Pool robot system

Abstract

The present application discloses a pool robot system, comprising: a pool robot, provided with a first docking assembly on at least one side, the first docking assembly comprising a first magnetic piece; and a positioning assembly provided on an edge of a pool, the positioning assembly being provided with a second docking assembly, the second docking assembly comprising a second magnetic piece, and the second magnetic piece being magnetically attracted to the first magnetic piece, wherein the first docking assembly comprises a first magnetic control assembly, the first magnetic control assembly being connected to the first magnetic piece and used for changing the magnetic field of the first magnetic piece; and / or the second docking assembly comprises a second magnetic control assembly, the second magnetic control assembly being connected to the second magnetic piece and used for changing the magnetic field of the second magnetic piece.

Description

Pool Robot System

Technical field

[0001] The present application relates to the field of pool robots, and in particular to a pool robot system. [Background Technology]

[0002] Pools are the primary venue for swimming. With the advancement of science and technology, pool robots, capable of performing tasks such as pool cleaning, disinfection, and emergency rescue, are becoming increasingly popular. However, when not performing tasks, pool robots typically remain in standby mode. These robots are prone to drifting erratically with the current, impacting pool usage.

[0003] Some pool robots in the related art are equipped with a drive assembly that continuously drives the robot to keep it at the edge of the pool, where the user can then retrieve it from the pool. However, this continuous operation consumes significant energy, and if the robot's battery life is insufficient, it cannot remain at the edge for long, requiring the user to retrieve it promptly. Furthermore, the robot requires manual handling and re-entry, making it inconvenient.

[0004] [Summary of the invention]

[0005] In view of this, the present application provides a pool robot system that can conveniently fix or release the pool robot relative to the pool.

[0006] In order to solve the above technical problems, the present application proposes a pool robot system, including: a pool robot, at least one side of which is provided with a first docking component, the first docking component includes a first magnetic part; a positioning component, which is arranged at the edge of the pool, the positioning component is provided with a second docking component, the second docking component includes a second magnetic part, and the second magnetic part can be magnetically attracted to the first magnetic part; wherein, the first docking component includes a first magnetic control component, the first magnetic control component is connected to the first magnetic part, and is used to change the magnetic field of the first magnetic part; and / or, the second docking component includes a second magnetic control component, the second magnetic control component is connected to the second magnetic part, and is used to change the magnetic field of the second magnetic part.

[0007] In which, a driving force can be generated on the pool robot, and the driving force drives the pool robot to move; the first magnetic control component can change the magnetic field of the first magnetic part so that the magnetic attraction force between the first magnetic part and the second magnetic part is smaller than the driving force; and / or, the second magnetic control component can change the magnetic field of the second magnetic part so that the magnetic attraction force between the first magnetic part and the second magnetic part is smaller than the driving force.

[0008] Among them, the first magnetic control component is electrically connected to the first magnetic part. When the first magnetic control component is energized to the first magnetic part, the first magnetic part is demagnetized; the second magnetic control component is electrically connected to the second magnetic part. When the second magnetic control component is energized to the second magnetic part, the second magnetic part is demagnetized.

[0009] In which, the first magnetic control component is connected to the first magnetic part, and the first magnetic control component can control the movement of the first magnetic part relative to the second docking component to cause the first magnetic part to be magnetically attracted to or de-magnetized from the second magnetic part; and / or, the second magnetic control component is connected to the second magnetic part, and the second magnetic control component can control the movement of the second magnetic part relative to the first docking component to cause the second magnetic part to be magnetically attracted to or de-magnetized from the first magnetic part.

[0010] In which, the first magnetic control component can control the first magnetic part to move linearly or rotationally relative to the second docking component, so that the first magnetic part and the second magnetic part are magnetically attracted or de-magnetized; and / or, the second magnetic control component can control the second magnetic part to move linearly or rotationally relative to the first docking component, so that the first magnetic part and the second magnetic part are magnetically attracted or de-magnetized.

[0011] Among them, the first magnetic control component includes a first push-pull rod, the first magnetic part is connected to the first push-pull rod, and the first push-pull rod can be extended and retracted relative to the second docking component to drive the first magnetic part closer to or away from the second docking component; or, the first magnetic control component includes a first rotating shaft, and the first magnetic control component can drive the first magnetic part to rotate around the first rotating shaft so that the first magnetic part is in a first posture or a second posture; when the first magnetic part is in the first posture, the first magnetic part attracts the second docking component, and when the first magnetic part is in the second posture, the first magnetic part and the second docking component are disengaged from the magnetic attraction.

[0012] Among them, the second magnetic control component includes a second push-pull rod, the second magnetic part is connected to the second push-pull rod, and the second push-pull rod can be extended and retracted relative to the first docking component to drive the second magnetic part closer to or away from the first docking component; or, the second magnetic control component includes a second rotating shaft, and the second magnetic control component can drive the second magnetic part to rotate around the second rotating shaft so that the second magnetic part is in a third posture or a fourth posture; when the second magnetic part is in the third posture, the second magnetic part attracts the first docking component, and when the second magnetic part is in the fourth posture, the second magnetic part is disengaged from the first docking component.

[0013] In which, the first magnetic part is a permanent magnetic suction cup, the first magnetic part includes a first switch, the first magnetic control component is connected to the first switch, and can drive the first switch to move to the first position or the second position; when the first switch is in the first position, the first magnetic part is magnetic, and when the first switch is in the second position, the first magnetic part is non-magnetic; and / or, the second magnetic part is a permanent magnetic suction cup, the second magnetic part includes a second switch, the second magnetic control component is connected to the second switch, and can drive the second switch to move to the third position or the fourth position; when the second switch is in the third position, the second magnetic part is magnetic, and when the second switch is in the fourth position, the second magnetic part is non-magnetic.

[0014] The pool robot can float on the surface of the pool, and the second docking component can adapt to changes in the water level of the pool to magnetically attract the pool robot.

[0015] The second docking assembly floats along with the water level of the pool.

[0016] Among them, the positioning component includes a floating part and a guide part. The guide part is set at the edge of the pool. The floating part floats with the water level of the pool. The floating part is slidably connected to the guide part, and the second docking component is set on the floating part.

[0017] The second docking assembly is extended between a preset maximum water level of the pool and a preset minimum water level of the pool.

[0018] Wherein, along the direction perpendicular to the water surface of the pool, the length of the second docking assembly is greater than or equal to the distance between a preset maximum water level of the pool and a preset minimum water level of the pool.

[0019] The pool robot further includes a posture control component, which is used to control the pool robot to move the first docking component toward the second docking component or away from the second docking component.

[0020] The pool robot includes a first side and a second side opposite to each other, and the first docking assembly is located on the first side, wherein when the pool robot moves forward, the first side or the second side faces the edge of the pool.

[0021] The positioning component is provided with a sensing element, which is used to detect the positional relationship between the pool robot and the positioning component.

[0022] The sensing element includes at least one of the following: a Hall sensor, an infrared sensor, an ultrasonic sensor, a visual recognition device, a micro switch, and a laser sensor.

[0023] The present application provides a pool robot system comprising a pool robot and a positioning assembly. A first docking assembly is provided on at least one side of the pool robot. The first docking assembly includes a first magnetic member. The positioning assembly is positioned at the edge of the pool. The positioning assembly includes a second docking assembly, which includes a second magnetic member. The second magnetic member is magnetically attracted to the first magnetic member. The first docking assembly also includes a first magnetic control assembly connected to the first magnetic member for changing the magnetic field of the first magnetic member. Alternatively, the second docking assembly also includes a second magnetic control assembly connected to the second magnetic member for changing the magnetic field of the second magnetic member. With this arrangement, when the pool robot needs to be secured to the edge of the pool, it only needs to be driven close to the positioning assembly, and the first docking assembly will magnetically engage with the second docking assembly, securing the pool robot to the edge of the pool. This eliminates the need for immediate recovery and can even allow the robot to dock directly at the edge of the pool without being recovered, thus preventing the pool robot from floating in the current and affecting the use of the pool. Moreover, after being fixed at the edge of the pool, the pool robot can be in standby mode or off mode, thus avoiding energy loss caused by continuous motion and extending the battery life. When the pool robot needs to be used again, it is only necessary for the first magnetic control component to change the magnetic field of the first magnetic part, and / or for the second magnetic control component to change the magnetic field of the second magnetic part, so that the first docking component and the second docking component can be demagnetized, and the pool robot can be driven away as needed without the need to manually transport it to the pool, thus saving manpower and material resources. Therefore, the pool robot system of the present application can conveniently fix or release the pool robot relative to the pool, and can quickly and automatically dock the pool robot at the edge of the pool or put it into the pool again for use. It is easy to use and avoids the time and effort caused by the need to salvage and transport it in a timely manner.

Brief Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive work, among which:

[0025] FIG1 is a schematic structural diagram of an embodiment of a pool robot system of the present application;

[0026] FIG2 is a schematic structural diagram of an embodiment of the pool robot of the present application;

[0027] FIG3 is an enlarged schematic diagram of A in FIG1 ;

[0028] FIG4 is a schematic diagram of a partial structure of the pool robot in FIG2 ;

[0029] FIG5 is a first structural diagram of an embodiment of a first docking assembly of the present application;

[0030] FIG6 is a second structural diagram of an embodiment of the first docking assembly of the present application;

[0031] FIG7 is a third structural diagram of an embodiment of the first docking assembly of the present application;

[0032] FIG8 is a first structural diagram of an embodiment of a second docking assembly of the present application;

[0033] FIG9 is a second structural diagram of an embodiment of a second docking assembly of the present application;

[0034] FIG10 is a third structural diagram of an embodiment of a second docking assembly of the present application;

[0035] FIG11 is a fourth structural diagram of an embodiment of the first docking assembly of the present application;

[0036] FIG12 is a fifth structural diagram of an embodiment of the first docking assembly of the present application;

[0037] FIG13 is another structural diagram of an embodiment of the pool robot system of the present application;

[0038] FIG14 is a schematic structural diagram of the pool robot in FIG2 from another viewing angle.

[0039] Figure numbers: 10. Pool robot system; 1. Pool robot; 11. First docking assembly; 111. First magnetic member; 1111. First switch; 112. First magnetic control assembly; 1121. First push-pull rod; 1122. First driving member; 1123. First nut seat; 1124. First rotating shaft; 1125. First fixed arm; 12. Posture control assembly; 13. First side; 14. Second side; 2. Positioning assembly; 21. Second docking assembly; 211. Second magnetic member; 212. Second magnetic control assembly; 2121. Second push-pull rod; 2122. Second driving member; 2123. Second nut seat; 2124. Second rotating shaft; 2125. Second fixed arm; 22. Floating member; 23. Guide member; 24. Sensing member; 30. Pool. [Specific implementation method]

[0040] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0041] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0042] The pool robot system provided by this application is described in detail below with reference to the embodiments.

[0043] Please refer to Figures 1 to 3. Figure 1 is a schematic structural diagram of one embodiment of a pool robot system of the present application; Figure 2 is a schematic structural diagram of one embodiment of the pool robot of the present application; and Figure 3 is an enlarged schematic diagram of A in Figure 1. This application provides a pool robot system 10. Pool robot system 10 includes a pool robot 1 and a positioning assembly 2. Pool robot 1 is used to perform tasks such as cleaning, disinfection, and rescue operations in a pool 30. A first docking assembly 11 is provided on at least one side of pool robot 1. First docking assembly 11 includes a first magnetic member 111. Positioning assembly 2 is positioned at the edge of pool 30. The edge of pool 30 can be a wall or bank of pool 30. For example, positioning assembly 2 can be positioned against the wall of pool 30. Alternatively, positioning assembly 2 can be positioned at the bank of pool 30 and extend into the pool 30. Positioning assembly 2 is provided with a second docking assembly 21. Second docking assembly 21 includes a second magnetic member 211 that can magnetically attract to first magnetic member 111. When the first magnetic member 111 and the second magnetic member 211 are magnetically attracted to each other, the pool robot 1 is fixed to the positioning assembly 2. When the first magnetic member 111 and the second magnetic member 211 are released from attraction, the pool robot 1 can move away from the positioning assembly 2.

[0044] The first docking assembly 11 includes a first magnetic control assembly 112. The first magnetic member 111 is magnetic. The first magnetic control assembly 112 is connected to the first magnetic member 111. The first magnetic control assembly 112 is used to change the magnetic field of the first magnetic member 111. And / or, the second docking assembly 21 includes a second magnetic control assembly 212. The second magnetic member 211 is magnetic. The second magnetic control assembly 212 is connected to the second magnetic member 211. The second magnetic control assembly 212 is used to change the magnetic field of the second magnetic member 211.

[0045] Specifically, the first magnetic control assembly 112 altering the magnetic field of the first magnetic member 111 means that the first magnetic control assembly 112 can change the magnetic field strength and / or magnetic field direction of the first magnetic member 111. A driving force can be generated on the pool robot 1, which drives the pool robot 1 to move. The first magnetic control assembly 112 can alter the magnetic field of the first magnetic member 111 so that the magnetic attraction between the first magnetic member 111 and the second magnetic member 211 is greater than or less than the driving force. In one embodiment, the first magnetic control assembly 112 can alter the magnetic field strength of the first magnetic member 111. When the first magnetic control assembly 112 alters the magnetic field strength of the first magnetic member 111 so that the magnetic attraction between the first magnetic member 111 and the second magnetic member 211 is less than the driving force, the pool robot 1 can overcome the magnetic attraction force with the driving force and directly drive away from the positioning assembly 2. In another embodiment, the first magnetic control assembly 112 can alter the magnetic field direction of the first magnetic member 111. When the first magnetic control component 112 changes the magnetic field direction of the first magnetic member 111 so that a magnetic repulsive force is formed between the first magnetic member 111 and the second magnetic member 211 , the pool robot 1 moves away from the positioning component 2 due to the combined action of the magnetic repulsive force and the driving force.

[0046] The second magnetic control component 212 changes the magnetic field of the second magnetic part 211, which means that the second magnetic control component 212 can change the magnetic field strength and / or magnetic field direction of the second magnetic part 211. The second magnetic control component 212 can change the magnetic field of the second magnetic part 211 so that the magnetic attraction between the second magnetic part 211 and the first magnetic part 111 is greater than or less than the driving force. In one specific embodiment, the second magnetic control component 212 can change the magnetic field strength of the second magnetic part 211. When the second magnetic control component 212 changes the magnetic field strength of the second magnetic part 211 so that the magnetic attraction between the second magnetic part 211 and the first magnetic part 111 is less than the driving force, the pool robot 1 can overcome the magnetic attraction with the driving force and directly drive away from the positioning component 2. In another specific embodiment, the second magnetic control component 212 can change the magnetic field direction of the second magnetic part 211. When the second magnetic control component 212 changes the magnetic field direction of the second magnetic member 211 to form a magnetic repulsive force between the second magnetic member 211 and the first magnetic member 111 , the pool robot 1 moves away from the positioning component 2 due to the combined action of the magnetic repulsive force and the driving force.

[0047] With the above arrangement, when the pool robot 1 needs to be fixed, such as when it completes a task, enters standby mode, experiences an anomaly, is low on battery, or receives a return command, the first docking assembly 11 and the second docking assembly 21 simply engage magnetically, conveniently securing the pool robot 1 to the edge of the pool 30. The pool robot 1 does not need to be salvaged and can even be docked directly at the edge of the pool 30 without salvaging, preventing the pool robot 1 from floating with the current and affecting the use of the pool 30. Furthermore, once secured at the edge of the pool 30, the pool robot 1 can enter standby mode or shut down, avoiding energy loss caused by continuous movement and extending battery life. When the pool robot 1 needs to move away from the positioning assembly 2, the first magnetic control assembly 112 simply modifies the magnetic field of the first magnetic element 111 and / or the second magnetic control assembly 212 modifies the magnetic field of the second magnetic element 211, thereby weakening or repelling the magnetic attraction between the first and second docking assemblies 11 and 21, allowing the pool robot 1 to smoothly move away. Therefore, the pool robot system 10 of the embodiment of the present application can conveniently fix or release the pool robot 1 relative to the pool 30, and can quickly and automatically dock the pool robot 1 at the edge of the pool 30 or put it back into the pool 30 for use. It is easy to use and avoids the time and effort caused by the need for timely salvage and transportation.

[0048] The first docking assembly 11 and the second docking assembly 21 can be configured according to actual circumstances and are not limited here. In one specific embodiment, the first docking assembly 11 includes a first magnetic member 111 and a first magnetic control assembly 112, and the first magnetic member 111 is magnetic. The second docking assembly 21 includes a second magnetic member 211. The second magnetic member 211 is magnetic or is a ferromagnetic metal member. In another specific embodiment, the second docking assembly 21 includes a second magnetic member 211 and a second magnetic control assembly 212. The second magnetic member 211 is magnetic. The first docking assembly 11 includes a first magnetic member 111. The first magnetic member 111 is magnetic or is a ferromagnetic metal member. In another specific embodiment, the first docking assembly 11 includes a first magnetic member 111 and a first magnetic control assembly 112. The first magnetic member 111 is magnetic. The second docking assembly 21 includes a second magnetic member 211 and a second magnetic control assembly 212. The second magnetic member 211 is magnetic.

[0049] The first docking assembly 11 can be installed on any side of the pool robot 1 or on multiple sides simultaneously. For example, the first docking assembly 11 can be installed on both the left and right sides of the pool robot 1, or only on the right side. The left-right direction of the pool robot 1 refers to the direction perpendicular to the forward direction of the pool robot 1 and perpendicular to the height of the pool robot 1.

[0050] Furthermore, the pool robot 1 is not limited to moving away from the positioning assembly 2 by modifying the first magnetic member 111 and / or the second magnetic member 211 as described above. In one embodiment, a driving force can be generated on the pool robot 1 to drive the pool robot 1. The magnitude of the driving force can vary. When the driving force increases to a value greater than the magnetic attraction between the first magnetic member 111 and the second magnetic member 211, the pool robot 1 can move away from the positioning assembly 2 by overcoming the magnetic attraction.

[0051] In one embodiment, the first magnetic control component 112 changes the magnetic field of the first magnetic member 111 by electrically connecting the first magnetic control component 112 to the first magnetic member 111. When the first magnetic member 111 is not powered, the first magnetic member 111 is magnetic; when the first magnetic control component 112 powers the first magnetic member 111, the first magnetic member 111 is demagnetized. The second magnetic control component 212 changes the magnetic field of the second magnetic member 211 by electrically connecting the second magnetic control component 212 to the second magnetic member 211. When the second magnetic control component 212 powers the second magnetic member 211, the second magnetic member 211 is magnetic; when the second magnetic control component 212 powers the second magnetic member 211, the second magnetic member 211 is demagnetized.

[0052] With the above arrangement, when the first magnetic control component 112 does not energize the first magnetic member 111 or the second magnetic control component 212 does not energize the second magnetic member 211, the pool robot 1 only needs to approach the positioning component 2 to be directly magnetically fixed to the positioning component 2. When the pool robot 1 needs to move away from the positioning component 2, the magnetic field attraction between the first docking component 11 and the second docking component 21 can be released by briefly energizing the first magnetic member 111 by the first magnetic control component 112 and / or briefly energizing the second magnetic member 211 by the second magnetic control component 212. The pool robot system 10 can flexibly secure or release the pool robot 1, making it easy to operate.

[0053] In addition, compared to setting the first magnetic part 111 and / or the second magnetic part 211 to be magnetic when powered and lose magnetism when not powered, this embodiment only needs to briefly provide current to the first magnetic part 111 and / or the second magnetic part 211 to separate the pool robot 1 from the positioning component 2, which consumes less energy and is beneficial to enhancing the endurance of the pool robot system 10.

[0054] Specifically, please refer to Figures 4 to 7. In another embodiment, the specific implementation method of the first magnetic control component 112 changing the magnetic field of the first magnetic part 111 can be: the first magnetic control component 112 is connected to the first magnetic part 111, and the first magnetic control component 112 can control the movement of the first magnetic part 111 relative to the second docking component 21, so that the first magnetic part 111 and the second magnetic part 211 are magnetically attracted or de-magnetized. For example, the first magnetic control component 112 can control the movement of the first magnetic part 111 and change the position or orientation of the first magnetic part 111. When the position or orientation of the first magnetic part 111 changes, the magnetic attraction between the first magnetic part 111 and the second magnetic part 211 changes.

[0055] The specific implementation method of the second magnetic control component 212 changing the magnetic field of the second magnetic member 211 can be: the second magnetic control component 212 is connected to the second magnetic member 211, and the second magnetic control component 212 can control the movement of the second magnetic member 211 relative to the first magnetic member 111, so that the second magnetic member 211 and the first magnetic member 111 are magnetically attracted or de-magnetized. For example, the second magnetic control component 212 can control the movement of the second magnetic member 211 and change the position or orientation of the second magnetic member 211. When the position or orientation of the second magnetic member 211 changes, the magnetic attraction between the first magnetic member 111 and the second magnetic member 211 changes.

[0056] Through the above-mentioned setting, the pool robot 1 only needs to control the movement of the first magnetic part 111 relative to the second docking component 21 by the first magnetic control component 112, and / or control the movement of the second magnetic part 211 relative to the first docking component 11 by the second magnetic control component 212, so as to conveniently control the magnetic attraction or de-magnetization of the first magnetic part 111 and the second magnetic part 211, and the pool robot system 10 is easy to use.

[0057] The movement mode of the above-mentioned first magnetic part 111 and the second magnetic part 211 can be determined according to actual conditions. In one embodiment, the first magnetic control component 112 can control the first magnetic part 111 to move linearly or rotationally relative to the second docking component 21, so that the first magnetic part 111 and the second magnetic part 211 are magnetically attracted or de-magnetized. And / or, the second magnetic control component 212 can control the second magnetic part 211 to move linearly or rotationally relative to the first docking component 11, so that the first magnetic part 111 and the second magnetic part 211 are magnetically attracted or de-magnetized. Through the above-mentioned arrangement, the movement mode of the first magnetic part 111 and the second magnetic part 211 is simple, and the first magnetic part 111 and the second magnetic part 211 can quickly generate magnetic attraction or de-magnetize.

[0058] The specific structure of the first magnetic control assembly 112 controlling the movement of the first magnetic member 111 relative to the second docking assembly 21 can be customized based on actual circumstances. In one specific embodiment, referring to Figures 4 and 5, Figure 4 is a schematic diagram of a partial structure of the pool robot shown in Figure 2; Figure 5 is a schematic diagram of the first structure of an embodiment of the first docking assembly of this application. The specific structure of the first magnetic control assembly 112 controlling the movement of the first magnetic member 111 relative to the second docking assembly 21 can be as follows: the first magnetic control assembly 112 includes a first push-pull rod 1121. The first magnetic member 111 is connected to the first push-pull rod 1121. The first push-pull rod 1121 can extend and retract relative to the second docking assembly 21 to move the first magnetic member 111 toward or away from the second docking assembly 21. When the first push-pull rod 1121 extends, the first magnetic member 111 approaches the second docking assembly 21, magnetically engaging the first magnetic member 111 with the second docking assembly 21. When the first push-pull rod 1121 contracts, the first magnetic member 111 moves away from the second docking assembly 21. The magnetic attraction between the first magnetic member 111 and the second docking assembly 21 gradually decreases as the distance between them increases, and the first magnetic member 111 and the second docking assembly 21 are separated from the magnetic attraction.

[0059] Thus, by simply controlling the extension and contraction of the first push-pull rod 1121, the position of the first magnetic member 111 can be changed, thereby changing the magnetic attraction state between the first magnetic member 111 and the second docking assembly 21. The pool robot system 10 can easily fix or release the pool robot 1 and has a streamlined structure.

[0060] The structure of the first push-pull rod 1121 can be configured according to actual circumstances, as long as it can be extended and retracted, and is not limited here. More specifically, referring to FIG. 5 , in one embodiment, the first magnetic control assembly 112 further includes a first driver 1122, a first push-pull rod 1121, and a first nut seat 1123. The first driver 1122 is connected to the first nut seat 1123. The first driver 1122 is used to drive the first nut seat 1123 to rotate. The first nut seat 1123 is fixed relative to the pool robot 1. The first nut seat 1123 engages the first push-pull rod 1121. The first magnetic member 111 is disposed at the end of the first push-pull rod 1121 facing the second docking assembly 21. When the first driver 1122 drives the first nut seat 1123 to rotate, the first push-pull rod 1121 converts the rotational motion into linear motion through the meshing threads with the first nut seat 1123. Depending on the direction in which the first driver 1122 drives the first nut seat 1123 to rotate, the movement direction of the first push-pull rod 1121 will vary accordingly. That is, the first push-pull rod 1121 can perform telescopic movement relative to the first nut seat 1123 .

[0061] In another specific embodiment, please refer to Figures 6 to 7, Figure 6 is a second structural schematic diagram of an embodiment of the first docking component of the present application; Figure 7 is a third structural schematic diagram of an embodiment of the first docking component of the present application. In combination with Figures 1 to 4, the specific structure of the first magnetic control component 112 controlling the movement of the first magnetic part 111 relative to the second docking component 21 can be: the first magnetic control component 112 includes a first rotating shaft 1124. The first magnetic part 111 is connected to the first rotating shaft 1124. The first magnetic control component 112 can drive the first magnetic part 111 to rotate around the first rotating shaft 1124 so that the first magnetic part 111 is in a first posture or a second posture. When the first magnetic part 111 is in the first posture, the first magnetic part 111 attracts the second docking component 21. When the first magnetic part 111 is in the second posture, the first magnetic part 111 is demagnetized from the second docking component 21.

[0062] Specifically, the first rotating shaft 1124 can be configured to only change the orientation of the first magnetic part 111 without changing the position of the first magnetic part 111. As in a specific embodiment, the two magnetic poles of the first magnetic part 111 are distributed at opposite ends. The first rotating shaft 1124 is connected between the two magnetic poles of the first magnetic part 111. In this embodiment, the first posture is a state in which the magnetic pole on the first magnetic part 111 that is magnetically attracted to the second magnetic part 211 is facing the second docking component 21. The second posture is a state in which the magnetic pole of the first magnetic part 111 deviates from the second docking component 21. Alternatively, when the second magnetic part 211 is magnetic, the second posture can also be a state in which the magnetic pole on the first magnetic part 111 that repels the second magnetic part 211 with the same pole is facing the second docking component 21.

[0063] In addition, the first rotating shaft 1124 can also be configured to drive the first magnetic member 111 to change position. In a specific embodiment, the first magnetic control component 112 also includes a first fixed arm 1125. The first fixed arm 1125 has two opposite ends. The first magnetic member 111 is arranged at one end of the first fixed arm 1125. The first rotating shaft 1124 is connected between the two ends of the first fixed arm 1125. The first rotating shaft 1124 drives the first fixed arm 1125 to rotate. When the first fixed arm 1125 rotates, the end of the first fixed arm 1125 provided with the first magnetic member 111 changes position with the rotation. The first magnetic member 111 can be close to or away from the second docking component 21. In this embodiment, the first posture is a state in which the end of the first fixed arm 1125 provided with the first magnetic member 111 is close to the second docking component 21. The second posture is a state in which the end of the first fixed arm 1125 provided with the first magnetic member 111 deviates from the second docking component 21.

[0064] As a result, the first magnetic member 111 can be installed in a variety of ways, and the structural design is flexible. The first magnetic control component 112 can change the magnetic attraction state between the first magnetic member 111 and the second docking component 21 by rotating the first rotating shaft 1124. The pool robot system 10 can easily fix or release the pool robot 1, making it easy to use.

[0065] The specific structure of the second magnetic control assembly 212 controlling the movement of the second magnetic member 211 relative to the first docking assembly 11 can be configured according to actual circumstances. In one specific embodiment, please refer to Figure 8, which is a schematic diagram of the first structure of an embodiment of the second docking assembly of the present application. In conjunction with Figures 1 to 4, the second magnetic control assembly 212 includes a second push-pull rod 2121. The second magnetic member 211 is connected to the second push-pull rod 2121. The second push-pull rod 2121 can extend and retract relative to the first docking assembly 11 to move the second magnetic member 211 toward or away from the first docking assembly 11. When the second push-pull rod 2121 extends, the second magnetic member 211 approaches the first docking assembly 11. The second magnetic member 211 can be magnetically attracted to the first docking assembly 11. When the second push-pull rod 2121 shortens, the second magnetic member 211 moves away from the first docking assembly 11. The magnetic attraction between the second magnetic member 211 and the first docking assembly 11 gradually decreases as the distance between them increases, and the second magnetic member 211 loses its magnetic attraction to the first docking assembly 11.

[0066] Thus, by simply controlling the extension and contraction of the second push-pull rod 2121, the position of the second magnetic member 211 can be changed, thereby changing the magnetic attraction state between the second magnetic member 211 and the first docking assembly 11. The pool robot system 10 can easily fix or release the pool robot 1 and has a streamlined structure.

[0067] The structure of the second push-pull rod 2121 can refer to the above-mentioned configuration of the first push-pull rod 1121 and will not be repeated here.

[0068] The structure of the second push-pull rod 2121 can be configured according to actual circumstances, as long as it can be extended and retracted, and is not limited here. More specifically, referring to FIG. 5 , in one embodiment, the second magnetic control assembly 212 further includes a second drive member 2122, a second push-pull rod 2121, and a second nut seat 1123. The second drive member 2122 is connected to the second nut seat 1123. The second drive member 2122 is used to drive the second nut seat 1123 to rotate. The second nut seat 1123 is fixed relative to the edge of the pool 30. The second nut seat 1123 engages the second push-pull rod 2121. The second magnetic member 211 is disposed at the end of the second push-pull rod 2121 facing the first docking assembly 11. When the second drive member 2122 drives the second nut seat 1123 to rotate, the second push-pull rod 2121 converts the rotational motion into linear motion via the meshing threads with the second nut seat 1123. Depending on the direction in which the second drive member 2122 drives the second nut seat 1123 to rotate, the movement direction of the second push-pull rod 2121 will also vary. That is, the second push-pull rod 2121 can perform telescopic movement relative to the second nut seat 1123 .

[0069] In another specific embodiment, please refer to Figures 9 and 10. Figure 9 is a second structural schematic diagram of an embodiment of the second docking component of the present application; Figure 10 is a third structural schematic diagram of an embodiment of the second docking component of the present application. In combination with Figures 1 to 4, the specific structure of the first magnetic control component 112 controlling the movement of the first magnetic part 111 relative to the second docking component 21 can be: the second magnetic control component 212 includes a second rotating shaft 2124. The second magnetic part 211 is connected to the second rotating shaft 2124. The second magnetic control component 212 can drive the second magnetic part 211 to rotate around the second rotating shaft 2124 so that the second magnetic part 211 is in a third posture or a fourth posture. When the second magnetic part 211 is in the third posture, the second magnetic part 211 attracts the first docking component 11. When the second magnetic part 211 is in the fourth posture, the second magnetic part 211 is demagnetized from the first docking component 11.

[0070] Specifically, the second rotating shaft 2124 can be configured to only change the orientation of the second magnetic part 211 without changing the position of the second magnetic part 211. As in a specific embodiment, the two magnetic poles of the second magnetic part 211 are distributed at opposite ends. The second rotating shaft 2124 is connected between the two magnetic poles of the second magnetic part 211. In this embodiment, the third posture is a state in which the magnetic pole on the second magnetic part 211 that is magnetically attracted to the first magnetic part 111 is facing the first docking component 11. The fourth posture is a state in which the magnetic pole of the second magnetic part 211 deviates from the first docking component 11. Alternatively, when the first magnetic part 111 is magnetic, the fourth posture can also be a state in which the magnetic pole on the second magnetic part 211 that repels the first magnetic part 111 with the same pole is facing the first docking component 11.

[0071] In addition, the second rotating shaft 2124 can also be configured to drive the second magnetic member 211 to change position. In a specific embodiment, the second magnetic control component 212 also includes a second fixed arm 2125. The second fixed arm 2125 has two opposite ends. The second magnetic member 211 is arranged at one end of the second fixed arm 2125. The second rotating shaft 2124 is connected between the two ends of the second fixed arm 2125. The second rotating shaft 2124 drives the second fixed arm 2125 to rotate. When the second fixed arm 2125 rotates, the end of the second fixed arm 2125 provided with the second magnetic member 211 changes position with the rotation. The second magnetic member 211 can be close to or away from the first docking component 11. In this embodiment, the third posture is a state in which the end of the second fixed arm 2125 provided with the second magnetic member 211 is close to the first docking component 11. The fourth posture is a state in which the end of the second fixed arm 2125 provided with the second magnetic member 211 deviates from the first docking component 11.

[0072] Thus, the second magnetic member 211 can be installed in a variety of ways, and the structural design is flexible. The second magnetic control component 212 can change the magnetic attraction state between the second magnetic member 211 and the first docking component 11 by rotating the second rotating shaft 2124. The pool robot system 10 can easily fix or release the pool robot 1, making it easy to use.

[0073] Specifically, in another embodiment, please refer to Figures 11 to 12. Figure 11 is a fourth structural schematic diagram of an embodiment of the first docking assembly of the present application; Figure 12 is a fifth structural schematic diagram of an embodiment of the first docking assembly of the present application. In conjunction with Figures 1 to 4, the specific implementation method of the first magnetic control component 112 changing the magnetic field of the first magnetic part 111 can be: the first magnetic part 111 is a permanent magnetic suction cup (such as a mechanical permanent magnetic suction cup, an electrically controlled permanent magnetic suction cup, etc.), the first magnetic part 111 includes a first switch 1111, the first magnetic control component 112 is connected to the first switch 1111, and the first magnetic control component 112 can drive the first switch 1111 to move to a first position or a second position, wherein, when the first switch 1111 is in the first position, the first magnetic part 111 is magnetic. When the first switch 1111 is in the second position, the first magnetic part 111 is non-magnetic.

[0074] Through the above configuration, the first magnetic control component 112 only needs to control the first switch 1111 to control the magnetic field of the first magnetic part 111 , which is simple to control and has a streamlined structure. The pool robot system 10 can easily fix or release the pool robot 1 .

[0075] The connection between the first magnetic control component 112 and the first switch 1111 can be welding, bonding, clamping, etc., which is not limited here. The specific structure of the permanent magnetic chuck is conventional in the art and will not be described here.

[0076] It can be understood that in an alternative embodiment, the specific implementation method of the second magnetic control component 212 changing the magnetic field of the second magnetic part 211 can be: the second magnetic part 211 is a permanent magnetic suction cup (for example, a mechanical permanent magnetic suction cup, an electrically controlled permanent magnetic suction cup, etc.), the second magnetic part 211 includes a second switch, the second magnetic control component 212 is connected to the second switch, and the second magnetic control component 212 can drive the second switch to move to a third position or a fourth position, wherein, when the second switch is in the third position, the second magnetic part 211 is magnetic, and when the second switch is in the fourth position, the second magnetic part 211 is non-magnetic.

[0077] With the above arrangement, the second magnetic control component 212 only needs to control the second switch to control the magnetic field of the second magnetic member 211, making it easy to fix or release the pool robot 1 on the positioning component 2. Furthermore, when the first docking component 11 includes the first magnetic member 111 configured as a permanent magnetic suction cup, magnetic attraction can be achieved as long as either the first magnetic member 111 or the second magnetic member 211 is magnetic. The pool robot system 10 can flexibly control the magnetic field state of the first magnetic member 111 or the second magnetic member 211 based on the battery life of the pool robot 1, making it easy to use.

[0078] Please continue to refer to Figures 1 to 12. The above-mentioned pool robot 1 can float on the water surface of the pool 30. The second docking component 21 can adapt to the changes in the water level of the pool 30 to magnetically attract the pool robot 1. Specifically, the second docking component 21 can adapt to the changes in the water level of the pool 30 means that when the water level of the pool 30 changes, the second docking component 21 can always have at least a portion located on the water surface or near the water surface of the pool 30. The pool robot 1 is magnetically attracted to the portion of the second docking component 21 located on the water surface or near the water surface of the pool 30. Therefore, when the pool robot 1 floats on the water surface, the pool robot 1 can easily approach the second docking component 21 and be magnetically fixed to the second positioning component 2. When the pool robot 1 is fixed, there is no need to adjust the depth in the water and it can be directly attracted near the water surface. The pool robot system 10 is easy to use.

[0079] In a specific embodiment, the second docking assembly 21 floats along with the water level of the pool 30. Thus, the pool robot 1 is not easily unable to magnetically engage with the second docking assembly 21 due to water level changes, and the pool robot system 10 is stable in use.

[0080] Furthermore, positioning assembly 2 includes a floating member 22 and a guide member 23. Guide member 23 is disposed at the edge of pool 30. Floating member 22 floats with the water level of pool 30. Floating member 22 is slidably connected to guide member 23. Floating member 22 slides up and down on guide member 23 as the water level changes. Second docking assembly 21 is disposed on floating member 22.

[0081] Through the above-mentioned setting, the guide member 23 can guide and limit the floating member 22. The floating member 22 can stably rise and fall with the water level of the pool 30 and is not easy to drift along the water surface under the action of the water flow. The pool robot 1 can better align the second docking component 21.

[0082] The specific method for positioning guide member 23 at the edge of pool 30 can be determined based on practical circumstances and is not intended to be limiting. For example, guide member 23 may be secured to the pool wall 30 using bolts or the like. Alternatively, guide member 23 may be bonded to the pool wall 30. The connection between second docking assembly 21 and floating member 22 may be achieved by welding, bonding, or clamping, and is not intended to be limiting.

[0083] Please refer to Figure 13, which is another schematic structural diagram of an embodiment of the pool robot system of the present application. In conjunction with Figures 1 to 12, in one embodiment, the second docking assembly 21 extends between the preset maximum water level of the pool 30 and the preset minimum water level of the pool 30. That is, the second docking assembly 21 can be configured as an elongated strip. As a result, when the water level of the pool 30 changes, different portions of the second docking assembly 21 will be positioned near the water surface as the water level changes. The first docking assembly 11 can conveniently magnetically engage with the portion of the second docking assembly 21 located at the water surface, ensuring stable operation of the pool robot system 10.

[0084] The preset maximum water level of the pool 30 is the position of the water surface when the pool 30 contains the most water during normal use. The preset minimum water level of the pool 30 is the position of the water surface when the pool 30 contains the lowest water during normal use.

[0085] Furthermore, the length of the second docking assembly 21, measured perpendicular to the water surface of the pool 30, is greater than or equal to the distance between the preset maximum and minimum water levels of the pool 30. This arrangement ensures that a portion of the second docking assembly 21 remains near the water surface, regardless of how the water level of the pool 30 fluctuates between the preset maximum and minimum water levels. This ensures that the first docking assembly 11 can always magnetically engage with at least a portion of the second docking assembly 21, ensuring stable operation of the pool robot system 10.

[0086] Please refer to Figure 14, which is a schematic diagram of the structure of the pool robot in Figure 2 from another perspective. In conjunction with Figures 1 to 13, in one embodiment, the pool robot 1 further includes a posture control component 12. The posture control component 12 is used to control the pool robot 1 to align the first docking component 11 toward or away from the second docking component 21.

[0087] When the first docking assembly 11 faces the second docking assembly 21, the first docking assembly 11 can be magnetically attracted to the second docking assembly 21. When the first docking assembly 11 deviates from the second docking assembly 21, the first docking assembly 11 cannot be magnetically attracted to the second docking assembly 21.

[0088] Through the above configuration, when the pool robot 1 needs to be fixed to the positioning assembly 2, the posture control assembly 12 can control the pool robot 1 to maintain a posture with the first docking assembly 11 facing the second docking assembly 21, facilitating magnetic alignment between the first docking assembly 11 and the second docking assembly 21. When the pool robot 1 does not need to be fixed to the positioning assembly 2, the posture control assembly 12 can control the pool robot 1 to maintain a posture with the first docking assembly 11 offset from the second docking assembly 21 to prevent accidental suction. The pool robot system 10 can more accurately control the magnetic suction state of the pool robot 1, preventing accidental suction and facilitating ease of use.

[0089] Furthermore, the pool robot 1 includes a first side 13 and a second side 14 that are opposite to each other. The first side 13 and the second side 14 can be parallel to the forward direction of the pool robot 1. The first docking assembly 11 is located on the first side 13. When the pool robot moves forward, the first side or the second side faces the edge of the pool.

[0090] When the pool robot 1 is oriented with its first side 13 toward the edge of the pool 30, the first docking assembly 11 approaches the second docking assembly 21 and can be magnetically secured. When the pool robot 1 is oriented with its second side 14 toward the edge of the pool 30, the first docking assembly 11 cannot magnetically engage with the second docking assembly 21 because the first docking assembly 11 is located on the first side 13.

[0091] Through the above arrangement, the pool robot 1 can orient its first side 13 or second side 14 toward the edge of the pool 30, depending on its current operating state, so that the first docking component 11 can be magnetically attracted to the second docking component 21, or cannot be magnetically attracted to the second docking component 21. Furthermore, when the second side 14 is directed toward the edge of the pool 30, since the first side 13 and the second side 14 are positioned relative to each other, the first docking component 11 can be further away from the second docking component 21, reducing the probability of the pool robot 1 being accidentally attracted.

[0092] Continuing with Figures 1 to 14 , in one embodiment, positioning assembly 2 is provided with a sensor 24. Sensor 24 is used to detect the positional relationship between the pool robot 1 and positioning assembly 2. When sensor 24 detects the pool robot 1 approaching positioning assembly 2, sensor 24 may send a signal to positioning assembly 2 and / or pool robot 1.

[0093] By providing the induction element 24, the first magnetic control component 112 and / or the second magnetic control component 212 can promptly change the magnetic field of the first magnetic component 111 and / or the second magnetic component 211 when the pool robot 1 and the positioning component 2 approach each other. This allows the first docking component 11 and the second docking component 21 to be accurately magnetically attracted or de-magnetized, making the control of the pool robot system 10 more precise and stable.

[0094] Furthermore, the sensing element 24 includes at least one of the following: a Hall sensor, an infrared sensor, an ultrasonic sensor, a visual recognition device, a micro switch, and a laser sensor.

[0095] The terms "first", "second" and "third" in this application are only used for descriptive purposes and should not be understood as indicating the number of the indicated technical features. Thus, the features defined as "first", "second" and "third" can explicitly or implicitly include at least one of these features. In the embodiments of the present application, all directional indications (such as up, down, left, right, front, back ...) are only used to explain the relative positional relationship, movement, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0096] The above description is merely an embodiment of the present application and does not limit the scope of the patent of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the scope of patent protection of the present application.

Claims

1. A pool robot system, characterized in that, it includes: A pool robot, with a first docking component provided on at least one side, and the first docking component includes a first magnetic member; A positioning component is provided at the edge of the pool. The positioning component is provided with a second docking component, and the second docking component includes a second magnetic member, and the second magnetic member can be magnetically attracted to the first magnetic member; Wherein, the first docking component includes a first magnetic control component, and the first magnetic control component is connected to the first magnetic member for changing the magnetic field of the first magnetic member; and / or, The second docking component includes a second magnetic control component, and the second magnetic control component is connected to the second magnetic member for changing the magnetic field of the second magnetic member.

2. The pool robot system according to claim 1, characterized in that, A driving force can be formed on the pool robot, and the driving force drives the pool robot to move; The first magnetic control component can change the magnetic field of the first magnetic member so that the magnetic attraction between the first magnetic member and the second magnetic member is less than the driving force; and / or, The second magnetic control component can change the magnetic field of the second magnetic member so that the magnetic attraction between the first magnetic member and the second magnetic member is less than the driving force.

3. The pool robot system according to claim 1, characterized in that, The first magnetic control component is electrically connected to the first magnetic member. When the first magnetic control component energizes the first magnetic member, the first magnetic member loses its magnetism; The second magnetic control component is electrically connected to the second magnetic member. When the second magnetic control component energizes the second magnetic member, the second magnetic member loses its magnetism.

4. The pool robot system according to claim 1, characterized in that, The first magnetic control component is connected to the first magnetic member, and the first magnetic control component can control the movement of the first magnetic member relative to the second docking component so that the first magnetic member and the second magnetic member are magnetically attracted or separated; and / or, The second magnetic control component is connected to the second magnetic member, and the second magnetic control component can control the movement of the second magnetic member relative to the first docking component so that the second magnetic member and the first magnetic member are magnetically attracted or separated.

5. The pool robot system according to claim 4, characterized in that, The first magnetic control component can control the linear or rotational movement of the first magnetic member relative to the second docking component so that the first magnetic member and the second magnetic member are magnetically attracted or separated; and / or, The second magnetic control component can control the linear or rotational movement of the second magnetic member relative to the first docking component so that the first magnetic member and the second magnetic member are magnetically attracted or separated.

6. The pool robot system according to claim 5, characterized in that, The first magnetic control assembly includes a first push rod, the first magnetic member is connected to the first push rod, and the first push rod is telescopically movable relative to the second docking assembly to drive the first magnetic member to approach or move away from the second docking assembly; or, The first magnetic control assembly includes a first rotating shaft, and the first magnetic control assembly can drive the first magnetic member to rotate around the first rotating shaft so that the first magnetic member is in a first posture or a second posture; When the first magnetic member is in the first posture, the first magnetic member attracts the second docking assembly, and when the first magnetic member is in the second posture, the first magnetic member is disengaged from magnetic attraction with the second docking assembly.

7. The pool robot system according to claim 5, wherein, The second magnetic control assembly includes a second push rod, the second magnetic member is connected to the second push rod, and the second push rod is telescopically movable relative to the first docking assembly to drive the second magnetic member to approach or move away from the first docking assembly; or, The second magnetic control assembly includes a second rotating shaft, and the second magnetic control assembly can drive the second magnetic member to rotate around the second rotating shaft so that the second magnetic member is in a third posture or a fourth posture; When the second magnetic member is in the third posture, the second magnetic member attracts the first docking assembly, and when the second magnetic member is in the fourth posture, the second magnetic member is disengaged from magnetic attraction with the first docking assembly.

8. The pool robot system according to claim 1, wherein, The first magnetic member is a permanent magnet suction cup, the first magnetic member includes a first switch, the first magnetic control assembly is connected to the first switch and can drive the first switch to move to a first position or a second position; when the first switch is in the first position, the first magnetic member has magnetism, and when the first switch is in the second position, the first magnetic member has no magnetism; and / or, The second magnetic member is a permanent magnet suction cup, the second magnetic member includes a second switch, the second magnetic control assembly is connected to the second switch and can drive the second switch to move to a third position or a fourth position; when the second switch is in the third position, the second magnetic member has magnetism, and when the second switch is in the fourth position, the second magnetic member has no magnetism.

9. The pool robot system according to claim 1, wherein, The pool robot can float on the water surface of the pool, and the second docking assembly can adapt to the water level change of the pool to magnetically attract the pool robot.

10. The pool robot system according to claim 9, wherein, The second docking assembly floats with the water level of the pool.

11. The pool robot system according to claim 10, wherein, The positioning assembly includes a floating member and a guiding member, the guiding member is arranged at the edge of the pool, the floating member floats with the water level of the pool, the floating member is slidably connected to the guiding member, and the second docking assembly is arranged on the floating member.

12. The pool robot system according to claim 9, wherein, The second docking component extends between the preset maximum water level and the preset minimum water level of the pool.

13. The pool robot system according to claim 12, wherein, along the direction perpendicular to the water surface of the pool, the length of the second docking component is greater than or equal to the distance between the preset maximum water level and the preset minimum water level of the pool.

14. The pool robot system according to claim 1, wherein, the pool robot further includes an attitude control component, and the attitude control component is used to control the pool robot to orient the first docking component towards the second docking component or deviate from the second docking component.

15. The pool robot system according to claim 1, wherein, the pool robot includes an opposite first side and a second side, and the first docking component is located on the first side; wherein, when the pool robot moves forward, the first side or the second side faces the edge of the pool.

16. The pool robot system according to claim 1, wherein, the positioning component is provided with a sensing member, and the sensing member is used to detect the positional relationship between the pool robot and the positioning component.

17. The pool robot system according to claim 16, wherein, the sensing member includes at least one of the following: Hall sensor, infrared sensor, ultrasonic sensor, vision recognition device, microswitch, laser sensor.

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