Swimming pool robot recharging method, swimming pool robot and base station thereof

Abstract

The present disclosure provides a pool robot charging method, a pool robot and a base station thereof. The method comprises: when the pool robot is in a charging mode, if the turning of the flap assembly continues to a set value, which causes the illumination range of the optical emission module to at least partially illuminate outside a preset safety height threshold range from the pool bank, the flap assembly is controlled to switch from a first state to a second state to keep the visible light beam emitted by the optical emission module within the preset safety height threshold range from the pool bank; wherein, in the first state, the optical emission module is kept to work in a first data range, the first data range including one or more of a first power, a scanning range, and a brightness range; in the second state, the optical emission module works in a second data range, the values in the second data range being smaller than the values in the first data range. Thus, the risk of causing damage to the eyes of users or animals can be reduced.

Description

Technical Field

[0001] This disclosure relates to the field of swimming pool robot technology, and in particular to a swimming pool robot recharging method, a swimming pool robot and its base station. Background Technology

[0002] Pool robots are fully automated underwater cleaning devices that autonomously clean the bottom, walls, and waterline of a pool using built-in sensors, a navigation system, and a cleaning module, without human intervention. When some robots need charging, they can be guided by a light spot emitted from a base station. The robot uses a camera to identify the position and shape of the light spot, calculates its relative position and attitude, and then docks with the pool.

[0003] However, when the light spot shines into the eyes of users or animals at the poolside, there is a risk of eye damage to the users or animals. Summary of the Invention

[0004] To address the technical problem of potential eye damage to users or animals when light spots shine on the eyes of those on the poolside in existing technologies, this disclosure provides a pool robot recharging method, a pool robot, and its base station, which can reduce the risk of eye damage to users or animals.

[0005] According to a first aspect of the present disclosure, a method for recharging a swimming pool robot is provided. The swimming pool robot is guided to charge via a base station. The base station includes a charging base disposed on shore and a flip-plate assembly rotatably connected to the charging base. The flip-plate assembly is provided with an optical emission module, which guides the swimming pool robot to move toward the flip-plate assembly by emitting a visible light beam. The flip-plate assembly causes the swimming pool robot to be exposed from an underwater position to a surface position, and the swimming pool robot returns to the charging base on shore for charging. The method includes: When the pool robot is in recharging mode, if the flap assembly continues to rotate by the set value, causing the illumination range of the optical emission module to at least partially illuminate beyond the preset safe height threshold range from the pool shore, the flap assembly is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within the preset safe height threshold range from the pool shore. In the first state, the optical emission module is kept operating within a first data range, which includes one or more of a first power, a scanning range, and a brightness range. In the second state, the optical emission module operates in the second data range, where the values ​​in the second data range are less than those in the first data range, and the data in the second data range correspond one-to-one with the data in the first data range.

[0006] Based on the embodiments of this disclosure, the working state of the optical emission module can be dynamically adjusted based on whether the continued rotation of the flap assembly will cause the illumination range of the optical emission module to at least partially extend beyond a preset safe height threshold range from the pool edge. This keeps the visible light beam emitted by the optical emission module within the preset safe height threshold range from the pool edge, reducing the probability that the visible light beam emitted by the optical emission module will illuminate the eyes of users or animals on the pool edge, thereby reducing the risk of eye damage to users or animals.

[0007] In some optional implementations, the preset safe height threshold range is no more than 50 centimeters above the pool edge; or The preset safe height threshold range is no more than the plane range where the highest point of the pool edge is located. or The settings include at least one of the following: preset angle, preset time, and preset distance.

[0008] Based on the embodiments of this disclosure, by setting the preset safety height threshold range to no more than 50 centimeters above the pool edge, the preset safety height threshold range can be set accordingly according to the needs of users or animals at the pool edge, making the preset safety height threshold range operable and adaptable. It can specifically prevent the optical emission module from illuminating the eyes of people or animals at the pool edge, improving the accuracy and reliability of safety protection. By setting the preset safety height threshold range to no more than the plane range of the highest point of the pool edge, it can adapt to different pool edge terrains, making the preset safety height threshold range cover the highest point of the pool terrain, reducing the probability of blind spots that may occur due to terrain undulations. By setting the setting value to include at least one of preset angle, preset time, and preset distance, multiple values ​​can be used to characterize the rotation of the flap component, improving the applicability of the setting value in different scenarios.

[0009] In some optional implementations, when the pool robot is in recharging mode, if the flap assembly continues to rotate by a set value, causing the illumination range of the optical emission module to at least partially extend beyond a preset safe height threshold range from the pool shore, the flap assembly is controlled to switch from a first state to a second state, prior to which the following steps are also included: If the flap assembly is in the first state, the optical emission module is at least partially submerged in water, and the visible light beam emitted by the optical emission module forms a visible light spot in the pool. Control the pool robot to move to the location of the visible light spot; Control the pool robot to move towards the flip panel assembly. Once the flip panel assembly supports the pool robot, control the flip panel assembly to rotate relative to the charging base.

[0010] Based on the embodiments disclosed herein, the optical emission module can guide the pool robot to move toward the flip-up assembly using visible light spots while submerged in water. The flip-up assembly then supports the pool robot and brings it from an underwater position to a surface position, thereby improving the accuracy of guiding the pool robot toward the flip-up assembly.

[0011] According to a second aspect of the present disclosure, a method for recharging a swimming pool robot is provided. The swimming pool robot is guided to charge via a base station. The base station includes a charging base disposed on shore and a flip-plate assembly rotatably connected to the charging base. The flip-plate assembly is provided with an optical emission module, which guides the swimming pool robot to move toward the flip-plate assembly by emitting a visible light beam. The flip-plate assembly causes the swimming pool robot to be exposed from an underwater position to a surface position, and the swimming pool robot returns to the charging base on shore for charging. The method includes: When the pool robot is in recharging mode, if the flap assembly continues to rotate by the set value, causing the illumination range of the optical emission module to at least partially illuminate beyond the preset safe height threshold range from the pool shore, the flap assembly is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within the preset safe height threshold range from the pool shore. In the first state, the optical emission module is kept operating within a first data range, which includes one or more of a first power, a scanning range, and a brightness range. In the second state, the optical emission module operates in the second data range, where the values ​​are less than those in the first data range. In the second state, one or more of the pool robot's suction component, walking component, and cleaning component are activated, and the data in the second data range correspond one-to-one with the data in the first data range.

[0012] Based on the embodiments disclosed herein, on the one hand, the visible light beam emitted by the optical emission module can be kept within a preset safe height threshold range from the pool shore, reducing the risk of damage to the eyes of users or animals; on the other hand, in the second state, one or more of the suction component, walking component, and cleaning component of the pool robot can be kept running, so that the working state adjustment of the optical emission module can be carried out in parallel with the suction, walking, or cleaning operations of the pool robot, which can take into account both the safety of use and the working efficiency of the pool robot.

[0013] In some alternative implementations, the optical emission module operates in the second data range, including: Turn off the optical emission module; or... Reduce the output power of the optical emission module to a preset power range, which meets the optical radiation safety range.

[0014] Based on the embodiments disclosed herein, the visible light beam emitted by the optical emission module can be made so that even if it accidentally shines outside the preset safe height threshold range from the pool shore, it will not cause harm to the human eye, thereby reducing the risk of damage to the eyes of users or animals.

[0015] In some alternative implementations, the optical emission module operates in the second data range, including: The area facing the water surface in the scanning range of the optical emission module is blocked; and / or The scanning range of the optical emission module is controlled to scan only the area away from the water surface and away from the light source.

[0016] Based on the embodiments of this disclosure, without changing the output power of the optical emission module itself, the direction or range of the visible light beam emitted by the optical emission module can be constrained to keep the visible light beam emitted by the optical emission module away from the water surface. This reduces the probability of the visible light beam emitted by the optical emission module illuminating the water surface and the shore while maintaining the guiding function of the optical emission module, thereby reducing the risk of damage to the eyes of users or animals.

[0017] In some alternative implementations, the area facing the water surface within the scanning range of the optical emission module is blocked, including: A shield is installed on the base station. In a first state, the shield is controlled to not obstruct the scanning range of the optical emission module; in a second state, the shield is controlled to obstruct the area of ​​the optical emission module's scanning range facing the water surface; or... A shielding cover is installed on the base station. In a first state, the shielding cover is controlled to not obstruct the scanning range of the optical emission module; in a second state, the color of the shielding cover is adjusted to a color with a transmittance within a preset range; or the color of the shielding cover is adjusted so that its color absorbs the color of the optical emission module; or... The base station includes a displacement component, on which an optical emission module is mounted. In a first state, the optical emission module is moved to the outside of the base station housing by the displacement component; in a second state, the optical emission module is moved to the inside of the base station housing by the displacement component or the illumination range of the optical emission module is moved away from the area facing the water surface of the pool.

[0018] Based on the embodiments of this disclosure, the illumination range of the visible light beam emitted by the optical emission module can be constrained by hardware control methods such as shielding covers and displacement components, so that the visible light beam emitted by the optical emission module avoids the water surface and the area above it. Furthermore, various optional implementation methods can enable the base station to be adapted to different models and scenarios, thereby improving the applicability of the base station in different usage scenarios.

[0019] In some alternative implementations, the method further includes at least one of the following: The optical emission module is activated after the pool robot is detected to have entered the water. The optical emission module is activated after receiving a recharge request command from the pool robot.

[0020] Based on the embodiments of this disclosure, the activation timing of the optical emission module can be controlled according to the water entry action or recharge request command of the pool robot, thereby reducing the working time of the optical emission module during unnecessary periods and thus reducing the safety exposure risk of the optical emission module during unnecessary periods.

[0021] In some optional implementations, when the pool robot is in recharging mode, if the flap assembly continues to rotate by a set value, causing the illumination range of the optical emission module to at least partially extend beyond a preset safe height threshold range from the pool shore, then the flap assembly is controlled to switch from a first state to a second state, including: When the pool robot is in recharging mode, as it moves from the pool towards the flip-up assembly, the flip-up assembly is controlled to switch from the first state to the second state; or When the flap assembly continues to rotate until its preset area is exposed to the water surface, the flap assembly is controlled to switch from the first state to the second state, where the preset area is the distance between the rotation center and the open end of the flap assembly.

[0022] Based on the embodiments of this disclosure, the timing for controlling the switching state of the flip panel can be used by moving the pool robot toward the flip panel assembly or exposing a preset area of ​​the flip panel assembly to the water surface. This allows the flip panel assembly to switch to the second state in a timely manner when the illumination range of the optical emission module may exceed the preset safe height threshold range from the pool shore, thereby improving the timeliness of keeping the visible beam emitted by the optical emission module within the preset safe height threshold range from the pool shore.

[0023] According to a third aspect of the present disclosure, a method for recharging a swimming pool robot is provided. The swimming pool robot is guided to charge via a base station. The base station includes a charging base disposed on shore and a flip-plate assembly rotatably connected to the charging base. The flip-plate assembly is provided with an optical emission module, which guides the swimming pool robot to move toward the flip-plate assembly by emitting a visible light beam. The flip-plate assembly causes the swimming pool robot to be exposed from an underwater position to a surface position, and the swimming pool robot returns to the charging base on shore for charging. The method includes: When the pool robot is in recharging mode, if the pool robot and the flip-up assembly are at a preset distance, the flip-up assembly will switch from a first state to a second state to maintain the visible light beam emitted by the optical emission module within a preset safe height threshold range from the pool edge; where the preset distance is the distance between the front end of the pool robot and the open end of the flip-up assembly; or When the pool robot is in recharging mode, if the pool robot is in a state of climbing relative to the flip panel or the flip panel is in a state of flipping the pool robot toward the charging base, the flip panel is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within a preset safe height threshold range from the pool shore. In the first state, the optical emission module is kept operating within a first data range, which includes one or more of a first power, a scanning range, and a brightness range. In the second state, the optical emission module operates in the second data range, where the values ​​in the second data range are less than those in the first data range, and the data in the second data range correspond one-to-one with the data in the first data range.

[0024] Based on the embodiments of this disclosure, the preset distance between the pool robot and the flip-board assembly, the state of the pool robot climbing relative to the flip-board assembly, and the state of the flip-board assembly driving the pool robot to flip towards the charging base can be used as the basis for controlling the switching state of the flip-board assembly. In this way, when the illumination range of the optical emission module may exceed the preset safe height threshold range from the pool shore, the visible light beam emitted by the optical emission module can be kept within the preset safe height threshold range from the pool shore. This can reduce the probability that the visible light beam emitted by the optical emission module will shine into the eyes of users or animals on the pool shore, thereby reducing the risk of damage to the eyes of users or animals.

[0025] According to a fourth aspect of the present disclosure, a base station for a swimming pool robot is provided. The base station includes a charging base disposed on a shore and a flip-plate assembly rotatably connected to the charging base. An optical emission module is disposed on the flip-plate assembly. The optical emission module guides the swimming pool robot to move toward the flip-plate assembly by emitting a visible light beam. The flip-plate assembly causes the swimming pool robot to be exposed from an underwater position to a water surface position. The swimming pool robot returns to the charging base on the shore for charging. The optical emission module guides the swimming pool robot to recharge by emitting a visible light beam. The base station is used to implement the swimming pool robot recharging method of any embodiment of the first, second, or third aspect described above.

[0026] Based on the embodiments of this disclosure, during the process of the flip-up assembly driving the pool robot from an underwater position to a surface position, the working state of the optical emission module can be dynamically adjusted based on the rotation of the flip-up assembly. This keeps the visible light beam emitted by the optical emission module within a preset safe height threshold range from the pool shore, reducing the probability that the visible light beam emitted by the optical emission module will shine into the eyes of users or animals on the pool shore, thereby reducing the risk of damage to the eyes of users or animals.

[0027] According to a fifth aspect of the present disclosure, a swimming pool robot is provided, which is used for recharging according to any embodiment of the swimming pool robot recharging method of the first, second or third aspect described above.

[0028] Based on the embodiments of this disclosure, during the recharging process of the pool robot, the working state of the optical emission module can be dynamically adjusted according to the rotation of the flap assembly, thereby keeping the visible light beam emitted by the optical emission module within a preset safe height threshold range from the pool shore. This can reduce the probability of the visible light beam emitted by the optical emission module shining into the eyes of users or animals on the pool shore, thereby reducing the risk of damage to the eyes of users or animals.

[0029] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0030] The accompanying drawings, which are incorporated in and form part of this disclosure, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0031] Figure 1 This is a schematic diagram of a pool robot recharging system according to an exemplary embodiment of the present disclosure.

[0032] Figure 2 This is a flowchart illustrating a first swimming pool robot recharging method according to an exemplary embodiment of the present disclosure.

[0033] Figure 3 This is a flowchart illustrating a second method for recharging a swimming pool robot according to an exemplary embodiment.

[0034] Figure 4 This is a flowchart illustrating a third method for recharging a swimming pool robot according to an exemplary embodiment of the present disclosure.

[0035] Figure 5 This is a flowchart illustrating a fourth method for recharging a swimming pool robot according to an exemplary embodiment.

[0036] Figure 6 and Figure 7 This disclosure is a flowchart illustrating a fifth type of pool robot recharging according to an exemplary embodiment.

[0037] Figure 8 This is a schematic diagram illustrating the working principle of an optical emission module according to an exemplary embodiment of the present disclosure.

[0038] Figure 9This disclosure is a schematic diagram illustrating the search principle of a pool robot according to an exemplary embodiment.

[0039] Figure 10 This is a schematic cross-sectional view illustrating a pool robot recharging according to an exemplary embodiment of the present disclosure.

[0040] Figure 11 This disclosure is a block diagram illustrating an electronic device according to an exemplary embodiment.

[0041] Figure label: 10 swimming pools; 101 Base station, 102 Charging stand, 103 Flip panel assembly, 104 Optical emission module, 105 Water surface, 107 Laser swing direction, 108 First laser, 109 Second laser; 20 pool robots, 201 camera field of view; 30 charging areas.

[0042] The accompanying drawings have illustrated specific embodiments of this disclosure, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this disclosure to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0043] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0044] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0045] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0046] The acquisition and processing of data in this disclosure comply with relevant laws, regulations, social ethics, and provisions concerning public interests. For example, the acquisition, storage, and processing of data in this disclosure were all carried out with the knowledge and consent of the users, and have obtained the full authorization of the relevant users.

[0047] Some solutions that use light spots to guide robots back to their charging stations have the following key failure scenarios during engineering implementation: Thermal failure problem: High-power light sources generate significant heat during long-term continuous operation or in strong light compensation mode, and traditional air cooling is insufficient to meet the heat dissipation requirements of enclosed base stations.

[0048] Safety risks: The increased transmission power to overcome sunlight interference often exceeds the safety level for human eyes (Class 1 / 2), posing legal compliance and usage risks.

[0049] Coverage blind spots: A fixed projection angle cannot ensure that the signal reaches the bottom of the pool in irregularly shaped pools, and the light signal is easily blocked by the pool wall, causing the recharging to be interrupted.

[0050] The embodiments of this disclosure will now be described in detail.

[0051] This disclosure provides a swimming pool robot recharging system, such as... Figure 1 As shown, the pool robot recharging system includes a pool robot 20 and a base station 101. The pool robot 20 is guided to charge via the base station 101. The base station 101 is located in the charging area 30. The base station 101 includes a charging base 102 located on the shore and a flip-plate assembly 103 rotatably connected to the charging base 102. An optical emission module 104 is provided on the flip-plate assembly 103.

[0052] Figure 2 This is a flowchart illustrating a first method for recharging a swimming pool robot according to an exemplary embodiment. This method can be applied to electronic devices such as base stations.

[0053] Here, the pool robot 20 is guided to charge via base station 101. Base station 101 includes a charging base 102 set on the shore and a flip-plate assembly 103 rotatably connected to the charging base 102. An optical emission module 104 is set on the flip-plate assembly 103. The optical emission module 104 guides the pool robot 20 to move toward the flip-plate assembly 103 by emitting a visible light beam. The flip-plate assembly 103 drives the pool robot 20 from an underwater position to a position 105 on the water surface. The pool robot 20 then returns to the charging base 102 on the shore to charge.

[0054] In this embodiment, the pool robot 20 is mainly used for cleaning and maintaining the pool. Specifically, the pool robot 20 can move on the surface or in the water of the pool 10 to perform cleaning and maintenance. In some embodiments, the pool robot 20 may include a controller or control system, a body, a suction assembly, a walking assembly, a cleaning assembly, and a buoyancy adjustment unit. The buoyancy adjustment unit is used to adjust the buoyancy of the pool robot 20, so that the pool robot 20 can float or submerge in the water of the pool 10.

[0055] Base station 101 is a device for charging the pool robot 20, and base station 101 is set on the shore. Base station 101 includes charging base 102 and flip panel assembly 103.

[0056] The charging dock 102 is located on the shore and is used to charge the pool robot 20 when the pool robot 20 returns to the charging dock 102.

[0057] The flap assembly 103 is rotatably connected to the charging base 102, and the flap assembly 103 is rotatable relative to the charging base 102. For example, the flap assembly 103 has a rotation center and an open end, and the flap assembly 103 is rotatable relative to the charging base 102 about the rotation center. The flap assembly 103 is used to support the pool robot 20 and drive the pool robot 20 from an underwater position to a surface position.

[0058] An optical emission module 104 is disposed on the flip-up assembly 103. The optical emission module 104 guides the pool robot 20 to move toward the flip-up assembly 103 by emitting a visible light beam. In this embodiment, the optical emission module 104 may include one or more of a laser emitter and an LED light source. The visible light beam emitted by the optical emission module 104 can form a visible light spot within the pool 10, and the pool robot 20 can locate itself by recognizing this visible light spot. The number of optical emission modules 104 may be one or more. As an example, see [link to example]. Figure 10 If the guiding laser on base station 101 is emitted in a fixed direction, it may not be detected by the pool robot 20 moving along the edge. Therefore, in Figure 10In the cross-sectional view shown, the laser oscillates up and down in a cyclic manner, making it easier for the pool robot 20 to detect. Specifically, the first laser 108 and the second laser 109 can oscillate up and down in a cyclic manner according to the laser oscillation direction 107, making it easier for the guiding laser to appear in the camera field of view 201 of the pool robot 20.

[0059] In some alternative implementations, the thermally conductive substrate of the optical emission module 104 is directly coupled to the metal casing of the base station 101 submerged in water via a high thermal conductivity medium, which may include thermally conductive silicone grease or liquid metal. In this way, the water in the pool 10 can be used as a heat dissipation tank, and the temperature rise caused by the high-power emission of the optical emission module 104 can be eliminated through convective heat transfer in the water. This allows the optical emission module 104 inside the base station 101 to maintain a safe operating temperature even when operating with high-power pulses under direct sunlight.

[0060] In some alternative implementations, the optical emission module 104 can employ narrow pulse modulation technology, replacing the constant light source with a high-frequency coded signal. The duty cycle of the narrow pulse modulation technology is adjustable. In this way, while ensuring that the instantaneous peak power is sufficient to penetrate the water and reach the bottom of the pool (the instantaneous peak power needs to be at least 10mW depending on water depth, environment, and other factors), the average radiated power of the optical emission module 104 can be reduced to within safety limits. The pool robot 20 can extract the signal using a frequency matching algorithm to filter out ambient white light noise.

[0061] In some alternative implementations, the optical emission window of the optical emission module 104 is positioned below the immersion line of the base station 101, allowing the visible light beam emitted by the optical emission module 104 to directly enter the water body without passing through the air section. In this way, total internal reflection loss of the visible light beam at the air-water interface can be avoided, and the water depth can be used as a background filter to improve the signal-to-noise ratio of the light spot at the bottom of the pool.

[0062] In some alternative implementations, the front end of the optical emission module 104 can integrate a micro servo control mechanism or a MEMS (Micro-Electro-Mechanical Systems) oscillating mirror to support adjustment of the emission elevation and rotation angles of the optical emission module 104 in the X and Y axes. See also Figure 8 When the pool bottom is uneven with bends or chamfers (i.e., pool 10 is an irregularly shaped pool), the pool robot 20 can begin searching around a certain chamfer (randomly). If the projected laser is at a fixed angle, there is no guarantee that the laser will fall on the path the machine searches. See also Figure 9If the laser beam is emitted at a fixed angle, it may be projected directly onto the wall of pool 10, making it invisible to the robot during the search. However, by using the method described above, for irregularly shaped pools, base station 101 can dynamically adjust the projection angle to ensure that the visible beam can be shifted from the pool bottom to the target area. When the pool robot 20 reports a lost signal, base station 101 can activate scanning mode to assist in the search.

[0063] In some alternative implementations, the optical emission module 104 can guide the pool robot 20 towards the flip-up assembly 103 by emitting a visible light beam. For example, the optical emission module 104 can guide the pool robot 20 to a first position by emitting a visible light beam, and then move it to the flip-up assembly 103 by other non-beam methods (e.g., by acquiring images of the flip-up assembly 103 based on a visual sensor), wherein the distance between the first position and the flip-up assembly 103 is less than or equal to a preset distance threshold. As another example, the optical emission module 104 can also guide the pool robot 20 by emitting a visible light beam until the pool robot 20 moves onto the flip-up assembly 103.

[0064] like Figure 2 As shown, the method specifically includes: S101, when the pool robot is in recharging mode, if the flap assembly 103 continues to rotate by a set value, causing the illumination range of the optical emission module to at least partially illuminate beyond the preset safe height threshold range from the pool shore, then the flap assembly 103 is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within the preset safe height threshold range from the pool shore.

[0065] In the first state, the optical emission module is kept operating within a first data range, which includes one or more of the following: first power, scanning range, and brightness range.

[0066] In the second state, the optical emission module operates in the second data range, where the values ​​in the second data range are less than those in the first data range, and the data in the second data range correspond one-to-one with the data in the first data range.

[0067] In this embodiment, the pool robot 20 refers to a robot capable of moving within the pool 10 and performing cleaning and maintenance. The pool robot 20 is guided to charge via the base station 101. In this embodiment, the pool robot 20 is mainly used for pool cleaning and maintenance, and it can move on the water surface 105 or in the water within the pool 10.

[0068] Base station 101 is a device for guiding the charging of pool robot 20. Base station 101 includes charging base 102 set on the shore and flip plate assembly 103 rotatably connected to charging base 102. Optical emission module 104 is provided on flip plate assembly 103.

[0069] The charging dock 102 is located on the shore and is used to charge the pool robot 20 after it returns to the charging dock 102.

[0070] The flip-up assembly 103 is rotatably connected to the charging base 102. The flip-up assembly 103 can rotate relative to the charging base 102. An optical emission module 104 is provided on the flip-up assembly 103. The flip-up assembly 103 is used to support the pool robot 20 and drive the pool robot 20 from an underwater position to a surface position.

[0071] An optical emission module 104 is disposed on the flip-up assembly 103. The optical emission module 104 guides the pool robot 20 to move toward the flip-up assembly 103 by emitting a visible light beam. In this embodiment, the optical emission module 104 may include one or more of a laser emitter and an LED light source. The visible light beam emitted by the optical emission module can form a visible light spot in the pool 10. The number of optical emission modules 104 may be one or more.

[0072] Visible beam refers to the beam emitted by the optical emission module used to guide the movement of the pool robot 20. Visible beam can form a visible light spot within the pool 10.

[0073] The recharge mode refers to the working mode in which the pool robot 20 returns to the base station 101 for charging. When the pool robot 20 is in the recharge mode, the pool robot 20 moves towards the flip panel assembly 103 under the guidance of the visible light beam emitted by the optical emission module 104. The flip panel assembly 103 drives the pool robot 20 from an underwater position to a surface position, and the pool robot 20 returns to the charging base 102 on the shore for charging.

[0074] The set value refers to the amount of rotation of the flip assembly 103. Continued rotation of the flip assembly 103 by the set value will cause a change in the illumination range of the optical emission module 104. In this embodiment, the set value may include at least one of a preset angle, a preset time, and a preset distance.

[0075] The illumination range refers to the spatial range that the visible light beam emitted by the optical emission module 104 can illuminate. Since the optical emission module 104 is mounted on the flip assembly 103, the illumination range of the optical emission module 104 changes as the flip assembly 103 rotates.

[0076] The preset safe height threshold range from the pool edge refers to the height range set to prevent visible light beams emitted by the optical emission module from shining into the eyes of users or animals near the pool edge. In this embodiment, the preset safe height threshold range from the pool edge can be no more than 50 centimeters above the pool edge, or it can be no more than the plane range of the highest point of the pool edge.

[0077] The first state and the second state are two operating states of the flip panel assembly 103. In the first state, the optical emission module 104 operates within a first data range; in the second state, the optical emission module 104 operates within a second data range.

[0078] The first data range includes one or more of the following: first power, scanning range, and brightness range. Values ​​within the second data range are less than those within the first data range, and the data within the second data range corresponds one-to-one with the data within the first data range. For example, the first power may refer to the operating power of the optical emission module 104 in a first state; the scanning range may refer to the scanning range of the optical emission module in the first state; and the brightness range may refer to the brightness range of the optical emission module 104 in the first state. The one-to-one correspondence between the data within the second data range and the data within the first data range means that when the second data range includes the second power, the second power corresponds to the first power and the second power is less than the first power, and so on.

[0079] In some alternative implementations, the optical emission module 104 guides the pool robot 20 to move toward the flip panel assembly 103 by emitting a visible light beam. This means that the visible light beam emitted by the optical emission module 104 forms a visible light spot in the pool 10, and the pool robot 20 moves to the location of the visible light spot and then moves toward the flip panel assembly.

[0080] In some alternative implementations, the flip-plate assembly 103 drives the pool robot 20 from an underwater position to a surface position. This means that after the flip-plate assembly 103 supports the pool robot 20, the flip-plate assembly 103 rotates relative to the charging base 102, so that the pool robot 20 is exposed from an underwater position to a surface position as the flip-plate assembly 103 rotates.

[0081] In some optional implementations, if the flap assembly 103 continues to rotate by a set value, causing the illumination range of the optical emission module 104 to at least partially extend beyond the preset safe height threshold range from the pool edge, this means that since the optical emission module 104 is mounted on the flap assembly 103, continued rotation of the flap assembly 103 will change the orientation of the optical emission module 104, thereby causing the illumination range of the optical emission module to at least partially extend beyond the preset safe height threshold range from the pool edge. In this embodiment, the above process can refer to a trend, that is, if the flap assembly 103 continues to rotate by a set value, the illumination range of the optical emission module 104 will at least partially extend beyond the preset safe height threshold range from the pool edge, rather than indicating that the illumination range of the optical emission module 104 has already at least partially extended beyond the preset safe height threshold range from the pool edge. In this case, to prevent the illumination range of the optical emission module from at least partially extending beyond the preset safe height threshold range from the pool edge, the flap assembly 103 is controlled to switch from the first state to the second state.

[0082] In some optional implementations, controlling the flap assembly 103 to switch from the first state to the second state means that the executing entity of the method controls the operating state of the optical emission module 104 on the flap assembly 103 to switch from the first data range to the second data range, so as to keep the visible light beam emitted by the optical emission module 104 within a preset safe height threshold range from the pool edge. For example, in the second state, the operating power of the optical emission module 104 can be reduced, the scanning range of the optical emission module 104 can be limited, or the illumination brightness of the optical emission module 104 can be reduced, so that the visible light beam emitted by the optical emission module remains within the preset safe height threshold range from the pool edge.

[0083] Based on the embodiments of this disclosure, when the pool robot 20 is in recharging mode, if the flap assembly 103 continues to rotate by a set value, causing the illumination range of the optical emission module 104 to at least partially extend beyond a preset safe height threshold range from the pool edge, then the flap assembly 103 is controlled to switch from a first state to a second state. This maintains the visible light beam emitted by the optical emission module within the preset safe height threshold range from the pool edge. In the first state, the optical emission module 104 operates within a first data range, and in the second state, the optical emission module 104 operates within a second data range. If the value within the range is less than the value within the first data range, the operating state of the optical emission module 104 can be dynamically adjusted based on whether the continued rotation of the flip panel assembly 103 will cause the illumination range of the optical emission module 104 to at least partially illuminate outside the preset safe height threshold range from the pool shore. This will keep the visible light beam emitted by the optical emission module 104 within the preset safe height threshold range from the pool shore, thereby reducing the probability that the visible light beam emitted by the optical emission module 104 will illuminate the eyes of users or animals on the pool shore, and thus reducing the risk of damage to the eyes of users or animals.

[0084] In some optional implementations of this embodiment, the preset safe height threshold range is no more than 50 centimeters above the pool edge.

[0085] Alternatively, the preset safe height threshold range can be set to not exceed the plane range of the highest point on the pool edge.

[0086] Alternatively, the settings may include at least one of the following: preset angle, preset time, and preset distance.

[0087] The preset safe height threshold range is defined as not exceeding 50 centimeters above the pool edge, meaning that the preset safe height threshold range is defined according to the preset height value of the pool edge. For example, to prevent the visible light beam emitted by the optical emission module 104 from shining into the eyes of people or animals on the pool edge, the preset height value can be set to not exceed 50 centimeters above the pool edge.

[0088] The preset safe height threshold range is defined as the area within the plane where the highest point of the pool edge is located. This means that the preset safe height threshold range is defined according to the terrain features of the pool edge. In this embodiment, the highest point of the pool edge is not limited to the highest point of the pool wall of the pool 10, but can also be the highest point of other terrain structures set on the pool edge, such as the top of the wall, platform surface, steps, or the outer edge of the wave-breaking ditch or drainage ditch.

[0089] The set value includes at least one of preset angle, preset time, and preset distance, which means that the amount of rotation of the flap assembly 103 can be characterized by at least one of the angle of rotation of the flap assembly 103, the time of rotation of the flap assembly 103, or the distance corresponding to the rotation of the flap assembly 103.

[0090] Based on the embodiments of this disclosure, by setting the preset safety height threshold range to no more than 50 centimeters above the pool edge, the preset safety height threshold range can be set according to the needs of users or animals at the pool edge, making the preset safety height threshold range operable and adaptable. It can specifically prevent the optical emission module 104 from illuminating the eyes of people or animals at the pool edge, improving the accuracy and reliability of safety protection. By setting the preset safety height threshold range to no more than the plane range of the highest point of the pool edge, it can adapt to different pool edge terrains, making the preset safety height threshold range cover the highest point of the pool terrain, reducing the probability of blind spots caused by terrain undulations. By setting the setting value to include at least one of preset angle, preset time, and preset distance, multiple values ​​can be used to characterize the rotation of the flap assembly 103, improving the applicability of the setting value in different scenarios.

[0091] In some optional implementations of this embodiment, the optical emission module operates in the second data range, specifically including: Turn off the optical emission module; or reduce the output power of the optical emission module to a preset power range that meets the optical radiation safety range.

[0092] Here, turning off the optical emission module 104 means stopping the optical emission module 104 from emitting visible light beams, thereby preventing the visible light beams emitted by the optical emission module from shining outside the preset safe height threshold range from the pool shore.

[0093] Reducing the output power of the optical emission module 104 to a preset power range, where the preset power range meets the safe range for light radiation, means decreasing the output power of the optical emission module 104 so that its output power is within the preset power range that meets the safe range for light radiation. For example, within the preset power range, the output power of the optical emission module 104 can be kept within the preset power range so that even if it is accidentally exposed to the human eye, it will not cause harm to the human eye.

[0094] Based on the embodiments of this disclosure, by turning off the optical emission module 104 or reducing the output power of the optical emission module 104 to a preset power range that meets the safe range of light radiation, the visible light beam emitted by the optical emission module 104 can be made to not cause harm to the human eye even if it accidentally shines outside the preset safe height threshold range of the pool shore, thereby reducing the risk of damage to the eyes of users or animals.

[0095] In some optional implementations of this embodiment, the optical emission module operates in the second data range, specifically including: The area facing the water surface in the scanning range of the optical emission module is blocked; and / or The scanning range of the optical emission module is controlled to scan only the area away from the water surface and away from the light source.

[0096] In this context, "blocking the area of ​​the scanning range of the optical emission module 104 facing the water surface 105" means that the area of ​​the scanning range of the optical emission module 104 facing the water surface 105 is blocked by blocking, thereby preventing the visible light beam emitted by the optical emission module 104 from shining on the water surface.

[0097] Here, controlling the scanning range of the optical emission module 104 to scan only towards the area away from the water surface 105 means adjusting the scanning direction of the optical emission module 104 so that the scanning range of the optical emission module 104 is only towards the area away from the water surface 105, thereby preventing the visible light beam emitted by the optical emission module 104 from shining towards the water surface.

[0098] Based on the embodiments of this disclosure, by blocking the area of ​​the scanning range of the optical emission module 104 facing the water surface 105, and / or controlling the scanning range of the optical emission module 104 to scan only towards the area away from the light source and away from the water surface 105, the visible light beam emitted by the optical emission module 104 can be kept away from the water surface by constraining the direction or range of the visible light beam emitted by the optical emission module 104 without changing its own output power. This reduces the probability of the visible light beam emitted by the optical emission module 104 illuminating the water surface 105 and the shore, thereby reducing the risk of damage to the eyes of users or animals.

[0099] In some application scenarios of the above-mentioned optional implementations, the area facing the water surface in the scanning range of the optical emission module 104 that is blocked can specifically include any of the following: The first item is to install a shield on the base station. In the first state, the shield is controlled to not block the scanning range of the optical emission module; in the second state, the shield is controlled to block the area of ​​the optical emission module facing the water surface in the scanning range.

[0100] Here, in the first state, the shield does not block the scanning range of the optical emission module 104, so the optical emission module 104 can achieve omnidirectional scanning; in the second state, by shielding the area facing the water surface 105 in the scanning range of the optical emission module 104, the optical emission module 104 can only illuminate the illuminable area and avoid illuminating the unilluminable area facing the water surface.

[0101] The second item is that a shield is installed on the base station. In the first state, the shield is controlled to not block the scanning range of the optical emission module. In the second state, the color of the shield is adjusted to a color with a transmittance within a preset range. Alternatively, the color of the shield is adjusted so that the color of the shield absorbs the color of the optical emission module.

[0102] Here, a shield is provided on the base station 101. In the first state, the shield is controlled to not block the scanning range of the optical emission module 104; in the second state, the color of the shield is adjusted to a color with a transmittance within a preset range; or the color of the shield is adjusted so that the color of the shield absorbs the color of the optical emission module 104. In this way, the shield can block at least part of the optical emission module 104 from shining outward.

[0103] Thirdly, the base station 101 includes a displacement component, on which an optical emission module is mounted. In a first state, the optical emission module is moved to the outside of the housing of the base station 101 by the displacement component; in a second state, the optical emission module is moved to the inside of the housing of the base station 101 by the displacement component or the illumination range of the optical emission module is moved away from the area facing the water surface 105 of the pool 10.

[0104] Here, the base station includes a displacement component, and an optical emission module 104 is mounted on the displacement component. In a first state, the optical emission module 104 is moved to the outside of the housing of the base station 101 by the displacement component. In a second state, the optical emission module 104 is moved to the inside of the housing of the base station 101 by the displacement component or the illumination range of the optical emission module 104 is moved away from the area facing the water surface 105 of the pool 10. As an example, the optical emission module 104 can be mounted on the displacement component. In the second state, the optical emission module is moved to the inside of the housing of the base station 101 by the displacement component, thereby blocking the optical emission module 104 and preventing it from illuminating the outside of the housing of the base station 101, thus avoiding illumination of the area facing the water surface 105 of the pool 10.

[0105] Based on the embodiments of this disclosure, by setting a shield on the base station 101 and controlling the shield to block the area facing the water surface in the scanning range of the optical emission module 104 in the second state, or by adjusting the color of the shield to a color with a transmittance within a preset range, or by adjusting the color of the shield to absorb the color of the optical emission module 104, or by moving the optical emission module into the housing of the base station 101 through a displacement component, or by moving the illumination range of the optical emission module 104 away from the area facing the water surface 105 of the pool 10, the illumination range of the visible light beam emitted by the optical emission module 104 can be constrained by hardware control methods such as shields and displacement components, so that the visible light beam emitted by the optical emission module avoids the water surface 105 and the area above it. Furthermore, the various optional implementation methods can enable the base station 101 to be adapted to different models and scenarios, thereby improving the applicability of the base station in different usage scenarios.

[0106] In some optional implementations of this embodiment, the method further includes at least one of the following: The first step is to activate the optical emission module after detecting that the pool robot has entered the water.

[0107] The activation of the optical transmission module 104 upon detecting the entry of the pool robot 20 into the water means that the base station 101 senses the entry action of the pool robot 20 into the water through sensors, and activates the optical transmission module 104 after the pool robot 20 enters the water. For example, the base station 101 can sense the entry action of the pool robot 20 into the water through pressure, capacitance, or communication sensors, and activate the optical transmission module 104 for target guidance once the pool robot 20 enters the water.

[0108] The second step is to activate the optical emission module after receiving the recharge request command from the pool robot 20.

[0109] The activation of the optical transmission module 104 upon receiving a recharge request command from the pool robot 20 means that the base station 101 is in a standby state, and the optical transmission module 104 is activated only after receiving the recharge request command from the pool robot 20. For example, the base station 101 may be in a standby state, and the optical transmission module 104 may only be activated upon receiving a recharge request command from the pool robot 20 via radio, underwater acoustics, or specific optical coding.

[0110] Based on the embodiments of this disclosure, by activating the optical emission module 104 after detecting that the pool robot 20 has entered the water, and / or after receiving a recharge request instruction from the pool robot 20, the activation timing of the optical emission module 104 can be controlled according to the water entry action or recharge request instruction of the pool robot 20, thereby reducing the working time of the optical emission module 104 during periods of non-necessity, and thus reducing the safety exposure risk of the optical emission module 104 during periods of non-necessity.

[0111] In some optional implementations of this embodiment, when the pool robot is in recharging mode, if the flap assembly continues to rotate by a set value, causing the illumination range of the optical emission module to at least partially extend beyond a preset safe height threshold range from the pool shore, then the flap assembly is controlled to switch from the first state to the second state, including: When the pool robot is in recharging mode, as it moves from the pool towards the flip-up assembly 103, the flip-up assembly 103 is controlled to switch from the first state to the second state; or When the flap assembly 103 continues to rotate until the preset area of ​​the flap assembly 103 is exposed to the water surface 105, the flap assembly 103 is controlled to switch from the first state to the second state, wherein the preset area is the distance between the rotation center and the open end of the flap assembly 103.

[0112] Specifically, when the pool robot 20 is in recharging mode, and the pool robot 20 moves from the pool 10 to the flip panel assembly 103, the flip panel assembly 103 is controlled to switch from the first state to the second state. This means that the timing of the switch of the flip panel assembly 103 is the movement of the pool robot 20 from the pool to the flip panel assembly 103.

[0113] When the flap assembly 103 continues to rotate until a preset area of ​​the flap assembly 103 is exposed to the water surface 105, the flap assembly 103 is controlled to switch from the first state to the second state. This means that the timing of switching the state of the flap assembly 103 is when the preset area of ​​the flap assembly 103 is exposed to the water surface 105. The preset area is the distance between the rotation center and the open end of the flap assembly 103.

[0114] Based on the embodiments of this disclosure, by controlling the flip panel assembly 103 to switch from a first state to a second state when the pool robot 20 moves from the pool 10 to the flip panel assembly 103, or by controlling the flip panel assembly 103 to switch from a first state to a second state when the flip panel assembly 103 continues to rotate until a preset area of ​​the flip panel assembly 103 is exposed to the water surface, the movement of the pool robot 20 to the flip panel assembly 103 or the exposure of a preset area of ​​the flip panel assembly 103 to the water surface can be used as the timing for controlling the flip panel assembly 103 to switch states. This ensures that the flip panel assembly 103 switches to the second state in a timely manner when the illumination range of the optical emission module 104 may exceed the preset safe height threshold range from the pool shore, thereby improving the timeliness of keeping the visible beam emitted by the optical emission module 104 within the preset safe height threshold range from the pool shore.

[0115] Figure 3This is a flowchart illustrating a second method for recharging a swimming pool robot according to an exemplary embodiment. The swimming pool robot 20 is guided to charge via a base station 101. The base station 101 includes a charging base 102 disposed on the shore and a flip-plate assembly 103 rotatably connected to the charging base 102. An optical emission module 104 is disposed on the flip-plate assembly 103. The optical emission module 104 guides the swimming pool robot 20 to move toward the flip-plate assembly 103 by emitting a visible light beam. The flip-plate assembly 103 causes the swimming pool robot 20 to be exposed from an underwater position to a water surface position 105, and the swimming pool robot 20 returns to the charging base 102 on the shore for charging.

[0116] like Figure 3 As shown, the method specifically includes: S201, if the flap assembly is in the first state, the optical emission module is at least partially submerged in water, and the visible light beam emitted by the optical emission module forms a visible light spot in the pool.

[0117] In this embodiment, if the flap assembly 103 is in the first state, controlling the optical emission module 104 to be at least partially submerged in water means that in the first state, the optical emission module 104 is at least partially located below the water surface, and the visible light beam emitted by the optical emission module 104 enters the water and forms a visible light spot in the pool 10.

[0118] S202, control the pool robot to move to the location of the visible light spot.

[0119] In this embodiment, controlling the pool robot 20 to move to the location of the visible light spot means that the pool robot 20 moves to the location of the visible light spot under the guidance of the visible light spot formed by the visible light beam emitted by the optical emission module 104.

[0120] S203, control the pool robot to move towards the flip panel assembly, and after the flip panel assembly supports the pool robot, control the flip panel assembly to rotate relative to the charging base.

[0121] In this embodiment, the pool robot 20 is controlled to move toward the flip-board assembly 103. After the flip-board assembly 103 supports the pool robot, the flip-board assembly 103 is controlled to rotate relative to the charging base 102. This means that the pool robot 20 moves toward the flip-board assembly 103 along the visible light spot. After the flip-board assembly 103 supports the pool robot 20, the flip-board assembly 103 rotates relative to the charging base 102 to drive the pool robot 20 from an underwater position to a surface position.

[0122] S204, when the pool robot is in recharging mode, if the flap assembly continues to rotate by a set value, causing the illumination range of the optical emission module to at least partially illuminate beyond the preset safe height threshold range from the pool shore, then the flap assembly is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within the preset safe height threshold range from the pool shore.

[0123] In the first state, the optical emission module 104 is kept operating in a first data range, which includes one or more of a first power, a scanning range, and a brightness range.

[0124] In the second state, the optical emission module 104 operates in the second data range, where the values ​​in the second data range are less than those in the first data range, and the data in the second data range correspond one-to-one with the data in the first data range.

[0125] In this embodiment, S204 and Figure 1 The steps S101 in the corresponding embodiments are basically the same, and will not be described again here.

[0126] Based on the embodiments of this disclosure, by controlling the optical emission module 104 to be at least partially submerged in water and forming a visible light spot in the pool 10 before the control flap assembly 103 switches from the first state to the second state, controlling the pool robot 20 to move to the location of the visible light spot, and then controlling the pool robot 20 to move towards the flap assembly 103, and controlling the flap assembly 103 to rotate relative to the charging base 102 after the flap assembly 103 supports the pool robot, the optical emission module 104 can guide the pool robot 20 to move towards the flap assembly 103 through the visible light spot while submerged in water. Then, the flap assembly 103 supports the pool robot 20 and drives the pool robot 20 from an underwater position to a surface position, which can improve the accuracy of guiding the pool robot 20 to move towards the flap assembly 103.

[0127] It should be noted that, in addition to the contents described above, this embodiment may also include... Figure 1 The corresponding technical features described in the corresponding embodiments, thereby achieving Figure 1 For details on the technical effects of the swimming pool robot recharging method shown, please refer to [link / reference needed]. Figure 1 The relevant descriptions are presented concisely and will not be elaborated upon here.

[0128] It should also be noted that, where there is no conflict, the technical features described in different alternative implementations can be included in the same embodiment. For the sake of brevity, they will not be elaborated here.

[0129] Figure 4This is a flowchart illustrating a third method for recharging a swimming pool robot according to an exemplary embodiment of this disclosure. This method can be applied to electronic devices such as base stations.

[0130] Here, the pool robot 20 is guided to charge via a base station 101. The base station includes a charging base 102 set on the shore and a flip-plate assembly 103 rotatably connected to the charging base 102. An optical emission module is set on the flip-plate assembly 103. The optical emission module 104 guides the pool robot to move toward the flip-plate assembly 103 by emitting a visible light beam. The flip-plate assembly 103 drives the pool robot 20 from an underwater position to a surface position, and the pool robot 20 returns to the charging base 102 on the shore to charge.

[0131] like Figure 4 As shown, the method specifically includes: S301, when the pool robot is in recharging mode, if the flap assembly continues to rotate by a set value, causing the illumination range of the optical emission module to at least partially illuminate beyond the preset safe height threshold range from the pool shore, then the flap assembly is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within the preset safe height threshold range from the pool shore.

[0132] In the first state, the optical emission module is kept operating within a first data range, which includes one or more of the following: first power, scanning range, and brightness range.

[0133] In the second state, the optical emission module operates in the second data range, where the values ​​are less than those in the first data range. In the second state, one or more of the pool robot's suction component, walking component, and cleaning component are activated, and the data in the second data range correspond one-to-one with the data in the first data range.

[0134] In this embodiment, the meanings of the pool robot, base station, charging dock, flap assembly, optical emission module, visible beam, recharge mode, set value, illumination range, preset safe height threshold range from the pool shore, first state, second state, first data range, and second data range, as well as the process of controlling the flap assembly to switch from the first state to the second state, can be referred to the above relevant descriptions, and will not be repeated here.

[0135] The suction assembly, the walking assembly, and the cleaning assembly are the components of a pool robot. The suction assembly applies suction to the pool robot, the walking assembly propels the pool robot to move in the pool, and the cleaning assembly performs cleaning tasks.

[0136] In this embodiment, in the second state, one or more of the suction component, walking component, and cleaning component of the pool robot are in an activated state. This means that while the flap assembly 103 is switched from the first state to the second state and the optical emission module is operating in the second data range, one or more of the suction component, walking component, and cleaning component of the pool robot remain operational. At this time, the pool robot is located on the flap assembly 103, with at least part of it exposed to the water surface. The suction component is draining water (accelerating drainage); the walking component is activated and can move relative to the flap until it reaches the charging dock on the shore; the cleaning component is activated, keeping the roller brush able to clean the flap and rub off the debris on it. For example, when it is necessary to control the pool robot to pump water to adjust its position, the suction component is activated; when it is necessary to control the pool robot to move in the pool, the walking component is activated; when it is necessary to control the pool robot to perform cleaning tasks in the pool, the cleaning component is activated; when multiple components of the pool robot need to work together, multiple components of the suction component, walking component, and cleaning component can be activated simultaneously.

[0137] In addition, S301 and Figure 2 The steps S101 in the corresponding embodiments are basically the same, and will not be described again here.

[0138] Based on the embodiments of this disclosure, when the pool robot 20 is in recharging mode, if the flap assembly 103 continues to rotate by a set value, causing the illumination range of the optical emission module 104 to at least partially irradiate beyond a preset safe height threshold range from the pool shore, the flap assembly 103 is controlled to switch from a first state to a second state to keep the visible light beam emitted by the optical emission module 104 within the preset safe height threshold range from the pool shore. In the second state, one or more of the pool robot's suction assembly, walking assembly, and cleaning assembly are activated. On the one hand, this can keep the visible light beam emitted by the optical emission module within the preset safe height threshold range from the pool shore, reducing the risk of damage to the eyes of users or animals. On the other hand, in the second state, one or more of the pool robot's suction assembly, walking assembly, and cleaning assembly can continue to operate, allowing the adjustment of the working state of the optical emission module 104 to be carried out in parallel with the suction, walking, or cleaning operations of the pool robot, thus balancing safety and the working efficiency of the pool robot.

[0139] In some optional implementations of this embodiment, the optical emission module operates in the second data range, including: Turn off the optical emission module; or... Reduce the output power of the optical emission module to a preset power range, which meets the optical radiation safety range.

[0140] In some optional implementations of this embodiment, the optical emission module operates in the second data range, including: The area facing the water surface in the scanning range of the optical emission module is blocked; and / or The scanning range of the optical emission module is controlled to scan only the area away from the water surface and away from the light source.

[0141] In some application scenarios of the above-mentioned optional implementations, the area facing the water surface in the scanning range of the optical emission module that is blocked includes: A shield is installed on the base station. In a first state, the shield is controlled to not obstruct the scanning range of the optical emission module; in a second state, the shield is controlled to obstruct the area of ​​the optical emission module's scanning range facing the water surface; or... A shielding cover is installed on the base station. In a first state, the shielding cover is controlled to not obstruct the scanning range of the optical emission module; in a second state, the color of the shielding cover is adjusted to a color with a transmittance within a preset range; or the color of the shielding cover is adjusted so that its color absorbs the color of the optical emission module; or... The base station 101 includes a displacement component, and an optical emission module 104 is mounted on the displacement component. In a first state, the optical emission module is moved to the outside of the housing of the base station 101 by the displacement component. In a second state, the optical emission module 104 is moved to the inside of the housing of the base station by the displacement component or the illumination range of the optical emission module 104 is moved away from the area facing the water surface of the pool.

[0142] In some optional implementations of this embodiment, the method further includes at least one of the following: The optical emission module is activated after the pool robot is detected to have entered the water. The optical emission module is activated after receiving a recharge request command from the pool robot.

[0143] In some optional implementations of this embodiment, when the pool robot is in recharging mode, if the flap assembly continues to rotate by a set value, causing the illumination range of the optical emission module to at least partially extend beyond a preset safe height threshold range from the pool shore, then the flap assembly is controlled to switch from the first state to the second state, including: When the pool robot is in recharging mode, as it moves from the pool towards the flip-up assembly, the flip-up assembly is controlled to switch from the first state to the second state; or When the flap assembly continues to rotate until a preset area of ​​the flap assembly is exposed to the water surface, the flap assembly is controlled to switch from the first state to the second state. The preset area is the distance between the rotation center and the open end of the flap assembly. For example, the preset area can be 1 / 2 or 2 / 3 of the length of the flap assembly. If the preset area of ​​the flap assembly is exposed to the water surface, the brightness or power of the light source can be reduced.

[0144] It should be noted that, in addition to the contents described above, this embodiment may also include the corresponding technical features described in the above embodiments, thereby achieving the technical effect of the pool robot recharging method shown above. Please refer to the above description for details. For the sake of brevity, it will not be elaborated here.

[0145] It should also be noted that, where there is no conflict, the technical features described in different alternative implementations can be included in the same embodiment. For the sake of brevity, they will not be elaborated here.

[0146] Figure 5 This is a flowchart illustrating a fourth method for recharging a swimming pool robot according to an exemplary embodiment of this disclosure. This method can be applied to electronic devices such as base stations.

[0147] Here, the pool robot 20 is guided to charge by the base station 101. The base station 101 includes a charging base 102 set on the shore and a flip-plate assembly 103 rotatably connected to the charging base 102. An optical emission module 104 is set on the flip-plate assembly 103. The optical emission module guides the pool robot 20 to move toward the flip-plate assembly 103 by emitting a visible light beam. The flip-plate assembly 103 drives the pool robot 20 from an underwater position to a water surface position. The pool robot 20 returns to the charging base on the shore to charge.

[0148] like Figure 5 As shown, the method specifically includes: S302, when the pool robot is in recharging mode, if the pool robot and the flip panel are at a preset distance, the flip panel is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within a preset safe height threshold range from the pool shore; wherein the preset distance is the interval between the front end of the pool robot and the open end of the flip panel.

[0149] In the first state, the optical emission module operates within a first data range, which includes one or more of the following: first power, scanning range, and brightness range. In the second state, the optical emission module operates within a second data range, where the values ​​within the second data range are less than the values ​​within the first data range, and the data within the second data range correspond one-to-one with the data within the first data range.

[0150] In this embodiment, the meanings of the pool robot, base station, charging dock, flip panel assembly, optical emission module, visible light beam, recharge mode, illumination range, preset safe height threshold range from the pool shore, first state, second state, first data range, and second data range can be referred to the above relevant descriptions, and will not be repeated here.

[0151] In this embodiment, the preset distance is the interval between the front end of the pool robot 20 and the open end of the flip-plate assembly 103. The open end of the flip-plate assembly 103 refers to the end of the flip-plate assembly 103 that is away from the center of rotation.

[0152] In this embodiment, when the pool robot 20 is in recharging mode, and the pool robot 20 and the flip panel assembly 103 are at a preset distance, the timing for controlling the flip panel assembly 103 to switch from the first state to the second state is when the distance between the front end of the pool robot 20 and the open end of the flip panel assembly 103 reaches the preset distance.

[0153] Based on the embodiments of this disclosure, when the pool robot 20 is in recharging mode and the flip panel 103 is at a preset distance from the pool robot 20, the flip panel 103 is controlled to switch from a first state to a second state. This keeps the visible light beam emitted by the optical emission module 104 within a preset safe height threshold range from the pool shore. The preset distance between the pool robot 20 and the flip panel 103 can be used as the basis for controlling the switching state of the flip panel 103. Thus, when the illumination range of the optical emission module 104 may exceed the preset safe height threshold range from the pool shore, keeping the visible light beam emitted by the optical emission module 104 within the preset safe height threshold range from the pool shore can reduce the probability that the visible light beam emitted by the optical emission module 104 will hit the eyes of users or animals on the pool shore, thereby reducing the risk of damage to the eyes of users or animals.

[0154] In some embodiments, this disclosure also provides a base station 101 for a pool robot 20.

[0155] The base station 101 of the pool robot 20 includes a charging base 102 disposed on the shore and a flip-plate assembly 103 rotatably connected to the charging base 102. An optical emission module 104 is disposed on the flip-plate assembly 103. The optical emission module 104 guides the pool robot 20 to move toward the flip-plate assembly 103 by emitting a visible light beam. The flip-plate assembly 103 causes the pool robot 20 to be exposed from an underwater position to a water surface position. The pool robot 20 returns to the charging base 102 on the shore for charging. The optical emission module 104 guides the pool robot 20 back to charging by emitting a visible light beam. The base station 101 is used to implement the method of any one of the above embodiments.

[0156] In this embodiment, the meanings of the base station, charging dock, flip panel assembly, and optical emission module, as well as the process by which the optical emission module 104 guides the pool robot 20 to move toward the flip panel assembly 103 by emitting a visible light beam, the flip panel assembly 103 drives the pool robot 20 from an underwater position to a surface position, and the pool robot 20 returns to the charging dock 102 on the shore for charging, can be referred to the relevant descriptions in the foregoing embodiments, and will not be repeated here.

[0157] In some alternative implementations, base station 101 may have a built-in illuminance meter for detecting ambient light intensity. Base station 101 adjusts the pulse peak value of the optical emission module 104 based on the ambient light intensity detected by the illuminance meter, thereby increasing the pulse peak value of the optical emission module 104 during the day and decreasing the pulse peak value of the optical emission module 104 at night.

[0158] In some alternative implementations, base station 101 may be equipped with an infrared sensor or an ultrasonic sensor, which is used to detect human activity near base station 101. When human activity is detected near base station 101, base station 101 reduces the optical emission module to a preset low power.

[0159] Based on the embodiments of this disclosure, by configuring the base station 101 to include a charging base 102 disposed on the shore and a flap assembly 103 rotatably connected to the charging base 102, and by setting an optical emission module 104 on the flap assembly 103 to implement the method of any one of the above embodiments, the working state of the optical emission module can be dynamically adjusted based on the rotation of the flap assembly 103 during the process of the flap assembly 103 driving the pool robot 20 from an underwater position to a water surface position. This keeps the visible light beam emitted by the optical emission module 104 within a preset safe height threshold range from the pool shore, thereby reducing the probability that the visible light beam emitted by the optical emission module will shine into the eyes of users or animals on the pool shore, and thus reducing the risk of damage to the eyes of users or animals.

[0160] In some embodiments, this disclosure also provides a pool robot 20.

[0161] The pool robot 20 is used to recharge according to any one of the pool robot recharging methods in any of the above embodiments.

[0162] In this embodiment, the meaning of the pool robot, and the process of the pool robot moving towards the flip panel assembly 103 under the guidance of the visible light beam emitted by the optical emission module 104, being driven by the flip panel assembly 103 to be exposed from the underwater position to the water surface position, and returning to the charging base 102 on the shore for charging, can be referred to the relevant descriptions in the foregoing embodiments, and will not be repeated here.

[0163] Based on the embodiments of this disclosure, by configuring the pool robot 20 to perform a recharging step according to any of the recharging methods of the pool robot 20 in any of the above embodiments, the working state of the optical emission module can be dynamically adjusted based on the rotation of the flip panel assembly 103 during the recharging process of the pool robot 20. This keeps the visible light beam emitted by the optical emission module 104 within a preset safe height threshold range from the pool shore, thereby reducing the probability that the visible light beam emitted by the optical emission module will shine into the eyes of users or animals on the pool shore, and thus reducing the risk of damage to the eyes of users or animals.

[0164] The following describes the embodiments of this disclosure by way of example. However, it should be noted that the following content is only used to understand the technical solutions of the embodiments of this disclosure and does not constitute a limitation on the protection scope of the embodiments of this disclosure.

[0165] See Figure 6 Users can issue cleaning commands to the pool robot 20 via the app or the buttons on the robot itself. Upon receiving the command, the pool robot 20 enters the water. The pool robot 20 performs cleaning operations within the pool 10 until cleaning is complete. After cleaning, the robot proceeds to the water entry side of the base station 101, attempts to climb the wall to exit the water, activates the base station 101's search logic, and enters a multi-layer judgment and verification process.

[0166] The first level of judgment: whether the AI ​​camera has detected the base station.

[0167] If the determination is yes (Y), the pool robot locates the wall where the base station is located, completes precise alignment, automatically recharges, and the entire process ends.

[0168] If the result is negative (N), then proceed to the second layer of Bluetooth communication verification.

[0169] The second layer of judgment: whether the pool robot successfully communicates with the base station via Bluetooth.

[0170] If the result is negative (N), the base station automatically activates blue-green light-assisted guidance, and the pool robot travels to the bottom of the pool and circles along the pool edge to search for the base station's location (triggered). Figure 7 (The process is shown in the diagram). Among them, blue-green light (450nm-550nm band) has the strongest penetrating power in water, while other bands are easily absorbed by water molecules, making it difficult for the light to reach the bottom of the pool.

[0171] If the result is "yes" (Y), then proceed to the third layer of pool wall search completion assessment.

[0172] The third level of judgment: whether the pool wall search is complete.

[0173] If the result is "yes" (Y), it means that the entire pool wall has been searched but no connection to the base station has been found. The recharging is deemed a failure, the robot docks at the shore, and the process ends.

[0174] If the result is negative (N), return to the "Go to the water inlet side of the base station, climb the wall to exit the water" step and start searching for the base station again.

[0175] Among them, such as Figure 7 As shown, the following steps can be performed: The pool robot 20 begins to cycle along the pool bottom and edge, searching for charging docks. It then determines whether it has detected a green light / base station / rail.

[0176] If the determination is (Y), then locate the wall where the base station is located, then climb the wall to the guide rail, accurately connect to the base station via the barcode, turn off the green light, complete the recharging, and the process ends.

[0177] If the result is negative (N), continue moving along the edge and proceed to the next level of judgment: whether a complete circle has been traversed along the bottom of the pool.

[0178] If the result is negative (N), then search for stakes along the bottom edge of the pool and continue searching along the bottom of the pool in a loop.

[0179] If the result is (Y), it means that the search of the entire pool bottom area was unsuccessful, the search for the stake at the bottom of the pool failed, and the search was switched to the wall surface at the water inlet of the priority base station.

[0180] The system identifies whether the green light / base station / guide rail is detected on the water-entry side wall of the base station.

[0181] If the determination is (Y), then the wall where the base station is located is found, and the wall climbing, precise docking, and recharging process is executed.

[0182] If the result is negative (N), then search along the pool wall (searching back and forth along the waterline, the upper wall, and the lower wall).

[0183] Determine whether green light / base station / rail has been detected.

[0184] If the determination is (Y), then the wall where the base station is located has been found, and the subsequent recharging operation can be completed.

[0185] If the result is negative (N), proceed to the final check: whether the pool wall search has completed a full circle.

[0186] If it is determined that the search of the pool wall has not been completed in one circle, then search along the pool wall (along the water surface line / upper and lower walls), and continue to search the pool wall in a loop.

[0187] If the search of the entire pool wall is completed, it means that the base station has not been found after the entire pool search is finished. The shore connection is then executed, and the current recharge process is terminated.

[0188] In this solution, by directly coupling the thermally conductive substrate of the optical emission module (laser or LED) to the submerged metal casing of the base station via a highly thermally conductive medium (such as thermal grease or liquid metal), the pool water can be used as a natural, large heat sink. The temperature rise caused by high-power emission is eliminated through convective heat transfer in the water. This allows the internal modules to maintain a safe operating temperature even when the base station operates at extremely high power pulses under direct sunlight, significantly extending component lifespan. By employing narrow pulse modulation technology (adjustable duty cycle) and replacing the constant light source with a high-frequency coded signal, the average radiated power can be reduced to safety limits (Class 1; specifically, for 450nm-550nm wavelength lasers, according to relevant standards, it does not exceed 0.39mW within Class 1 safety limits) while ensuring that the instantaneous peak power is sufficient to penetrate the water and reach the bottom of the pool. This ensures harmlessness to humans and other organisms. The pool robot 20 extracts signals using a frequency matching algorithm, effectively filtering ambient white light noise. By designing the optical emission window below the base station's immersion line, the light source directly enters the water, bypassing the air section and avoiding total internal reflection losses (approximately 30%-50% energy loss) at the air-water interface. Furthermore, since sunlight needs to penetrate the entire water layer, while the base station signal is emitted underwater, the optical path is significantly shortened. Utilizing water depth as a "background filter" significantly improves the signal-to-noise ratio of the light spot at the pool bottom. A micro-servo control mechanism or MEMS (Micro-Electro-Mechanical System) oscillating mirror is integrated at the front end of the light source, supporting adjustment of the emission elevation and rotation angles in the X and Y axes. For irregularly shaped pools, the base station can dynamically adjust the projection angle to ensure the signal is shifted from the pool bottom to the target area; when the robot reports a lost signal, the base station can activate a scanning mode to assist in the search. The base station has a built-in task scheduling module that supports dynamic switching of the optical guidance source's activation and deactivation based on the robot's status and interactive commands. In water entry synchronization mode, the base station can sense the robot's water entry action through pressure, capacitance, or communication sensors, and synchronously activate optical homing guidance once the task begins. In on-demand interaction mode, the base station is in standby mode, triggering the high-power guidance light source only when it receives a recharge request command from the robot (via radio, underwater acoustics, or specific optical coding). In active recall mode, the base station can proactively transmit specific coded signals to forcibly recall the robot in advance based on preset logic (such as drastic weather forecast changes, filter full-load warnings, or remote manual intervention). Thus, by controlling the timing, the ineffective working time is significantly reduced, further alleviating heat dissipation pressure and reducing the safety exposure risk of the light source during unnecessary periods.In terms of adaptive light intensity control, the base station has a built-in illuminometer that automatically adjusts the pulse peak value according to the ambient light intensity (e.g., daytime vs. nighttime). For example, it increases the instantaneous power of the laser emission when there is sunlight and decreases the power when there is no ambient light to avoid excessive brightness contrast and glare. When there is no light interference, the instantaneous power must be at least 10mW, and the average power must be less than or equal to 0.39mW; when there is light interference, the instantaneous power must be at least 20mW to counteract sunlight interference, and the average power must be less than or equal to 0.39mW to ensure safety. This ensures clear visibility during the day and prevents glare at night, further extending the base station's lifespan. The solution also employs a multi-point interactive protection mechanism, adding infrared or ultrasonic human body sensors. When human activity is detected near the base station, the light source is immediately reduced to an extremely low power as a secondary redundancy protection for safety regulations.

[0189] It should be noted that, in addition to the contents described above, this embodiment may also include the technical features described in the above embodiments, thereby achieving the technical effect of the pool robot recharging method shown above. Please refer to the above description for details. For the sake of brevity, it will not be elaborated here.

[0190] Figure 11 This disclosure is a block diagram illustrating an electronic device according to an exemplary embodiment. Figure 11 The illustrated electronic device 500 includes at least one processor 501, a memory 502, at least one network interface 504, and a user interface 503. The various components in the electronic device 500 are coupled together via a bus system 505. It is understood that the bus system 505 is used to implement communication between these components. In addition to a data bus, the bus system 505 also includes a power bus, a control bus, and a status signal bus. However, for clarity, ... Figure 11 The general designated all buses as Bus System 505.

[0191] The user interface 503 may include a display, keyboard, or clicking device, such as a mouse, trackball, touchpad, or touchscreen.

[0192] It is understood that the memory 502 in this embodiment can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 502 described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0193] In some implementations, memory 502 stores elements, executable units or data structures, or subsets thereof, or extended sets thereof: operating system 5021 and application program 5022.

[0194] The operating system 5021 includes various system programs, such as the framework layer, core library layer, and driver layer, used to implement various basic business functions and handle hardware-based tasks. The application program 5022 includes various applications, such as a media player and a browser, used to implement various application functions. The program implementing the method of this disclosure embodiment can be included in the application program 5022.

[0195] In this embodiment, by calling the program or instructions stored in memory 502, specifically the program or instructions stored in application program 5022, processor 501 executes the method steps provided in each method embodiment, including, for example: When the pool robot is in recharging mode, if the flap assembly continues to rotate by the set value, causing the illumination range of the optical emission module to at least partially illuminate beyond the preset safe height threshold range from the pool shore, the flap assembly is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within the preset safe height threshold range from the pool shore. In the first state, the optical emission module is kept operating within a first data range, which includes one or more of a first power, a scanning range, and a brightness range. In the second state, the optical emission module operates in the second data range, where the values ​​in the second data range are less than those in the first data range, and the data in the second data range correspond one-to-one with the data in the first data range.

[0196] or, When the pool robot is in recharging mode, if the flap assembly continues to rotate by the set value, causing the illumination range of the optical emission module to at least partially illuminate beyond the preset safe height threshold range from the pool shore, the flap assembly is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within the preset safe height threshold range from the pool shore. In the first state, the optical emission module is kept operating within a first data range, which includes one or more of a first power, a scanning range, and a brightness range. In the second state, the optical emission module operates in the second data range, where the values ​​are less than those in the first data range. In the second state, one or more of the pool robot's suction component, walking component, and cleaning component are activated, and the data in the second data range correspond one-to-one with the data in the first data range.

[0197] or, When the pool robot is in recharging mode, if the pool robot and the flip-up assembly are at a preset distance, the flip-up assembly will switch from a first state to a second state to maintain the visible light beam emitted by the optical emission module within a preset safe height threshold range from the pool edge; where the preset distance is the distance between the front end of the pool robot and the open end of the flip-up assembly; or When the pool robot is in recharging mode, if the pool robot is in a state of climbing relative to the flip panel or the flip panel is in a state of flipping the pool robot toward the charging base, the flip panel is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within a preset safe height threshold range from the pool shore. In the first state, the optical emission module is kept operating within a first data range, which includes one or more of a first power, a scanning range, and a brightness range. In the second state, the optical emission module operates in the second data range, where the values ​​in the second data range are less than those in the first data range, and the data in the second data range correspond one-to-one with the data in the first data range.

[0198] The methods disclosed in the above embodiments can be applied to or implemented by processor 501. Processor 501 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above methods can be completed by integrated logic circuits in the hardware or by instructions in the form of software in processor 501. The processor 501 may 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. It can implement or execute the methods, steps, and logic block diagrams disclosed in this embodiment. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this disclosure can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software units in the decoding processor. The software units may be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 502. Processor 501 reads the information in memory 502 and, in conjunction with its hardware, completes the steps of the above method.

[0199] It is understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described above, or combinations thereof.

[0200] For software implementation, the techniques described herein can be implemented by units that perform the functions described above. The software code can be stored in memory and executed by a processor. The memory can be implemented within the processor or external to the processor.

[0201] The electronic device provided in this embodiment may be as follows: Figure 11 The electronic device shown can execute all the steps of the above-described pool robot recharging methods, thereby achieving the technical effects of the above-described pool robot recharging methods. For details, please refer to the above descriptions. For the sake of brevity, further details are omitted here.

[0202] This disclosure also provides a storage medium (computer-readable storage medium). This storage medium stores one or more programs. The storage medium may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, hard disk, or solid-state drive; the memory may also include combinations of the above types of memory.

[0203] One or more programs in the storage medium can be executed by one or more processors to implement the above-described pool robot recharging method executed on the electronic device side.

[0204] The processor described above is used to execute the pool robot recharging program stored in the memory to implement the following steps of the pool robot recharging method executed on the electronic device side: When the pool robot is in recharging mode, if the flap assembly continues to rotate by the set value, causing the illumination range of the optical emission module to at least partially illuminate beyond the preset safe height threshold range from the pool shore, the flap assembly is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within the preset safe height threshold range from the pool shore. In the first state, the optical emission module is kept operating within a first data range, which includes one or more of a first power, a scanning range, and a brightness range. In the second state, the optical emission module operates in the second data range, where the values ​​in the second data range are less than those in the first data range, and the data in the second data range correspond one-to-one with the data in the first data range.

[0205] or, When the pool robot is in recharging mode, if the flap assembly continues to rotate by the set value, causing the illumination range of the optical emission module to at least partially illuminate beyond the preset safe height threshold range from the pool shore, the flap assembly is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within the preset safe height threshold range from the pool shore. In the first state, the optical emission module is kept operating within a first data range, which includes one or more of a first power, a scanning range, and a brightness range. In the second state, the optical emission module operates in the second data range, where the values ​​are less than those in the first data range. In the second state, one or more of the pool robot's suction component, walking component, and cleaning component are activated, and the data in the second data range correspond one-to-one with the data in the first data range.

[0206] or, When the pool robot is in recharging mode, if the pool robot and the flip-up assembly are at a preset distance, the flip-up assembly will switch from a first state to a second state to maintain the visible light beam emitted by the optical emission module within a preset safe height threshold range from the pool edge; where the preset distance is the distance between the front end of the pool robot and the open end of the flip-up assembly; or When the pool robot is in recharging mode, if the pool robot is in a state of climbing relative to the flip panel or the flip panel is in a state of flipping the pool robot toward the charging base, the flip panel is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within a preset safe height threshold range from the pool shore. In the first state, the optical emission module is kept operating within a first data range, which includes one or more of a first power, a scanning range, and a brightness range. In the second state, the optical emission module operates in the second data range, where the values ​​in the second data range are less than those in the first data range, and the data in the second data range correspond one-to-one with the data in the first data range.

[0207] Furthermore, the computer program product provided in this disclosure embodiment may include computer-readable code that, when executed on a device, causes a processor in the device to implement the following steps of the pool robot recharging method executed on the electronic device side: When the pool robot is in recharging mode, if the flap assembly continues to rotate by the set value, causing the illumination range of the optical emission module to at least partially illuminate beyond the preset safe height threshold range from the pool shore, the flap assembly is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within the preset safe height threshold range from the pool shore. In the first state, the optical emission module is kept operating within a first data range, which includes one or more of a first power, a scanning range, and a brightness range. In the second state, the optical emission module operates in the second data range, where the values ​​in the second data range are less than those in the first data range, and the data in the second data range correspond one-to-one with the data in the first data range.

[0208] or, When the pool robot is in recharging mode, if the flap assembly continues to rotate by the set value, causing the illumination range of the optical emission module to at least partially illuminate beyond the preset safe height threshold range from the pool shore, the flap assembly is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within the preset safe height threshold range from the pool shore. In the first state, the optical emission module is kept operating within a first data range, which includes one or more of a first power, a scanning range, and a brightness range. In the second state, the optical emission module operates in the second data range, where the values ​​are less than those in the first data range. In the second state, one or more of the pool robot's suction component, walking component, and cleaning component are activated, and the data in the second data range correspond one-to-one with the data in the first data range.

[0209] or, When the pool robot is in recharging mode, if the pool robot and the flip-up assembly are at a preset distance, the flip-up assembly will switch from a first state to a second state to maintain the visible light beam emitted by the optical emission module within a preset safe height threshold range from the pool edge; where the preset distance is the distance between the front end of the pool robot and the open end of the flip-up assembly; or When the pool robot is in recharging mode, if the pool robot is in a state of climbing relative to the flip panel or the flip panel is in a state of flipping the pool robot toward the charging base, the flip panel is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within a preset safe height threshold range from the pool shore. In the first state, the optical emission module is kept operating within a first data range, which includes one or more of a first power, a scanning range, and a brightness range. In the second state, the optical emission module operates in the second data range, where the values ​​in the second data range are less than those in the first data range, and the data in the second data range correspond one-to-one with the data in the first data range.

[0210] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this disclosure.

[0211] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0212] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0213] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for recharging a swimming pool robot, characterized in that, The swimming pool robot is guided to charge via a base station. The base station includes a charging base mounted on the shore and a flip-plate assembly rotatably connected to the charging base. The flip-plate assembly is equipped with an optical emission module that guides the swimming pool robot towards the flip-plate assembly by emitting a visible light beam. The flip-plate assembly causes the swimming pool robot to move from an underwater position to a surface position, and the swimming pool robot returns to the charging base on the shore for charging. The method includes: When the pool robot is in recharging mode, if the flap assembly continues to rotate by a set value, causing the illumination range of the optical emission module to at least partially illuminate outside the preset safe height threshold range from the pool shore, then the flap assembly is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within the preset safe height threshold range from the pool shore. In the first state, the optical emission module is kept operating within a first data range, which includes one or more of a first power, a scanning range, and a brightness range. In the second state, the optical emission module operates in a second data range, where the values ​​in the second data range are less than the values ​​in the first data range, and the data in the second data range correspond one-to-one with the data in the first data range.

2. The method according to claim 1, characterized in that, The preset safety height threshold range is no more than 50 centimeters above the edge of the pool. or The preset safe height threshold range is no more than the plane range where the highest point of the pool shore is located. or The set value includes at least one of preset angle, preset time, and preset distance.

3. The method according to claim 1, characterized in that, When the pool robot is in recharging mode, if the flap assembly continues to rotate by a set value, causing the illumination range of the optical emission module to at least partially extend beyond the preset safe height threshold range from the pool shore, then the flap assembly is controlled to switch from the first state to the second state. Prior to this, the following steps are also included: If the flap assembly is in the first state, the optical emission module is at least partially submerged in water, and the visible light beam emitted by the optical emission module forms a visible light spot in the pool. Control the pool robot to move to the location of the visible light spot; The pool robot is controlled to move toward the flip-up assembly. Once the flip-up assembly supports the pool robot, the flip-up assembly is controlled to rotate relative to the charging base.

4. A method for recharging a swimming pool robot, characterized in that, The swimming pool robot is guided to charge via a base station. The base station includes a charging base mounted on the shore and a flip-plate assembly rotatably connected to the charging base. The flip-plate assembly is equipped with an optical emission module that guides the swimming pool robot towards the flip-plate assembly by emitting a visible light beam. The flip-plate assembly causes the swimming pool robot to move from an underwater position to a surface position, and the swimming pool robot returns to the charging base on the shore for charging. The method includes: When the pool robot is in recharging mode, if the flap assembly continues to rotate by a set value, causing the illumination range of the optical emission module to at least partially illuminate outside the preset safe height threshold range from the pool shore, then the flap assembly is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within the preset safe height threshold range from the pool shore. In the first state, the optical emission module is kept operating within a first data range, which includes one or more of a first power, a scanning range, and a brightness range. In the second state, the optical emission module operates in the second data range, where the values ​​in the second data range are less than those in the first data range. In the second state, one or more of the suction component, walking component, and cleaning component of the pool robot are in the activated state, and the data in the second data range correspond one-to-one with the data in the first data range.

5. The method according to any one of claims 1-4, characterized in that, The optical emission module operates in the second data range, including: Turn off the optical emission module; or... The output power of the optical emission module is reduced to a preset power range, which meets the optical radiation safety range.

6. The method according to any one of claims 1-4, characterized in that, The optical emission module operates in the second data range, including: Block the area of ​​the optical emission module facing the water surface within its scanning range; and / or The scanning range of the optical emission module is controlled to scan only the area away from the light source and away from the water surface.

7. The method according to claim 6, characterized in that, The area facing the water surface within the scanning range of the optical emission module that is blocked includes: A shield is installed on the base station. In the first state, the shield is controlled to not obstruct the scanning range of the optical emission module; in the second state, the shield is controlled to obstruct the area of ​​the optical emission module's scanning range facing the water surface; or... A shielding cover is installed on the base station. In the first state, the shielding cover is controlled to not obstruct the scanning range of the optical emission module. In the second state, the color of the shielding cover is adjusted to a color with a transmittance within a preset range; or the color of the shielding cover is adjusted so that its color absorbs the color of the optical emission module; or... The base station includes a displacement component, and the optical emission module is mounted on the displacement component. In the first state, the optical emission module is moved to the outside of the base station housing by the displacement component; in the second state, the optical emission module is moved to the inside of the base station housing by the displacement component or the illumination range of the optical emission module is moved away from the area facing the water surface of the pool.

8. The method according to any one of claims 1-4, characterized in that, The method further includes at least one of the following: The optical emission module is activated after the pool robot is detected to have entered the water. The optical emission module is activated upon receiving a recharge request command from the pool robot.

9. The method according to any one of claims 1-4, characterized in that, When the pool robot is in recharging mode, if the flap assembly continues to rotate by a set value, causing the illumination range of the optical emission module to at least partially extend beyond the preset safe height threshold range from the pool shore, then the flap assembly is controlled to switch from the first state to the second state, including: When the pool robot is in recharging mode, and it moves from the pool towards the flip-up assembly, the flip-up assembly is controlled to switch from a first state to a second state; or When the flap assembly continues to rotate until a preset area of ​​the flap assembly is exposed to the water surface, the flap assembly is controlled to switch from the first state to the second state, wherein the preset area is the distance between the rotation center and the open end of the flap assembly.

10. A method for recharging a swimming pool robot, characterized in that, The swimming pool robot is guided to charge via a base station. The base station includes a charging base mounted on the shore and a flip-plate assembly rotatably connected to the charging base. The flip-plate assembly is equipped with an optical emission module that guides the swimming pool robot towards the flip-plate assembly by emitting a visible light beam. The flip-plate assembly causes the swimming pool robot to move from an underwater position to a surface position, and the swimming pool robot returns to the charging base on the shore for charging. The method includes: When the pool robot is in recharging mode, and the pool robot is at a preset distance from the flip-up assembly, the flip-up assembly is controlled to switch from a first state to a second state to maintain the visible light beam emitted by the optical emission module within a preset safe height threshold range from the pool edge; wherein the preset distance is the distance between the front end of the pool robot and the open end of the flip-up assembly; or When the pool robot is in recharging mode, if the pool robot is in a state of climbing relative to the flip-up assembly or the flip-up assembly is in a state of flipping the pool robot toward the charging base, then the flip-up assembly is controlled to switch from the first state to the second state to keep the visible light beam emitted by the optical emission module within a preset safe height threshold range from the pool shore. In the first state, the optical emission module is kept operating within a first data range, which includes one or more of a first power, a scanning range, and a brightness range. In the second state, the optical emission module operates in a second data range, where the values ​​in the second data range are less than the values ​​in the first data range, and the data in the second data range correspond one-to-one with the data in the first data range.

11. A base station for a swimming pool robot, characterized in that, The base station includes a charging dock disposed on the shore and a flip-plate assembly rotatably connected to the charging dock. An optical emission module is disposed on the flip-plate assembly. The optical emission module guides the pool robot to move toward the flip-plate assembly by emitting a visible light beam. The flip-plate assembly causes the pool robot to be exposed from an underwater position to a surface position. The pool robot returns to the charging dock on the shore for charging. The optical emission module guides the pool robot back to charging by emitting a visible light beam. The base station is used to implement the method of any one of claims 1-10.

12. A swimming pool robot, characterized in that, The swimming pool robot is used for recharging according to any one of claims 1-10.

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