Cleaning system

Abstract

Disclosed in the present disclosure is a cleaning system, comprising a cleaning apparatus and a base station, wherein the base station comprises: a support member suitable for allowing the cleaning apparatus to be parked outside a water pool; a carrying member, which is at least suitable for allowing the cleaning apparatus to return onto the support member from the water pool; a self-cleaning assembly, which comprises at least one spray head and is suitable for flushing a first filtering assembly of the cleaning apparatus when the cleaning apparatus is parked on the support member; and a self-cleaning dirt inlet, which is in communication with a second filtering assembly and is suitable for providing an inlet, through which garbage is transferred from the cleaning apparatus to the second filtering assembly when the cleaning apparatus is parked on the support member. The cleaning apparatus comprises: the first filtering assembly for collecting the garbage when the cleaning apparatus performs a cleaning task; a self-cleaning dirt discharging opening, which is in communication with the first filtering assembly so as to allow the garbage to be discharged from the first filtering assembly during a self-cleaning process; a self-cleaning opening, which is suitable for allowing the spray head arranged on the base station to extend through the self-cleaning opening into a space where the first filtering assembly is located; and a traveling mechanism for allowing the cleaning apparatus to travel in or outside the water pool.

Description

Cleaning system

[0001] This disclosure claims priority to Chinese patent application number 202420594249.9, filed on March 26, 2024, entitled “Carrying Assembly and Pool Robot System,” the entire contents of which are incorporated herein by reference;

[0002] This disclosure claims priority to Chinese patent application number 202410350025.8, filed on March 26, 2024, entitled “POOL ROBOT CONTROL METHOD, POOL ROBOT, AND STORAGE MEDIUM,” the entire contents of which are incorporated herein by reference;

[0003] This disclosure claims priority to Chinese patent application No. 202410349874.1, filed on March 26, 2024, entitled “Pool Robot Control Method and Pool Robot,” the entire contents of which are incorporated herein by reference;

[0004] This disclosure claims priority to Chinese patent application number 202410350019.2, filed on March 26, 2024, entitled “Extraction Component, Pool Robot, Extraction Component Control Method, and Related Devices,” the entire contents of which are incorporated herein by reference;

[0005] This disclosure claims priority to Chinese patent application No. 202410349870.3, filed on March 26, 2024, entitled “Pool Robot Control Method, Pool Robot Guidance Method, and Related Devices,” the entire contents of which are incorporated herein by reference;

[0006] This disclosure claims priority to Chinese patent application number 202410350047.4, filed on March 26, 2024, entitled “Pool Robot Control Method, Pool Robot, and Related Devices,” the entire contents of which are incorporated herein by reference;

[0007] This disclosure claims priority to Chinese patent application number 202410350031.3, filed on March 26, 2024, entitled “Pool Robot Control Method, Position Determination Method, and Related Device,” the entire contents of which are incorporated herein by reference;

[0008] This disclosure claims priority to Chinese patent application number 202410417536.7, filed on April 8, 2024, entitled “Cleaning System,” the entire contents of which are incorporated herein by reference.

[0009] This disclosure claims priority to Chinese patent application number 202421147520.0, filed on May 24, 2024, entitled “Automation Control System,” the entire contents of which are incorporated herein by reference;

[0010] This disclosure claims priority to PCT application No. PCT / CN2024 / 076033, filed on February 5, 2024, entitled “A cleaning device and cleaning device for liquids,” the entire contents of which are incorporated herein by reference.

[0011] This disclosure claims priority to PCT application No. PCT / CN2024 / 076021, filed on February 5, 2024, entitled “A Cleaning Device and Cleaning Device System,” the entire contents of which are incorporated herein by reference.

[0012] This disclosure claims priority to PCT application No. PCT / CN2024 / 087590, filed on April 12, 2024, entitled “Walking device, cleaning equipment and cleaning equipment control method,” the entire contents of which are incorporated herein by reference.

[0013] This disclosure claims priority to U.S. Patent No. 18 / 946861, filed on November 13, 2024, entitled “Walking device, cleaning equipment, and cleaning equipment control method,” the entire contents of which are incorporated herein by reference.

[0014] This disclosure claims priority to PCT application No. PCT / CN2024 / 137628, filed on December 6, 2024, entitled “Cleaning system, cleaning equipment, base station and cleaning system control method,” the entire contents of which are incorporated by reference into this disclosure.

[0015] This disclosure claims priority to PCT Application No. PCT / CN2025 / 073171, filed on January 19, 2025, entitled “Cleaning System,” the entire contents of which are incorporated herein by reference;

[0016] This disclosure claims priority to PCT application No. PCT / CN2025 / 073739, filed on January 21, 2025, entitled “Cleaning System,” the entire contents of which are incorporated herein by reference.

Technical field

[0017] The present disclosure relates to the technical field of cleaning equipment, and in particular to a cleaning system. [Background Technology]

[0018] Cleaning equipment for use in water bodies is characterized by low cost, high intelligence, and ease of use, and is increasingly being used for tasks such as water cleaning, disinfection, and emergency rescue. However, when the first filter assembly of existing cleaning equipment needs to be cleaned, the user must remove the cleaning equipment from the water and manually clean the first filter assembly, a complex and inconvenient process. [Summary of the invention]

[0019] In a first aspect, the present disclosure provides a cleaning system, comprising: a cleaning device adapted to perform a cleaning task in a pool; a base station for the cleaning device to move from the pool to outside the pool, so as to at least perform a self-cleaning task on the cleaning device; the base station comprising: a support member adapted for the cleaning device to dock on the base station outside the pool; a carrier member adapted at least for the cleaning device to return from the pool to the support member; a self-cleaning assembly comprising at least one nozzle adapted to flush a first filter assembly of the cleaning device when the cleaning device is docked on the support member; a second filter assembly; a self-cleaning sewage inlet connected to the second filter assembly and adapted to provide an inlet for transferring garbage from the cleaning device to the second filter assembly when the cleaning device is docked on the support member;

[0020] The cleaning device includes: a first filter component for collecting garbage when the cleaning device performs a cleaning task; a self-cleaning sewage outlet, which is connected to the first filter component so that garbage is discharged from the first filter component during the self-cleaning process; a self-cleaning opening, suitable for the nozzle provided on the base station to extend from the self-cleaning opening to the space where the first filter component is located; a walking mechanism, so that the cleaning device can move in or outside the pool; when performing a self-cleaning task, it at least includes: the nozzle flushing the first filter component through the self-cleaning opening; the self-cleaning sewage outlet is connected to the self-cleaning sewage inlet, and the garbage in the first filter component is transferred to the second filter component through the self-cleaning sewage outlet and the self-cleaning sewage inlet.

Brief Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. Those skilled in the art can also derive other drawings based on these drawings without inventive efforts. Among them:

[0022] FIG1 is a first structural schematic diagram of an embodiment of a cleaning system disclosed herein;

[0023] FIG2 is a second structural schematic diagram of an embodiment of the cleaning system disclosed herein;

[0024] FIG3 is a first structural schematic diagram of an embodiment of the cleaning device disclosed herein;

[0025] FIG4 is an enlarged schematic diagram of A shown in FIG1 ;

[0026] FIG5 is a schematic structural diagram of a first embodiment of a first docking assembly of the present disclosure;

[0027] FIG6 is a schematic structural diagram of a second embodiment of the first docking assembly of the present disclosure;

[0028] FIG7 is a schematic structural diagram of a third embodiment of the first docking assembly of the present disclosure;

[0029] FIG8 is a schematic structural diagram of a fourth embodiment of the first docking assembly of the present disclosure;

[0030] FIG9 is a schematic structural diagram of a fifth embodiment of the first docking assembly of the present disclosure;

[0031] FIG10 is a third structural schematic diagram of an embodiment of the cleaning system disclosed herein;

[0032] FIG11 is a schematic structural diagram of a first embodiment of a first docking assembly and a second docking assembly according to the present disclosure;

[0033] FIG12 is a schematic structural diagram of a sixth embodiment of the first docking assembly of the present disclosure;

[0034] FIG13 is a schematic structural diagram of a second embodiment of the first docking assembly and the second docking assembly of the present disclosure;

[0035] FIG14 is a first structural diagram of an embodiment of a carrier assembly disclosed herein;

[0036] FIG15 is a second structural diagram of an embodiment of a carrier assembly disclosed herein;

[0037] FIG16 is an exploded schematic diagram of an embodiment of a carrier assembly disclosed herein;

[0038] FIG17 is a schematic diagram of a second posture of a carrier in one embodiment of the carrier assembly disclosed herein;

[0039] FIG18 is a schematic structural diagram of another embodiment of the carrier assembly disclosed herein;

[0040] FIG19 is a schematic diagram of a third posture of a carrier in an embodiment of a carrier assembly disclosed herein;

[0041] FIG20 is a schematic structural diagram of a carrier member in another embodiment of a carrier assembly disclosed herein;

[0042] FIG21A is a first structural diagram of another embodiment of a carrier assembly disclosed herein;

[0043] FIG21B is a second structural schematic diagram of another embodiment of the carrier assembly disclosed herein;

[0044] FIG22A is a schematic diagram of a carrier according to the present disclosure in a first position;

[0045] FIG22B is a schematic diagram of the carrier of the present disclosure in the second position;

[0046] FIG23 is a fourth structural diagram of an embodiment of the cleaning system of the present disclosure;

[0047] FIG24 is a fifth structural diagram of an embodiment of the cleaning system disclosed herein;

[0048] FIG25 is a first cross-sectional schematic diagram of an embodiment of the cleaning device disclosed herein;

[0049] FIG26A is a schematic structural diagram of a first dust box of the present disclosure;

[0050] FIG26B is another structural schematic diagram of the first dust box of the present disclosure;

[0051] FIG27 is a sixth structural diagram of an embodiment of the cleaning system of the present disclosure;

[0052] FIG28 is a cross-sectional schematic diagram of an embodiment of the cleaning system disclosed herein;

[0053] FIG29 is a second cross-sectional schematic diagram of an embodiment of the cleaning device disclosed herein;

[0054] FIG30 is a seventh structural diagram of an embodiment of the cleaning system disclosed herein;

[0055] FIG31 is a third cross-sectional schematic diagram of an embodiment of the cleaning device disclosed herein;

[0056] FIG32A is a schematic diagram of a partial structure of an embodiment of a cleaning device disclosed herein;

[0057] FIG32B is a schematic structural diagram of the first dust bin, cover, and electric control box of the cleaning device in FIG32A ;

[0058] FIG32C is a schematic structural diagram of the cover and the electric control box in FIG32B;

[0059] FIG33A is a schematic structural diagram of a water quality detection assembly according to the present invention;

[0060] FIG33B is a schematic diagram of a portion of the structure of the water quality detection assembly in FIG33A ;

[0061] FIG33C is a schematic diagram of a partial structure of the water quality detection assembly in FIG33B ;

[0062] FIG33D is a schematic diagram of a partial structure of the water quality detection assembly in FIG33B ;

[0063] FIG33E is a schematic diagram of a partial structure of the water quality detection assembly in FIG33B ;

[0064] FIG34A is a schematic structural diagram of an embodiment of a base station disclosed herein;

[0065] FIG34B is a schematic structural diagram of the second upper cover of the base station in FIG34A after it is exploded;

[0066] FIG34C is a schematic diagram of a partial structure of the base station in FIG34A;

[0067] FIG34D is a schematic diagram of a partial structure of the base station in FIG34A;

[0068] FIG34E is a schematic diagram of a partial structure of the base station in FIG34A ;

[0069] FIG34F is a schematic diagram of the structure of the base station in FIG34A when viewed from above;

[0070] FIG34G is a schematic structural diagram of an embodiment of a cleaning device returning to the base station in FIG34A ;

[0071] FIG34H is a schematic cross-sectional view of the base station in FIG34A ;

[0072] FIG34I is a schematic diagram of the structure of a base station according to an embodiment of the present disclosure;

[0073] FIG35 is a second structural diagram of an embodiment of the cleaning device disclosed herein;

[0074] FIG36 is a third structural diagram of an embodiment of the cleaning device disclosed herein;

[0075] FIG37 is a fourth structural diagram of an embodiment of the cleaning device disclosed herein;

[0076] FIG38 is a fifth structural diagram of an embodiment of the cleaning device disclosed herein;

[0077] FIG39 is a sixth structural diagram of an embodiment of the cleaning device disclosed herein;

[0078] FIG40 is a schematic structural diagram of an embodiment of a visual sensing assembly disclosed herein;

[0079] FIG41 is a fourth cross-sectional schematic diagram of an embodiment of the cleaning device disclosed herein;

[0080] FIG42 is a seventh structural diagram of an embodiment of the cleaning device disclosed herein;

[0081] FIG43 is a third structural diagram of an embodiment of a carrier assembly disclosed herein;

[0082] FIG44 is a schematic structural diagram of another embodiment of a carrier assembly disclosed herein;

[0083] FIG45 is an eighth structural diagram of an embodiment of the cleaning device disclosed herein;

[0084] FIG46 is a schematic structural diagram of an embodiment of a solar energy system disclosed herein;

[0085] FIG47A is a schematic structural diagram of an embodiment of a cleaning device according to the present disclosure, wherein the float chamber is deflated;

[0086] FIG47B is a schematic structural diagram of an embodiment of the cleaning device in FIG47A with the float chamber in an expanded state;

[0087] FIG48 is a flow chart of an embodiment of a cleaning equipment control method disclosed herein;

[0088] FIG49 is a schematic diagram of a signal transmitting a guide signal in an embodiment of a carrier assembly disclosed herein;

[0089] FIG50 is a schematic diagram of signals in one embodiment of the cleaning system of the present disclosure;

[0090] FIG51 is a schematic diagram of a framework of an embodiment of a cleaning system of the present disclosure;

[0091] FIG52 is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided by the present disclosure.

[0092] FIG53A is a cross-sectional view of an embodiment of a cleaning device provided by the present disclosure;

[0093] FIG53B is a schematic structural diagram of an embodiment of a cleaning device provided by the present disclosure;

[0094] FIG53C shows the cleaning device provided by the present disclosure in a third motion state;

[0095] FIG54A is a schematic diagram of a cleaning device provided by the present disclosure in a side view in a first motion state;

[0096] 54B is a side view of the cleaning device provided by the present disclosure in the second motion state during the process of switching from the first motion state to the third motion state through the second motion state;

[0097] FIG54C is a side view of the cleaning device provided by the present disclosure, showing the cleaning device moving along the side wall to the waterline during the process of switching from the first motion state to the second motion state and toward the third motion state;

[0098] 54D is a side view schematic diagram of the rotation state of the cleaning device provided by the present disclosure during the process of switching from the first motion state to the third motion state through the second motion state;

[0099] FIG54E is a side view of the cleaning device provided by the present disclosure, showing a process of switching from the first motion state to the third motion state via the second motion state, during which the cleaning device switches to the third motion state;

[0100] 54F is a side view schematic diagram of the rotation state of the cleaning device provided by the present disclosure during the process of switching from the first motion state to the second motion state through the second motion state toward the third motion state;

[0101] FIG55A is a side view of the rotation state of the cleaning device provided by the present disclosure during the switching process from the third motion state to the second motion state through the second motion state toward the first motion state;

[0102] 55B is a side view schematic diagram of the rotation state of the cleaning device provided by the present disclosure during the switching process from the third motion state to the first motion state via the second motion state, wherein the cleaning device switches from the second motion state to the first motion state;

[0103] FIG56 is a side view of the cleaning device provided by the present disclosure walking on an inclined side wall;

[0104] FIG57A is a side view of the cleaning device provided by the present disclosure, showing that the rear portion of the cleaning device rotates and sinks before the front portion during the process of switching from the third motion state directly to the first motion state;

[0105] FIG57B is a side view of the cleaning device provided by the present disclosure, which is in a state of sinking in an inclined state underwater during a process of switching from the third motion state directly to the first motion state;

[0106] FIG57C is a side view of the cleaning device provided by the present disclosure, showing a state in which the rear portion of the cleaning device abuts against the bottom wall before the front portion thereof during the process of switching from the third motion state directly to the first motion state;

[0107] FIG58A is a side view schematic diagram of the cleaning device in FIG53A during switching between the first motion state and the third motion state;

[0108] FIG58B is a side view of the cleaning device in FIG53A during the switching process between the first motion state and the third motion state.

[0109] FIG59A is a schematic diagram of an embodiment of a cleaning device provided by the present disclosure walking on a balcony of a pool;

[0110] FIG59B is a schematic diagram of an embodiment of a cleaning device provided by the present disclosure walking on a balcony of a pool;

[0111] FIG60A is a side view of a cleaning apparatus provided by the present disclosure in a substantially horizontal position;

[0112] FIG60B is a side view of another embodiment of the cleaning apparatus provided by the present disclosure in a substantially horizontal position;

[0113] FIG61A is a schematic structural diagram of an embodiment of a cleaning device provided by the present disclosure.

[0114] FIG61B is a schematic structural diagram of an embodiment of a cleaning device provided by the present disclosure;

[0115] FIG62A is a schematic diagram of a cleaning device provided by the present disclosure returned to a different first docking surface of a base station body;

[0116] FIG62B is a schematic diagram of a cleaning device provided by the present disclosure returned to a different first docking surface of the base station body;

[0117] FIG63A is a schematic structural diagram of a cleaning device provided by the present disclosure;

[0118] FIG63B is another schematic structural diagram of a cleaning device provided by the present disclosure;

[0119] FIG64A is a schematic structural diagram of a cleaning device provided by the present disclosure;

[0120] FIG64B is a schematic structural diagram of a cleaning device provided by the present disclosure;

[0121] FIG64C is a schematic diagram of the cleaning device provided by the present disclosure with some structures removed;

[0122] FIG64D is a schematic diagram of the structure of the cleaning device provided by the present disclosure after transverse cross-section;

[0123] FIG64E is a schematic diagram of the structure of the cleaning device provided by the present disclosure after longitudinal section;

[0124] FIG64F is a schematic structural diagram of an embodiment of a cleaning device provided by the present disclosure;

[0125] FIG64G is a schematic structural diagram of an embodiment of a cleaning device provided by the present disclosure;

[0126] FIG64H is a schematic structural diagram of an embodiment of a cleaning device provided by the present disclosure;

[0127] FIG64I is a schematic structural diagram of an embodiment of the first dust bin of the cleaning device in FIG64H;

[0128] FIG64J is a schematic diagram of a state in which the second guide mechanism on the first dust bin of the cleaning device in FIG64H extends out of the cleaning device;

[0129] FIG64K is a schematic structural diagram of an embodiment of a cleaning device provided by the present disclosure;

[0130] FIG64L is a schematic cross-sectional view of an embodiment of a cleaning device provided by the present disclosure;

[0131] FIG65A is a schematic structural diagram of the docking process between the cleaning device and the base station provided by the present disclosure;

[0132] FIG65B is another structural diagram illustrating the docking process between the cleaning device and the base station provided by the present disclosure;

[0133] FIG66 is a schematic diagram of the cleaning device provided by the present disclosure when retreating along the water surface to clean;

[0134] FIG67 is a schematic diagram of the cleaning device provided by the present disclosure moving forward on the water surface and back to the base station along the edge;

[0135] FIG68A is a schematic structural diagram of a base station (or a bearing component) provided by the present disclosure;

[0136] FIG68B is a schematic structural diagram of a transition seat in a base station provided by the present disclosure;

[0137] FIG68C is an exploded view of the bearing member, transition seat, support member, and second dust box in the base station provided by the present disclosure;

[0138] FIG68D is a cross-sectional schematic diagram of a partial structure of the cleaning device provided by the present disclosure after docking with the base station;

[0139] FIG69A is a schematic diagram of the cleaning device provided by the present disclosure searching for a wall on the bottom wall of a pool;

[0140] FIG69B is a schematic diagram of the cleaning device of the present disclosure moving upward on the fourth wall;

[0141] FIG69C is a schematic diagram of the cleaning device of the present disclosure returning to the base station along the edge of the water surface;

[0142] FIG69D is a schematic diagram illustrating the structure of the front portion of the cleaning device of the present disclosure colliding with the first side surface of the support member;

[0143] FIG69E is a schematic diagram of the cleaning device of the present disclosure after docking with the base station;

[0144] FIG69F is a schematic diagram of the cleaning device of the present disclosure docked with the base station in different orientations;

[0145] FIG70 a is a schematic diagram of the state of the first embodiment of the carrier assembly and the cleaning device disclosed herein;

[0146] FIG70 b is a schematic diagram of the state of the second embodiment of the carrier assembly and the cleaning device disclosed herein;

[0147] FIG70c is a schematic diagram of the state of the third embodiment of the carrier assembly and cleaning device disclosed herein;

[0148] FIG70 d is a schematic diagram of a fourth embodiment of a carrier assembly and a cleaning device according to the present disclosure;

[0149] FIG70e is a schematic diagram of the fifth embodiment of the carrier assembly and cleaning device disclosed herein;

[0150] FIG70 f is a schematic diagram of a sixth embodiment of a carrier assembly and a cleaning device according to the present disclosure;

[0151] FIG70g is a schematic diagram of a seventh embodiment of a carrier assembly and a cleaning device according to the present disclosure;

[0152] FIG70h is a schematic diagram showing the position of a carrier assembly according to an embodiment of the present disclosure;

[0153] FIG70i is a schematic diagram of the eighth embodiment of the carrier assembly and cleaning device disclosed herein;

[0154] FIG70 j is a schematic diagram of a ninth embodiment of a carrier assembly and a cleaning device according to the present disclosure;

[0155] FIG70k is a schematic diagram of the state of the tenth embodiment of the carrier assembly and cleaning device disclosed herein;

[0156] FIG701 is a schematic diagram of the state of the eleventh embodiment of the carrier assembly and cleaning device disclosed herein;

[0157] FIG70m is a schematic diagram of the state of the twelfth embodiment of the carrier assembly and cleaning device disclosed herein;

[0158] FIG70n is a schematic diagram of a state of a thirteenth embodiment of a carrier assembly and a cleaning device according to the present disclosure;

[0159] FIG70 o is a schematic diagram of a fourteenth embodiment of a carrier assembly and a cleaning device according to the present disclosure;

[0160] FIG70 p is a schematic diagram of a fifteenth embodiment of a carrier assembly and a cleaning device according to the present disclosure;

[0161] FIG70q is a schematic diagram of a sixteenth embodiment of a carrier assembly and a cleaning device according to the present disclosure;

[0162] FIG70 r is a schematic diagram of a partial structure of an embodiment of a crawler track and a load-bearing surface disclosed herein;

[0163] Figure 70s is a schematic diagram of the partial structure of an embodiment of the crawler and the load-bearing surface disclosed herein;

[0164] FIG70t is a schematic diagram of a partial structure of a crawler track and a load-bearing surface according to an embodiment of the present disclosure;

[0165] Figure 70u is a schematic diagram of the partial structure of an embodiment of the crawler and the load-bearing surface disclosed herein;

[0166] FIG70v is a schematic side view of an embodiment of a carrier assembly disclosed herein;

[0167] FIG70w is a schematic diagram of a state of an embodiment of a carrier assembly and a cleaning device disclosed herein;

[0168] FIG70x is a schematic diagram of a state of an embodiment of a carrier assembly and a cleaning device disclosed herein;

[0169] FIG70y is a schematic diagram showing the position of a carrier assembly according to an embodiment of the present disclosure;

[0170] FIG70z is a schematic diagram showing the position of a carrier assembly according to an embodiment of the present disclosure;

[0171] FIG71 is a schematic top view of an embodiment of a carrier assembly disclosed herein;

[0172] FIG72A is a schematic diagram of a first embodiment of the cleaning device of the present disclosure docking with a base station outside a pool;

[0173] FIG72B is a schematic diagram of a second embodiment of the cleaning device of the present disclosure docking with a base station outside a pool;

[0174] FIG72C1 is a schematic diagram of a third embodiment of the cleaning device of the present disclosure docking with a base station outside a pool;

[0175] FIG72C2 is a schematic diagram of a component arrangement on a base station of the present disclosure;

[0176] FIG72D is a schematic diagram of a fourth embodiment of the cleaning device of the present disclosure docking with a base station outside a pool;

[0177] FIG72E is a schematic diagram of a fifth embodiment of the cleaning device of the present disclosure docking with a base station outside a pool;

[0178] FIG72F is a schematic diagram of a component arrangement of a second airflow channel of the present disclosure;

[0179] FIG72G is a schematic diagram of a component arrangement of a first airflow channel of the present disclosure;

[0180] FIG72H is a schematic diagram of a drying channel component arrangement according to the present disclosure;

[0181] FIG72K is a schematic diagram of a sixth embodiment of the cleaning device of the present disclosure docking with a base station outside a pool;

[0182] FIG73A is a first cross-sectional view of the first embodiment of the cleaning device of the present disclosure docking with the base station in a pool;

[0183] FIG73B is a second cross-sectional view of the first embodiment of the cleaning device of the present disclosure docking with the base station in a pool;

[0184] FIG73C is a schematic diagram showing the installation position of the base station and the movement status of the cleaning equipment in the first swimming pool configuration of the present disclosure;

[0185] FIG73D is a schematic diagram showing the installation position of the base station and the movement status of the cleaning equipment in the second swimming pool configuration of the present disclosure;

[0186] Figure 73E1 is a schematic diagram of an embodiment of a base station of the present disclosure;

[0187] Figure 73E2 is a schematic diagram of an embodiment of a base station of the present disclosure;

[0188] Figure 73E3 is a schematic diagram of an embodiment of a base station of the present disclosure;

[0189] Figure 73E4 is a schematic diagram of an embodiment of a base station of the present disclosure;

[0190] FIG73F is an exploded schematic diagram of an embodiment of a base station of the present disclosure;

[0191] FIG73G is a schematic structural diagram of the base station in FIG73F ;

[0192] FIG74A is a diagram illustrating a first state of a second embodiment of the cleaning device of the present disclosure docked with a base station in a pool;

[0193] FIG74B is a diagram illustrating a second state of the cleaning device and the base station docked in a pool according to the second embodiment of the present disclosure;

[0194] FIG74C is a diagram illustrating a third state of the second embodiment of the cleaning device of the present disclosure docked with the base station in a pool;

[0195] FIG74D is a diagram illustrating a fourth state of the second embodiment of the cleaning device of the present disclosure docked with the base station in a pool;

[0196] FIG74E1 is a schematic diagram of an embodiment of the process of a cleaning device returning to a base station according to the present disclosure;

[0197] Figure 74E2 is a schematic diagram of an embodiment of the process of a cleaning device returning to a base station according to the present disclosure;

[0198] Figure 74E3 is a schematic diagram of an embodiment of the process of a cleaning device returning to a base station according to the present disclosure;

[0199] Figure 74F1 is a schematic diagram of an embodiment of the process of a cleaning device returning to a base station according to the present disclosure;

[0200] Figure 74F2 is a schematic diagram of an embodiment of the process of a cleaning device returning to a base station according to the present disclosure;

[0201] Figure 74F3 is a schematic diagram of an embodiment of the process of a cleaning device returning to a base station according to the present disclosure;

[0202] FIG74G1 is a schematic diagram of an embodiment of the process of a cleaning device returning to a base station according to the present disclosure;

[0203] Figure 74G2 is a schematic diagram of an embodiment of the process of a cleaning device returning to a base station according to the present disclosure;

[0204] Figure 74G3 is a schematic diagram of an embodiment of the process of a cleaning device returning to a base station according to the present disclosure;

[0205] Figure 74H1 is a schematic diagram of an embodiment of the process of a cleaning device returning to a base station according to the present disclosure;

[0206] Figure 74H2 is a schematic diagram of an embodiment of the process of a cleaning device returning to a base station according to the present disclosure;

[0207] FIG75 a is a schematic structural diagram of a first dust box of an embodiment of a cleaning device disclosed herein;

[0208] FIG75b is a schematic diagram of the first dust box structure in FIG75a from another perspective;

[0209] FIG75c is a schematic structural diagram of a first dust box of an embodiment of the cleaning device disclosed herein;

[0210] Figure 75d is a schematic structural diagram of a first dust box of an embodiment of the cleaning device disclosed herein;

[0211] Figure 75e is a schematic structural diagram of a first dust box of an embodiment of the cleaning device disclosed herein;

[0212] Figure 75f is a schematic structural diagram of a first dust box of an embodiment of the cleaning device disclosed herein;

[0213] FIG75g is a schematic diagram of an embodiment of the cleaning device of the present disclosure with some structures removed;

[0214] FIG76 a is a schematic diagram of a partial structure of a bearing assembly provided by the present disclosure;

[0215] FIG76 b is a schematic diagram of a structure of a cleaning device provided by the present disclosure docked on a support member;

[0216] FIG76c is a schematic diagram of an embodiment of a cleaning device provided by the present disclosure positioned on a support member with some structures removed;

[0217] FIG76d is a schematic diagram of an embodiment of a cleaning device provided by the present disclosure positioned on a support member with some structures removed;

[0218] FIG76e is a schematic diagram of an embodiment of a cleaning device provided by the present disclosure positioned on a support member with some structures removed;

[0219] Figure 76f is a cross-sectional schematic diagram of the first dust box in one embodiment of the present disclosure;

[0220] Figure 76g is a cross-sectional schematic diagram of the first dust box and the first dust bin in one embodiment of the present disclosure;

[0221] Figure 76h is a cross-sectional schematic diagram of the first dust box and the first dust bin in one embodiment of the present disclosure;

[0222] FIG77 a is a schematic structural diagram of a first dust box equipped with a vibrator according to the present invention;

[0223] Figure 77b is a side view of the first dust box in Figure 77a;

[0224] FIG77c is a schematic structural diagram of a first dust box equipped with a vibrator according to the present invention;

[0225] Figure 77d is a side view of the first dust box in Figure 77c;

[0226] FIG78a is a schematic diagram of a structure of a first dust box with a flippable bottom for opening and closing according to the present invention;

[0227] FIG78 b is a schematic structural diagram of a first dust box with a reversible bottom according to the present invention;

[0228] FIG78c is a schematic diagram of a structure of a first dust box with a reversible bottom according to the present invention;

[0229] FIG78d is a schematic structural diagram of a first dust box with a reversible bottom according to the present invention;

[0230] FIG79 is a schematic diagram of a partial structure of a first filter assembly provided with a dust box bottom cover drive member;

[0231] Figure 80 is a block diagram of an automation control system provided by an embodiment of the present disclosure.

[0232] Reference numerals: 1. Cleaning system; 1000. Cleaning device; 1001. Cleaning device body; 10011. Front portion; 10012. Rear portion; 10013. First accommodating chamber; 10013a. Second liquid discharge port; 10013b. Third liquid discharge port; 10014. Second accommodating chamber; 10014a. First cavity; 10014b. Second cavity; 10014d. Third cavity; 1015. Cover; 1033. Fourth opening; 1016. Reagent compartment; 1017. First water inlet pipe; 1018. First dust bin cover; 105. First liquid discharge port; 1010. First docking assembly; 1011. First connecting member; 10111. Locking member; 10112. Limiting groove; 10112a. First groove wall; 10112b. Second groove wall; 10112c, lock inlet; 10112a1, first guide slope; 10112b1, second guide slope; 10113, elastic lock; 1020, charging receiver; 1030, liquid inlet; 1031, first water inlet; 1032, second water inlet; 1033, seventh opening; 1034, first air inlet; 1040, liquid outlet; 1041, first water outlet; 10411, first sub-liquid discharge outlet; 10412, second sub-liquid discharge outlet; 1041a, first sub-water outlet; 1041b, second sub-water outlet; 1042, guide mechanism; 10421, first guide plate; 10422, second guide plate; 1050, first filter assembly; 1051, first dust box; 10511, dust box water inlet; 10511a - first inlet; 10511b - second inlet; 10511c, first baffle; 10511d, second baffle; 10511e, second protrusion; 10511f, fifth baffle; 10511g, fifth opening; 10511h, turning axis; 1051a, first filter surface; 1051b, second filter surface; 1051c, third filter surface; 1051d, fourth filter surface; 1051e, fifth filter surface; 10513, first clearance area; 10514, second clearance area; 10513, guide Flow port; 10514, cover member; 10515, adjustment member; 10516, vibrator mounting portion; 10517, first bottom plate; 10518, transition arc surface; 10519, limiter; 10520, sleeve; 10521, shaft; 10522, first gear; 10523, first protrusion; 1052, first dust bin; 1053, first sterilizer; 10541, first clearance area; 10542, second clearance area; 1054, sixth opening; 10550, vibration mechanism; 1055, dust box bottom cover drive member; 1055a, dust box bottom cover drive motor; 1055b, third gear; 1055c, fourth gear; 1056, vibrator; 1056a, vibration motor; 1056b, receiving coil; 1060, suction assembly; 1061, main water pump;10611, main motor; main impeller 10612; 1070, travel propulsion structure; 1071, travel mechanism; 117, crawler track; 1072, propulsion mechanism; 10721, first propeller; 10722, second propeller; 10722a, second propulsion motor; 10722b, second propulsion impeller; 10722c, first propulsion opening; propulsion drive; 115, lateral propulsion assembly; 115a, lateral flow channel; 115b, lateral motor; 115c, lateral impeller; 115d, first opening; 115e, second opening; 1175, fourth protrusion; 1176, first groove; 1177, first outer side surface; 1178, third groove; 1080, circulating water inlet; 1090, underwater piping; 1100, mode switching component; 1101, float chamber; first portion 1101a of the float chamber; second portion 1101b of the float chamber; 112, first adjusting member; 1103, air inlet; 11031, first injection port; 113A, first sub-injection port; 11031b, second sub-injection port; 1104, first connecting pipe; 1105, exhaust port; 1105a, first sub-exhaust port; 1105b, second sub-exhaust port; 1106, gas tank; 1110, control system; 1120, identification component; 1121, first sub-identification component; 1122, second sub-identification component; 1123, visual sensing component; 11231, camera body; 11232, fill light component; 11233, light shielding component; 1124, terrain detection component; 1130, auxiliary cleaning assembly; 1131, first auxiliary cleaning assembly; 11311, side brush; 1132, second auxiliary cleaning assembly; 11321, water spraying member; 1140, anti-collision member; 1150, first reagent spreading assembly; 1151, first reagent storage assembly; 11511, first reagent opening; 1152, first spreading drive assembly; 1153, reagent dosage detection assembly; 1154, control assembly; 1153, first reagent outlet; 1160, water quality detection assembly; 11601, detection box; 116011, sixth accommodating chamber; 116012, seventh accommodating chamber; 116021, light emitting element; 116022, light receiving element; 116023, first mounting seat; 11603, test strip; 116031, test paper; 116032, protective film; 11605, peeling member; 116061, first guide member; 116062, second guide member; 116063, third guide member; 11607, test base; 11608, first transmission member; 11609, second transmission member; 11610, third motor; 11611, second sealing box; 1170, device communication module; 1171, first submodule; 1172, second submodule; 1180, solar energy system; 1181, photovoltaic module; 1182, photovoltaic control mechanism; 1190, anti-grounding assembly; 1191, grounding housing;1192, grounding member; 1193, pressing elastic portion; 1194, manual portion; 1200, cleaning assembly; 1201, first cleaning member; 1300, self-cleaning sewage outlet; 1400, battery pack; 1500, handle; 2000, carrying assembly / base station; 20001, base station body; 200011, fourth accommodating chamber; 20002, base station water pump; 20002a, second motor; 20002b, second impeller; 20003, sixth baffle; 20004, first docking surface; 20005, second upper cover; 20007, fifth cavity; 20006, fourth cavity; 20008, tenth opening; 20009, suction channel; 200010, drainage channel; 200013, twelfth opening; 200014, one-way valve; 2010, first accommodating space; 2020, second accommodating space; 2030, second docking assembly; 2031, second connecting member; 20311, fixing portion; 20311a, fixing rod; 20311b, limiting rod; 20312, locking slot; 20313, opening; 2040, carrier; 2040a, first transverse end; 2040b, second transverse end; 20401, first plate; 20402, carrier body; 2041, first end; 2042, second end; 20421, guide structure; 20421a, baffle; 2043, bearing surface; 2044, first bearing member; 20441, first bearing surface; 2045, second bearing member; 20451, second bearing surface; 2046, fifth protrusion; 2047, second groove; 20431, anti-slip portion; 20432, first upper surface; 2048, sixth protrusion; 2050, support member; 20501, first support member; 20502, second support member; 20503, third support member; 2051, accommodating portion; 2052, accommodating groove; 2054, third accommodating cavity; 2055, fourth opening; 2056, ninth opening; 2057, third protrusion; 2058, rotating platform; 2060, drive assembly; 2061, rotating shaft; 2062, drive member; 2080, water level adaptation assembly; 2081, floating member; 2082, guide member; 2090, charging assembly; 2091, charging member; 2092, elastic member; 2100, self-cleaning sewage inlet; 2101, air outlet; 2102, first heating element; 2103, first fan; 2104, second fan; 2105, second sterilizer; 2106, second heating element; 2107, first condenser; 2108, second condenser; 2109, baffle; 2110, second filter assembly; 21102, second dust box; 21101, third inlet; 2120, self-cleaning drain; 2130, pool control assembly; 2131, water circulation system; 21311, automatic water spreading assembly; 21312, water filling port; 21313, medicine outlet;2140, component communication module; 2141, third submodule; 2142, fourth submodule; 2150, second dust bin; 21501, third opening; 2151, first signal transmitter; 2152, second signal transmitter; 2160, second agent spreading assembly; 2161, second agent storage assembly; 21611, second agent opening; 2162, second spreading drive assembly; 2170, self-cleaning assembly; 2171, support base; 2172, nozzle support arm; 2173, nozzle; 2174, first water source inlet; 2175, first support arm; 2176, second support arm; 2180, fixing base; 2190, first sealing box; 2200, drainage channel; 2201, first transition portion; 22011, first connecting portion; 2202, second communication port; 2300, water tank; 2400, button; 2500, third sensing element; 2600, third guide plate; 1125, third detection element; 3000, connection control assembly; 3010, first magnetic control assembly; 3011, first push-pull rod; 3012, first rotating shaft; 3013, first fixed arm; 3014, first switch; 3020, second magnetic control assembly; 310, bottom wall; 320, side wall; 320a, first side wall; 320b, second side wall; 320c, third side wall; 320d, fourth side wall; 3201, accommodating portion; 3301, first horizontal surface; 3302, first slope; 3303, first equilibrium water surface; 4000, sensing assembly; 5000, first terminal device; 6000, electrical control box. [Specific implementation method]

[0233] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0234] 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 disclosure. 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.

[0235] The cleaning device 1000 provided by the present disclosure is described in detail below with reference to embodiments.

[0236] Please refer to Figures 1 to 3. Figure 1 is a first structural schematic diagram of an embodiment of a cleaning system disclosed herein; Figure 2 is a second structural schematic diagram of an embodiment of a cleaning system disclosed herein; and Figure 3 is a first structural schematic diagram of an embodiment of a cleaning device disclosed herein. The present disclosure provides a cleaning system 1, which includes a cleaning device 1000 and a carrier assembly 2000 (or a base station). The cleaning device 1000 is used to perform cleaning, disinfection, rescue and other work tasks in a target area. The target area can be an area containing a water body where the cleaning device 1000 moves. The target area can include, but is not limited to, a swimming pool, a pool, an oil well, a sewer, etc. The following description takes the target area as an example of a pool. The cleaning device 1000 is suitable for operating in a pool water body, and the cleaning device 1000 can be configured to move on at least one of the water surface, underwater and pool wall of the pool. For example, the cleaning device is a swimming pool robot.

[0237] The cleaning device includes a main body 1001, which is equipped with at least one liquid inlet 1030, at least one first filter assembly 1050, at least one liquid outlet 1040, a propulsion structure 1070, and at least one suction assembly 1060. The liquid inlet 1030 serves as the entrance for liquid from the water tank to enter the main body of the cleaning device. The propulsion structure enables the cleaning device to move through the water and / or on the surface of the water. Under the action of the suction assembly 1060, liquid from the water tank is drawn into the first filter assembly through the liquid inlet. After being filtered by the first filter assembly, the liquid passes through the suction assembly and is finally discharged from the main body of the cleaning device through the liquid outlet.

[0238] The cleaning device also includes a main cleaning component, which is used to draw garbage below the water surface and / or garbage on the water surface into the first filter component 1050 or to scrub the surface to be cleaned. For example, the main cleaning component scrubs the pool wall, scrubs the waterline, etc. The cleaning device also includes an auxiliary cleaning component, which is located near the second water inlet and has at least a portion extending outside the main body of the cleaning device, and is used to guide the liquid outside the liquid inlet portion to flow toward the liquid inlet portion, so that the liquid outside the liquid inlet portion can quickly enter the first filter component through the liquid inlet portion. Alternatively, when the cleaning device is in the third motion state (mentioned below), when cleaning along the edge of the water surface or returning to the base station along the edge, the first auxiliary cleaning component can clean the wall near the waterline.

[0239] In addition, if the cleaning device has both surface cleaning and underwater cleaning functions, the cleaning device has a first motion state, a second motion state, and a third motion state, wherein the first motion state at least includes a state in which the cleaning device is operating at the bottom of a pool, the second motion state at least includes a state in which the cleaning device is operating at or parallel to the pool wall, and the third motion state at least includes a state in which the cleaning device is operating on the water surface. In order to enable the cleaning device to switch between the first motion state and the third motion state, or between the second motion state and the third motion state, the cleaning device further includes a mode switching component 1100, which enables the cleaning device to switch between the first motion state and the third motion state, or between the second motion state and the third motion state, so that the cleaning device has the function of floating up and diving down.

[0240] The cleaning system also includes at least one of a water quality detection component 1160, a chemical spreading component, and a water level detection component. These components can be located on the cleaning equipment. Since the cleaning equipment can move within the pool, they can move with the cleaning equipment within the pool, allowing the water quality detection component to detect liquid at different locations within the pool, resulting in more accurate water quality detection results. The chemical spreading component can spread the chemical at different locations within the pool, ensuring a more even distribution of the chemical within the pool. The water level detection component can detect water levels at different water levels within the pool, resulting in more accurate detection results. Of course, the water quality detection component, chemical spreading component, and water level detection component can also be located on the base station. For ease of description, the chemical spreading component located on the cleaning equipment is referred to as the first chemical spreading component, and the chemical spreading component located on the base station is referred to as the second chemical spreading component.

[0241] The cleaning system also includes a self-cleaning component. When the cleaning device returns to the base station, the self-cleaning component can self-clean the first filter component of the cleaning device and collect the garbage in the first filter component to the base station.

[0242] In some scenarios, the cleaning equipment needs to return to the base station. When the cleaning equipment returns to the base station, the base station can perform at least one of the following operations on the cleaning equipment. The specific operations can be: the base station charges the cleaning equipment, cleans the first filter component 1050 of the cleaning equipment (also called self-cleaning), cleans or replaces the main cleaning component of the cleaning equipment, cleans or replaces the auxiliary cleaning component of the cleaning equipment, communicates with the cleaning equipment, and replaces the tracks of the walking mechanism of the cleaning equipment; or, when the agent spreading component is provided on the cleaning equipment, the base station replenishes the reagent for the first agent spreading component, or the base station replaces the agent spreading component on the cleaning equipment; or replaces the type of reagent in the first agent spreading component; or, when the water quality detection component is provided on the cleaning equipment, the base station can automatically replace the water quality detection component; or, when the cleaning task or cruising of the cleaning equipment is completed, the base station is at least used for parking the cleaning equipment, and the cleaning equipment can be in standby state, etc.

[0243] Based on the different locations of the base station on the pool, the state of the cleaning device returning to the base station is also different.

[0244] In a first embodiment, at least part of the base station is located on the shore of the pool. The cleaning equipment needs to go ashore from the pool and then return to the base station. The base station performs the aforementioned operations on the cleaning equipment on the shore.

[0245] For example, as shown in Figure 70d, the base station includes at least a base station body 20001 (or a support member 2050). The base station body is located on the shore of the pool. The cleaning equipment needs to go ashore from the pool before returning to the base station body. The base station body performs the aforementioned operations on the cleaning equipment. In the process of the cleaning equipment going ashore from the pool and returning to the base station, the cleaning equipment can use the support member. The cleaning equipment walks on the support member 2040 to return to the base station. The base station performs the aforementioned operations on the cleaning equipment on the shore of the pool. When the cleaning equipment needs to enter the water from the base station, the cleaning equipment can also use the support member. The cleaning equipment walks on the support member to enter the water; or it can enter the water without the support member and adopt other methods.

[0246] For the carrier 2040, in one embodiment, the carrier 2040 serves as a part of the structure of the base station, that is, the base station 2000 includes the carrier, and the carrier is connected to the base station body. In the process of the cleaning equipment returning to the base station, the carrier 2040 can be inclined relative to the water surface of the pool, or in a vertical state roughly perpendicular to the water surface, and at least part of the carrier is located below the water surface of the pool, so that the cleaning equipment can first walk on the carrier, and then walk ashore along the carrier to return to the base station body. That is, the cleaning equipment first returns to the carrier 2040, and then returns to the support 2050 or the base station body on the shore through the carrier 2040. The base station is on the shore or outside the pool to perform operations on the cleaning equipment. In another embodiment, the carrier is not a part of the structure of the base station. The carrier can be arranged separately on the inner wall of the pool, or the carrier can be formed on the inner wall of the pool, that is, the carrier is part of the inner wall surface of the pool. When the base station is installed on the shore of the pool, one end of the carrier can be connected or docked with the base station body, so that the cleaning equipment can return to the base station with the help of the carrier.

[0247] In a second embodiment, at least part of the base station (for example, the first part) is located on the shore of the pool, and at least part of the base station (for example, the second part) is located inside the pool. The cleaning equipment does not go ashore, but returns to the second part of the base station inside the pool to complete the return to the base station inside the pool. Some of the above operations performed by the base station on the cleaning equipment are performed inside the pool, and some operations are performed on the shore. As shown in Figure 74D, for example, as shown in the figure, the first part of the base station is the support 2050, and the second part of the base station is the carrier 2040. For example, the charging of the cleaning equipment is performed on the second part; the self-cleaning of the first filter component of the cleaning equipment by the base station is performed on the first part of the base station, that is, the cleaning of the first filter component and the collection of garbage are performed on the shore.

[0248] In a third embodiment, at least part of the base station is arranged on the inner wall of the pool. The cleaning equipment does not need to go ashore and can return to the base station in the pool. All operations performed by the base station on the cleaning equipment are performed in the pool.

[0249] In the second and third embodiments, the cleaning equipment does not need to go ashore. The cleaning equipment returns to the base station in the pool. The cleaning equipment can return to the base station from the water surface, or the cleaning equipment can walk from the bottom wall of the pool to the side wall of the pool to return to the base station, or the cleaning equipment can return to the base station from any position in the water.

[0250] In one embodiment, when the cleaning device returns to the base station, as shown in Figure 72D or Figure 72E, the cleaning device is in a roughly horizontal state, with the top of the cleaning device facing upward and the bottom facing downward in the height direction of the cleaning device; or, in another embodiment, when the cleaning device returns to the base station, as shown in Figure 34G, the cleaning device is in a roughly vertical state.

[0251] During the process of the cleaning device returning to the base station, in order to ensure that the cleaning device can accurately return to the base station, a first docking component 1010 is set on the cleaning device, and a second docking component 2030 is set on the base station. The first docking component 1010 and the second docking component 2030 are releasably connected. When the first docking component 1010 and the second docking component 2030 are docked, the cleaning device is connected or locked to the base station, that is, the first docking component 1010 and the second docking component 2030 are in a locked state; when the first docking component 1010 and the second docking component 2030 are separated, the cleaning device is disconnected from the base station, and the cleaning device can leave the base station, that is, the first docking component and the second docking component are in an unlocked state.

[0252] The cleaning device 1000 is suitable for operation in a pool of water. The cleaning device 1000 can be configured to move on at least one of the surface of the pool, underwater, or on the pool wall. The cleaning device 1000 can be provided with a running mechanism that drives the cleaning device 1000 to move on the surface to be cleaned or on the water surface. The carrying assembly 2000 is used to fix the cleaning device 1000, or to carry the cleaning device 1000 to move in or out of the pool. The carrying assembly 2000 can be at least partially arranged at the edge of the pool, for example, the carrying assembly 2000 can be at least partially arranged on the pool wall. The carrying assembly 2000 can also be arranged at the bank of the pool and extend into the pool. The carrying assembly 2000 can also be arranged in a place other than the edge of the pool, such as in the middle of the pool, at the bottom of the pool, etc. When the cleaning device 1000 is no longer in the state of performing the work task due to receiving the return signal, the cleaning device 1000 can return to the carrying assembly 2000.

[0253] A first docking assembly 1010 is provided on the side or bottom of the cleaning device 1000. The side of the cleaning device 1000 may include any one or more of the front, back, left, and right sides of the cleaning device 1000. The carrier assembly 2000 includes a carrier 2040 and a second docking assembly 2030. The second docking assembly 2030 is disposed on the carrier 2040. The second docking assembly 2030 is adapted to be releasably connected to the first docking assembly 1010 to secure the cleaning device 1000 to the carrier 2040 or release the cleaning device 1000 from the carrier 2040. The carrier 2040 has at least a first position. When the carrier 2040 is in the first position, at least a portion of the carrier 2040 is located below the lowest preset water level of the pool. The carrier 2040 is adapted to allow the cleaning device 1000 to operate onto the carrier. Specifically, when the cleaning device 1000 approaches the carrier assembly 2000, the cleaning device 1000 can move onto the carrier 2040 in the first position. The first docking assembly 1010 is releasably connected to the second docking assembly 2030. When the first docking assembly 1010 and the second docking assembly 2030 are connected, the cleaning device 1000 cannot move relative to the carrier assembly 2000, or the cleaning device 1000 can only move within the range defined by the first docking assembly 1010 and the second docking assembly 2030. When the first docking assembly 1010 and the second docking assembly 2030 are disconnected, the cleaning device 1000 and the carrier assembly 2000 are released, and the cleaning device 1000 can be driven away from the carrier assembly 2000.

[0254] The purpose of the first docking assembly 1010 and the second docking assembly 2030 can depend on the specific configuration of the carrier assembly 2000. For example, when the carrier assembly 2000 is used to secure the cleaning device 1000, that is, when the cleaning device 1000 docks on the carrier assembly 2000 after returning, the first docking assembly 1010 and the second docking assembly 2030 are used to connect the cleaning device 1000 to the carrier assembly 2000 to form a moored fixed position. Alternatively, when the carrier assembly 2000 is used to carry the cleaning device 1000 to enter or exit a pool, that is, when the cleaning device 1000 exits the pool and disembarks from the carrier assembly 2000 after returning, the first docking assembly 1010 or the second docking assembly 2030 can be used to provide auxiliary fixation during the process of the cleaning device 1000 entering or exiting the pool, thereby reducing the probability of the cleaning device 1000 slipping off the carrier assembly 2000.

[0255] With the above arrangement, after the cleaning device 1000 returns to the carrying assembly 2000, it can be directly docked on the carrying assembly 2000 for a long time via the first docking assembly 1010 and the second docking assembly 2030, or can be removed from the pool with the assistance of the first docking assembly 1010 and the second docking assembly 2030. The cleaning device 1000 will not float with the water flow and affect the use of the pool, nor does it need to be manually salvaged out of the water in a timely manner. Instead, it can be docked on the carrying assembly 2000 for a long time or can be removed from the water by itself via the carrying assembly 2000, making it convenient to use.

[0256] The second docking assembly 2030 is adapted to be releasably connected to the first docking assembly 1010, including at least one of the following: a magnetic connection, a mechanical locking connection, and a snap-on connection. Furthermore, the second docking assembly 2030 and the first docking assembly 1010 may also be connected using other methods such as threaded locking, as long as the releasable connection is achieved, which is not a limitation herein.

[0257] In some embodiments, cleaning device 1000 includes a control unit (not shown), which is at least adapted to control the cleaning device to move along the edge to and secure to carrier assembly 2000 based on the received return signal to perform a target operation. The target operation refers to the operation task corresponding to the return signal. For example, when the return signal indicates the end of the cleaning task, the target operation may be docking cleaning device 1000 to carrier assembly 2000. Alternatively, when the return signal indicates that the battery level of cleaning device 1000 is below a preset value, the target operation may be charging cleaning device 1000.

[0258] In some embodiments, moving along the edge includes at least one of the following: the cleaning device 1000 moving along the bottom or wall of the pool; or the cleaning device 1000 moving along the waterline of the pool. Moving along the edge means that the cleaning device 1000 always keeps one side close to or in contact with the inner wall of the pool and moves along the inner wall of the pool.

[0259] In some embodiments, the return signal includes at least one of the following: completion of a cleaning task, the battery level of the cleaning device 1000 being lower than a preset value, the amount of dust collected by the cleaning device 1000 being greater than a preset value, the need for self-cleaning of the cleaning device 1000, the amount of reagent in the cleaning device 1000 being lower than a preset value, or receipt of a return command from a user. The return signal is not limited to the aforementioned types and can be adaptively configured based on the usage scenario of the cleaning device 1000, which is not limited herein.

[0260] Please refer to Figure 4, which is an enlarged schematic diagram of A shown in Figure 1. In some embodiments, the cleaning device 1000 and / or the carrier assembly 2000 are provided with a connection control assembly 3000. The connection control assembly 3000 is used to control the connection or disconnection between the first docking assembly 1010 and the second docking assembly 2030.

[0261] The specific method by which the connection control component 3000 controls the connection or disconnection between the first docking component 1010 and the second docking component 2030 can be set according to the connection method between the first docking component 1010 and the second docking component 2030. For example, when the first docking component 1010 and the second docking component 2030 are connected by structural restraint, the method by which the connection control component 3000 controls the connection state between the two can be to drive the first docking component 1010 to move so that it forms a restraint with the second docking component 2030 or to release the restraint. For another example, when the first docking component 1010 and the second docking component 2030 are connected by magnetic attraction, the method by which the connection control component 3000 controls the connection state between the two can be to control the magnetism of the first docking component 1010 and the second docking component 2030, or to control the first docking component 1010 to move closer to or farther from the second docking component 2030, or to control the second docking component 2030 to move closer to or farther from the first docking component. Alternatively, the connection control component 3000 can control the connection status of the two by directly controlling the driving force of the cleaning device 1000 so that the cleaning device 1000 overcomes the magnetic attraction between the first docking component 1010 and the second docking component 2030 through the driving force, or directly controlling the driving force of the supporting component 2000 so that the supporting component 2000 overcomes the magnetic attraction between the first docking component and the second docking component through the driving force.

[0262] The connection control component 3000 can be directly connected to the first docking component 1010 and / or the second docking component 2030, thereby controlling the first docking component 1010 and / or the second docking component 2030 by controlling electrical signals, controlling current, directly driving motion, etc. The connection control component 3000 can also be communicatively connected to the first docking component 1010 and / or the second docking component 2030, triggering the first docking component 1010 and / or the second docking component 2030 to perform preset corresponding actions by issuing communication instructions, thereby controlling the connection status of the first docking component 1010 and / or the second docking component 2030.

[0263] In some embodiments, a sensing component 4000 is provided on the cleaning device 1000 and / or the carrying component 2000. The sensing component 4000 is used to detect the positional relationship between the cleaning device 1000 and the carrying component 2000.

[0264] Specifically, the sensing component 4000 may be provided with a sensing element. The sensing component 4000 detects the positional relationship between the cleaning device 1000 and the carrier assembly 2000 through the sensing element. For example, when the sensing element detects that the cleaning device 1000 is approaching the carrier assembly 2000, the sensing component 4000 may send a signal to the carrier assembly 2000 and / or the cleaning device 1000 indicating that the two are in proximity. For another example, when the sensing element detects that the first docking component 1010 and the second docking component 2030 are aligned, the sensing component 4000 may send a signal to the carrier assembly 2000 and / or the cleaning device 1000 indicating that the first docking component 1010 and the second docking component 2030 are aligned. The sensing component 4000 may communicate with the connection control component 3000. The connection control component 3000 may be configured to control the connection between the first docking component 1010 and the second docking component 2030 upon receiving the signal from the sensing component 4000 indicating that the first docking component 1010 and the second docking component 2030 are aligned. The above-mentioned sensing element can be a Hall sensor, an infrared sensor, an ultrasonic sensor, a visual recognition device, a micro switch, a laser sensor, etc.

[0265] Please refer to Figure 5, which is a schematic structural diagram of a first embodiment of the first docking assembly of the present disclosure. In conjunction with Figures 1 to 4, in some embodiments, the first docking assembly 1010 can be releasably connected to the second docking assembly 2030 in a specific manner: the first docking assembly 1010 includes a first connector 1011. The second docking assembly 2030 includes a second connector 2031. The first connector 1011 is magnetically attracted to the second connector 2031. When the first connector 1011 and the second connector 2031 are magnetically attracted, the first docking assembly 1010 and the second docking assembly 2030 are connected. When the first connector 1011 and the second connector 2031 are released from attraction, the first docking assembly 1010 and the second docking assembly 2030 are disconnected. For example, one of the first connector 1011 and the second connector 2031 is a magnet, and the other is an iron block or sheet. The first connector and the second connector are connected by the magnet's attraction to the iron.

[0266] At least one of the first connector 1011 and the second connector 2031 can form a magnetic field, and the other can be attracted by the magnetic field, thereby connecting the first connector 1011 and the second connector 2031 to each other. For example, one of the first connector 1011 and the second connector 2031 can be configured as a magnet, and the other can be configured as a ferromagnetic metal connector. The ferromagnetic metal connector is attracted to the magnet and magnetically attracted to each other. For example, one of the first connector 1011 and the second connector 2031 can be configured as a magnet, and the other can be iron. The magnetic attraction of the magnet to the iron causes the first connector and the second connector to be magnetically attracted to each other. For another example, both the first connector 1011 and the second connector 2031 can be configured as magnets. The magnetic poles of the first connector 1011 and the second connector 2031 are arranged in opposite directions, and they are magnetically attracted to each other.

[0267] In this embodiment, the cleaning device 1000 may also be provided with a connection control assembly 3000, which includes a first magnetic control assembly 3010 and / or a second magnetic control assembly 3020. When the first connecting member 1011 can form a magnetic field, the first docking assembly 1010 is provided with the first magnetic control assembly 3010. The first magnetic control assembly 3010 is connected to the first connecting member 1011. The first magnetic control assembly 3010 is used to change the magnetic field of the first connecting member 1011. When the second connecting member 2031 can form a magnetic field, the second docking assembly 2030 is provided with a second magnetic control assembly 3020. The second magnetic control assembly 3020 is connected to the second connecting member 2031. The second magnetic control assembly 3020 is used to change the magnetic field of the second connecting member 2031.

[0268] Specifically, the first magnetic control assembly 3010 alters the magnetic field of the first connecting member 1011, meaning that the first magnetic control assembly 3010 can alter the magnetic field strength of the first connecting member 1011, alter the magnetic field direction of the first connecting member 1011, or alter both the magnetic field strength and direction of the first connecting member 1011. A driving force can be generated on the cleaning device 1000, which drives the cleaning device 1000 to move. By altering the magnetic field of the first connecting member 1011, the first magnetic control assembly 3010 causes the magnetic attraction between the first connecting member 1011 and the second connecting member 2031 to be greater than or less than the driving force, thereby allowing the cleaning device 1000 to be secured to the carrier assembly 2000 or to be moved away from the carrier assembly 2000. For example, the first magnetic control assembly 3010 can reduce the magnetic field strength of the first connecting member 1011 until the magnetic attraction between the first connecting member 1011 and the second connecting member 2031 is reduced to less than the driving force, allowing the cleaning device 1000 to move away from the carrier assembly 2000. Alternatively, the first magnetic control assembly 3010 can change the direction of the magnetic field of the first connecting member 1011, thereby changing the magnetic force between the first connecting member 1011 and the second connecting member 2031 from attraction to repulsion, and then separating the cleaning device 1000 from the carrier assembly 2000. The specific configuration of the second magnetic control assembly 3020 for changing the magnetic field of the second connecting member 2031 can be similar to the configuration of the first magnetic control assembly 3010 for changing the magnetic field of the first connecting member 1011, and will not be repeated here.

[0269] In this embodiment, the first docking assembly 1010 can be arranged on any side of the cleaning device 1000 or on multiple sides simultaneously. For example, the first docking assembly 1010 can be arranged on the left and right sides of the cleaning device 1000, on the right or left side, or at the bottom of the cleaning device 1000. Those skilled in the art can arrange the first docking assembly 1010 in a suitable position according to the return method of the cleaning device 1000. For example, if the carrier assembly 2000 is arranged on the pool wall and the cleaning device 1000 returns along the pool wall, the first docking assembly 1010 is only arranged on the right side of the cleaning device 1000. When the cleaning device 1000 performs its work, it can choose to face the left side toward the pool wall. At this time, the first docking assembly 1010 cannot be magnetically attracted to the second docking assembly 2030, and it is not easy to be accidentally attracted. When the cleaning device 1000 needs to return to the carrier assembly 2000, the cleaning device 1000 only needs to change its posture so that the right side faces the pool wall, and the first docking assembly 1010 can approach and connect with the second docking assembly 2030.

[0270] Furthermore, the cleaning device 1000 is not limited to moving away from the carrier assembly 2000 by changing the magnetic field of the first connecting member 1011, changing the magnetic field of the second connecting member 2031, or simultaneously changing the magnetic fields of the first connecting member 1011 and the second connecting member 2031. In one embodiment, a driving force may be generated on the cleaning device 1000 to drive the cleaning device 1000. The magnitude of the driving force may vary. When the driving force increases to a value greater than the magnetic attraction between the first connecting member 1011 and the second connecting member 2031, the driving force directly overcomes the magnetic attraction and causes the cleaning device 1000 to move away from the carrier assembly 2000.

[0271] In some specific embodiments, the first magnetic control component 3010 can modify the magnetic field of the first connector 1011 by electrically connecting the first magnetic control component 3010 to the first connector 1011. When the first connector 1011 is not powered, the first connector 1011 is magnetic. When the first magnetic control component 3010 supplies power to the first connector 1011, the magnetism of the first connector 1011 is eliminated or weakened. Similarly, the second magnetic control component 3020 can modify the magnetic field of the second connector 2031 by electrically connecting the second magnetic control component 3020 to the second connector 2031. When the second connector 2031 is not powered, the second connector 2031 is magnetic. When the second magnetic control component 3020 supplies power to the second connector 2031, the magnetism of the second connector 2031 is eliminated or weakened.

[0272] When the first magnetic control component 3010 does not energize the first connecting member 1011 or the second magnetic control component 3020 does not energize the second connecting member 2031, the cleaning device 1000 only needs to approach the carrier assembly 2000 to be magnetically fixed to the carrier assembly 2000. When the cleaning device 1000 needs to move away from the carrier assembly 2000, the magnetic attraction between the first docking component 1010 and the second docking component 2030 can be released by briefly energizing the first connecting member 1011 or the second magnetic control component 3020 or both simultaneously.

[0273] Through the above-mentioned setting, compared with setting the first connecting member 1011 or the second connecting member 2031 or both to be magnetic when energized and lose magnetism when not energized, this embodiment only needs to briefly provide current to the first connecting member 1011 or the second connecting member 2031 to separate the cleaning device 1000 from the supporting component 2000. There is no need to consume electrical energy for a long time to maintain the magnetism of the first connecting member 1011 or the second connecting member 2031, which consumes less energy and is beneficial to enhancing the endurance of the cleaning system 1.

[0274] The specific implementation method of eliminating the magnetism of the first connecting member 1011 when power is on and making the first connecting member 1011 magnetic when power is off can be to generate another magnetic field through current when power is on, and the other magnetic field interferes with the original magnetic field of the first connecting member 1011, thereby weakening the magnetism of the first connecting member 1011.

[0275] Please refer to Figures 6 to 8. Figure 6 is a schematic structural diagram of the second embodiment of the first docking assembly of the present disclosure; Figure 7 is a schematic structural diagram of the third embodiment of the first docking assembly of the present disclosure; and Figure 8 is a schematic structural diagram of the fourth embodiment of the first docking assembly of the present disclosure. In other specific embodiments, the specific implementation method of the first magnetic control component 3010 changing the magnetic field of the first connecting member 1011 can be: the first magnetic control component 3010 is connected to the first connecting member 1011, and the first magnetic control component 3010 can control the movement of the first connecting member 1011 relative to the second docking component 2030, thereby changing the position or orientation of the first connecting member 1011, so that the first connecting member 1011 and the second connecting member 2031 are magnetically attracted or de-magnetized.

[0276] Specifically, when the first connecting member 1011 moves away from the second connecting member 2031, the magnetic attraction between the first connecting member 1011 and the second connecting member 2031 weakens, and vice versa. When the first connecting member 1011 changes its orientation, the magnetic attraction between the first connecting member 1011 and the second connecting member 2031 changes. For example, if both the first connecting member 1011 and the second connecting member 2031 are magnets, changing the orientation of the first connecting member 1011 from opposite magnetic pole to the second connecting member 2031 to the same magnetic pole as the second connecting member 2031 changes the magnetic attraction between the two from attraction to repulsion.

[0277] The first magnetic control component 3010 controls the movement of the first connector 1011 relative to the second docking component 2030, which can specifically be linear motion or rotational motion. For example, the first magnetic control component 3010 can include a first push-pull rod 3011. The first connector 1011 is connected to the first push-pull rod 3011. The first push-pull rod 3011 can be extended and retracted relative to the second docking component 2030 to drive the first connector 1011 toward or away from the second docking component 2030. The first push-pull rod 3011 can be a screw structure, etc. By controlling the extension and retraction of the first push-pull rod 3011, the position of the first connector 1011 can be changed, thereby changing the magnetic attraction between the first connector 1011 and the second docking component 2030. The structure of the first push-pull rod 3011 can be set according to actual conditions, as long as it can be extended and retracted, and is not limited here.

[0278] For another example, the first magnetic control assembly 3010 includes a first rotating shaft 3012. The first connector 1011 is connected to the first rotating shaft 3012. The first magnetic control assembly 3010 can drive the first connector 1011 to rotate about the first rotating shaft 3012, so that the first connector 1011 is in a first position or a second position. When the first connector 1011 is in the first position, the first connector 1011 is magnetically attracted to the second docking assembly 2030. When the first connector 1011 is in the second position, the first connector 1011 and the second docking assembly 2030 are magnetically disengaged. The first rotating shaft 3012 can be configured to only change the orientation of the first connector 1011, without changing its position. For example, the two magnetic poles of the first connector 1011 are located at opposite ends. The first rotating shaft 3012 is connected between the two magnetic poles of the first connector 1011. The first position is when the magnetic pole of the first connector 1011 that is magnetically attracted to the second connector 2031 is oriented toward the second docking assembly 2030. The second posture is a state in which the magnetic pole of the first connecting member 1011 deviates from the second docking assembly 2030. The first rotating shaft 3012 can also be configured to both change the orientation of the first connecting member 1011 and drive the first connecting member 1011 to change position. For example, the first magnetic control assembly 3010 also includes a first fixed arm 3013. The first fixed arm 3013 has two opposing ends. The first connecting member 1011 is disposed at one end of the first fixed arm 3013. The first rotating shaft 3012 is connected between the two ends of the first fixed arm 3013. The first rotating shaft 3012 drives the first fixed arm 3013 to rotate. When the first fixed arm 3013 rotates, the end of the first fixed arm 3013 provided with the first connecting member 1011 changes position with the rotation. The first connecting member 1011 can move closer to or farther away from the second docking assembly 2030.

[0279] The specific implementation method of the second magnetic control component 3020 changing the magnetic field of the second connecting member 2031 can also be set as the second magnetic control component 3020 controlling the movement of the second connecting member 2031 relative to the first docking component 1010. For details, please refer to the above-mentioned settings related to the first magnetic control component 3010 controlling the movement of the first connecting member 1011 relative to the second docking component 2030, which will not be repeated here.

[0280] Through the above-mentioned setting, the cleaning device 1000 only needs to control the first magnetic part to move relative to the second docking component 2030 by the first magnetic control component 3010, or control the second magnetic part to move relative to the first docking component 1010 by the second magnetic control component 3020, or perform both at the same time, so as to conveniently control the magnetic attraction or detachment of the first magnetic part and the second magnetic part. The cleaning system 1 is flexible in design and easy to use.

[0281] Please refer to Figure 9, which is a schematic diagram of the structure of the fifth embodiment of the first docking assembly of the present disclosure. In some other specific embodiments, the specific implementation method of the first magnetic control component 3010 changing the magnetic field of the first connecting member 1011 can be: the first connecting member 1011 is a permanent magnetic suction cup. The first connecting member 1011 includes a first switch 3014. The first magnetic control component 3010 is connected to the first switch 3014. The first magnetic control component 3010 can drive the first switch 3014 to move to a first position or a second position. When the first switch 3014 is in the first position, the first connecting member 1011 is magnetic. When the first switch 3014 is in the second position, the first connecting member 1011 is non-magnetic.

[0282] Through the above configuration, the first magnetic control component 3010 only needs to control the first switch 3014 to control the magnetic field of the first connecting member 1011 , which simplifies the control and has a streamlined structure.

[0283] Please refer to Figures 10 to 12. Figure 10 is a third schematic diagram of the structure of an embodiment of the cleaning system of the present disclosure; Figure 11 is a schematic diagram of the structure of the first embodiment of the first docking assembly and the second docking assembly of the present disclosure; and Figure 12 is a schematic diagram of the structure of the sixth embodiment of the first docking assembly of the present disclosure. In other embodiments, the specific implementation method of the releasable connection between the first docking assembly 1010 and the second docking assembly 2030 can be: one of the first docking assembly 1010 and the second docking assembly 2030 is provided with a first connector 1011, and the other is provided with a second connector 2031. The first connector 1011 is releasably locked to the second connector 2031. When the first connector 1011 and the second connector 2031 are locked, the first connector 1011 and the second connector 2031 form a structural limit with each other, the first docking assembly 1010 and the second docking assembly 2030 are connected, and the cleaning device 1000 cannot move relative to the support assembly 2000. When the first connecting member 1011 and the second connecting member 2031 are unlocked, the first docking assembly 1010 and the second docking assembly 2030 are disconnected, and the cleaning device 1000 can move away from the carrying assembly 2000 .

[0284] Through the above arrangement, the cleaning device 1000 and the carrying assembly 2000 are locked by the first connecting member 1011 and the second connecting member 2031 to form a structural limit, and the connection is reliable and fixed, which is particularly conducive to long-term docking.

[0285] In some specific embodiments, the first connector 1011 includes a movable locking member 10111. The second connector 2031 includes a fixing portion 20311. The locking member 10111 is movable to lock with or unlock from the fixing portion 20311. When the locking member 10111 is locked with the fixing portion 20311, the locking member 10111 is at least partially embedded in a side of the fixing portion 20311. The locking member 10111 can be locked to the fixing portion 20311 by rotational motion, linear motion, or the like.

[0286] The specific implementation structure of the releasable locking between the locking member 10111 and the fixing portion 20311 can be configured according to actual circumstances and is not limited herein. For example, a locking hook may be provided at one end of the locking member 10111. The locking member 10111 rotates, driving the locking hook to move, locking the hook to one side of the fixing portion 20311 to form a stop. In another example, the locking member 10111 may be in the shape of a straight rod. The locking member 10111 can be extended and retracted along a straight line to one side of the fixing portion 20311. When the locking member 10111 is extended, the locking member 10111 forms a stop with the side of the fixing portion 20311. The movement of the locking member 10111 can be controlled by the connection control assembly 3000. The connection control assembly 3000 may include a locking driver 2062. The locking driver 2062 is connected to the locking member 10111 and drives the movement of the locking member 10111.

[0287] With the above arrangement, after the cleaning device 1000 is returned to the carrier assembly 2000, the cleaning device 1000 can be secured by locking the locking assembly to one side of the fixing portion 20311, resulting in a simple structure. Furthermore, the locking member 10111 can be controlled by the connection control assembly 3000, and the first connecting member 1011 and the second connecting member 2031 can be automatically locked, eliminating the need for manual operation of the locking member 10111, making it easy to use.

[0288] In this embodiment, the first connecting member 1011 may further include a limiting groove 10112. The limiting groove 10112 includes a first groove wall 10112a and a second groove wall 10112b disposed opposite each other. A latch entrance 10112c is formed between the first groove wall 10112a and the second groove wall 10112b. The latch entrance 10112c is located at the end of the limiting groove 10112 facing the second connecting member 2031. One end of the locking member 10111 is disposed on the first groove wall 10112a, and the other end can move to connect with the second groove wall 10112b to close the latch entrance 10112c, or move away from the second groove wall 10112b to open the latch entrance 10112c. When the fixing portion 20311 is located in the limiting groove 10112 , the locking member 10111 closes the lock entrance 10112 c to limit the fixing portion 20311 , and the fixing portion 20311 is locked in the limiting groove 10112 .

[0289] The relative movement of the fixing portion 20311 into the limiting groove 10112 can be determined based on actual conditions. For example, the limiting groove 10112 can be fixed, and the fixing portion 20311 can move toward or away from the limiting groove 10112. Alternatively, the fixing portion 20311 can be fixed, and the limiting groove 10112 can move toward or away from the fixing portion 20311.

[0290] Furthermore, a first guide slope 10112a1 may be provided on one end of the first groove wall 10112a facing the latch entrance 10112c. A second guide slope 10112b1 may be provided on one end of the second groove wall 10112b facing the latch entrance 10112c. As the distance from the first guide slope 10112a1 to the bottom wall of the limiting groove 10112 gradually decreases along the direction from the first groove wall 10112a to the second groove wall 10112b, the distance from the second guide slope 10112b1 to the bottom wall of the limiting groove 10112 gradually increases. In other words, the first guide slope 10112a1 and the second guide slope 10112b1 form a generally V-shaped opening. When the fixing portion 20311 moves toward the limiting groove 10112, the first guide slope 10112a1 and the second guide slope 10112b1 can guide the fixing portion 20311.

[0291] The bottom wall of the limiting groove 10112 is the groove wall opposite to the lock entrance 10112c in the limiting groove 10112. The inclination angles of the first guide slope 10112a1 and the second guide slope 10112b1 can be determined according to actual conditions, such as 5 degrees, 10 degrees, 15 degrees, 30 degrees, 45 degrees, 60 degrees, etc., and are not limited here.

[0292] To further facilitate locking with the locking member 10111, the fixing portion 20311 may further include a fixing rod 20311a and a limiting rod 20311b that are connected to each other. The second connecting member 2031 may include a fixing plate. The fixing plate is fixed to the cleaning device 1000 or the supporting assembly 2000. The limiting rod 20311b may extend in a direction perpendicular to the extending direction of the fixing rod 20311a. One end of the fixing rod 20311a is fixed to the fixing plate, and the other end is connected to the limiting rod 20311b. There may be two fixing rods 20311a, with the two fixing rods 20311a being connected to both ends of the limiting rod 20311b respectively. The above arrangement can enhance the stability of the limiting rod 20311b and prevent the locking member 10111 locked to the limiting rod 20311b from slipping off from both ends of the limiting rod 20311b, thereby ensuring that the first connecting member 1011 and the second connecting member 2031 can be locked tightly. In addition, the second connecting member 2031 may not be provided with a fixing plate, and one end of the fixing rod 20311a may be directly fixed to the cleaning device 1000 or the carrying assembly 2000. The number of the fixing rods 20311a may also be set to only one or more according to actual needs.

[0293] Please refer to Figure 13, which is a schematic diagram of the structure of a second embodiment of the first and second docking assemblies of the present disclosure. In other specific embodiments, the first connector 1011 includes a spring lock 10113. The second connector 2031 includes a locking slot 20312. The spring lock 10113 can be locked within the locking slot 20312, creating a tension threshold. When the cleaning device 1000 applies a driving force and needs to be moved away from the carrier assembly 2000, a pulling force is generated between the spring lock 10113 and the locking slot 20312 in the direction of the lock slot 20312. When the pulling force exceeds the tension threshold, the spring lock 10113 and the locking slot 20312 are released. When the pulling force is less than the tension threshold, the spring lock 10113 and the locking slot 20312 remain locked. In other words, when the cleaning device 1000 needs to be moved away from the carrier assembly 2000, it only needs to generate a driving force greater than the tension threshold to directly detach from the carrier assembly 2000.

[0294] Specifically, the lock slot 20312 has an opening 20313. The lock slot 20312 is elastic and can undergo elastic deformation. Along the direction from the first connector 1011 to the second connector 2031, the area of ​​the opening 20313 of the lock slot 20312 is smaller than the cross-sectional area of ​​the widest point of the elastic lock 10113. The elastic lock 10113 can only enter and exit the lock slot 20312 when the lock slot 20312 undergoes elastic deformation, expanding the opening 20313. The widest point of the elastic lock 10113 is the location where the elastic lock 10113 reaches its maximum size, perpendicular to the direction from the first connector 1011 to the second connector 2031. When the cleaning device 1000 approaches and connects to the carrier assembly 2000, the elastic lock 10113 aligns with the opening 20313 and presses against the lock slot 20312, forcing the lock slot 20312 to undergo elastic deformation. The locking slot 20312 elastically deforms until the area of ​​the opening 20313 expands to a cross-sectional area greater than or equal to the widest point of the elastic lock 10113. The elastic lock 10113 then enters the locking slot 20312, completing the locking process. When the cleaning device 1000 applies a driving force toward the direction away from the carrier assembly 2000, the cleaning device 1000 drives the elastic lock 10113 in the direction of removal from the locking slot 20312. The elastic lock 10113 compresses the interior of the locking slot 20312, causing the locking slot 20312 to elastically deform until the area of ​​the opening 20313 expands to a cross-sectional area greater than or equal to the widest point of the elastic lock 10113. At this point, the elastic lock 10113 is removed from the locking slot 20312, releasing the lock.

[0295] Through the above arrangement, the locking groove 20312 can lock or release the elastic lock 10113 through elastic deformation without setting a complex fixing structure. The first connecting member 1011 and the second connecting member 2031 have a simplified structure, and the cleaning device 1000 and the supporting assembly 2000 are stably connected.

[0296] In this embodiment, the driving force of the cleaning device 1000 can be controlled by the connection control assembly 3000. When the cleaning device 1000 needs to move away from the carrier assembly 2000, the connection control assembly 3000 can directly control the cleaning device 1000 to output a driving force greater than a tension threshold. When the cleaning device 1000 is connected to the carrier assembly 2000, the connection control assembly 3000 can also control the cleaning device 1000 to temporarily increase the driving force so that the elastic lock 10113 squeezes the lock slot 20312 to elastically deform and complete the connection.

[0297] Furthermore, the connection control assembly 3000 may also be provided with a sensing assembly 4000, which detects the relative position of the elastic lock 10113 and the lock slot 20312. The cleaning device 1000 may also include a control assembly 1154, which can control the driving force of the cleaning device 1000 based on the detection results of the sensing assembly 4000. For example, when the cleaning device 1000 needs to move away from the carrier assembly 2000, the control assembly 1154 can control the cleaning device 1000 to output a driving force greater than a tension threshold. At this time, if the sensing assembly 4000 detects that the elastic lock 10113 and the lock slot 20312 have not separated, it means that the tension threshold may have changed due to reasons such as material aging. Based on the detection results, the control assembly 1154 can further increase the driving force until the sensing assembly 4000 detects that the elastic lock 10113 and the lock slot 20312 have separated.

[0298] The structures of the first docking assembly 1010 and the second docking assembly 2030 are not limited to the arrangement in the above embodiment. The structure of the second docking assembly 2030 can also be configured similarly or in conjunction with the embodiment of the first docking assembly 1010, and will not be described in detail here.

[0299] Please refer to Figures 14 to 16. Figure 14 is a schematic diagram of the first structure of an embodiment of a carrier assembly of the present disclosure; Figure 15 is a schematic diagram of the second structure of an embodiment of a carrier assembly of the present disclosure; and Figure 16 is an exploded schematic diagram of an embodiment of a carrier assembly of the present disclosure. In some embodiments, the carrier assembly 2000 is used to carry the cleaning device 1000 for movement in or out of a pool. The carrier assembly 2000 includes a carrier 2040. The carrier 2040 includes a first end 2041 and a second end 2042 disposed opposite each other. A carrier surface 2043 is formed between the first end 2041 and the second end 2042. The carrier 2040 has at least a first posture. When the carrier 2040 is in the first posture, the second end 2042 is below the lowest preset water level of the pool. At this point, the cleaning device 1000 can move from the pool onto the carrier surface 2043, or from the carrier surface 2043 into the pool.

[0300] The minimum preset water level refers to the theoretically lowest water level required when using the support assembly 2000. The support assembly 2040 can carry the cleaning device 1000 to move into or out of the pool by either actively moving the cleaning device 1000 along the support surface 2043 or by being driven by the support surface 2043.

[0301] With the above arrangement, the cleaning device 1000 can enter or leave the pool through the carrier 2040. After returning to the carrier assembly 2000, the cleaning device 1000 can be taken ashore for maintenance without being immersed in water for a long time, which is conducive to improving the service life of the cleaning device 1000. In addition, the cleaning device 1000 no longer needs to be manually carried, launched or salvaged, but can be automatically taken out of the water by the carrier assembly 2000, which is convenient for use.

[0302] In some embodiments, the support assembly 2000 further includes a support member 2050. The support member 2050 is disposed at the edge of the pool. The support member 2050 connects to the support member 2040 and provides support for the support member 2040. When the cleaning device 1000 exits the pool via the support member 2040, the cleaning device 1000 can move onto the support member 2050 to dock or further move away.

[0303] In some embodiments, when the carrier 2040 is in the first posture, the first end 2041 of the carrier 2040 is located at the edge of the pool. The second end 2042 extends obliquely into the pool from the edge of the pool. The cleaning device 1000 can directly travel from the second end 2042 to the first end 2041 or from the first end 2041 to the second end 2042 along the bearing surface 2043 to enter or leave the pool. When the carrier assembly 2000 is provided with a support member 2050, the first end 2041 can be fixedly connected to the support member 2050. The support member 2050 supports the first end 2041 so that the carrier 2040 maintains the first posture.

[0304] Please refer to Figures 17 and 18. Figure 17 is a schematic diagram of the second position of the carrier according to one embodiment of the present disclosure; Figure 18 is a schematic diagram of the structure of another embodiment of the carrier assembly according to the present disclosure. In other embodiments, the carrier 2040 is capable of active movement. When the carrier 2040 is in the first position, the first end 2041 of the carrier 2040 can be located at the edge of the pool, and the second end 2042 can extend from the edge into the pool. The first end 2041 can also be located below the water surface, meaning that the entire carrier 2040 is underwater. The carrier 2040 also includes a second position. The carrier 2040 can move from at least the first position to the second position. When the carrier 2040 is in the second position, the cleaning device 1000 can be moved out of the pool. In this position, the second end 2042 can be located above the minimum preset water level. The carrier 2040 can switch from the first position to the second position through rotation or lifting. The specific position of the carrier 2040 in the second position can be configured based on the movement of the carrier 2040. For example, the second position can be when the support member 2040 rotates until the support surface 2043 is parallel to the water surface. Alternatively, the second position can be when the support member 2040 linearly moves up and down until the second end 2042 is above the water surface. When the support member 2040 moves from the first position to the second position, the support member 2040 pulls the cleaning device 1000 out of the pool.

[0305] In this embodiment, the second docking assembly 2030 can be disposed on the carrying surface 2043 or elsewhere on the carrying assembly 2000. The second docking assembly 2030 is connected to the first docking assembly 1010 and is used to secure the cleaning device 1000 to the carrying surface 2043. When the cleaning device 1000 is connected to the carrying surface 2043 by the first docking assembly 1010 and the second docking assembly 2030, the cleaning device 1000 cannot move relative to the carrying surface 2043. When the first docking assembly 1010 and the second docking assembly 2030 are disconnected, the cleaning device 1000 can move relative to the carrying surface 2043. Thus, when the carrying assembly 2040 moves and drives the cleaning device 1000 into or out of the pool, the cleaning device 1000 can be locked to the carrying surface 2043, preventing it from sliding off the carrying surface 2043 and ensuring stable use.

[0306] In some specific embodiments, the second end 2042 of the support member 2040 is provided with a guide structure 20421. The guide structure 20421 is used to assist the cleaning device 1000 in moving from the pool to the support member 2040. The guide structure 20421 can be configured according to actual circumstances. For example, the guide structure 20421 can specifically be: two baffles 20421a are provided along the left and right edges of the support surface 2043 at the second end 2042. The two baffles 20421a are arranged in an open, inclined manner along the first end 2041 toward the second end 2042, forming a guide slope. Guided by the guide slope, the cleaning device 1000 moves toward the first end 2041.

[0307] For another example, the guide structure 20421 can be specifically as follows: two baffles 20421a are provided along the left and right edges of the second end 2042 and the bearing surface 2043. A plurality of guide wheels are provided on the two baffles 20421a toward the center of the bearing surface 2043 to form the guide structure 20421. The cleaning device 1000 moves toward the first end 2041 under the guidance of the guide wheels. Furthermore, a guide groove (not shown in the figure) that matches the guide wheel can be provided on the side wall of the cleaning device 1000. The guide groove extends in a direction parallel to the bearing surface 2043. When the cleaning device 1000 moves from the pool to the carrier 2040, the guide wheel can be embedded in the corresponding guide groove and roll in contact with the bottom wall or side wall of the guide groove. The cleaning device 1000 is limited by the guide wheel and can only move in a direction parallel to the bearing surface 2043.

[0308] In some specific embodiments, the support assembly 2000 includes a drive assembly 2060. The drive assembly 2060 is connected to the support member 2040. The drive assembly 2060 can output power and drive the support member 2040 to move. The method by which the drive assembly 2060 drives the support member 2040 can be configured according to the movement mode of the support member 2040. For example, if the support member 2040 moves in rotation, the drive assembly 2060 may include a rotating shaft 2061 and a driving member 2062. The rotating shaft 2061 is connected to the support member 2040 and is driven to rotate by the driving member 2062. The rotation of the rotating shaft 2061 drives the support member 2040 to rotate. If the support member 2040 moves in a linear lifting motion, the support assembly 2000 may include a lifting structure 2070. The lifting structure 2070 is connected to the support member 2040. The driving member 2062 is connected to the lifting structure 2070 and drives the lifting structure 2070 to move upward and downward, thereby driving the support member 2040 to move upward and downward.

[0309] In some embodiments, the support member 2040 rotates from the first position to the second position. The support member 2040 can rotate about the first end 2041, causing the second end 2042 to rotate above the water surface and drive the cleaning device 1000 out of the water. The cleaning device 1000 can then be driven from the first end 2041 away from the support surface 2043 and onto land. The drive assembly 2060 can be connected to the first end 2041.

[0310] Please refer to Figure 19, which is a schematic diagram of the third position of the carrier in one embodiment of the carrier disclosed herein. In some specific embodiments, the carrier 2040 can be further rotated to the third position. The carrier assembly 2000 includes a support member 2050. When the carrier 2040 is rotated to the third position, the carrier surface 2043 faces the support member 2050. The carrier surface 2043 can be parallel to and spaced from the support member 2050, and a first accommodating space 2010 is formed between the carrier surface 2043 and the support member 2050. The first accommodating space 2010 is used to accommodate the cleaning device 1000.

[0311] With the above arrangement, when the cleaning device 1000 leaves the pool, it can be located within the first accommodating space 2010. At this time, the carrier 2040 is located above the cleaning device 1000, shielding the cleaning device 1000 from light and falling dust. After leaving the pool, the cleaning device 1000 is less likely to be exposed to sunlight for a long time, which could cause aging or other problems, and is less likely to become dirty due to dust accumulation. The cleaning device 1000 can be stored securely.

[0312] In other specific embodiments, the support member 2040 includes a first support member 2044 and a second support member 2045 connected to the first support member 2044. The first support member 2044 is provided with a first support surface 20441. The second support member 2045 is provided with a second support surface 20451. The first support surface 20441 and the second support surface 20451 are connected to form a support surface 2043. In other words, the support member 2040 is formed by splicing the first support member 2044 and the second support member 2045. The support assembly 2000 includes a support member 2050. One end of the first support member 2044 is rotatably connected to the support member 2050, and the other end is rotatably connected to the second support member 2045. When the first support member 2044 rotates, the first support member 2044 drives the second support member 2045 to rotate. When the first supporting surface 20441 and the second supporting surface 20451 rotate toward the support member 2050 , the support member 2050 , the first supporting surface 20441 , and the second supporting surface 20451 enclose a second accommodating space 2020 . The second accommodating space 2020 is used to accommodate the cleaning device 1000 .

[0313] With the above arrangement, the cleaning device 1000 can be located within the second accommodating space 2020, with the second carrier 2045 located above the cleaning device 1000 and the first carrier 2044 located to one side of the cleaning device 1000. Both carriers can shield the cleaning device 1000 from light and falling dust. After leaving the pool, the cleaning device 1000 is less likely to be exposed to sunlight for a long time, which could cause aging or other malfunctions, and is less likely to become dirty due to dust accumulation, allowing it to be stored securely.

[0314] In some specific embodiments, the carrier 2040 rotates to a storage position after the cleaning device 1000 enters or exits the pool. The storage position may be such that the carrier 2040 rotates close to the pool wall or close to the support member 2050. The specific storage position can be pre-set based on actual conditions and experience.

[0315] Please refer to Figures 21A and 21B. Figure 21A is a schematic diagram of the first structure of another embodiment of the support assembly of the present disclosure. Figure 21B is a schematic diagram of the first structure of another embodiment of the support assembly of the present disclosure; Figure 21B is a schematic diagram of the second structure of another embodiment of the support assembly of the present disclosure. In some specific embodiments, the support member 2040 is lifted and lowered from the first posture to the second posture. The support assembly 2000 also includes a support member 2050. The support member 2050 is provided with a lifting structure 2070 for driving the support member 2040 to move in a direction close to or away from the water surface. The lifting direction of the support member 2040 can be perpendicular to the water surface or inclined to the water surface, as long as it can move close to or away from the water surface. When the support member 2040 is in the first posture, the second end 2042 is located below the water surface or near the waterline. The first end 2041 can be located below the water surface or above the water surface, or near the waterline. When the support member 2040 rises from the first position to the second position, the second end 2042 rises to be above the water surface, that is, the support member 2040 is at least partially raised out of the water. The cleaning device 1000 can be connected to the support surface 2043 through the first docking assembly 1010 and the second docking assembly 2030 and rise and fall with the support surface 2043, thereby enabling the cleaning device 1000 to enter and exit the water.

[0316] The lifting structure 2070 can be driven by manual push-pull or by the drive assembly 2060. The drive assembly 2060 can be a device powered by a drive motor or a cylinder. The drive assembly 2060 can be directly connected to the lifting structure 2070 to drive the lifting structure 2070, or it can be connected to a transmission device to indirectly drive the lifting structure 2070. The transmission device can be disposed between the drive assembly 2060 and the lifting structure 2070. The transmission device can be configured, for example, using gears, pull belts, cables, or spools.

[0317] In some specific embodiments, the lifting structure 2070 includes a guide structure (not shown in the figures), and the supporting member 2040 can move along the direction defined by the guide structure.

[0318] In some specific embodiments, a baffle 20421a is provided on at least one of the left and right sides of the carrier 2040 to generate positioning information after the cleaning device 1000 contacts the limiting structure.

[0319] In some specific embodiments, at least one in-position sensor (not shown in the figure) is provided on the carrier 2040. The in-position sensor is used to send an in-position prompt information to the cleaning device 1000 when it detects that the cleaning device 1000 reaches a preset position.

[0320] In some specific embodiments, the carrier 2040 can rotate relative to the support 2050 to change the angle between the carrier 2040 and the support 2050, or change the angle between the carrier 2040 and the water surface, thereby making the slope of the carrier 2040 relative to the support 2050 gentler, so that the cleaning device 1000 on the carrier 2040 can automatically move away from the carrier 2040 after leaving the pool. Alternatively, the slope of the carrier 2040 relative to the water surface can be made gentler, so that the cleaning device 1000 on the carrier 2040 can smoothly enter the pool.

[0321] In other embodiments, the carrier assembly 2000 is used to securely dock the cleaning device 1000. A second docking assembly 2030 is positioned on the side of the carrier assembly 2000 facing the pool. When the cleaning device 1000 approaches the carrier assembly 2000, the first docking assembly 1010 of the cleaning device 1000 can connect to the second docking assembly 2030, securing the cleaning device 1000 to the carrier assembly 2000. This arrangement allows the cleaning device 1000 to dock, charge, self-clean, and replace and refill agents after returning to the carrier assembly 2000, without floating in the water and affecting pool use, and without requiring removal from the water, making it convenient to use.

[0322] In some embodiments, when the cleaning device 1000 is traveling on the water surface, at least one of the first docking assembly 1010 and the second docking assembly 2030 can adapt to changes in the water level of the pool, allowing the two to connect. The first docking assembly 1010 and the second docking assembly 2030 being able to adapt to changes in the water level of the pool means that when the water level of the pool changes, the first docking assembly 1010 and / or the second docking assembly 2030 can always have at least a portion located at or near the water surface of the pool, and the first docking assembly 1010 or the second docking assembly 2030 can connect to the portion of the other located at or near the water surface of the pool.

[0323] In some embodiments, the first docking assembly 1010 can adapt to changes in the water level of the pool by allowing the cleaning device 1000 as a whole to move and change position as the water level changes, or by allowing the first docking assembly 1010 to move relative to the cleaning device 1000 to adapt to changes in the water level. The second docking assembly 2030 can adapt to changes in the water level of the pool by allowing the supporting assembly 2000 as a whole to change position as the water level changes, or by allowing the second docking assembly 2030 to move relative to the supporting assembly 2000 to adapt to changes in the water level of the pool.

[0324] Through the above arrangement, the cleaning device 1000 is not easily unable to connect with the second docking assembly 2030 due to changes in water level, and the cleaning system 1 is stable in use.

[0325] Furthermore, as shown in FIG4 , in one embodiment, the carrier assembly 2000 includes a water level adaptation assembly 2080. The water level adaptation assembly 2080 is used to adjust the second docking assembly 2030 to be located near the waterline of the pool according to the water level of the pool, or to adjust the position of the carrier 2040 so that the cleaning device 1000 can dock to the carrier assembly 2000 or float freely according to changes in the pool water level.

[0326] In one specific embodiment, the water level adaptation assembly 2080 includes a float 2081 and a guide 2082. The guide 2082 is used to define the movement direction of the second docking assembly 2030 or the support 2040, while the float 2081 is used to drive the second docking assembly 2030 or the support 2040 to move in response to changes in the pool water level. Specifically, the guide 2082 is positioned at the edge of the pool. The float 2081 floats with the pool water level. The float 2081 is slidably connected to the guide 2082. The float 2081 slides up and down on the guide 2082 in response to changes in the water level. The second docking assembly 2030 is mounted on the float 2081. Thus, the guide 2082 guides and limits the float 2081, allowing the float 2081 to stably rise and fall with the pool water level and avoid drifting along the water surface due to currents. This allows the cleaning device 1000 to better align with the second docking assembly 2030.

[0327] In other embodiments, the cleaning device 1000 is provided with a floating member (not shown in the figure). The first docking assembly 1010 is provided on the floating member. The floating member can be coupled to the inside of the cleaning device 1000. The floating member is provided with a motion mechanism and a charging receiving member 1020 or a communication module. When the cleaning device 1000 approaches the carrier assembly 2000 and the cleaning device 1000 only needs to perform charging or communication tasks, the floating member can be released by the cleaning device 1000 and float to the water surface. Driven by the motion mechanism, the floating member moves to the carrier assembly 2000, so that the first docking assembly 1010 can be connected to the second docking assembly 2030 on the carrier assembly 2000. Alternatively, the floating member can also be provided on the carrier assembly 2000. The second docking assembly 2030 is provided on the floating member. The floating member can be coupled to the inside of the carrier assembly 2000. The floating member is provided with a motion mechanism and a charging assembly or a communication module. When the cleaning device 1000 moves to the vicinity of the carrying assembly 2000 , the float can be released and float to the water surface, and then driven by the motion mechanism to approach the cleaning device 1000 , so that the first docking assembly 1010 docks with the second docking assembly 2030 .

[0328] In other specific embodiments, when cleaning device 1000 is traveling underwater, second docking assembly 2030 is at least partially underwater. First docking assembly 1010 can connect to the underwater portion of second docking assembly 2030. Alternatively, multiple second docking assemblies can be provided, distributed sequentially along the height of the pool wall, such that at least one second docking assembly is underwater, and the first docking assembly connects to the underwater second docking assembly.

[0329] In some embodiments, as shown in Figures 22A and 22B , the support assembly 2000 includes a support member 2050 and a support member 2040. As shown in Figure 22A , the support member 2050 includes at least a first support member 20501 disposed at the bank of the pool and a second support member 20502 disposed in contact with the pool wall. It may also include a support member 2040 disposed in contact with the pool bottom. One end of the first support member 20501 and one end of the second support member 20502 are detachably connected and are fixed to the bank and the pool wall together or separately. The other end of the second support member 20502 is connected to one end of the support member 2040 in a manner that allows relative movement. For example, one end of the carrier 2040 is in transmission connection with a drive mechanism (not shown) provided on the support 2050, and the drive mechanism drives the carrier 2040 to move between a first position (e.g., the bottom of the pool) and a second position (e.g., the water surface, the highest position of the second support 20502, etc.), as shown in FIG22B . The drive mechanism can drive the carrier 2040 to move by means of a gear rack, a chain, a steel rope, etc. In the first position, the cleaning device 1000 can be positioned by a sensor provided on the carrier 2040, and based on the positioning information, it can move to the carrier 2040 along a preset path. When the cleaning device 1000 is in a docked position on the carrier 2040, for example, a Hall sensor, a micro switch, etc. can be used to determine whether it is docked. The drive mechanism on the support 2050 is activated, and the carrier 2040 moves the cleaning device 1000 from the first position to the second position. In a specific embodiment, when the carrier 2040 moves to the highest position of the second support member 20502, the carrier 2040 and the first support member 20501 are substantially at the same horizontal height, and the cleaning device 1000 can be moved from the supporting surface 2043 of the carrier 2040 to the first carrier 20501 via the walking mechanism 1071 for, for example, charging, self-cleaning, etc. At this time, the carrier 2040 can return from the second position to the first position, or fold downward to be approximately parallel to the second support member 20502 for storage, or fold upward to be approximately parallel to the second support member 20502 or fold approximately 180° to form a cover for the cleaning device 1000 to be docked behind the first support member 20501. The figure also shows that the carrier assembly 2000 includes a nozzle 2173, which can extend into the first filter assembly 1050 of the cleaning device 1000 to flush the garbage therein. The specific method can be referred to the description elsewhere in this document.

[0330] Please refer to Figure 23, which is a fourth structural diagram of an embodiment of the cleaning system of the present disclosure. In some other specific embodiments, as shown in Figure 21B, the second docking assembly 2030 extends from the water surface of the pool or near the water surface to underwater. Each position of the second docking assembly 2030 can be connected to the first docking assembly 1010. Alternatively, a plurality of second docking assemblies 2030 are distributed in sequence along the height direction of the pool wall, and at different height positions (for example, above water, on the water surface, and underwater positions), there are second docking assemblies 2030 that can be connected to the first docking assembly 1010. Thus, no matter whether the cleaning device 1000 is traveling on the water surface or underwater, or can travel on the water surface and underwater, the cleaning device 1000 can be well connected to the second docking assembly 2030.

[0331] In other specific embodiments, the second docking assembly 2030 can be raised and lowered in a direction perpendicular to the water surface. When the cleaning device 1000 is traveling underwater, the second docking assembly 2030 can be lowered from the water surface to a corresponding depth underwater and connected to the first docking assembly 1010. Alternatively, when the cleaning device 1000 is traveling on the water surface, the second docking assembly 2030 can be raised from underwater to the surface and connected to the first docking assembly 1010. The raising and lowering movement of the second docking assembly 2030 can be achieved by providing a float chamber, an electric slide rail, or other methods, which are not limited here.

[0332] In some embodiments, the carrier assembly 2000 itself can also perform other functions, such as spreading chemicals into the water. When the cleaning device 1000 returns to the carrier assembly 2000 or is carried by the carrier assembly 2000 and moves out of the pool, the carrier assembly 2000 can also be used, but is not limited to, to suck out waste from the cleaning device 1000, charge the cleaning device 1000, replenish or replace chemicals in the cleaning device 1000, and store the cleaning device 1000. Referring back to Figure 14, the above process can be performed on the carrier 2040, and when the carrier assembly 2000 is provided with a support member 2050, it can also be performed on the support member 2050.

[0333] In some specific embodiments, the carrier assembly 2000 is provided with a support member 2050, and the cleaning device 1000 can move onto the support member 2050 and interact with the support member 2050. The support member 2050 can be used, but is not limited to, to suck out the garbage in the cleaning device 1000, to charge the cleaning device 1000, to replenish or replace the agent of the cleaning device 1000, and to store the cleaning device 1000.

[0334] In some specific embodiments, the support member 2050 includes a receiving portion 2051. The receiving portion 2051 is formed with a receiving groove 2052. The receiving groove 2052 can accommodate the cleaning device 1000. The cleaning device 1000 is charged and / or self-cleaned in the receiving groove 2052. For example, when the supporting assembly 2000 is provided with a photovoltaic system or a self-cleaning system, the photovoltaic system and the self-cleaning system can be provided in the receiving groove 2052. Or the supporting assembly further includes a receiving member, the front end of the support member is connected to the supporting member, the rear end of the support member is connected to the receiving member, the receiving member extends vertically and intersects with the supporting member or is vertically distributed, the receiving member is provided with a receiving groove, the notch of the receiving groove faces the support member, after the cleaning device returns to the support member, it continues to move forward until the cleaning device is accommodated in the receiving groove, and the cleaning device is charged, self-cleans, collects dust, replenishes medicine, etc. in the receiving groove.

[0335] Please refer to Figure 24, which is a fifth structural schematic diagram of an embodiment of the cleaning system of the present disclosure. In some embodiments, the carrier assembly 2000 is provided with a charging assembly 2090. The cleaning device 1000 is provided with a charging receiver 1020. The cleaning device 1000 can be recharged with power from the charging receiver 1020. The charging assembly 2090 is used to transmit power to the charging receiver 1020, thereby charging the cleaning device 1000. The charging method of the charging assembly 2090 can be contact charging or wireless charging. When the charging assembly 2090 charges the cleaning device 1000 by contact, the charging assembly 2090 and the charging receiver 1020 can be charging electrodes. The cleaning device 1000 can directly contact the charging receiver 1020 with the charging assembly 2090, thereby directly transmitting power. When the charging assembly 2090 charges the cleaning device 1000 wirelessly, the charging assembly 2090 and the charging receiver 1020 can be induction coils. The charging receiver 1020 can be located on one side of the cleaning device 1000. After the cleaning device 1000 returns to the carrier assembly 2000, the side with the charging receiver 1020 can be oriented toward the charging assembly 2090, so that the charging receiver 1020 is close to and aligned with the charging assembly 2090. The charging assembly 2090 transmits power to the charging receiver 1020 by wireless charging.

[0336] The charging assembly 2090 can be located on the carrier 2040 , or on the support 2050 , or in any independent space of the carrier assembly 2000 except the carrier 2040 and the support 2050 .

[0337] While the charging assembly 2090 is charging the cleaning device 1000, the cleaning device 1000 can also be connected to the carrier assembly 2000 via the first docking assembly 1010 and the second docking assembly 2030 to maintain relative stability during the charging process. The docking of the charging assembly 2090 with the charging receiver 1020 can occur simultaneously with the docking of the first docking assembly 1010 and the second docking assembly 2030. After docking, the charging assembly 2090 may not immediately begin charging, but instead wait until it receives a charging command from the cleaning device 1000 or the carrier assembly 2000. The second docking assembly 2030 can be positioned around the charging assembly 2090, and the first docking assembly 1010 can be positioned around the charging receiver 1020. Thus, when the first docking assembly 1010 connects to the second docking assembly 2030, the charging assembly 2090 is also simultaneously aligned with the charging receiver 1020. Alternatively, the docking of the charging component 2090 with the charging receiving component 1020 is later than the docking of the first docking component 1010 and the second docking component 2030. The first docking component 1010 and the second docking component 2030 are docked first to achieve the initial limiting or positioning between the cleaning equipment and the carrying component. After that, the charging component 2090 is docked with the charging receiving component 1020 to ensure that the charging component 2090 and the charging receiving component 1020 are docked in place, and then receive the charging instruction issued by the cleaning equipment or the carrying component, and then execute the charging process.

[0338] When the cleaning device 1000 and the carrier assembly 2000 are charging via contact, and the first docking assembly 1010 is docked with the second docking assembly 2030, the charging assembly 2090 and the charging receiver 1020 can both be above the water surface to reduce water interference with the charging process. Furthermore, when the charging receiver 1020 and the charging assembly 2090 are both underwater after docking, the cleaning device 1000 and the carrier assembly 2000 can control the movement of the carrier 2040 before initiating charging, driving the charging assembly 2090 and the charging receiver 1020 above the water surface. For example, before charging is initiated, the cleaning device is on the carrier, and the carrier is controlled to move, which in turn drives the cleaning device, so that the charging assembly 290 and the charging receiver 1020 are moved above the water surface before charging can begin. Alternatively, before charging is initiated, the cleaning device is not on the carrier, and both the carrier and the cleaning device are controlled to move toward the water surface, driving the charging assembly and the charging receiver above the water surface before docking and charging can begin. That is, the first docking assembly and the second docking assembly can be docked underwater before being moved above the water surface to perform the charging process. In another embodiment, when the cleaning device 1000 and the carrier assembly 2000 are charged by contact, the charging receiving member 1020 and the charging assembly 2090 can also be charged underwater after the two are docked.

[0339] The location of the charging assembly 2090 can be determined based on the mobility of the cleaning device 1000. For example, if the cleaning device 1000 is capable of surface travel, the charging assembly 2090 can be located at the waterline of the pool. The charging position of the charging assembly 2090 can float relative to the water surface. When the cleaning device 1000 is surface travel, it can easily align with the charging assembly 2090 located at the waterline. If the cleaning device 1000 is capable of underwater travel, the charging assembly 2090 can be located underwater. The cleaning device 1000 can be charged directly underwater. If the cleaning device 1000 is capable of both surface and underwater travel, the charging assembly 2090 can be located at the waterline or underwater. Alternatively, the charging assembly 2090 can extend from the waterline to underwater, allowing any location between the waterline and underwater to dock with the charging receiver 1020 for charging. Alternatively, multiple charging assemblies 2090 can be arranged in a row along the height of the pool wall, allowing charging of the charging receiver 1020 at different locations along the height of the pool wall. In addition, the charging component 2090 can also be set on the shore of the pool, and the cleaning device 1000 can dock with the charging component 2090 on the shore for charging after leaving the pool.

[0340] Furthermore, in some specific embodiments, the charging assembly 2090 includes a charging member 2091 and an elastic member 2092. The charging member 2091 is used to transmit electrical energy to the charging receiver 1020. The elastic member 2092 is used to ensure full and stable contact between the charging member 2091 and the cleaning device 1000, thereby improving charging efficiency. The elastic member 2092 can apply an elastic force to the charging member 2091 in the direction from the charging member 2091 toward the cleaning device 1000, or apply an elastic force to the cleaning device 1000 in the direction from the cleaning device 1000 toward the charging member 2091. The elastic member 2092 drives the charging member 2091 toward the cleaning device 1000, or drives the cleaning device 1000 toward the charging member 2091. In other words, the charging member 2091 or the cleaning device 1000 is elastically driven toward the other, bringing the charging member 2091 and the charging receiver 1020 closer together, reducing the distance between them, and improving charging efficiency.

[0341] When the charging assembly 2090 charges the cleaning device 1000 via contact charging, the charging element 2091 can be a metal contact. The metal contact can be pressed against the charging receiver 1020 attached to the cleaning device 1000, directly conducting electricity and transferring electrical energy. When the charging assembly 2090 charges the cleaning device 1000 via wireless charging, the charging element 2091 is a wireless coil. The charging element 2091 can be located inside or on the surface of the carrier assembly 2000. The charging receiver 1020 can also be a wireless coil. The charging receiver 1020 can be located inside or on the surface of the cleaning device 1000. Magnetic elements can be provided on each of the charging element 2091 and the charging receiver 1020, so that the charging element 2091 or the cleaning device 1000 is magnetically driven toward the other, allowing the charging element 2091 and the charging receiver 1020 to quickly and accurately mate, thereby improving the efficiency of wireless charging. The charging element 2091 and the charging receiving element 1020 may also be covered with an anti-corrosion coating to reduce corrosion or rust caused by humid environments. For example, a first magnetic element may be provided around or near the charging element, and a second magnetic element may be provided around or near the charging receiving element. The magnetic poles of the first and second magnetic elements facing or approaching each other are opposite, thereby achieving magnetic attraction between the first and second magnetic elements. Alternatively, iron may be provided around or near one of the charging element and a magnet around or near the other. Through the magnetic attraction of the magnet to the iron, the charging element 2091 and the charging receiving element 1020 can be quickly and accurately attached.

[0342] Please refer to Figure 25, which is a first cross-sectional view of an embodiment of the cleaning device of the present disclosure. In some embodiments, the cleaning device 1000 includes a cleaning device body 1001. The cleaning device body 1001 is provided with at least one first filter assembly 1050, at least one suction assembly 1060, at least one liquid inlet 1030, at least one liquid outlet 1040, and a travel propulsion structure 1070.

[0343] Among them, the liquid inlet 1030 is used for liquid to enter the cleaning device body 1001. The liquid inlet 1030 can be set at the bottom and / or side of the cleaning device body 1001, so as to be suitable for the cleaning device 1000 to perform tasks such as pool bottom cleaning, pool wall cleaning, waterline cleaning, and water surface cleaning. The liquid outlet 1040 is used to discharge the water in the cleaning device body 1001. The cleaning device body 1001 can include at least one liquid outlet 1040 located at the top of the cleaning device 1000, and / or a liquid outlet 1040 located at the rear side of the cleaning device body 1001, and / or a liquid outlet 1040 located at the side of the cleaning device body 1001. The walking and propulsion structure 1070 includes a walking mechanism and a propulsion mechanism. The walking and propulsion structure 1070 is suitable for driving the cleaning device 1000 to travel on the surface to be cleaned or the water surface. The walking mechanism is at least suitable for driving the cleaning device to move on the surface to be cleaned in the first motion state or the second motion state; the propulsion mechanism is at least suitable for driving the cleaning device to move in the third motion state. At least one first filter component 1050 is at least partially arranged in the cleaning device body 1001, and the first filter component 1050 is used to filter the dust-laden water flow. The dust-laden water flow refers to the water flow carrying stains or suspended matter. The first filter component 1050 can separate the stains and suspended matter in the dust-laden water flow from the water flow. At least one suction component 1060 is arranged in the cleaning device body 1001. The suction component 1060 is used to generate a suction force, thereby guiding the flow direction of the liquid, so that the water flow enters the liquid inlet 1030 and is discharged from the liquid outlet 1040 after passing through at least one first filter component 1050.

[0344] Please refer to Figures 27 to 29. Figure 27 is a sixth schematic diagram of the structure of an embodiment of the cleaning system disclosed herein; Figure 28 is a schematic cross-sectional view of an embodiment of the cleaning system disclosed herein; and Figure 29 is a second schematic cross-sectional view of an embodiment of the cleaning device disclosed herein. In some embodiments, the liquid inlet 1030 includes at least a first water inlet 1031. The first water inlet 1031 is disposed on the cleaning device body 1001. Liquid enters the cleaning device body 1001 through the first water inlet 1031. The liquid outlet 1040 includes at least a first water outlet 1041. The first water outlet 1041 is disposed on the cleaning device body 1001. Liquid exits the cleaning device body 1001 through the first water outlet 1041. The first water outlet 1041 can be disposed on the top or side of the cleaning device body 1001. The first water inlet 1031, the first filter assembly 1050, the suction assembly 1060, and the first water outlet 1041 are sequentially connected to form a first water flow path. Under the guidance of the suction assembly 1060, a water flow in a first direction X is generated. The liquid enters the cleaning device body 1001 from the first water inlet 1031, flows to the first filter assembly 1050 and the suction assembly 1060, and is then discharged from the first water outlet 1041. During this process, the dust-laden water flow is purified by the first filter assembly 1050, achieving pool cleaning.

[0345] Wherein, the first filter assembly is at least partially housed in the main body of the cleaning device and is suitable for filtering the water flow entering therein. The second water inlet 1032 is provided at the first end of the cleaning device and is in fluid communication with the first filter assembly 1050, and is suitable for serving as a water flow inlet for cleaning the water surface of the pool when the cleaning device is operating in the third motion state; wherein, the first motion state at least includes the state in which the cleaning device is operating at the bottom of the pool, the second motion state at least includes the state in which the cleaning device is operating at the pool wall or parallel to the pool wall, and the third motion state at least includes the state in which the cleaning device is operating on the water surface. In one embodiment, the first docking assembly is provided at the first end of the cleaning device and is suitable for docking with a base station.

[0346] In one embodiment, as shown in FIG25 or FIG29 or FIG64E, the liquid inlet portion includes at least a first water inlet 1031 and a second water inlet 1032, wherein the first water inlet 1031 is located at the bottom of the cleaning device body 1001, and the first water inlet 1031, the first filter assembly 1050, the suction assembly 1060, and the first water outlet 1041 are sequentially connected to form a first waterway for cleaning the pool bottom or pool sidewall; the second water inlet 1032 is located at the front or rear of the cleaning device body, and the second water inlet 1032, the first filter assembly 1050, the suction assembly 1060, and the first water outlet 1041 are sequentially connected to form a second waterway for cleaning the water surface and waterline. In one embodiment, as shown in FIG25 and FIG29, the second water inlet 1032 is located on the front side wall of the front of the cleaning device body, and when the cleaning device is cleaning the water surface, the cleaning device cleans the water surface by moving forward. In another embodiment, as shown in FIG64E , the second water inlet 1032 is provided on the rear side wall of the rear portion of the cleaning device body. When the cleaning device is cleaning the water surface, the cleaning device cleans the water surface by moving backward.

[0347] The first filter assembly includes a first dust box 1051. As shown in FIG64E , a first inlet 10511a and a second inlet 10511b are provided on the first dust box. The first inlet 10511a is connected to the first water inlet 1031 so that the liquid in the water enters the first dust box 1051 through the first water inlet 1031 for filtration; the second inlet 10511b is connected to the second water inlet 1032 so that the liquid on the water surface enters the first dust box 1051 through the second water inlet 1032 for filtration.

[0348] The cleaning device body includes a first accommodating chamber 10013 and a second accommodating chamber 10014, wherein a first dust box 1051 is disposed within the first accommodating chamber. The second accommodating chamber has a first cavity 10014a and a second cavity 10014b, wherein the first cavity and the second cavity are separated. A second drainage port 10013a is disposed on the sidewall of the first accommodating chamber, connecting the first accommodating chamber and the first cavity. A first water outlet 1041 is disposed on the cleaning device body and connected to the first cavity. A suction assembly 1060 includes a main water pump 1061, the impeller of which is disposed within the first cavity 10014a, and the main motor of the main water pump is located within the second cavity 10014b. Thus, the water inlet on the body, the first dust box, the second drainage port, the first cavity, and the first water outlet are sequentially connected to form the first water path of the cleaning device.

[0349] A first baffle 10511c is provided at the first water inlet 1031 and / or the first inlet 10511a, and a second baffle 10511d is provided at the second water inlet and / or the second inlet 10511b. When the cleaning device is cleaning the water surface, the first baffle is closed to prevent liquid in the pool from entering the first dust box through the first water inlet 1031. The second baffle is open, allowing liquid to enter the first dust box through the second water inlet and the second inlet. When the cleaning device is moving in the water or cleaning the pool bottom or walls, the second baffle is closed to prevent liquid from entering the first dust box through the second water inlet. The first baffle is open, allowing liquid to enter the first dust box through the first water inlet 1031 and the first inlet. That is, when cleaning the water surface, the first baffle is closed and the second baffle is open; when cleaning the pool walls or bottom, the first baffle is open and the second baffle is closed.

[0350] The cleaning device disclosed herein can also move to a base station to achieve charging, dust box self-cleaning, garbage collection, drug replenishment, disinfection, etc.

[0351] In some embodiments, the cleaning system 1 may further include a vibrator 1056 for vibrating the first filter assembly 1050 to promote separation of garbage from the first filter assembly 1050 and improve the cleaning effect of the first filter assembly 1050. Driven by the vibrator 1056, the first filter assembly 1050 and the garbage therein vibrate, thereby reducing the adhesion between the garbage and the first filter assembly 1050. When multiple garbage clumps are aggregated, the vibration can loosen the aggregated garbage and promote the separation of the garbage from the first filter assembly 1050. The vibrator 1056 can be located at any position that can contact the first filter assembly 1050.

[0352] In some embodiments, the vibrator 1056 can be disposed on the first filter assembly 1050. As shown in Figures 77a, 77b, and 77c, the vibrator 1056 can be disposed on the outer wall of the first dust box 1051. The vibration of the vibrator 1056 is transmitted to the first dust box 1051, the first filter layer 10512, and the garbage, causing the first dust box 1051, the first filter layer 10512, and the garbage therein to vibrate together. A vibrator mounting portion 10516 can be provided on the outer wall of the first dust box 1051 for mounting the vibrator 1056. The vibrator mounting portion 10516 can be fixed to the first dust box 1051, or the vibrator mounting portion 10516 can be integrally formed with the first dust box 1051. Optionally, the vibrator mounting portion 10516 includes a housing cavity that can sealably accommodate the vibrator 1056. The area of ​​the vibrator mounting portion 10516 of the first dust box 1051 can be set larger, such as the length and / or width can be equal to or slightly larger than the length and / or width of the vibrator 1056, to ensure the stability of the installation of the vibrator 1056. Optionally, the filter surface on which the vibrator 1056 is mounted on the first dust box 1051 is a symmetrical structure, and the vibrator 1056 can be set on the symmetry axis of the filter surface to improve the uniformity of the vibration. Optionally, the filter surface on which the vibrator 1056 is mounted on the first dust box 1051 includes at least one longitudinal support and at least one transverse support, and the longitudinal support and the transverse support are arranged perpendicularly to each other. The vibrator 1056 can be set at the intersection of the longitudinal support and the transverse support, where the strength is higher, which can improve the stability of the vibrator 1056. The strength of the intersection where the vibrator 1056 is mounted can be set higher, such as being set wider, to improve the installation strength and stability. As shown in FIG77 a , the first dust box 1051 includes an inner frame 10512 a and an outer frame 10512 b . The inner frame 10512 a includes three horizontally arranged brackets and three vertically arranged brackets, with a central vertical bracket connected to the bottom of the outer frame. The vibrator 1056 can be arranged on the inner frame 10512 a . Arranging the vibrator 1056 on the first filter assembly 1050 allows the vibration of the vibrator 1056 to be directly transmitted to the first filter assembly 1050 , reducing the noise caused by the vibration being transmitted to other components, reducing the possibility of the vibrator 1056 falling off from the first filter assembly 1050 , and ensuring vibration stability and a good vibration effect.

[0353] In some embodiments, the vibrator 1056 can be positioned near the trash outlet of the first dust box 1051 when in the self-cleaning state. For example, in the self-cleaning state, trash in the first dust box 1051 exits from the fifth filter surface 1051e, i.e., the bottom. The vibrator 1056 can then be positioned near the fifth filter surface 1051e, such as on the fifth filter surface 1051e, or near the first filter surface 1051a, the second filter surface 1051b, the third filter surface 1051c, or the fourth filter surface 1051d. Alternatively, in the self-cleaning state, the fifth filter surface 1051e flips open, and the vibrator 1056 can be positioned on the adjacent filter surface of the fifth filter surface 1051e on one side of the flip axis. This ensures that when the fifth filter surface 1051e is open, sufficient vibration is still transmitted to the fifth filter surface 1051e to separate trash from the fifth filter surface 1051e. As shown in FIG77a , the vibrator 1056 can be positioned at the intersection of the longitudinal support in the middle of the inner frame 10512a and the lowest transverse support. This ensures installation strength while placing the vibrator 1056 as close to the garbage outlet as possible. For example, in the self-cleaning mode, if garbage in the first dust box 1051 exits through the upper opening of the first dust box 1051, the vibrator 1056 can be positioned near the upper opening of the first dust box 1051, such as on the upper half of the first filter surface 1051a, the second filter surface 1051b, the third filter surface 1051c, or the fourth filter surface 1051d, near the upper opening of the first dust box 1051. Since garbage easily accumulates at the garbage outlet during the self-cleaning mode, causing garbage to aggregate, positioning the vibrator 1056 near the garbage outlet can enhance the effectiveness of vibration in separating garbage from the first dust box 1051.

[0354] In some embodiments, the filter surface on which the vibrator 1056 is mounted can be configured as an inclined surface to better guide trash to the trash outlet. As shown in Figures 77c and 77d, the vibrator 1056 is mounted on the first filter surface 1051a of the first dust box 1051. The first filter surface 1051a can be configured as an inclined surface, with this inclined surface extending toward the fifth filter surface 1051e. Specifically, the angle between the first filter surface 1051a and the fifth filter surface 1051e within the first dust box 1051 is less than 90 degrees. In this way, the vibration of the vibrator 1056 can better guide trash to the fifth filter surface 1051e via the inclined surface. Specifically, when the cleaning device 1000 is in a horizontal state, the first dust box 1051 is in the state shown in Figure 77b, and the first filter surface 1051a that is expanded and tilted toward the bottom of the dust box can cause the garbage on it to fall fully onto the fifth filter surface 1051e under the vibration of the vibrator 1056; when the cleaning device 1000 is in a vertical state as shown in Figure 34G, the first filter surface 1051a that is expanded and tilted toward the bottom of the dust box can cause the garbage on it to move along the downward inclined surface to the fifth filter surface 1051e under the vibration of the vibrator 1056.

[0355] Since the first filter assembly 1050 may need to be removed and installed from the cleaning device body 1001, in some embodiments, to facilitate removal and installation, power can be supplied to the vibrator 1056 via wireless power supply. As shown in Figures 77c and 77d, the vibrator 1056 includes a vibration motor 1056a and a receiving coil 1056b. Both the vibration motor 1056a and the receiving coil 1056b are mounted within a vibrator mounting portion 10516. A transmitting coil is also provided outside the vibrator mounting portion 10516. For example, the transmitting coil can be positioned on the first dust bin 1052 at a position corresponding to the receiving coil 1056b. The receiving coil 1056b senses and receives electrical energy from the transmitting coil and supplies power to the vibration motor 1056a. The vibrator mounting portion 10516 can be configured as a sealed structure, thereby ensuring that the vibration motor 1056a and the receiving coil 1056b are both in a sealed environment. The wireless power supply not only facilitates the disassembly and assembly of the first filter component 1050 , but also ensures the sealing and dryness of the vibrator 1056 , thereby improving the operating stability and durability of the vibrator 1056 .

[0356] In addition to wireless power supply, a quick-release connector can also be provided at the end of the vibration motor 1056a away from the first filter assembly 1050. The quick-release connector extends outside the vibrator mounting portion 10516 and is connected to an electrical plug extending from the electrical control box 6000. When the first filter assembly 1050 needs to be removed, the quick-release connector can be disconnected from the electrical plug, and when the first filter assembly 1050 needs to be installed, the quick-release connector can be reconnected to the electrical plug. Alternatively, the vibrator mounting portion 10516 can be provided with an interface for connecting to the vibration motor 1056a, and a quick-release connector extends from the electrical control box 6000. When the first filter assembly 1050 needs to be removed, the quick-release connector can be disconnected from the interface on the vibrator mounting portion 10516, and when the first filter assembly 1050 needs to be installed, the quick-release connector can be reconnected to the interface on the vibrator mounting portion 10516. Alternatively, the vibrator 1056 or the vibrator mounting portion 10516 can also be designed to be detachably connected to the first filter component 1050, such as the vibrator 1056 or the vibrator mounting portion 10516 can be plugged in and unplugged from the first filter component 1050. When the first filter component 1050 needs to be removed from the cleaning device body 1001, the vibrator 1056 or the vibrator mounting portion 10516 can be pulled out from the first filter component 1050 first. When the first filter component 1050 needs to be installed, the vibrator 1056 or the vibrator mounting portion 10516 can be inserted into the first filter component 1050.

[0357] In some embodiments, at least two vibrators 1056 can be provided on the first dust box 1051. The at least two vibrators 1056 can be distributed on different filter surfaces of the first dust box 1051. The at least two vibrators 1056 vibrate together to enhance the vibration effect. The at least two vibrators 1056 can be symmetrically arranged to enhance the uniformity and stability of the vibration of the first dust box 1051. The at least two vibrators 1056 can vibrate in the same vibration mode, such as in the same vibration direction, amplitude, and / or frequency, thereby generating a superimposed and enhanced vibration effect and preventing the first dust box 1051 from being pulled and damaged due to different vibration modes.

[0358] The vibrator 1056 can also be set at other locations on the cleaning device body 1001 besides the first dust box 1051. For example, it can be set in the first dust bin 1052 that accommodates the first dust box 1051. There is a gap between the inner wall of the first dust bin 1052 and the first dust box 1051. The vibrator 1056 can be set on the inner wall of the first dust bin 1052, extending through the gap to contact the first dust box 1051. Optionally, the vibrator 1056 is set on the inner wall of the first dust bin corresponding to the third filter surface 1051c. Further, the vibrator 1056 can be set on the inner wall of the first dust bin corresponding to the lower part of the third filter surface 1051c near the fifth filter surface 1051e. The first dust box 1051 at this location is relatively strong and close to the garbage outlet. Placing the vibrator 1056 at this location can ensure the stability and vibration effect of the first dust box 1051. Optionally, a mating piece that cooperates with the vibrator 1056 can be provided on the first dust box 1051. The two can cooperate in various ways, such as plugging, snapping, etc. The cooperation between the mating piece and the vibrator 1056 can better transmit the vibration of the vibrator 1056 to the first dust box 1051. The mating piece can also be provided with a locking piece to lock the vibrator 1056 to prevent the vibrator 1056 from falling off the first dust box 1051 during vibration. Placing the vibrator 1056 at a location other than the first dust box 1051 on the cleaning device body 1001 can reduce the number of electrical components on the first dust box 1051 and facilitate the removal and installation of the first dust box 1051. When the vibrator 1056 is provided on the cleaning device body 1001, the vibrator 1056 can be connected to the electronic control box 6000, and the electronic control box 6000 provides power and control.

[0359] In some embodiments, the vibrator 1056 can be set on the supporting assembly 2000. Setting the vibrator 1056 on the supporting assembly 2000 does not occupy the space of the cleaning device main body 1001, and can be powered and controlled by the supporting assembly 2000, does not occupy the energy consumption of the cleaning device main body 1001, and can save the installation space and energy consumption of the cleaning device main body 1001. Optionally, when the cleaning device 1000 and the supporting assembly 2000 are docked in place, the vibrator 1056 on the supporting assembly 2000 can be moved to the first filter assembly 1050 to drive the first filter assembly 1050 to vibrate. For example, the vibrator 1056 on the supporting assembly 2000 can be set on an extension arm, which can be moved into the gap between the first dust box 1051 and the first dust bin 1052 and contact the first dust box 1051. Optionally, a mating piece that cooperates with the vibrator 1056 is provided on the first dust box 1051. The first dust box 1051 and the vibrator 1056 can be matched in various ways, such as plugging, snapping, etc. Through the cooperation between the mating piece and the vibrator 1056, the vibration of the vibrator 1056 can be better transmitted to the first filter component 1050. A locking piece can also be provided on the mating piece. When the mating piece and the vibrator 1056 are matched, the locking piece can lock the vibrator 1056, thereby preventing the vibrator 1056 from falling off from the first filter component 1050 during vibration.

[0360] In some embodiments, the vibration pattern of vibrator 1056 can be adjusted, including but not limited to vibration frequency, vibration amplitude, and / or vibration duration. Alternatively, the vibration frequency, vibration amplitude, and / or vibration duration of vibrator 1056 can be determined based on the most recent task performed by cleaning device 1000. For example, if cleaning device 1000's most recent task involved surface cleaning, since the surface is mostly filled with larger debris, such as leaves, the first filter assembly 1050 will likely accumulate more bulky debris. In this case, a lower vibration frequency, smaller vibration amplitude, and / or shorter vibration duration can be used to remove the debris from first filter assembly 1050. For another example, if cleaning device 1000's most recent task involved underwater cleaning, a large amount of fine, sticky debris may accumulate in first filter assembly 1050. In this case, a higher vibration frequency, vibration amplitude, and / or vibration duration can be used to achieve better debris removal. The vibration amplitude can be set within a certain range so that first filter assembly 1050 does not contact first dust bin 1052 during vibration, thereby reducing noise generated by vibration. Optionally, the vibration mode of the vibrator 1056 can be adjusted through the first terminal device 5000 , or a button can be set on the cleaning device body 1001 to adjust the vibration mode of the vibrator 1056 .

[0361] In some embodiments, a vibration-damping device, such as a vibration-damping pad, can be provided at the position where the vibrator 1056 and / or the first filter assembly 1050 contacts other components to prevent the vibration of the vibrator 1056 from being transmitted to other components outside the first filter assembly 1050, thereby improving the stability of the cleaning device 1000 and reducing the noise generated during vibration.

[0362] In some embodiments, when the cleaning system 1 is in a self-cleaning state, the garbage in the first filter assembly 1050 can fall into the support assembly 2000 at least under the action of gravity. Optionally, at least the fifth filter surface 1051e of the first dust box 1050, that is, at least the bottom filter surface, can be provided with a sixth opening 1054 for the garbage to fall through, or at least a portion of the fifth filter surface 1051e can be opened to form the sixth opening 1054, so that the garbage falls through the sixth opening 1054 under the action of weight. The fifth filter surface 1051e can be opened and closed in various ways, such as by flipping. When flipping is used, any side of the fifth filter surface 1051e can be used as a flip axis and flipped downward to open. To save space, the long side of the fifth filter surface 1051e can be used as the flip axis. In this way, when the fifth filter surface 1051e is opened, the short side flips downward, occupying less space. Alternatively, the fifth filter surface 1051e can be designed to open on both sides, thereby occupying less space when opened. The opening axis can be either the long side or the short side. Alternatively, the opening axis can be located on the first filter surface 1051a, the second filter surface 1051b, the third filter surface 1051c, or the fourth filter surface 1051d, near the fifth filter surface 1051e. This allows the first filter surface 1051a, the second filter surface 1051b, the third filter surface 1051c, or the fourth filter surface 1051d, located near the fifth filter surface 1051e, i.e., the lower portion, to be opened and flipped together with the fifth filter surface 1051e. This allows at least a portion of the inner wall of the first dust box 1051 to flip over and fall out of the first dust box 1050 under the action of its weight. Alternatively, the opening axis can be located in the middle of the fifth filter surface 1051e, thereby reducing the space occupied when opened.

[0363] As shown in Figure 78a , the fifth filter surface 1051e can include a first inlet 10511a and a fifth baffle 10511f. The first inlet 10511a is fixed, while the fifth baffle 10511f is reversible. In Figure 78a , the side of the fifth filter surface 1051e away from the first inlet 10511a is defined as the reversing axis 10511h. By configuring the fifth filter surface 1051e so that only the fifth baffle 10511f is reversible, the space occupied during reversal and the required driving force for reversal can be reduced. A stopper 10519 can be provided on the outer frame surrounding the first inlet 10511a. When the fifth baffle 10511f is closed and reversible until it contacts the stopper 10519, it cannot rotate further. The stopper 10519 can limit the reversing angle of the fifth baffle 10511f, ensuring that the fifth baffle 10511f is fully reversible. Optionally, a vibration-damping pad is provided at the limit portion 10519 to reduce the impact of the fifth baffle 10511f hitting the limit portion 10519 when it is closed and flipped. In Figure 77d, the middle position of the fifth filter surface 1051e is set as the flip axis 10511h. The width of the fifth baffle 10511f is slightly larger than the horizontal distance from the flip axis 10511h to the third filter surface 1051c. In this way, the third filter surface 1051c can limit the flipping of the fifth baffle 10511f. When the fifth baffle 10511f rotates to the third filter surface 1051c, it can stop rotating, completing the closure.

[0364] Of course, the fifth filter surface 1051e can also be flipped outward as a whole to allow any accumulated debris to fall freely. Figures 78b, 78c, and 78d illustrate the fifth filter surface 1051e flipped outward as a whole. In Figures 78b and 78c, the entire fifth filter surface 1051e can be flipped open. In Figure 78c, the first inlet 10511a has a first protrusion 10523 extending into the dust box. This first protrusion 10523 can be provided on the third filter surface 1051c and does not open with the fifth filter surface 1051e. In Figure 78b, the first inlet 10511a does not extend into the dust box. In Figure 78d, the first protrusion 10523 is provided on the fifth filter surface 1051e and flips over with the fifth filter surface 1051e.

[0365] In some embodiments, the fifth filter surface 1051e can be made to have a non-stick surface to facilitate the removal of waste. Alternatively, the inner side of the fifth filter surface 1051e has non-stick properties. The fifth filter surface 1051e can be made of a non-stick material, or the inner side of the fifth filter surface 1051e can be coated with a non-stick material.

[0366] In some embodiments, a driving member 1055 for driving the fifth filter surface 1051e to rotate may be provided on the cleaning system 1, for driving the fifth filter surface 1051e to open and / or close. Optionally, when the cleaning device 1000 is in the self-cleaning state, the driving member 1055 may drive the fifth filter surface 1051e to open. The driving member 1055 may be provided on the cleaning device body 1001, such as in the first dust box 1051 and the first dust bin 1052. When the cleaning device 1000 is in the state of performing a work task, the driving member 1055 may drive the fifth filter surface 1051e to close. As shown in FIG79 , a dust box bottom cover drive motor 1055a is provided on the first dust bin 1052. The output shaft of the motor 1055a is connected to the third gear 1055b. The third gear 1055b is meshed with the fourth gear 1055c. The fourth gear 1055c is connected to the tilting shaft of the fifth baffle 10511f. Thus, the fifth baffle 10511f can be rotated by the motor 1055a. The driving member 1055 can also be provided on the carrier assembly 2000. Optionally, a reset mechanism, such as a torsion spring, can be provided on the tilting shaft of the fifth filter surface 1051e. When the cleaning device 1000 leaves the carrier assembly 2000, the fifth filter surface 1051e can automatically return to a closed state.

[0367] To facilitate removal and installation of the first dust box 1051, in some embodiments, the fifth filter surface 1051e is detachably connected to the driver. When the first dust box 1051 needs to be removed from the first dust bin 1052, the fifth filter surface 1051e can be disconnected from the driver 1055, thereby facilitating removal of the first dust box 1051 from the first dust bin 1052. When the first dust box 1051 is installed in the first dust bin 1052, the fifth filter surface 1051e is reconnected to the driver. For example, the fourth gear 1055c is set on the first dust box 1051, the third gear 1055b is set on the first dust bin 1052, and the fourth gear 1055c is located above the third gear 1052b. When the first dust box 1051 is taken out from the opening above the cleaning device body 1001, the fourth gear 1055c is disengaged from the third gear 1055b, and the fourth gear 1055c leaves the first dust bin 1052 together with the first dust box 1051; when the first dust box 1051 is installed in place, the fourth gear 1055c is engaged with the third gear 1055b again.

[0368] In some embodiments, the fifth filter surface 1051e can automatically flip outward and open under the action of weight. Optionally, a closed locking member can be provided to lock the fifth filter surface 1051e in the closed state. When the fifth filter surface 1051e needs to be opened, the closed locking member can be unlocked, and the fifth filter surface 1051e can then automatically flip outward and open under the action of weight. When the fifth filter surface 1051e needs to be closed, the driving member 1055 drives the fifth filter surface 1051e to flip inward, close, and then lock. An opening and closing locking member can also be provided to lock the fifth filter surface 1051e after it is opened and closed. The closed locking member or the opening and closing locking member can be provided on the fifth filter surface 1051e, or on the fifth filter surface driving member 1055, such as a locker on the motor 1055a.

[0369] In some embodiments, the fifth filter surface 1051e can be opened within a preset angle range. In the self-cleaning mode, the fifth filter surface 1051e can be opened to a preset angle, for example, 90 degrees. This angle allows the weight of the waste to fall vertically, and the fifth filter surface 1051e does not occupy the side space when opened. An opening and closing limit mechanism can be provided to limit the opening angle of the fifth filter surface 1051e to within a preset range.

[0370] In some embodiments, the bottom of the first dust bin 1052 that houses the first dust box 1051 may be provided with an opening corresponding to the fifth filter surface 1051e. The bottom of the housing of the cleaning device body 1001 may also be provided with an opening corresponding to the fifth filter surface 1051e. The size of the opening may correspond to the fifth baffle 10511f on the fifth filter surface 1051e. In this way, garbage dropped from the first dust box 1051 can sequentially pass through the bottom of the dust bin and the bottom of the housing of the cleaning device body 1001 and fall into the carrier assembly 2000. Optionally, an opening and closing assembly corresponding to the fifth filter surface 1051e may be provided on the bottom housing of the cleaning device body 1001 and aligned above the opening of the second filter assembly 2110 on the carrier assembly 2000. When the fifth filter surface 1051e is opened, the opening and closing assembly also opens accordingly, allowing garbage in the first dust box 1050 to fall into the second filter assembly 2110. The opening and closing assembly on the bottom housing of the cleaning device 1001 can adopt the same or different opening and closing method as the fifth filter surface 1051e. For example, both can adopt a single-opening method or a double-sided opening method, or one can adopt a single-opening method and the other can adopt a double-sided opening method. Alternatively, the bottom housing of the cleaning device body 1001 can be provided with a seventh opening 1033 corresponding to the sixth opening 1054 at the bottom of the fifth filter surface 1051e.

[0371] In one embodiment, the first filter assembly 1050 includes a first dust box 1051. The structure of the first dust box 1051 is different from that of the first dust box in the aforementioned embodiment mainly in the bottom setting of the first dust box 1051 and the structure of the first inlet 10511a. This embodiment focuses on describing the above differences. The other parts of the structure of the first dust box 1051 are basically similar to those of the first dust box in the aforementioned embodiment, and will not be described in detail here. Refer to Figures 75a and 75b. Figure 75a is a schematic diagram of the first dust box structure of an embodiment of the cleaning device disclosed herein, and Figure 75b is a schematic diagram of the first dust box structure in another orientation of Figure 75a. The first dust box 1051 has a first bottom plate 10517. The first bottom plate 10517 is provided with a fifth opening 10511g. The edge of the fifth opening 10511g is provided with a second protrusion 10511e extending in a direction perpendicular to the first bottom plate 10517. The second protrusion The first protrusion 1051e can extend to the inside of the first dust box 1051, or to the outside of the first dust box 1051, or to both sides at the same time, or the second protrusion 10511e may not be provided; the fifth opening 10511g is communicated with the first water inlet 1031, and a first protrusion 10523 extending from the bottom of the first dust box 1051 to the inside of the first dust box 1051 is provided at the side wall corresponding to the fifth opening 10511g. The first protrusion 10523 is connected to the fifth opening 10511g and sealed when the first bottom plate 10517 is closed at the bottom of the first dust box 1051. The first protrusion 10523 can be fixed to the side wall of the first dust box 1051. A first baffle 10511c (not shown in the figure) is provided at one end of the first protrusion 10523. Referring to Figure 75c, Figure 75c is a schematic diagram of the first dust box structure of an embodiment of the cleaning device disclosed herein. The sidewalls of the raised portion 10523 may also be provided with a transitional curved surface 10518 extending from the interior of the first dust box 1051 toward the bottom of the first dust box 1051. The transitional curved surface 10518 allows pool debris that falls onto the first baffle 10511c above the first raised portion 10523 to easily slide to the bottom of the first dust box 1051 and prevent it from accumulating in corners. The first raised portion may be provided with a transitional curved surface on each side surface, or may be provided as a whole to surround multiple sidewalls. Of course, the first dust box 1051 may also be provided with no transitional curved surface 10518.The part of the first bottom plate 10517 except the fifth opening 10511g may be provided with a fifth filtering surface 1051e or not; the first bottom plate 10517 can open or close the bottom of the first dust box 1051. When the first bottom plate 10517 closes the bottom of the first dust box 1051, the four sides of the first bottom plate 10517 can be sealed and connected to the side walls of the first dust box 1051. When the cleaning device 1000 cleans a pool or a swimming pool, the first bottom plate 10517 closes the bottom of the first dust box 1051 and forms a filtering space with the four sides of the first dust box 1051 to filter the liquid entering the first dust box 1051; when the cleaning device 1000 is in the self-cleaning state, the first bottom plate 10517 opens the bottom of the first dust box 1051, exposing the internal space of the first dust box 1051. At this time, the bottom of the first dust box has an opening which can be called the first dust box bottom opening.

[0372] In one embodiment, refer to Figure 75d, which is a schematic diagram of the first dust box structure of an embodiment of the cleaning device disclosed herein. The difference between this embodiment and the above embodiment is that, in this embodiment, the first protrusion 10523 is fixedly arranged with the first base plate 10517, that is, the fifth opening 10511g on the first base plate 10517 is fixedly connected with the first protrusion 10523 or is integrally formed with it. When the first base plate 10517 opens or closes the bottom of the first dust box 1051, the first protrusion 10523 opens or closes the bottom of the first dust box 1051 together with the first base plate 10517; and when the first base plate 10517 closes the bottom of the first dust box 1051, the four sides of the first base plate 10517 and / or the side walls of the first protrusion 10523 can be sealed and connected with the side walls of the first dust box 1051. When the cleaning device 1000 is cleaning a pool or swimming pool, the first bottom plate 10517 closes the bottom of the first dust box 1051 and forms a filter space with the four sides of the first dust box 1051 to filter the liquid entering the first dust box 1051. When the cleaning device 1000 is in the self-cleaning mode, the first bottom plate 10517 opens the bottom of the first dust box 1051, exposing the interior space of the first dust box 1051. At this time, the bottom of the first dust box has an opening, which can be referred to as the first dust box bottom opening. That is, there are two situations in which the first dust box bottom opening exists. One situation, as shown in Figure 75b, refers to the opening portion of the first dust box bottom excluding the first protrusion after the first bottom plate is opened; the other situation, as shown in Figure 75d, refers to the opening of the first dust box bottom after the first bottom plate and the first protrusion are opened together.

[0373] In one embodiment, a rotational connection can be used to achieve the opening and closing of the first base plate 10517 relative to the bottom of the first dust box 1051. For example, referring to FIG75 b , a pair of shaft sleeves 10520 are provided at the bottom of a side wall of the first dust box 1051. A shaft rod 10521 is fixedly provided on one side of the first base plate 10517. The ends of the shaft rod 10521 are respectively inserted into a shaft sleeve 10520 and are rotationally connected to the shaft sleeve 10520, thereby achieving the rotational connection of the first base plate 10517. Of course, in another embodiment, the shaft rod 10521 can also be provided at the bottom of a side wall of the first dust box 1051. The shaft sleeves are provided at positions on the first base plate 10517 corresponding to the shaft rod 10521. The ends of the shaft rod 10521 are respectively inserted into a shaft sleeve 10520 and are rotationally connected to the shaft sleeve 10520, thereby achieving the rotational connection of the first base plate 10517. The rotation setting of the first base plate 10517 can also be driven by gears. For example, referring to Figure 75e, Figure 75e is a schematic diagram of the first dust box structure of an embodiment of the cleaning device disclosed herein. At least one of the two ends of the shaft 10521 on the first base plate 10517 is also provided with a first gear 10522. The first gear 10522 can be directly or indirectly connected to other drive gears in the driving mechanism of the cleaning device. The gears in the driving mechanism of the cleaning device are used to directly or indirectly control the rotation of the first gear 10522, thereby achieving the rotation setting of the first base plate 10517. The first gear 10522 can also be set in the first dust bin of the cleaning device, and the shaft 10521 on the first base plate 10517 is inserted into the rotating shaft of the first gear 10522 to achieve rotational drive. The rotation method and rotation drive method of the present invention are not limited to this. For example, a belt, a spool, a transmission shaft, etc. can also be used. In addition, the opening and closing of the first base plate 10517 can also be controlled according to a specific control signal.

[0374] In another embodiment, the opening and closing configuration of the first base plate 10517 differs from the above embodiment. In this embodiment, the first base plate 10517 is arranged at the bottom of the first dust box 1051 so as to be translatable relative to the sidewall of the first dust box 1051. The opening and closing of the bottom of the first dust box 1051 is achieved by the translation of the first base plate 10517. For example, a first rack (not shown) is fixedly mounted on one or both opposing sides of the first base plate 10517. A second gear is disposed at a position at the bottom of the sidewall of the first dust box 10511 corresponding to the first rack. The rolling motion of the second gear drives the translation of the first rack, thereby driving the movement of the first base plate 10517 to achieve the opening and closing of the first base plate 10517. The second gear can be directly or indirectly connected to another drive gear in the driving mechanism of the cleaning device. The driving mechanism of the cleaning device can directly or indirectly control the rotation of the second gear, thereby achieving the translation configuration of the first base plate 10517. The translation configuration and drive method of the present invention are not limited to this. Of course, the second gear can also be arranged in the first dust bin of the cleaning device or in other suitable locations.

[0375] In one embodiment, the arrangement of the first bottom plate 10517 is different from that of the above-mentioned embodiment. Referring to Figures 75e and 75f, Figure 75f is a schematic diagram of the structure of the first dust box of one embodiment of the cleaning device disclosed herein; in this embodiment, the first dust box 1051 has a first bottom plate 10517, and a fifth opening 10511g is provided on the first bottom plate 10517. The fifth opening 10511g is communicated with the first water inlet 1031, and a first protrusion 10523 extending from the bottom of the first dust box 1051 to the interior of the first dust box 1051 is provided at the fifth opening 10511g. The first protrusion 10523 is hollow and connected to the fifth opening 10511g. 511g is fixedly connected, and the first raised portion 10523 is fixedly disposed with the sidewalls of the first dust box 1051 and the first bottom plate 10517. A first baffle 10511c (not shown) is disposed at the end of the first raised portion 10523 away from the first bottom plate 10517. The sidewall of the first raised portion 10523 is provided with a transition arc surface 10518 extending from the interior of the first dust box 1051 toward the bottom of the first dust box 1051. The transition arc surface 10518 enables pool debris that falls on the first baffle 10511c above the first raised portion 10523 to easily slide to the bottom of the first dust box 1051 and prevent it from accumulating in the corners. The first raised portion 10523 can be provided with a transition arc surface on each side surface, or a transition arc surface can be provided as a whole to surround multiple sidewalls. Of course, no transition arc surface is required. A sixth opening 1054 is provided on the other side of the first bottom plate 10517 from the fifth opening 10511g. A fifth baffle 10511f is also provided on the first bottom plate 10517, capable of opening or closing the sixth opening 1054. The fifth baffle 10511f may or may not be provided with a filtering surface. The fifth baffle 10511f is configured to open or close the sixth opening 1054. When closed, the periphery of the fifth baffle 10511f seals the sixth opening 1054. When the cleaning device 1000 is cleaning a pool or swimming pool, the fifth baffle 10511f closes the sixth opening 1054, forming a filtering space between the first bottom plate 10517 and the four sides of the first dust box 1051, thereby filtering liquid entering the first dust box 1051. When the cleaning device 1000 is in a self-cleaning mode, the fifth baffle 10511f opens the sixth opening 1054, exposing the interior of the first dust box 1051. In this case, since the first bottom plate 10517 is fixedly connected to the four side walls of the first dust box, the sixth opening can also be referred to as the bottom opening of the first dust box, and the fifth baffle 10511f can also be referred to as the movable first bottom plate. In this embodiment, the sixth opening 1054 can be opened and closed by rotating or translating. The rotating and translating structures can adopt the gear, rack, or sleeve arrangement described in the above embodiments. The specific rotating and translating arrangements are similar to those of the above two embodiments and will not be repeated here.In this embodiment, the rotation structure and the translation structure can be set at the bottom of the side wall of the first dust box 1051 or between the fifth opening and the sixth opening 1054 of the first bottom plate 10517, such as the position shown in Figure 75f.

[0376] In one embodiment, please refer to Figure 75g, which is a schematic diagram of an embodiment of the cleaning device of the present disclosure after removing some structures. A first water inlet 1031 is provided at the bottom of the cleaning device body 1001. The first water inlet 1031 is connected to the fifth opening 10511g. A seventh opening 1033 is independently provided next to the first water inlet 1031. The setting position and opening size of the seventh opening 1033 are adapted to the portion of the first bottom plate 10517 of the first dust box 1051 except the fifth opening 10511g, or to the sixth opening of the first bottom plate 10517. The opening 1054 is adapted to the seventh opening 1033, that is, the size of the seventh opening 1033 must at least include the projection of the first bottom plate 10517 excluding the fifth opening portion on the surface where the seventh opening 1033 is located, or the size of the seventh opening 1033 must at least include the projection of the sixth opening 1054 on the first bottom plate 10517 on the surface where the seventh opening 1033 is located, and at the same time it must be ensured that the first bottom plate 10517 will not be affected in opening and closing the bottom of the first dust box 1051, or at the same time it must be ensured that the fifth baffle 10511f will not be affected in opening and closing the sixth opening 1054. When the first base plate 10517 opens the bottom of the first dust box 1051, or the fifth baffle 10511f opens the sixth opening 1054, the seventh opening 1033 and the interior of the first dust box 1051 can be connected in the vertical direction, or the seventh opening 1033 can completely accommodate the bottom of the first dust box 1051 through the seventh opening 1033 or be flush with the seventh opening 1033, so that the swimming pool debris inside the first dust box 1051 can fall from the bottom of the first dust box 1051 through the seventh opening 1033 or directly from the bottom of the first dust box 1051 to the outside of the cleaning device by its own gravity or the impact of water / air flow, so as to facilitate the dust collection of the subsequent carrying components / base station.

[0377] In one embodiment, the first water inlet 1031 and the seventh opening 1033 in the above-mentioned embodiment are combined into one, that is, the first water inlet 1031 and the seventh opening 1033 shown in FIG75g are combined into one large opening. In this embodiment, the large opening combined into one is referred to as the eighth opening. That is, in this case, only the eighth opening is provided at the bottom of the cleaning device body 1001, without the first water inlet 1031 and the seventh opening 1033 being provided separately. In this case, the size of the eighth opening includes not only the size of the first water inlet 1031 shown in FIG75g, but also at least the size of the seventh opening 1033, and it is ensured that it does not affect the opening and closing of the bottom of the first dust box 1051 by the first bottom plate 10517, or that it does not affect the opening and closing of the sixth opening 1054 by the fifth baffle 10511f. When the first base plate 10517 opens the bottom of the first dust box 1051, or the fifth baffle 10511f opens the sixth opening 1054, the eighth opening and the interior of the first dust box 1051 can be connected in the vertical direction, or the eighth opening can completely accommodate the bottom of the first dust box 1051 through the eighth opening or be flush with the eighth opening, so that the swimming pool debris inside the first dust box 1051 can fall from the bottom of the first dust box 1051 through the eighth opening or directly from the bottom of the first dust box 1051 to the outside of the cleaning device through its own gravity or the impact of water / air flow, so as to facilitate the dust collection of the subsequent carrying components / base station.

[0378] In one embodiment, a second cover may be provided at the seventh opening 1033 or the eighth opening of the cleaning device body 1001. The second cover remains closed at the seventh opening 1033 or the eighth opening when the cleaning device is cleaning the pool, and automatically opens to expose the first dust box 1051 during self-cleaning. When the eighth opening is provided at the bottom of the cleaning device body, the second cover may be configured to cover at least the bottom surface of the first dust box 1051 excluding the first inlet 10511a. Of course, the second cover may also fully cover the opening. When the cleaning device is cleaning the pool, the second cover is partially opened to keep the first water inlet 1031 open, while the remaining portion is closed. When the cleaning device is self-cleaning, the second cover is fully opened to completely expose the bottom surface of the first dust box 1051.

[0379] For ease of understanding and subsequent description, a self-cleaning sewage outlet 1300 is defined. The self-cleaning sewage outlet 1300 is an opening through which swimming pool debris including dirt flows out of the cleaning device to the outside of the cleaning device when the cleaning component performs a self-cleaning operation on the carrier component / base station, that is, when the first filter component or the first dust box 1051 of the cleaning device is cleaned. For example, the first dust box 1051 is arranged inside the first dust bin. When the bottom of the first dust box 1051 or the bottom of the first dust box 1051 after the first bottom plate 10517 is opened is located above the seventh opening 1033 or the eighth opening on the bottom surface of the cleaning device body, the dirt is discharged from the bottom opening of the first dust box 1051 and flows out through the seventh opening 1033 or the eighth opening to the outside of the cleaning device. At this time, the self-cleaning sewage outlet 1300 is The seventh opening 1033 or the eighth opening; when the bottom of the first dust box 1051 or the first bottom plate 10517 is opened, the bottom of the first dust box 1051 is flush with the bottom of the seventh opening 1033 or the eighth opening on the bottom surface of the cleaning device body, or when the bottom of the first dust box 1051 or the first bottom plate 10517 is opened, the bottom of the first dust box 1051 extends out of the seventh opening 1033 or the eighth opening, and dirt and the like flows out of the cleaning device from the bottom opening of the first dust box 1051 after the first bottom plate 10517 is opened or the sixth opening 1054 on the first bottom plate 10517. The self-cleaning sewage outlet 1300 is the bottom opening of the first dust box 1051 after the first bottom plate 10517 is opened or the sixth opening 1054 on the first bottom plate 10517. Of course, the self-cleaning sewage outlet 1300 may also include any other opening provided on the cleaning device body 1001 that can be used to discharge dirt generated during the self-cleaning process of the cleaning device.

[0380] In one embodiment, please refer to Figures 68c, 72d, and 76a. Figure 76a is a schematic diagram of a partial structure of a carrier assembly provided by the present disclosure. The interior of the support member 2050 in the carrier assembly 2000 has a cavity structure. The second filter assembly 2110 of the carrier assembly 2000 is detachably arranged in the cavity structure of the support member 2050. The second filter assembly 2110 can be a second dust box 21102. The second filter assembly 2110 has a third inlet 21101 opening upward. A fourth opening 2055 is provided at a position corresponding to the third inlet 21101 on the upper surface of the support member 2050. The third inlet 21101 and the fourth opening 2055 are provided. 2055 are connected to form a flow channel to ensure that the liquid flowing into the fourth opening 2055 can all flow into the third inlet 21101. At this time, the fourth opening 2055 can be used as a self-cleaning sewage inlet 2100 (unless otherwise specified, the self-cleaning sewage inlet and the fourth opening 2055 mentioned below are the same opening). A sixth baffle 20003 that can open or close the fourth opening 2055 is also provided on the upper surface of the support member 2050 (for convenience of illustration, the sixth baffle 20003 in FIG. 76a is in a state of partially closing the fourth opening 2055, exposing part of the fourth opening 2055). When the cleaning device 1000 passes through the carrier 2 in any posture, When the cleaning device 1000 moves to the upper surface of the support 2050, the sixth baffle 20003 can automatically open the fourth opening 2055. The position of the fourth opening 2055 corresponds to the position of the self-cleaning sewage outlet 1300 of the cleaning device 1000, and can ensure that no matter what posture the cleaning device moves to the upper surface of the support 2050, the fourth opening 2055 can at least cover the self-cleaning sewage outlet 1300 of the cleaning device. The covering means that when the cleaning device is docked on the support 2050, the projection of the self-cleaning sewage outlet 1300 of the cleaning device on the upper surface of the support 2050 falls into the fourth opening 2055, and if the self-cleaning sewage outlet of the cleaning device body When a second cover is provided at 1300, the second cover is opened, and then the first bottom plate or the fifth baffle 10511f of the first dust box 1051 is opened. When there is no baffle at the self-cleaning sewage outlet 1300 of the cleaning device body, after opening the first bottom plate or the fifth baffle 10511f of the first dust box 1051, the internal cavity of the first dust box 1051 of the first filter component and the self-cleaning sewage outlet 1300, the fourth opening 2055, and the third inlet 21101 form a circulation space, and the swimming pool debris inside the first dust box 1051 can fall into the third inlet 21101 under the action of gravity or water flow / air flow, and enter the second filter component 2110. For example, when the cleaning device moves to the upper surface of the support 2050 first in the head posture, or the cleaning device moves to the upper surface of the support 2050 first in the tail posture, or the cleaning device moves to the upper surface of the support 2050 first in the side wall posture, it can be ensured that the fourth opening 2055 at least covers the self-cleaning sewage outlet 1300 of the cleaning device.The self-cleaning sewage outlet 1300 of the cleaning device 1000 is disposed at the bottom. As described in the above embodiment, the self-cleaning sewage outlet 1300 can be the first water inlet 1031 of the cleaning device 1000, or it can be a self-cleaning sewage outlet 1300 disposed independently of the first water inlet 1031, or it can be an eighth opening that combines the first water inlet 1031 and the self-cleaning sewage outlet 1300. In this embodiment, a flow channel is formed between the self-cleaning sewage outlet 1300, the fourth opening 2055, and the third inlet 21101. This allows dirt generated during the self-cleaning operation of the cleaning device 1000 to flow from the self-cleaning sewage outlet 1300 through the fourth opening 2055 to the third inlet 21101, thereby entering the second filter assembly 2110 of the carrier assembly 2000. The second filter assembly 2110 performs a filtering function, filtering the dust-laden water flow from the cleaning device 1000 into the carrier assembly 2000. The structure of the second filter assembly 2110 can be determined according to actual needs. For example, the second filter assembly 2110 may include a second dust box 21102 and a filter screen, which is disposed on the second dust box 21102. Alternatively, the second filter assembly 2110 may include a filter bag, which is removably mounted within the cavity structure of the support assembly 2000 and is suitable for regular replacement. Furthermore, at least one sidewall of the support member 2050 may be provided with a ninth opening 2056, through which a user may pull or remove the second filter assembly from within the support member 2050 from the side, thereby facilitating replacement or cleaning of the second filter assembly.

[0381] The sixth baffle 20003 is slidably or pivotally arranged on the upper surface of the support member 2050. The sliding movement can be up and down or left and right, and the pivoting movement can be outward or inward. When the cleaning device 1000 is in the pool, the sixth baffle 20003 closes the fourth opening 2055. For example, a third protrusion 2057 can be provided on the sixth baffle 20003, and an elastic structure (not shown in the figure) is provided on the third protrusion. The elastic force of the elastic structure keeps the sixth baffle 20003 closed in the state of closing the fourth opening 2055. When the cleaning device 1000 passes through the supporting member 204 When the cleaning device 1000 moves onto the support member 2050, it abuts against the third protrusion 2057. The driving force of the cleaning device 1000 overcomes the elastic force of the elastic structure, causing the sixth baffle 20003 to open the fourth opening 2055, thereby connecting the self-cleaning sewage outlet 1300 and the fourth opening 2055. This creates a flow path between the self-cleaning sewage outlet 1300, the fourth opening 2055, and the third inlet 21101. When the cleaning device moves away from the support member 2050, the elastic force of the elastic structure closes the fourth opening 2055. The method of automatically opening or closing the fourth opening 2055 of the present invention is not limited to this. In addition to the elastic structure, gear rotation can also be used to drive the sixth baffle 20003 to open or close. In addition, the opening and closing of the sixth baffle 20003 can also be driven by a control signal. When the cleaning device 1000 leaves the support 2050, the control signal controls the sixth baffle 20003 to close. When the cleaning device 1000 moves onto the support 2050, the control signal controls the sixth baffle 20003 to open, so that a flow channel is formed between the self-cleaning sewage outlet 1300 of the cleaning device 1010, the fourth opening 2055 and the third inlet 21101; the driving method can also be belt drive or shaft drive, etc.; the sixth baffle 20003 can be pivoted or translated The fourth opening 2055 is opened or closed in a manner. The sixth baffle 20003 may include a single baffle or multiple baffles. For example, it may include two baffles. When the fourth opening 2055 is opened, the two baffles move or pivot in different directions respectively. In addition, the sixth baffle can be stored in the support 2050 or exposed to the outside after the opening is opened. The present invention is not limited to this. For example, in Figure 72d, two sixth baffles 20003 are included. When the fourth opening 2055 is opened, the two sixth baffles 20003 are pivoted to the inside of the support 2050 respectively to open the fourth opening 2055.

[0382] In one embodiment, please refer to Figure 76a, the carrying component 2000 also includes a self-cleaning component 2170, which can be fixed to the support member 2050 or independently set. For example, the self-cleaning component 2170 is fixedly set on the upper surface or side of the support member 2050, and the self-cleaning component 2170 can also be independently set at the edge of the pool near the side wall of the support member 2050. This embodiment is not limited to this. As long as the cleaning device 1000 is docked on the support member 2050 for self-cleaning operation, the setting position of the self-cleaning component 2170 can be suitable for cleaning the cleaning device 1000; please refer to Figures 72d and 76b, Figure 76b is a structural schematic diagram of a cleaning device provided by the present invention docked on a support member, wherein the self-cleaning assembly 2170 is arranged on the side opposite to the side of the support member 2050 on which the carrier 2040 is arranged. When the cleaning device 1000 is docked on the support member 2050 for self-cleaning operation, the self-cleaning assembly 2170 is located on the side close to the self-cleaning water inlet of the cleaning device 1000. The self-cleaning water inlet in this embodiment is the second water inlet 1032. The cleaning device uses the second water inlet 1032 as the head to first enter the support member 2050. When the cleaning device is parked on the support member 2050, the second water inlet 1032 faces the self-cleaning assembly 2170. In one embodiment, the support member 2050 can adaptively adjust the position of the cleaning device 1000 docked on its upper surface so that the self-cleaning water inlet of the cleaning device is close to the self-cleaning assembly, thereby facilitating the cleaning operation of the self-cleaning assembly. The following is explained by two adaptive adjustment methods, but the present invention can also include other adaptive adjustment methods, which are not enumerated here one by one.

[0383] Here is an explanation of the self-cleaning water inlet. When only using clean water flow to self-clean the cleaning equipment, the clean water flow enters the self-cleaning equipment from the self-cleaning water inlet. When using air flow to self-clean or dry the cleaning equipment, the air flow can also flow in from the self-cleaning water inlet. Therefore, in this disclosure, the self-cleaning water inlet can also be referred to as a self-cleaning opening. In this disclosure, the two expressions represent the same opening and can be used interchangeably.

[0384] Method 1: When the self-cleaning assembly is provided independently of the support member 2050, the support member 2050 can be provided in a rotatable manner. Specifically, the rotatable arrangement can be a motor-driven turntable, and the support member 2050 is provided on the turntable, but the present invention is not limited thereto. The support member 2050 can automatically adjust its rotation according to the posture of the cleaning device 1000 docked on its upper surface and the position of the self-cleaning assembly 2170 so that the self-cleaning water inlet of the cleaning device 1000 on its upper surface is positioned close to the self-cleaning assembly 2170, thereby facilitating the self-cleaning assembly to clean the cleaning device.

[0385] Method 2: The self-cleaning component can be fixed to the support 2050, and the support 2050 can be rotatable, and the support 2050 can drive the self-cleaning component to rotate together. At this time, the support 2050 realizes its own rotation in advance before the cleaning equipment walks to the upper surface of the support 2050 according to the posture of the cleaning equipment 1000 walking on the supporting surface 2043, and docks with the cleaning equipment in the most suitable cleaning position, so that when the cleaning equipment walks to the upper surface of the support 2050, the self-cleaning water inlet of the cleaning equipment 1000 is set close to the self-cleaning component 2170, so as to facilitate the self-cleaning component to clean the cleaning equipment.

[0386] In one embodiment, the rotation setting of the support member 2050 can be achieved in the following manner: a rotatable rotating platform 2058 is also provided in the middle position of the support member 2050, and the shape can be circular, polygonal or polygonal with rounded corners, etc. There is a cavity structure below the rotating platform 2058, and the second filter component 2110 is provided in the cavity structure. When rotating, the rotating platform 2058 rotates together with the second filter component 2110 and the cavity structure; or the rotating platform 2058 is rotationally connected to the cavity below, and when rotating, only the rotating platform 2058 rotates, and the cavity structure and the second filter component do not rotate accordingly; the fourth opening 2055 and the sixth baffle 20003 are provided on the surface of the rotating platform 2058. When the cleaning equipment is docked on the support member 2050, the cleaning equipment is supported by the rotating platform 2058, and the peripheral part of the support member 2050 will not affect the rotation of the cleaning equipment on the rotating platform 2058. The other structures of the support member 2050 are basically similar to the above embodiment and will not be described in detail here. At this time, the adaptive adjustment of the support member 2050 is achieved through the rotating platform 2058, without the need for the support member 2050 to rotate as a whole. The adaptive adjustment method of the rotating platform 2058 is similar to that of the above embodiment and will not be repeated here. For the convenience of description and easy understanding, when it is mentioned later that the cleaning device 1000 is docked on the support member 2050 for self-cleaning operation, if the support member 2050 is rotatable as a whole and does not contain the rotating platform 2058, it means that the cleaning device 1000 is docked at the middle part of the upper surface of the support member 2050; when the support member 2050 includes the rotating platform 2058, it means that the cleaning device 1000 is docked on the rotating platform 2058; in the above docking positions, the self-cleaning sewage outlet 1300 of the cleaning device 1000 can all be docked with the fourth opening 2055.

[0387] Please refer to Figures 76a and 76b. The self-cleaning component 2170 includes a support seat 2171, a nozzle support arm 2172 and a nozzle 2173. The support seat 2171 is arranged close to the side wall of the support member 2050. The shape of the support seat 2171 can be reasonably set according to actual conditions, such as: the shape of the support member 2050, the shape of the swimming pool edge, etc. For example, in this embodiment, it is set to a "convex" shape. The support seat 2171 can also adopt a retractable structure. For example, the protruding part above the support seat 2171 can extend from the bottom of the support seat 2171 to a suitable position; the support seat 2171 is detachably or non-detachably provided with a nozzle support arm 2172 on one side of the support member 2050, and one end of the nozzle support arm 2172 is connected to the nozzle 2173. The nozzle support arm 2172 is telescopically set or pivotally set on the support seat 2171, so that the nozzle support arm 2172 can be opened when not working. To retract or pivot to the internal space of the support seat 2171; during the self-cleaning operation, the nozzle support arm 2172 can extend from the self-cleaning water inlet of the docked cleaning device or pivot to the interior of the first filter component; of course, the nozzle support arm 2172 can also be set to be non-retractable or non-pivotable. At this time, it is necessary to ensure that the cleaning device enters and docks on the support 2050 at a specific position. This specific position can ensure that the nozzle support arm 2172 and the nozzle 2173 can be exactly aligned with the self-cleaning water inlet of the cleaning device during the movement of the cleaning device on the surface of the support 2050, and as the cleaning device moves, the nozzle support arm 2172 and the nozzle 2173 can extend into the interior of the first dust box 1051 of the first filter component. When the cleaning device stops moving, the nozzle is already located inside the first dust box 1051 and is suitable for cleaning the first dust box 1051. The nozzle 2173 is detachable, which is convenient for cleaning the nozzle or replacing different types of nozzles to adapt to cleaning work in different scenarios. For example, the nozzle 2173 can choose a single-hole nozzle, a multi-hole nozzle, a rotating nozzle, a non-rotating nozzle, a high-pressure nozzle, a low-pressure nozzle, etc. The head of the nozzle 2173 is provided with a plurality of water outlets, which can be circular, fan-shaped, square, linear, etc. The present invention is not limited to this. The water outlet can discharge water at 0°~180°, such as 15°, 25°, 40°, 45°, 60°, 65°, 80°, 100°, 110°, and 120°; the head of the nozzle or the whole can be rotatable, thereby driving the water outlet to rotate, thereby realizing all-round and multi-angle cleaning of the inside of the first filter component 1050.The head of the nozzle is circular, elliptical, polygonal or similar to a circle, but the present invention is not limited to this; the nozzle of this embodiment can also be a multi-rod rotating structure, such as a two-rod rotating structure, a three-rod rotating structure, etc.; the nozzle support arm 2172 can be tubular, or flat, or the specific shape of the nozzle 2173 and the nozzle support arm 2172 can be set according to the shape of the self-cleaning water inlet of the cleaning equipment 1000, so that the nozzle 2173 and at least part of the nozzle support arm 2172 can extend from the self-cleaning water inlet to the interior of the first dust box 1051 of the first filter assembly 1050. The self-cleaning component 2170 is also provided with a first water source inlet 2174, and a fourth water path is formed between the first water source inlet 2174, the support seat 2171, the nozzle support arm 2172, and the nozzle (see the dotted line in Figure 76b). The first water source inlet 2174 can be set on the bottom surface, side wall or any suitable position for setting the first water source inlet 2174 of the support seat 2171, the support member 2050, the bearing member, etc., as long as the fourth water path can be formed; the fourth water path can be formed in any way suitable for water flow, such as a water pipe, or directly forming a water flow channel in the support seat 2171, etc. The clean water flows from the first water source inlet 2174 through the fourth water path and is sprayed from the water outlet of the nozzle 2173 to the filter surface of the first filter component 1050 to clean the filter surface of the first filter component (the specific source of the clean water flow will be introduced in the following embodiments and will not be described in detail here). To improve the cleaning effect, multiple water outlets can be provided on the head of the nozzle 2173, such as 2, 3, 4, 5, etc., with different water outlets located at different positions on the head of the nozzle 2171. The spray angles of each water outlet can be the same or different, thereby achieving deep cleaning at different positions and angles. In another embodiment, the nozzle support arm 2172 can rotate 360 ​​degrees along its own central axis, thereby driving the nozzle 2173 to rotate and clean within the first filter assembly 1050, further improving the cleaning effect.

[0388] The setting position of the self-cleaning water inlet in the present invention can be reasonably selected according to actual conditions. Any opening suitable for the nozzle and part of the nozzle support arm 2172 to extend into can be used as the self-cleaning water inlet. In addition, the self-cleaning water inlet can also be set independently, or the original opening of the cleaning equipment can be used as the self-cleaning water inlet. If a baffle is provided at the opening of the original cleaning equipment, the corresponding baffle will be actively or passively opened when the nozzle and the nozzle support arm enter the opening. For example, when the first water inlet 1031 or the second water inlet 1032 is selected as the self-cleaning water inlet, when the nozzle and the nozzle support arm extend into the first water inlet 1031 or the second water inlet 1032, the first baffle 10511c or the second baffle 10511d will be actively or passively opened to facilitate the entry of the nozzle and the nozzle support arm 2172. In one embodiment, please refer to Figures 72d, 76a, and 76b. The self-cleaning water inlet is the second water inlet 1032 of the cleaning equipment 1000 for cleaning the water surface. At this time, in order to prevent the nozzle 2173 from partially splashing out of the second water inlet 1032 during self-cleaning of the first filter component 1050 and affecting the cleaning effect, the nozzle support arm 2172 is set to a flat structure with a wide end near the support seat 2171 and a narrow nozzle end. The narrow end is convenient for extending into the interior of the second water inlet 1032, and the wide end is exposed outside the second water inlet 1032 to prevent water from splashing out of the second water inlet 1032, thereby improving the cleaning effect of the first filter component 1050.During the self-cleaning operation, the cleaning device goes ashore from the supporting surface 2043 of the supporting component 2000 and drives into the upper surface of the support member 2050. If the cleaning device is in the position of the second water inlet 1032 in front, when the cleaning device moves to the upper surface of the support member 2050, the support member 2050 or the rotating platform 2058 of the support member 2050 does not need to be rotated. At this time, the nozzle support arm 2172 and the nozzle can be directly extended from the second water inlet 1032 into the internal space of the first dust box 1051 of the first filter component 1050 during the process of the cleaning device walking on the upper surface of the support member 2050. Alternatively, the cleaning device first moves to the upper surface of the support 2050, and then, according to the posture of the cleaning device 1000 and the position of the self-cleaning component 2170, the support 2050 adjusts its own rotation or the rotation of the rotating platform 2058 so that the second water inlet 1032 of the cleaning device 1000 parked on its upper surface is close to the self-cleaning component 2170, and then the nozzle support arm 2172 drives the nozzle to extend or pivot out, and drives the nozzle 2173 to extend from the second water inlet 1032 into the interior of the first dust box 1051 of the first filter component 1050. At this time, The sixth baffle 20003 on the support 2050 is opened, so that the self-cleaning sewage outlet 1300 of the cleaning device is docked with the fourth opening 2055 on the support 2050. When a second cover is provided at the self-cleaning sewage outlet 1300 of the cleaning device body, the second cover is opened first, and then the first bottom plate 10517 or the fifth baffle 10511f of the first dust box 1051 is opened; when there is no second cover at the self-cleaning sewage outlet 1300 of the cleaning device body, the first bottom plate 10517 or the fifth baffle 10511f of the first dust box 1051 is opened; at this time, the first dust box 1051 is opened. The internal cavity forms a circulation space with the self-cleaning sewage outlet 1300, the fourth opening 2055, and the third inlet 21101; when the self-cleaning operation starts, the cleaning water flows from the first water source inlet 2174 through the fourth water channel and is ejected from the water outlet of the nozzle to clean the first dust box 1051 of the first filter component 1050. The dirt generated during the cleaning process of the first dust box 1051 of the first filter component 1050 flows through the self-cleaning sewage outlet 1300 to the fourth opening 2055, and then flows into the second filter component 2110 of the supporting component 2000 through the third inlet 21101 for filtration and collection. In order to further improve the cleaning effect, if the self-cleaning sewage outlet 1300 and the first water inlet 1031 of the cleaning equipment are set independently, the fourth opening 2055 on the support member 2050 can not only cover the self-cleaning sewage outlet 1300, but also cover the first water inlet 1031 at the bottom of the cleaning equipment 1000, so that the sewage discharged from the self-cleaning sewage outlet 1300 enters the fourth opening 2055, and at the same time, it can also ensure that the sewage leaked from the first water inlet 1031 also enters the fourth opening 2055, and then passes through the third inlet 21101 into the second filter component 2110 for filtration and collection, thereby improving the cleaning effect.During the self-cleaning process, the actions of the nozzle support arm 2172 and the nozzle extending into or pivoting to the self-cleaning water inlet, as well as the order of opening the cover, the first bottom plate 10517, the fifth baffle 10511f and the sixth baffle 20003, can be reasonably selected in order or performed simultaneously without affecting their respective actions. After the above actions are completed, it can be ensured that a circulation space is formed between the internal cavity of the first dust box 1051 and the self-cleaning sewage outlet 1300, the fourth opening 2055, and the third inlet 21101, and the nozzle spray cleaning action can be performed after the circulation space is formed.

[0389] In another embodiment, refer to Figure 76c, which is a schematic diagram of an embodiment of the cleaning device provided by the present invention, which is located on a support member and has some structures removed. The fifth baffle 10511f in the figure is in a closed state. During the self-cleaning operation, the fifth baffle 10511f is in an open state. In this embodiment, the first water inlet 1031 of the cleaning device is used as a self-cleaning water inlet. For the convenience of illustration, the self-cleaning component structures such as the nozzle and the nozzle support arm 2172 are removed from Figure 76c, and only the setting position of the nozzle and the nozzle support arm is indicated by a solid arrow, and the dotted arrow indicates the direction of water flow. At this time, the self-cleaning component can be set in the internal space of the support member 2050; the self-cleaning sewage outlet 1300 is set at the bottom of the cleaning device 1000, independently of the first water inlet 1031, or combined with the first water inlet 1031. For a setting, such as the eighth opening, during the self-cleaning operation (the focus here is on the differences from the above embodiment, and the same parts are not repeated), when the cleaning device is driving on the carrying surface 2043 of the carrying component 2000 and is ready to enter the upper surface of the support member 2050, the support member 2050 or the rotating platform 2058 of the support member 2050 adjusts its own rotation or the rotation of the rotating platform 2058 according to the posture of the cleaning device 1000 on the carrying surface and the position of the self-cleaning component 2170 so that it can enter its upper surface. The first water inlet 1031 of the cleaning device 1000 corresponds to the position of the self-cleaning component 2170 provided in the internal cavity of the support 2050. At this time, the sixth baffle 20003 is opened, and the self-cleaning sewage outlet 1300 of the cleaning device is docked with the fourth opening 2055 on the support 2050. When a second cover is provided at the self-cleaning sewage outlet 1300 of the cleaning device body, the second cover is opened first, and then the first bottom plate or the fifth baffle 10511f of the first dust box 1051 of the first filter assembly is opened; when the cleaning device When there is no baffle at the self-cleaning sewage outlet 1300 of the equipment body, open the first bottom plate or the fifth baffle 10511f of the first dust box 1051 of the first filter component; at this time, the internal cavity of the first dust box 1051 of the first filter component and the self-cleaning sewage outlet 1300, the fourth opening 2055, and the third inlet 21101 form a circulation space; then the nozzle support arm 2172 extends or pivots out, driving the nozzle 2173 to extend from the first water inlet 1031 into the interior of the first dust box 1051 of the first filter component 1050.The order of movement of the nozzle support arm 2172, the opening of the fifth baffle 10511f, the first bottom plate, the second cover plate, and the sixth baffle 20003 can be reasonably designed, as long as the movements do not adversely affect each other. For example, the order of movement of the nozzle support arm 2172 first and the opening of the fifth baffle 10511f can be used; the order of opening the first bottom plate first and the movement of the nozzle support arm can also be used; the order of opening the second cover plate first and the movement of the nozzle support arm and the opening of the fifth baffle 10511f can also be used; the order of opening the second cover plate first and the movement of the nozzle support arm and the opening of the fifth baffle 10511f can also be used; the order of opening the second cover plate first and the movement of the nozzle support arm and the opening of the fifth baffle 10511f can also be used; and so on. The subsequent spray self-cleaning operation is similar to that of the above embodiment and will not be described in detail here. Of course, at this point, the first water inlet 1031 is open due to the insertion of the nozzle and nozzle support arm 2172. This allows the first water inlet 1031 to discharge dirt from the interior of the first dust box 1051 through the self-cleaning drain outlet 1300, the fourth opening 2055, and the third inlet 21101 into the second filter assembly. In this case, the sixth opening 1054 may not be required on the bottom surface of the first dust box 1051, allowing dirt to be discharged solely through the first water inlet 1031. In this case, the nozzle support arm 2172 may also be configured in a slender tubular shape to prevent the nozzle support arm 2172 from clogging the self-cleaning drain outlet 1300 during cleaning, thereby affecting the drainage effect.

[0390] In another embodiment, refer to Figure 76d, which is a schematic diagram of an embodiment of the cleaning device provided by the present disclosure located on a support member with part of the structure removed. The fifth baffle 10511f in the figure is in a closed state. During the self-cleaning operation, the fifth baffle 10511f is in an open state. For the convenience of illustration, the self-cleaning component structures such as the nozzle and the nozzle support arm 2172 are removed from Figure 76d, and only the setting position of the nozzle and the nozzle support arm is indicated by solid arrows, and the dotted arrow indicates the direction of water flow. At this time, the self-cleaning component can be set in the internal space of the support 2050; in this embodiment, the self-cleaning sewage outlet 1300 of the cleaning equipment is used as the self-cleaning water inlet, and the self-cleaning sewage outlet 1300 is set at the bottom of the cleaning equipment body, independently of the first water inlet 1031, or combined with the first water inlet 1031 as the eighth opening; at this time, when the first bottom plate 10517 or the fifth baffle 10511f is open, the self-cleaning sewage outlet 1300 is vertically connected to the sixth opening 1054 of the first bottom plate 10517, or the self-cleaning sewage outlet 1300 is vertically connected to the bottom space of the first dust box 1051. This embodiment differs from the previous embodiment in that the nozzle support arm 2172 of the self-cleaning assembly extends from the self-cleaning drain port 1300 into the interior of the first dust box 1051. The remaining structure and cleaning process are similar to those of the previous embodiment and will not be further described here. Furthermore, since the self-cleaning drain port 1300 also serves as the self-cleaning water inlet, the nozzle support arm 2172 is configured as an elongated tubular shape to facilitate the removal of pool debris. This prevents the nozzle support arm 2172 from clogging the self-cleaning drain port 1300 during cleaning, thereby affecting the drainage effect. During the cleaning process, dirt from the first dust box 1051 flows through the self-cleaning drain port 1300 to the fourth opening 2055, then through the third inlet 21101 into the second filter assembly 2110 of the carrier assembly 2000 for filtration and collection. At this point, the first baffle 10511c at the first water inlet 1031 can also be opened, allowing the first water inlet 1031 to function as a drainage opening.

[0391] In another embodiment, the nozzle support arm 2172 in the self-cleaning assembly 2170 is retractably or pivotally mounted on the support base 2171. In the self-cleaning mode, the nozzle support arm 2172 drives the nozzle to extend from the support base 2171 or pivot to extend into the first filter device of the cleaning device. In the non-self-cleaning mode, the nozzle support arm 2172 drives the nozzle to retract or pivot into the support base 2171. Referring to FIG. 76e, FIG. 76e is a schematic diagram of an embodiment of the cleaning device provided by the present disclosure, which is located on a support member and has a portion of its structure removed. In the figure, the fifth baffle 10511f is in a closed state. During the self-cleaning operation, the fifth baffle 10511f is in an open state. For the convenience of illustration, the nozzle and the nozzle support arm 2172 are indicated by solid arrows in Figure 76e, and the dotted arrow indicates the direction of water flow; in this embodiment, the self-cleaning water inlet is the first dust bin opening of the cleaning device 1000, which can also be called a take-in and put-out port. The cleaning device 1000 is provided with a first dust bin, and the first filter component 1050 includes a first dust box 1051. The first dust box 1051 is arranged in the first dust bin, and a first dust bin cover 1018 is arranged above the first dust bin. The first dust bin cover 1018 is arranged on the main shell of the cleaning device to cover the first dust bin. Opening the first dust bin cover 1018 can expose the first dust box 1051, so that the first dust box 1051 can be taken out or put back; the support seat 2171 of the self-cleaning component is arranged next to the side wall of the support member 2050 or on the surface of the support member 2050, and is in an inverted L shape, including a first support arm 2175 that is vertical or approximately vertical to the horizontal plane and a first support arm 2175 that is parallel or approximately parallel to the water The planar second arm 2176 and the nozzle support arm 2172 are retractably or pivotally arranged on the second arm 2176 in the support seat 2171, and one end of the nozzle support arm 2172 is connected to the nozzle 2173, and the head of the nozzle 2173 is provided with a plurality of water outlets. When the cleaning device 1000 is docked on the support member 2050 for self-cleaning operation, the cleaning device 1000 automatically opens the first dust bin cover 1018, exposing the upward opening of the first filter device 1050, and the nozzle support arm 2172 of the self-cleaning assembly 2170 extends from the second arm 2176 through the upward opening of the first filter device 1050 to enter the interior of the first filter device 1050, or the nozzle support arm 2172 is first pivoted from the second arm 2176 and then extended to the interior of the first filter device 1050. This embodiment does not limit the way in which the nozzle support arm extends into the interior of the first filter device 1050, and any suitable way is acceptable. The arrangement and cleaning method of the nozzle, as well as the arrangement of the self-cleaning sewage outlet 1300, are similar to those of the previous embodiment and are not described in detail here. In another embodiment, when a first dust box cover is also provided at the upward opening of the first filter device 1050, the first dust box cover is automatically opened when the first dust bin cover 1018 is opened for cleaning.Alternatively, when the cleaning device is only provided with the first dust box cover but not the first dust bin cover 1018, during the self-cleaning operation, the cleaning device automatically opens the first dust box cover of the filter device to allow the nozzle support arm 2172 and the nozzle to extend into the interior of the first filter device. In addition, during the self-cleaning process, the first baffle 10511c at the first water inlet 1031 can also be opened, and the first water inlet 1031 can also be used as an opening for discharging dirt. In this case, there is no need to provide the sixth opening 1054 or to configure the first bottom plate 10517 to be openable.

[0392] In one embodiment, referring to Figure 72K and Figures 76b-76e, the self-cleaning water inlet can also be the first water outlet 1041. The nozzle support arm drives the nozzle from the first water outlet 1041 into the interior of the first filter device 1050 without the need to set up an additional self-cleaning water inlet. The other structures of this embodiment are similar to the above embodiments and will not be repeated here.

[0393] In one embodiment, the nozzle support arm drives the nozzle to extend from the self-cleaning water inlet into the interior space of the first filter assembly, such as the first dust box. In this case, the nozzle sprays the sidewall from the interior of the first filter assembly to self-clean the first filter assembly. Of course, the nozzle support arm can also drive the nozzle to extend from the self-cleaning water inlet into the space between the first filter assembly and the first dust bin. In this case, the nozzle can spray the first filter assembly from the outside to self-clean the first filter assembly. This disclosure is not limited to this.

[0394] In one embodiment, when the cleaning device completes the self-cleaning operation on the support 2050 and drives away from the support 2050, the nozzle support arm first drives the nozzle to retract or pivot back to the support seat or the inside of the bearing assembly, and then the cleaning device drives away from the support to prevent the nozzle and the nozzle support arm from having an adverse effect on the movement of the cleaning device.

[0395] In this embodiment and the next two embodiments, the specific source of the cleansing water flow will be described. As shown in Figure 76e, the support assembly 2000 is also provided with a water tank 2300. The water tank can be located within the cavity, on the surface, or on the side wall of the support member 2050, or within the support base 2171 of the self-cleaning assembly 2170, or in other suitable locations for the water tank. The water tank 2300 stores a certain amount of liquid, such as water, detergent, or disinfectant, which serves as the source of the cleansing water flow for cleaning the first dust box 1051. The present invention is not limited to these liquids; any liquid that can provide a cleansing effect and is harmless to humans falls within the scope of the present invention. The present invention also includes a water flow drive device, which draws the liquid in the water tank to the first water source inlet 2174 of the self-cleaning assembly 2170. The liquid is then sprayed through the fourth water path through the water outlet on the nozzle 2173 onto the filter surface of the first dust box 1051, thereby cleaning the first dust box 1051. The water flow driving device can be a base station water pump 20002 or an air pump, etc. The present invention is not limited thereto. The base station water pump 20002 can be disposed at any suitable location of the supporting assembly, for example, within the water tank 2300, within the support member 2050, or within the support base 2171. In one embodiment, the main water pump 1061 or other pump in the suction assembly of the cleaning device 1000 can also be used as the water flow driving device to drive the liquid in the water tank to flow to the self-cleaning assembly 2170.

[0396] In one embodiment, the source of the cleaning water flow of the self-cleaning component can also come from the liquid in the float chamber 1101 in the cleaning device 1000. The cleaning device 1000 is provided with a first water outlet channel. The first water outlet channel can be directly or indirectly connected to the float chamber 1101, for example, through the first connecting pipe 1104 to connect to the float chamber, or through the first injection port 113 to connect to the float chamber, etc., so that the liquid in the float chamber 1101 can flow out of the outside of the cleaning device 1000 through the first water outlet channel. When the cleaning device 1000 docks on the upper surface of the support 2050 for self-cleaning, the sixth baffle 20003 automatically opens the fourth opening 2055. The position of the fourth opening 2055 corresponds to the position of the self-cleaning sewage outlet 1300 of the cleaning device 1000. At the same time, the first water source inlet 2174 on the supporting component 2000 is sealed and docked with the first water outlet channel on the cleaning device 1000, so that the liquid in the float chamber 1101 of the cleaning device 1000 can flow into the first water source inlet 2174 through the first water outlet channel, and then can be sprayed out from the head opening of the nozzle 2173 through the fourth water channel to clean the first dust box 1051. The sewage generated during the cleaning process flows into the second filter component 2110 of the supporting component 2000 through the self-cleaning sewage outlet 1300. At this time, the driving device for pumping the liquid in the float chamber into the self-cleaning component can be the pump of the cleaning device 1000 itself when adjusting the buoyancy or diving, or other pumps in the suction component of the cleaning device, or the base station water pump 20002 externally arranged on the carrier component 2000. This is not limited here.

[0397] In another embodiment, the source of the self-cleaning assembly's clean water flow can also be water from a pool or swimming pool. In this case, the first water source inlet 2174 on the carrier assembly 2000 can be located below the pool's water surface. In this case, a filter device can be installed at the first water source inlet 2174 to prevent dirt from being drawn into the fourth waterway. For example, the first water source inlet 2174 can be located in the underwater portion of the carrier 2040, allowing water from the pool to be sprayed out of the nozzle head through the fourth waterway to clean the first dust box 1051. The type and location of the water flow drive device are similar to those of the previous embodiment and will not be further described here. In addition, the source of the self-cleaning assembly's clean water flow can also be an external water source, where "external" refers to the pool or swimming pool and the portion outside the carrier assembly. In this case, the first water source inlet 2174 can be connected to an external water source, such as an external tap water pipe or an external cleaning fluid, to clean the first dust box 1051. The present invention is not limited to this embodiment. Other configurations are similar to those described above and will not be further described here.

[0398] In one embodiment, a self-cleaning nozzle 2173 can also be provided on the cleaning device; the cleaning device is provided with a first filter assembly 1050, and the first filter assembly 1050 includes a first dust box 1051. Refer to Figure 76f, which is a cross-sectional schematic diagram of the first dust box in one embodiment of the present disclosure. For the convenience of explanation, the position of the nozzle 2173 is indicated by a circle in the figure. The nozzle 2173 is provided on the inner side wall of the first dust box 1051. The number of nozzles can be one or more. The head of the nozzle is provided with a plurality of water outlets. The nozzle is a rotatable nozzle or a non-rotatable nozzle. Multiple nozzles can be independently provided on the inner side wall of the first dust box 1051, for example, at the bottom of the first dust box 1051. Or at the four corner positions of the bottom, or at the four corner positions at one-half, one-third or two-thirds of the inner wall of the first dust box 1051, the present invention is not limited to this; in addition, the nozzles can be arranged symmetrically, or diagonally, and can be arranged regularly or irregularly; multiple nozzles can spray water independently or in conjunction with each other, and multiple nozzles can each be connected to a first water inlet pipe 1017, or all the nozzles can be connected in series or in parallel through one or more first water inlet pipes 1017. The first water inlet pipes 1017 can be connected to clean water sources separately, or they can be aggregated and then connected to the clean water source. The clean water source here refers to the specific source of the clean water flow mentioned above. In this embodiment, the liquid in the float chamber 1101 in the cleaning device 1000 can be used as a self-cleaning water source. At this time, each first water inlet pipe 1017 can be connected to the float chamber 1101 or the first connecting pipe 1104 respectively, or each first water inlet pipe 1017 can be aggregated and then connected to the float chamber or the first connecting pipe 1104, so that the liquid in the float chamber can be sprayed out from the water outlet of the nozzle through the first water inlet pipe 1017 to clean the first dust box 1051. In another embodiment, at least one strip-shaped or ring-shaped nozzle support arm 2172 (not shown) is provided inside the first dust box 1051. The nozzle support arm 2172 is provided along the inner wall of the first dust box 1051 and can be located at the bottom, top, half, one-third, or two-thirds of the inner wall of the first dust box 1051. At least one nozzle is provided on the nozzle support arm 2172. The nozzle support arm 2172 is connected to the float chamber or the first connecting pipe 1104 so that the liquid in the float chamber can be sprayed out from the nozzle outlet through the nozzle support arm 2172 to clean the first dust box 1051. In this case, the driving device for driving the water flow can be the pump used by the cleaning device 1000 to adjust the buoyancy and diving, or the main water pump of the cleaning device 1000, or a base station water pump externally provided on the carrier assembly 2000. This is not limited here.Of course, the self-cleaning water source can also come from the water tank 2300 on the carrier component 2000 or an external water source such as tap water. In this case, the cleaning device 1000 is provided with a water inlet connected to the first water inlet pipe 1017 or the nozzle support arm 2172. During the self-cleaning operation, the water inlet is connected to the water outlet of the water tank on the carrier component 2000 or the water outlet of the external water source. As for the driving water flow device and other structures such as the nozzle structure, the structure of the support member 2050, and the docking of the cleaning device 1000 on the support member 20 50 When performing the self-cleaning operation, the sixth baffle 20003 on the support member 2050 is automatically opened, the fourth opening 2055 is docked with the self-cleaning sewage outlet 1300, and the second filter component dust collection and other operations are similar to the other embodiments mentioned above. That is, the difference between this embodiment and the other embodiments mentioned above lies in the different setting position of the nozzle and the resulting different setting of the self-cleaning component. The other sewage discharge structures and the driving water flow structure and the process of realizing the self-cleaning operation on the support member 2050 are basically similar to the above embodiments and will not be repeated here.

[0399] In one embodiment, referring to Figures 41 and 76g, Figure 76g is a cross-sectional schematic diagram of the first dust box and the first dust bin in one embodiment of the present disclosure. For ease of explanation, the position of the nozzle 2173 is indicated by a circle in the figure. The cleaning device is provided with a first dust bin 1052. The first filter assembly 1050 includes a first dust box 1051. The first dust box 1051 is disposed in the first dust bin 1052. In this embodiment, the nozzle is disposed in the space between the inner wall of the first dust bin 1052 and the outer wall of the first dust bin 1051. The number of the nozzles 2173 can be one or more. The head of the nozzle is provided with a plurality of water outlets. The nozzle can be a rotatable nozzle or a non-rotatable nozzle. The multiple nozzles can be independently disposed on the inner side wall of the first dust bin 1052, for example, at the four corner positions at the bottom or top of the first dust bin, or at the four corner positions at the bottom, top, half, one third, or two thirds of the inner side wall of the first dust bin. The invention is not limited to this. In addition, the nozzles can be arranged symmetrically or diagonally, and can be arranged regularly or irregularly. Multiple nozzles can spray water independently or in conjunction with each other. Multiple nozzles can each be connected to a first water inlet pipe 1017, or all the nozzles can be connected in series or in parallel through one or more first water inlet pipes 1017. The first water inlet pipes 1017 can be connected to a clean water source separately or can be connected to a clean water source after being aggregated. The clean water source mentioned here refers to the specific source of the clean water flow mentioned above. In this embodiment, the liquid in the float chamber 1101 in the cleaning device 1000 can be used as a self-cleaning water source. At this time, each first water inlet pipe 1017 can be connected to the float chamber 1101 or the first connecting pipe 1104 separately, or each first water inlet pipe 1017 can be aggregated and then connected to the float chamber or the first connecting pipe 1104, so that the liquid in the float chamber can be sprayed out from the water outlet of the nozzle through the first water inlet pipe 1017 to clean the first dust box 1051. In another embodiment, at least one strip-shaped or ring-shaped nozzle support arm 2172 is disposed between the inner wall of the first dust bin and the outer wall of the first dust box 1051. The nozzle support arm 2172 is disposed along the inner wall of the first dust bin or around the outer wall of the first dust box 1051, and may be located at the bottom, half, one-third, or two-thirds of the side wall of the first dust bin or the first dust box 1051. At least one nozzle is disposed on the nozzle support arm 2172. The nozzle support arm 2172 communicates with the float chamber or the first connecting pipe 1104, so that liquid in the float chamber can be sprayed out of the nozzle's water outlet through the nozzle support arm 2172 to clean the first dust box 1051. The driving device for driving the water flow can be the pump used by the cleaning device 1000 to adjust its buoyancy, the main water pump of the cleaning device 1000, or a base station water pump externally disposed on the carrier assembly 2000. This is not limited here.The difference between this embodiment and the above embodiment is only the location of the nozzle. The other structures are basically similar and can be used interchangeably without causing any conflict, which will not be described in detail here.

[0400] In one embodiment, refer to Figure 76h, which is a cross-sectional schematic diagram of the first dust box and the first dust bin in one embodiment of the present disclosure. For the convenience of explanation, the position of the nozzle 2173 is indicated by a circle in the figure. The cleaning device 1000 is provided with a first dust bin 1052, and the first filter assembly 1050 includes a first dust box 1051. The first dust box 1051 is arranged in the first dust bin 1052. A first dust bin cover 1018 is arranged above the first dust bin 1052. The first dust bin cover 1018 can be set on the main housing of the cleaning device. The first dust bin cover can be opened to take out or put back the first dust box 1051. The first dust box 1051 is provided with an upward opening. At least one nozzle 2173 is also provided on the first dust bin cover 1018. The head of the nozzle 2173 is provided with a plurality of water outlets. The multiple nozzles are arranged in different directions facing the first dust box 1051. The nozzles are rotatable nozzles or non-rotatable nozzles. Multiple nozzles can be independently arranged on the inner side wall of the first dust bin cover 1018 facing the first dust box 1051, for example, at the four corners of the first dust bin cover 1018, or at the center of the first dust bin cover 1018, but the present invention is not limited thereto; in addition, the nozzles can be arranged symmetrically, or diagonally, and can be arranged regularly or irregularly; the multiple nozzles can spray water independently or in conjunction with each other, and the multiple nozzles can each be connected to a first water inlet pipe 1017, or all the nozzles can be connected in series or in parallel through one or more first water inlet pipes 1017. The two are connected in parallel, and the first water inlet pipes 1017 can be connected to the clean water source separately, or they can be aggregated and then connected to the clean water source uniformly. The liquid in the float chamber 1101 in the cleaning equipment 1000 can be used as a self-cleaning water source. At this time, each first water inlet pipe 1017 can be connected to the float chamber 1101 or the first connecting pipe 1104 separately, or each first water inlet pipe 1017 can be aggregated and then connected to the float chamber or the first connecting pipe 1104, so that the liquid in the float chamber can be sprayed out from the water outlet of the nozzle through the first water inlet pipe 1017 to clean the first dust box 1051. In another embodiment, at least one strip-shaped or ring-shaped nozzle support arm 2172 is disposed on the inner wall of the first dust bin cover 1018 facing the first dust box 1051. The nozzle support arm 2172 is disposed along the inner wall of the first dust bin cover 1018 and can be arranged in a specific shape, such as a straight line or a cross. The nozzle support arm 2172 is provided with at least one nozzle, and multiple nozzles are arranged in different directions toward the first dust box 1051. The nozzle support arm 2172 is connected to the float chamber or the first connecting pipe 1104 so that liquid in the float chamber can be sprayed out of the nozzle outlet through the nozzle support arm 2172 to clean the first dust box 1051. In this case, the driving device for driving the water flow can be the pump used by the cleaning device 1000 to adjust the buoyancy and diving, the main water pump of the cleaning device 1000, or a base station water pump externally disposed on the carrier assembly 2000. This is not limited here.This embodiment differs from the above-described embodiment only in the placement of the nozzle. The other structures are substantially similar and can be used interchangeably without conflict, so they will not be described in detail here. In one embodiment, the first dust box 1051 is provided with a dust box cover that can open or close the first dust box 1051. When the dust box cover is opened, the interior space of the dust box is exposed. The nozzle 2173 can also be provided on the dust box cover of the first dust box 1051. The specific arrangement structure and cleaning process are similar to those when the nozzle is provided on the first dust bin cover 1018, so they will not be described in detail here.

[0401] The self-cleaning cleaning device of the present invention eliminates the need for the user to frequently clean the filter assembly within cleaning device 1000. Instead, the user only needs to regularly replace or clean second filter assembly 2110 within support assembly 2000, significantly reducing cleaning labor costs. Furthermore, because support member 2050 can be positioned on shore, such as at the edge of a pool, support member 2050 and second filter assembly 2110 are not immersed in the pool for extended periods of time. This allows pool debris within second filter assembly 2110 to remain dry, preventing the accumulation of bacteria and odors from prolonged immersion. In another embodiment, a drying device can be positioned within the cavity of support member 2050 to promptly dry pool debris collected by second filter assembly 2110, further preventing bacterial growth and odors.

[0402] In some embodiments, the base station 2000 can be located outside the pool. "Outside the pool" in this disclosure refers to the area outside the pool surface, such as the bank. The cleaning device 1000 is moved outside the pool using the carrier 2040 or other means to dock with the base station 2000. This allows for charging, dust box self-cleaning, garbage collection, drug replenishment, and disinfection.

[0403] In one embodiment, as shown in Figures 72A-72K, a second filter assembly 2110 is provided on the base station 2000. The second filter assembly 2110 can be a dust box or a dust bag, and the second filter assembly 2110 is at least partially disposed in a second dust bin 2150. The second filter assembly 2110 has an inlet for external waste to enter the second filter assembly 2110 through the inlet; the inlet can be connected to a self-cleaning sewage inlet 2100 provided on the base station 2000. When the cleaning device 1000 is docked with the base station 2000, the sewage outlet on the cleaning device 1000 is docked with the self-cleaning sewage inlet 2100, thereby realizing the communication between the first filter component 1050 of the cleaning device 1000 and the second filter component 2110 of the base station 2000, so that garbage can be transferred from the first filter component 1050 to the second filter component 2110; the sewage outlet on the cleaning device 1000 can be at least one of the first water inlet 1031, the second water inlet 1032, or a seventh opening 1033 set separately; wherein the first water inlet 1031 is connected to the first inlet 10511a of the dust box 1051, and the second water inlet 1032 is connected to the second inlet 10511b of the dust box 1051; a sixth opening 1054 can also be set on the dust box 1051 to communicate with the seventh opening 1033.

[0404] The base station 2000 may be provided with an air outlet 2101, a first heating element 2102, and a first fan 2103. The air outlet 2101, the first heating element 2102, the first fan 2103, the second filter assembly 2110, and the self-cleaning sewage inlet 2100 may form a second airflow channel, as shown in FIG72F.

[0405] Cleaning device 1000 may be provided with a first air inlet 1034. When cleaning device 1000 is docked with base station 2000, first air inlet 1034 may dock with air outlet 2101 on base station 2000. First air inlet 1034, the interior space of first filter assembly 1050, and the drain outlet may form a first airflow channel, as shown in FIG72G . First air inlet 1034 may be at least one of cleaning device 1000's first water inlet 1031, second water inlet 1032, or a separately provided seventh opening 1033.

[0406] As shown in FIG72A , a second sterilizer 2105 may be provided on the base station 2000 for sterilizing the second filter assembly 2110. A first sterilizer 1053 may be provided on the first dust bin 1052 or elsewhere on the cleaning device 1000 for sterilizing the first dust bin 1052 and the first filter assembly 1050. The first and second sterilizers may be components with sterilization functions, such as ultraviolet lamps.

[0407] After the cleaning device 1000 is operated and docked with the base station 2000 outside the pool, the water inside the cleaning device 1000 will be discharged, so the self-cleaning process can be carried out in the atmosphere.

[0408] After the cleaning device 1000 is docked with the base station 2000, the first air flow channel and the second air flow channel are connected, that is, the first air inlet 1034 of the cleaning device 1000 is sealed and docked with the air outlet 2101 of the base station 2000, and the sewage outlet of the cleaning device 1000 is sealed and docked with the self-cleaning sewage inlet 2100 of the base station 2000; after the docking is completed, the first air flow channel and the second air flow channel form a relatively closed self-cleaning channel. Before or after the first fan 2103 is started, the nozzle 2173 on the base station 2000 or the cleaning device 1000 sprays and cleans the first filter component 1050 to flush away the garbage attached to the filter net of the first filter component 1050; that is, when the nozzle 2173 is working, the first fan 2103 can be in working state or in non-working state. The setting and operation of the nozzle 2173 can be found in the description elsewhere in this article.

[0409] In one embodiment, when the nozzle on the base station 2000 or the cleaning device 1000 is spraying and cleaning the first filter component 1050 or after the spraying is completed, the first fan 2103 is started, and a circulating airflow is generated in the self-cleaning channel. Since the cleaning device 1000 moves from the pool to the base station 2000, the first filter component 1050 is sprayed and flushed, and the garbage collected in the first filter component 1050 is very wet, so to ensure that the garbage in the first filter component 1050 is transferred to the second filter component 2110, it is necessary to first dry the garbage in the first filter component 1050, or transfer it while drying. As shown in Figures 72A-H, by setting a first heating element 2102 in the self-cleaning channel, the airflow generated by the first fan 2103 is heated by the first heating element 2102 to form a hot airflow that enters the first filter component 1050, thereby drying the garbage therein. The airflow of this process can be defined as the first circulating airflow, and the flow direction is: the airflow from the air outlet of the first fan 2103 flows through the first heating element 2102, enters the first filter component 1050 from the air outlet 2101 through the first air inlet 1034, and then enters the second filter component 2110 from the sewage outlet (1031, 1032, 1033) through the self-cleaning sewage inlet 2100. The airflow after being filtered by the second filter component 2110 flows to the air inlet of the first fan 2103.

[0410] It is understandable that in the initial stage, the first heater 2102 can operate at a higher power so that the first circulating airflow has a higher temperature and can quickly dry the garbage in the first filter component 1050; at this time, the power of the first fan can be at a higher level to more quickly remove the humid air in the first filter component 1050, of course, it can also be at a lower or medium level, which can be set as needed. After a predetermined time, or when the humidity sensor located in the self-cleaning channel detects that the humidity of the airflow is lower than the threshold, the operating power of the first heating element 2102 can be reduced or the first heating element 2102 can be stopped; at this time, under the action of the first fan 2103, the garbage in the first filter component 1050 is brought into the second filter component 2110, realizing the transfer of garbage. The above humidity sensor can be set at the sewage outlet of the cleaning equipment 1000, or it can be set in the pipeline near the self-cleaning sewage inlet 2100 of the base station, which is not limited here.

[0411] Because the self-cleaning channel in the above embodiment is a relatively closed airflow channel, humid air constantly circulates therein, hindering the rapid drying of the waste in the first filter assembly 1050. A first condenser 2107 can be provided between the self-cleaning waste inlet 2100 and the first fan 2103 on the base station 2000 to condense the hot and humid air flowing from the first filter assembly 1050 to the first fan 2103, converting the humid air flow into dry air before it enters the air inlet of the first fan 2103. This protects the impeller of the first fan 2103 from damage by the humid air and accelerates the drying of the waste in the first filter assembly 1050, as shown in FIG72F . The first condenser 2107 can be arranged between the self-cleaning sewage inlet 2100 and the second filter component 2110 (as shown in the dotted box 2107 in Figure 72F), that is, the hot and humid air becomes dry air before entering the second filter component, which can prevent the humidity in the second filter component 2110 from being too high and the garbage from becoming moldy and smelly; of course, the first condenser 2107 can also be arranged between the second filter component 2110 and the first fan 2103 (as shown in the solid box 2107 in Figure 72F), or between the first fan 2103 and the heater 2102, without any special limitation.

[0412] For the collection and discharge of condensed water after condensation by the first condenser 2107, a water collection tank can be provided on the base station 2000, and the condensed water is collected in the water collection tank, thereby ensuring the sealing of the self-cleaning channel; or an external drainage pipe can be connected to discharge the condensed water from the self-cleaning channel in real time. This is not particularly limited here.

[0413] After the above self-cleaning process is completed, the cleaning device 1000 can continue to dock on the base station 2000 to charge, or continue drying for a period of time, or move away from the base station 2000. Continuing drying for a period of time means that the first fan 2103 and the first heater 2102 continue to operate to dry, condense and discharge the moisture in the first filter assembly 1050, the second filter assembly 2110 and the entire self-cleaning channel to prevent mold and odor. Generally speaking, since the volume of the second filter component 2110 is larger than that of the first filter component 1050, the drying time of the second filter component 2110 will be longer; if the first condenser 2107 is set upstream of the second filter component 2110, that is, the wet air flow flowing from the first filter component 1050 to the second filter component 2110 has been condensed before entering the second filter component 2110, and the air flow and garbage moisture content entering the second filter component 2110 are relatively low, then the efficiency of drying the second filter component 2110 will be higher; if the first condenser 2107 is set downstream of the second filter component 2110, that is, the wet air flow is condensed and discharged only after flowing through the second filter component 2110, it may increase the time for further drying of the second filter component 2110.

[0414] In one embodiment, a drying channel can be provided on the base station 2000. The drying channel can include the aforementioned first fan 2103, the first heating element 2102, and the first condenser 2107. In this case, the airflow direction can be: the airflow generated by the first fan 2103 flows from the air outlet to the first heating element 2102, then flows to the inlet of the second filter assembly 2110, passes through the second filter assembly 2110, flows to the first condenser 2107, and the condensed airflow flows to the air inlet of the first fan 2103, thereby forming a drying airflow cycle. It is understood that the drying airflow cycle can be formed by closing the aforementioned second airflow channel.

[0415] In another embodiment, as shown by the dashed line in FIG72H , a second fan 2104, a second heating element 2106, and a second condenser 2108 may be additionally provided on the base station 2000, forming a drying passage distinct from or relatively isolated from the self-cleaning passage with the second filter assembly 2110. The airflow generated by the second fan 2104 flows from the air outlet to the second heating element 2106, then to the second filter assembly 2110. After condensation by the second condenser 2108, the airflow flows to the air inlet of the second fan 2104, forming a closed drying airflow cycle. Of course, the drying passage may also not include the second condenser 2108. As shown by the solid line in FIG72H , the air inlet of the second fan 2104 is directly connected to the atmosphere. The airflow generated by the second fan 2104 is heated by the second heating element 2106 and then flows to the second filter assembly 2110, exchanging heat with the second filter assembly 2110 and the waste stored therein, with the humid air being directly discharged into the atmosphere.

[0416] The order of the fan, heater, condenser, and filter assembly described above is only an example, and the specific arrangement can be adjusted as needed and is not limited in this article.

[0417] In one embodiment, the base station 2000 is equipped with a first fan 2103, a first heating element 2102, and a second filter assembly 2110. The air inlet of the first fan 2103 is connected to the atmosphere, and the airflow at the air outlet flows through the first heater 2102, from the air outlet 2101 through the first air inlet 1034 into the first filter assembly 1050, and then from the sewage outlet through the self-cleaning sewage inlet 2100 into the second filter assembly 2110. The airflow after being filtered by the second filter assembly 2110 is directly connected to the atmosphere. This process can eliminate the need for a condenser, and the airflow, carrying waste, is directly discharged into the atmosphere after being transferred from the first filter assembly 1050 to the second filter assembly 2110.

[0418] In another embodiment, the base station 2000 includes at least a first support member 20501 and a third support member 20503. The first support member 20501 is similar to the support member 2050 in Figures 70a-70g, as shown in Figures 72A-72D; the first support member 20501 is for the cleaning device 1000 to rest on, and the third support member 20503 is disposed substantially perpendicular to the first support member 20501. Any of the first fan 2103, the second fan 2104, the second sterilizer 2105, the second filter assembly 2110, the first condenser 2107, the second condenser 2108, the first heater 2102, and the second heater 2106 can be disposed in either the first support member 20501 or the third support member 20503, without limitation herein, as long as the above components can be reasonably configured to achieve the corresponding functions.

[0419] In one embodiment, as shown in Figure 72B , the second water inlet 1032 of the cleaning device 1000 functions as the first air inlet 1034, and the first water inlet 1031 of the cleaning device 1000 functions as a sewage outlet. An air outlet 2101 is provided on the side of the third support member 20503 of the base station 2000, and a self-cleaning sewage inlet 2100 is provided on the first support member 20501. When the cleaning device 1000 is docked with the base station 2000, the second water inlet 1032 docks with the air outlet 2101, and the first water inlet 1031 docks with the self-cleaning sewage inlet 2100, thereby forming the aforementioned self-cleaning passage.

[0420] In another embodiment, as shown in FIG72A , the second water inlet 1032 of the cleaning device 1000 serves as the first air inlet 1034; a sewage outlet is provided below the side where the second water inlet 1032 of the cleaning device 1000 is located, that is, a seventh opening 1033 is provided as a sewage outlet, and a sixth opening 1054 is provided on the first filter component 1050 corresponding to the seventh opening 1033, so that the garbage in the first filter component 1050 can flow through the sixth opening 1054 and the seventh opening 1033 to the self-cleaning sewage inlet 2100 provided on the side of the third support member 20503 of the base station 2000; an air outlet 2101 is also provided on the side of the third support member 20503 of the base station 2000, and the air flow generated by the first fan 2103 is discharged from the outlet The air inlet 2101 flows to the second water inlet 1032 of the cleaning device 1000, thereby forming a self-cleaning passage. During this process, the first water inlet 1031 at the bottom of the cleaning device 1000 can be in a closed state; or, as shown in Figure 72B, a self-cleaning sewage inlet 2100 is provided on the first support member 20501. When the cleaning device 1000 is docked with the base station 2000, the second water inlet 1032 is docked with the air outlet 2101 provided on the side of the third support member 20503 of the base station, and the sewage outlet of the cleaning device is docked with the self-cleaning sewage inlet 2100 of the base station 2000. At this time, the sewage outlet can be the first water inlet 1031 at the bottom of the cleaning device 1000 as shown in Figure 72B or the separately provided seventh opening 1033, thereby forming a self-cleaning passage.

[0421] In another embodiment, as shown in Figure 72C1, the first water inlet 1031 of the cleaning device 1000 serves as both the first air inlet 1034 and the sewage outlet. An opening is provided on the first support member 20501 of the base station 2000. This opening has a shape roughly similar to that of the first water inlet 1031. As shown in Figure 72C2, this opening is divided into two parts: the first part 21001 serves as the self-cleaning sewage inlet 2100, and the second part 21011 serves as the air outlet 2101. When the cleaning device 1000 is docked with the base station 2000, the entire opening docks with the first water inlet 1031. During the self-cleaning process, the airflow generated by the first fan 2103 passes through the second portion 21011 and enters the first filter assembly 1050 through the portion of the first water inlet 1031 corresponding to the second portion 21011. The airflow flows within the first filter assembly 1050, removing the waste therein through the portion of the first water inlet 1031 corresponding to the first portion 21001, and then flows through the first portion 21001 to the second filter assembly 2110 on the base station 2000. Of course, the first water inlet 1031 in this embodiment can also be replaced by a seventh opening 1033 provided at the bottom of the cleaning device.

[0422] In another embodiment, as shown in FIG72D , after the cleaning device 1000 docks at the base station 2000, the nozzle 2173 support arm on the base station 2000 extends from the cleaning device's second water inlet 1032 into the second dust bin 2150 or the second filter assembly 2110 to flush the dust bin 2150. Simultaneously, the support arm includes a pipe that communicates with the first fan 2103 provided on the base station 2000. The first water inlet 1031 at the bottom of the cleaning device 1000 is closed, while a seventh opening 1033 is opened by a fifth baffle 10511f thereon. The seventh opening 1033 communicates with the interior of the first filter assembly 1050. A self-cleaning sewage inlet 2100 is provided on the base station at a position corresponding to the seventh opening 1033. The self-cleaning sewage inlet 2100 communicates with the second filter assembly 2110 and is opened by a sixth baffle 20003. At this point, an airflow is formed that flows through the first fan 2103, the second water inlet 1032, the first filter assembly 1050, the seventh opening 1033, the self-cleaning sewage inlet 2100, and the second filter assembly 2110, as indicated by the arrow in Figure 72D. It should be noted that under this cleaning device and base station architecture, when the nozzle 2173 sprays the first filter assembly 2110, the seventh opening 1033 at the bottom of the cleaning device and the self-cleaning sewage inlet 2100 on the base station are both open. The spray water, carrying the garbage edges, can directly fall from the first filter assembly 1050 into the second filter assembly 2110 under the action of gravity. The airflow generated by the first fan 2103 and the first heating element 2102 can accelerate the transfer of garbage and dry the passages where the first and second filter assemblies and the above components are located.

[0423] In another embodiment, still referring to Figure 72D, during the self-cleaning process, the first water inlet 1031 at the bottom of the cleaning device 1000 can be opened, and it is also connected to the self-cleaning sewage inlet, so that at least part of the garbage can flow from the first water inlet 1031 of the first filter component 1050 through the self-cleaning sewage inlet 2100 to the second filter component 2110.

[0424] In another embodiment, still referring to FIG72D , the bottom of the cleaning device 1000 lacks the seventh opening 1033 and instead has only the first water inlet 1031. A first baffle 10511c is disposed near the entrance of the first water inlet 1031, which can rotate toward and / or away from the interior space of the first filter assembly 1050, thereby opening the first water inlet 1031. When the cleaning device 1000 is docked on the base station, the first water inlet 1031 is opened and docks with the self-cleaning sewage inlet 2100 on the base station 2000. The transfer of spray water and waste, as well as the direction of airflow, are similar to those described above and will not be repeated here.

[0425] In another embodiment, referring to FIG72E , the cleaning device 1000 is further provided with a seventh opening 1033 at the bottom. The base station 2000 is also provided with a first fan 2103, a first heating element 2102, a nozzle 2173, and the like. When the cleaning device 1000 docks at the base station 2000, the nozzle 2173 extends from the second water inlet 1032 into the space of the first filter assembly 1050 to flush it. The spray water and waste fall from the seventh opening 1033 through the self-cleaning sewage inlet 2100 into the second filter assembly 2110 of the base station. The air outlet of the first fan 2103 on the base station 2000 is connected to the first water inlet 1031 of the cleaning device. When the first fan 2103 and the first heating element 2102 are activated, hot air flows from the first water inlet 1031 into the first filter assembly 1050. Among them, the second water inlet 1032 of the cleaning device 1000 can be opened and connected to the pipeline in the base station, then at least part of the hot air flow can flow from the second water inlet 1032 to the base station, and part of the hot air flow flows in the first filter component 1050 to the seventh opening 1033, and then flows from the self-cleaning sewage inlet 2100 to the second filter component 2110; or the second water inlet 1032 of the cleaning device 1000 is opened and connected to the atmosphere, then at least part of the hot air flow can flow directly from the second water inlet 1032 to the atmosphere, and part of the hot air flow flows from the seventh opening 1033 to the self-cleaning sewage inlet 2100 and then flows to the second filter component 2110; or the second water inlet 1032 of the cleaning device 1000 is closed, then the hot air flow enters the first filter component 1050 from the first water inlet 1031 and flows therein, flows to the seventh opening 1033, and then flows to the second filter component 2110, as shown by the dotted arrow in Figure 72E.

[0426] In another embodiment, referring to FIG72K , a self-cleaning sewage inlet 2100 is provided on the base station 2000, a pipe and an air outlet 2101 at the end of the pipe are provided on the third support member 20503, and a first fan 2103 and a first heating element 2102 may also be provided within the base station. When the cleaning device 1000 is docked at the base station, the first water inlet 1031 or the separately provided seventh opening 1033 or the second water inlet 1032 is sealed and connected to the self-cleaning sewage inlet 2100, and the liquid outlet 1040 is connected to the air outlet 2101. When the self-cleaning process is activated, the first fan 2103 and / or the main water pump 1061 are activated, thereby forming an air flow that flows through the following components, namely, the first fan 2103, the first heating element 2102, the air outlet 2101, the liquid outlet 1040, the main water pump 1061, the housing 1015, the second liquid outlet 10013a, the first filter assembly 1050, the first water inlet 1031 and / or the seventh opening 1033 and / or the second water inlet 1032, the self-cleaning sewage inlet 2100, and the second filter assembly 2110. The air flow does not necessarily flow through all of the above components in sequence. For different configurations, it is only necessary to ensure that the air flow can at least flow through the first filter assembly 1050 and its sewage outlet, as well as the self-cleaning sewage inlet 2100 and the second filter assembly 2110, so as to complete the transfer of garbage from the first filter assembly 1050 to the second filter assembly 2110. In addition, the above airflow can be open-circuit airflow or closed-circuit airflow, such as the air inlet of the first fan 2103 can be directly connected to the atmosphere, and / or the outlet of the second filter component 2100 / the second dust bin 2150 can be directly connected to the atmosphere.

[0427] From the above embodiment, the sewage outlet of the cleaning device 1000 is set at the bottom or side of the first filter assembly 1050, which facilitates the discharge of garbage therein. Of course, this document does not limit this. As long as the cleaning device 1000 or the first filter assembly 1050 is provided with at least one air inlet and sewage outlet, and the base station 2000 is provided with at least one air outlet and sewage inlet, and the scheme of using airflow as the power to transfer garbage from the first filter assembly 1050 to the second filter assembly, or the scheme of using the weight of the garbage as the power to transfer garbage, are all included in this document.

[0428] In one embodiment, the alignment method of the cleaning device 1000 and the base station 2000 is as follows: a baffle can be provided on the base station 2000. When the cleaning device 1000 or a trigger member thereon contacts the baffle, it indicates that the cleaning device 1000 has reached the docking position, wherein the baffle can be a sensor such as a micro switch; or a first component with a Hall sensor, such as a magnet, can be provided at the bottom of the cleaning device 1000. A second component with a Hall sensor, such as an iron sheet, can be provided on the base station 2000. When the first component and the second component dock and generate a docking signal, the cleaning device 1000 or the base station 2000 is docked. The control unit arranged on it can control the cleaning device 1000 to stop moving; it can also be that the first component of the Hall sensor is arranged at the bottom of the cleaning device 1000, and the second component and the third component are arranged at intervals on the base station 2000 along the direction of movement of the cleaning device 1000. When the first component and the second component of the cleaning device 1000 generate Hall signals, the control unit controls the cleaning device 1000 to slow down until the first component and the third component of the cleaning device 1000 generate Hall signals, and then controls the cleaning device 1000 to stop. This method is conducive to a smoother stopping process of the cleaning device 1000.

[0429] As previously described, the self-cleaning process of the cleaning device 1000 on the base station 2000 includes at least the following steps: rinsing the first filter assembly 1050; operating the first heating element 2102 at high power to quickly dry the waste in the first filter assembly 1050; and operating the first fan 2103 at high power to transfer the waste in the first filter assembly 1050 to the second filter assembly 2110. The continuous drying process may include continuously drying the first and second filter assemblies 1050, 2110, and the waste therein using the self-cleaning channel, drying only the second filter assembly 2110 and the waste therein using the second airflow channel, or drying the second filter assembly 2110 and the waste therein using a separate drying passage provided on the base station 2000. Of course, if the second filter assembly 2110 is a dust bag, the process may also include automatically packing the dust bag.

[0430] In one embodiment, as shown in FIG43 , the cleaning device 1000 is provided with an automatic water spreading assembly 21311 containing the agent to be spread. A drug replenishing assembly is provided on the base station 2000. When the cleaning device 1000 is docked with the base station 2000, the outlet of the drug replenishing assembly docks with the drug replenishing port of the automatic spreading assembly 21311. A drive mechanism, such as a peristaltic pump, allows the cleaning device 1000 to replenish the agent.

[0431] In some embodiments, as shown in Figures 73A and 73B , base station 2000 includes a carrier 2040 and a base station body 20001. Base station body 20001 is located outside the pool, and carrier 2040 extends through the pool wall into the pool. Cleaning device 1000 can dock on carrier 2040 and cooperate with base station body 20001 to perform actions such as charging, dust box self-cleaning, garbage collection, drug replenishment, and disinfection.

[0432] In one embodiment, the carrier 2040 extends downward from the edge of the pool close to the wall to below the water surface. For irregular-shaped swimming pools, circular swimming pools, oval swimming pools, or rectangular swimming pools, the base station 2000 can be set at any position on the edge of the pool, such as positions A and B in Figure 73C, and position C in Figure 73D. The cleaning device 1000 can return to the base station and dock on the carrier 2040 in the following two ways: First, after determining the relative position relationship with the base station 2000 or the carrier 2040, the cleaning device 1000 moves to the position corresponding to the carrier 2040 on the bottom of the pool, and adjusts to a wall-climbing posture, moving vertically upward along the wall to the carrier 2040 and docking, such as moving from positions A1' and B1' in Figure 73C to positions A and B, and from position C1' in Figure 73D to position C; Second, the cleaning device 1000 can return to the base station after determining the relative position with the base station 2000 or the carrier 2040, or while the cleaning device 1000 is moving. The cleaning device 1000 searches for the position of the base station 2000, and moves along the waterline or along the edge of the water surface until it abuts against the carrier 2040, and then adjusts to a preset docking posture, such as moving from positions A2' and B2' in FIG73C to positions A and B, and from position C2' in FIG73D to position C. For example, in the case of the right side of the cleaning device 1000 along the edge, it rotates 90° until the front or rear of the cleaning device 1000 abuts against the carrier 2040, and then switches from the third motion state to the second motion state (the specific description of the first motion state, the second motion state, and the third motion state is described below). For specific methods, please refer to FIG57 and the corresponding description. For a swimming pool with a corner, such as a right-angled corner, the base station 2000 can be set at the corner, such as position B in Figure 73C. The cleaning device 1000 can move along the edge of the pool bottom to position B1' in Figure 73C, adjust its posture and climb the wall to the support member 2040, or directly abut the support member 2040 at the front or rear along the edge of the water surface, and then switch from the third motion state to the second motion state; it should be noted that when the base station in Figure 73C is set at position B, the cleaning device 1000 is suitable for moving along the right side to the base station 2000. Of course, the base station at position B can also be rotated 90° so that the cleaning device 1000 is suitable for moving along the left side and docking with the base station 2000; in other cases, such as the base station set in Figure 73C, the cleaning device 1000 can also move along the left side to the vicinity of the base station and adjust its posture to dock with the base station. There is no specific limitation on various possible methods.

[0433] In another embodiment, as shown in Figures 73A-B and 74A-74D, a carrier 2040 includes a carrier body 20402 and a first plate 20401. The first plate is rotatably connected to the carrier body, with the rotation axis being approximately perpendicular to the water surface, as shown in Figures 74A-74D. The first plate 20401 has at least a first state and a second state. In the first state, the first plate is retracted, i.e., approximately parallel to the carrier body, as shown in Figures 74C and 74D; in the second state, the first plate is extended, i.e., approximately perpendicular to the carrier body 20402, as shown in Figures 74A and 74B. In this embodiment, the base station 2000 can be positioned anywhere around a pool of any shape. When the cleaning device 1000 is performing its task in the pool, the first plate 20401 is in the first state; when the cleaning device 1000 returns to the base station, the first plate 20401 is in the second state. Regarding the state switching of the first board 20401 , the switching action may be performed after the controller of the base station 2000 receives an instruction that the cleaning device 1000 is about to return to the base station. Among them, the rotation of the first plate 20401 can be achieved by a driving motor and a transmission mechanism arranged on the base station, which is not limited to a supporting connecting rod, a gear rack, etc.; a reset member and a magnetic member can also be arranged on the rotating axis of the first plate. For example, a magnetic member and a magnetic matching member are respectively arranged at corresponding positions on the carrier body 20402 and the first plate 20401. The first plate is fixed in the first state by the magnetic member and the magnetic matching member. In response to the signal sent back to the base station by the cleaning device 1000, the control unit arranged on the base station body releases the magnetic attraction of the magnetic member and the magnetic matching member. The first plate moves to the second state under the action of the reset member (such as a torsion spring). After the cleaning device 1000 is docked and fixed with the first plate 20401, the propeller of the cleaning device 1000 provides continuous power to overcome the force of the reset member and push the first plate from the second state to the first state, so that the magnetic member and the magnetic matching member are attracted again, and the propeller of the cleaning device stops or reduces the power.

[0434] As shown in FIG74 , when the cleaning device 1000 receives a return command to the base station or needs to return to the base station due to low battery, clogged dust box, full dust box, completion of cleaning task, etc., it can first move to the water surface if it is at the bottom or wall of the pool, i.e., move from the first or second motion state to the third motion state, and then switch to the edge-to-edge motion state, for example, by rotating 90°; if the cleaning device 1000 is moving on the water surface, it directly switches to the waterline edge-to-edge motion state. It then continues to move along the edge until it abuts the first plate 20401 in the second state, i.e., executing the process shown in FIG74A to 74B . In one embodiment, the first plate 20401 drives the cleaning device 1000 or the cleaning device 1000 pushes the first plate to move from the second state to the first state, and then the cleaning device 1000 switches from the third motion state to the second motion state, i.e., implementing the actions from FIG74B to 74D , wherein the curved arrow in FIG74C shows the process of the cleaning device switching from the third motion state to the second motion state, which part can also be referred to the description elsewhere in this document. In another embodiment, the cleaning device 1000 and the first plate 20401 are in the state shown in Figure 74B, and the cleaning device 1000 first switches from the third motion state to the second motion state, and then the first plate 20401 switches from the second state to the first state, reaching the state shown in Figure 74D. In another embodiment, the cleaning device 1000 and the first plate 20401 switch from the state shown in Figure 74A to the state shown in 74C, that is, the cleaning device 1000 remains in the third motion state, and only the first plate 20401 switches from the second state to the first state. In this embodiment, the second water inlet 1032 of the cleaning device 1000 serves as a self-cleaning garbage outlet, and the first plate 20401 or the carrier body 20402 is provided with a self-cleaning sewage inlet 2100 corresponding to the second water inlet 1032, so that the self-cleaning process can be implemented in the state shown in Figure 74C.

[0435] In one embodiment, the docking and fixing method of the cleaning device 1000 and the carrier 2040 may include: a first magnetic member or a first connecting member is provided on the carrier body 20402 or the first plate 20401, and a second magnetic member or a second connecting member is provided at the bottom of the cleaning device 1000 (corresponding to the state of Figure 74D) or the front or rear of the cleaning device 1000 (corresponding to the state of Figure 74C). When the cleaning device 1000 abuts against the carrier body or the first plate, the first magnetic member or the first connecting member cooperates with the second magnetic member or the second connecting member to temporarily fix the cleaning device 1000 to the carrier body or the first plate 20401.

[0436] In one embodiment, a first induction unit for wirelessly charging the cleaning device 1000 is provided on the carrier body 20402 or the first plate 20401, and a second induction unit corresponding to the first induction unit is provided at the bottom of the cleaning device 1000 (corresponding to the state of Figure 74D) or the front or rear of the cleaning device 1000 (corresponding to the state of Figure 74C), and the second induction unit is directly connected to or connected to the rechargeable battery pack through the control unit of the cleaning device 1000, and the first induction unit is electrically connected to a power source or a solar panel, thereby realizing energy replenishment after the cleaning device 1000 is docked.

[0437] In one embodiment, the cleaning device 1000 can also perform cleaning or garbage collection of the first filter assembly 1050 or the dust box 1051 on the base station 2000. For example, as shown in Figures 73A, 73B, and 73E, a second filter assembly 2110 and a first fan 2103 are provided in the base station body 20001, wherein the air inlet of the first fan 2103 is connected to the space of the second dust bin 2150 where the second filter assembly 2110 is located, and the air inlet can be located at the upper side or top space of the second dust bin 2150, or connected to the upper side or top space of the second dust bin 2150 through a pipe to prevent water from entering the first fan 2103 through the air inlet when the water level in the second dust bin rises. The air outlet of the first fan 2103 can be connected to the internal space of the base station body 20001, or can be directly or indirectly connected to the atmosphere through a pipe. A base station water pump 20002 is provided in the carrier 2040 or the base station body 20001. The water inlet of the base station water pump is connected with the second dust bin 2150, and the connection position is located at the lower side or bottom of the second dust bin 2150, so that the base station water pump 20002 can effectively pump out the water in the second dust bin 2150; the water outlet of the base station water pump can be directly connected with the water pool, or connected with the water pool through a pipe provided in the carrier body 20402, or connected to a place outside the water pool to pump out the water in the second dust bin 2150.

[0438] In one embodiment, a self-cleaning sewage inlet 2100 is provided on the carrier body 20402 or the first plate 20401, wherein the self-cleaning sewage inlet is connected to the second dust bin 2150 via a pipe and is connected to the inlet of the second filter assembly 2110. A sewage outlet is provided at the bottom (corresponding to the state of Figure 74D) or the front / rear (corresponding to the state of Figure 74C) of the cleaning device 1000, wherein the sewage outlet can be at least one of the first water inlet 1031, the second water inlet 1032, or a separately provided seventh sewage outlet opening 1033. When the cleaning device 1000 is docked at the base station 2000, the sewage outlet of the cleaning device is sealed and docked with the self-cleaning sewage inlet of the base station.

[0439] When the base station and / or cleaning equipment receives the self-cleaning instruction, the first fan 2103 starts and discharges the gas in the second dust bin 2150 to the base station body outside the second dust bin or the atmosphere, forming a negative pressure in the second dust bin 2150 and the pipe connected to the self-cleaning sewage inlet 2100, thereby drawing the garbage and water in the first filter component 1050 or the dust box 1051 into the second filter component 2110 in the second dust bin. Due to the existence of negative pressure and the airtightness of the self-cleaning channel, although the water in the second filter component is at a high level (the dotted line in Figures 73A and 73B indicates the water level, and the high water level means that the water level in the second dust bin is higher than the connection point between the second dust bin and the water inlet of the base station water pump), it will not be discharged autonomously from the pipe connecting the second dust bin 2150 to the outside world. When the water level in the second dust bin 2150 reaches a preset height, which at least ensures that water does not enter the air inlet of the first fan 2103, the base station water pump 20002 can be started. At this time, the action of the base station water pump can offset the negative pressure of the first fan 2103 and discharge the water filtered by the second filter assembly 2110 from the base station body. During this process, a water level sensor, such as a float or a capacitance sensor, can be set in the base station body to detect the water level in the second dust bin 2150 and transmit the detection signal to the base station or the cleaning device control unit to further adjust the power of the first fan 2103 and the base station water pump 20002 to control the water level in the second dust bin to not exceed the preset height. It can be seen that there are two channels during the self-cleaning process, namely the suction channel operated by the first fan 2103 and the drainage channel operated by the base station water pump 20002. As shown by the dotted arrows in Figure 73A, the overall liquid flow direction of the suction channel and the drainage channel is: first filter assembly 1050, sewage outlet of the cleaning device 1000, self-cleaning sewage inlet 2100 of the base station, suction channel 20009, second filter assembly 2100, second dust bin 2150, second dust bin outlet, drainage channel 200010; as shown by the dotted arrows in Figure 73B, the liquid flow direction of the drainage channel is: second filter assembly 2100, second dust bin 2150, second dust bin outlet, drainage channel 200010 to the pool or the outside. It should be noted that, as can be seen from the above description, the second filter assembly 2110 or the second dust bin 2150 are not connected to the first fan 2103 and the base station water pump 20002 at the same location.

[0440] In one embodiment, as shown in Figures 73E1, 73F, and 73G, the base station includes a support member 2050, a first fan 2103 is arranged inside the support member 2050, a second dust bin 2150 is further provided inside the support member 2050, and a second filter assembly 2110 is provided in the second dust bin 2150; a bearing member 2040 is provided at the lower part of one side of the support member 2050, and a suction channel 20009 and a drainage channel 200010 are further provided on the bearing member 2040, and the suction channel 20009 is provided with a suction channel 20009. One end serves as a self-cleaning sewage inlet 2100, which is sealed and connected to the self-cleaning sewage outlet of the cleaning equipment. The other end of the suction channel serves as the twelfth opening 200013, which is connected to the second filter component 2100. The second filter component is used to filter the liquid transported by the twelfth opening 200013; one end of the drainage channel 200010 serves as the first drainage outlet, which is connected to the second dust bin, and is used to flow the liquid filtered by the second filter component into the drainage channel. The other end of the drainage channel serves as a self-cleaning drainage outlet.

[0441] During operation, the first fan 2103 and the base station water pump 20002 are turned on. They can be turned on at the same time, or the first fan 2103 can be turned on first, and the base station water pump 20002 can be turned on before the liquid enters the second dust bin and the liquid water level line is higher than the preset height. With the cooperation of the first fan 2103 and the base station water pump, the liquid forms a stable first equilibrium water surface 3303 in the second dust bin; as shown in Figure 73A, if the first equilibrium water surface 3303 is located below the twelfth opening 200013, the twelfth opening 200013 is connected to the air in the second dust bin, then at this time, by changing the working parameters of the first fan 2103, the suction flow rate of the suction channel can be increased, and the self-cleaning speed of the first filter component of the cleaning equipment can be accelerated; if the suction flow rate of the suction channel can...

Claims

1. A cleaning system comprising: Cleaning equipment suitable for performing cleaning tasks in the pool; a base station for the cleaning device to move from within the pool to outside the pool, so as to at least perform a self-cleaning task on the cleaning device; The base station includes: a support member, adapted for allowing the cleaning device to dock on the base station outside the pool; Carrying member; at least suitable for returning the cleaning device from the pool to the support member; a self-cleaning assembly, comprising at least one nozzle, adapted to flush the first filter assembly of the cleaning device when the cleaning device is docked on the support member 2050; a second filter assembly; a self-cleaning sewage inlet, in communication with the second filter assembly, adapted to provide an inlet for transferring garbage from the cleaning device to the second filter assembly when the cleaning device is docked on the support member; The cleaning equipment comprises: A first filter assembly is provided for collecting garbage when the cleaning equipment performs a cleaning task; a self-cleaning sewage outlet, in communication with the first filter assembly, for discharging waste from the first filter assembly during a self-cleaning process; A self-cleaning opening, adapted for the nozzle provided on the base station to extend from the self-cleaning opening into the space where the first filter assembly is located; A traveling mechanism for allowing the cleaning device to travel in or outside the pool; When performing self-cleaning tasks, at least: The nozzle flushes the first filter assembly through the self-cleaning opening; The self-cleaning sewage outlet is connected to the self-cleaning sewage inlet, and the garbage in the first filter component is transferred to the second filter component through the self-cleaning sewage outlet and the self-cleaning sewage inlet.

2. The cleaning system of claim 1, wherein: The cleaning device also includes a liquid inlet portion, for allowing liquid to flow into the first filter assembly; a liquid outlet portion, for discharging the liquid filtered by the first filter assembly out of the cleaning device; The liquid inlet, the first filter assembly and the liquid outlet are connected in sequence to form a first water path for the cleaning device to perform cleaning tasks; The liquid inlet portion or the liquid outlet portion serves as the self-cleaning opening, so as to allow the nozzle to extend into the space where the first filter assembly is located.

3. The cleaning system of claim 2, wherein: The liquid inlet portion includes a first water inlet, and when the cleaning device performs an underwater cleaning task, the first water inlet allows liquid to flow into the first filter assembly; The first water inlet serves as the self-cleaning opening.

4. The cleaning system according to claim 2 or 3, wherein: The liquid inlet portion includes a second water inlet, and when the cleaning device performs a water surface cleaning task, the second water inlet allows liquid to flow into the first filter assembly; The second water inlet serves as the self-cleaning opening.

5. The cleaning system of claim 4, wherein: The second water inlet is provided on the side wall of the front portion of the cleaning device, and the cleaning device performs the water surface cleaning task by moving forward; the side wall of the front portion includes the front side wall of the front portion, and / or any side wall of the front portion in the lateral direction of the cleaning device; or The second water inlet is provided on the side wall of the rear portion of the cleaning device, and the cleaning device performs the water surface cleaning task by moving backward; the side wall of the rear portion includes the rear side wall of the rear portion, and / or any side wall of the rear portion in the transverse direction of the cleaning device; 6. The cleaning system according to any one of claims 2 to 5, wherein: The liquid outlet portion includes a first water outlet; The cleaning device includes a first accommodating cavity, wherein at least a portion of the first filter assembly is disposed in the first accommodating cavity; A second accommodating cavity comprises a first cavity and a second cavity, wherein the first cavity and the second cavity are separated; The suction assembly includes a main motor and a main impeller; the main motor is arranged in the second cavity, the main impeller is arranged in the first cavity, and the main motor is used to drive the main impeller to rotate; A second drainage port is provided on the side wall of the first accommodating cavity, the second drainage port connects the first cavity and the first accommodating cavity, and the first cavity is connected to the first water outlet; Under the action of the suction component, the liquid inlet, the first filter component, the first accommodating chamber, the first cavity, and the first water outlet are connected in sequence to form the first water path; The first water outlet serves as the self-cleaning opening, and the nozzle extends into the first accommodating cavity through the first water outlet, the first cavity, and the second liquid discharge port.

7. The cleaning system according to any one of claims 1 to 6, wherein: The cleaning device includes a first accommodating chamber, and at least a portion of the first filter assembly is disposed in the first accommodating chamber; The first accommodating chamber is provided with a take-in / take-out opening, and the take-in / take-out opening is used for the first filter assembly to be loaded into or taken out of the first accommodating chamber; The taking-in and putting-out opening serves as the self-cleaning opening.

8. The cleaning system of claim 7, wherein: The cleaning device further includes a first shielding cover provided on the access opening, the first shielding cover being used to close or open the access opening; Before performing the self-cleaning task, the first shielding cover moves to open the access opening, so that the nozzle can be extended into the first accommodating cavity from the access opening.

9. The cleaning system according to any one of claims 1 to 8, wherein: The cleaning device includes a first accommodating chamber, and the first filter assembly includes a first dust box; the first dust box is at least partially disposed in the first accommodating chamber; When performing the self-cleaning task, the nozzle extends into the inner cavity of the first dust box through the self-cleaning opening so that the nozzle flushes the first dust box from the inside of the first dust box; or, the nozzle extends into the space between the first accommodating cavity and the first dust box through the self-cleaning opening so that the nozzle flushes the first dust box from the outside of the first dust box.

10. The cleaning system according to any one of claims 1 to 9, wherein: The cleaning device includes a liquid inlet portion, for allowing liquid to flow into the first filter assembly; a liquid outlet, for discharging the liquid filtered by the first filter assembly out of the cleaning device; The liquid inlet, the first filter assembly and the liquid outlet are connected in sequence to form a first water path for the cleaning device to perform cleaning tasks; The liquid inlet or the liquid outlet serves as the self-cleaning sewage outlet.

11. The cleaning system of claim 10, wherein: The liquid inlet portion includes a first water inlet, and when the cleaning device performs an underwater cleaning task, the first water inlet allows liquid to flow into the first filter assembly; The first water inlet serves as the self-cleaning sewage outlet.

12. The cleaning system according to claim 10 or 11, wherein: The liquid inlet portion includes a second water inlet, and when the cleaning device performs a water surface cleaning task, the second water inlet allows liquid to flow into the first filter assembly; The second water inlet serves as the self-cleaning sewage outlet.

13. The cleaning system according to any one of claims 1 to 12, wherein: The cleaning device is provided with a seventh opening, the first filter assembly includes a first dust box, and the first dust box is provided with a sixth opening; the seventh opening is in communication with the sixth opening; and a baffle provided near the seventh opening or the sixth opening, the baffle being used to block the seventh opening or the sixth opening to prevent the garbage in the first dust box from being discharged out of the cleaning device, the baffle being in a non-working state; Alternatively, the baffle is used to open the seventh opening or the sixth opening to allow the garbage in the first dust box to be discharged out of the cleaning device, and the baffle is in a working state; The seventh opening or the sixth opening serves as the self-cleaning sewage outlet; When the base station performs a self-cleaning task, the baffle is in a working state; when the cleaning device performs a cleaning task, the baffle is in a non-working state.

14. The cleaning system of claim 13, wherein: The cleaning device also includes a first water inlet, for allowing liquid to flow into the first filter assembly when the cleaning device performs underwater cleaning tasks; When the base station performs a self-cleaning task, the first water inlet and the seventh opening, or the first water inlet and the sixth opening, both serve as the self-cleaning sewage outlet.

15. The cleaning system according to claim 13 or 14, wherein: The cleaning device also includes a second water inlet, for allowing liquid to flow into the first filter assembly when the cleaning device performs a water surface cleaning task; When the base station performs a self-cleaning task, the second water inlet serves as the self-cleaning opening.

16. The cleaning system according to any one of claims 1 to 15, wherein: The cleaning device also includes a liquid inlet portion, for allowing liquid to flow into the first filter assembly; a liquid outlet portion, for discharging the liquid filtered by the first filter assembly out of the cleaning device; The liquid inlet, the first filter assembly and the liquid outlet are connected in sequence to form a first water path for the cleaning device to perform cleaning tasks; One of the liquid inlet and the liquid outlet serves as the self-cleaning opening, and the other serves as the self-cleaning sewage outlet.

17. The cleaning system of any one of claims 1 to 16, wherein: The first filter assembly includes a first dust box, the first dust box includes a first box body, and the first box body has at least a bottom opening; and a first bottom plate movably provided on the bottom opening of the first dust box; the first bottom plate has a working state in which the bottom opening is opened, and a non-working state in which the bottom opening is closed; The bottom opening of the first dust box serves as the self-cleaning sewage outlet; When the base station performs a self-cleaning task, the first base plate is in a working state; When the cleaning device performs a cleaning task, the first base plate is in a non-working state.

18. The cleaning system of claim 17, wherein: The cleaning device also includes a first water inlet, for allowing liquid to flow into the first filter assembly when the cleaning device performs underwater cleaning tasks; The first water inlet is arranged on the first bottom plate.

19. The cleaning system of any one of claims 1 to 18, wherein: The self-cleaning sewage outlet is arranged on the bottom of the cleaning device; The self-cleaning sewage inlet is arranged on the top of the support member; When the base station performs a self-cleaning task, the cleaning device docks on the top of the support member, the self-cleaning sewage outlet is docked with the self-cleaning sewage inlet, and the garbage in the first filter component of the cleaning device falls from the self-cleaning sewage outlet and the self-cleaning sewage inlet into the second filter component.

20. The cleaning system of any one of claims 1 to 19, wherein: The self-cleaning component also includes a nozzle support arm, and the nozzle is arranged on the nozzle support arm; when the cleaning device is docked on the support member, or when the cleaning device is moving on the support member, the nozzle extends into the space where the first filter component is located through the nozzle support arm.

21. The cleaning system of claim 20, wherein: The support arm can perform telescopic movement or pivotal movement relative to the support member. When the cleaning device is docked on the support member, the support arm can perform extension movement or pivotal movement to allow the nozzle to extend into the space where the first filter assembly is located. When the cleaning device needs to leave the support member or before leaving, the support arm performs a retracting movement or a pivoting movement to exit the space where the first filter assembly is located.

22. The cleaning system of any one of claims 1 to 21, wherein: The support member includes a third accommodating cavity, and the second filter assembly is at least partially disposed in the third accommodating cavity; The self-cleaning sewage inlet is provided on the third accommodating chamber, and a sixth baffle is provided on the self-cleaning sewage inlet, and the sixth baffle has a working state of opening the self-cleaning sewage inlet and a non-working state of closing the self-cleaning sewage inlet; When the base station performs a self-cleaning task, the sixth baffle is in a working state; After the cleaning device leaves the base station, the sixth baffle is in a non-working state.

23. The cleaning system of claim 22, wherein: The sixth baffle is provided with a driving mechanism for driving the sixth baffle to move so as to open or close the self-cleaning sewage inlet.

24. The cleaning system of claim 22 or 23, wherein: The sixth baffle is slidably provided at the self-cleaning sewage inlet. During the process of the cleaning device returning to the support member, the movement of the cleaning device applies a fourth thrust to the sixth baffle to push the sixth baffle to move and open the self-cleaning sewage inlet. When the cleaning device leaves the support member, the cleaning device cancels the fourth thrust, and the sixth baffle is reset from the working state to the non-working state.

25. The cleaning system of any one of claims 1 to 24, wherein: During the process of the cleaning equipment returning to the base station, at least part of the carrier is located below the water surface of the pool, so that the cleaning equipment can first return to the carrier from the pool, and then return from the carrier to the support outside the pool by walking on the carrier or moving the carrier.

26. The cleaning system according to any one of claims 1 to 25, wherein the cleaning device is provided with a first agent spreading component; When the cleaning device is docked on the support, the base station is used to supplement the reagent for the first agent spreading assembly and / or replace the type of the reagent of the first agent spreading assembly.

27. A cleaning system as claimed in any one of claims 2 to 26, wherein the cleaning equipment is further provided with an air inlet, and the base station is further provided with a fan, a heater and an air outlet, wherein the fan, heater, air outlet and second filter assembly form an air flow channel; or the fan, heater, air outlet, air inlet, first filter assembly and second filter group form an air flow channel.

28. The cleaning system according to claim 27, wherein the liquid inlet or the liquid outlet on the cleaning device serves as an air inlet of the cleaning device.

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