Pool cleaning system

Abstract

A pool cleaning system (1), comprising a base station (200) and a pool cleaning robot (100). The pool cleaning robot (100) and / or the base station (200) is provided with a locking mechanism (221), the pool cleaning robot (100) at least comprises a motor, a power supply module, and a filtering unit (130), and the base station (200) is located on a wall (3) of a pool corresponding to a water level line of the pool; the pool cleaning robot (100) is used for moving towards the base station (200) when a return condition is satisfied; the pool cleaning robot (100) is further used for climbing up the wall and docking with the base station (200) when reaching the vicinity of the base station (200); and the base station (200) is used for controlling, when the pool cleaning robot (100) completes docking with the base station (200), the locking mechanism (221) to fix the pool cleaning robot (100).

Description

Pool cleaning system

[0001] This application claims priority to Chinese patent application No. 2023114511336, filed on November 2, 2023, entitled “Control system for a pool cleaning robot”, and Chinese patent application No. 2023229691799, filed on November 2, 2023, entitled “A pool cleaning robot system”, and Chinese patent application No. 2024104020614, filed on April 3, 2024, entitled “Pool cleaning system”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of robotics, and in particular to a pool cleaning system. Background Art

[0003] With the development of computer technology, robotics technology has also developed rapidly. For example, users use sweeping robots to clean the floors of houses, use window cleaning robots to clean the windows of houses, and use pool cleaning robots to clean pools.

[0004] In the related art, when a pool cleaning robot is used to clean a pool, the pool cleaning robot will work until the battery is exhausted. After the battery is exhausted, the pool cleaning robot will stop at the bottom of the water, and the staff will need to use tools to pick up the pool cleaning robot.

[0005] Summary of the Invention

[0006] The present invention provides a pool cleaning system, and the technical solution is as follows:

[0007] A pool cleaning system is provided, the system comprising a pool cleaning robot and a base station;

[0008] The pool cleaning robot can move toward the base station and then dock with the base station.

[0009] In some embodiments, a locking mechanism is provided on the pool cleaning robot and / or the base station, the pool cleaning robot includes at least a motor, a power supply module, and a filter unit, and the base station is located on the pool wall corresponding to the water level line of the pool;

[0010] The pool cleaning robot is configured to move towards the direction of the base station when a return condition is met;

[0011] The pool cleaning robot is further configured to climb up the wall when it reaches the vicinity of the base station; then move on the pool wall and dock with the base station;

[0012] The base station is used to control the locking mechanism to fix the pool cleaning robot when the pool cleaning robot completes docking with the base station.

[0013] In some embodiments, the base station includes a water communication unit, and the water communication unit is used for communication with water equipment;

[0014] The base station also includes an underwater communication unit, which is used to guide the pool cleaning robot to move in the direction of the base station and communicate with underwater equipment at the same time. The underwater communication unit is electrically connected to the above-water communication unit.

[0015] In some embodiments, the underwater equipment is the pool cleaning robot, the underwater communication unit is used to send ultrasonic signals, and the pool cleaning robot is used to receive the ultrasonic signals sent by the base station through at least two ultrasonic receiving subunits of the pool cleaning robot when the return conditions are met, and the at least two ultrasonic receiving subunits are located at different positions of the pool cleaning robot; based on the signal parameters of the ultrasonic signals received by the at least two ultrasonic receiving subunits, the pool cleaning robot is controlled to move toward the base station until the pool cleaning robot completes docking with the base station.

[0016] In some embodiments, the underwater device is the pool cleaning robot, the underwater communication unit is used to send wireless signals, and the pool cleaning robot is used to receive the wireless signal sent by the base station through at least two wireless receiving subunits of the pool cleaning robot when the return conditions are met, and the at least two wireless receiving subunits are located at different positions of the pool cleaning robot; based on the signal parameters of the wireless signal received by the at least two wireless receiving subunits, the pool cleaning robot is controlled to move toward the base station until the pool cleaning robot completes docking with the base station.

[0017] In some embodiments, the underwater device is the pool cleaning robot, the underwater communication unit emits light of a preset wavelength, and the pool cleaning robot is used to collect the environmental image of the pool cleaning robot through the image acquisition unit of the pool cleaning robot when the return condition is met; and control the pool cleaning robot to move toward the base station based on the pixel points of the preset wavelength in the environmental image.

[0018] In some embodiments, the base station comprises a berth for the pool cleaning robot, and the underwater communication unit is disposed on a central axis of the berth and / or on two symmetrical left and right sides of the central axis of the base station.

[0019] In some embodiments, the above-water communication unit is configured to, in response to a control instruction sent by a target terminal, send the control instruction to the underwater communication unit, and the underwater communication unit forwards the control instruction to the pool cleaning robot, wherein the target terminal is a terminal having control authority over the pool cleaning robot;

[0020] The underwater communication unit is further configured to, in response to feedback information sent by the pool cleaning robot, send the feedback information to the above-water communication unit, and the above-water communication unit forwards the feedback information to the target terminal.

[0021] In some embodiments, the base station also includes a wireless charging transmitting coil, and the pool cleaning robot also includes a wireless charging receiving coil. When the pool cleaning robot is docked with the base station, the wireless charging transmitting coil is located adjacent to the wireless charging receiving coil. The base station is also used to charge the pool cleaning robot through the wireless charging transmitting coil and the wireless charging receiving coil when the locking mechanism fixes the pool cleaning robot.

[0022] In some embodiments, the base station comprises a docking station for the pool cleaning robot, and the wireless charging transmitting coil is located on a central axis of the docking station.

[0023] In some embodiments, the base station further includes a solar panel, which supplies power to the base station and / or the wireless charging transmitting coil.

[0024] In some embodiments, the base station further includes a battery, the solar panel and the battery are electrically connected, and the battery supplies power to the base station and the wireless charging transmitting coil.

[0025] In some embodiments, the locking mechanism can be unlocked by the pool cleaning robot and / or the base station to allow the pool cleaning robot to detach from the base station.

[0026] In some embodiments, the base station further includes a garbage collection unit, which extracts garbage from the filtering unit.

[0027] In some embodiments, the base station further includes a pump system, the garbage collection unit is docked with the opening of the filter unit, and the base station is further used to control the pump system to absorb garbage from the opening to the garbage collection unit.

[0028] In some embodiments, the locking mechanism and the pool cleaning robot include a permanent magnet and / or a metal block, which is configured to establish a magnetic connection between the permanent magnet and / or the metal block of the locking mechanism and the permanent magnet and / or the metal block of the pool cleaning robot when the pool cleaning robot is docked with the base station, so as to fix the pool cleaning robot;

[0029] Alternatively, the locking mechanism includes an electromagnet, and the pool cleaning robot includes a permanent magnet and / or a metal block. When the pool cleaning robot is docked with the base station, the electromagnet is located adjacent to the permanent magnet and / or the metal block. The base station is configured to energize the electromagnet when the pool cleaning robot is docked with the base station, so that the electromagnet applies a magnetic force to the permanent magnet and / or the metal block to secure the pool cleaning robot.

[0030] Alternatively, the locking mechanism includes a hook, the pool cleaning robot includes a protrusion or groove matching the hook, and the base station is used to connect the hook of the locking mechanism to the protrusion or groove to fix the pool cleaning robot when the pool cleaning robot is docked with the base station.

[0031] In some embodiments, the return conditions include: whether the remaining power of the pool cleaning robot is less than or equal to a power threshold, whether the filter unit of the pool cleaning robot is filled with garbage, whether the pool cleaning robot completes the predetermined cleaning task, and whether the pool cleaning robot receives a return instruction.

[0032] In some embodiments, the base station and / or the pool cleaning robot further includes a docking detection unit, and the base station and / or the pool cleaning robot further includes a docking unit, and the docking detection unit is used to determine whether the pool cleaning robot has completed docking with the base station based on the relative position relationship between the base station and the docking unit.

[0033] In some embodiments, the pool cleaning robot is provided with a walking unit, the walking unit being rotatable relative to the pool cleaning robot, the walking unit being configured to contact the bottom wall and side walls of the pool, the pool cleaning robot and the base station being switchable between a separate state and a connected state, and the pool cleaning robot being able to automatically move toward the base station when in the separate state;

[0034] The lateral detection unit is provided on the pool cleaning robot and is used to detect the distance between the pool cleaning robot and an obstacle located to the side of the pool cleaning robot.

[0035] In some embodiments, the base station is provided with a first signal unit, the pool cleaning robot is provided with a second signal unit, and the first signal unit and the second signal unit communicate wirelessly.

[0036] In some embodiments, the base station is provided with a base station energy storage unit and a first charging unit, the base station energy storage unit and the first charging unit are connected, the pool cleaning robot is provided with a robot energy storage unit and a second charging unit, the robot energy storage unit and the second charging unit are connected, and the first charging unit and the second charging unit can cooperate.

[0037] In some embodiments, the base station is provided with an electrical connection unit and a first charging unit, the electrical connection unit is connected to the first charging unit, the electrical connection unit is suitable for connection to an external power supply, the pool cleaning robot is provided with a robot energy storage unit and a second charging unit, the robot energy storage unit is connected to the second charging unit, and the first charging unit and the second charging unit can cooperate.

[0038] In some embodiments, an angle between an extension direction of the lateral detection unit and a forward direction of the pool cleaning robot is greater than 0° and not greater than 90°.

[0039] In some embodiments, the lateral detection unit includes at least one of an optical distance sensor, a camera, an ultrasonic distance sensor, a mechanical switch, and a pressure sensor.

[0040] In some embodiments, the lateral detection unit is provided on at least one of the side surface, top surface, bottom surface and forward surface of the pool cleaning robot.

[0041] In some embodiments, the pool cleaning robot is provided with a timing unit. When the pool cleaning robot moves toward the base station, when the accumulated time of the timing unit exceeds a preset time, the forward direction of the pool cleaning robot rotates in a direction away from the obstacle to change the forward direction of the pool cleaning robot.

[0042] In some embodiments, the pool cleaning robot is provided with a mileage detection unit and a posture detection unit. The mileage detection unit is used to record the movement distance of the pool cleaning robot, and the posture detection unit is used to detect the posture of the pool cleaning robot.

[0043] In some embodiments, the base station is provided with a first display panel, which displays a contour graphic of the pool and a position of the base station in the pool according to the mileage detection unit and the posture detection unit; and / or

[0044] The pool cleaning system further includes an electronic terminal having a second display panel. The second display panel displays a contour graphic of the pool and a position of the base station in the pool according to the mileage detection unit and the posture detection unit.

[0045] In some embodiments, the base station is vertically arranged with its bottom surface in contact with the wall of the pool, and the system further comprises:

[0046] a control unit located above the base station and at least partially exposed above the water surface of the pool; the control unit includes a box body, a power supply, a control unit, and a wireless communication unit located within the box body; the control unit is electrically connected to the wireless communication unit and the power supply, and is configured to communicate with the pool cleaning robot via the wireless communication unit to guide the pool cleaning robot back to the base station;

[0047] A locking mechanism is provided on the base station and is used to fix the pool cleaning robot when the pool cleaning robot returns to the base station.

[0048] In some embodiments, the system further comprises a fixing unit, which is fixedly connected to the base station and / or the control unit and is used to install the base station and / or the control unit on the wall of the pool.

[0049] In some embodiments, the control unit is fixedly disposed on the shore of the pool, and the control unit is connected to the base station via a cable.

[0050] In some embodiments, the fixing unit is a connector, and the surface of the connector is coated with glue; and / or

[0051] The fixing unit adopts a suction cup.

[0052] In some embodiments, the locking mechanism comprises:

[0053] a positioning unit, electrically connected to the power supply and the control unit, and configured to detect whether the pool cleaning robot has returned to the base station;

[0054] A locking actuator is electrically connected to the power supply and the control unit, and is used to fix the pool cleaning robot when the positioning unit detects that the pool cleaning robot returns to the base station.

[0055] In some embodiments, the positioning unit adopts a position switch, an infrared positioning sensor or a laser positioning sensor.

[0056] In some embodiments, the locking actuator comprises:

[0057] An electromagnetic actuator, the electromagnetic actuator comprising an electromagnet; when the positioning unit detects that the pool cleaning robot returns to the base station, the electromagnet is turned on to absorb the metal part at the bottom of the pool cleaning robot; and / or

[0058] A mechanical actuator, comprising a power source, a transmission mechanism and a clamping claw; the power source is connected to the clamping claw through the transmission mechanism; when the positioning unit detects that the pool cleaning robot returns to the base station, the power source is activated to drive the clamping claw to clamp the pool cleaning robot.

[0059] In some embodiments, the system further comprises:

[0060] A wireless charging transmitting coil is provided at the base station and is electrically connected to the power supply and the control unit, and is used to charge the battery inside the pool cleaning robot through the charging receiving coil of the pool cleaning robot when the pool cleaning robot returns to the base station.

[0061] In some embodiments, the system further comprises:

[0062] The guiding device includes two guiding positioning plates, which are arranged in parallel and spaced apart on the side of the supporting plane away from the pool wall of the pool, and are used to guide the pool cleaning robot to return to the base station.

[0063] In some embodiments, one end of the same side of the two guide positioning plates is provided with an extension portion; the distance between the two extension portions gradually increases in a direction away from the other end of the guide positioning plate;

[0064] An arc-shaped transition portion is provided at one end of the base station close to the extension portion to guide the pool cleaning robot to smoothly return from the pool wall to the base station. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0066] FIG1 is a schematic structural diagram of a pool cleaning system provided in an embodiment of the present application;

[0067] FIG2 is a schematic structural diagram of a base station provided in an embodiment of the present application;

[0068] FIG3 is a schematic diagram of a pool cleaning robot provided in an embodiment of the present application in a pool;

[0069] FIG4 is a schematic diagram of another pool cleaning robot provided in an embodiment of the present application in a pool;

[0070] FIG5 is a schematic structural diagram of a pool cleaning robot provided in an embodiment of the present application;

[0071] FIG6 is a schematic structural diagram of another pool cleaning robot provided in an embodiment of the present application;

[0072] FIG7 is a schematic structural diagram of another pool cleaning robot provided in an embodiment of the present application;

[0073] FIG8 is a schematic structural diagram of another pool cleaning system provided in an embodiment of the present application;

[0074] FIG9 is a schematic structural diagram of a base station provided in an embodiment of the present application;

[0075] FIG10 is a schematic diagram of a pool cleaning robot returning to a base station on a pool wall according to an embodiment of the present application.

[0076] Description of Figure Numbers:

[0077] 1. Pool cleaning system; 2. Pool;

[0078] 100, pool cleaning robot; 110, walking unit; 120, forward detection unit; 130, filtering unit; 140, robot energy storage unit; 150, second charging unit; 160, second signal unit; 170, timing unit;

[0079] 200, base station; 210, above-water portion; 211, above-water communication unit; 212, solar panel; 213, battery; 220, underwater portion; 221, locking mechanism; 222, underwater communication unit; 230, base station energy storage unit; 240, first charging unit; 250, first signal unit; 260, control unit; 270, locking device; 280, arc-shaped transition portion; 300, detection unit; 400, mileage detection unit; 500, posture detection unit; 600, guide device; 610, guide and positioning plate; 620, extension portion;

[0080] 3. Pool wall. DETAILED DESCRIPTION

[0081] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0082] In this application, the terms "first", "second", etc. are used to distinguish identical or similar items with substantially the same effects and functions. It should be understood that there is no logical or temporal dependency between "first", "second", and "nth", nor is there any limitation on the quantity and execution order.

[0083] Pool cleaning robot: A robot used to perform underwater cleaning tasks. For example, when placed in a pool, the pool cleaning robot can clean the bottom of the pool. In some embodiments, the pool cleaning robot also has a wall-climbing function, capable of cleaning the pool walls.

[0084] Computer vision: The study of how machines can "see." Specifically, it involves using image acquisition devices and computers to replace the human eye in identifying, tracking, and measuring objects. Further image processing is performed, allowing the computer to create images more suitable for human observation or for transmission to instrumentation. As a scientific discipline, computer vision studies related theories and technologies, aiming to build artificial intelligence systems capable of extracting "information" from images or multidimensional data.

[0085] Ultrasonic waves: Ultrasonic waves are mechanical waves with extremely short wavelengths, typically less than 2 cm in air. They rely on a medium to propagate and cannot exist in a vacuum (such as space). They travel farther in water than in air, and in some scenarios, can reach hundreds of meters in water.

[0086] Radio Frequency (RF): This refers to electromagnetic frequencies that can be radiated into space, ranging from 300kHz to 300GHz. RF, or radio frequency current, is short for high-frequency alternating electromagnetic waves. Alternating current that changes less than 1,000 times per second is called low-frequency current, while current that changes more than 10,000 times per second is called high-frequency current, and RF is one such high-frequency current. Radio frequency (300K-300GHz) is a higher frequency band of high frequency (greater than 10K), while the microwave band (300M-300GHz) is an even higher frequency band of radio frequency. Compared to ultrasonic waves, RF signals have a much shorter propagation distance in water. In some scenarios, the propagation distance of RF signals in water is only 2 meters.

[0087] The present invention provides a pool cleaning system, which includes a pool cleaning robot and a base station. The pool cleaning robot can move toward the base station and then dock with the base station.

[0088] The above technical solution is described below through several embodiments.

[0089] Example 1:

[0090] In the related art, since the pool cleaning robot stops at an irregular position on the bottom of the water, each salvage operation requires a long time to find the pool cleaning robot, resulting in a low salvage efficiency.

[0091] Referring to Figure 1, the pool cleaning system provided in an embodiment of the present application includes a pool cleaning robot 100 and a base station 200. The pool cleaning robot 100 and / or the base station 200 are provided with a locking mechanism. The pool cleaning robot 100 includes at least one motor, a power supply module and a filter unit. The base station 200 is located on the pool wall 201 corresponding to the water level line.

[0092] The pool cleaning robot 100 is configured to move toward the base station 200 when return conditions are met. Upon reaching the vicinity of the base station 200, the pool cleaning robot 100 is further configured to climb the pool wall and then move along the pool wall to dock with the base station 200. The base station 200 is configured to control a locking mechanism to secure the pool cleaning robot 100 when docking is complete.

[0093] The pool cleaning robot 100 has a robot controller, which is built into the pool cleaning robot 100 and is used to control the pool cleaning robot 100. The pool cleaning robot 100 is used to clean the bottom (and / or walls) of the pool. The motor of the pool cleaning robot 100 is used to drive the pool cleaning robot 100. The number of motors can be one or more, which is not limited in this embodiment of the present application. The power supply module is used to power the pool cleaning robot 100, and the filter unit is used to collect garbage in the pool.

[0094] When the pool cleaning robot 100 is located on the bottom of the pool, the pool cleaning robot 100 can move and perform cleaning actions on the bottom of the pool, and the movement and cleaning actions are driven by the motor. Accordingly, the pool cleaning robot 100 can move or rotate on the bottom of the pool. The bottom of the pool cleaning robot 100 is configured with a walking unit, and by driving the walking unit, the pool cleaning robot 100 can be controlled to move on the bottom of the pool. The movement unit includes running wheels, and driving the walking unit is also driving the running wheels to rotate, thereby driving the pool cleaning robot 100 to move. When the pool cleaning robot 100 is located on the wall of the pool, the pool cleaning robot 100 can move and perform cleaning actions on the wall of the pool. Accordingly, the pool cleaning robot 100 can move or rotate on the wall of the pool. The bottom of the pool cleaning robot 100 is provided with a wall climbing unit, and the pool cleaning robot 100 can be controlled to move along the pool wall by driving the wall climbing unit.

[0095] In addition, the return condition refers to the condition for the pool cleaning robot 100 to return to the base station 200. When the return condition is met, the pool cleaning robot 100 can automatically start to return to the base station 200. In some embodiments, the return condition includes: whether the remaining power of the pool cleaning robot 100 is less than or equal to the power threshold, whether the filter unit of the pool cleaning robot 100 is filled with garbage, whether the pool cleaning robot 100 completes the predetermined cleaning task, and whether the pool cleaning robot 100 receives a return instruction. Accordingly, the pool cleaning robot 100 satisfies the return condition when the remaining power of the pool cleaning robot 100 is less than or equal to the power threshold, the filter unit of the pool cleaning robot 100 is filled with garbage, and the pool cleaning robot 100 receives a return instruction. Among them, the predetermined cleaning task is set by the technician according to the actual situation, and the embodiments of the present application are not limited to this.

[0096] Furthermore, the direction of the base station 200 is relative to the pool cleaning robot 100, and can reflect the relative positional relationship between the base station 200 and the pool cleaning robot 100. Since the base station 200 is located on the pool wall corresponding to the water level of the pool, when the pool cleaning robot 100 reaches below the base station 200, it means that the pool cleaning robot 100 has moved to the pool bottom below the base station 200. Since the base station 200 is located on the pool wall and the pool cleaning robot 100 has wall-climbing capabilities, when the pool cleaning robot 100 reaches the vicinity of the base station 200 (e.g., below the base station 200), the pool cleaning robot 100 can climb up the wall to dock with the base station 200. The completion of docking between the pool cleaning robot 100 and the base station 200 means that the pool cleaning robot 100 is successfully connected to the base station 200, and the base station 200 can provide corresponding services for the pool cleaning robot 100. For example, when the pool cleaning robot 100 is docked with the base station 200, the base station 200 can provide charging services and dust collection services for the pool cleaning robot 100.

[0097] In some embodiments, referring to FIG2 , the base station 200 includes an above-water portion 210 and an underwater portion 220 . The above-water portion 210 is located above the waterline, and the underwater portion 220 is located below the waterline. The above-water portion 210 includes an above-water communication unit 211 , which is used to communicate with above-water equipment. The underwater portion 220 includes a locking mechanism 221 and an underwater communication unit 222 , which is used to guide the pool cleaning robot 100 to move toward the direction of the base station 200 . The underwater communication unit 222 is used to communicate with underwater equipment and is electrically connected to the above-water communication unit 211 .

[0098] The base station 200 is located on the pool wall, with the above-water portion 210 and the underwater portion 220 separated by the pool's water level. The dividing line between the above-water portion 210 and the underwater portion 220 is relatively wide, helping maintenance personnel position the base station 200 based on practical needs. The above-water communication unit 211 is used to communicate with above-water equipment. Above-water equipment refers to electronic equipment not located in water. When the base station 200 communicates with above-water equipment, the electromagnetic wave propagation medium is air. When the pool cleaning robot 100 is salvaged from shore, it is considered an above-water device. Underwater equipment refers to electronic equipment located in water. When the base station 200 communicates with underwater equipment, the electromagnetic wave propagation medium is water. When the pool cleaning robot is performing cleaning tasks at the pool bottom, it is considered an underwater device. The locking mechanism 221 is used to secure the pool cleaning robot 100, ensuring it remains attached to the pool wall even after it stops climbing. The underwater communication unit 222 is used to guide the pool cleaning robot 100 to move in the direction of the base station 200, that is, to guide the pool cleaning robot 100 back to the base station 200. The underwater communication unit 222 is electrically connected to the surface communication unit 211, indicating that data exchange can be performed between the underwater communication unit 222 and the surface communication unit 211. In some embodiments, the underwater communication unit 222 is connected to the surface communication unit 211 via a data cable to ensure the stability of data exchange. In some embodiments, the base station 200 includes a berth for the pool cleaning robot 100, and the underwater communication unit 222 is arranged on the central axis of the berth of the base station 200 and / or on the left and right sides symmetrically relative to the central axis of the berth of the base station 200.

[0099] The different components of the base station 200 will be described later.

[0100] In order to explain the above embodiment more clearly, the following describes an implementation method of using the underwater communication unit 222 to guide the pool cleaning robot 100 to move in the direction of the base station 200.

[0101] In some embodiments, the underwater device is the pool cleaning robot 100, and the underwater communication unit 222 is used to send ultrasonic signals. When the return condition is met, the pool cleaning robot 100 receives the ultrasonic signal sent by the base station 200 through at least two ultrasonic receiving subunits of the pool cleaning robot 100, and the at least two ultrasonic receiving subunits are located at different positions of the pool cleaning robot 100. Based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving subunits, the pool cleaning robot 100 is controlled to move toward the base station 200 until the pool cleaning robot 100 completes docking with the base station 200.

[0102] Among them, the underwater communication unit 222 sends an ultrasonic signal to guide the pool cleaning robot 100 to dock with the base station 200. In some embodiments, the underwater communication unit 222 includes at least two ultrasonic transmitting subunits, and the at least two ultrasonic transmitting subunits are used to send ultrasonic signals of different frequencies. The at least two ultrasonic receiving subunits of the pool cleaning robot 100 are used to receive the ultrasonic signals sent by the base station 200. The at least two ultrasonic receiving subunits are located at different positions of the pool cleaning robot 100, so that the robot controller uses the ultrasonic signals received by the at least two ultrasonic receiving subunits to realize the positioning of the pool cleaning robot 100. Positioning here refers to determining the relative position relationship between the pool cleaning robot 100 and the base station 200. In some embodiments, the base station 200 periodically sends ultrasonic signals. Ultrasonic signals are also ultrasonic waves, and the signal parameters of ultrasonic signals are used to represent the receiving parameters corresponding to the ultrasonic signals when each ultrasonic receiving subunit receives the ultrasonic signal. The signal parameters of the ultrasonic signal received by at least two ultrasonic receiving subunits refer to the signal parameters of each ultrasonic receiving subunit in the at least two ultrasonic receiving subunits receiving the ultrasonic signal, that is, when the number of the at least two ultrasonic receiving subunits is two, the number of the signal parameters is also two. In some embodiments, the signal parameters include the time when each ultrasonic receiving subunit receives the ultrasonic signal and the signal strength of the ultrasonic signal when each ultrasonic receiving subunit receives the ultrasonic signal. Since the ultrasonic signal has a long propagation distance underwater, the base station 200 sending the ultrasonic signal can achieve the effect of long-distance guiding the pool cleaning robot 100 back to the base station 200. Controlling the pool cleaning robot 100 to move toward the base station 200 is to control the pool cleaning robot 100 to approach the base station 200.

[0103] In some embodiments, the pool cleaning robot 100 is configured to activate the at least two ultrasonic receiving subunits when the return condition is met, and receive the ultrasonic signal transmitted by the underwater communication unit 222 through the at least two ultrasonic receiving subunits. Based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving subunits, the pool cleaning robot 100 determines the target movement direction of the pool cleaning robot 100, which is the direction of the base station 200. The robot then moves in the target movement direction.

[0104] Among them, the signal parameter includes at least one of the signal receiving time and the signal strength. Since the base station 200 periodically transmits ultrasonic signals, the at least two ultrasonic receiving subunits each have a signal receiving time in each ultrasonic signal transmission cycle of the base station 200. The signal strength can reflect the distance between the pool cleaning robot 100 and the base station 200. The stronger the signal strength, the closer the distance between the pool cleaning robot 100 and the base station 200; the weaker the signal strength, the farther the distance between the pool cleaning robot 100 and the base station 200. The pool cleaning robot 100 is also used to determine the target movement direction of the pool cleaning robot 100 based on the time difference between the receiving times of the ultrasonic signals or the signal strength difference between the at least two ultrasonic receiving subunits.

[0105] In addition to sending ultrasonic signals, the underwater communication unit 222 can also be used to send wireless signals. This embodiment is described below.

[0106] In some embodiments, the underwater device is the pool cleaning robot 100, and the underwater communication unit 222 is used to send wireless signals. When the return condition is met, the pool cleaning robot 100 receives the wireless signal sent by the base station 200 through at least two wireless receiving units of the pool cleaning robot 100, and the at least two wireless receiving units are located at different positions of the pool cleaning robot 100. Based on the signal parameters of the wireless signal received by the at least two wireless receiving units, the pool cleaning robot 100 is controlled to move toward the base station 200 until the pool cleaning robot 100 completes docking with the base station 200.

[0107] Among them, the underwater communication unit 222 sends a wireless signal to guide the pool cleaning robot 100 to dock with the base station 200. In some embodiments, the underwater communication unit 222 includes at least two wireless transmitting subunits, and the at least two wireless transmitting subunits are used to send wireless signals of different frequencies. The at least two wireless receiving subunits of the pool cleaning robot 100 are used to receive the wireless signals sent by the base station 200. The at least two wireless receiving subunits are located at different positions of the pool cleaning robot 100, so that the robot controller uses the wireless signals received by the at least two wireless receiving subunits to realize the positioning of the pool cleaning robot 100. Positioning here refers to determining the relative position relationship between the pool cleaning robot 100 and the base station 200. In some embodiments, the base station 200 periodically sends wireless signals. Wireless signals are also radio waves, and the signal parameters of wireless signals are used to represent the receiving parameters corresponding to the wireless signals when each wireless receiving subunit receives the wireless signal. The signal parameters of the wireless signal received by at least two wireless receiving subunits refer to the signal parameters of the wireless signal received by each wireless receiving subunit in the at least two wireless receiving subunits, that is, when the number of the at least two wireless receiving subunits is two, the number of the signal parameters is also two. In some embodiments, the signal parameters include the time when each wireless receiving subunit receives the wireless signal and the signal strength of the wireless signal when each wireless receiving subunit receives the wireless signal. Since the propagation distance of wireless signals underwater is long, the base station 200 sending wireless signals can achieve the effect of long-distance guiding the pool cleaning robot 100 back to the base station 200. Controlling the pool cleaning robot 100 to move toward the base station 200 is to control the pool cleaning robot 100 to approach the base station 200.

[0108] In some embodiments, the pool cleaning robot 100 is configured to activate the at least two wireless receiving subunits when the return condition is met, and receive the wireless signal sent by the underwater communication unit 222 through the at least two wireless receiving subunits. Based on the signal parameters of the wireless signal received by the at least two wireless receiving subunits, the pool cleaning robot 100 determines the target movement direction of the pool cleaning robot 100, which is the direction of the base station 200. The robot moves in the target movement direction.

[0109] Among them, the signal parameter includes at least one of the signal reception time and signal strength. Since the base station 200 periodically transmits wireless signals, the at least two wireless receiving subunits each have a signal reception time in each wireless signal transmission cycle of the base station 200. The signal strength can reflect the distance between the pool cleaning robot 100 and the base station 200. The stronger the signal strength, the closer the distance between the pool cleaning robot 100 and the base station 200; the weaker the signal strength, the farther the distance between the pool cleaning robot 100 and the base station 200. The pool cleaning robot 100 is also used to determine the target movement direction of the pool cleaning robot 100 based on the time difference between the reception times of the wireless signals received by the at least two wireless receiving subunits or the difference in signal strength.

[0110] In addition to sending ultrasonic signals and wireless signals, the underwater communication unit 222 can also be used to emit light of a preset wavelength, that is, to guide the pool cleaning robot 100 to dock with the base station 200 through the light of a preset wavelength. This embodiment is described below.

[0111] In some embodiments, the underwater device is the pool cleaning robot 100, and the underwater communication unit 222 is configured to emit light of a preset wavelength. When the return condition is met, the pool cleaning robot 100 uses its image acquisition unit to capture an image of its surroundings. Based on pixels of a preset color corresponding to the preset wavelength in the surrounding image, the pool cleaning robot 100 is controlled to move toward the base station 200.

[0112] The preset wavelength is obtained through experiments, and the light of the preset wavelength is a wavelength with better underwater imaging effect.

[0113] The functions of the above-water communication unit 211 and the underwater communication unit 222 are introduced below.

[0114] In some embodiments, the above-water communication unit 211 is configured to respond to a control instruction sent by a target terminal by sending the control instruction to the underwater communication unit 222, and the underwater communication unit 222 forwards the control instruction to the pool cleaning robot 100. The target terminal is a terminal with control authority for the pool cleaning robot 100. The underwater communication unit 222 is also configured to respond to feedback information sent by the pool cleaning robot 100 by sending the feedback information to the above-water communication unit 211, and the above-water communication unit 211 forwards the feedback information to the target terminal.

[0115] The target terminal is also referred to as the control terminal of the pool cleaning robot 100 , and the target terminal is a water equipment.

[0116] When the control instruction is a floating instruction, the water communication unit 211 is used to respond to the floating instruction sent by the target terminal and send the floating instruction to the underwater communication unit 222, and the underwater communication unit 222 forwards the floating instruction to the pool cleaning robot 100 to make the pool cleaning robot 100 float.

[0117] In this embodiment, the communication between the target terminal and the pool cleaning robot 100 can be achieved by using the above-water communication unit 211 and the underwater communication unit 222, which is highly efficient.

[0118] The locking mechanism 221 of the base station 200 is introduced below.

[0119] In some embodiments, the locking mechanism 221 includes a permanent magnet, and the pool cleaning robot 100 includes a permanent magnet and / or a metal block. The base station 200 is used to establish a magnetic connection between the permanent magnet of the locking mechanism 221 and the permanent magnet and / or metal block of the pool cleaning robot 100 when the pool cleaning robot 100 is docked with the base station 200, so as to fix the pool cleaning robot 100.

[0120] Among them, the permanent magnet can be moved under the drive of the driving mechanism of the base station 200, so that when it is necessary to fix the pool cleaning robot 100, the permanent magnet is driven to move to the corresponding position, which refers to the vicinity of the permanent magnet and / or metal block of the pool cleaning robot 100. When the permanent magnet moves to the vicinity of the permanent magnet and / or metal block of the pool cleaning robot 100, the pool cleaning robot 100 stops the wall climbing function and can also remain on the pool wall and keep docking with the base station 200. Of course, when the permanent magnet has not yet moved to the vicinity of the permanent magnet and / or metal block of the pool cleaning robot 100, the wall climbing function of the pool cleaning robot 100 remains on, so that the pool cleaning robot 100 remains on the pool wall and keeps docking with the base station 200. Moving the permanent magnet again when the pool cleaning robot 100 and the base station 200 have completed docking can prevent the permanent magnet from affecting the docking process of the pool cleaning robot 100 and the base station 200. In some embodiments, the permanent magnet moves to the vicinity of the permanent magnet and / or the metal block of the pool cleaning robot 100, which means that the permanent magnet moves to the bottom of the permanent magnet and / or the metal block of the pool cleaning robot 100.

[0121] In this embodiment, the use of a movable permanent magnet as the locking mechanism 221 can more conveniently fix the pool cleaning robot 100 on the pool wall.

[0122] In some embodiments, the locking mechanism 221 includes an electromagnet, and the pool cleaning robot 100 includes a permanent magnet and / or a metal block. When the pool cleaning robot 100 is docked with the base station 200, the electromagnet is located adjacent to the permanent magnet and / or the metal block. The base station 200 is used to energize the electromagnet when the pool cleaning robot 100 is docked with the base station 200, so that the electromagnet applies magnetic force to the permanent magnet and / or the metal block to fix the pool cleaning robot 100.

[0123] The electromagnet can be controlled by the base station 200 to determine whether it is powered on. When powered on, the electromagnet is magnetic; when powered off, the electromagnet is non-magnetic. When the electromagnet is powered on, the pool cleaning robot 100 can stop its wall-climbing function and still remain on the pool wall and docked with the base station 200. Of course, when the electromagnet is not powered on, the wall-climbing function of the pool cleaning robot 100 remains enabled, allowing the pool cleaning robot 100 to remain on the pool wall and docked with the base station 200. Powering the electromagnet after the pool cleaning robot 100 and the base station 200 have completed docking can prevent the electromagnet from affecting the docking process between the pool cleaning robot 100 and the base station 200.

[0124] In this embodiment, the pool cleaning robot 100 can be fixed on the pool wall more conveniently by using an electromagnet as the locking mechanism 221 .

[0125] In some embodiments, the locking mechanism 221 includes a hook, and the pool cleaning robot 100 includes a protrusion or groove that matches the hook. The base station 200 is used to move the hook of the locking mechanism 221 to the protrusion or groove to fix the pool cleaning robot 100 when the pool cleaning robot 100 is docked with the base station 200.

[0126] When the hook moves to the protrusion or groove, the pool cleaning robot 100 can remain on the pool wall and remain docked with the base station 200. In some embodiments, the number of the hooks is multiple, and the number of the protrusions or grooves is the same as the number of the hooks to improve the stability of fixing the pool cleaning robot 100.

[0127] In this embodiment, the pool cleaning robot 100 can be fixed on the pool wall more conveniently by using a hook as the locking mechanism 221 .

[0128] It should be noted that, in addition to including a permanent magnet, an electromagnet and a hook individually, the locking mechanism 221 can also include a combination of a permanent magnet and a hook and an electromagnet and a hook to improve the stability of fixing the pool cleaning robot 100.

[0129] In some embodiments, the base station 200 includes a docking detection unit, and the pool cleaning robot 100 also includes a docking unit. The docking detection unit is used to determine whether the pool cleaning robot 100 has completed docking with the base station 200 based on the relative position relationship between the docking unit and the docking detection unit.

[0130] The docking detection unit is located in the underwater part 220 of the base station 200 , and the docking unit is located in front of the forward direction (wall climbing direction) of the pool cleaning robot 100 .

[0131] Taking the docking detection unit as an example, in which the docking unit is located in the docking groove and is located on top of a docking protrusion that matches the docking groove, the docking detection unit is used to determine that the pool cleaning robot 100 and the base station 200 have completed docking when it detects that the docking unit is in contact with the docking detection unit. The docking detection unit is also used to determine that the pool cleaning robot 100 and the base station 200 have not completed docking when it does not detect that the docking unit is in contact with the docking detection unit. The docking protrusion can extend into the docking groove, and the docking groove can just accommodate the docking protrusion. When the docking detection unit is in contact with the docking unit, it means that the docking protrusion has extended into the docking groove, which also means that the pool cleaning robot 100 and the base station 200 have completed docking.

[0132] Taking the docking detection unit as a Hall element and the docking unit as a permanent magnet as an example, the docking detection unit is used to determine that the pool cleaning robot 100 and the base station 200 have completed docking when it detects that the docking unit is completely aligned. The docking detection unit is also used to determine that the pool cleaning robot 100 and the base station 200 have not completed docking when it does not detect that the docking unit is completely aligned. There is a magnetic field around the permanent magnet, and the Hall element is an electromagnetic induction sensor. The magnetic field can change the current flowing through the Hall element. The change in current can be used to determine whether the docking detection unit and the docking unit are completely aligned.

[0133] It should be noted that the above description is based on the example that the base station 200 includes a docking detection unit and the pool cleaning robot 100 includes a docking unit. In other possible implementations, the base station 200 includes a docking unit and the pool cleaning robot 100 includes a docking detection unit. The coordination manner of the docking detection unit and the docking unit belongs to the same inventive concept as described above. For the implementation process, please refer to the above description and will not be repeated here.

[0134] Furthermore, the above description uses the example of a locking mechanism provided on the base station 200. If the pool cleaning robot 100 is provided with a locking mechanism, the pool cleaning robot 100 can be secured to the base station 200 via the locking mechanism. The docking method is consistent with the aforementioned inventive concept and will not be further elaborated upon here. Of course, in other possible implementations, both the pool cleaning robot 100 and the base station 200 may be provided with locking mechanisms, thereby achieving dual securement and maintaining the stability of the docking between the pool cleaning robot 100 and the base station 200.

[0135] Next, the underwater part 220 of the base station 200 will be further introduced.

[0136] In some embodiments, the underwater part 220 also includes a wireless charging transmitting coil, and the pool cleaning robot 100 also includes a wireless charging receiving coil. When the pool cleaning robot 100 is docked with the base station 200, the wireless charging transmitting coil is located below the wireless charging receiving coil. The base station 200 is also used to charge the pool cleaning robot 100 through the wireless charging transmitting coil and the wireless charging receiving coil when the locking mechanism 221 fixes the pool cleaning robot 100.

[0137] Among them, the wireless charging transmitting coil can induct each other with the wireless charging receiving coil, and the wireless charging transmitting coil generates a changing magnetic field through a changing current, and the wireless charging receiving coil induces the changing magnetic field to generate a changing current, thereby realizing wireless charging of the pool cleaning robot 100. When the wireless charging transmitting coil is completely aligned with the wireless charging receiving coil (the wireless charging transmitting coil is located directly below the wireless charging receiving coil), the charging efficiency is the highest. Accordingly, when the pool cleaning robot 100 meets the return condition, which means that the remaining power of the pool cleaning robot 100 is less than or equal to the power threshold, the pool cleaning robot 100 can be replenished with power by wireless charging when it successfully docks with the base station 200. The power threshold is set by technicians according to actual conditions, and the embodiments of the present application are not limited to this.

[0138] In some embodiments, the base station 200 comprises a docking station for the pool cleaning robot 100 , and the wireless charging transmitting coil is located on the central axis of the docking station.

[0139] In some embodiments, the underwater portion 220 further includes a garbage collection unit, and the pool cleaning robot 100 further includes a filtering unit, and the garbage collection unit extracts garbage from the filtering unit.

[0140] In some embodiments, the base station 200 further includes a pump system, the garbage collection unit is docked with the opening of the filter unit, and the base station 200 is further used to control the pump system to absorb garbage from the opening to the garbage collection unit.

[0141] In some embodiments, the locking mechanism 221 can be unlocked by the pool cleaning robot 100 and / or the base station 200 to allow the pool cleaning robot to detach from the base station.

[0142] In some embodiments, the pool cleaning robot 100 is further configured to send a detachment request to the base station 200 upon completion of charging, wherein the detachment request is used to request detachment from the base station 200. The base station 200 is further configured to release the locking mechanism 221 from the pool cleaning robot 100 in response to the detachment request, so that the pool cleaning robot 100 detaches from the base station 200.

[0143] The system also includes a water pump. When the pool cleaning robot 100 moves on the pool wall or bottom, the water pump of the pool cleaning robot 100 is activated, and the liquid in the pool is sucked into the filter unit of the pool cleaning robot 100 through the water inlet at the bottom of the pool cleaning robot 100. The filter unit filters the liquid, leaving dirt in the liquid in the filter unit. The filtered liquid is discharged through the drain port of the pool cleaning robot 100, thereby cleaning the pool wall or bottom. Of course, in addition to the water pump, the cleaning unit can also include a roller brush to clean the pool wall or bottom.

[0144] In the case where the locking mechanism 221 includes a permanent magnet, the pool cleaning robot 100 is further configured to, in response to charging completion, send a detachment request to the underwater communication unit 222 of the base station 200. The base station 200 is further configured to receive the detachment request and, in response to the detachment request, control the permanent magnet of the locking mechanism 221 to move away from the vicinity of the permanent magnet and / or metal block of the pool cleaning robot 100, thereby releasing the fixation of the pool cleaning robot 100 and allowing the pool cleaning robot 100 to detach from the base station 200. It should be noted that when the permanent magnet of the locking mechanism 221 moves away from the vicinity of the permanent magnet and / or metal block of the pool cleaning robot 100, the adsorption function of the pool cleaning robot 100 is activated to ensure the stability of the pool cleaning robot 100. When the permanent magnet of the locking mechanism 221 leaves the vicinity of the permanent magnet and / or metal block of the pool cleaning robot 100 , the pool cleaning robot 100 activates the wall climbing function to detach from the base station 200 .

[0145] In the case where the locking mechanism 221 includes an electromagnet, the pool cleaning robot 100 is further configured to, in response to charging completion, send a detachment request to the underwater communication unit 222 of the base station 200. The base station 200 is further configured to receive the detachment request and, in response to the detachment request, stop energizing the electromagnet of the locking mechanism 221 to release the fixation of the pool cleaning robot 100, allowing the pool cleaning robot 100 to detach from the base station 200.

[0146] If the locking mechanism 221 includes a hook, the pool cleaning robot 100 is further configured to, in response to charging completion, send a detachment request to the underwater communication unit 222 of the base station 200. The base station 200 is further configured to receive the detachment request and, in response thereto, control the hook of the locking mechanism 221 to separate from the protrusion or groove of the pool cleaning robot 100, thereby releasing the fixed position of the pool cleaning robot 100 and allowing the pool cleaning robot 100 to detach from the base station 200. It should be noted that during the process of the hook of the locking mechanism 221 separating from the protrusion or groove of the pool cleaning robot 100, the pool cleaning robot 100's suction function is activated to ensure the stability of the pool cleaning robot 100. If the hook of the locking mechanism 221 separates from the protrusion or groove of the pool cleaning robot 100, the pool cleaning robot 100 activates its wall climbing function to detach from the base station 200.

[0147] In some embodiments, in addition to sending a detachment request to the underwater communication unit 222 of the base station 200 upon completion of charging, the pool cleaning robot 100 can also send a detachment request to the underwater communication unit 222 of the base station 200 upon detecting a salvage operation of the pool cleaning robot 100. In other words, the pool cleaning robot 100 is further configured to send a detachment request to the underwater communication unit 222 of the base station 200 in response to detecting an upward external force that is greater than or equal to an external force threshold. The external force threshold is set by a technician based on actual circumstances and is not limited in this embodiment of the present application.

[0148] In addition, in addition to controlling the locking mechanism 221 to release the fixation of the pool cleaning robot 100 after receiving a separation request sent by the pool cleaning robot 100, the base station 200 can also control the locking mechanism 221 to release the fixation of the pool cleaning robot 100 after receiving a separation request sent by the target terminal.

[0149] Next, the above-water portion 210 of the base station 200 will be further introduced.

[0150] In some embodiments, the base station 200 further includes a solar panel 212 , which provides power to the base station 200 and / or the wireless charging transmitting coil.

[0151] In some embodiments, the above-water portion 210 further includes a solar panel 212 and a battery 213 . The solar panel 212 and the battery 213 are electrically connected, and the battery 213 supplies power to the base station 200 and the wireless charging transmitting coil.

[0152] In this embodiment, solar energy can be used to power the base station 200 and the wireless charging transmitting coil, saving energy.

[0153] In some embodiments, the above-water portion 210 further includes a power supply unit, which is electrically connected to the battery 213 and configured to convert alternating current (AC) into direct current (DC) to charge the battery 213. The power supply unit is connected to a power cord, which is configured to input AC power to the power supply unit.

[0154] In this embodiment, when solar energy cannot meet the electricity demand of the base station 200, the power supply to the base station 200 can be maintained by the power supply unit to ensure the normal operation of the base station 200.

[0155] Through the technical solutions provided by the embodiments of the present application, when the return conditions are met, the pool cleaning robot moves toward the base station. Upon reaching the vicinity of the base station, the pool cleaning robot climbs up the wall to dock with the base station. Once docked, a locking mechanism secures the pool cleaning robot. Because the base station is relatively fixed, there's no need to search a large area when retrieving the pool cleaning robot, improving the efficiency of retrieving the pool cleaning robot.

[0156] Example 2:

[0157] In addition, there are also some pool cleaning systems that can control the pool cleaning robot to automatically return to the base station. In some pool cleaning systems, a wire is provided between the pool cleaning robot and the base station to enable the pool cleaning robot to move toward the base station. The wire is easily worn and affects the movement of the pool cleaning robot; in other pool cleaning systems, the pool cleaning robot moves toward the base station under the guidance of the signal, but when the pool cleaning robot is applied to an irregular pool, the shape of the irregular pool is not a regular shape such as a circle, rectangle, or regular polygon. The side wall of the irregular pool may block the transmission of the signal, resulting in problems such as signal refraction or reflection. The pool cleaning robot may not be able to receive the signal and cannot move to the base station.

[0158] In order to solve the above problems, an embodiment of the present application further provides another pool cleaning system. Referring to Figures 3 to 8 , the pool cleaning system 1 according to an embodiment of the present application is described below in conjunction with the accompanying drawings.

[0159] As shown in FIG. 5 to FIG. 7 , the pool cleaning system 1 according to an embodiment of the present application includes a base station 200 , a pool cleaning robot 100 and a lateral detection unit 300 .

[0160] The base station 200 can be installed on the bank, bottom wall or pool wall of the pool 2. The pool cleaning robot 100 and the base station 200 can switch between a separated state and a connected state. When the pool cleaning robot 100 and the base station 200 are in the separated state, they can automatically move toward the base station 200. The pool cleaning robot 100 can be provided with a forward detection unit 120. The forward detection unit 120 is used to detect the distance between the object in front of the pool cleaning robot 100 and the pool cleaning robot 100. Therefore, the forward detection unit 120 can detect the distance between the pool cleaning robot 100 and the base station 200. The lateral detection unit 300 is provided on the pool cleaning robot 100. The lateral detection unit 300 is used to detect the distance between the pool cleaning robot 100 and an obstacle located to the side of the pool cleaning robot 100.

[0161] The pool cleaning robot 100 is equipped with a walking unit 110, wherein the walking unit 110 can be a roller or a track. The walking unit 110 can rotate relative to the pool cleaning robot 100. The walking unit 110 can contact and rub against the bottom wall of the pool 2 to drive the pool cleaning robot 100 to move in a horizontal direction, or the walking unit 110 can contact and rub against the side wall of the pool 2 to drive the pool cleaning robot 100 to move in a vertical direction.

[0162] In some embodiments, the pool cleaning robot 100 may be provided with a filtering unit 130. When the pool cleaning robot 100 is separated from the base station 200, the pool cleaning robot 100 can move in the pool 2 and clean the garbage in the pool 2 through the filtering unit 130 to clean the pool 2.

[0163] The base station 200 may be provided with a base station energy storage unit 230 and a first charging unit 240, which are connected to each other. The base station energy storage unit 230 may be a photovoltaic cell, which may convert solar energy into electrical energy. The base station energy storage unit 230 has a longer endurance. In some embodiments, the base station energy storage unit 230 is a battery 213. The pool cleaning robot 100 is provided with a robot energy storage unit 140 and a second charging unit 150, which are connected to each other. The robot energy storage unit 140 may be a battery, which may be connected to the detection unit 300 to power the detection unit 300. The first charging unit 240 and the second charging unit 150 may cooperate.

[0164] In some embodiments, one of the first charging unit 240 and the second charging unit 150 is a plug and the other is a socket, and the first charging unit 240 and the second charging unit 150 are pluggable connected, or the first charging unit 240 and the second charging unit 150 can be wirelessly charged, such as electromagnetic charging.

[0165] When the pool cleaning robot 100 is connected to the base station 200, the first charging unit 240 and the second charging unit 150 are connected, and the base station energy storage unit 230 of the base station 200 charges the robot energy storage unit 140 of the pool cleaning robot 100. The user does not need to charge the pool cleaning robot 100 or replace the battery, thereby extending the battery life of the pool cleaning robot 100, and the pool cleaning system 1 has a higher degree of automation and a good user experience.

[0166] The base station 200 may also be provided with an electrical connection unit and a first charging unit 240, the electrical connection unit and the first charging unit 240 are connected, the electrical connection unit is suitable for connecting to an external power supply, the pool cleaning robot 100 is provided with a robot energy storage unit 140 and a second charging unit 150, the robot energy storage unit 140 and the second charging unit 150 are connected, the robot energy storage unit 140 can be a battery, the robot energy storage unit 140 can be connected to the detection unit 300 to power the detection unit 300, and the first charging unit 240 and the second charging unit 150 can cooperate.

[0167] In some embodiments, the electrical connection unit may be a wire or a wire with an adapter. One of the first charging unit 240 and the second charging unit 150 may be a plug and the other may be a socket. The first charging unit 240 and the second charging unit 150 may be pluggable, or wireless charging, such as electromagnetic charging, may be used between the first charging unit 240 and the second charging unit 150.

[0168] When the pool cleaning robot 100 is connected to the base station 200, the first charging unit 240 and the second charging unit 150 are connected, and the external power supply can charge the robot energy storage unit 140 of the pool cleaning robot 100. The user does not need to charge the pool cleaning robot 100 or replace the battery, thereby extending the battery life of the pool cleaning robot 100, and the pool cleaning system 1 has a higher degree of automation and a good user experience.

[0169] In some embodiments, when the pool cleaning robot 100 and the base station 200 are separated, the user can send a return signal to the pool cleaning robot 100 through a remote control, an electronic terminal (such as a mobile phone, a tablet or a computer) or the base station 200, so that the pool cleaning robot 100 moves toward the base station 200, thereby establishing a connection between the pool cleaning robot 100 and the base station 200;

[0170] Or when the power level of the robot energy storage unit 140 of the pool cleaning robot 100 is lower than a preset power level, the pool cleaning robot 100 can automatically move toward the base station 200 to connect with the base station 200, and the base station 200 can charge the pool cleaning robot 100, where the preset power level can be 5%, 6%, 7%, 8%, 9%, 10%, 11%, 12%, 13%, 14%, 15%, 16%, 17%, 18%, 19% or 20% of the maximum power level.

[0171] As shown in Figures 5 to 7, the above-mentioned pool cleaning robot 100 has a first direction (the direction indicated by arrow A in the figure) and a second direction (the direction indicated by arrow B in the figure). The first direction, the second direction and the height direction of the pool cleaning robot 100 are perpendicular to each other. The pool cleaning robot 100 moves along the first direction, and the lateral detection unit 300 is used to detect the distance between the pool cleaning robot 100 and an obstacle located in the second direction of the pool cleaning robot 100. Since the pool cleaning robot 100 moves in the pool 2, usually, the obstacle in the second direction of the pool cleaning robot 100 is the side wall of the pool 2. In the process of the pool cleaning robot 100 moving toward the base station 200, the lateral detection unit 300 can detect the distance between the pool cleaning robot 100 and the side wall of the pool 2 in real time, so that the pool cleaning robot 100 can move along the side wall of the pool 2, ensuring that the pool cleaning robot 100 can move to the base station 200 and connect with the base station 200.

[0172] It should be noted that the pool cleaning robot 100 can compare the distance currently fed back by the lateral detection unit 300 with the distance last fed back by the lateral detection unit 300. If the distance currently fed back by the lateral detection unit 300 is greater than the distance last fed back by the lateral detection unit 300, it indicates that the pool cleaning robot 100 is close to the obstacle; if the distance currently fed back by the lateral detection unit 300 is less than the distance last fed back by the lateral detection unit 300, it indicates that the pool cleaning robot 100 is away from the obstacle; in this way, by constantly comparing the detection results of each time, the distance between the pool cleaning robot 100 and the obstacle can be effectively controlled so that the pool cleaning robot 100 moves along the obstacle.

[0173] Since the lateral detection unit 300 moves the pool cleaning robot 100 along the side wall of the pool 2 by detecting the distance between the side wall of the pool 2 and the pool cleaning robot 100, regardless of whether the pool 2 is an irregular-shaped pool, that is, regardless of whether the side wall of the pool 2 is flat, curved, or has a corner, it will not affect the movement of the pool cleaning robot 100 toward the base station 200, thereby improving the reliability of the pool cleaning robot 100 returning to the base station 200, and the probability of the pool cleaning robot 100 returning to the base station 200 is higher, so that the pool cleaning robot 100 can be applied to irregular-shaped pools 2.

[0174] In some pools 2, there may be three-dimensional structures such as columnar structures or table structures. When the pool cleaning robot 100 is located near the above-mentioned three-dimensional structure, the lateral detection unit 300 may detect the three-dimensional structure, causing the pool cleaning robot 100 to rotate along the circumference of the three-dimensional structure. In this way, the pool cleaning robot 100 will never be able to return to the base station 200.

[0175] The pool cleaning robot 100 refers to the data of the lateral detection unit 300 and can avoid the side wall of the pool 2 or obstacles in the pool 2 that affect the movement of the pool cleaning robot 100, and the probability of the pool cleaning robot 100 being bumped is lower.

[0176] The pool cleaning robot 100 is provided with a timing unit 170. When the pool cleaning robot 100 moves toward the base station 200 and the accumulated time of the timing unit 170 exceeds a preset time, the forward direction of the pool cleaning robot 100 rotates in a direction away from the obstacle to change the forward direction of the pool cleaning robot 100.

[0177] If the accumulated time of the timing unit 170 exceeds the preset time, it indicates that the pool cleaning robot 100 may be rotating around the three-dimensional structure. At this time, the pool cleaning robot 100 is controlled to rotate so that the lateral detection unit 300 detects objects in other areas. In this way, the probability of the lateral detection unit 300 detecting the side wall of the pool 2 is increased, and the pool cleaning robot 100 moves along the newly detected obstacle by the lateral detection unit 300, which is conducive to the pool cleaning robot 100 returning to the base station 200.

[0178] Among them, the angle at which the forward plane of the pool cleaning robot 100 rotates in the direction away from the obstacle can be not less than 90° and not more than 270°, for example 90°, 95°, 100°, 105°, 110°, 115°, 120°, 125°, 130°, 135°, 140°, 145°, 150°, 155°, 160°, 165°, 170°, 175°, 180°, 185°, 190°, 195°, 200°, 205°, 215°, 220°, 225°, 230°, 235°, 240°, 245°, 250°, 255°, 260°, 265° or 270°, to avoid the pool cleaning robot 100 still detecting the same obstacle after rotation.

[0179] Furthermore, the preset time may be no less than 30 seconds, such as 30 seconds, 35 seconds, 40 seconds, 45 seconds, 50 seconds, 55 seconds, 60 seconds, 65 seconds, 70 seconds, 75 seconds, 80 seconds, 85 seconds, 90 seconds, 95 seconds, 100 seconds, 105 seconds, 110 seconds, 115 seconds, 120 seconds, 125 seconds, 130 seconds, 135 seconds, 140 seconds, 145 seconds, 150 seconds, 155 seconds, 160 seconds, 165 seconds, 170 seconds, 175 seconds, 180 seconds, 185 seconds, 190 seconds, 195 seconds, 200 seconds, 210 seconds, 220 seconds, 230 seconds or 240 seconds.

[0180] As shown in Figures 5-7, the lateral detection unit 300 is provided on at least one of the side, top, bottom, and front surfaces of the pool cleaning robot 100. The side surface is located in the second direction of the pool cleaning robot 100. When the pool cleaning robot 100 is in a horizontal position, the top surface is located on the side of the pool cleaning robot 100 facing away from the bottom wall of the pool 2 in the height direction. The bottom surface is located on the side of the pool cleaning robot 100 facing the bottom wall of the pool 2 in the height direction. The front surface is located on the side of the pool cleaning robot 100 facing the first direction.

[0181] In this way, the layout between the lateral detection unit 300 and the pool cleaning robot 100 is more flexible, and different layouts can be selected according to user needs and usage scenarios, and the applicability of the pool cleaning system 1 is higher.

[0182] As shown in Figures 5 to 7, the angle between the extension direction of the lateral detection unit 300 and the forward direction of the pool cleaning robot 100 is greater than 0° and not greater than 90°. The forward direction of the pool cleaning robot 100 refers to the above-mentioned first direction; the extension direction of the lateral detection unit 300 refers to the detection direction of the lateral detection unit 300. Since the angle between the extension direction of the detection unit 300 and the forward direction of the pool cleaning robot 100 is greater than 0° and not greater than 90°, the detection direction of the lateral detection unit 300 extends along the second direction, or the detection direction of the lateral detection unit 300 is toward the front and is located between the first direction and the second direction; the angle between the extension direction of the lateral detection unit 300 and the forward direction of the pool cleaning robot 100 can be 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 55°, 60°, 65°, 70°, 75°, 80°, 85°, 90°, etc.

[0183] The side walls of some pools 2 may be uneven, that is, the side walls of the pool 2 may partially protrude inward. By tilting the extension direction of the lateral detection unit 300 and the forward direction of the pool cleaning robot 100, the lateral detection unit 300 can detect the distance between the side wall of the pool 2 in front of the pool cleaning robot 100 and the pool cleaning robot 100, thereby avoiding collision between the pool cleaning robot 100 and the side wall of the pool 2, and improving the safety of the movement of the pool cleaning robot 2.

[0184] As shown in Figure 8, the above-mentioned base station 200 is provided with a first signal unit 250, and the pool cleaning robot 100 is provided with a second signal unit 160. Wireless communication is performed between the first signal unit 250 and the second signal unit 160. For example, the first signal unit 250 and the second signal unit 160 can communicate wirelessly through acoustic signals, or the first signal unit 250 and the second signal unit 160 can communicate wirelessly through optical signals, or the first signal unit 250 and the second signal unit 160 can communicate wirelessly through electromagnetic signals, or the first signal unit 250 and the second signal unit 160 can communicate wirelessly through radio.

[0185] In some embodiments, the second signal unit 160 includes at least two ultrasound receiving subunits, at least two wireless receiving units, or an image acquisition unit.

[0186] In this way, the base station 200 and the pool cleaning robot 100 can communicate through the first signal unit 250 and the second signal unit 160 to assist in guiding the pool cleaning robot 100. The movement direction of the pool cleaning robot 100 is more accurate, and the return efficiency of the pool cleaning robot 100 is higher and more reliable. In addition, no wires are required to connect the base station 200 and the pool cleaning robot 100. The movement of the pool cleaning robot 100 is less restricted, the movement is more flexible, and the risk of wire wear is eliminated.

[0187] In some embodiments, the first signal unit 250 of the base station 200 is an underwater communication unit in another embodiment.

[0188] The lateral detection unit 300 includes at least one of a distance sensor, a camera, a mechanical switch, and a pressure sensor. The distance sensor may be an optical distance sensor or an ultrasonic distance sensor.

[0189] When the lateral detection unit 300 includes a distance sensor or a camera, the lateral detection unit 300 can detect the specific distance between the pool cleaning robot 100 and the side wall of the pool 2, or the lateral detection unit 300 can sense objects within a certain range to the side of the pool cleaning robot 100, so that the pool cleaning robot 100 can move along the side wall of the pool 2;

[0190] When the lateral detection unit 300 is a mechanical switch, the lateral detection unit 300 can abut against the side wall of the pool 2, that is, the side wall of the pool 2 presses the mechanical switch, and the pool cleaning robot 100 can move along the side wall of the pool 2 to keep the mechanical switch in the pressed state;

[0191] When the lateral detection unit 300 is a pressure sensor, the lateral detection unit 300 can be in contact with the pool wall of the pool 2. The pressure sensor detects that the pressure value is greater than the preset pressure value. The pool cleaning robot 100 can move along the side wall of the pool 2 so that the pressure sensor maintains the pressure value greater than the preset pressure value.

[0192] Among them, when the lateral detection unit 300 is a pressure sensor, the forward surface of the pool cleaning robot 100 can be closer to the side wall of the pool 2 relative to the backward surface, and the pool cleaning robot 100 is tilted relative to the side wall of the pool 2 to ensure that the mechanical switch is pressed or to ensure the pressure value detected by the pressure sensor.

[0193] In some embodiments, as shown in FIG8 , the pool cleaning robot 100 further includes a mileage detection unit 400 and a posture detection unit 500 . The mileage detection unit 400 may be an odometer, and the posture detection unit 500 may be a posture sensor or a gyroscope. The mileage detection unit 400 is used to record the distance traveled by the pool cleaning robot 100, and the posture detection unit 500 is used to detect the posture of the pool cleaning robot 100. The pool cleaning robot 100 calculates the shape of the pool 2 and the position of the base station 200 within the pool 2 based on signals from the mileage detection unit 400, the posture detection unit 500, and the lateral detection unit 300.

[0194] That is to say, the mileage detection unit 400 can detect the moving mileage of the pool cleaning robot 100, and the posture detection unit 500 can detect the real-time posture of the pool cleaning robot 100, for example, whether the pool cleaning robot 100 is in a horizontal state or a vertical state. Since the height of the base station 200 may be higher than the height of the pool cleaning robot 100, and the base station 200 is set on the wall or shore of the pool 2, the pool cleaning robot 100 needs to perform a wall climbing action in the process of moving to the base station 200, that is, the pool cleaning robot 100 moves along the side wall of the pool 2. During the wall climbing process of the pool cleaning robot 100, the pool cleaning robot 100 is in a vertical state.

[0195] Through the mileage detection unit 400 and the posture detection unit 500, the pool cleaning robot 100 has the ability to construct the outline of the pool 2 and identify the position of the base station 200 in the pool 2. Combined with the lateral detection unit 300 on the pool cleaning robot 100, the pool cleaning robot 100 improves the cleaning efficiency of the pool 2, making the cleaning more thorough, and the return process is smoother and more efficient.

[0196] In addition, the base station 200 can be provided with a first display panel, and the signal of the mileage detection unit 400 and the signal of the posture detection unit 500 can be fed back to the base station 200. The base station 200 controls the first display panel to display the outline graphics of the pool 2, as well as the position of the base station 200 in the pool 2, so that the user can connect to the above information in a timely manner.

[0197] The pool cleaning system 1 also includes an electronic terminal, which can be a mobile phone, tablet, or computer. The signals from the mileage detection unit 400 and the attitude detection unit 500 can be fed back to the electronic terminal. The electronic terminal is provided with a second display panel, which controls the second display panel to display the outline of the pool 2 and the position of the base station 200 in the pool 2, so that the user can connect to the above information in a timely manner. In some embodiments, the electronic terminal is a water-based device.

[0198] The following describes the method of returning to the pile of the pool cleaning robot 100 with reference to the accompanying drawings:

[0199] When the pool cleaning robot 100 receives a return-to-pile signal or the power level of the energy storage unit of the pool cleaning robot 100 is lower than a preset power level, the pool cleaning robot 100 enters the return-to-pile mode;

[0200] The pool cleaning robot 100 determines whether it has received a valid guidance signal. If so, the pool cleaning robot 100 moves in the direction of propagation of the guidance signal. If not, the pool cleaning robot 100 obtains the detection result of the lateral detection unit 300 and moves along the obstacle.

[0201] Among them, the effective guidance signal is sent by the base station 200. When the pool cleaning robot 100 is applied to the irregular-shaped pool 2, that is, when the shape of the irregular-shaped pool 2 is not a regular shape such as a circle, rectangle, or regular polygon, the side wall of the irregular-shaped pool 2 may block the transmission of the guidance signal (as shown in Figure 3), or there may be objects in the pool 2 that hinder the transmission of the guidance signal (as shown in Figure 4). The effective guidance signal will be refracted or reflected in the pool 2, resulting in the pool cleaning robot 100 being unable to receive the effective guidance signal. The refracted or reflected signal is an invalid signal, and the signal sent by objects outside the pool cleaning system 1 is also an invalid signal. The invalid signal cannot guide the pool cleaning robot 100 to move to the base station 200.

[0202] In some embodiments, the pool cleaning robot 100 can determine whether the received signal is a valid signal by signal strength; when the guidance signal is a light signal, the pool cleaning robot 100 can determine whether the received signal is a valid signal by the illumination range; when the guidance signal is a sound signal, the pool cleaning robot 100 can determine whether the received signal is a valid signal by parameters such as sound intensity and the slope of the rising edge.

[0203] After the pool cleaning robot 100 moves along an obstacle, if the accumulated time of the timing unit 170 exceeds a preset time, the forward direction of the pool cleaning robot 100 rotates in a direction away from the obstacle, so that the pool cleaning robot 100 moves along the side wall of the pool 2 until the pool cleaning robot 100 receives a valid guidance signal, at which time the pool cleaning robot 100 starts to move in the direction of propagation of the valid guidance signal.

[0204] The pool cleaning system is provided with a lateral detection module, so that the pool cleaning robot can move along the side wall of the pool, thereby increasing the probability of returning to the base station, so that the pool cleaning robot can be suitable for special-shaped pools.

[0205] Example 3:

[0206] Furthermore, when the pool cleaning robot needs maintenance, it will float to the surface of the pool. However, when the pool cleaning robot is far from the shore, it needs to be manually pulled to the pool wall using a long pole or other tools and then salvaged and recovered to shore for maintenance. This maintenance process is cumbersome, time-consuming, and labor-intensive, resulting in a poor user experience.

[0207] 9 and 10 , a pool cleaning system proposed in this application includes a base station 200 , a control unit 260 , and a locking device 270 .

[0208] The base station 200 is used to support the pool cleaning robot and provide an attachment base for fixing the pool cleaning robot. The base station 200 is arranged vertically and its bottom surface is fixedly connected to the pool wall 201 of the pool. The base station 200 can adopt a variety of shapes. For example, the base station 200 can be a rectangular parallelepiped structure as shown in Figure 1. Of course, it can also be set as a cylindrical structure according to the chassis shape of the pool cleaning robot 100. It is understandable that in order to ensure that the base station 200 fully supports the pool cleaning robot 100, the surface area of ​​the base station 200 is larger than the chassis area of ​​the pool cleaning robot 100. The base station 200 can be directly fixedly connected to the pool wall 201 by fasteners such as bolts, or it can be indirectly connected to the pool wall 201 by providing a fixing unit. To avoid damaging the pool wall 201 when fasteners such as bolts are used to connect the base station 200 to the pool wall 201, the fixing unit can be a thin plate, sheet, or other connecting member, with glue coated on the surface of the connecting member. The base station 200 is connected to the pool wall 201 through the adhesive force of the glue. Alternatively, the fixing unit can be a suction cup, which connects the base station 200 to the pool wall 201 through the adsorption force of the suction cup. It is understood that a base station 200 can be connected using multiple fixing units. Multiple fixing units can all use connecting members such as thin plates or sheets coated with glue, or all use suction cups. To improve connection reliability, multiple fixing units can also use connecting members such as thin plates or sheets coated with glue on some surfaces, with the remaining parts using suction cups.

[0209] The control unit 260 is used to communicate with the pool cleaning robot 100 and guide the pool cleaning robot 100 back to the base station 200. The control unit 260 includes a housing, a power supply, a control unit, and a wireless communication unit located therein. The control unit is electrically connected to the wireless communication unit and the power supply. The power supply is used to power the control unit and the wireless communication unit, ensuring their proper operation. The power supply can be a high-capacity rechargeable battery or an external AC power source. The wireless communication unit communicates with the pool cleaning robot 100, sending control signals from the control unit and transmitting received signals from the pool cleaning robot 100 to the control unit, allowing the control unit to control the pool cleaning robot 100 in real time. The control unit 260 is located above and connected to the base station 200. The control unit 260 can be arranged in various configurations. For example, in some embodiments, the control unit 260 can be fixedly connected to the pool wall 201. In this case, the control unit 260 is an elongated structure, with the bottom of the control unit 260 located above the waterline of the pool. Similar to the base station 200, which is fixed to the pool wall 201, the control unit 260 can also be directly fixed to the pool wall 201 using fasteners such as bolts, or indirectly connected to the pool wall 201 by providing a fixing unit. To prevent damage to the pool wall 201 when fasteners such as bolts are used to connect the control unit 260 to the pool wall 201, the fixing unit can be a thin plate or sheet, coated with glue, and the control unit 260 can be connected to the pool wall 201 through the adhesive force of the glue. Alternatively, the fixing unit can be a suction cup, which can attach the control unit 260 to the pool wall 201 through the suction force of the suction cup. It is understood that a single control unit 260 can be connected using multiple fixing units. Multiple fixing units can all use thin plates or sheets coated with glue, or all use suction cups. To improve connection reliability, multiple fixing units can also use several thin plates or sheets coated with glue, with the remaining parts using suction cups.

[0210] In some embodiments, the control unit 260 can be fixedly mounted on the bank of the pool and connected to the base station 200 via a cable. When the base station 200 is equipped with electrical equipment, the cable can serve not only as a connector but also as a conductor to deliver power and transmit signals to the equipment. The cable's length, diameter, and other specifications can be flexibly designed based on actual needs.

[0211] A locking device 270 is provided at the base station 200 and is used to secure the pool cleaning robot 100 when it returns to the base station 200. Exemplarily, the locking device 270 may include a positioning unit and a locking actuator. The positioning unit is electrically connected to the power supply and the control unit and is used to detect whether the pool cleaning robot 100 has returned to the base station 200. The positioning unit may be a position switch, an infrared positioning sensor, a laser positioning sensor, or the like. When the pool cleaning robot 100 returns to the base station 200, a positioning signal is generated and transmitted to the control unit.

[0212] The locking actuator is electrically connected to the power supply and the control unit, and is used to fix the pool cleaning robot 100 when the positioning unit detects that the pool cleaning robot 100 has returned to the base station 200. The locking actuator can be an electromagnetic actuator, a mechanical actuator, or, to improve the reliability of fixing the pool cleaning robot 100, both an electromagnetic actuator and a mechanical actuator can be used.

[0213] The specific structures of the electromagnetic actuator and the mechanical actuator can vary. In some embodiments, the electromagnetic actuator includes an electromagnet. When the positioning unit detects that the pool cleaning robot 100 has returned to the base station 200, a positioning signal is generated and transmitted to the control unit. Upon receiving the positioning signal, the control unit controls the electromagnet to conduct, causing it to attract a metal component on the bottom of the pool cleaning robot 100, securing the pool cleaning robot 100 to the base station 200. The metal component on the bottom of the pool cleaning robot 100 can be a metal block specifically provided on the bottom of the pool cleaning robot 100, or it can be a metal structural component on the bottom of the pool cleaning robot 100. In some embodiments, the mechanical actuator can include a power source, a transmission mechanism, and a clamping claw; the power source is connected to the clamping claw via the transmission mechanism. When the positioning unit detects that the pool cleaning robot 100 has returned to the base station 200, a positioning signal is generated and transmitted to the control unit. Upon receiving the positioning signal, the control unit controls the power source to activate, which drives the clamping claw via the transmission mechanism to clamp the pool cleaning robot 100, securing the pool cleaning robot 100 to the base station 200. The power source may be a driving motor, and the transmission mechanism may be a gear transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, a multi-link transmission mechanism, and the like.

[0214] This application solution installs a base station 200 on the pool wall 201 to support the pool cleaning robot 100. When the pool cleaning robot 100 requires maintenance, a control unit 260 above the base station 200 can automatically guide the pool cleaning robot 100 back to the base station 200, and a locking device 270 can be used to secure the pool cleaning robot 100 to the base station 200. Therefore, there is no need to manually use a long pole or other tool to drag the pool cleaning robot 100, which is far from the shore, to the pool wall 201, effectively optimizing the maintenance process. This solution can solve the problem of the pool cleaning robot 100 having cumbersome maintenance procedures, time-consuming and labor-intensive maintenance, and poor user experience.

[0215] To further simplify maintenance procedures for the pool cleaning robot 100 and enhance the user experience, in some embodiments, the pool cleaning robot 100's return station may also include a wireless charging transmitter coil. This wireless charging transmitter coil is located at the base station 200 and electrically connected to the power supply and control unit. When the pool cleaning robot 100 returns to the base station 200, it charges the pool cleaning robot's internal battery via the robot's charging receiver coil. When the positioning unit detects the robot's return to the base station 200, it generates a positioning signal and transmits it to the control unit. Upon receiving the positioning signal, the control unit connects the wireless charging transmitter coil, enabling inductive charging via the wireless charging transmitter coil and the robot's charging receiver coil. This allows the pool cleaning robot 100 to recharge when it is low on battery power by returning to the base station, eliminating the need to relocate the robot to shore for charging. This further enhances the user experience.

[0216] To ensure that the pool cleaning robot 100 can smoothly return to the pool cleaning robot, referring to Figures 9 and 10, in some embodiments, the pool cleaning robot 100 further includes a guide device 600. The guide device 600 includes two guide positioning plates 610, which are arranged in parallel and spaced apart on a side of the support plane away from the pool wall 201, for guiding the pool cleaning robot 100 back to the base station 200. The distance between the two guide positioning plates 610 can be slightly greater than the width of the pool cleaning robot 100. The two guide positioning plates 610 can be oriented in an up-down direction as shown in Figure 9, in which case the pool cleaning robot 100 moves from bottom to top back to the pool cleaning robot. Of course, the two guide positioning plates 610 can also be oriented in a left-right direction, in which case the pool cleaning robot 100 can move from left to right or from right to left back to the pool cleaning robot.

[0217] Furthermore, as shown in FIG9 , both guide and positioning plates 610 have an extension 620 at one end on the same side. The distance between the two extensions 620 gradually increases as they move away from the other end of the guide and positioning plates 610. Furthermore, the base station 200 has an arcuate transition portion 280 at the end proximal to the extension 620. The gradually decreasing distance between the two extensions 620 in a figure-eight shape guides the pool cleaning robot 100. Combined with the arcuate transition portion 280 gradually rising to be flush with the base station 200, this reduces the movement resistance of the pool cleaning robot 100 and allows the pool cleaning robot 100 to smoothly return from the pool wall 201 to the base station 200.

[0218] All of the above optional technical solutions can be combined in any way to form optional embodiments of the present application, and will not be described in detail here.

[0219] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A pool cleaning system, the system comprising a pool cleaning robot and a base station; The pool cleaning robot can move toward the direction where the base station is located, and then dock with the base station.

2. The system according to claim 1, wherein: The pool cleaning robot and / or the base station are provided with a locking mechanism, the pool cleaning robot comprises at least one motor, a power supply module and a filter unit, and the base station is located on the pool wall corresponding to the water level line of the pool; The pool cleaning robot is used to move towards the direction where the base station is located when the return condition is met; The pool cleaning robot is also used to climb up the wall when it reaches the vicinity of the base station; then move on the pool wall and dock with the base station; The base station is used to control the locking mechanism to fix the pool cleaning robot when the pool cleaning robot is docked with the base station.

3. The system according to claim 2, wherein: The base station includes an on-water communication unit, and the on-water communication unit is used for on-water equipment to communicate; The base station also includes an underwater communication unit, which is used to guide the pool cleaning robot to move in the direction of the base station and communicate with underwater equipment at the same time. The underwater communication unit is electrically connected to the above-water communication unit.

4. The system according to claim 3, wherein: The underwater device is the pool cleaning robot, the underwater communication unit is used to send ultrasonic signals, and the pool cleaning robot is used to receive the ultrasonic signal sent by the base station through at least two ultrasonic receiving subunits of the pool cleaning robot when the return condition is met, and the at least two ultrasonic receiving subunits are located at different positions of the pool cleaning robot; based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving subunits, the pool cleaning robot is controlled to move toward the base station until the pool cleaning robot completes docking with the base station.

5. The system according to claim 3, wherein: The underwater device is the pool cleaning robot, the underwater communication unit is used to send wireless signals, and the pool cleaning robot is used to receive the wireless signal sent by the base station through at least two wireless receiving subunits of the pool cleaning robot when the return condition is met, and the at least two wireless receiving subunits are located at different positions of the pool cleaning robot; based on the signal parameters of the wireless signal received by the at least two wireless receiving subunits, the pool cleaning robot is controlled to move toward the base station until the pool cleaning robot completes docking with the base station.

6. The system according to claim 3, wherein: The underwater device is the pool cleaning robot, the underwater communication unit emits light of a preset wavelength, and the pool cleaning robot is used to collect an environmental image of the pool cleaning robot through the image acquisition unit of the pool cleaning robot when the return condition is met; Based on the pixel points of the preset wavelength in the environmental image, the pool cleaning robot is controlled to move toward the base station.

7. The system according to claim 4, wherein: The base station includes a berth for the pool cleaning robot, and the underwater communication unit is arranged on the central axis of the berth and / or on the left and right sides of the central axis of the berth that are symmetrical.

8. The system according to claim 3, wherein: The above-water communication unit is used to, in response to a control instruction sent by a target terminal, send the control instruction to the underwater communication unit, and the underwater communication unit forwards the control instruction to the pool cleaning robot, wherein the target terminal is a terminal having control authority for the pool cleaning robot; The underwater communication unit is further used to, in response to feedback information sent by the pool cleaning robot, send the feedback information to the above-water communication unit, and the above-water communication unit forwards the feedback information to the target terminal.

9. The system according to claim 2, wherein: The base station also includes a wireless charging transmitting coil, and the pool cleaning robot also includes a wireless charging receiving coil. When the pool cleaning robot is docked with the base station, the wireless charging transmitting coil is located adjacent to the wireless charging receiving coil. The base station is also used to charge the pool cleaning robot through the wireless charging transmitting coil and the wireless charging receiving coil when the pool cleaning robot is fixed by the locking mechanism.

10. The system according to claim 9, wherein: The base station includes a parking space for the pool cleaning robot, and the wireless charging transmitting coil is located on the central axis of the parking space.

11. The system according to claim 9, wherein: The base station also includes a solar power generation panel, which supplies power to the base station and / or the wireless charging transmitting coil.

12. The system according to claim 11, wherein: The base station also includes a battery, the solar panel is electrically connected to the battery, and the battery supplies power to the base station and the wireless charging transmitting coil.

13. The system of claim 2, wherein: The locking mechanism can be unlocked by the pool cleaning robot and / or the base station so that the pool cleaning robot can be separated from the base station.

14. The system of claim 2, wherein: The base station further includes a garbage collection unit, which extracts garbage from the filtering unit.

15. The system of claim 14, wherein: The base station also includes a pump system. The garbage collection unit is docked with the opening of the filter unit. The base station is also used to control the pump system to absorb garbage from the opening to the garbage collection unit.

16. The system of claim 2, wherein: The locking mechanism and the pool cleaning robot include a permanent magnet and / or a metal block, which is used to establish a magnetic connection between the permanent magnet and / or the metal block of the locking mechanism and the permanent magnet and / or the metal block of the pool cleaning robot when the pool cleaning robot is docked with the base station, so as to fix the pool cleaning robot; Alternatively, the locking mechanism includes an electromagnet, the pool cleaning robot includes a permanent magnet and / or a metal block, and when the pool cleaning robot is docked with the base station, the electromagnet is located adjacent to the permanent magnet and / or the metal block, and the base station is used to energize the electromagnet when the pool cleaning robot is docked with the base station, so that the electromagnet applies magnetic force to the permanent magnet and / or the metal block to fix the pool cleaning robot; Alternatively, the locking mechanism includes a hook, and the pool cleaning robot includes a protrusion or a groove matching the hook, and the base station is used for connecting the hook of the locking mechanism to the protrusion or the groove to fix the pool cleaning robot when the pool cleaning robot is docked with the base station.

17. The system of claim 2, wherein: The return conditions include: whether the remaining power of the pool cleaning robot is less than or equal to a power threshold, whether the filter unit of the pool cleaning robot is filled with garbage, whether the pool cleaning robot completes a predetermined cleaning task, and whether the pool cleaning robot receives a return instruction.

18. The system of claim 2, wherein: The base station and / or the pool cleaning robot also includes a docking detection unit. The base station and / or the pool cleaning robot also includes a docking unit. The docking detection unit is used to determine whether the pool cleaning robot has completed docking with the base station based on the relative position relationship between the docking unit.

19. The system of claim 1, wherein: The pool cleaning robot is provided with a walking unit, the walking unit is rotatable relative to the pool cleaning robot, the walking unit is used to contact the bottom wall and the side wall of the pool, the pool cleaning robot and the base station are switchable between a separation state and a connection state, and when the pool cleaning robot and the base station are in a separation state, the robot can automatically move toward the base station; The lateral detection unit is provided on the pool cleaning robot and is used to detect the distance between the pool cleaning robot and an obstacle located to the side of the pool cleaning robot.

20. The system of claim 19, wherein: The base station is provided with a first signal unit, the pool cleaning robot is provided with a second signal unit, and the first signal unit and the second signal unit communicate wirelessly.

21. The system of claim 19, wherein: The base station is provided with a base station energy storage unit and a first charging unit, the base station energy storage unit is connected to the first charging unit, the pool cleaning robot is provided with a robot energy storage unit and a second charging unit, the robot energy storage unit is connected to the second charging unit, and the first charging unit and the second charging unit can cooperate.

22. The system of claim 19, wherein: The base station is provided with an electrical connection unit and a first charging unit, the electrical connection unit is connected to the first charging unit, the electrical connection unit is suitable for connecting to an external power supply, the pool cleaning robot is provided with a robot energy storage unit and a second charging unit, the robot energy storage unit is connected to the second charging unit, and the first charging unit and the second charging unit can cooperate.

23. The system of claim 19, wherein: The angle between the extension direction of the lateral detection unit and the forward direction of the pool cleaning robot is greater than 0° and not greater than 90°.

24. The system of claim 19, wherein: The lateral detection unit includes at least one of an optical distance sensor, a camera, an ultrasonic distance sensor, a mechanical switch, and a pressure sensor.

25. The system of claim 19, wherein: The lateral detection unit is arranged on at least one of the side surface, top surface, bottom surface and forward surface of the pool cleaning robot.

26. The system of claim 19, wherein: The pool cleaning robot is provided with a timing unit. When the pool cleaning robot moves toward the base station and the accumulated time of the timing unit exceeds a preset time, the forward direction of the pool cleaning robot rotates in a direction away from the obstacle to change the forward direction of the pool cleaning robot.

27. The system of claim 19, wherein: The pool cleaning robot is provided with a mileage detection unit and a posture detection unit. The mileage detection unit is used to record the moving distance of the pool cleaning robot, and the posture detection unit is used to detect the posture of the pool cleaning robot.

28. The system of claim 27, wherein: The base station is provided with a first display panel, and the first display panel displays the contour graphic of the pool and the position of the base station in the pool according to the mileage detection unit and the posture detection unit; and / or The pool cleaning system also includes an electronic terminal, which is provided with a second display panel. The second display panel displays a contour graphic of the pool and a position of the base station in the pool according to the mileage detection unit and the posture detection unit.

29. The system of claim 1, wherein: The base station is vertically arranged with its bottom surface attached to the wall of the pool. The system further comprises: A control unit is located on the upper part of the base station and at least partially exposed to the water surface of the pool; the control unit includes a box body and a power supply, a control unit and a wireless communication unit located in the box body, the control unit is electrically connected to the wireless communication unit and the power supply, and is used to communicate with the pool cleaning robot through the wireless communication unit to guide the pool cleaning robot to return to the base station; A locking mechanism is provided on the base station and is used to fix the pool cleaning robot when the pool cleaning robot returns to the base station.

30. The system of claim 29, wherein: The system further comprises a fixing unit, which is fixedly connected to the base station and / or the control unit and is used for installing the base station and / or the control unit on the pool wall of the pool.

31. The system of claim 29, wherein: The control unit is fixedly arranged on the bank of the pool, and the control unit is connected to the base station via a cable.

32. The system of claim 30, wherein: The fixing unit adopts a connecting piece, and the surface of the connecting piece is coated with glue; and / or The fixing unit adopts a suction cup.

33. A system according to any one of claims 29 to 32, wherein: The locking mechanism comprises: a positioning unit, electrically connected to the power supply and the control unit, and configured to detect whether the pool cleaning robot returns to the base station; A locking actuator is electrically connected to the power supply and the control unit, and is used to fix the pool cleaning robot when the positioning unit detects that the pool cleaning robot returns to the base station.

34. The system of claim 33, wherein: The positioning unit adopts a position switch, an infrared positioning sensor or a laser positioning sensor.

35. The system of claim 33, wherein: The locking actuator comprises: An electromagnetic actuator, the electromagnetic actuator comprising an electromagnet; when the positioning unit detects that the pool cleaning robot returns to the base station, the electromagnet is turned on to absorb the metal part at the bottom of the pool cleaning robot; and / or The mechanical actuator comprises a power source, a transmission mechanism and a claw; the power source is connected to the claw through the transmission mechanism; when the positioning unit detects that the pool cleaning robot returns to the base station, the power source is started to drive The clamping claws clamp the pool cleaning robot.

36. A system according to any one of claims 29 to 32, wherein: The system further comprises: A wireless charging transmitting coil is arranged at the base station and is electrically connected to the power supply and the control unit, and is used to charge the battery inside the pool cleaning robot through the charging receiving coil of the pool cleaning robot when the pool cleaning robot returns to the base station.

37. A system according to any one of claims 29 to 32, wherein: The system further comprises: The guiding device comprises two guiding positioning plates, which are arranged in parallel and spaced apart on a side of a supporting plane away from a wall of the pool, and are used to guide the pool cleaning robot to return to the base station.

38. The system of claim 37, wherein: An extension portion is provided at one end of the same side of the two guide positioning plates; and the distance between the two extension portions gradually increases in a direction away from the other end of the guide positioning plate; An arc-shaped transition portion is provided at one end of the base station close to the extension portion to guide the pool cleaning robot to smoothly return from the pool wall of the pool to the base station.

Images