The base station body 110 also includes a first terminal 113, which is used to connect with a second terminal on the pool cleaning equipment 200 so that the base station body 110 outputs charging power to the pool cleaning equipment; the detection component 140 includes a docking detection circuit 143 electrically connected to the first terminal 113, which is used to output a detection signal, and the controller 150 is used to determine the docking status of the first terminal 113 and the second terminal according to the detection signal. If the first terminal 113 and the second terminal fail to dock successfully within a preset time, it is determined that there is an obstacle at the placement position.

[0071] The base station body 110 also includes a first terminal 113, which can be connected to the host body 111 in the above embodiment. The first terminal 113 can be a charging power interface and is electrically connected to an external power supply line. The pool cleaning device 200 includes a second terminal. In a specific embodiment, the first terminal 113 and the second terminal can be a male connector and a female connector, respectively. The first terminal 113 and the second terminal are engaged to allow the base station body 110 to charge the pool cleaning device 200.

[0072] After the towing mechanism 120 moves from the first position to the second position along a preset path, the first terminal 113 and the second terminal are properly connected. However, if the towing mechanism 120 is blocked by an obstacle, it cannot return to the second position, and the first terminal 113 and the second terminal cannot be connected (which can be understood as no current being generated between them). Therefore, the detection component 140 can be configured to include a connection detection circuit 143, which is used to detect the connection status of the first terminal 113 and the second terminal and continuously output a detection signal.

[0073] In a specific embodiment, the time taken for the towing mechanism 120 to move along the preset path should be fixed, i.e., there is a preset time for completing the preset path. Therefore, the determination criterion of the docking detection circuit 143 also includes the connection status of the first terminal 113 and the second terminal after the preset time. For example, if it takes 10 seconds (the preset time) for the towing mechanism 120 to move from the first position to the second position, the docking detection circuit 143 can start continuous detection from the moment the towing mechanism 120 starts from the first position and output the detected detection signal to the controller. Within the preset time, the detection signal received by the controller 150 should indicate that the first terminal 113 and the second terminal are not docked. If, after continuously receiving the detection signal for 10 seconds, the detection signal still indicates that the first terminal 113 and the second terminal have not successfully docked, the controller 150 determines that there is an obstacle and controls the towing mechanism 120 to perform the preset operation.

[0074] In one embodiment, wireless charging is used between the base station and the pool cleaning equipment. The base station includes a transmitter, and the pool cleaning equipment includes a receiver. The transmitter sends electromagnetic signals to the receiver, which converts the electromagnetic signals into current to output charging energy to the pool cleaning equipment. The detection component 140 includes a docking detection circuit electrically connected to the transmitter. The docking detection circuit outputs a detection signal, and the controller 150 determines the electromagnetic connection status of the transmitter and receiver based on the detection signal. If the transmitter and receiver fail to dock successfully within a preset time, it is determined that an obstacle exists at the placement location. In a specific embodiment, the transmitter and receiver can be magnetic induction coils.

[0075] It is understood that the docking detection circuit operates in the same way as the docking detection circuit for the first terminal in the above embodiment. The docking detection circuit can continuously detect from the moment the towing mechanism 120 starts from the first position and output the detected detection signal to the controller. Within a preset time period, the detection signal received by the controller 150 should indicate that the transmitter and receiver have not docked. Even after the towing mechanism moves to the second position, if the detection signal still indicates that the transmitter and receiver have not docked successfully, the controller 150 will determine that there is an obstacle and control the towing mechanism 120 to perform a preset operation.

[0076] In one implementation method, please refer to Figure 6 and Figure 7 The first terminal 113 is connected to the main body 111. The first terminal 113 protrudes from the plane where the placement position is located. The towing mechanism 120 has a slot 124. When the towing mechanism 120 is in the second position, the first terminal 113 extends into the slot 124 and docks with the second terminal.

[0077] Specifically, the first terminal 113 is disposed on the aforementioned placement slope 110A and protrudes from the placement slope 110A. Since the bottom surface of the towing mechanism 120 is parallel to the placement slope 110A after the towing mechanism 120 returns to the second position, and the placement slope 110A is a slope relative to the horizontal plane, in order to fix the towing mechanism 120, the first terminal 113 can be inserted into the towing mechanism 120, and the slot 124 cooperates with the first terminal 113 to prevent the towing mechanism 120 from sliding downward.

[0078] In one implementation method, please refer to Figure 2 The detection component 140 includes an attitude detection sensor 144 for detecting the actual movement attitude of the towing mechanism 120, and a controller 150 for comparing the preset attitude with the actual movement attitude and determining the presence of an obstacle at the placement position based on the comparison result.

[0079] During the process of moving along a preset path and reaching the second position within a preset time period, the towing mechanism 120, driven by the power mechanism 130, should maintain a fixed posture at each time interval of the preset time period. It is understood that the towing mechanism 120 does not always move on the same plane; it initially moves from the side wall of the pool (first position), then moves to the placement ramp 110A and is fully positioned on the placement ramp 110A (second position), at which point its posture changes because there is an angle between the pool side wall and the placement ramp 110A. If, in the presence of an obstacle, the towing mechanism 120 fails to reach the corresponding position at a fixed time, or its posture upon reaching the corresponding position is incorrect, this can be used as a basis for judgment.

[0080] In a specific embodiment, the attitude detection sensor 144 can be an inertial measurement sensor. After the water-removal base station 100 is installed, and after the towing mechanism 120 completes the first towing of the pool cleaning equipment 200, the attitude detection sensor 144 can output the preset attitude data and the corresponding timestamp, and store the preset attitude data and the corresponding timestamp to obtain an attitude reference template. When the towing mechanism 120 subsequently tows the pool cleaning equipment 200, the attitude detection sensor 144 can acquire the actual motion attitude in real time and compare the actual motion attitude data with the preset data. If the error is too large, a detection signal is output.

[0081] In one embodiment, the water-based base station 100 further includes a communication module, which is located inside or outside the controller 150. The communication module is electrically connected to the controller 150 and is used to transmit signals to an external receiver.

[0082] The communication module includes one or more of the following: a Wi-Fi module, a 4G signal module, a 5G signal module, and a Bluetooth module. It is understood that the communication module is primarily a wireless communication module. The communication module can be located within the controller 150 or externally connected to the controller 150. Based on the detected signal, the controller 150 can also send a prompt message to an external receiver via the communication module to indicate that a foreign object has become stuck between the base station body 110 and the towing mechanism 120. In a specific embodiment, the external receiver may include, but is not limited to, a mobile phone or a computer.

[0083] It should be noted that the detection component 140 may include at least one of the following: current sampling circuit 141, pressure sensor 142, docking detection circuit 143, and attitude detection sensor 144. That is, the water-off base station 100 may include any one of the above detection components, or it may include all of the above detection components.

[0084] Based on the aforementioned water-off base station 100, this invention also provides a control method for the water-off base station 100, specifically an obstacle detection and response method for the water-off base station 100. Please refer to [reference needed]. Figure 8 .

[0085] In one embodiment, the control method for the off-water base station includes:

[0086] Step S100: Control the towing mechanism to move the pool cleaning equipment from the first position to the second position.

[0087] Step S200: The detection device detects the water-based base station and outputs a detection signal.

[0088] Step S300: Receive the detection signal and determine whether there is an obstacle at the placement position based on the detection signal.

[0089] Step S400: If it is determined that there is an obstacle at the placement location, control the towing mechanism to perform a preset operation.

[0090] Specifically, in step S100, the controller controls the power mechanism to drive the towing mechanism to move the pool cleaning equipment from a first position to a second position; wherein the second position is the placement position on the base station body. In step S200, the detection component detects information about each component of the water-free base station during the movement of the towing mechanism and outputs the detected information as a detection signal; wherein the detection work of the detection component can be performed before the towing mechanism starts, that is, steps S100 and S200 are not necessarily sequential. In step S300, the controller receives the detection signal and determines whether there is an obstacle based on the detection signal. In step S400, if the controller determines that there is an obstacle at the placement position, it controls the towing mechanism to perform a preset operation.

[0091] In one embodiment, in step S100, controlling the towing mechanism to move the pool cleaning equipment from a first position to a second position specifically includes: the controller controlling the towing mechanism to move from the first position to the second position along a preset path, a preset posture, and a preset duration.

[0092] It is understandable that the water-based cleaning station is fixedly installed on the edge of the pool. Driven by the power mechanism, the towing mechanism moves from a first position to a second position. With the cooperation of the connecting rod and the drive motor, the towing mechanism should always move in a fixed posture and along the same path each time it tows the pool cleaning equipment. Since both the path and posture remain fixed, the movement time is also fixed. Therefore, in a specific embodiment, the posture of the pool cleaning equipment being towed from the first position to the second position for the first time using the water-based cleaning station can be set as a preset posture, the movement path as a preset path, and the time taken to move from the first position to the second position as a preset time.

[0093] In one embodiment, the detection component includes a current sampling circuit. In step S200, the detection device detects the water-based base station and outputs a detection signal. Specifically, the current sampling circuit continuously detects the magnitude of the current when the drive motor is working within a preset time period and outputs the current value as a detection signal to the controller.

[0094] In one embodiment, the controller stores a first threshold. In step S300, a detection signal is received and the presence of an obstacle at the placement position is determined based on the detection signal. Specifically, the controller compares the current value in the detection signal with the magnitude of the first threshold. If the current value in the detection signal is greater than the first threshold, it is determined that an obstacle exists.

[0095] In a specific embodiment, the detection signal output by the current sampling circuit includes a normal signal and an abnormal signal. The normal signal is data where the current value of the drive motor is equal to or less than a first threshold, and the abnormal signal is data where the current value of the drive motor is greater than the first threshold. The controller stores the first threshold. The current value of the drive motor is collected in real time by the current sampling circuit and sent to the controller as a detection signal. If the controller finds that the current value is greater than the first threshold, the controller confirms that an obstacle has been detected.

[0096] In one embodiment, the detection component includes a pressure sensor. In step S200, the detection device detects the water-free base station and outputs a detection signal. Specifically, the pressure sensor continuously detects the real-time pressure on the bearing wheel within a preset time period and outputs the pressure value as a detection signal to the controller.

[0097] In one embodiment, the controller stores a second threshold. In step S300, a detection signal is received and the presence of an obstacle at the placement position is determined based on the detection signal. Specifically, the controller compares the pressure value in the detection signal with the magnitude of the second threshold. If the pressure value in the detection signal is less than the second threshold, it is determined that an obstacle exists.

[0098] In a specific embodiment, the detection signal output by the pressure sensor includes a normal signal and an abnormal signal. The normal signal is data where the pressure value of the bearing wheel is equal to or greater than a first threshold, and the abnormal signal is data where the pressure value of the bearing wheel is less than the first threshold. The controller stores a second threshold. When the pressure sensor collects the pressure value of the bearing wheel in real time and sends it to the controller as a detection signal, if the controller determines that the pressure value is less than the second threshold, the controller confirms that an obstacle has been detected.

[0099] In one embodiment, the detection component includes a docking detection circuit. In step S200, the detection device detects the water-based base station and outputs a detection signal. Specifically, the docking detection circuit continuously detects the docking status of the first terminal and the second terminal for a period of time exceeding a preset time. The docking status includes the current of the first terminal and the second terminal, and the current value is output to the controller as a detection signal.

[0100] In one embodiment, in step S300, receiving a detection signal and determining whether there is an obstacle at the placement position based on the detection signal specifically includes: the controller determining whether the first terminal and the second terminal generate current; if, after a preset time period, the detection signal includes no current generated at the first terminal and the second terminal, then it is determined that there is an obstacle.

[0101] In a specific embodiment, after a preset time period, the detection signal output by the docking detection circuit includes a normal signal and an abnormal signal. The normal signal is that current is generated between the first terminal and the second terminal (i.e., current is generated and the current value is greater than 0). The abnormal signal is that no current is generated between the first terminal and the second terminal (i.e., no current is generated and the current value is 0). When the controller receives the detection signal that no current is generated between the first terminal and the second terminal, the controller confirms that an obstacle has been detected.

[0102] In one embodiment, the detection component includes an attitude detection sensor. In step S200, the detection device detects the water-off base station and outputs a detection signal. Specifically, the attitude detection sensor detects the actual motion attitude of the towing mechanism and outputs the actual attitude data as a detection signal to the controller.

[0103] In one embodiment, the controller stores a preset posture. In step S300, a detection signal is received and the presence of an obstacle at the placement position is determined based on the detection signal. Specifically, the controller compares the preset posture with the actual motion posture. If the actual motion posture is different from the preset posture, then an obstacle is determined to exist.

[0104] In a specific embodiment, the attitude detection sensor outputs actual motion attitude data to the controller, and the preset attitude data and corresponding timestamps are stored in the controller. The controller obtains the actual motion attitude data output by the attitude detection sensor in real time and compares the actual motion attitude data with the preset data.

[0105] In a specific embodiment, the controller stores multiple timestamps within a preset time period, as well as the attitude of the towing mechanism corresponding to the timestamp. Taking the fifth second of the towing mechanism movement as one of the timestamps, the preset attitude corresponding to the fifth second stored in the controller is the first attitude, and the attitude detection sensor detects the actual movement attitude at the fifth second as the second attitude. When the controller compares the second carrier with the first attitude and the error is too large, it determines that there is an obstacle.

[0106] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship of the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and other indicators are based on the orientation or positional relationship of the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0107] The above description discloses only one preferred embodiment of the present invention, and should not be construed as limiting the scope of the present invention. Those skilled in the art will understand that all or part of the processes of the above embodiments can be implemented, and equivalent changes made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A water-based base station, characterized in that, For mooring pool cleaning equipment, including: The base station body has a placement position, and the base station body is used to be set on the shore of the swimming pool; A towing mechanism is movably connected to the base station body and can move between a first position and a second position relative to the base station body. When the towing mechanism is in the first position, it is placed in the pool, and when it is in the second position, it is placed at the placement position. The towing mechanism is used to tow the pool cleaning equipment. The detection component is used to output the detection signal; A controller is disposed on the base station body or the towing mechanism. The controller is electrically connected to the detection component. The controller is used to control the towing mechanism to perform a preset operation when it is determined from the detection signal that there is an obstacle at the placement position.

2. The water-free base station according to claim 1, characterized in that, The water-free base station also includes a power mechanism, which includes a drive structure and a transmission structure. The drive structure is disposed on one of the base station body and the towing mechanism. The transmission structure is connected to the drive structure and to the other of the base station body and the towing mechanism. The drive structure is electrically connected to the controller. The drive structure is used to drive the towing mechanism to move through the transmission structure.

3. The water-free base station according to claim 2, characterized in that, The transmission structure includes a first connecting rod, and the driving structure is disposed on the base station body; the first connecting rod includes a first end and a second end, the first end is rotatably connected to the towing mechanism, the second end is rotatably connected to the base station body, and the driving structure is used to drive the first connecting rod to rotate relative to the base station body.

4. The water-off base station according to claim 3, characterized in that, The transmission structure further includes a second link, which is rotatably connected to the drive structure and the first link. The drive structure drives the second link to move, thereby causing the first link to rotate relative to the base station body.

5. The water-off base station according to claim 3, characterized in that, The towing mechanism includes an inlet, a sealing section, and a connecting end. The pool cleaning equipment enters the towing mechanism from the inlet. The sealing section is positioned opposite to the inlet. The connecting end is connected to the side of the sealing section facing away from the inlet and is connected to the first end.

6. The water-free base station according to claim 2, characterized in that, The driving structure includes a drive motor, which is disposed in the base station body. The drive motor drives the transmission structure to move. The detection component includes a current sampling circuit, which is used to detect the current of the drive motor to output the detection signal. The controller is used to determine that there is an obstacle at the placement position when the current of the drive motor is greater than a first threshold.

7. The water-free base station according to claim 1, characterized in that, The base station body includes a host body and a support wheel. The support wheel is rotatably connected to the host body. During the movement of the towing mechanism, the towing mechanism drives the support wheel to rotate and applies pressure to the support wheel. The detection component includes a pressure sensor, which is used to detect the magnitude of the real-time pressure on the support wheel and output the detection signal. The controller is used to determine that there is an obstacle at the placement location when the real-time pressure on the support wheel is less than a second threshold.

8. The water-off base station according to claim 7, characterized in that, The main body includes a first surface and a second surface connected together. The first surface is parallel to the side of the pool, and the second surface has an angle with the first surface. A groove is formed at the connection between the first surface and the second surface. The bearing wheel is received in the groove and protrudes from the first surface and the second surface.

9. The water-free base station according to claim 1, characterized in that, The base station body also includes a first terminal, which is used to connect with a second terminal on the pool cleaning device so that the base station body outputs charging power to the pool cleaning device; the detection component includes a docking detection circuit electrically connected to the first terminal, which is used to output the detection signal; the controller is used to determine the docking status of the first terminal and the second terminal based on the detection signal; if the first terminal and the second terminal fail to dock successfully within a preset time, it is determined that there is an obstacle at the placement position.

10. The water-free base station according to claim 9, characterized in that, The base station body also includes a host body. The first terminal is connected to the host body and protrudes from the plane where the placement position is located. The towing mechanism has a slot. When the towing mechanism is in the second position, the first terminal extends into the slot and docks with the second terminal.

11. The water-free base station according to claim 1, characterized in that, The detection component includes an attitude detection sensor for detecting the actual movement attitude of the towing mechanism, and the controller is used to compare the preset attitude with the actual movement attitude and determine the presence of an obstacle at the placement position based on the comparison result.

12. A swimming pool cleaning device, characterized in that, Includes the water-off base station and pool cleaning equipment as described in any one of claims 1-11, wherein the water-off base station is used to dock the pool cleaning equipment.

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