Control method for cleaning system and cleaning system

Abstract

Disclosed in the present disclosure are a control method for a cleaning system and a cleaning system. The cleaning system comprises at least a cleaning apparatus and a base station arranged on a side of a pool, wherein the cleaning apparatus comprises a travelling mechanism, a floating and diving mechanism and a first propeller; and the base station comprises a base station body and a carrier, wherein the carrier comprises a carrying surface. The process of the cleaning apparatus returning to the base station body from a water surface comprises at least: the cleaning apparatus running to the carrying surface, and travelling back to a parking position of the base station body by means of the travelling mechanism, wherein the process of the cleaning apparatus running to the carrying surface comprises at least: the first propeller driving the cleaning apparatus to run on the water surface until a first end of the cleaning apparatus abuts against the carrying surface; and performing at least one of rotating the carrier and adjusting the pose of the cleaning apparatus, such that the cleaning system is switched from a state where the first end of the cleaning apparatus abuts against the carrying surface to a state where at least part of a bottom surface of the travelling mechanism of the cleaning apparatus abuts against the carrying surface, to allow the cleaning apparatus to stay on the carrying surface or travel on the carrying surface.

Description

Control method of cleaning system and 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 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.

[0010] 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.

[0011] 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.

[0012] 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;

[0013] 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.

[0014] This application claims priority to PCT application No. PCT / CN2025 / 074953, filed on January 24, 2025, entitled “Cleaning System,” the entire contents of which are incorporated herein by reference.

Technical field

[0015] The present disclosure relates to the technical field of cleaning equipment, and in particular to a control method for a cleaning system and a cleaning system. [Background Technology]

[0016] Cleaning equipment used in water bodies is characterized by low cost, high intelligence, and ease of use, and is increasingly being used in tasks such as water cleaning, disinfection, and rescue operations. Existing cleaning equipment requires users to manually extract or use hooks to salvage the water, which is inconvenient. [Summary of the invention]

[0017] In a first aspect, the present disclosure provides a control method for a cleaning system, wherein the cleaning system comprises at least a cleaning device suitable for performing cleaning tasks in the water body of a pool, and a base station arranged on the bank of the pool; wherein the cleaning device comprises: a walking mechanism, arranged on opposite sides of the cleaning device, comprising at least one of a walking wheel and a crawler; a floating and diving mechanism, comprising at least a buoyancy chamber, the buoyancy chamber being used to at least contain gas, so as to adjust the posture of the cleaning device running on the bottom, wall or water surface of the pool by adjusting the volume of gas in the buoyancy chamber; a first propeller, at least used to provide driving force when the cleaning device runs on the water surface; the base station comprises: a base station body, suitable for being arranged on the bank of the pool; a bearing member, the bearing member comprising a first end and a second end, and a bearing surface located between the first end and the second end , the second end is connected to the base station body in a pivotable manner; the process of the cleaning equipment returning from the water surface to the base station body at least includes: the cleaning equipment runs to the carrying surface; and the cleaning equipment walks on the carrying surface through the walking mechanism to return to the docking position of the base station body; wherein, the process of the cleaning equipment running to the carrying surface at least includes: the first propeller drives the cleaning equipment to run on the water surface until the first end of the cleaning equipment abuts against the carrying surface; at least one of rotating the carrying member and adjusting the posture of the cleaning equipment, the cleaning system switches from the abutment of the first end of the cleaning equipment with the carrying surface to the abutment of at least part of the bottom surface of the walking mechanism of the cleaning equipment with the carrying surface, so as to be suitable for the cleaning equipment to stay on the carrying surface or walk on the carrying surface; the first end is the front or rear of the cleaning equipment.

[0018] In a second aspect, the present disclosure provides a cleaning system comprising: a cleaning device adapted to perform cleaning tasks in a pool of water, and a base station disposed on the bank of the pool; the cleaning device comprising: at least one liquid inlet disposed at the bottom or side of the cleaning device; at least one liquid outlet disposed at the top or rear of the cleaning device; a first filter assembly at least partially housed within a housing of the cleaning device;

[0019] The base station includes: a base station body, which is arranged on the shore of the pool; a carrier, suitable for the cleaning device to run to the rest surface of the base station body through the carrier; wherein the first filter component includes at least a bottom opening and a baffle; the bottom opening is configured as an opening for the garbage in the first filter component to be discharged from the first filter component when the cleaning device performs self-cleaning on the base station; the baffle is configured to open or close the bottom opening; the cleaning system also includes a drive component, which is configured to drive the baffle to open or close the bottom opening; the first filter component includes at least the following three states: a first state, a state of the first filter component when the cleaning device performs a cleaning task, at which time the baffle closes the bottom opening; a second state, a state during or after the first filter component is removed from the cleaning device, at which time the baffle closes the bottom opening, and the baffle will not be improperly opened by the garbage or liquid inside it, or the baffle will not be opened by the drive component; a third state, a state of the first filter component when the cleaning device is located on the base station to perform cleaning of the first filter component, at which time the baffle is driven by the drive component to open the bottom opening, suitable for the garbage in the first filter component to be discharged from the bottom opening.

Brief Description of the Drawings

[0020] 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:

[0021] FIG1A is a schematic structural diagram of a base station provided by the present disclosure when the carrier is in a first posture;

[0022] FIG1B is a side schematic diagram of the base station in FIG1A;

[0023] FIG1C is an exploded schematic diagram of the base station in FIG1A ;

[0024] FIG2A is a schematic structural diagram of a base station provided by the present disclosure when the carrier is in a first posture;

[0025] FIG2B is a schematic structural diagram of an embodiment of a base station provided by the present disclosure;

[0026] FIG3 is a schematic cross-sectional view of the structure of a cleaning device provided by the present disclosure;

[0027] FIG4 is a schematic structural diagram of an embodiment of a cleaning system disclosed herein;

[0028] FIG5A is a cross-sectional schematic diagram of an embodiment of the cleaning device disclosed herein;

[0029] FIG5B is a schematic structural diagram of an embodiment of a cleaning device provided by the present disclosure.

[0030] FIG5C is a schematic structural diagram of an embodiment of a cleaning device provided by the present disclosure;

[0031] FIG6A is a schematic diagram of a partial structure of an embodiment of a cleaning device disclosed herein;

[0032] FIG6B is a cross-sectional schematic diagram of an embodiment of a cleaning device provided by the present disclosure;

[0033] FIG6C is a schematic structural diagram of the first dust bin, cover body, and electric control box of the cleaning device in FIG6A ;

[0034] FIG6D is a schematic structural diagram of the cover and the electric control box in FIG6C ;

[0035] FIG6E is a cross-sectional schematic diagram of an embodiment of a cleaning device provided by the present disclosure;

[0036] FIG7A is a schematic structural diagram of a cleaning device provided by the present disclosure;

[0037] FIG7B is a schematic structural diagram of a cleaning device provided by the present disclosure;

[0038] FIG7C is a schematic diagram of the cleaning device provided by the present disclosure with some structures removed;

[0039] FIG7D is a schematic diagram of the structure of the cleaning device provided by the present disclosure after transverse section;

[0040] FIG7E is a schematic diagram of the structure of the cleaning device provided by the present disclosure after longitudinal section;

[0041] FIG7F is a schematic structural diagram of an embodiment of a cleaning device provided by the present disclosure;

[0042] FIG7G is a schematic structural diagram of an embodiment of a cleaning device provided by the present disclosure;

[0043] FIG7H is a schematic structural diagram of an embodiment of a cleaning device provided by the present disclosure;

[0044] FIG8A1 is a schematic structural diagram of an embodiment of a cleaning device provided by the present disclosure;

[0045] FIG8A2 is a schematic structural diagram of the cleaning device in FIG8A1;

[0046] FIG8A3 is a schematic diagram of a partial structure of the cleaning device in FIG8A1;

[0047] FIG8A4 is a schematic diagram of a partial structure of the cleaning device in FIG8A1;

[0048] FIG8A5 is a schematic structural diagram of the cleaning device in FIG8A1;

[0049] FIG8A6 is a schematic diagram of a partial structure of the cleaning device in FIG8A1;

[0050] FIG8B is a schematic structural diagram of an embodiment of a first dust bin;

[0051] FIG8C is a schematic structural diagram of an embodiment of a first guide mechanism relative to a first dust bin;

[0052] FIG8D is a schematic structural diagram of an embodiment of a first guide mechanism;

[0053] FIG8E is a schematic diagram of a partial structure of an embodiment of a first guide mechanism;

[0054] FIG8F is a schematic diagram of a partial structure of an embodiment of a first guide mechanism;

[0055] FIG8G is an exploded schematic diagram of a partial structure of an embodiment of a first guide mechanism;

[0056] FIG8H is a schematic diagram of a partial structure of an embodiment of a first guide mechanism;

[0057] FIG8I is a schematic structural diagram of an embodiment in which the first guide mechanism is in a closed state;

[0058] FIG8J is a schematic structural diagram of an embodiment in which the first guide mechanism is in an open state;

[0059] FIG8K is a schematic diagram of an embodiment of the cleaning device of the present disclosure with some structures removed;

[0060] FIG9A is a schematic structural diagram of a first filter box according to an embodiment of the cleaning device disclosed herein;

[0061] FIG9B is a schematic diagram of the first filter box structure in FIG9A from another perspective;

[0062] FIG9C is a schematic structural diagram of a first filter box according to an embodiment of the cleaning device disclosed herein;

[0063] FIG9D is a schematic structural diagram of a first filter box according to an embodiment of the cleaning device disclosed herein;

[0064] FIG9E is a schematic structural diagram of a first filter box according to an embodiment of the cleaning device disclosed herein;

[0065] FIG9F is a schematic structural diagram of a first dust box of an embodiment of a cleaning device disclosed herein;

[0066] FIG9G is a cross-sectional schematic diagram of a cleaning device according to an embodiment of the present disclosure;

[0067] FIG9H is a cross-sectional schematic diagram of a first filter cartridge of an embodiment of a cleaning device disclosed herein;

[0068] FIG9I is a partial schematic diagram of a first filter cartridge and a second drive assembly of an embodiment of a cleaning device of the present disclosure;

[0069] FIG9J is an exploded schematic diagram of a portion of the first filter cartridge and a portion of the second drive assembly of an embodiment of the cleaning device of the present disclosure;

[0070] FIG9K is a partially exploded schematic diagram of a first filter cartridge of an embodiment of a cleaning device according to the present disclosure;

[0071] FIG9L is a schematic diagram of a first filter cartridge of an embodiment of a cleaning device of the present disclosure;

[0072] FIG9M is an exploded view of a portion of the bottom of the first filter cartridge of an embodiment of the cleaning device disclosed herein;

[0073] FIG9N is a schematic diagram of a first moving block of an embodiment of a cleaning device of the present disclosure;

[0074] FIG9O is a partial cross-sectional view of a first filter cartridge installed in a first accommodating cavity and an enlarged schematic view of a partial area A of an embodiment of a cleaning device of the present disclosure;

[0075] FIG9P is an enlarged partial cross-sectional view of region A in FIG9O when the first filter cartridge is provided alone;

[0076] FIG9Q is a schematic structural diagram of a first filter cartridge according to an embodiment of the cleaning device disclosed herein;

[0077] FIG9R is a schematic structural diagram of a first filter box according to an embodiment of the cleaning device disclosed herein;

[0078] FIG9S is a schematic structural diagram of a first filter box according to an embodiment of the cleaning device disclosed herein;

[0079] FIG9T is a schematic structural diagram of a first filter box according to an embodiment of the cleaning device disclosed herein;

[0080] FIG9U is a partial exploded view of a first filter cartridge of an embodiment of a cleaning device of the present disclosure;

[0081] FIG9V is a schematic diagram of a partial structure of a first filter box of an embodiment of the cleaning device disclosed herein;

[0082] FIG9W is a schematic diagram of a partial structure of a first filter box of an embodiment of the cleaning device disclosed herein;

[0083] FIG9X is a schematic structural diagram of a first filter cartridge according to an embodiment of the cleaning device disclosed herein;

[0084] FIG9Y is a schematic structural diagram of a first filter box according to an embodiment of the cleaning device disclosed herein;

[0085] FIG9Z is a schematic structural diagram of a first filter cartridge according to an embodiment of the cleaning device disclosed herein;

[0086] FIG9Z1 is a schematic structural diagram of a first filter box according to an embodiment of the cleaning device disclosed herein;

[0087] FIG9Z2 is a schematic diagram of the partial structure of the first filter box and the second drive assembly structure of an embodiment of the cleaning device disclosed herein;

[0088] FIG10A is a cross-sectional schematic diagram of a first filter box in one embodiment of the present disclosure;

[0089] FIG10B is a cross-sectional schematic diagram of the first filter box and the first accommodating cavity in one embodiment of the present disclosure;

[0090] FIG10C is a cross-sectional schematic diagram of the first filter box and the first accommodating cavity in one embodiment of the present disclosure;

[0091] FIG11 is a cross-sectional schematic diagram of a cleaning device according to an embodiment of the present disclosure;

[0092] FIG12A is a side view schematic diagram of the cleaning device provided by the present disclosure, during the process of switching from a first motion state to a second motion state and toward a third motion state, in which the cleaning device moves along the side wall to the waterline;

[0093] 12B 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;

[0094] FIG12C is a side view of the cleaning device of the present disclosure in a third motion state;

[0095] FIG13A1 is a schematic diagram of the base station support provided by the present disclosure in a first posture, with the swimming pool robot in the pool;

[0096] FIG13A2 is a schematic diagram showing a state in which the first end portion of the cleaning device in FIG13A1 abuts against the carrying surface;

[0097] FIG13A3 is a schematic diagram of the cleaning device in FIG13A1 returning to the carrying surface;

[0098] FIG13A4 is a schematic diagram of the cleaning device in FIG3A1 moving on the supporting surface;

[0099] FIG13B1 is a schematic diagram of a state in which the supporting member of the base station provided by the present disclosure is located in a second posture;

[0100] FIG13B2 is a schematic diagram of a state where the carrier provided by the present disclosure is in a second position and the cleaning device returns to the docking position of the base station;

[0101] FIG13C is a schematic diagram of the carrier provided by the present disclosure in the third posture (storage posture);

[0102] FIG13D1 is a schematic diagram of a state in which the carrier provided by the present disclosure is in the third posture and the first end portion of the cleaning device abuts against the carrier surface;

[0103] FIG13D2 is a schematic diagram showing a change in the contact state between the cleaning device and the carrying surface during the process of the carrying member provided by the present disclosure rotating from the third posture to the first posture;

[0104] FIG13D3 is a schematic diagram of a state in which the carrier provided by the present disclosure is in a first posture and the cleaning device is returned to the carrier surface;

[0105] FIG13D4 is a schematic diagram of the cleaning device provided by the present disclosure after entering water, with the carrier in the storage position;

[0106] FIG13E is a schematic diagram of a state where the carrier provided by the present disclosure is in a storage position and the cleaning device is located in a pool;

[0107] FIG13F is a schematic diagram showing a state in which the cleaning device is returned from the wall to the carrying surface when the carrier provided by the present disclosure is in the storage position;

[0108] FIG13G is a schematic diagram showing a state in which the cleaning device moves laterally from the wall back to the carrier when the carrier provided by the present disclosure is in the storage position;

[0109] FIG14A1 is a schematic diagram of the cleaning system provided by the present disclosure when the carrier is in a first posture;

[0110] FIG14A2 is a schematic diagram showing the process of the cleaning device returning to the base station body through the first posture of the carrier;

[0111] [Corrected 22.05.2025 according to Rule 91] FIG14B1 is a schematic diagram of the cleaning system provided by the present disclosure when the carrier is in the second position (second angle > 0°); [0111.1] [Corrected 22.05.2025 according to Rule 91] FIG14B2 is a schematic diagram of the cleaning system provided by the present disclosure when the carrier is in the second position (the second angle is 0°);

[0112] FIG14C1 is a schematic diagram of the cleaning device provided by the present disclosure in the process of returning to the base station body through the first posture and the second posture of the carrier;

[0113] FIG14C21 is a schematic diagram of the cleaning device provided by the present disclosure in the process of returning to the base station body through the first posture and the second posture of the carrier;

[0114] FIG14C22 is a schematic diagram of the cleaning device provided by the present disclosure in the process of returning to the base station body through the first posture and the second posture of the carrier;

[0115] [Corrected 22.05.2025 according to Rule 91] FIG14C3 is a schematic diagram of the cleaning device provided by the present disclosure in the process of passing through the first posture and the second posture of the carrier and returning to the base station body;

[0116] FIG14C4 is a schematic diagram of a state of a supporting member provided by the present disclosure in a first transitional position;

[0117] FIG14C41 is a schematic diagram of the cleaning device provided by the present disclosure, showing a process of returning to the base station body through the first posture of the carrier and the first transition posture;

[0118] FIG14C42 is a schematic diagram of the cleaning device provided by the present disclosure, showing a process of returning to the base station body through the first posture of the carrier and the first transition posture;

[0119] FIG14D is a schematic diagram of a state in which the carrier provided by the present disclosure has a third posture (storage posture);

[0120] FIG14E1 is a schematic diagram of a state in which the carrier is in the third posture and the first end portion of the cleaning device abuts against the carrier surface;

[0121] FIG14E2 is a schematic diagram showing the change in the state of the cleaning device abutting against the carrying surface during the process of the carrying member provided by the present disclosure rotating from the third posture to the first posture.

[0122] FIG14E3 is a schematic diagram showing the change in the state of the cleaning device abutting against the carrying surface during the process of the carrying member provided by the present disclosure rotating from the third posture to the first posture.

[0123] FIG14E4 is a schematic diagram of the state of the supporting member provided by the present disclosure rotating from the third position to the first position cleaning device and the supporting surface;

[0124] FIG14F1 is a schematic diagram showing the process of a cleaning device returning from a wall to a supporting surface when the supporting member provided by the present disclosure is in a storage position;

[0125] FIG14F2 is a schematic diagram of a state where the carrier provided by the present disclosure returns to the base station body through the storage posture and the second posture;

[0126] FIG14G1 is a schematic diagram of a state where the supporting member provided by the present disclosure is in a second transitional position;

[0127] FIG14G2 is a schematic diagram of the cleaning device provided by the present disclosure returning to the base station body in the second transitional position with the aid of the carrier;

[0128] FIG14H is a schematic diagram of a state where the supporting member provided by the present disclosure is in a fourth position;

[0129] FIG14H1 is a schematic diagram of the cleaning device provided by the present disclosure entering water with the aid of a carrier in a fourth position;

[0130] FIG14H2 is a schematic diagram of the cleaning device provided by the present disclosure entering water with the support in the second and fourth positions;

[0131] FIG15A is a schematic diagram of a cleaning device provided by the present disclosure, wherein the cleaning device is adjusted near a base station so that the first end portion of the cleaning device abuts against a carrying surface;

[0132] FIG15B is a schematic diagram of a state in which the cleaning device provided by the present disclosure is adjusted near the base station so that the first end of the cleaning device abuts against the carrying surface;

[0133] FIG15C is a schematic diagram of a state in which the cleaning device provided by the present disclosure is adjusted near the base station so that the first end portion of the cleaning device abuts against the carrying surface;

[0134] FIG16A is a schematic diagram of a first region and a second region of a wall provided by the present disclosure;

[0135] FIG16B is a schematic diagram of the third and fourth areas of the water surface provided by the present disclosure;

[0136] FIG16C is a schematic diagram of the fifth and sixth areas of the pool bottom provided by the present disclosure;

[0137] FIG17A is a schematic structural diagram of a base station body in an embodiment of the present disclosure;

[0138] FIG17B is a schematic structural diagram of a second filter box in one embodiment of the present disclosure;

[0139] FIG17C is an exploded view of a portion of the structure of the second filter box according to one embodiment of the present disclosure;

[0140] FIG17D is a cross-sectional schematic diagram of a base station body in one embodiment of the present disclosure;

[0141] FIG17E is a schematic structural diagram of a base station body according to an embodiment of the present disclosure;

[0142] FIG17F is a schematic diagram of the principle of drainage of filtered water inside a base station body according to an embodiment of the present disclosure;

[0143] FIG17G is a schematic diagram of a component arrangement of an airflow channel inside a base station body according to an embodiment of the present disclosure;

[0144] FIG17H is a schematic diagram of a component arrangement of an airflow channel inside a base station body according to an embodiment of the present disclosure;

[0145] FIG18A1 is a schematic diagram of an embodiment of a cleaning device provided by the present disclosure located on a base station body;

[0146] FIG18A2 is a schematic diagram of an embodiment of a cleaning device provided by the present disclosure located on a base station body;

[0147] FIG18B is a schematic diagram of an embodiment of a cleaning device provided by the present disclosure located on a base station body;

[0148] FIG18C is a schematic diagram of an embodiment of a cleaning device provided by the present disclosure located on a base station body;

[0149] FIG18D is a schematic diagram of an embodiment of a cleaning device provided by the present disclosure located on a base station body;

[0150] FIG19A is a schematic diagram of an embodiment of a cleaning device provided by the present disclosure located on a base station body;

[0151] FIG19B is a schematic diagram of an embodiment of a cleaning device provided by the present disclosure located on a base station body;

[0152] FIG20A is a schematic diagram of the structure of the first embodiment of the base station of the present disclosure after the dust box and the second agent spreading assembly explode;

[0153] FIG20B is a schematic structural diagram of a second embodiment of a base station disclosed herein;

[0154] FIG21A is a schematic diagram of an embodiment of a base station of the present disclosure with some structures removed;

[0155] FIG21B is a schematic diagram of a third accommodation cavity in an embodiment of a base station disclosed herein;

[0156] FIG21C is a schematic diagram of a partial structure of an embodiment of the transmission device in FIG21B;

[0157] FIG21D is a schematic diagram of a base station according to an embodiment of the present disclosure with some structures removed;

[0158] FIG22A is a schematic diagram of the structure of the third embodiment of the base station of the present disclosure after the dust box and the second agent spreading assembly explode;

[0159] FIG22B is a schematic diagram of an embodiment of a base station of the present disclosure with some structures removed;

[0160] FIG22C is a schematic diagram of the internal structure of the base station body in FIG22B;

[0161] FIG22D is a schematic diagram of an embodiment of a base station of the present disclosure with some structures removed;

[0162] FIG22E is a schematic diagram of a base station embodiment of the present disclosure with some structures removed; [0162.1] [Corrected 22.05.2025 according to Rule 91] Figure 23A is a schematic diagram of the structure of the water quality detection assembly of the present disclosure; [0162.2] [Corrected 22.05.2025 according to Rule 91] Figure 23B is a schematic diagram of a portion of the water quality detection assembly in Figure 23A; [0162.3] [Corrected 22.05.2025 according to Rule 91] Figure 23C is a schematic diagram of the partial structure of the water quality detection assembly in Figure 23B; [0162.4] [Corrected 22.05.2025 according to Rule 91] Figure 23D is a schematic diagram of the partial structure of the water quality detection assembly in Figure 23B; [0162.5] [Corrected 22.05.2025 according to Rule 91] Figure 23E is a schematic diagram of the partial structure of the water quality detection assembly in Figure 23B; [0162.6] [Corrected 22.05.2025 according to Rule 91] Figure 24A is a schematic diagram of an embodiment of a cleaning device provided by the present disclosure that moves from a horizontal surface toward a slope; [0162.7] [Corrected 22.05.2025 according to Rule 91] FIG24B is a schematic diagram of an embodiment of a cleaning device provided by the present disclosure moving from a slope to a horizontal surface;

[0163] FIG25A is a schematic structural diagram of an embodiment of a main cleaning assembly;

[0164] FIG25B is a schematic structural diagram of an embodiment of a main cleaning assembly;

[0165] FIG25C is an exploded view of the structure of an embodiment of a main cleaning assembly;

[0166] FIG25D is a schematic cross-sectional view of an embodiment of a main cleaning assembly;

[0167] FIG25E is a partial structural diagram of an embodiment of a main cleaning assembly;

[0168] FIG25F is an exploded view of a partial structure of an embodiment of a main cleaning assembly;

[0169] FIG26A is a partial structural diagram of an embodiment of a main cleaning assembly;

[0170] FIG26B is a schematic diagram of a partial structure of an embodiment of a main cleaning component;

[0171] FIG27 is a partial structural diagram of an embodiment of a main cleaning assembly;

[0172] FIG28 is a schematic structural diagram of an embodiment of a third auxiliary cleaning component provided on a cleaning device body;

[0173] FIG29A is a schematic cross-sectional view of an embodiment of a walking mechanism;

[0174] FIG29B is a partial cross-sectional schematic diagram of an embodiment of a walking mechanism;

[0175] Figure numbers: 1, cleaning system; 1000, cleaning device; 1001, first body / cleaning device body; 10011, front; 10011a, first wall; 10011b, second wall; 10012, rear; 10013, first accommodating chamber; 10013a, second liquid discharge port; 10013b, third liquid discharge port; 10013c, third baffle; 10014, second accommodating chamber; 10014a, first sub-cavity; 10014b, second sub-cavity; 10014d, third cavity; 10015, concave cavity; 10016, sixth cover; 10017, liquid inlet for water quality detection; 1015, cover; 1033, fourth opening; 1016-reagent compartment; 1017 , first water inlet pipe; 1018, first dust bin cover; 105, first liquid discharge port; 1019, eleventh protrusion; 1019a, fifth inclined surface; 1010, first docking assembly; 1011, first connecting member; 10111, locking member; 10112, limiting groove; 10112a, first groove wall; 10112b, second groove wall; 10112c, lock entrance; 10112a1, first guide slope; 10112b1, second guide slope; 10113, elastic lock; 1020, charging receiver; 1021, fourth groove; 1030, liquid inlet; 1031, first water inlet; 1032, second water inlet; 1033, seventh opening; 1034, first air inlet; 10 35. Eighth opening; 1040. Liquid outlet; 1041. First water outlet; 10411. First sub-drainage outlet; 10412. Second sub-drainage outlet; 1041a. First sub-drainage outlet; 1041b. Second sub-drainage outlet; 1042. Guide mechanism / first guide mechanism; 10421. First guide plate; 10421a. First end; 10421b. Second end; 10421c. Transmission hole; 10421d. Shaft hole; 10421e. First section of first guide plate; 10421f. Second section of first guide plate; 10422. Second guide plate; 10422a. Third end; 10422b. Fourth end; 10422e. First section of second guide plate; 10422f. Second guide plate Second section of the plate; 10423, sixth motor; 10424, first bevel gear; 10425, second bevel gear; 10426, first cylindrical gear; 10427, second cylindrical gear; 10427a, second transmission shaft; 10428, third bevel gear; 10429, fourth bevel gear; 10430, third cylindrical gear; 10431, fourth cylindrical gear; 10432, circular transmission member; 10432a, second arc-shaped waist hole; 10432b, second rotating shaft; 10432c, third transmission shaft; 10433, plate-shaped transmission member; 10433a, second arc-shaped waist hole; 10433b, third rotating shaft; 10434, seventh motor; 1050, first filter assembly;1051, first filter box (first dust box); 10511, dust box water inlet; 10511a - first inlet; 10511b - second inlet; 10511c, first baffle; 10511d, second baffle; 10511e, second raised portion; 10511f, fifth baffle; 10511f1, seventh inclined surface; 10511f2, ninth inclined surface; 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; 10512a, inner frame; 10512b, outer frame; 10513, first clearance area; 1051 4. Second clearance area; 10513. Diversion port; 10514. Covering member; 10515. Adjusting member; 10516. Vibrator mounting portion; 10517. First bottom plate; 10518. Transition arc surface; 10519. Limiting portion; 10520. Bushing; 10521. Shaft; 10522. First gear; 10523. First protrusion; 1052. First dust bin; 1053. First sterilizer; 10541. First clearance area; 10542. Second clearance area; 1051f. First frame; 1051g. First filter; 1051h. Thickened end; 1051i. Eighth protrusion; 1051j. First stop; 1051k. First fixing member; 1051m. Fifteenth opening 1051n, third position-limiting portion; 1051p, long side plane; 1051q, short side plane; 1051r, seventh protrusion; 1051s, second position-limiting portion; 1051t, third elastic member; 1051u, first moving block; 1051u1, fifth groove; 1051u2, sixth inclined surface; 1051u3, eighth inclined surface; 1051v, eighth groove; 1051w, ninth protrusion; 1051x, tenth protrusion; 1051y, third cover plate; 1051y1, first notch; 1051z, third through hole; 1051z1, fourth inclined surface; 1051z2, second platform; 1054, sixth opening; 10550, vibration mechanism; 1055, dust box bottom cover driving member; 1055a, dust box bottom cover drive motor; 1055b, third gear; 1055c, fourth gear; 1056, vibrator; 1056a, vibration motor; 1056b, receiving coil; 1057, bottom opening; 10517a, first sub-bottom plate; 10517b, second sub-bottom plate; 1058, second drive assembly; 1058a, first stepper motor; 1058b, first transmission shaft; 1058c, first position limiter; 10517c, first enclosure; 10517d, first wall; 10517e, second wall; 10517f, third wall; 10517g, ninth groove; 1059, fifth elastic member; 1060, suction assembly; 1061, main water pump; 10611, main motor;10612, main impeller; 1070, travel propulsion mechanism; 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 member; 115, lateral propulsion assembly; 115a, lateral flow channel; 115b, lateral motor; 115c, lateral impeller; 115d, first opening; 115e, second opening; 1073, first wheel; 1074, second wheel; 1074a, first shaft hole; 1075, fixed shaft; 1076, sixth elastic member; 1080, circulating water inlet; 1090, underwater pipeline Components; 1100, mode switching component; 1101, float chamber; 1101a, first portion of the float chamber; 1101b, second portion of the float chamber; 1103, air inlet; 113, first injection port; 115, lateral propulsion assembly; 119, exhaust port; 1110, control system; 1120, identification component / detection component; 1121, first sub-identification component / first sub-detection component; 1122, second sub-identification component / second sub-detection component; 1123, visual identification component / visual detection component; 11231, camera body; 11232, fill light component; 11233, light shielding component; 1123a, first sub-visual detection component; 1123b, second visual detection component; 1124, landform detection component; 1125 , ranging sensor; 1130, auxiliary cleaning component; 1131, first auxiliary cleaning component; 11311, side brush; 1132, second auxiliary cleaning component; 11321, water spray component; 1133, third auxiliary cleaning component; 1140, anti-collision component; 1150, first agent spreading component; 1151, first agent storage component; 11511, first agent opening; 1152, first spreading drive component; 1153, agent dosage detection component; 1154, control component; 1153, first agent outlet; 1160, water quality detection component; 11601, detection box; 116011, sixth accommodating chamber; 116012, seventh accommodating chamber; 116021-light emitting component; 116022, light receiving 116023, first mounting base; 11602, second accommodating box; 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; 1171, first running wheel; 1172, second running wheel; 1173, annular area; 1174, outer cover; 1200, main cleaning assembly; 1201, first cleaning member; 1202, third connecting member; 1202a, first connecting rod;1202b, second connecting rod; 1202c, counterweight; 12031, first roller; 12032, second roller; 12041, first universal joint; 12041a, tenth groove; 12041b, eleventh groove; 12041c, twelfth groove; 12041d, thirteenth groove; 12042, second universal joint; 12051, fourth transmission shaft; 12051a, twelfth protrusion; 12051b, thirteenth protrusion; 12052, fifth transmission shaft; 12053, sixth transmission shaft; 12053a, fourteenth protrusion; 12053b, fifteenth protrusion; 12061, first cleaning body; 12062, second cleaning body; 12063, blade; 1207, first Second fixing seat; 1208, eighth motor; 1209, connecting plate; 1210, sealing sleeve; 1211, elastic support member; 1211a, support shaft; 1211b, elastic connector; 1300, self-cleaning sewage outlet; 1400, battery pack; 1500, handle; 1600, first handle; 1601, first ring; 1602, fourth through hole; 1603, second channel; 1604, third ring; 1605, first sleeve; 1606, seventeenth protrusion; 1607, sixth groove; 1608, seventh groove; 1609, second handle; 1700, third magnetic member; 1701, fourth magnetic member; 1701a, first sub-magnetic member; 1701b, second sub-magnetic member; 1702, sixteenth 1800, first filter box cover; 1801, eighteenth raised portion; 1802, second ring; 1803, tenth groove; 1804, first sealing ring; 1805, second sealing ring; 1806, first lock; 1807, nineteenth raised portion; 200, liquid level; 201, water line; 2000, carrier assembly / base station; 20001, base station body; 20001a, fifth side; 20001b, sixth side; 20001c, seventh side; 20001d, eighth side; 20002, base station water pump; 20002a, second motor; 20002b, second impeller; 20003, sixth baffle; 20004, first docking surface; 20005, second upper cover; 200051, first 11th opening; 200052, 12th opening; 20006, 8th accommodating chamber; 20007, 3rd accommodating box; 20007a, 3rd water inlet; 20007b, 3rd water outlet; 20008, 10th opening; 20009, suction channel; 200010, drainage channel; 200011, 4th accommodating chamber; 200012, 5th accommodating chamber; 200013, mounting plate; 200014, one-way valve; 200015, 10th accommodating chamber; 200016, 11th accommodating chamber; 200017, 12th accommodating chamber; 200018, rest surface; 200019, 14th opening; 200020, air outlet; 200021, 4th cover plate; 200022, 5th cover plate;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, bearing member; 2040a, first transverse end; 2040b, second transverse end; 20401, first plate; 20402, bearing member body; 2041, first end; 2042, second end; 20421, third guide mechanism; 20421a, baffle / third guide plate; 2043, bearing surface; 20431, anti-slip portion; 20432, first upper surface; 20433, first through hole; 20434, second through hole; 2044, first bearing member; 20441, first bearing surface; 2045, second bearing member; 20451, second bearing surface; 2047, second groove; 2048, sixth protrusion; 2050, support member; 2051, accommodating portion; 2052, accommodating groove; 2054, third accommodating cavity; 20541, first inclined surface; 20542, second inclined surface; 20543, third inclined surface; 20544, thirteenth opening; 2055, fourth opening; 2056, ninth opening; 2057, third protrusion; 2058, rotating platform; 2060, driving assembly; 2061, rotating shaft; 2062, driving member; 2063, gear shaft; 2064, fifth gear; 2065, Sixth gear; 2066, worm wheel; 2067, worm; 2090, charging assembly; 2091, charging member; 2092, elastic member / first elastic member; 2093, elastic support assembly; 2094, support roller; 2095, second elastic member; 2096, first seat; 2100, self-cleaning sewage inlet; 2101, air outlet; 2102, first heating member; 2103, first fan; 2104, second fan; 2105, second sterilizer; 2106, second heating member; 2107, first condenser; 2108, second condenser; 2109, baffle; 2110, second filter assembly; 21101, third inlet; 21102, second dust box / second filter box; 21103, first Third filter assembly; 211031, filter sponge; 2111, third handle; 2112, second frame; 2113, third platform; 2114, first handle; 2115, in-place detection mechanism; 2120, self-cleaning drain outlet; 2121, fifth waterway; 2122, sixth waterway; 2123, fourth waterway; 2124, third power assembly; 2130, pool control assembly; 2131, water circulation system; 21311, automatic water spreading assembly; 21312, water filling port; 21313, medicine outlet; 2140, assembly 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; 2163, first container; 2164, third agent opening; 2165, third pipeline; 2166, fourth pipeline; 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 Arm; 2177, fifth pipeline; 2190, first sealing box / second electric control box; 2200, drainage channel; 2201, first transition part; 22011, first connecting part; 2202, second connecting port; 2300, clean water tank; 2301, sewage tank; 2302, first guide part; 2400, button; 2401, first roller brush; 2600, protective shell; 2601, sun visor; 2602a, first support plate; 2602b, second support plate; 2602c, third support plate; 2603 plug-in column; 2 604, plug-in slot; 2605, first ridge; 2606, second ridge; 2607, fourth handle; 2608, first boss; 2609, second boss; 2610, third boss; 2611, boss; 2612, hollow portion; 2700, height adjustment assembly; 2701, support column; 2702, support plate; 2800, drying assembly; 2801, fan; 2802, nozzle; 2900, positioning mark; 3000, connection control assembly; 3010, first magnetic control assembly; 301 1. 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, induction assembly; 5000, first terminal device; 6000, first electrical control box.

[0176] The present disclosure provides a cleaning system, which includes a cleaning device and a bearing assembly, which may also be called 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 may be an area containing a water body where the cleaning device 1000 moves. The target area may include, but is not limited to, a swimming pool, a pool, an oil well, a sewer, etc. The following description will be made using the target area as a pool as an example. The cleaning device 1000 is suitable for operating in the water of the pool, and the cleaning device 1000 is at least capable of moving on at least one of the water surface, underwater and pool wall of the pool. For a pool, the pool includes at least a pool bottom and a pool wall, wherein the pool wall can also be described as a wall or the side wall of the pool.

[0177] The term "underwater motion in a pool" refers to the motion of the cleaning equipment below the surface of the pool. For example, the cleaning equipment may move on the bottom of the pool, or the cleaning equipment may move below the surface of the pool but without the bottom of the cleaning equipment touching the bottom of the pool. This means that the cleaning equipment may be suspended in the water and move without the bottom of the cleaning equipment touching the bottom of the pool. Pool wall motion refers to the motion of the cleaning equipment on the pool wall or wall. Pool surface motion refers to the motion of the cleaning equipment on the water surface, with at least part of the cleaning equipment located above and at least part of it located below the water surface. Alternatively, the cleaning equipment may float on the water surface but rely on a driving force to move on the water surface.

[0178] For example, a pool robot cleaning device may be powered by a built-in rechargeable battery or by an external cable. If the pool robot has bottom and wall motion, it can clean the bottom and walls of the pool. If the pool robot has underwater motion, wall motion, and surface motion, it can clean the bottom, walls, and surface of the pool.

[0179] The existing swimming pool robot includes a cleaning device body 1001, which, for ease of description, is referred to as a first body. The first body is provided with at least one liquid inlet 1030, at least one first filter assembly 1050, at least one liquid outlet 1040, and at least one suction assembly 1060. For example, the liquid outlet 1040 includes a first water outlet, at least a portion of which is located on the top of the first body.

[0180] The first filter assembly at least includes a first dust box (ie, a first filter box), which is used to filter the liquid entering the first filter box and collect the garbage carried in the liquid in the first filter box.

[0181] The first body includes at least a first accommodating chamber, within which a first filter cartridge is disposed. A liquid inlet 1030 serves as an inlet for liquid from the water supply pool to enter the first body. When the pool robot is moving underwater, along the pool wall, or on the water surface, the suction assembly draws the liquid from the pool through the liquid inlet into the first filter cartridge, where it filters the liquid. The filtered liquid passes through the suction assembly and is ultimately discharged from the first body through the liquid outlet. Any waste carried by the liquid is collected in the first filter cartridge, thereby cleaning the liquid in the pool. For example, in some embodiments, the suction assembly includes a main water pump.

[0182] When existing pool robots are performing or completing a cleaning task in the water, if the first filter box is filled with garbage or the amount of garbage reaches a preset amount, the garbage in the first filter box needs to be cleaned. At this time, the user needs to manually pull the pool robot out of the pool, remove the first filter box from the first body, and dump the garbage in the first filter box. If some garbage adheres to the inner wall of the first filter box and is difficult to dump out, the user needs to manually clean the garbage attached to the inner wall of the first filter box. Therefore, the garbage in the first filter box of existing pool robots can only be cleaned manually by the user, and it is not easy to clean it thoroughly.

[0183] To address the issue of requiring manual user cleaning of debris within a pool robot's first filter cartridge, the present disclosure provides a base station comprising a carrier and a base station body. The base station, also known as a carrier assembly, and the base station body, also known as a support member, are provided with a third cleaning assembly capable of automatically cleaning debris within the pool robot's first filter cartridge. The base station body is located on the bank of the pool. When the pool robot is operating in a pool and needs to clean debris within the first filter cartridge, the user does not need to manually retrieve the pool robot from the pool. Instead, the pool robot first uses the carrier to exit the pool's surface and automatically lands on the resting surface 20018 of the base station body. At this point, the third cleaning assembly automatically removes the debris from the first filter cartridge and transfers it to the base station body, completing the task of cleaning the first filter cartridge. This allows the pool robot to land and clean the first filter cartridge without user intervention, resulting in improved cleaning results.

[0184] As for the resting surface 20018, in one embodiment, the resting surface 20018 can be the top surface of the base station body. In another embodiment, the base station includes a twelfth accommodating cavity, and the second accommodating cavity has the resting surface 20018, wherein the twelfth accommodating cavity can be a cavity with an opening on one side, or a cavity with openings on at least two sides, or a cavity with openings on at least three sides.

[0185] For example, the base station includes a base station body and a protective shell provided on the base station body, with a twelfth accommodating cavity formed between the protective shell and the base station body. The twelfth accommodating cavity has at least one opening close to the supporting member, so that the swimming pool robot can return from the supporting surface 2043 through this opening to the twelfth accommodating cavity, that is, the top surface of the base station body serves as the resting surface 20018. For another example, the twelfth accommodating cavity is provided on the base station body, and the bottom surface of the twelfth accommodating cavity serves as the resting surface 20018, that is, the resting surface 20018 is not the top surface of the base station body. The so-called resting surface 20018 refers to the surface on which the swimming pool robot can rest after returning to the base station body. The resting surface 20018 can be a flat surface, a curved surface, an inclined surface, etc. The swimming pool robot can rest in the twelfth accommodating cavity or on the surface of the base station body.

[0186] The so-called automatic landing and return of the cleaning equipment (i.e., the pool robot) to the base station means that the pool robot first returns to the carrying surface 2043 from the water, the water surface, or the pool wall, and then the pool robot walks on the carrying surface 2043 to automatically walk back to the third preset position (i.e., the docking position or stop position) on the resting surface 20018 of the base station body.

[0187] Furthermore, once the garbage in the first filter box of the pool robot is cleared, the pool robot can automatically move onto the carrier and then, with the help of the carrier, automatically enter the pool, thus realizing the automatic entry function of the pool robot. That is, the user does not need to manually intervene during the process of the pool robot getting on and off the water.

[0188] Among them, for the user's pool, the pool is generally built indoors or outdoors. Some pools have a first outer edge that is circled or partially extended outward on the top edge. The periphery of the first outer edge is the first ground indoors or outdoors. For this type of pool, the shore of the pool includes the first outer edge and the first ground located around the first outer edge. Then the base station body is located on the shore of the pool, which means that the base station body is located on the first outer edge; or, at least part of the base station body is located on the first outer edge, and at least part of it is suspended above the water surface of the pool; or, part of the base station body is located on the first outer edge, and part of it is located on the first ground; or, at least part of the base station body is suspended above the water surface of the pool, part of it is located on the first outer edge, and part of it is located on the first ground; or the entire base station body is located on the first ground. If the top edge of the pool is not provided with a first outer edge, the outer periphery of the top edge is the first ground. For this type of pool, the bank of the pool includes the first ground. Then, the base station body being located on the bank of the pool means that the base station body is located on the first ground; or, at least partially located on the first ground and at least partially suspended above the water surface of the pool.

[0189] The garbage in the first filter box can be transferred to the base station body under the action of gravity; or the garbage in the first filter box can be transferred to the base station body under the action of suction force. Alternatively, the garbage in the first filter box can be transferred to the base station body under the combined action of gravity and suction force.

[0190] In some embodiments, in order to receive or accommodate the garbage discharged from the first filter box, the base station body further includes at least a third accommodating chamber, and the third accommodating chamber is used to receive the garbage transferred from the first filter box. In order to transfer the garbage in the first filter box to the third accommodating chamber, the swimming pool robot includes at least a self-cleaning sewage outlet, and the base station body is provided with a self-cleaning sewage inlet connected to the third accommodating chamber. The swimming pool robot automatically returns to the base station body, and when the self-cleaning sewage outlet and the self-cleaning sewage inlet are docked, the garbage in the first filter box can be transferred from the self-cleaning sewage outlet and the self-cleaning sewage inlet to the third accommodating chamber. The docking of the self-cleaning sewage outlet and the self-cleaning sewage inlet means that the self-cleaning sewage outlet and the self-cleaning sewage inlet are connected, and the two can be directly or indirectly connected. As long as the two are connected, the garbage in the first filter box can enter the third accommodating chamber.

[0191] In some embodiments, the third cleaning component includes at least one first nozzle, which provides liquid to the first filter box to flush out the garbage in the first filter box and the garbage attached to the wall of the first filter box, thereby cleaning the garbage in the first filter box.

[0192] There are at least two technical routes for cleaning the first filter box by using liquid sprayed by the first nozzle. The first technical route is: the first filter box is kept in the first accommodating chamber of the swimming pool robot, and the first nozzle is used to rinse the first filter box; the second technical route is: the first filter box can move in the height direction of the swimming pool robot so that at least part or all of the first filter box is exposed or extended from inside and outside the first accommodating chamber, and the first nozzle is used to rinse the extended part of the first filter box.

[0193] Among them, under the first technical route, there are at least three ways for the first nozzle to clean the first filter box. The first way is: the first nozzle extends into the first filter box and sprays the solution into the first filter box; the second way is: the first nozzle is located outside the first filter box, and the first nozzle is used to spray liquid from the outside of the first filter toward the inside of the first filter box to flush the garbage in the first filter box; the third way is: the first cleaning component includes at least two first nozzles, wherein one first nozzle extends into the first filter box and sprays the solution into the first filter box; the other first nozzle is located outside the first filter box, and is used to spray liquid from the outside of the first filter box toward the inside thereof to flush the garbage in the first filter box.

[0194] Under the first technical approach, a self-cleaning liquid inlet is required on the pool robot to facilitate the first nozzle's insertion into the first filter cartridge, or into the first accommodating chamber and positioned outside the first filter cartridge. If the first method is used to clean the first filter cartridge, it is sufficient to provide a self-cleaning liquid inlet on the pool robot, allowing the first nozzle to pass through the self-cleaning liquid inlet and into the first filter cartridge. There is no need to provide a separate accommodating space for the first nozzle within the first body, thereby enabling the cleaning of the first filter cartridge of existing pool robots. When the first nozzle is a rotating nozzle, it rotates within the first filter cartridge, spraying liquid onto each sidewall and bottom wall within the first filter cartridge, thereby comprehensively cleaning the sidewalls and bottom wall of the first filter cartridge. In other words, by providing a rotatable first nozzle, it is possible to clean the different sidewalls and bottom walls of the first filter cartridge. If the second method is used to clean the first filter box, since the first nozzle is located outside the first filter box and liquid is sprayed from the outside to the inside of the first filter box, the swimming pool robot not only needs to be provided with a self-cleaning liquid inlet for the first nozzle to extend into the first accommodating cavity, but also needs to form a reserved space between the outside of the first filter box and the first accommodating cavity to accommodate the first nozzle. In addition, in order to clean different side walls of the first filter box, regardless of whether the first nozzle is a rotating nozzle, multiple first nozzles need to be provided on the periphery of the first filter box. The multiple first nozzles spray liquid on different outer walls of the first filter box in different directions to achieve cleaning of different side walls and the bottom wall of the first filter box, which causes large structural changes to the swimming pool robot, and the size of the first main body will be larger, resulting in the structure of the swimming pool robot being not compact enough and the cost of providing multiple first nozzles also increasing.

[0195] Under the second technical approach, at least a portion of the first filter cartridge extends outside the first accommodating cavity. For ease of description, the portion of the first filter cartridge extending outside the first accommodating cavity is referred to as a first extension. The first nozzle sprays liquid onto the first extension to flush out the debris within the first filter cartridge. In other words, the first filter cartridge has two states. When the pool robot is performing cleaning, the first filter cartridge is located within the first accommodating cavity and is in the first state. When the pool robot returns to the base station body and needs to clean the first filter cartridge, the first filter cartridge moves relative to the first accommodating cavity in the height direction of the pool robot so that the first extension of the first filter cartridge extends outside the first accommodating cavity, facilitating flushing of the first extension by the first nozzle. The first filter cartridge is in the second state.

[0196] Among them, under the second technical route, since the first extension part of the first filter box extends out of the first main body, when the third cleaning component cleans the first filter box, there is no need to set a self-cleaning liquid inlet on the swimming pool robot, and the first nozzle can be set on the base station body.

[0197] In order to facilitate the first filter box to extend out of the first accommodating cavity, in the first method, a take-in and put-out port is provided on the top of the first main body for the first filter box to be taken out of or placed into the first accommodating cavity. When the swimming pool robot returns to the base station body and needs to clean the first filter box, the first filter box makes an upward movement in the height direction of the swimming pool robot to extend out of the take-in and put-out port, so that the first extension part of the first filter box is located outside the take-in and put-out port, and the first nozzle on the base station body can be extended into the first extension part to spray liquid into the first filter box; or, the first nozzle is located outside the first extension part, and sprays liquid from the outside of the first extension part toward the inside thereof to flush garbage in the first filter box, and the flushing liquid and garbage flow into the third accommodating cavity together.

[0198] In the second method, an opening is provided on the bottom of the first main body, and the first filter box is at the height direction of the swimming pool robot. The first filter box makes a downward movement so that the first extension part extends out of the first accommodating cavity through the opening and extends into the third accommodating cavity. At least one or at least two or more first nozzles are provided in the third accommodating cavity and are located on the outer periphery of the first extension part. The first nozzle sprays liquid toward the first extension part, and the liquid flows from the outer side of the first extension part to the inner side of the first extension part to flush the side wall of the first filter box, and the flushed solution directly flows into the third accommodating cavity.

[0199] When the first filter box moves in the height direction of the pool robot, the first filter box may be fully extended out of the first accommodating cavity, or the first filter box may be partially extended out of the first accommodating cavity. However, in order to facilitate the first filter box to automatically return to the first accommodating cavity after cleaning, in some embodiments, the first filter box is not fully extended out of the first accommodating cavity, but only partially extended out of the first accommodating cavity. The first filter box is not completely separated from the first accommodating cavity, so that the first filter box can be moved again to return to the first accommodating cavity after cleaning.

[0200] The cleaning of the first filter box by the first nozzle can also be a combination of the two aforementioned technical routes. For the convenience of expression, the first nozzle under the first technical route is expressed as the first sub-nozzle; the first nozzle under the second technical route is expressed as the second sub-nozzle. For example, under the first technical route, the first sub-nozzle extends into the first filter box and sprays liquid toward the first filter box to form a first cleaning mode; under the second technical route, the first filter box can at least partially extend out of the first accommodating cavity by an upward or downward movement relative to the first accommodating cavity, and the second sub-nozzle is located outside the first filter box. The second sub-nozzle rinses the first filter box from the outside of the first filter box toward its inside to form a second cleaning mode.

[0201] In the first cleaning mode, the first sub-nozzle sprays liquid within the first filter cartridge, and at least a portion of the sprayed liquid flows from the first filter cartridge toward the outside of the first filter cartridge. The direction of the portion of liquid sprayed by the first sub-nozzle is opposite to the direction of the liquid sprayed by the second sub-nozzle. Therefore, the first and second cleaning modes are generally not activated simultaneously. Typically, the first or second cleaning mode is activated first, followed by the second or first cleaning mode. For example, in the first cleaning mode, the first sub-nozzle cleans debris from the first filter cartridge. If the first cleaning mode does not completely clean the first filter cartridge, or if debris is attached or stuck to the pores of the filter screen of the first filter cartridge, the first cleaning mode is deactivated and the second cleaning mode is activated to further clean the debris attached or stuck to the first filter cartridge, further ensuring that the first filter cartridge is completely clean. Alternatively, after the first cleaning mode has been used for a preset number of times, the first cleaning mode is deactivated and the second cleaning mode is activated by default, i.e., the second cleaning mode is activated after every n times the first cleaning mode is used, where n ≥ 1. For example, when n=1, the number of times of the first cleaning mode and the second cleaning mode corresponds one to one; when n>1, for example, n=2, the second cleaning mode is started once after every two times of the first cleaning mode.

[0202] In the first cleaning mode, cleaning once means the pool robot automatically comes ashore once, returns to the base station, and activates the first nozzle once or multiple times to clean the first filter box. In the first cleaning mode, cleaning multiple times means the pool robot automatically comes ashore multiple times, each time returning to the base station, or at least twice, the first nozzle cleans the first filter box. In the second cleaning mode, cleaning once means the second nozzle activates once or multiple times.

[0203] Regarding the liquid inlet portion of a pool robot, if the liquid inlet portion includes at least a first water inlet, the first water inlet is connected to a first filter cartridge to allow liquid within the pool to enter the first filter cartridge. For example, the first water inlet can be located at the bottom of the first body. When the pool robot moves along the pool bottom or walls, the liquid within the pool enters the first filter cartridge through the first water inlet and is filtered and cleaned, thereby cleaning the pool bottom and walls. If the pool robot is provided with only the first water inlet, the pool robot can clean both the pool bottom and walls. For ease of description, this type of pool robot is referred to as a first-category pool robot.

[0204] In some embodiments, a pool robot includes a first end and a second end, wherein the first end includes the first end of a first body, the first end of a running mechanism (described below), and a first cleaning member 1201 (described below) located between the first ends of the two running mechanisms. In other words, the first body corresponds to the housing of the pool robot. The running mechanism and the first cleaning member are mounted on the housing, but the tracks or wheels of the first cleaning member and the running mechanism are exposed outside the first body. For example, the running mechanism includes a first running wheel, a second running wheel, and a track wound around the outer circumferences of the first and second running wheels. The track includes two arcuate segments wound around the first and second running wheels, respectively, and a straight segment 1172 located between the two arcuate segments 1171. One arcuate segment 1171 serves as the front end of the running mechanism, the other arcuate segment 1171 serves as the rear end of the running mechanism, and the straight segment 1172 serves as the bottom surface of the running mechanism and also serves as the running surface of the running mechanism.

[0205] In some embodiments, the liquid inlet includes, in addition to the first water inlet, a second water inlet, which is also connected to the first filter cartridge and is used to supply liquid from the pool to the first filter cartridge. At least a portion of the second water inlet can be located at the upper front or rear portion of the first body. For example, the second water inlet can be located on the front sidewall of the first body, closer to the top of the first body than to the bottom of the first body; or, the second water inlet can be located on the rear sidewall of the first body, closer to the top of the first body than to the bottom of the first body. Alternatively, the second water inlet can be located on the front or rear sidewall of the first body, and at a height higher than the first water inlet in the pool robot's direction. When the pool robot navigates the water surface, liquid on the water surface enters the first filter cartridge through the second water inlet and is filtered. The filtered liquid is then discharged from the first body through the liquid outlet, thereby cleaning the water surface. This means that the pool robot is capable of cleaning the pool bottom, walls, and water surface. For ease of description, this type of pool robot is referred to as a second-class pool robot.

[0206] In other embodiments, the liquid inlet portion includes only a second water inlet, but does not include the first water inlet. The second water inlet is also connected to the first filter cartridge to allow liquid from the water surface to enter the first filter cartridge. At least a portion of the second water inlet can be located at the front or rear of the first body. When the pool robot travels on the water surface, liquid in the pool enters the first filter cartridge through the second water inlet and is filtered. The filtered liquid is then discharged from the first body through the liquid outlet, thereby cleaning the water surface. In other words, this pool robot can only clean the pool surface. For ease of description, this type of pool robot is referred to as a third type of pool robot.

[0207] As for the self-cleaning liquid inlet, its main function is to allow at least part of the first nozzle to extend into the first filter box, or extend into the first accommodating cavity and be located outside the first filter box, so that the liquid sprayed by the first nozzle can enter the first filter box to flush the garbage in the first filter box. In some embodiments, the self-cleaning liquid inlet can be independent of the first water inlet and the second water inlet of the aforementioned liquid inlet part, and be separately provided on the first main body, connected to the inner cavity of the first filter box, so that the first nozzle extends into the first filter box; or, connected to the first accommodating cavity, so that the first nozzle extends into the first accommodating cavity and is located outside the first filter box. Alternatively, the self-cleaning liquid inlet is not separately provided on the first main body, but the first water inlet or the second water inlet of the aforementioned liquid inlet part is used as the self-cleaning liquid inlet. For example, under the aforementioned first technical route, the first nozzle extends into the first filter box to spray liquid to flush the garbage inside the first filter box. Since the first water inlet and the second water inlet themselves are connected to the inner cavity of the first filter box, the first nozzle can directly extend into the first filter box through the first water inlet or the second water inlet to spray liquid into the first filter box.

[0208] That is: when the swimming pool robot performs cleaning work, the liquid inlet serves as the entrance for the liquid in the pool to flow into the first filter box; when the first nozzle on the base station body of the swimming pool robot returns to the base station, the liquid inlet serves as the first nozzle extending into the opening in the first filter box, so that the swimming pool robot does not need to be separately provided with a self-cleaning liquid inlet, and the first nozzle can clean the first filter box.

[0209] As for the self-cleaning sewage outlet, its main function is to discharge the garbage in the first filter box out of the first main body. The self-cleaning sewage outlet is connected to the inner cavity of the first filter box. In order to discharge the garbage in the first filter box out of the first filter box, a sixth opening is provided on the first filter box. The self-cleaning sewage outlet can be a first water inlet or a second water inlet independent of the aforementioned liquid inlet portion, which is provided on the first main body. The sixth opening is connected to the self-cleaning sewage outlet, so that the garbage in the first filter box is discharged out of the first main body through the sixth opening and the self-cleaning sewage outlet in sequence. Alternatively, the self-cleaning sewage outlet is provided on the first filter box, the self-cleaning sewage outlet is connected to the outside world, and the garbage in the first filter box is directly discharged through the self-cleaning sewage outlet.

[0210] Alternatively, because one end of the first or second water inlet is connected to the inner cavity of the first filter cartridge and the other end is connected to the exterior of the first main body, the first or second water inlet can serve as a self-cleaning drain, eliminating the need for a separate self-cleaning drain on the pool robot. Specifically, the first or second water inlet of the liquid inlet portion is used to introduce liquid from the pool into the first filter cartridge during cleaning operations; while the first nozzle is cleaning the first filter cartridge, the first or second water inlet is used to discharge waste from the first filter cartridge, along with liquid sprayed by the first nozzle, out of the first main body.

[0211] If the liquid inlet portion of the pool robot includes a first water inlet and a second water inlet, one of the first water inlet and the second water inlet serves as the aforementioned self-cleaning liquid inlet, and the other serves as the aforementioned self-cleaning sewage outlet. For example, the first water inlet of the pool robot is located at the bottom of the first body, and the second water inlet is located at the upper front portion of the first body. To allow waste in the first filter cartridge to fall out of the first body under the action of gravity, the first water inlet serves as the self-cleaning sewage outlet, and the second water inlet serves as the self-cleaning liquid inlet, allowing the first nozzle to extend into the first filter cartridge; alternatively, the first nozzle extends into the first accommodating cavity and is located outside the first filter cartridge.

[0212] The self-cleaning drain outlet is only open when the first nozzle is cleaning the first filter cartridge. That is, when the pool robot returns to the base station and the first nozzle of the base station is cleaning the first filter cartridge, the self-cleaning drain outlet is open. In all other scenarios, the self-cleaning drain outlet is closed. These scenarios include, but are not limited to, when the pool robot is performing a cleaning task (the self-cleaning drain outlet is independent of the first and second water inlets), when the pool robot automatically returns to the base station after returning from the pool, when the user manually removes the first filter cartridge from the first body, and when the pool robot is cruising in the water. To this end, the pool robot also includes a fifth baffle. The fifth baffle can be located on the self-cleaning drain outlet or on the first channel connecting the self-cleaning drain outlet to the inner cavity of the first filter cartridge. When the fifth baffle is open, waste in the first filter cartridge and liquid sprayed by the first nozzle are discharged from the first body through the self-cleaning drain outlet. When the fifth baffle is closed, waste in the first filter cartridge cannot be discharged from the first body through the self-cleaning drain outlet.

[0213] In the aforementioned embodiment, liquid is sprayed through the first nozzle to flush the first filter box. The liquid after flushing the first filter box flows into the third receiving chamber on the base station body together with the garbage in the first filter box. If the flushing liquid and garbage are both stored in the third receiving chamber, the garbage is more likely to become moldy and smelly if soaked in the liquid for a long time. At the same time, the space for storing liquid in the third receiving chamber is limited, and it is difficult to store a large amount of flushing liquid.

[0214] To this end, in another embodiment, the base station further includes a second filter assembly disposed on the base station body, the second filter assembly including at least a second filter cartridge disposed within the third accommodating chamber; and a self-cleaning drain port disposed on the base station body, the self-cleaning drain port being in communication with the third accommodating chamber. When the first filter cartridge is cleaned, the liquid used to flush the first filter cartridge and the waste within the first filter cartridge flow into the second filter cartridge. After being filtered by the second filter cartridge, the waste remains within the second filter cartridge, and the liquid enters the third accommodating chamber and is discharged outside the base station through the self-cleaning drain port. This facilitates the timely discharge of the liquid within the third accommodating chamber, preventing the waste from being soaked in the liquid for a long time within the third accommodating chamber, causing it to mold and stink.

[0215] In some embodiments, the second filter box is detachably disposed in the third accommodating chamber. For example, the second filter box is removably disposed in the third accommodating chamber, and the second filter box can be pulled out from the side wall or top of the base station body to facilitate cleaning out the garbage collected in the second filter box. When the garbage in the first filter box of the swimming pool robot is transferred to the second filter box, in order to avoid having to clean out the garbage in the second filter box every time the garbage in the first filter box is cleaned, the volume of the second filter box is larger than that of the first filter box. For example, the volume of the second filter box is 2 times, 3 times, 4 times or more times that of the first filter box, so that the second filter box can collect garbage in the first filter box that has been cleaned multiple times.

[0216] For example, if the pool robot returns to the base station n times, the base station cleans the first filter box n or m times. The garbage collected from the first filter box during these n or m cleanings is collected in the second filter box, and the accumulated garbage in the second filter box only needs to be cleaned once. Where n>1, m>1, and n>m (i.e., the base station does not clean the first filter box every time the pool robot returns to the base station), and n and m are both integers. In other words, the base station cleans the first filter box multiple times without user intervention. Only after multiple cleanings is the user required to remove the second filter box and clean out the accumulated garbage, reducing the number of times the user needs to clean the garbage in the second filter box.

[0217] Since the liquid after the first nozzle flushes the first filter box enters the second filter box along with the garbage, the garbage in the second filter box is in a moist state. In addition, the second filter box collects garbage from multiple cleanings of the first filter box. There is a time difference between two adjacent cleanings or multiple cleanings of the first filter box, which causes the garbage in the second filter box to be stored for a long time, and the garbage in the second filter box is prone to mold and stink. To this end, in another embodiment, the base station also includes an air drying module that can provide room temperature air or hot air to dry the garbage collected in the second filter box, thereby preventing the garbage in the second filter box from becoming moldy and smelly, breeding bacteria, and affecting the user experience.

[0218] In some embodiments, the pool robot returns to the base station body. To allow the waste in the first filter box to fall directly into the third receiving chamber of the base station body under the action of gravity, the pool robot returns to the base station body and is positioned above the third receiving chamber of the base station body in the height direction of the base station body, or the pool robot is positioned above the base station body, so that the waste in the first filter box falls into the third receiving chamber under the action of gravity. In addition, the liquid sprayed by the first nozzle into the first filter box can also exert a flushing force on the waste in the first filter box, and this flushing force accelerates the fall of the waste in the first filter box into the third receiving chamber.

[0219] For example, there is a rest surface 20018 on the top of the base station body. When the swimming pool robot returns from the pool to the docking position of the rest surface 20018 of the base station body or the third preset position, it is considered that the swimming pool robot has completed returning to the base station.

[0220] In another embodiment, if the waste in the first filter box is drawn into the third receiving chamber by suction, the pool robot returns to the base station body and can be positioned above the third receiving chamber. In this case, the waste in the first filter box falls into the third receiving chamber due to the combined effects of gravity and suction. Alternatively, the pool robot may not be positioned above the third receiving chamber. For example, when the pool robot returns to the base station body, the third receiving chamber is positioned above the pool robot in the height direction of the base station body; alternatively, the pool robot and the third receiving chamber may be arranged side by side in the length direction of the base station body; alternatively, the pool robot and the third receiving chamber may be arranged side by side in the width direction of the base station body.

[0221] In some embodiments, in order to allow the garbage in the first filter box to flow into the third accommodating chamber, the base station body is provided with the aforementioned self-cleaning sewage inlet. If the swimming pool robot is located above the base station body, the self-cleaning sewage outlet of the swimming pool robot is provided on the bottom of the swimming pool robot, and the self-cleaning sewage inlet is provided on the top of the base station body. When the self-cleaning sewage outlet and the self-cleaning sewage inlet are connected, the garbage in the first filter box falls into the third accommodating chamber through the self-cleaning sewage outlet and the self-cleaning sewage inlet under the action of its gravity.

[0222] In another embodiment, if the pool robot and the third accommodating chamber are arranged side by side in the length direction of the base station body, the self-cleaning sewage outlet and the self-cleaning sewage inlet are respectively arranged on the adjacent side walls of the pool robot and the third accommodating chamber. For example, if the pool robot is located in front of the third accommodating chamber, the self-cleaning sewage outlet is arranged on the rear side wall of the pool robot, and the self-cleaning sewage inlet is arranged on the front side wall of the third accommodating chamber; alternatively, if the pool robot is located below the third accommodating chamber, the self-cleaning sewage outlet is arranged on the top of the pool robot, and the self-cleaning sewage inlet is arranged at the bottom of the third accommodating chamber; alternatively, if the pool robot and the third accommodating chamber are arranged side by side in the width direction of the base station body, the self-cleaning sewage outlet and the self-cleaning sewage inlet are respectively arranged on the adjacent side walls of the pool robot and the third accommodating chamber. For example, if the swimming pool robot is located on the right side of the third accommodating chamber, the self-cleaning sewage outlet is arranged on the left wall of the swimming pool robot, and the self-cleaning sewage inlet is arranged on the right wall of the third accommodating chamber; when the self-cleaning sewage outlet and the self-cleaning sewage inlet are connected, under the action of suction force, the garbage in the first filter box is sucked into the third accommodating chamber.

[0223] In some embodiments, the self-cleaning sewage outlet and the self-cleaning sewage inlet are directly connected to facilitate faster collection of waste in the first filter cartridge into the third receiving chamber. Of course, the self-cleaning sewage outlet and the self-cleaning sewage inlet can also be connected by a pipeline. If the two are not directly connected, the corresponding placement of the self-cleaning sewage outlet and the self-cleaning sewage inlet is not specifically limited.

[0224] In addition, if the first nozzle flushes the garbage in the first filter box, the second method of the second technical route mentioned above is adopted, and the first filter box moves downward, so that the first extension of the first filter box passes through the self-cleaning sewage inlet and extends into the third accommodating cavity.

[0225] For the aforementioned first and second types of swimming pool robots, the swimming pool robot further includes a walking mechanism for driving the first body to walk, so that the swimming pool robot can walk on the bottom and walls of the pool to perform cleaning tasks.

[0226] In some embodiments, there are two running mechanisms, each of which includes at least one of a running wheel and a track. For example, the running mechanism includes at least two running wheels, symmetrically located on either side of the first body, to propel the pool robot. Alternatively, there are four running wheels, two of which are located on one side wall of the first body and two on the other side wall of the first body. Alternatively, the running mechanism includes a first running wheel, a second running wheel, and a track wrapped around the outer circumference of the first and second running wheels.

[0227] The second type of pool robot also includes a floating and diving mechanism. The floating and diving mechanism is used to drive the first body from underwater to the surface, allowing the pool robot to remain on the surface; and to drive the first body from the surface to underwater, allowing the pool robot to remain underwater. In other words, the floating and diving mechanism enables the pool robot to switch between being underwater and being on the surface.

[0228] In some implementations, the floating and diving mechanism includes at least one float chamber, which is used to at least accommodate gas, so as to adjust the posture of the cleaning device running on the bottom, wall or water surface of the pool by adjusting the volume of gas in the float chamber.

[0229] For example, the floating and diving mechanism includes a flotation chamber, which is used to contain gas and / or liquid. When the pool robot needs to float, gas is injected into the flotation chamber, and the volume of the gas in the flotation chamber continuously increases, increasing the buoyancy of the pool robot. Under the action of this buoyancy, the pool robot floats to the surface of the water. When the pool robot needs to dive, the gas in the flotation chamber is discharged, reducing the buoyancy of the pool robot and allowing the pool robot to dive below the water surface. The flotation chamber is separately provided from the pool robot's dust box or dust box storage space, or is not fluidically connected. The flotation chamber can function solely as a control unit for the pool robot's floating and diving, and is independent of other components of the robot's cleaning function.

[0230] The buoyancy mechanism allows the pool robot to transition from underwater to the surface and maintain it above water. However, the pool robot's movement on the surface requires a propulsion mechanism. Therefore, the second type of pool robot also includes a propulsion mechanism that includes at least a first propeller. The first propeller is used to propel liquid in a first predetermined direction. This liquid generates a first driving force on the pool robot, the direction of which is opposite to the first predetermined direction, thereby driving the pool robot to walk on the water surface and clean the water surface. In other words, the first propeller is used to provide driving force when the cleaning device is operating on the water surface.

[0231] For example, the first propeller includes a fifth motor and a first impeller. A first flow channel is provided on the first body, with propulsion openings at either end. For ease of description, the two propulsion openings are referred to as first sub-openings and second sub-openings, respectively. The fifth motor and the first impeller are disposed within the first flow channel, and the fifth motor is configured to drive the first impeller to rotate. When liquid flows into the first flow channel through the first sub-opening, the first impeller rotates, driving liquid to be ejected from the second sub-opening. The ejected liquid generates a first driving force on the pool robot. The direction of the first driving force is opposite to the direction of the liquid ejected from the second sub-opening, thereby propelling the pool robot across the water surface.

[0232] To keep the pool robot above water, the third category of robots also includes a retaining mechanism, which keeps it afloat. For example, the retaining mechanism includes a float chamber, which, by injecting gas, increases the buoyancy of the pool robot, allowing it to float. Similarly, the movement of the pool robot on the water requires a propulsion mechanism, and for this purpose, the third category of pool robots also includes this propulsion mechanism. To facilitate the movement of the pool robot on the support back to the base station, this type of pool robot also includes the aforementioned walking mechanism.

[0233] The pool robot automatically returns to the base station. In addition to cleaning the pool robot's first filter cartridge, the base station can also charge the pool robot. Therefore, the base station also includes at least one charging assembly for charging the pool robot. There can be at least one charging assembly, which is located on the base station. When the pool robot returns to the base station, the charging assembly can perform contact charging or wireless charging on the pool robot's charging receiver. In some embodiments, the charging assembly and the self-cleaning sewage inlet can be located on the same sidewall, top, or bottom of the base station. Typically, when the self-cleaning sewage inlet and the self-cleaning sewage outlet are connected, the charging assembly and the pool robot's charging receiver are positioned in a charging state. For example, both the charging assembly and the self-cleaning sewage inlet are located on the resting surface 20018 at the top of the base station.

[0234] In some embodiments, the cleaning system further includes a chemical dispensing component and / or a water quality monitoring component. The chemical dispensing component is primarily used to dispense a chemical into the pool to treat the pool water. For example, the chemical can be used to decontaminate, clarify, or disinfect the water. The water quality monitoring component is primarily used to obtain water quality data for various areas of the pool. This water quality data may include pH, turbidity, total solids content, salinity, and other information, allowing users to understand the water quality within the pool.

[0235] In some embodiments, the agent spreading component is provided on the base station body, and the water quality detection component is provided on the first body of the pool robot. Since the pool robot can walk in the pool, the water quality detection component can walk with the pool robot in the pool to detect water at different positions in the pool, so that the water quality detection is highly accurate. The agent spreading component is provided on the base station body, and the user needs to replace the agent of the agent spreading component. In some embodiments, in order to facilitate the user to replace the agent, the agent spreading component can be pulled out and provided on the base station body, so that the user can take and place the agent storage component (also called a test kit) of the agent spreading component and replace the agent storage component. Alternatively, the water quality detection component is provided on the base station body, and the agent spreading component is provided on the first body of the pool robot.

[0236] The pool robot comes ashore and returns to the base station body. In addition to cleaning the first filter box and charging the pool robot, if the water quality detection is installed on the pool robot, the base station can also replace the detection box of the water quality detection component or remind the user to replace the detection box of the water quality detection component on the base station body; if the drug spreading component is installed on the pool robot, the base station can also replace the drug storage component of the drug spreading component or remind the user to replace the test kit of the drug spreading component on the base station body.

[0237] Therefore, the pool robot's return signal includes, but is not limited to, at least one of the following: the need to clean the first filter cartridge, the completion of the cleaning task, the need to recharge the pool robot, the need to replace the water quality detection cartridge, the need to replace the drug storage component with the drug dispensing component, or the need to return to the base station via the walking mechanism. Alternatively, the pool robot may experience an abnormality and need to return to the base station via the walking mechanism. For example, abnormality signals include, but are not limited to, at least one of the following: the pool robot's inability to clean, the inability of the pool robot's visual sensor component to capture photos or videos, the inability of the ranging sensor to collect data, and water quality detection abnormalities. Upon receiving this return signal, the pool robot will search for the base station from its current location and, using the support, automatically return to the base station via the walking mechanism, with the walking mechanism resting on the resting surface 20018.

[0238] The support member has a first end and a second end that oppose each other, and a support surface 2043 located between the first and second ends. The first end of the support member is connected to the base station body, while the second end is suspended in the air. For example, the upper surface of the support member serves as the support surface 2043, which allows the pool robot to at least one of abut, rest, or walk on it, facilitating the transfer of the pool robot from the pool to the support member and then back to the base station body via the support member.

[0239] There are multiple ways to trigger the pool robot to return to the base station. In one embodiment, the first control unit of the pool robot triggers the return information. For example, the pool robot detects that the first filter box needs to be cleaned; or the pool robot needs to be charged, or the cleaning task is completed. In another embodiment, the base station triggers the return information for the pool robot. For example, the pool robot detects that the first filter box needs to be cleaned, or the pool robot needs to be charged, or the cleaning task is completed, and transmits this signal to the second control unit of the base station, and the second control unit triggers the return signal for the pool robot. Alternatively, in another embodiment, the user controls the robot to return to the base station by operating the remote control; or the user controls the robot to return to the base station by operating the screen on the base station; or the user triggers the return signal of the pool robot by operating the APP or remote control. The control unit may include but is not limited to a PCB board and a storage unit provided thereon. The control unit may be electrically connected to various sensors or other detection units provided on the robot, and transmit various signals to the robot or base station through the control unit to control the robot or base station to perform corresponding operations or actions.

[0240] After receiving a return signal indicating it needs to return to the base station, the pool robot begins searching for the base station. This process can be implemented in various ways. For example, in one implementation, a range-finding sensor on the pool robot measures the distance between the pool robot's current location and the base station to locate the base station. In another implementation, a visual sensor on the pool robot captures images of the base station or its location markers to locate the base station. In yet another implementation, the pool robot has already created a map of the pool before receiving the return signal. For example, this map can be represented as a first map, which can be a three-dimensional or two-dimensional map. The first map can be displayed on the user's app, and the base station's location can be determined by locating the first map. Alternatively, a combination of at least two of the aforementioned three implementations can be implemented, such as using both a range-finding sensor and a visual sensor to locate the base station. Alternatively, a range-finding sensor can be used to first locate the base station's direction. Once the pool robot returns to the vicinity of the base station, the visual sensor can be used to locate the base station's specific location, facilitating more accurate location retrieval.

[0241] When the swimming pool robot knows the location of the base station, the swimming pool robot can return to the base station according to a predetermined program or path, or in a random motion; or, the swimming pool robot returns to the base station while looking for the base station; the swimming pool robot returns to the base station including at least the following stages: the swimming pool robot returns from the current position to the bearing surface 2043 of the base station's bearing component; the swimming pool robot returns from the bearing surface 2043 to the third preset position (i.e., the docking position) of the rest surface 20018 of the base station body.

[0242] The aforementioned second and third types of pool robots have the ability to float and walk on the water surface. These pool robots can choose to first return to the carrying surface 2043 from the water surface or in the water, or to return to the carrying surface 2043 from the pool wall, and then return to the resting surface 20018 of the base station body from the carrying surface 2043. However, the aforementioned first type of pool robots, which do not have the ability to float and walk on the water surface, cannot return to the carrying surface 2043 from the water surface or in the water surface. They can only return to the carrying surface 2043 from the pool wall (or wall), and then return to the resting surface 20018 of the base station body from the carrying surface 2043.

[0243] In some embodiments, when the pool robot returns from the water surface to the supporting surface 2043 of the supporting member, the pool robot first moves from its current position to the water surface, and then from the water surface back to the supporting surface 2043 of the supporting member. For example, if the pool robot is currently at the bottom of the pool, the pool robot first moves from the bottom to the pool wall, and then switches from the pool wall to the water surface. During the process of moving from the pool bottom to the pool wall, the pool robot can move to any pool wall; the pool robot can also find the pool wall closest to its current position, move from its current position to the nearest pool wall, and then return to the water surface from this wall; or the pool robot can directly rise from the pool bottom to the water surface without passing through the pool wall.

[0244] For example, if the swimming pool robot is currently on the pool wall, the swimming pool robot will directly turn to the water surface from the current pool wall; or the swimming pool robot will go down from the current pool wall to the bottom of the pool, then float up from the bottom of the pool to the water surface, or move from another pool wall to the water line and then turn to the water surface walking state.

[0245] In some embodiments, the support member is located on the first wall of the pool. When the pool robot returns to the base station from the first wall, the pool robot first moves from its current position to the first wall, and then from the first wall back to the support surface 2043 of the support member. For example, if the pool robot is currently on the water surface, the pool robot first moves from the water surface to near the first wall, then switches from the water surface to the first wall. Alternatively, if the pool robot is currently at the pool bottom, the pool robot moves from its current position on the pool bottom to near the first wall, and then moves from the pool bottom to the first wall.

[0246] In another embodiment, the swimming pool robot returns to the supporting surface 2043 from the water. The swimming pool robot walks in the water and directly returns from the current position to the supporting surface 2043 of the supporting member.

[0247] The process of the cleaning equipment returning from the water surface to the base station body at least includes: the cleaning equipment running to the carrying surface; and the cleaning equipment walking on the carrying surface through the walking mechanism to return to the docking position of the base station body; wherein, the process of the cleaning equipment running to the carrying surface at least includes: the first propeller drives the cleaning equipment to run on the water surface until the first end of the cleaning equipment abuts against the carrying surface; at least one of rotating the carrying member and adjusting the posture of the cleaning equipment, and the cleaning system switches from the abutment of the first end of the cleaning equipment with the carrying surface to the abutment of at least part of the bottom surface of the walking mechanism of the cleaning equipment with the carrying surface, so as to be suitable for the cleaning equipment to stay on the carrying surface or walk on the carrying surface; the first end is the front or rear of the cleaning equipment.

[0248] For example, as shown in Figure 8A5, the first end includes the first end of the first body, the first cleaning member or the first end of the walking mechanism; the abutment between the first end of the cleaning device and the bearing surface can be at least one of the abutment between the first end of the first body and the bearing surface, the abutment between the first cleaning member and the bearing surface, and the abutment between the first end of the walking mechanism and the bearing surface. More specifically, when the first end of the cleaning device is the front part, correspondingly, the first end of the first body is the front end of the first body, and the first end of the walking mechanism is the front end of the walking mechanism. Similarly, the second end of the cleaning device includes the second end of the second body, the first cleaning member located between the second ends of the two walking mechanisms, and the second end of the walking mechanism. For example, the first cleaning member is a roller brush, a roller brush is provided between the first ends of the two walking mechanisms, and a roller brush is provided between the second ends of the two walking mechanisms.

[0249] It should be noted that there are two situations in which the first end portion abuts against the bearing surface. The first situation is that the first end portion abuts against the bearing surface; the second situation is that the first end portion is close to the bearing surface. The so-called close means that there is a certain distance between the first end portion and the bearing surface. In order to avoid the first end portion hitting the bearing surface and damaging the bearing surface, a small amount of gap is reserved, and the first end portion is almost close to or near the bearing surface.

[0250] For example, in one embodiment, the process of the cleaning equipment running onto the carrying surface includes at least: a first propeller drives the cleaning equipment to run on the water surface until the front end or rear end of the walking mechanism abuts against the carrying surface; at least one of rotating the supporting member and adjusting the posture of the cleaning equipment, and the cleaning system switches from the front end or rear end of the walking mechanism abutting against the carrying surface to at least part of the bottom surface of the walking mechanism abutting against the carrying surface, so as to be suitable for the cleaning equipment to stay on the carrying surface or walk on the carrying surface.

[0251] The following uses the first end portion as an example of the first end portion of the walking mechanism to illustrate the process of the swimming pool robot returning from the water surface to the base station body.

[0252] Specifically, to facilitate the return of the pool robot from the water or the surface of the water to the supporting surface 2043 of the supporting member, the supporting member has at least a first posture. As shown in Figures 14A1, 1A, 1B, and 1C, when the supporting member is in the first posture, a first angle θ1 is formed between the supporting surface 2043 of the supporting member and the resting surface 20018 of the base station body, where 0°<θ1<90°. That is, the supporting surface 2043 and the resting surface 20018 are inclined, enabling the pool robot to operate from the water or the surface of the water so that the first end of the cleaning device abuts the supporting surface 2043. By rotating the supporting member or adjusting the posture of the cleaning device, at least a portion of the bottom surface of the pool robot's walking mechanism abuts the supporting surface 2043, completing the return to the supporting surface.

[0253] The first angle can also be the angle formed between the bearing surface 2043 and the water surface; the first angle in Figure 1B is expressed as an obtuse angle, that is, the first angle O = 180° - θ1, and the two are essentially the same. The first intersection angle is expressed as θ1 below. Alternatively, with the height direction of the base station body as a reference, when the bearing is in the first posture, a first tilt angle α1 is formed between the bearing surface 2043 and the height direction of the base station body, where α1 = (90° - θ1).

[0254] For example, θ1 is 15°, 25°, 30°, 32°, 45°, 60°, 70°, etc. The specific setting angle can be selected according to needs, as long as when the supporting member is in the first posture, at least a portion of the lower portion of the supporting member near the second end is located below the water surface, so that the swimming pool robot can walk from the water surface to the supporting surface 2043, and at least a portion of the bottom surface of the walking mechanism abuts against the supporting surface 2043. At this time, the swimming pool robot has the walking function on the supporting surface 2043. For example, in some embodiments, θ1 ≥ 45° or θ1 ≥ 60°, or 30° ≤ θ1 ≤ 80°.

[0255] In some embodiments, when the supporting member is in the first posture, at least a portion of the lower portion of the supporting surface is located below the water surface, allowing the cleaning device to move in a surface-operated manner until it abuts the supporting surface. Specifically, under the action of the first propeller, the swimming pool robot walks toward the supporting surface 2043 of the supporting member. After the first end of the swimming pool robot abuts the supporting surface 2043, the supporting member remains in the first posture. The walking mechanism climbs upward on the supporting surface, switching the abutment between the first end and the supporting surface to abutment between at least a portion of the bottom surface of the walking mechanism and the supporting surface, so as to return to the supporting surface. The swimming pool robot then moves from the supporting surface 2043 to the third preset position of the resting surface 20018 of the base station body via the walking mechanism.

[0256] During actual use, the water level of the same pool may be different at different time periods, or the water level of different pools may also be different. If the distance between the water surface of the pool and the shore is greater, that is, the water surface is lower, in order to make the lower part of the support member be below the water surface when the support member is in the first posture, the first angle θ1 will be larger, and the inclination of the support surface 2043 relative to the rest surface 20018 will be larger, and it will be in a steep state; that is, the smaller the first inclination angle α1 between the support surface 2043 of the support member and the height direction of the base station body, if the swimming pool robot directly walks upward from the support surface 2043 to the top of the base station body, under the action of the gravity of the swimming pool robot, the swimming pool robot will be at risk of falling from the support surface 2043 or turning over.

[0257] In another embodiment, to enable the pool robot to smoothly return from the supporting surface 2043 to the base station body, a first end of the supporting member is rotatably mounted on the base station body. The base station further includes a first drive assembly configured to drive the supporting member to rotate, thereby changing the first angle θ1 between the supporting surface 2043 and the resting surface 20018, thereby enabling the supporting member to assume a second posture. As shown in Figures 14B1 and 14B2 or Figures 2A and 2B, in the second posture, the supporting member forms a second angle θ2 between the supporting surface 2043 and the resting surface 20018, where 0° ≤ θ2 < θ1. In the second posture, the second angle is smaller than the first angle, reducing the tilt between the supporting surface 2043 and the resting surface 20018. The supporting surface 2043 is flat or horizontal relative to the resting surface 20018, making it easier for the pool robot to smoothly move from the supporting surface 2043 to the base station body, and preventing the pool robot from falling or tipping over from the supporting surface 2043.

[0258] The second angle may also be the angle between the bearing surface 2043 and the water surface; or, with the height direction of the base station body as a reference, when the bearing component is in the second position, a second tilt angle α2 is formed between the bearing surface 2043 and the height direction of the base station body, wherein α2 = (90°-θ2).

[0259] For example, θ2=0°, the carrying surface 2043 is almost in a horizontal state, the carrying surface 2043 and the resting surface 20018 are flush or aligned, and the swimming pool robot can smoothly walk from the carrying surface 2043 to the top of the base station body.

[0260] For example, θ2 can be 20°, 15°, 10°, 5°, 0°, etc. When θ2 is 0°, the supporting surface 2043 is aligned with the resting surface 20018, allowing the pool robot to more smoothly move from the supporting surface 2043 to the resting surface 20018. In some embodiments, 0°≤θ1≤30°; or as long as θ2<θ1, the pool robot can smoothly move from the supporting surface 2043 to the resting surface 20018. The specific angle is determined based on actual needs.

[0261] In some embodiments, for ease of description, the two ends of the resting surface 20018 are the third end and the fourth end, respectively, with the first end of the supporting member being adjacent to or proximate to the third end of the resting surface 20018. For example, the resting surface 20018 is substantially horizontal or substantially parallel to the water surface. When the angle θ2 is relatively small, in the second position of the supporting member, the supporting surface 2043 is substantially horizontal with the resting surface 20018, and the first end of the supporting surface 2043 is aligned or flush with the third end of the resting surface 20018. When the pool robot rests on the resting surface 20018, the pool robot is also substantially horizontal, or substantially parallel to the water surface.

[0262] When the supporting member is in the first posture, the swimming pool robot first returns to the supporting surface 2043 from the water or the water surface, and at least part of the bottom surface of the walking mechanism of the swimming pool robot abuts against the supporting surface 2043. At this time, the swimming pool robot can stay at the first preset position of the supporting surface 2043. The first driving component drives the supporting member to rotate, so that the supporting member rotates with the swimming pool robot, and the supporting member switches from the first posture to the second posture to reduce the inclination angle between the supporting surface 2043 and the stopping surface 20018, so that the swimming pool robot can walk more smoothly from the supporting surface 2043 to the base station body.

[0263] In some embodiments, as shown in Figure 14C1, during the rotation of the supporting member from the first posture to the second posture, the swimming pool robot does not actively walk on the supporting surface 2043, and the swimming pool robot stays on the first preset position of the supporting surface 2043. When the supporting member reaches the second posture, the swimming pool robot starts to walk from the supporting surface 2043 toward the resting surface 20018 of the base station body until it returns to the third preset position of the resting surface 20018.

[0264] In some embodiments, the cleaning system further includes a first in-position detection component for detecting whether the pool robot has reached a first preset position. When the pool robot returns from the water surface to the supporting surface 2043, the first in-position detection component is used to detect whether the pool robot has reached the first preset position. When the first in-position detection component detects that the pool robot has arrived at the first preset position, the pool robot stays at the first preset position, and the first drive component drives the supporting member to begin rotating from the first posture to the second posture. During this rotation process, the pool robot remains in the first preset position. When the supporting member rotates to the second posture, the pool robot moves from the supporting surface 2043 to the stopping surface 20018 to return to the third preset position.

[0265] The first in-position detection assembly includes a first in-position sensor and a first sensed component. One of the first in-position sensor and the first sensed component is disposed on the pool robot, and the other is disposed on a support member, for example, on support surface 2043. For example, the first in-position sensor is a Hall effect sensor, and the first sensed component is an iron block. In another example, the first in-position sensor is a position switch, and the first sensed component is a mating component for the position switch to collide with. In another example, the first in-position sensor is a light emitter, and the first sensed component is a light receiver.

[0266] During the rotation of the support from the first position to the second position, if the pool robot remains at the first preset position and the distance between the rotation axis of the pool robot and the support is large, the first drive assembly must output a large torque to enable the support to move the pool robot from the first position to the second position. To reduce the torque required by the first drive assembly to drive the support and the pool robot to rotate, there are several implementations, specifically:

[0267] In one embodiment, as shown in Figure 14C2, the support member remains in the first posture, and after the swimming pool robot walks upward from the first preset position on the support surface 2043 for a preset distance, it stops at the second preset position on the support surface 2043 to shorten the distance between the rotation axis of the swimming pool robot and the support member, and reduce the torque required for the first drive component to drive the support member to rotate; thereafter, the support member begins to rotate from the first posture toward the second posture, and when the support member rotates to the second posture, the support member remains in the second posture, and the swimming pool robot walks from the second preset position on the support surface 2043 toward the rest surface 20018 of the base station body until the swimming pool robot returns to the third preset position of the rest surface 20018.

[0268] In another embodiment, while the supporting member rotates from the first posture toward the second posture, the swimming pool robot walks upward on the supporting surface 2043 to shorten the distance between the swimming pool robot and the rotation axis of the supporting member, thereby reducing the torque required by the first driving assembly to drive the supporting member to rotate.

[0269] For example, as shown in FIG14C3 , during the rotation of the supporting member from the first posture to the second posture, the swimming pool robot simultaneously crawls upward from the first preset position on the supporting surface 2043 for a predetermined distance and then stops at the second preset position on the supporting surface 2043. After the supporting member continues to rotate to the second posture, the supporting member remains in the second posture, and the swimming pool robot moves from the second preset position on the supporting surface 2043 toward the resting surface 20018 of the base station body until it returns to the third preset position on the resting surface 20018, thereby completing the automatic landing of the swimming pool robot. That is, during the continuous rotation of the supporting member, the swimming pool robot moves on the supporting surface 2043 for a predetermined distance and then stops on the supporting surface 2043.

[0270] For another example, in some embodiments, while the supporting member rotates from the first position to the second position, the swimming pool robot crawls upward from the first preset position on the supporting surface 2043. After the supporting member rotates to the second position, the supporting member remains in the second position, and the swimming pool robot continues to crawl from the supporting surface 2043 toward the resting surface 20018 of the base station body until it returns to the third preset position on the resting surface 20018, thereby completing the automatic landing of the swimming pool robot. That is, during the continuous rotation of the supporting member, the swimming pool robot continues to crawl upward on the supporting surface 2043.

[0271] For example, in another embodiment, as shown in FIG14C4 , during the rotation of the support member from the first posture toward the second posture, the support member further includes at least one first transition posture. In this posture, a first transition angle β1 is formed between the support surface 2043 and the resting surface 20018, where θ2<β1<θ1. In the first transition posture, the support member's support surface 2043 is flatter relative to the resting surface 20018 than in the first posture, facilitating the pool robot's upward crawling on the support surface 2043. Therefore, as shown in Figures 14C1 and 14C2, when the supporting member is in the first posture, the swimming pool robot stays at the first preset position on the supporting surface 2043, and when the supporting member starts to rotate from the first posture to the first transition posture, the swimming pool robot remains on the supporting surface 2043. When the supporting member rotates to the first transition posture, the supporting member remains in the first transition posture. After the swimming pool robot walks upward from the first preset position on the supporting surface 2043 for a preset distance, it stops at the second preset position of the supporting surface 2043; thereafter, the supporting member starts to rotate from the first transition posture toward the second posture until the supporting member rotates to the second posture, the supporting member remains in the second posture, and the swimming pool robot starts to walk from the supporting surface 2043 again until it returns to the third preset position of the staying surface 20018 of the base station body to complete the automatic landing of the swimming pool robot.

[0272] For example, the angle of β1 is 60°, 65°, 70°, 75°, etc., and for example, 60°≤θ1<90°, 30°≤θ2≤0°, 30°<β1<60°; or, β1 can also be other angles, as long as θ2<β1<θ is satisfied. The specific value of β1 can be selected according to actual needs.

[0273] It should be noted that the second preset position in the aforementioned different embodiments can be the same position on the bearing surface 2043, or different positions on the bearing surface 2043. The second preset position is merely for the purpose of explaining that before the bearing member rotates from the first posture or during the process of rotating from the first posture to the second posture, the swimming pool robot has a transitional rest position on the bearing surface 2043 to reduce the torque required by the first drive assembly to drive the bearing member to rotate. Corresponding to the second preset position, the aforementioned second in-position detection assembly is provided to detect whether the swimming pool robot has reached the second preset position. The first preset position and / or the second preset position can be a fixed position on the bearing surface 2043, or a segment on the bearing surface 2043.

[0274] In one embodiment, similar to the aforementioned first in-position detection assembly, the cleaning system further includes a second in-position detection assembly for detecting whether the pool robot has reached the second preset position. When the first in-position detection assembly detects that the pool robot has reached the second preset position, the pool robot remains at the second preset position, and the support member begins to rotate from the first position toward the second position, or from the first transition position toward the second position. During this rotation process, the pool robot remains at the second preset position. When the support member rotates to the second position, the pool robot then moves from the support surface 2043 toward the resting surface 20018 to return to the third preset position.

[0275] In some embodiments, as shown in Figure 8A4, a third drainage port 10013b is further provided on the side wall of the first accommodating cavity of the first main body, and the third drainage port 10013b connects the first accommodating cavity with the second cavity 10014b. A first drainage port 105 is provided on the bottom of the cleaning device main body, and a third baffle 10013c is provided on the third drainage port 10013b or the first drainage port 105. When the swimming pool robot is performing a cleaning task, the third baffle 10013c is in a closed state; when the swimming pool robot is lifted from the first end portion of the swimming pool robot, the third baffle is opened, and the first accommodating cavity, the third drainage port 10013b, the second cavity and the first drainage port are connected in sequence to form a second water path for rapid drainage, thereby discharging the liquid in the first main body.

[0276] For example, the first drain port is closer to the second end portion than the first end portion. When the pool robot is lifted out of the water by grasping the first end portion, the third drain port is located above the first drain port. Under the action of the gravity of the liquid in the first body, the third baffle opens, or the third baffle is opened by a driving mechanism. The liquid in the first accommodating chamber is discharged out of the first body through the third drain port 10013b, the second cavity, and the first drain port in sequence. This achieves rapid drainage of the pool robot after it emerges from the water, reducing the weight on the pool robot. Alternatively, in another embodiment, to facilitate grasping the pool robot, a handle 1500 is provided on the first end portion, making it easier to grasp the pool robot and lift it.

[0277] In order to reduce the torque required by the first drive assembly to drive the supporting member and the pool robot to rotate, in addition to moving the pool robot upward from the first preset position to the second preset position; and / or, there is another embodiment, after the pool robot emerges from the water on the supporting surface 2043, the first end is closer to the rest surface 20018 relative to the second end, that is, the first end is located above the second end, the aforementioned third baffle is opened, and the liquid in the first body is quickly discharged from the first body through the third drain port, the second cavity and the first drain port, thereby reducing the gravity of the pool robot, and thereby reducing the torque required by the first drive assembly to drive the supporting member and the pool robot to rotate.

[0278] For example, the supporting member returns to the supporting surface 2043 from the water surface, and the first end emerges from the water surface earlier than the second end. When the supporting member is in the first posture, the swimming pool robot has not completely emerged from the water surface. At this time, there is still some liquid in the first body. During the rotation of the supporting member from the first posture to the second posture, and / or the process of the swimming pool robot walking upward on the supporting surface 2043, when the first drain port 105 of the swimming pool robot emerges from the water surface (that is, the first drain port is located above the water surface) or the swimming pool robot as a whole emerges from the water surface (that is, the swimming pool robot is on the supporting surface 2043 and above the water surface); under the action of the gravity of the liquid in the first body, the third baffle opens, and the liquid in the first body is discharged from the first body through the third drain port and the first drain port, thereby reducing the gravity of the swimming pool robot and reducing the torque required for the first drive assembly to drive the supporting member and the swimming pool robot to rotate.

[0279] That is to say, only when the first drain port is above the water surface or out of the water surface, the liquid in the first body can be drained through the third drain port and the first drain port to reduce the gravity of the swimming pool robot.

[0280] If the pool robot includes the aforementioned buoyancy mechanism, another method for reducing the weight of the pool robot is available. For example, when the pool robot is walking on the water surface, returning to the support surface 2043, walking on the support surface 2043, or when the support member is rotating from the first posture to the second posture, completely draining the liquid from the buoyancy chamber of the buoyancy mechanism can also reduce the weight of the pool robot and thereby reduce the torque required by the first drive assembly to drive the support member and the pool robot to rotate.

[0281] That is to say, before the supporting member rotates from the first posture, or during the rotation of the supporting member from the first posture to the second posture, the liquid in the float chamber can be discharged to reduce the gravity of the swimming pool robot.

[0282] In some embodiments, when the pool robot is in the first preset position, at least a portion of the pool robot is above the water surface and a portion is below the water surface, i.e., the pool robot has not yet completely left the water surface; alternatively, when the support member is in the first preset position, the pool robot has already emerged from the water. That is, in any of the aforementioned embodiments, when the support member is in the first preset position, the pool robot can or cannot emerge from the water surface at the first preset position of the upper support surface 2043 of the pool robot. If the pool robot has already emerged from the water surface, the liquid in the first body is first drained to reduce the weight of the pool robot, and then the pool robot rotates from the first position to the second position. In the second position, the second end of the support member can be above the water surface, i.e., the entire support member is above the water surface; alternatively, the second end of the support member can be below the water surface, while a majority of the support member is above the water surface; correspondingly, the pool robot is above the water surface, i.e., the pool robot has completely left the water surface.

[0283] When the support member is in the first posture, the pool robot can return directly from the water or the surface to the support surface 2043, which can easily cause the pool robot to collide with the sidewall of the support member, thereby damaging the support member. Therefore, in another embodiment, as shown in FIG14D , the support member further has a third posture. In the third posture, a third angle θ3 is formed between the support surface 2043 of the support member and the resting surface 20018 of the base station body, where θ1 < θ3 ≤ 90°. In the third posture, the third angle is larger, and the support surface 2043 is closer to a vertical position, or the support surface 2043 can abut or approach a wall of the pool. Driven by the first propeller, the pool robot moves from the surface or the water toward the support surface 2043. The first end of the pool robot easily abuts or approaches the support surface 2043, making it less likely to collide with the sidewall of the support member. The second end of the pool robot is further away from the support surface 2043 than the first end.

[0284] The third angle may also be the angle between the bearing surface 2043 and the water surface; or, with the height direction of the base station body as a reference, when the bearing component is in the third posture, a third tilt angle α3 is formed between the bearing surface 2043 and the height direction of the base station body, wherein α3 = (90°-θ3).

[0285] For example, the angle of θ3 is 75°, 80°, 85° and 90°, etc. It only needs to satisfy θ1<θ3≤90° to make the abutting surface of the supporting member closer to or abut the pool wall. The specific setting angle can be selected according to time requirements.

[0286] For example, when the swimming pool robot moves forward toward the supporting surface 2043 , the first end is the front and the second end is the rear. The front of the walking mechanism of the swimming pool robot abuts against the supporting surface 2043 and the rear of the walking mechanism is away from the supporting surface 2043 .

[0287] For another example, when the swimming pool robot moves backward toward the supporting surface 2043 , the first end is the rear portion, the second end is the front portion, the rear portion of the walking mechanism of the swimming pool robot abuts the supporting surface 2043 , and the front portion of the walking mechanism is away from the supporting surface 2043 .

[0288] The support member rotates from the third position toward the first position. During this rotation, the swimming pool robot switches from having its first end abutting against the support surface 2043 to having at least a portion of the bottom surface of its walking mechanism abut against the support surface 2043. When the support member reaches the first position, at least a portion of the bottom surface of the walking mechanism of the swimming pool robot abuts against the support surface 2043, and the swimming pool robot returns to the support surface 2043. The swimming pool robot can then stay on the support surface 2043 or walk on the support surface 2043.

[0289] For example, a small part, half, most or all of the bottom surface of the crawler track of the walking mechanism is in contact with the load-bearing surface 2043, as long as the friction force generated between the crawler track or the walking wheel of the walking mechanism and the load-bearing surface 2043 can make the swimming pool robot stay on the load-bearing surface 2043 and will not fall off the load-bearing surface 2043.

[0290] That is, the carrier has a first position and a third position. When the carrier is in the third position or the stowed position, the first propeller drives the cleaning device to move on the water surface until the first end of the cleaning device abuts the carrying surface, that is, the walking surface of the walking mechanism forms a certain angle with the carrying surface. During the process of the carrier rotating from the third position or the stowed position to the first position, the abutment of the first end with the carrying surface is switched to abutment of at least a portion of the bottom surface of the walking mechanism with the carrying surface, so that the cleaning device can stay on the carrying surface or walk on the carrying surface. That is, the angle between the walking surface of the walking mechanism and the carrying surface is switched to the walking surface of the walking mechanism being roughly parallel to the carrying surface, and the walking surface of the walking mechanism abuts the carrying surface.

[0291] Since the first end of the swimming pool robot abuts the supporting surface 2043 when the supporting member is in the third posture, the supporting surface 2043 will push the swimming pool robot to move in a direction roughly the same as the rotation direction of the supporting surface 2043 when the supporting member rotates from the third posture to the first posture. When the supporting member rotates to the first posture, the swimming pool robot will continue to move in a direction roughly the same as the rotation direction of the supporting surface 2043 under the action of inertia, which may cause the swimming pool robot to move away from the supporting surface 2043 and unable to return to the supporting surface 2043.

[0292] To this end, in some embodiments, further, during the process of the supporting member rotating from the third position toward the first position, for at least a period of time, the first propeller is in operation and generates a first driving force, so that at least a portion of the first end portion of the swimming pool robot remains in contact with the supporting surface 2043, and the swimming pool robot does not move away from the supporting surface 2043. As the supporting member continues to rotate, the bottom surface of the walking mechanism of the swimming pool robot begins to abut against the supporting surface 2043. When the supporting member rotates to the first position, at least a portion of the walking mechanism of the swimming pool robot abuts against the supporting surface 2043, completing the return of the swimming pool robot from the water or the water surface to the supporting surface 2043. The swimming pool robot can stay on the supporting surface 2043 and / or has a tendency to walk on the supporting surface 2043.

[0293] In one embodiment, when the supporting member rotates from the third posture toward the first posture, the first propeller maintains an operating state, so that the first end of the swimming pool robot still abuts the supporting surface 2043, preventing the swimming pool robot from moving away from the supporting surface 2043. As the supporting member continues to rotate, the supporting surface 2043 of the supporting member gradually approaches the bottom surface of the walking mechanism, and the abutment between the first end and the supporting surface 2043 gradually transforms into at least part of the bottom surface of the walking mechanism abutting against the supporting surface 2043. Friction is formed between at least part of the bottom surface of the walking mechanism and the supporting surface 2043, and the swimming pool robot returns to the supporting surface 2043, and has the function of being able to stay on the supporting surface 2043 and / or walk on the supporting surface 2043.

[0294] That is to say: during at least a period of time during the process of the support member rotating from the third position to the first position, the first propeller continues to operate to keep the first end in contact with the support surface; and during the rotation of the support member, the contact position of the walking mechanism and the support surface moves from the first end toward the second end.

[0295] Specifically, as shown in Figure 8A1 and Figures 14E1 to 14E4, taking the abutment between the front end of the walking mechanism and the load-bearing surface as an example, when the support is in the third posture, the front end of the walking mechanism (that is, the front end of the track) abuts against the load-bearing surface, and as the support rotates, the load-bearing surface continuously approaches the bottom surface of the walking mechanism, and the abutment position between the walking mechanism and the load-bearing surface moves from the first end toward the second end, that is, from the abutment between the arc segment of the front part of the track and the load-bearing surface, it gradually transfers to the abutment between the straight segment and the load-bearing surface.

[0296] In another embodiment, the rotation process of the supporting member from the third position to the first position is continuous. For ease of description, this continuous rotation process includes at least an initial stage, an intermediate stage, and an end stage. For example, there is at least a period of time during the initial stage, during which the first propeller continuously operates, causing the first end of the pool robot to continuously abut against the supporting surface 2043; or there is at least a period of time during the intermediate stage, during which the first propeller does not operate in the initial stage, causing the pool robot to separate from the supporting surface 2043, but during the rotation of the supporting member in the intermediate stage, the first driving force generated by the operation of the first propeller causes the first end of the pool robot to abut against the supporting surface 2043 again, and during the continued rotation of the supporting member, at least a portion of the bottom surface of the pool robot's walking mechanism can abut against the supporting surface 2043 to return to the supporting surface 2043; or there is at least a period of time including the initial stage and the intermediate stage, during which the first propeller can operate in both the initial stage and the intermediate stage, and the first propeller does not operate in the end stage.

[0297] During the process of the supporting member rotating from the third posture toward the first posture, the posture of the cleaning device can also be adjusted so that the bottom surface of the walking mechanism of the swimming pool robot can quickly abut against the supporting surface 2043.

[0298] For example, in one embodiment, during the rotation of the supporting member from the third position toward the first position, for at least a period of time, the first water inlet is located below the water surface, the main water pump of the suction assembly is in operation, and the main water pump generates a third thrust. The third thrust has a downward first component in the height direction of the swimming pool robot. Under the action of the first component, the second end of the swimming pool robot rotates downward toward the supporting surface 2043 or the swimming pool robot moves toward the supporting surface 2043, so that at least part of the walking mechanism of the swimming pool robot can quickly abut against the supporting surface 2043, ensuring that when the supporting member rotates to the first position, the walking mechanism of the swimming pool robot returns to the supporting surface 2043.

[0299] If the support member is in the first posture and the first end of the pool robot abuts the support surface 2043, the main water pump will cause the second end of the pool robot to rotate downward toward the support surface 2043, so that at least a portion of the bottom surface of the walking mechanism abuts the support surface 2043. If the support member is in the first posture and the first end of the pool robot does not abut the support surface 2043, the main water pump will cause the entire pool robot to move toward the support surface 2043, so that at least a portion of the bottom surface of the walking mechanism abuts the support surface 2043.

[0300] For example, under the action of the main water pump, the liquid passes through the first water inlet, the first filter box, the first accommodating chamber, the suction assembly in sequence, and is finally ejected through the first water outlet. The liquid ejected from the first water outlet generates a third thrust on the swimming pool robot, and the direction of the third thrust is opposite to the direction of the liquid ejected from the first water outlet. Since at least part of the first water outlet is arranged on the top of the first main body, the third thrust has a first downward component in the height direction of the swimming pool robot.

[0301] In the aforementioned embodiment, the first water outlet can be a straight outlet, meaning the direction of the liquid ejected from the first water outlet is substantially parallel to the height of the pool robot; or the first water outlet can be an oblique outlet, meaning the direction of the liquid ejected from the first water outlet intersects but is not perpendicular to the height of the pool robot. If the first water outlet is an oblique outlet, and the third thrust has a second component in the direction of travel of the pool robot, this second component can maintain contact between the first end of the pool robot and the support surface 2043, preventing the pool robot from moving away from the support surface 2043.

[0302] Furthermore, whether the first propeller can generate the first driving force during operation depends primarily on whether the first sub-opening of the first propeller is above the water surface. If the first sub-opening is above the water surface, no liquid will flow into the first flow channel, and even if the first propeller is operating, it will not generate the first driving force. Only when the first sub-opening is below the water surface or connected to liquid at the water surface, allowing liquid at the water surface or below the water surface to enter the first flow channel, can the first propeller generate the first driving force. Similarly, whether the main water pump generates the third thrust during operation depends primarily on whether the first water inlet is above the water surface. If the first water inlet is above the water surface, even if the main water pump is operating, it cannot generate the third thrust.

[0303] When the supporting member is in the third posture, the swimming pool robot is on the water surface, at least part of the first sub-opening of the first propeller is located below the water surface, and the first water inlet is located below the water surface; when the supporting member rotates toward the first posture, the first end of the walking mechanism emerges from the water surface earlier than the second end of the walking mechanism (that is, it is located above the water surface) because the first sub-opening is closer to the first end relative to the second sub-opening; as the supporting member rotates, the first sub-opening gradually emerges from the water surface; before the first sub-opening emerges from the water, the operation of the first propeller can generate a first driving force; after the first sub-opening emerges from the water surface, the operation of the first propeller cannot generate the first driving force; therefore, the aforementioned at least one period of time during which the first propeller operates must include at least one time period before the first sub-opening emerges from the water surface. Similarly, as the supporting member rotates, the first water inlet gradually approaches the water surface and emerges from the water surface. Only before the first water inlet emerges from the water surface can the main water pump operate to generate the third thrust; after the first water inlet emerges from the water surface, the main water pump will not generate the third thrust even if it operates; therefore, the main water pump operates during at least one time period mentioned above, and this at least time period must include at least one time period before the first water inlet emerges from the water surface.

[0304] In some embodiments, the first sub-opening may emerge from the water surface during the rotation of the supporting member from the third position toward the first position; or when the supporting member is in the first position, the first sub-opening is already above the water surface.

[0305] In some embodiments, the first water inlet may emerge from the water surface during the rotation of the supporting member from the third position to the first position; alternatively, the first water inlet may already be above the water surface when the supporting member is in the first position. Alternatively, when the supporting member is in the first position, the first water inlet may not be above the water surface, and at least a portion of the first water inlet may be below the water surface or in liquid communication with the water surface. In this case, if the main water pump is in operation, the third thrust generated by the main water pump may enable at least a portion of the bottom surface of the walking mechanism to remain in contact with the supporting surface 2043.

[0306] That is, during the rotation of the support from the third position toward the first position, the first propeller is continuously in operation. This does not require the first propeller to continuously generate the first driving force. It only needs to generate the required first driving force for at least one time period before the first sub-opening emerges from the water surface. During other time periods, the first propeller may operate but not generate the first driving force. Similarly, during the rotation of the support from the third position toward the first position, the main water pump is continuously in operation. This does not require the main water pump to continuously generate the third thrust. It only needs to generate the required third thrust for at least one time period before the first water inlet emerges from the water surface. During other time periods, the main water pump may operate but may not generate the third thrust.

[0307] In another embodiment, during the process of the supporting member rotating from the third posture to the first posture, the aforementioned floating and diving mechanism can be used to adjust the posture of the swimming pool robot for at least a period of time, so that at least a portion of the bottom surface of the walking mechanism of the swimming pool robot abuts against the supporting surface 2043.

[0308] For example, when the supporting member is in the third posture, the swimming pool robot is in a walking posture on the water surface, and the float chamber of the ascending and descending mechanism is almost filled with gas. The first end of the swimming pool robot abuts against the supporting surface 2043. When the supporting member rotates toward the first posture, for at least a period of time, the buoyancy of the swimming pool robot is reduced by at least partially discharging the gas in the float chamber. Since the first end of the swimming pool robot abuts against the supporting surface 2043, the second end of the swimming pool robot rotates toward the supporting surface 2043, so that at least part of the bottom surface of the walking mechanism abuts against the supporting surface 2043, and finally the swimming pool robot returns to the supporting surface 2043.

[0309] Alternatively, in another embodiment, during the process of the support member rotating from the third posture toward the first posture, the gas in the float chamber is discharged and liquid is injected into the float chamber to increase the gravity of the swimming pool robot and accelerate the rotation of the second end of the swimming pool robot toward the support surface 2043, so that at least part of the bottom surface of the walking mechanism abuts against the support surface 2043; when the swimming pool robot leaves the water surface, the liquid in the float chamber is discharged again to reduce the gravity of the swimming pool robot, thereby facilitating the walking of the swimming pool robot on the support surface 2043.

[0310] Based on the above analysis, when the carrier rotates from the third posture to the first posture, there are at least four ways to adjust the posture of the cleaning device, specifically:

[0311] The first method is: for at least a period of time, the first propeller is in operation, generating a first driving force; during the entire process, the main water pump is in a closed state, and the first end of the swimming pool robot remains in contact with the supporting surface 2043. As the supporting member rotates, the contact position of the first end with the supporting surface 2043 is constantly changing until the supporting surface 2043 is in contact with at least part of the bottom surface of the walking mechanism, thereby enabling the swimming pool robot to return to the supporting surface 2043. The swimming pool robot can stay on the supporting surface 2043 and / or has a tendency to walk on the supporting surface 2043.

[0312] The second method is: for at least a period of time, the first propeller is in working condition, generating a first driving force; for at least a period of time, the main water pump is in working condition, generating a third thrust; under the action of the first propeller, the first end of the swimming pool robot abuts against the bearing surface 2043, and as the bearing member rotates, the abutting position of the first end on the bearing surface 2043 is constantly changing; under the action of the main water pump, the second end of the swimming pool robot is rotated toward the bearing surface 2043, so that the abutment of the first end with the bearing surface 2043 is switched to the abutment of at least part of the bottom surface of the walking mechanism of the swimming pool robot with the bearing surface 2043, so that the swimming pool robot returns to the bearing surface 2043, and the swimming pool robot can stay on the bearing surface 2043 and / or has a tendency to walk on the bearing surface 2043.

[0313] The third method is: during the entire rotation process, the first propeller may not be running; for at least a period of time, the main water pump is in working condition, generating a third thrust, and the third thrust must include the aforementioned first component and second component. Under the action of the second component, the first end of the swimming pool robot abuts against the bearing surface 2043, and under the action of the first component, the second end of the swimming pool robot rotates toward the bearing surface 2043. Under the joint action of the first component and the second component, the abutment of the first end of the swimming pool robot with the bearing surface 2043 is switched to abutment of at least part of the bottom surface of the walking mechanism of the swimming pool robot with the bearing surface 2043, so that the swimming pool robot returns to the bearing surface 2043, and the swimming pool robot can stay on the bearing surface 2043 and / or has a tendency to walk on the bearing surface 2043.

[0314] The fourth method is: during the entire rotation process, the first propeller operates to generate a first driving force for at least a period of time; and / or the main water pump operates to generate a second component force, so that the first end of the swimming pool robot abuts against the supporting surface 2043; when the first end of the swimming pool robot abuts against the supporting surface 2043, for at least a period of time, the floating and diving mechanism adjusts the posture of the swimming pool robot (that is, the second end rotates toward the supporting surface 2043) by discharging the gas in the float chamber, so that at least part of the bottom surface of the walking mechanism abuts against the supporting surface 2043.

[0315] Alternatively, during the entire rotation process, regardless of whether the main water pump or the first propeller is running, and regardless of whether the first end of the swimming pool robot abuts the supporting surface 2043, for at least a period of time, the floating and diving mechanism is used to discharge the gas in the float chamber to reduce the buoyancy of the swimming pool robot, so that the swimming pool robot rotates or moves toward the supporting surface 2043 to adjust the posture of the swimming pool robot so that at least a portion of the bottom surface of the swimming pool robot's walking mechanism abuts the supporting surface 2043; alternatively, the gas in the float chamber is discharged and liquid is injected into the float chamber to increase the gravity of the swimming pool robot, further accelerate the abutment of at least a portion of the bottom surface of the swimming pool robot's walking mechanism against the supporting surface 2043, and complete the return of the swimming pool robot to the supporting surface 2043.

[0316] In the aforementioned four methods, during the rotation of the support from the third position toward the first position, the operation of the first propeller for at least a period of time includes the first propeller being constantly operated or being operated during the first preset time period. Similarly, the operation of the main water pump for at least a period of time includes the main water pump being constantly operated or being operated during the second preset time period. If both the first propeller and the main water pump are operating, the first preset time period and the second preset time period can be the same time period, or different time periods, or the two time periods can partially overlap; or during the entire rotation process, the first propeller and the main water pump are constantly operated. Similarly, the operation of the ascent and descent mechanism for at least a period of time includes the ascent and descent mechanism being constantly operated or being operated during the third preset time period to discharge part of the gas in the float chamber.

[0317] Based on the above content, when the supporting member has the first posture, the swimming pool robot can run directly from the water surface back to the supporting surface. Specifically: driven by the first propeller, the swimming pool robot moves on the water surface until the first end abuts the supporting surface. At this time, the supporting member can be rotated to switch the abutment between the first end and the supporting surface to at least a partial abutment between the first end and the bottom surface of the walking mechanism; or, the supporting member remains in the first posture, and the posture of the swimming pool robot is adjusted so that the abutment between the first end and the supporting surface is switched to at least a partial abutment between the first end and the bottom surface of the walking mechanism; or, the supporting member is rotated while adjusting the posture of the swimming pool robot so that the abutment between the first end and the supporting surface is switched to at least a partial abutment between the first end and the bottom surface of the walking mechanism, and the swimming pool robot returns to the supporting surface. The method of adjusting the posture of the swimming pool robot is the same as the method of adjusting the posture of the swimming pool robot during the process of the supporting member rotating from the third posture to the first posture. Please refer to the above content and will not be repeated here.

[0318] In addition, when the supporting member is in the first posture, there are multiple implementations to make the swimming pool robot stay at the first preset position of the supporting surface 2043, specifically:

[0319] The first method is: when the supporting member is in the first posture, at least part of the first water inlet is located underwater or connected to the water surface, the main water pump continues to run, and the main water pump can continue to generate the third thrust. Under the action of the first component of the third thrust, the bottom surface of the walking mechanism of the swimming pool robot is tightly attached to the supporting surface 2043, ensuring that the swimming pool robot can stay on the supporting surface 2043 and preventing the swimming pool robot from sliding off the supporting surface 2043.

[0320] The second method is: when the supporting member is in the first posture, the motor of the walking mechanism is in operation, but due to the gravity of the swimming pool robot, it is not enough to make the walking mechanism walk on the supporting surface 2043. Friction is generated between the bottom surface of the walking mechanism and the supporting surface 2043, so that the swimming pool robot can stay on the supporting surface 2043 and prevent the swimming pool robot from sliding off the supporting surface 2043.

[0321] The third method is to provide a plurality of spaced anti-slip portions on the bearing surface 2043 to increase the friction between the bottom surface of the walking mechanism and the bearing surface 2043 so that the walking mechanism can stay on the bearing surface 2043 .

[0322] Alternatively, a combination of at least two or three of the above three methods may be employed. For example, when the bearing member is in the first posture, the main water pump operates to generate a first force component; at the same time, the motor of the walking mechanism is in operation but insufficient to drive the walking mechanism to move on the bearing surface 2043; and a plurality of anti-slip portions are provided on the bearing surface 2043.

[0323] In some embodiments, when the swimming pool robot is in the first posture, at least part of the second end of the swimming pool robot is located underwater, at least part of the first end of the swimming pool robot is located above the water surface, and at least part of the bottom surface of the walking mechanism abuts against the bearing surface 2043. For ease of expression, the part where the bottom surface of the walking mechanism abuts against the bearing surface 2043 at this time is expressed as a first abutting portion; the first abutting portion is closer to the first end than the second end.

[0324] In another embodiment, when the pool robot comes ashore and returns to the base station body, if the supporting member is in the second position, the supporting member is above the water surface of the pool, which will affect the user's use of the pool; at the same time, it is unsafe for the supporting member to remain suspended above the water surface. To this end, in another embodiment, as shown in FIG13D4, the supporting member has a storage position, for example, the storage position is the aforementioned third position. When the pool robot returns to the third preset position of the base station body, the supporting member rotates from the second position to the third position, and the supporting member is as close to or as close to a wall of the pool as possible, so that the supporting member is in the storage position, thereby reducing the impact of the supporting member on the user's use of the pool.

[0325] Alternatively, after the pool robot returns to the third preset position of the base station body, the support member continues to rotate upward from the second position to position the support member in a vertical state, at which point the support member is in a storage position. For example, the base station includes a base station body and a sun visor, the sun visor being movably connected to one end of the base station body, and a twelfth accommodating cavity formed between the sun visor and the top of the base station body to accommodate the pool robot. When the support member is in the second position, the pool robot moves from the support surface 2043 back to the third preset position on the resting surface 20018 of the base station body and is located in the twelfth accommodating cavity; thereafter, the support member rotates upward from the second position toward the storage position to cover the side opening of the accommodation cavity. At this time, the support member is also located on the shore of the pool and does not affect the liquid or walls within the pool.

[0326] The aforementioned embodiments of the pool robot returning from the water or the surface to the base station are applicable to both the second and third types of pool robots with surface walking capabilities. For the first type of pool robot, which does not have surface walking capabilities, when returning to the supporting surface 2043, the supporting member must abut or fit against a wall of the pool. For example, the supporting member abuts or fits against the first wall of the pool. The pool robot first walks along the first wall to the supporting surface 2043 of the supporting member. Then, the rotation of the supporting member drives the pool robot to rotate. When the supporting member rotates to the second position, the pool robot walks from the supporting surface 2043 back to the preset third position of the base station body, completing the pool robot's automatic landing.

[0327] To enable the pool robot to return to the supporting surface 2043 from the first wall, as shown in FIG13D4 , the supporting member has a stowed position, with one side of the supporting member serving as the supporting surface 2043 and the other side serving as the abutting surface. In the stowed position, the abutting surface can abut or adhere to the first wall, allowing the pool robot to move from the first wall to the supporting surface 2043. For example, the stowed position can be the aforementioned third position, with the supporting surface 2043 forming a third angle with the resting surface 20018.

[0328] For example, the pool robot first moves to the bottom of the supporting surface 2043, and then moves upward on the first wall to the supporting surface 2043. Alternatively, as shown in FIG13G , the pool robot first moves on the first wall to the outside of one side of the supporting surface 2043, then crosses over a side wall of the supporting member and moves onto the supporting surface 2043, with the bottom surface of the walking mechanism completely or at least partially contacting the supporting surface 2043, completing the return of the pool robot to the supporting surface 2043.

[0329] When the pool robot returns from the first wall to the supporting surface 2043, in one embodiment, the pool robot continues to climb upward along the supporting surface 2043 until it returns to the third preset position on the resting surface 20018 of the base station body, completing the pool robot's landing. In another embodiment, because the supporting member is attached to the first wall, the third angle between the supporting surface 2043 and the resting surface 20018 is large, the inclination between the supporting surface 2043 and the resting surface 20018 is large, and the supporting surface 2043 is steep. As the pool robot climbs upward on the supporting surface 2043, there is a risk of the pool robot falling off the supporting surface 2043 or flipping over.

[0330] To ensure the pool robot can smoothly return to the third preset position of the base station, in another embodiment, the pool robot returns to the carrying surface 2043 and initially stops at the fourth preset position on the carrying surface 2043. The carrying member also has the aforementioned second position, which drives the pool robot to rotate from the storage position to the second position. When the carrying member rotates to the second position, the pool robot moves from the carrying surface 2043 to the third preset position of the resting surface 20018 of the base station, completing automatic landing and returning to the base station.

[0331] Similar to the aforementioned process of the support member rotating from the first posture to the second posture, the swimming pool robot can stay on the support surface 2043; or after walking upward on the support surface 2043 for a preset distance, stay on the support surface 2043; or during the entire rotation process of the support member, the swimming pool robot continues to walk upward on the support surface 2043.

[0332] In some embodiments, when the support member drives the swimming pool robot to rotate from the storage position toward the second position, the swimming pool robot can remain at the fourth preset position. After the support member rotates to the second position, the swimming pool robot walks from the fourth preset position of the support surface 2043 toward the rest surface 20018 of the base station body to return to the third preset position.

[0333] In some embodiments, similar to the aforementioned first in-place detection component, the cleaning system further includes a third in-place detection component for detecting whether the pool robot has reached a third preset position, facilitating the control unit's determination of whether the pool robot has completed its return to the base station. The structure of the third in-place detection component is identical to that of the first in-place detection component, as described above and omitted for clarity. And / or, the cleaning system further includes a fourth in-place detection component for detecting whether the pool robot has reached a fourth preset position. When the fourth detection component detects that the pool robot has reached the fourth preset position, the first drive component drives the carrier to begin rotating from the storage position toward the second position. The structure of the fourth in-place detection component is identical to that of the first in-place detection component, as described above and omitted for clarity.

[0334] In another embodiment, when the support member drives the swimming pool robot to rotate from the storage position toward the second position, the swimming pool robot walks upward a preset distance from the fourth preset position on the supporting surface 2043 and then stays at the fifth preset position of the supporting surface 2043. When the support member rotates to the second position, the swimming pool robot walks from the fifth preset position of the supporting surface 2043 toward the stopping surface 20018 of the base station body to return to the third preset position.

[0335] In some embodiments, similar to the aforementioned first in-position detection assembly, the cleaning system further includes a fifth in-position detection assembly for detecting whether the pool robot has reached a fifth preset position. When the fifth detection assembly detects that the pool robot has reached the fifth preset position, the walking mechanism stops walking and remains on the supporting surface 2043. The structure of the fifth in-position detection assembly is the same as that of the first in-position detection assembly, as previously described, and will not be further described here.

[0336] In another embodiment, when the support member drives the swimming pool robot to rotate from the storage position toward the second position, the swimming pool robot continues to crawl upward on the support surface 2043. When the support member rotates to the second position, the swimming pool robot continues to walk from the support surface 2043 to the rest surface 20018 of the base station body to return to the third preset position.

[0337] Alternatively, in another embodiment, when the support member drives the pool robot to rotate from the storage position toward the second position, the support member further has a second transitional position. In the second transitional position, the support member has a second transitional angle β2 between the support surface 2043 and the resting surface 20018, where θ2<β2<θ3. The inclination between the support surface 2043 and the resting surface 20018 is reduced, facilitating the movement of the pool robot on the support surface 2043.

[0338] During the rotation of the supporting member from the storage posture toward the second transition posture, the swimming pool robot stops at the fourth preset position on the supporting surface 2043. When the supporting member rotates to the second transition posture, the supporting member remains in the second transition posture. After the swimming pool robot crawls upward from the fourth preset position on the supporting surface 2043 for a preset distance, it stops at the fifth preset position on the supporting surface 2043. The supporting member then rotates from the second transition posture toward the second posture. When the supporting member reaches the second posture, the swimming pool robot walks from the fifth preset position of the supporting surface 2043 toward the stopping surface 20018 of the base station body to return to the third preset position.

[0339] In some embodiments, when the fifth in-position detection assembly detects that the pool robot has reached the fifth preset position, the supporting assembly begins to rotate from the second transitional position to the second position. The structure of the fifth in-position detection assembly is the same as that of the first in-position detection assembly, as described above, and will not be repeated here.

[0340] In one embodiment, when the pool robot is at the fourth preset position on the supporting surface 2043, the first water inlet is not above the surface of the water, but at least partially below the surface. The main water pump is operating, generating a third thrust, causing the bottom surface of the pool robot's walking mechanism to adhere closely to the supporting surface 2043. Simultaneously, the walking mechanism's motor is operating, but the weight of the pool robot creates friction between the bottom surface of the walking mechanism and the supporting surface 2043. The driving force generated by the walking mechanism's motor is insufficient to allow the walking mechanism to move on the supporting surface 2043, allowing the walking mechanism to remain stationary on the supporting surface 2043. When the pool robot is at the fourth preset position, if the first water inlet is above the surface of the water, the main water pump cannot generate the third thrust. The pool robot's ability to remain on the supporting surface 2043 is primarily due to the action of the walking mechanism's motor. Of course, multiple anti-slip features can be provided on the supporting surface 2043 to increase friction between the bottom surface of the walking mechanism and the supporting surface 2043, enabling the pool robot to remain stationary on the supporting surface 2043.

[0341] The aforementioned first, second and third swimming pool robots can all use the aforementioned method of first returning from the wall to the bearing surface 2043 of the bearing component, and then walking from the bearing surface 2043 back to the base station body.

[0342] When the swimming pool robot has the functions of floating and walking on the water surface, this type of swimming pool robot returns to the base station from the wall. In another embodiment, the swimming pool robot walks from the first wall to the bearing surface 2043, the swimming pool robot is located at the waterline, at least part of the swimming pool robot is located above the water surface, and at least part of the swimming pool robot is located below the water surface. The swimming pool robot can stay at the waterline position, and this position serves as the fourth preset position; when the supporting member rotates from the storage position to the second position, the swimming pool robot can adopt the aforementioned floating and diving mechanism or holding mechanism, and on the premise that the bottom surface of the walking mechanism of the swimming pool robot remains in contact with the bearing surface 2043, the liquid in the float chamber is discharged to reduce the gravity of the swimming pool robot and reduce the torque exerted on the swimming pool robot by the supporting member when driving it to rotate.

[0343] After the pool robot automatically lands and returns to the base station, at least the first nozzle on the base station can rinse the first filter cartridge. For example, after the pool robot returns to the base station, the first nozzle extends from the second water inlet into the first filter cartridge to rinse the waste inside the first filter cartridge. Before or after the pool robot returns to the resting surface 20018, the second water inlet is in communication with the inner cavity of the first filter cartridge, allowing the first nozzle to extend through the second water inlet into the first filter cartridge.

[0344] Specifically, a second baffle is provided on the second water inlet of the pool robot. When the second baffle is in an open state, external liquids or objects enter the first filter cartridge through the second water inlet. For example, when the pool robot is cleaning the water surface, the second baffle is in an open state. When the second baffle is in a closed state, the external environment and the inner cavity of the second filter cartridge are cut off, and external liquids or objects cannot enter the first filter cartridge through the second water inlet. For example, when the pool robot is cleaning the pool bottom or pool walls, the second baffle is in a closed state.

[0345] In one embodiment, the first nozzle is fixedly arranged relative to the base station body. In this case, before the swimming pool robot returns to the third preset position of the rest surface 20018, the swimming pool robot needs to open the second baffle to connect the second water inlet with the inner cavity of the first filter box. In the process of the swimming pool robot returning to the rest surface 20018, the swimming pool robot moves relative to the first nozzle so that the first nozzle extends into the first filter box; when the swimming pool robot returns to the third preset position, the first nozzle just extends into or has already extended into the first filter box.

[0346] For example, when the supporting member is in the second position, the second baffle is opened while the swimming pool robot is walking from the supporting surface 2043 toward the rest surface 20018, that is, the second baffle is in an open state, so that the second water inlet and the inner cavity of the first filter box are connected; or, when the supporting member is in the second position, the second baffle is in an open state; or, a second preset position is set on the supporting member, and when the swimming pool robot reaches the second preset position, the swimming pool robot opens the second baffle; or, before the swimming pool robot walks on the rest surface 20018 or during the walking on the rest surface 20018, the swimming pool robot opens the second baffle.

[0347] In another embodiment, if the first nozzle is retractable or movable relative to the base station body, since the first nozzle can be retracted or moved, the second baffle can be opened during the entire process of the pool robot returning from the water to the third preset position, or after returning to the third preset position. The specific time for opening the second baffle is not limited. As long as the pool robot stays at the third preset position, the first nozzle can be retracted or moved to pass through the second water inlet and extend into the first filter box.

[0348] When the pool robot returns to the third preset position, the self-cleaning sewage outlet of the first filter box and the self-cleaning sewage inlet of the base station body are opposite or aligned, and the first nozzle extends into the first filter box to clean the first filter box. To this end, when the pool robot reaches the third preset position or thereafter, the fifth baffle on the first filter box is opened to prevent the fifth baffle from opening prematurely, thereby preventing waste in the first filter box from falling onto the resting surface 20018 of the base station body and from falling into the third receiving chamber through the self-cleaning sewage inlet.

[0349] For example, the fifth baffle is opened by rotating, and when the fifth baffle is opened, at least a portion of the fifth baffle extends into the third accommodating chamber. In another example, the fifth baffle is opened by sliding substantially horizontally, and when the fifth baffle is opened, the fifth baffle is located above the third accommodating chamber and does not extend into the third accommodating chamber.

[0350] In some embodiments, when the fifth baffle is opened, the first nozzle sprays liquid into the first filter cartridge to rinse the first filter cartridge. After the first nozzle has been cleaning for a predetermined time, the first filter cartridge is considered clean. Alternatively, the cleanliness of the first filter cartridge can be determined by detecting whether there is residual garbage in the first filter cartridge or the cleanliness of the first filter cartridge. For example, a camera can be set to capture an image or video of the first filter cartridge. If the image or video captured by the camera shows that there is garbage in the first filter cartridge, the first filter cartridge continues to be cleaned until there is no garbage in the first filter cartridge.

[0351] In some embodiments, after the first filter box is cleaned, the fifth baffle is first closed to block or seal the self-cleaning sewage outlet, so that the swimming pool robot can walk on the base station body to exit the base station body.

[0352] In some embodiments, the water source for cleaning the first filter cartridge is pool water. The base station water pump delivers water from the pool to the first nozzle, which then sprays liquid toward the first filter cartridge. For example, the base station water pump is located on a support member, and the main water pump is connected to the first nozzle via a pipeline. When the pool robot returns to the third preset position of the base station body and needs to clean the first filter cartridge, if the support member is in the second position, the support member, under the action of the first drive assembly, needs to rotate downward from the second position to a fifth position. In the fifth position, the support member's support surface 2043 and the resting surface 20018 form a fifth angle θ5, where 0°<θ5<90°. For example, the fifth position can be the aforementioned storage position, the third position, the first position, or any other position, as long as the liquid inlet (i.e., the first through hole) of the base station water pump is connected to the water in the pool, so that the base station water pump can deliver water from the pool to the first nozzle. Alternatively, the water source for cleaning the first filter box comes from external tap water or a clean water tank.

[0353] In addition, when the pool robot returns to the base station, the charging structure on the base station can also charge the pool robot. Charging can be performed during the cleaning process of the first filter box, after the first filter box is cleaned, or before the first filter box is cleaned.

[0354] After the first filter box is cleaned on the base station body, if the swimming pool robot does not need to perform cleaning tasks, the swimming pool robot will be parked on the base station body; if the swimming pool robot needs to perform cleaning tasks or cruise, the swimming pool robot needs to enter the water from the base station body into the pool.

[0355] In some embodiments, the pool robot needs to enter the pool from the base station body. As shown in Figure 14H, the support member has at least a fourth position. When the support member is in the fourth position, a fourth angle θ4 is formed between the support surface 2043 and the resting surface 20018, where 0° < θ4 < 90°. When the support member is in the fourth position, the second end of the support member is below the water surface, facilitating the pool robot's downward movement from the support surface 2043 until at least a portion of the second end of the pool robot is within the water or on the surface. At this point, the pool robot leaves the support surface 2043 and enters the water or on the surface. The fourth position can be the aforementioned first position, the first transition position, or the second transition position, or it can be different from the aforementioned first position, first transition position, or second transition position. For example, when the support member is in the fourth position, 0° < θ4 < θ1, or 0° < θ4 < β1. For example, the angle θ4 can be 45°, 50°, 60°, 70°, 80°, 75°, etc. The specific angle can be selected based on actual needs.

[0356] Among them, the fourth angle can also be the angle between the bearing surface 2043 and the water surface; or, with the height direction of the base station body as a reference, a fourth inclination angle α4 is formed between the bearing surface 2043 and the height direction of the base station body, α4 = (90°-θ4).

[0357] For example, when the supporting member is in the fourth posture, the swimming pool robot walks downward from the base station body to the supporting surface 2043, and then walks downward from the supporting surface 2043 until the swimming pool robot leaves the supporting surface 2043 and completes entering the water.

[0358] In another embodiment, to allow the pool robot to smoothly move from the resting surface 20018 to the supporting surface 2043, the supporting member further has the aforementioned second posture, θ2 < θ4. In the second posture, the supporting member has a small inclination angle between the supporting surface 2043 and the resting surface 20018. For example, when θ2 = 0°, the supporting surface 2043 and the resting surface 20018 are nearly horizontally aligned or flush, facilitating the pool robot to smoothly move (forward or backward) from the resting surface 20018 to the supporting surface 2043. Subsequently, the supporting member rotates to the fourth posture, allowing the pool robot to move downward from the supporting surface 2043 to complete its entry into the water.

[0359] For example, when the supporting member is in the second posture, the swimming pool robot first walks from the rest surface 20018 of the base station body to the supporting surface 2043, and is able to stay at the sixth preset position of the supporting surface 2043. After that, the swimming pool robot stops on the supporting surface 2043, and the supporting member rotates downward from the second posture to the fourth posture. The supporting member remains in the fourth posture, and the swimming pool robot then walks downward from the supporting surface 2043 until the swimming pool robot leaves the supporting surface 2043 and enters the pool.

[0360] For another example, when the supporting member is in the second posture, the swimming pool robot first walks from the rest surface 20018 to the supporting surface 2043, and is able to stay at the sixth preset position of the supporting surface 2043; thereafter, the supporting member rotates from the second posture toward the fourth posture, and during this rotation process, the swimming pool robot walks downward from the supporting surface 2043, and when the supporting member rotates to the fourth posture, the swimming pool robot leaves the supporting surface 2043 to enter the water; or, when the supporting member rotates to the fourth posture, the swimming pool robot continues to walk downward on the supporting surface 2043 until it leaves the supporting surface 2043 to enter the water.

[0361] In some embodiments, similar to the aforementioned first position detection assembly, the cleaning system further includes a sixth position detection assembly for detecting whether the pool robot has reached a sixth preset position. Upon detecting that the pool robot has reached the sixth preset position, the support member begins to rotate from the second position to the fourth position. The structure of the sixth position detection assembly is identical to that of the first position detection assembly. Please refer to the aforementioned description of the first position detection assembly and will not be further described here.

[0362] Alternatively, when the supporting member is in the second posture, the swimming pool robot first walks from the rest surface 20018 of the base station body to the supporting surface 2043 of the supporting member, and the swimming pool robot does not stay on the supporting surface 2043. During the process of the supporting member rotating from the second posture to the fourth posture, the swimming pool robot continues to walk downward on the supporting surface 2043. When the supporting member rotates to the fourth posture, the swimming pool robot continues to walk to leave the supporting surface 2043 and enter the water.

[0363] The aforementioned sixth preset position may be the first preset position, the second preset position, the fourth preset position or the fifth preset position of the aforementioned embodiment, or other positions different from the aforementioned first preset position, the second preset position, the fourth preset position and the fifth preset position.

[0364] In order to reduce the torque required for the support to rotate the pool robot, any one of the second preset position and the fifth preset position is closer to the first end of the support relative to the second end of the support, so as to reduce the distance between the pool robot and the rotation axis of the support.

[0365] Furthermore, the pool robot can enter the water while the supporting member is in the second position, without requiring the supporting member to move to the fourth position. For example, when the supporting member is in the second position, the entire supporting member is above the water surface. The pool robot first moves from the resting surface 20018 to the supporting surface 2043, then moves on the supporting surface 2043 and drops directly into the pool water from the second end of the supporting member. Alternatively, when the supporting member is in the second position, at least the second end of the supporting member is below the water surface. The pool robot can then move from the supporting surface 2043. Once at least a portion of the second end of the pool robot is in the water, the pool robot can then leave the supporting surface 2043, completing the entry.

[0366] In some embodiments, after the swimming pool robot automatically enters the pool, the swimming pool robot performs cleaning tasks or cruises, and the supporting member rotates from the second position or the fourth position to the storage position, so that the supporting member is completely out of the water; or the abutting surface of the supporting member abuts or approaches the first wall of the pool.

[0367] After receiving the return signal, the aforementioned pool robot needs to return to the base station body. This means the pool robot returns to the base station underwater. Another technical solution involves the pool robot returning to the base station underwater, where the base station body remains permanently within the pool. Cleaning and charging the first filter cartridge are all performed within the pool. This method offers at least the following advantages over underwater return:

[0368] (1) After the pool robot comes ashore, it leaves the pool and will not be immersed in the pool for a long time. At least the waterproofness and sealing requirements of the first electric control box of the pool robot are relatively low, which can extend the service life of the pool robot. (2) After the pool robot comes ashore, the pool robot and the base station body are both located on the shore and will not occupy the space of the pool for a long time, which has little impact on the user's use of the pool. (3) After the pool robot comes ashore, although the supporting part is located in the pool, the supporting part does not affect the pool robot's cleaning of the pool bottom, pool wall and water surface through the various avoidance postures mentioned above. If the base station body and the pool robot are both located in the pool for a long time, the pool robot cannot clean the location where the base station body is located. (4) After the pool robot comes ashore, the garbage in the first filter box in the pool robot is transferred to the third accommodating chamber of the base station body. The garbage in the third accommodating chamber is not immersed in the pool water, and the garbage in the third accommodating chamber is relatively dry and not easy to mold or smell. (5) The pool robot can be charged when it comes ashore. The charging structure can be wireless charging or electrode charging. If the pool robot does not go ashore and charges underwater, the charging structure of the base station body can only be wireless charging.

[0369] 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.

[0370] 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. [Specific implementation method]

[0371] The present disclosure provides a cleaning system 1, comprising a cleaning device 1000 and a supporting assembly 2000 (or a base station). For example, the cleaning device is a swimming pool robot capable of moving on at least one of the surface, water, bottom, and wall of a pool, and performing cleaning tasks during movement.

[0372] As shown in Figure 3, the pool robot includes a first end portion and a second end portion. The first end portion comprises the first end portion of the first body, the first end portion of the running mechanism (described below), and a first cleaning member 1201 (described below) located between the first ends of the two running mechanisms. In other words, the first body serves as the housing of the pool robot. The running mechanism and first cleaning member are mounted on the housing, but the tracks or wheels of the first cleaning member and the running mechanism are exposed outside the first body. One of the first and second end portions constitutes the front portion 10011 of the pool robot, while the other constitutes the rear portion 10012 of the pool robot. The front portion of the pool robot is located in front of the rear portion of the pool robot.

[0373] For example, the first body includes a first sidewall and a second sidewall that are opposite to each other in the forward direction of the pool robot, a third sidewall and a fourth sidewall that are opposite to each other in the horizontal direction of the pool robot, and a top wall and a bottom wall that are opposite to each other in the height direction of the pool robot. For example, one of the first and second sidewalls is the front sidewall, and the other is the rear sidewall; one of the third and fourth sidewalls is the left sidewall, and the other is the right sidewall. The front portion of the first body includes at least one of the front sidewall, the front portion of the left sidewall, the front portion of the right sidewall, the front portion of the top wall, and the front portion of the bottom wall. The rear portion of the first body includes at least the rear sidewall, the rear portion of the left sidewall, the rear portion of the right sidewall, the rear portion of the top wall, and the rear portion of the bottom wall.

[0374] The first body 1001 is equipped with at least one liquid inlet 1030, at least one first filter assembly 1050, at least one liquid outlet 1040, and at least one suction assembly 1060. The liquid inlet 1030 serves as the entrance for liquid and waste from the pool to enter the first body. The liquid inlet 1030 can be located at the bottom and / or side of the first body 1001, allowing the pool robot to perform at least one of the following cleaning tasks: pool bottom cleaning, pool wall cleaning, waterline cleaning, and water surface cleaning. The first filter assembly includes at least a first filter cartridge, which is used to filter the dust-laden water entering the first body. Dust-laden water refers to water carrying pool debris, such as leaves, fine sand, stains, or suspended matter. The suction force generated by the suction assembly draws the dust-laden water from the pool through the liquid inlet and into the first filter cartridge, where it is filtered, leaving waste within the cartridge. Liquid is then discharged from the first body through the liquid outlet 1040.

[0375] In some embodiments, in order to arrange the first filter box on the first body, as shown in FIG3 , the first body 1001 includes a first accommodating cavity 10013 , and at least a portion of the first filter box 1051 is arranged in the first accommodating cavity.

[0376] In some embodiments, the liquid inlet portion includes at least a first water inlet, which is provided on the first body and communicates with the interior of the first filter box. For example, as shown in FIG3 , the first water inlet is provided on the bottom of the first body. In one embodiment, the first water inlet is located on the bottom of the first body, closer to the front side wall relative to the rear side wall, so that when the swimming pool robot is cleaning the pool bottom or pool wall, the swimming pool robot preferentially cleans the pool bottom or pool wall by walking forward, or the swimming pool robot cleans the pool bottom or pool wall by walking backward. In another embodiment, the first water inlet is located on the bottom of the first body, closer to the rear side wall relative to the front side wall, so that when the swimming pool robot is cleaning the pool bottom or pool wall, the swimming pool robot preferentially cleans the pool bottom or pool wall by walking backward, or the swimming pool robot cleans the pool bottom or pool wall by walking forward.

[0377] In some embodiments, to connect the first water inlet to the first dust box, a first inlet 10511a is provided on the first dust box. The first water inlet and the first inlet 10511a are connected. The first water inlet and the first inlet can be directly connected to shorten the path that water in the pool takes to enter the first filter box through the first water inlet and the first inlet. For example, the first water inlet is provided on the bottom of the first body, and the first inlet is provided on the bottom of the first filter box, with the first water inlet and the first inlet adjacent to and connected to each other. Alternatively, the first water inlet and the first inlet are indirectly connected, for example, by a pipe.

[0378] In some embodiments, the liquid outlet 1040 includes at least a first water outlet 1041, and the first water outlet 1041 is provided on the cleaning device body 1001. For example, as shown in FIG3 , the first water outlet is provided on the top of the first body, for example, the first water outlet is provided on the top wall of the first body and is closer to the rear side wall than the front side wall. Alternatively, the first water outlet is provided on the side of the first body. For example, the first water outlet is provided on at least one of the third side wall and the fourth side wall. Alternatively, the first water outlet is provided on the rear portion of the first body, for example, the first water outlet is provided on the rear side wall of the first body.

[0379] The first water inlet, the first filter cartridge, the suction assembly, and the first water outlet are sequentially connected to form a first water path for cleaning the pool bottom, pool walls, or waterline. Specifically, under the action of the suction assembly, dust-laden liquid in the pool enters the first filter cartridge through the first water inlet, where it is filtered, leaving the waste in the first filter cartridge. The filtered liquid then enters the first receiving chamber, passes through the suction assembly, and is finally discharged from the first main body through the first water outlet.

[0380] In another embodiment, when the pool robot also has a water surface cleaning function, as shown in Figure 3, the liquid inlet portion further includes a second water inlet 1032, which is located at the first end or the second end of the first body. The second water inlet is connected to the second filter cartridge to introduce liquid from the water surface into the first filter cartridge. The second water inlet 1032, the first filter cartridge 1050, the suction assembly 1060, and the first water outlet 1041 are sequentially connected to form a second waterway for cleaning the water surface or waterline. Specifically, under the suction action of the suction assembly, at least a portion of the second water inlet 1032 is located below and near the water surface. Dust-laden liquid in the pool enters the first filter cartridge through the second water inlet and is filtered by the first filter cartridge, leaving the garbage in the first filter cartridge. The filtered liquid enters the first accommodating chamber, then passes through the suction assembly, and finally exits the first body through the first water outlet.

[0381] For example, in some embodiments, as shown in FIG3 , FIG6B , or FIG8A , the second water inlet 1032 is provided on the front portion of the first body 10011. When the cleaning device is cleaning the water surface, the cleaning device cleans the water surface by moving forward. For example, the second water inlet is provided on the front side wall of the front portion of the cleaning device and is closer to the top of the first body than to the bottom of the first body.

[0382] For another example, as shown in Figures 6B, 7A, and 7B, the second water inlet is located on the rear portion of the first body, and when the cleaning device is cleaning the water surface, the cleaning device cleans the water surface by moving backward. For example, the second water inlet is located on the rear side wall of the rear portion of the first body and is closer to the top of the first body than to the bottom of the first body.

[0383] In some embodiments, as shown in FIG3 or FIG8A , the first water inlet is located on the bottom of the first body, and the second water inlet is located on the front sidewall of the front portion of the first body. The cleaning device cleans the pool bottom and the water surface by moving forward. In another embodiment, as shown in FIG7E , the first water inlet is located on the bottom of the first body, and the second water inlet is located on the rear sidewall of the rear portion of the first body. The cleaning device cleans the pool bottom by moving forward and the water surface by moving backward.

[0384] In another embodiment, to connect the second water inlet to the first filter cartridge, the first filter cartridge is provided with a second inlet 10511b. The second water inlet and the second inlet 10511b can be directly connected, shortening the path for the pool water to enter the first filter cartridge through the second water inlet and the second inlet 10511b. For example, the second water inlet and the second inlet are adjacent or aligned. For example, the bottom surfaces of the second water inlet and the second inlet are adjacent and flush. Alternatively, the second water inlet is provided on the front sidewall of the front portion of the first body, and the second inlet is provided on the front sidewall of the first dust box. The second water inlet is located outside the second inlet, adjacent to the second inlet, and their bottom surfaces are flush. The second inlet can be a complete opening or hole, or an open opening, or a notch in the top of the front sidewall of the first filter cartridge. Alternatively, the second water inlet and the second inlet can be indirectly connected, allowing the pool water to enter the first filter cartridge through the second water inlet. For example, the second water inlet and the second inlet are connected by a pipe.

[0385] For the aforementioned first type of pool robot, the liquid inlet includes a first water inlet but not a second water inlet. The pool robot can only be used to clean the pool bottom, pool walls, and waterline. That is, the first type of pool robot has an underwater cleaning function but not a surface cleaning function. For the second type of pool robot, the liquid inlet includes a first water inlet and a second water inlet, and is used to clean the pool bottom, pool walls, waterline, and water surface. That is, the second type of pool robot has both underwater and surface cleaning functions. For the aforementioned third type of pool robot, the liquid inlet includes a second water inlet but not a first water inlet. It is used to clean the pool surface and waterline. That is, the third type of pool robot has a surface cleaning function but not an underwater cleaning function. Underwater cleaning includes at least pool bottom cleaning, pool wall cleaning, and cleaning the waterline by the pool robot walking horizontally or up and down on the pool wall. The surface cleaning function includes at least water surface cleaning and cleaning the waterline by the pool robot walking on the water surface.

[0386] In some other embodiments, when a roller brush or other structure is provided inside the cleaning device body 1001, the second water inlet 1032 may also be provided near the roller brush or other structure. The first water inlet 1031 and the second water inlet 1032 may function independently or in conjunction with each other. When the second water inlet 1032 is provided at the top of the cleaning device body 1001, the cleaning device 1000 floats to near the water surface and the posture of the cleaning device 1000 is the same as when walking on the bottom of the pool. The second water inlet 1032 is opened, and under the action of the suction component 1060, at least a portion of the second water inlet 1032 is located below and close to the water surface, and garbage on the water surface enters the cleaning device 1000 through the second water inlet 1032. When the second water inlet 1032 is provided on the side of the cleaning device body 1001, the cleaning device 1000 can adjust the posture of the cleaning device 1000 so that the second water inlet 1032 faces the water surface and is below the water surface and close to the water surface, or the second water inlet 1032 is at least partially below the water surface, or the second water inlet 1032 is at least partially above the water surface during the process of floating up to near the water surface.

[0387] In another embodiment, as shown in FIG3 or FIG7E , the first body 10011 further includes a second accommodating chamber 10014, the second accommodating chamber having a first sub-cavity 10014a and a second sub-cavity 10014b, wherein the first sub-cavity and the second sub-cavity are separated. A second drainage port 10013a is provided on the sidewall of the first accommodating chamber, connecting the first accommodating chamber and the first sub-cavity. A first water outlet 1041 is provided on the first body and connected to the first sub-cavity. The suction assembly 1060 includes at least a main water pump 1061, the main impeller of the main water pump being provided in the first sub-cavity 10014a, and the main motor of the main water pump being located in the second sub-cavity 10014b. Thus, the first water inlet, the first filter cartridge, the second drainage port, the first sub-cavity, and the first water outlet on the first body are sequentially connected to form the aforementioned first water path; and the second water inlet, the first filter cartridge, the second drainage port, the first sub-cavity, and the first water outlet are sequentially connected to form the aforementioned second water path.

[0388] In some embodiments, as shown in Figure 7E, a first baffle 10511c is provided at the first water inlet 1031, the first inlet 10511a, and at least one of the first sub-channels formed between the first water inlet and the first inlet. The first baffle is in a closed state to prevent the liquid in the pool from entering the first filter box through the first water inlet 1031; the first baffle is in an open state to allow the liquid in the pool to enter the first dust box through the first water inlet.

[0389] In another embodiment, a second baffle 10511d is provided on at least one of the second sub-flow channels formed at the second water inlet, the second inlet 10511b, or between the second water inlet and the second inlet. The second baffle is closed to prevent liquid from entering the first filter cartridge through the second water inlet; and is open to allow liquid in the pool to flow into the first filter cartridge through the second water inlet.

[0390] In another embodiment, for the third type of pool robot, the pool robot is equipped with the aforementioned first and second baffles. When the cleaning device is cleaning the water surface, the first baffle is closed to prevent liquid from entering the first filter cartridge through the first water inlet 1031. The second baffle is opened, allowing liquid to enter the first filter cartridge 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 filter cartridge through the second water inlet. The first baffle is opened, allowing liquid to enter the first filter cartridge 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 opened; when cleaning the pool walls or bottom, the first baffle is opened and the second baffle is closed.

[0391] As shown in Figures 3A and 3B, the first main body 1001 includes a first accommodating chamber 10013 and a second accommodating chamber 10014, the first filter component 1050 is arranged in the first accommodating chamber, and the second accommodating chamber has a first sub-cavity 10014a and a second sub-cavity 10014b, wherein the first sub-cavity and the second sub-cavity are separated, the first sub-cavity is used to set the suction component 1060, and the second sub-cavity is used to set the first electrical control box 6000. Of course, the first sub-cavity and the second sub-cavity can also be used to set other components. A second drainage port 10013a is provided on the side wall of the first accommodating chamber, and the second drainage port connects the first accommodating chamber and the first sub-cavity. The first water outlet 1041 is provided on the first main body and is connected to the first sub-cavity. The suction assembly 1060 includes a main water pump 1061, the main impeller 10612 of the main water pump is arranged in the first sub-cavity 10014a, and the main motor 10611 of the main water pump is located in the second sub-cavity 10014b, so that the first water inlet on the first main body (equivalent to the liquid inlet at the bottom of the cleaning equipment), the first filter assembly, the second liquid discharge port, the first sub-cavity, and the first water outlet are connected in sequence to form the first water path of the cleaning equipment; the second water inlet (equivalent to the liquid inlet on the side of the cleaning equipment), the first filter assembly, the second liquid discharge port, the first sub-cavity, and the first water outlet are connected in sequence to form the second water path of the cleaning equipment.

[0392] The first filter assembly 1050 includes a first filter box 1051 (equivalent to a first dust box), as shown in Figures 9A-9F, the first filter box 1051 includes a first frame 1051f and a first filter screen 1051g arranged on the first frame, the first frame includes multiple side walls (the side walls of the first frame in this article can also be regarded as the side walls of the first filter box) and a first bottom plate 10517, at least one side wall is provided with a first filter screen to form a filtering surface (one side of the first frame containing the first filter screen in this disclosure is equivalent to the filtering surface described in the priority document), the multiple side walls are connected end to end in a detachable or non-detachable manner, the first frame and the first filter screen constitute a filtering space to filter the liquid entering the first filter box.

[0393] The first filter box is provided with a first inlet 10511a and a second inlet 10511b. The first inlet 10511a is connected to the first water inlet 1031. When the cleaning equipment is cleaning the bottom or wall of the pool, the liquid in the pool enters the first filter box 1051 through the first water inlet 1031 and the first inlet for filtration; the second inlet 10511b is connected to the second water inlet 1032. When the cleaning equipment is cleaning the water surface of the pool, the liquid on the water surface enters the first filter box 1051 through the second water inlet 1032 and the second inlet for filtration.

[0394] A first baffle 10511c is provided at the first water inlet 1031 and / or the first entrance 10511a, and a second baffle 10511d is provided at the second water inlet and / or the second entrance 10511b. When the cleaning device is cleaning the water surface, the first baffle is in a closed state to prevent liquid in the pool from entering the first filter cartridge through the first water inlet 1031 or the first entrance. The second baffle is in an open state, allowing liquid on the pool surface to enter the first filter cartridge through the second water inlet and the second entrance. That is, the second waterway operates normally, while the first waterway is suspended. When the cleaning device is moving in the water or cleaning the bottom or wall of the pool, the second baffle is in a closed state to prevent liquid in the pool from entering the first filter cartridge through the second water inlet or the second entrance. The first baffle is in an open state, allowing liquid in the pool to enter the first filter cartridge through the first water inlet and the first entrance. That is, the first waterway operates normally, while the second waterway is suspended.

[0395] 9A and 9B , a fifth opening 10511g is provided on the first bottom plate 10517 (the fifth opening is equivalent to the first inlet of the first filter box mentioned above), and a second protrusion 10511e extending in a direction perpendicular to the first bottom plate 10517 is provided on the edge of the fifth opening 10511g. The second protrusion 10511e can extend toward the inside of the first filter box 1051, or toward the outside of the first filter box 1051, or to both sides at the same time, or the second protrusion 1051e 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 filter box 1051 to the inside of the first filter box 1051 is provided at the side wall of the first frame 1051f corresponding to the fifth opening 10511g. The first protrusion 10523 is hollow and is closed at the bottom of the first filter box 1051 on the first bottom plate 10517. When the first protrusion 10523 is connected to the fifth opening 10511g and sealed, the first protrusion 10523 can be fixed to the side wall of the first frame, and a first baffle 10511c is provided at one end of the first protrusion 10523 (see Figure 9D). Of course, the first baffle can also be provided at other positions of the first protrusion or at the fifth opening, for example, the first baffle can also be provided at one end of the first protrusion close to the first bottom plate; referring to Figure 9C, the side wall of the first protrusion 10523 can also be provided with a transition arc surface 10518 from the inside of the first filter box 1051 to the bottom of the first filter box 1051. The transition arc surface 10518 can make the pool debris that falls on the first baffle 10511c above the first protrusion 10523 easily slide to the bottom of the first filter box 1051 and will not accumulate in the corner; the first protrusion can be provided with a transition arc surface on each side, or a transition arc surface can be provided as a whole to surround multiple side walls. Of course, the first filter box 1051 may not be provided with the transition arc surface 10518 .The portion of the first bottom plate 10517 other than the fifth opening 10511g may be provided with a filtering surface or not; the first bottom plate 10517 may open or close the bottom of the first filter box 1051. When the first bottom plate 10517 closes the bottom of the first filter box 1051, the four sides of the first bottom plate 10517 can be sealed and connected to the side walls of the first filter box 1051. When the cleaning device 1000 cleans the pool, the first bottom plate 10517 closes the bottom of the first filter box 1051 and forms a filtering space with the four sides of the first filter box 1051, which is suitable for filtering the water entering the first filter box 1051. 51 is filtered; when the cleaning device 1000 is in a self-cleaning state (self-cleaning as referred to in the present disclosure refers to the process of the cleaning device automatically cleaning its first filter box on the base station), the first bottom plate 10517 opens the bottom of the first filter box 1051, exposing the internal space of the first filter box 1051. At this time, the bottom of the first filter box has an opening, which can be called the first filter box bottom opening 1057 (as shown in Figures 9B and 9D, after opening the first bottom plate, the bottom of the first filter box except the first protrusion is an opening), and the garbage in the first filter box can be discharged from the cleaning device through the bottom opening.

[0396] In some embodiments, referring to FIG9G , in order to facilitate the discharge of garbage from the bottom opening 1057 of the first filter box, the first protrusion 10523 is provided with a first baffle 10511c at one end thereof being tilted, that is, the height of the first protrusion close to the bottom opening side is lower than the height away from the bottom opening side. When the first baffle closes the first protrusion or the fifth opening, the first baffle is tilted toward the bottom opening of the first filter box, so that the garbage falling on the first baffle can slide toward the bottom opening of the first filter box by gravity, so that the garbage can be discharged from the first filter box from the bottom opening without staying on the first baffle.

[0397] In some embodiments, referring to Figure 9D, the difference between this embodiment and some of the above embodiments is that, in this embodiment, the first protrusion 10523 is fixedly arranged with the first bottom plate 10517, that is, the fifth opening 10511g on the first bottom plate 10517 is fixedly connected with the first protrusion 10523 or is integrally formed. When the first bottom plate 10517 opens or closes the bottom of the first filter box 1051, the first protrusion 10523 opens or closes the bottom of the first filter box 1051 together with the first bottom plate 10517; and when the first bottom plate 10517 closes the bottom of the first filter box 1051, the four sides of the first bottom plate 10517 and / or the side walls of the first protrusion 10523 can be sealed and connected with the side walls of the first filter box 1051. When the cleaning device 1000 is cleaning a pool, the first bottom plate 10517 closes the bottom of the first filter box 1051 and forms a filtering space with the four side walls of the first filter box 1051 to filter the liquid entering the first filter box 1051. When the cleaning device 1000 is in a self-cleaning state, the first bottom plate 10517 opens the bottom of the first filter box 1051, exposing the interior space of the first filter box 1051. At this time, the bottom of the first filter box has an opening, which can be referred to as the first filter box bottom opening 1057. That is, there are at least two situations in which the first filter box bottom opening exists. One situation, as shown in FIG9B , refers to the opening portion of the bottom of the first filter box excluding the first protrusion after the first bottom plate is opened; the other situation, as shown in FIG9D , refers to the entire opening of the bottom of the first filter box after the first bottom plate and the first protrusion are opened together.

[0398] In one embodiment, a rotational connection is used to achieve the opening and closing of the first bottom plate 10517 relative to the bottom of the first filter box 1051. For example, referring to FIG9B , a pair of shaft sleeves 10520 are provided at the bottom of a side wall of the first filter box 1051. A shaft rod 10521 is fixedly provided on one side of the first bottom 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 bottom 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 filter box 1051. The shaft sleeves are provided at positions corresponding to the shaft rod 10521 on the first bottom 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 bottom plate 10517. The rotation setting of the first base plate 10517 can also be driven by gears. For example, referring to Figure 9E, 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 driven and connected to the driving gear in the walking and propulsion mechanism of the cleaning device. The gears in the original driving mechanism of the cleaning device are used to directly or indirectly control the rotation of the first gear 10522, thereby realizing the rotation setting of the first base plate 10517. In some embodiments, a second driving assembly 1058 can also be separately provided, and the second driving assembly drives the rotation of the first gear to realize the opening and closing of the first base plate or the fifth baffle (the fifth baffle will be described later). In some embodiments, the first gear 10522 can also be provided in the first dust bin or the first accommodating chamber 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, which can also realize rotation drive. The rotation mode and rotation driving mode of the present invention are not limited thereto, and 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.

[0399] In another embodiment, the opening and closing configuration of the first base plate 10517 differs from the above-described embodiment. In this embodiment, the first base plate 10517 is positioned at the bottom of the first filter box 1051 so as to be translatable relative to the sidewall of the first filter box 1051. The opening and closing of the bottom of the first filter box 1051 is achieved by 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 positioned at the bottom of the sidewall of the first filter 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 a drive gear in the propulsion mechanism of the cleaning device. The existing drive mechanism of the cleaning device can be used to directly or indirectly control the rotation of the second gear, thereby achieving the translation configuration of the first base plate 10517. In some embodiments, a separate second drive assembly can also be provided to drive the second gear. The translation setting mode and driving mode of the present invention are not limited thereto. Of course, the second gear can be arranged in the first accommodating chamber of the cleaning device or in the first dust bin or in other suitable positions.

[0400] In some embodiments, the arrangement of the first bottom plate 10517 is different from that of the above-described embodiments. Referring to Figures 9E and 9F, a fifth opening 10511g is provided on the first bottom plate 10517 (the fifth opening is equivalent to the first inlet mentioned above), and the fifth opening 10511g is connected to the first water inlet 1031. A first protrusion 10523 extending from the bottom of the first filter cartridge to the interior of the first filter cartridge is provided at the fifth opening 10511g. The first protrusion 10523 is hollow and fixedly connected to the fifth opening 10511g. The first protrusion 10523 is also fixedly provided to the side wall of the first frame and the first bottom plate 10517. A first baffle 10511c is provided at one end of the first protrusion 10523 away from the first bottom plate 10517, and a sixth opening 1054 is provided on the other side of the first bottom plate 10517 at the fifth opening 10511g. A fifth baffle 10511f capable of opening or closing the sixth opening 1054 is also provided on the first bottom plate 10517. A filtering surface may be provided on the fifth baffle 10511f or not. The fifth baffle 10511f is configured to open or close the sixth opening 1054. When closed, the periphery of the fifth baffle 10511f can seal the sixth opening 1054. When the cleaning device is cleaning a pool or a swimming pool, the fifth baffle 10511f closes the sixth opening 1054, so that the first bottom plate 10517 and the four side walls of the first frame form a filtering space to filter the liquid entering the first filter box 1051; when the cleaning device 1000 is in the self-cleaning state, the fifth baffle 10511f opens the sixth opening 1054, exposing the internal space of the first filter box 1051, so that the garbage in the first filter box can be discharged from the cleaning device from the sixth opening. In this case, since the first bottom plate 10517 is fixedly connected to the four side walls of the first frame, the sixth opening at this time can also be called the bottom opening of the first filter box (in the present disclosure, the bottom opening of the first filter box can be considered as the opening through which the garbage in the first filter box is discharged from the first filter box when the cleaning equipment is self-cleaning on the base station, including the bottom opening shown in Figures 9B and 9D above, and also including the sixth opening. At this time, there are also two situations for the baffle of the bottom opening, one is the fifth baffle, and the other is the first bottom plate; in the following description, the sixth opening, the bottom opening, the fifth baffle, and the first bottom can be described separately, or they can be collectively referred to as the bottom opening and the baffle of the bottom opening), and the fifth baffle 10511f can also be called the movable first bottom plate. In order to facilitate the discharge of garbage from the sixth opening, the side wall of the first protrusion 10523 is provided with a transition arc surface 10518 from the inside of the first filter box 1051 toward the bottom of the first filter box 1051. The transition arc surface 10518 can make the pool debris that falls on the first baffle 10511c above the first protrusion 10523 easily slide to the bottom of the first filter box 1051 without accumulating in the corner.The first raised portion 10523 may be provided with a transition arc surface on each side, or may be provided with a transition arc surface as a whole to surround multiple sidewalls. Of course, no transition arc surface is required. In this embodiment, the sixth opening 1054 can be opened and closed by rotation or translation. The rotational and translational structures may be provided by means of gears, racks, or bushings as described in the above embodiments. The specific rotational and translational arrangements are similar to those of the above two embodiments and will not be described in detail here. In addition to being provided at the bottom of the sidewall of the first filter box 1051, the rotational and translational structures in this embodiment may also be provided between the fifth opening and the sixth opening 1054 of the first base plate 10517, such as the position shown in FIG9F . That is, the fifth baffle may be rotationally connected to the sidewall of the first filter box, or the fifth baffle may be rotationally connected to the portion between the fifth and sixth openings on the first base plate.

[0401] In some embodiments, referring to FIG9G , to facilitate the discharge of garbage from the sixth opening 1054 of the first bottom plate, the end of the first protrusion provided with the first baffle is tilted, i.e., the height of the first protrusion closer to the sixth opening is lower than the height of the first protrusion farther from the sixth opening. When the first baffle closes the first protrusion or the fifth opening, the first baffle is tilted toward the sixth opening. This allows garbage that falls on the first baffle to slide toward the sixth opening at the bottom of the first filter cartridge by gravity, facilitating the discharge of the garbage from the first filter cartridge through the sixth opening without lingering on the first baffle.

[0402] In some embodiments, a dust box bottom cover driver 1055 is provided on the first body for driving the opening and / or closing of the first bottom plate or the fifth baffle. Optionally, when the cleaning device 1000 is in a self-cleaning state (the self-cleaning state will be described in detail later), the dust box bottom cover driver 1055 drives the first bottom plate or the fifth baffle to open. The dust box bottom cover driver 1055 can be provided in the gap between the first filter box 1051 and the first dust bin 1052, or in the gap between the first filter box and the first accommodating cavity. When the cleaning device 1000 is in a working task state (the working task at this time refers to the task of cleaning the water pool), the dust box bottom cover driver 1055 drives the first bottom plate or the fifth baffle to close. As shown in FIG9Z2 , a dust box bottom cover drive motor 1055a is provided on the first dust bin 1052 or the first accommodating chamber. The dust box bottom cover drive motor is used to drive the first base plate or the fifth baffle to rotate. The output shaft of the dust box bottom cover drive motor is connected to a third gear 1055b. The third gear 1055b is meshed with a fourth gear 1055c. The fourth gear 1055c is connected to the fifth baffle 10511f or the tilting shaft of the first base plate. Thus, driven by the dust box bottom cover drive motor 1055a, the fifth baffle 10511f or the first base plate can be rotated. The dust box bottom cover drive member 1055 can also be provided on the base station body (equivalent to the bearing assembly). Optionally, a reset mechanism, such as a torsion spring, is provided on the tilting shaft of the first base plate or the fifth baffle. When the cleaning device 1000 leaves the base station body, the first base plate or the fifth baffle can automatically return to a closed state.

[0403] To facilitate the removal and installation of the first filter box 1051, in some embodiments, the first bottom plate or the fifth baffle is detachably connected to the dust box bottom cover drive. When the first filter box 1051 needs to be removed from the first dust bin 1052 or the first accommodating cavity, the connection between the first bottom plate or the fifth baffle and the dust box bottom cover drive 1055 can be disconnected, thereby facilitating the removal of the first filter box 1051 from the first dust bin 1052 or the first accommodating cavity. When the first filter box 1051 is installed in the first dust bin 1052 or the first accommodating cavity, the first bottom plate or the fifth baffle is connected to the dust box bottom cover drive. For example, the fourth gear 1055c is set on the first filter box 1051, and the third gear 1055b is set on the first dust bin 1052 or the first accommodating cavity. The fourth gear 1055c is located above the third gear 1052b. When the first filter box 1051 is taken out from the take-out port of the first main body, the fourth gear 1055c is disengaged from the third gear 1055b, and the fourth gear 1055c leaves the first dust bin 1052 or the first accommodating cavity together with the first filter box 1051; when the first filter box 1051 is installed in place, the fourth gear 1055c is engaged with the third gear 1055b again.

[0404] In some embodiments, the first base plate or the fifth baffle can automatically flip outward and open under the action of gravity. Optionally, a closing lock can be provided to lock the first base plate or the fifth baffle in the closed state. When the first base plate or the fifth baffle needs to be opened, the closing lock can be unlocked, and the first base plate or the fifth baffle can automatically flip outward and open under the action of gravity. When the first base plate or the fifth baffle needs to be closed, the dust box bottom cover drive 1055 drives the first base plate or the fifth baffle to flip inward, close, and lock. An opening and closing lock can also be provided to lock the first base plate or the fifth baffle after it is opened and closed. The closing lock or the opening and closing lock can be provided on the first base plate or the fifth baffle, or on the dust box bottom cover drive 1055, such as using a lock on the dust box bottom cover drive motor 1055a.

[0405] In some embodiments, the first bottom plate or the fifth baffle can be opened within a preset angle range. In the self-cleaning mode, the first bottom plate or the fifth baffle can be opened to a preset angle, for example, 90 degrees. This angle allows the weight of the garbage to fall vertically, and the first bottom plate or the fifth baffle does not occupy the side space when opened. An opening and closing limit mechanism can be provided to limit the opening angle of the first bottom plate or the fifth baffle to within a set range.

[0406] In some embodiments, the first bottom plate of the first frame is set to a non-planar configuration, such as a curved surface with different heights. As shown in FIG9H , the first bottom plate of the first frame 1051f includes a first sub-bottom plate 10517a and a second sub-bottom plate 10517b. When the first filter box is installed on the first body, the heights of the first sub-bottom plate and the second sub-bottom plate are different. The first sub-bottom plate is set higher than the second sub-bottom plate, and the first sub-bottom plate is tilted toward the second sub-bottom plate, that is, the height of the side of the first sub-bottom plate away from the second sub-bottom plate is higher than the height of the side of the first sub-bottom plate close to the second sub-bottom plate. A fifth opening 10511g is provided (the fifth opening is similar to the first entrance above), and a first baffle capable of opening or closing the fifth opening is provided at the fifth opening. The first baffle can seal the fifth opening when closed, and is inclined toward the second sub-base when closed; a sixth opening is provided on the second sub-base, and a fifth baffle capable of opening or closing the sixth opening 1054 is provided at the sixth opening. A first filter net may be provided on the fifth baffle 10511f or not. When closed, the periphery of the fifth baffle 10511f can seal the sixth opening 1054. When the cleaning device is cleaning a pool or a swimming pool, the fifth baffle 10511f closes the sixth opening 1054, so that the first bottom plate 10517 and the four side walls of the first frame and the first filter net form a filtering space to filter the liquid entering the first filter box 1051; when the cleaning device 1000 is in the self-cleaning state, the fifth baffle opens the sixth opening 1054, exposing the internal space of the first filter box 1051, so that the garbage in the first filter box can be discharged from the cleaning device through the sixth opening.

[0407] When the cleaning device is moving along the bottom of the pool or during self-cleaning, because the first sub-bottom plate is higher than the second sub-bottom plate and the first sub-bottom plate is tilted downward toward the sixth opening, when the first baffle closes the fifth opening, the first baffle tilts toward the sixth opening, thereby allowing garbage that falls on the first baffle to slide toward the sixth opening by gravity. In this embodiment, a water flow channel is provided between the fifth opening and the first water inlet 1031, as indicated by the arrow in Figure 9G. The component providing this water flow channel is disposed in the first accommodating cavity and fixedly connected to the first main body shell (the component providing this water flow channel is similar to the first protrusion in the above embodiment, except that in this embodiment, the component providing this water flow channel is not fixedly connected to the first filter cartridge, but is fixedly connected to the first main body shell). The component providing this water flow channel extends from the first water inlet to the fifth opening and is capable of being sealed with the fifth opening. When the first baffle is open, pool liquid can enter the fifth opening from the first water inlet through this water flow channel and enter the first filter cartridge for filtration. When the first baffle closes the fifth opening, the water flow channel is closed.

[0408] In some embodiments, the fifth baffle 10511f is opened or closed by the second drive assembly 1058. The second drive assembly includes but is not limited to a motor drive assembly, a hydraulic drive assembly, a pneumatic drive assembly, a magnetic drive assembly, a mechanical drive assembly, etc. This embodiment is described by taking the motor drive assembly as an example. Other drive assemblies are basically similar and are not described in detail. As shown in FIG9I , a second drive assembly 1058 is also provided in the first accommodating cavity. The second drive assembly 1058 includes a first stepper motor 1058a and a first transmission shaft 1058b. The fifth baffle has a thickened end 1051h. The cross-section of the thickened end 1051h is approximately circular. The fifth baffle can rotate around the thickened end to open or close the sixth opening. One end of the thickened end extends out of the fifth baffle. An eighth protrusion 1051i is provided on one side. The eighth protrusion 1051i and the thickened end A first stop portion 1051j is arranged between the parts 1051h, and the outer surface of the protruding thickened end of the first stop portion 1051j is arranged to realize the limiting of the eighth protrusion and the first transmission shaft 1058b during installation. The driving shaft of the first stepper motor 1058a is connected to one end of the first transmission shaft, and the other end of the first transmission shaft is connected to the eighth protrusion. The first stepper motor drives the eighth protrusion through the first transmission shaft to drive the thickened end to rotate, thereby driving the fifth baffle to rotate, so that the fifth baffle opens or closes the sixth opening.

[0409] In some embodiments, the second drive component can also be set on the base station body (the base station body is described later). When the cleaning equipment drives to the stop surface of the base station body and prepares for self-cleaning (the detailed description of self-cleaning is described later), the second drive component on the base station body can drive the fifth baffle or the first bottom plate to open the sixth opening or the bottom opening, exposing the internal space of the first filter component, so that the first filter component is connected to the internal space of the second filter component.

[0410] In some embodiments, as shown in Figures 9I and 9J, when the fifth baffle closes the sixth opening, the cross-section of the eighth protrusion is wide at the top and narrow at the bottom (when the first filter box is located in the first accommodating chamber of the cleaning device, the direction of removing the first filter box is upward, and the direction of inserting the first filter box into the first accommodating chamber is downward), and the cross-section of the part where the first transmission shaft 1058b is connected to the eighth protrusion 1051i is correspondingly wide at the top and narrow at the bottom, which is suitable for installing the eighth protrusion 1051i therein. The special shape setting of wide at the top and narrow at the bottom facilitates the separation of the eighth protrusion 1051i and the first transmission shaft 1058b when taking out the first filter box, and avoids taking out the first transmission shaft 1058b together when taking out the first filter box. The shape of the other end of the first transmission shaft 1058b is coordinated with the shape of the drive shaft of the first stepper motor 1058a. For example, if the drive shaft of the first stepper motor 1058a is elliptical, then the cross-section of the other end of the first transmission shaft 1058b is also elliptical and annular; if the drive shaft of the first stepper motor 1058a is triangular, then the cross-section of the other end of the first transmission shaft 1058b is also triangular and annular; of course, it can also be star-shaped, square or irregular polygonal, etc. The middle part of the first transmission shaft 1058b is cylindrical, and a first limiting portion 1058c is also provided above the middle part of the first transmission shaft 1058b. The first limiting portion 1058c is fixedly connected to the bottom shell of the first main body, such as by means of screws, snaps or glue. The side of the first limiting portion 1058c close to the first transmission shaft is arc-shaped. When the first limiting portion is fixed to the bottom shell of the first main body, the first transmission shaft 1058b can rotate freely within the arc area defined by the first limiting portion and the bottom shell of the first main body, and almost no parallel displacement other than rotation will be generated, so that the torque of the drive shaft of the first stepper motor 1058a can be better transmitted to the fifth baffle, and unnecessary vibration of the first transmission shaft 1058b can be prevented, thereby affecting the opening or closing of the fifth baffle. In some embodiments, the second drive assembly 1058 is also fixed to the bottom shell of the first main body. Of course, the first limiting portion 1058c and the second drive assembly 1058 can also be fixed to other components in the cleaning equipment. There is no restriction here, as long as the second drive assembly and the first transmission shaft 1058b are not taken out together with the first filter box when the first filter box is taken out, that is, when the first filter box is taken out of the first accommodating cavity from the cleaning equipment's access port, the second drive assembly 1058 including the first transmission shaft 1058b does not move with the first filter box.

[0411] In some embodiments, as shown in Figures 9I and 9J, the fifth baffle 10511f is rotatably fixed to the bottom of the side wall of the first frame 1051f by a first fixing member 1051k. The first fixing member 1051k is approximately L-shaped, and a fifteenth opening 1051m is provided at the thickened end 1051h of the fifth baffle. The first fixing member 1051k passes through the fifteenth opening 1051m, and both ends are respectively fixed to the side wall of the first frame and / or the first bottom plate. An arc-shaped protrusion is provided at a relative position between the side wall of the first frame and the first fixing member, so that an approximately circular space is defined between the first fixing member and the side wall of the first frame, so that the thickened end 1051h of the fifth baffle can be rotatably limited within its approximately circular space, that is, the thickened end of the fifth baffle can rotate freely within the space, and the end of the first fixing member 1051k can be fixed to the side wall of the first frame and / or the first bottom plate by screws, snaps, integral molding, etc., which are not limited here. At least one set of the fifteenth opening 1051m and the first fixing member 1051k may be provided, as long as the fifth baffle can be rotatably fixed. For example, in FIG9I , two sets of the fifteenth opening 1051m and the first fixing member are provided, one at each end of the thickened end portion. To prevent displacement of the thickened end portion during rotation, a third limiting portion 1051n may be provided on the thickened end portion 1051h. The third limiting portion 1051n protrudes from the thickened end portion. When the first fixing member secures the fifth baffle, the third limiting portions 1051n are located on both sides of the first fixing member, effectively limiting axial horizontal displacement of the thickened end portion during rotation and preventing unnecessary displacement that may cause misalignment of the fifth baffle when closing the sixth opening. In some embodiments, the fifteenth opening 1051m, the first fixing member 1051k, and the third limiting portions 1051n are provided in a coordinated manner, i.e., each set of the fifteenth opening and the first fixing member corresponding to the thickened end portion is provided with a third limiting portion 1051n.

[0412] In some embodiments, as shown in FIG9K , the fifth baffle is approximately L-shaped, comprising a long side plane 1051p and a short side plane 1051q. The long side plane 1051p closes the sixth opening, and the short side plane 1051q is rotatably connected to the side wall of the first frame 1051f. The fifteenth opening 1051m is provided on the short side plane 1051q, with a thickened end 1051h provided on the side of the short side plane. One end of a first fixing member 1051k is fixedly connected to a side wall of the first frame 1051f. A seventh protrusion 1051r is further provided on the bottom of the side wall of the first frame or on the first bottom plate 10517 to which the first fixing member is fixed. The other end of the first fixing member 1051k is fixedly connected to the seventh protrusion 1051r. The fixing methods include, but are not limited to, screw fixing, snap fixing, etc. When the fifth baffle is opened and closed, the seventh protrusion 1051r can pass through the fifteenth opening 1051m.

[0413] Since the first filter box is separated from the second drive assembly 1058 when it is taken out of the first accommodating chamber of the cleaning device, the fifth baffle will open the sixth opening under its own weight and the weight of the garbage inside it in the absence of a driving force, thereby causing the internal garbage to spill out. In order to prevent the above situation from happening, in the present disclosure, the cleaning device is also provided with a position holding structure for maintaining the closed state of the fifth baffle under a specific state; in some embodiments, the position holding structure is provided on the first filter assembly, and of course the holding structure can also be provided at other suitable positions of the cleaning device. The position holding structure has at least two states, state one: the position holding structure can keep the fifth baffle in a position close to the sixth opening, so that the fifth baffle cannot be opened only by the weight of the fifth baffle and the weight of the garbage or water inside it. At this time, the first filter box is usually independent of the cleaning device. State 2: When the first filter cartridge is located in the first accommodating chamber, the first filter cartridge is drivably connected to the second drive member. In order to enable the fifth baffle to open or close the sixth opening under the drive of the second drive member, the position-holding structure in this state cannot have a fatal impact on the rotation of the fifth baffle, that is, the position-holding structure will not affect or substantially affect the rotation of the fifth baffle. The “substantially not affecting” means that the blocking force exerted by the holding structure on the fifth baffle is negligible relative to the driving force exerted by the second drive member on the fifth baffle, and the second drive assembly can overcome the negligible force exerted by the position-holding structure on the fifth baffle to drive the rotation of the fifth baffle, that is, it does not hinder or excessively hinder the second drive member from driving the fifth baffle to open or close the sixth opening. Furthermore, the position-holding structure can rapidly switch from state 2 to state 1 at the moment the first filter cartridge is removed from the first accommodating chamber of the cleaning device; and when the first filter cartridge is placed into the first accommodating chamber, the position-holding structure can rapidly switch from state 1 to state 2.

[0414] Due to the different states of the position maintaining structure, the fifth baffle of the first filter box includes at least three states and transitions between the three states.

[0415] In the first state, when the first filter box is located in the first accommodating cavity of the first main body, the fifth baffle remains in a closed state of the sixth opening. At this time, the cleaning device may be in the process of cleaning the pool or walking in the pool; at this time, the position holding structure is in its own state two, that is, it does not affect the opening or closing of the fifth baffle driven by the second drive component 1058. In some embodiments, the second drive component keeps the fifth baffle in a closed state. In some embodiments, the position holding structure may also provide force for the fifth baffle to maintain the first state (when the first moving block in the position holding structure is in the third position, see the description below).

[0416] The second state is the state of the fifth baffle after the first filter box is taken out from the access port of the cleaning device, that is, the state of the fifth baffle when the first filter box and the main unit are independent of each other. At this time, the fifth baffle closes the sixth opening. At this time, the position holding structure is in its own state one. The position holding structure keeps the fifth baffle in the position of closing the sixth opening and restricts the fifth baffle from opening the sixth opening.

[0417] The third state is the state maintained by the fifth baffle when the cleaning equipment moves to the base station to perform the self-cleaning operation of the first filter box. At this time, the position maintaining structure is in its own state two, that is, it does not affect the opening or closing of the fifth baffle driven by the second drive component 1058. The second drive component drives the fifth baffle to open the sixth opening, and the fifth baffle remains in the open state.

[0418] The switching state from the first state to the second state, at this time, the first filter box is in the process of being taken out from the first accommodating cavity through the take-in and put-out port. At the moment of taking out, the position maintaining structure quickly switches from its own state two to its own state one, so that the fifth baffle switches from the first state to the second state.

[0419] The switching state from the first state to the third state, at this time the cleaning device is ready to perform self-cleaning operation on the base station. At this time, the position maintaining structure is in its own state two, and the conversion state of the fifth baffle is controlled by the second drive component. The second drive component controls the fifth baffle in the closed state to rotate to open the sixth opening, thereby realizing the conversion of the fifth baffle from the first state to the third state.

[0420] The transition from the third state to the first state, at this time, the cleaning device has completed the self-cleaning operation and is waiting for the user's next operation, or is ready to perform the pool cleaning operation again or prepare for other operations. The position holding structure is in its own state two, and the second drive component controls the fifth baffle to rotate from the open sixth opening position to the closed sixth opening position according to the control signal, thereby completing the transition of the fifth baffle from the third state to the first state.

[0421] The transition from the second state to the first state, at this time, the first filter box is about to be loaded into the first accommodating cavity from the loading and unloading port. As the first filter box is loaded, the position holding structure quickly switches from its own state one to its own state two, so that the position holding structure will not affect the rotation of the fifth baffle driven by the second drive component.

[0422] The three states of the fifth baffle also correspond to the three states of the first filter assembly or the first filter box, that is, the first filter assembly or the first filter box includes at least three states:

[0423] The first state is the state of the first filter assembly when the cleaning device is cleaning a pool, in which the baffle closes the bottom opening and can be opened by the drive assembly (the baffle is not open in the first state); the fifth baffle is also in the first state;

[0424] a second state, wherein the first filter assembly is independent of the cleaning device, the baffle closes the bottom opening, and the baffle will not be improperly opened by garbage or liquid inside, or will not be opened by the second drive assembly; and the fifth baffle is in the second state;

[0425] The third state is the state of the first filter component when the cleaning device is located on the base station to clean the first filter component. At this time, the baffle is in a state of opening the bottom opening; at this time, the fifth baffle is in the third state.

[0426] The position-holding structure is capable of maintaining the baffle plate closed to the bottom opening when the first filter assembly is in the second state; and the position-holding structure does not affect or substantially does not affect the switching of the first filter cartridge from the first state to the third state. The "substantially not affecting" means that the blocking force exerted by the position-holding structure on the fifth baffle plate is negligible relative to the driving force exerted by the second driving structure on the fifth baffle plate, and the second driving assembly is capable of overcoming the negligible force exerted by the position-holding structure on the fifth baffle plate to drive the fifth baffle plate to rotate.

[0427] Switching between the states of the fifth baffle also results in switching between the states of the first filter assembly or the first filter box. The switching process is similar to the switching process of the fifth baffle and will not be repeated here.

[0428] The following are some specific embodiments of the position holding structure:

[0429] In some embodiments, as shown in Figures 9L-9M, the position holding structure includes a second limiting portion 1051s. When the first filter box is taken out of the first accommodating chamber from the access port of the cleaning equipment for subsequent operations such as manually cleaning the first filter box, replacing the filter screen, etc., the fifth baffle is in a state of closing the sixth opening, and the fifth baffle is disengaged from the first transmission shaft in the second drive assembly. At this time, it is hoped that the fifth baffle remains in a closed state until it needs to be opened. Since there may be a certain weight of liquid and garbage inside the first filter box and the gravity of the fifth baffle itself, in order to prevent the fifth baffle from being improperly opened by its own gravity and the gravity of the liquid and garbage when closed, thereby causing the garbage in the first filter box to flow out from the sixth opening and pollute the pool or other places again, When the fifth baffle closes the sixth opening, a second limiting portion 1051s is further provided on the bottom position of the first frame or the first bottom plate corresponding to one end of its long side plane, which is used to limit the fifth baffle when the first filter box is taken out from the first accommodating chamber, so that the fifth baffle remains in a closed state to prevent the fifth baffle from being inappropriately opened. When the first filter box is located inside the first accommodating chamber of the cleaning equipment, the second limiting portion 1051s is in the first position. At this time, the second limiting portion will not block the rotation of the fifth baffle, and the fifth baffle is driven to rotate by the second driving assembly; when the first filter box is manually taken out, the second limiting portion can switch from the first position to the second position; when the second limiting portion is in the second position, the fifth baffle can be limited to a closed state to prevent the fifth baffle from being inappropriately opened.

[0430] In some embodiments, as shown in Figures 9L-9M, the second limiting portion 1051s is provided on the second sub-bottom plate 10517b. The four sides of the second sub-bottom plate 10517b, except for the side provided with the seventh protrusion 1051r, are provided with a first enclosure 10517c extending downward (when the first filter box is located in the cleaning device, the top is the top and the bottom is the bottom). The first enclosure 10517c is higher than the bottom surface after the fifth baffle closes the sixth opening. On the second bottom plate 10517b, a first wall 10517d extending downward from the second bottom plate 10517b is provided at a position close to the non-thickened side (opposite to the fifteenth opening) when the fifth baffle is closed. The second limiting portion 1051s is provided between the first enclosure 10517c and the first wall 10517d. The second limiting portion includes the third The elastic member 1051t and the first movable block 1051u, one end of the first movable block 1051u is approximately square-shaped, and the other end is approximately circular-shaped. An eighth groove 1051v is provided on the first wall. The first movable block 1051u and the third elastic member 1051t are located between the eighth groove 1051v and the first enclosure 10517c. When the second limiting portion 1051s is in the first position, the first movable block 1051u is located inside the eighth groove or the outer side surface of the first movable block 1051u is flush with the outer side surface of the eighth groove, and does not block the rotation of the fifth baffle. When the second limiting portion is in the second position, one end of the first movable block can extend out of the outer side surface of the eighth groove 1051v, and press against the outer side surface of the fifth baffle closed in the sixth opening, thereby limiting the rotation of the fifth baffle and thus limiting the opening of the fifth baffle. The first movable block 1051u is provided with a fifth groove 1051u1 which is approximately circular at one end thereof. The fifth groove 1051u1 is used to accommodate one end of the third elastic member 1051t. The other end of the third elastic member 1051t abuts against the first enclosure 10517c. In order to prevent the third elastic member 1051t from shifting, a ninth protrusion 1051w is further provided at the corresponding position on the first enclosure abutting against the other end of the third elastic member 1051t. The ninth protrusion 1051w is located inside the third elastic member 1051t and is in a cross shape. It is used to limit the third elastic member 1051t and prevent the third elastic member 1051t from being dislocated during compression or stretching. Of course, the ninth protrusion 1051w can also be other suitable shapes, such as a straight line or a M shape, etc. The third elastic member 1051t can be a spring or a reed, etc.

[0431] In some embodiments, as shown in FIG9M , a tenth protrusion 1051x is provided on two corresponding sides of the first moving block, a second wall 10517e and a third wall 10517f perpendicular to the first wall 10517d are provided between the first wall 10517d and the first enclosure 10517c, the second wall 10517e and the third wall 10517f are located on both sides of the eighth groove 1051v on the first wall, the second limiting portion is located in the space between the eighth groove, the second wall, the third wall and the first enclosure, a ninth groove 10517g is provided on the second wall and the third wall, and the two tenth protrusions 1051x of the first moving block are provided. It can slide in the ninth groove on the second wall and the third arm. The sliding of the tenth protrusion 1051x in the ninth groove 10517g can ensure that the first moving block is at least in the first position and the second position. When the first moving block is in the first position, the first moving block can be located inside the eighth groove 1051v or flush with the outer side of the eighth groove 1051v; when the first moving block 1051u is in the second position, one end of the first moving block 1051u can extend out of the outer side of the eighth groove 1051v and press against the outer side of the fifth baffle that closes the sixth opening, limiting the rotation of the fifth baffle and thus limiting the opening of the fifth baffle. In some embodiments, a third cover plate 1051y is also provided. The third cover plate 1051y covers the first enclosure and the first wall to limit the up and down displacement of the second limiting portion and prevent the second limiting portion from being misplaced during use. In addition, there is at least one second limiting portion 1051s. As shown in FIG9L , there are two second limiting portions. Of course, it can also be set to three, four, etc. The setting position can be set at the long side of the long side plane, or at the short side of the long side plane, or at the corner of the first enclosure on the second sub-base plate.

[0432] In some embodiments, after the first filter box is taken out of the first accommodating cavity, or when the first filter box exists alone, the first movable block is in the second position, that is, the second limiting portion is in the second position; after the first filter box is installed in the first accommodating cavity, that is, when the first filter box is located inside the first main body, the first movable block is in the first position, that is, the second limiting portion is in the first position.

[0433] In some embodiments, referring to Figures 9M and 9N, Figure 9N is a view viewed upward from the bottom of the first moving block 1051u. A third through hole 1051z is provided at the middle position of one end of the first moving block 1051u that is approximately square-shaped. The third through hole 1051z has a fourth inclined surface 1051z1. The fourth inclined surface 1051z1 makes the lower opening of the third through hole 1051z larger than the upper opening of the third through hole 1051z. The third cover plate 1051y is provided with a first notch 1051y1 at the position corresponding to the third through hole 1051z. When the first filter cartridge is located in the first accommodating cavity, the first body An eleventh protrusion 1019 is provided at a position corresponding to the third through hole 1051z of the bottom shell and the first moving block. A fifth inclined surface 1019a is provided at the end of the eleventh protrusion 1019 away from the bottom shell of the first main body. The fifth inclined surface 1019a is parallel to the fourth inclined surface 1051z1. The fifth inclined surface 1019a can cooperate with the fourth inclined surface 1051z1 in the third through hole 1051z, so that the vertical misalignment movement between the fourth inclined surface 1051z1 and the fifth inclined surface 1019a can be converted into horizontal movement of the first moving block, so that the first moving block can be converted between the first position and the second position. When the first filter box is installed in the first accommodating chamber of the cleaning equipment, the eleventh protrusion 1019 can pass through the first notch on the third cover plate and enter the third through hole 1051z, and the fifth inclined surface on the eleventh protrusion 1019 tightly abuts the fourth inclined surface of the third through hole. During the installation process of the first filter box, as the eleventh protrusion 1019 goes deeper into the third through hole 1051z, the fourth inclined surface 1051z1 undergoes a certain displacement on the fifth inclined surface 1019a, thereby driving the first moving block to undergo horizontal displacement, so that the first moving block moves from the second position to the first position, that is, the first moving block retracts into the eighth groove 1051v, so as not to affect the rotation of the fifth baffle. The third elastic member, the third cover plate, the eleventh protrusion 1019, the ninth groove 10517g, and the tenth protrusion 1051x can enable the second limiting portion to maintain the first position and the second position. In order to improve stability, the first main body bottom shell is located at the eleventh protrusion 1019, and a reinforcing rib connected to the eleventh protrusion 1019 is further provided to improve the connection strength of the eleventh protrusion 1019.

[0434] In this embodiment, the fifth baffle of the first filter box includes three states, and the transition between the three states is described as follows:

[0435] In the first state, when the first filter cartridge is located within the first accommodating chamber of the first body, the fifth baffle remains closed. At this point, the cleaning device can be in the process of cleaning a pool or walking within the pool. At this point, the eleventh protrusion on the bottom shell of the first body is located within the third through-hole, and the first movable block is restrained in the first position by the cooperation of the fourth inclined surface and the fifth inclined surface. At this point, the first movable block is located within the interior of the eighth groove or flush with the outer surface of the eighth groove. The first movable block does not affect the rotation of the fifth baffle driven by the first driving member. At this point, the first movable block is maintained in the first position by the squeezing force of the eleventh protrusion and the elastic force of the third elastic member.

[0436] The second state is the state of the fifth baffle after the first filter cartridge is removed from the access opening of the cleaning device, i.e., the state of the fifth baffle when the first filter cartridge and the main unit are independent of each other. In this state, the fifth baffle closes the sixth opening, and the first movable block of the second limiting portion extends out of the eighth groove and abuts against the bottom of the fifth baffle, thereby restricting the fifth baffle from opening the sixth opening. In some embodiments, the elastic force of the third elastic member abuts the first movable block, maintaining the first movable block in the second position, thereby restricting the fifth baffle from opening the sixth opening.

[0437] The third state is the state maintained by the fifth baffle when the cleaning equipment moves to the base station to perform the self-cleaning operation of the first filter box. At this time, the second drive component drives the fifth baffle to open the sixth opening, and the fifth baffle remains open.

[0438] The switching state from the first state to the second state, at this time, the first filter cartridge is in the process of being taken out from the first accommodating chamber through the take-in and put-out port, during the removal process, the eleventh protrusion on the bottom shell of the first main body moves out from the third through hole, and during the removal process, the third elastic member presses the first movable block, so that the first movable block extends from the eighth groove and abuts the bottom surface of the fifth baffle, that is, the first movable block moves from the first position to the second position at the moment the first filter cartridge is taken out, so that the fifth baffle switches from the first state to the second state.

[0439] The switching state from the first state to the third state, at this time the cleaning device is ready to perform self-cleaning operation on the base station, and the conversion state is controlled by the second drive component, and the second drive component controls the fifth baffle in the closed state to rotate to open the sixth opening, thereby realizing the conversion of the fifth baffle from the first state to the third state.

[0440] The transition from the third state to the first state, at this time, the cleaning device has completed the self-cleaning operation and is waiting for the user's next operation, or is ready to perform the pool cleaning operation again or prepare for other operations. The second drive component controls the fifth baffle to rotate from the open sixth opening position to the closed sixth opening position according to the control signal, thus completing the transition of the fifth baffle from the third state to the first state.

[0441] The conversion from the second state to the first state, at this time, the first filter box is about to be loaded into the first accommodating cavity from the loading and unloading port, and as the first filter box is loaded, the eleventh protrusion on the bottom shell of the first main body passes through the first notch of the third cover plate and enters the third through hole, and the fifth inclined surface of the eleventh protrusion tightly abuts the fourth inclined surface of the third through hole. As the eleventh protrusion goes deeper into the third through hole during the loading process, the fourth inclined surface is displaced on the fifth inclined surface to a certain extent, thereby driving the first movable block to displace horizontally, so that the first movable block moves from the second position to the first position. Even if the first movable block retracts into the eighth groove, it will not affect the rotation of the fifth baffle.

[0442] In the above embodiment, when the fifth baffle is in the first state, the second drive assembly maintains the first state. Therefore, although the fifth baffle does not need to be driven to rotate at this time, the second drive assembly still needs to be powered to enable the fifth baffle to maintain the first state. In order to save this part of energy consumption, in some embodiments, as shown in FIG9P , FIG9P is a partial cross-sectional view of an embodiment of the first filter cartridge of the present invention, the first movable block also has a third position (the position indicated by the dotted arrow in FIG9P is the third position, and the position indicated by the solid arrow is the second position. The first position is retracted into the interior of the eighth groove or flush with the outer side of the eighth groove). In this embodiment, the first movable block switches between the third position and the second position. In this embodiment, the first movable block replaces the first position of the first movable block in some of the above embodiments with the second position. The third position of the first movable block can also be considered as the third position of the second limiting portion, and the third position is located between the first position and the second position. When the first movable block is in the third position, it can prevent the fifth baffle from opening the sixth opening, but does not prevent the second drive assembly from driving the fifth baffle to open and close. Relative to some of the above embodiments, by adjusting the setting position of the eleventh protrusion 1019, the first movable block can be in the third position when the cleaning equipment cleans the swimming pool. A sixth inclined surface 1051u2 is provided on one side of the first moving block near the first bottom plate, and an eighth inclined surface 1051u3 is provided at another position on the side. A seventh inclined surface 10511f1 is provided on one side of the fifth baffle at a position corresponding to the sixth inclined surface, and a ninth inclined surface 10511f2 is provided at another position on the end of the fifth baffle. The sixth inclined surface and the seventh inclined surface are provided in parallel, and the eighth inclined surface and the ninth inclined surface are provided in parallel. When the cleaning equipment cleans the pool, the fifth baffle needs to maintain the first state. At this time, the fifth baffle closes the sixth opening, and the first moving block is in the third position. At this time, the first moving block can keep the fifth baffle in the first state of closing the sixth opening, and there is no need for power supply from the second drive assembly. The protection is provided by the first moving block. When the fifth baffle needs to switch from the first state to the third state, the second drive component starts to supply power and drives the fifth baffle to rotate. Since the sixth inclined surface 1051u2 and the seventh inclined surface 10511f1 are arranged in parallel, the fifth baffle can squeeze the first moving block from the first state to the third state under the drive of the second drive component without too much driving force; when the fifth baffle is transformed from the third state to the first state, the second drive component drives the fifth baffle to rotate. Since the eighth inclined surface 1051u3 and the ninth inclined surface 10511f2 are parallel, the fifth baffle can squeeze the first moving cabinet block and transform from the first state to the third state under the drive of the second drive component without too much driving force. The above arrangement saves energy. The difference of this embodiment is that the third position of the moving block replaces the first position in some previous embodiments. Other implementation methods and structures are similar to some of the above embodiments and will not be repeated here.

[0443] In some embodiments, magnetic members may be disposed between the first bottom portion of the first filter cartridge and the open / closed end portion of the fifth baffle. The attraction between the magnetic members provides a retaining force when the fifth baffle is in the first state, eliminating the need for continuous power supply to the second drive assembly, thereby saving energy. The magnetic member includes, but is not limited to, magnetic materials, magnets, magnetized magnetic materials, and the like.

[0444] The following are some further specific embodiments of the position holding structure:

[0445] In some embodiments, the position maintaining structure includes a fifth elastic member 1059, one end of which is connected to the first handle 1600 (the first handle is described in detail below), and the other end is connected to the opening and closing end of the fifth baffle. By changing the position of the first handle 1600, the fifth elastic member 1059 is used to apply a force to the fifth baffle to maintain it in the second state, thereby restricting the fifth baffle from opening the sixth opening. When the first handle 1600 is in a position parallel to the opening surface of the first filter cartridge (at this time, the first filter cartridge is mostly located in the first accommodating chamber of the cleaning device), the fifth elastic member is in a relaxed state. At this time, the fifth elastic member does not provide any force to the fifth baffle, nor does it prevent the second drive assembly from driving the fifth baffle to rotate. When the fifth baffle is in the third state, the fifth elastic member does not generate any elastic force on the fifth baffle, or the elastic force generated is negligible compared to the driving force of the second drive assembly. When the first handle 1600 is rotated from a parallel position to a vertical position or a nearly vertical position, the fifth elastic member is stretched, thereby generating an upward pulling force on the fifth baffle, so that the fifth baffle remains in a closed state of the sixth opening and will not be inappropriately opened by the gravity of garbage or water inside the first filter box.

[0446] In some embodiments, as shown in Figures 9Q and 9R, for the convenience of illustration, the fifth elastic member 1059 is indicated by a dotted arrow in the figure, which mainly illustrates the wiring layout of the fifth elastic member. A first ring 1601 is provided at an opening and closing end of the first handle 1600. When the first handle 1600 is in a parallel position, a fourth through hole 1602 is provided at a position corresponding to the first ring of the first handle. The fourth through hole 1602 is connected to the second channel 1603. The second channel 1603 is provided on a side wall of the first frame to provide space and protection for the wiring path of the fifth elastic member 1059. A third ring 1604 is provided at one end of the fifth baffle corresponding to the second channel 1603. One end of the second channel 1603 is connected to the first ring 1601, and the other end is connected to the The third ring 1604 is connected, and one end of the fifth elastic member 1059 is connected to the first ring 1601 on the first handle, and the other end passes through the fourth through-hole 1602 and the second channel 1603 to connect to the third ring 1604 on the fifth baffle. When the fifth baffle is in the first state and the first handle is in a parallel position, the fifth elastic member 1059 is in a relaxed state. When the fifth baffle is in the first state and the first handle 1600 is in a vertical position or a nearly vertical position, the fifth elastic member 1059 is in a stretched state, providing elastic force to the fifth baffle to limit the opening of the fifth baffle. When the fifth baffle is in the third state and the first handle is in a parallel position, the fifth elastic member does not generate elastic force on the fifth baffle, or the elastic force generated is negligible compared to the driving force of the second driving assembly. The fifth elastic member includes but is not limited to an elastic rope, or a combination of a rope and an elastic member.

[0447] In some embodiments, the number of position holding structures can be one, two, or more, and different types of position holding structures can be used simultaneously without structural conflict. For example, the second limiting portion and the fifth elastic member can be used simultaneously to achieve position holding, or the second limiting portion and the magnetic member structure can be used simultaneously to achieve position holding, or the fifth elastic member and the magnetic member structure can be used simultaneously to achieve position holding, or the second limiting portion, the fifth elastic member and the magnetic structure can be used simultaneously to achieve position holding.

[0448] In one specific embodiment, the rotation of the fifth baffle 10511f or the first base plate 10517 is controlled by magnetic forces between magnetic members, without requiring a motor to drive the rotation of the fifth baffle or the first base plate. Referring to FIG. 9S , FIG. 9S illustrates the control of the fifth baffle and the control of the first base plate together for illustrative purposes. The specific structures of the first filter box, the first base plate, and the fifth baffle are described above; irrelevant components are omitted in this figure for illustrative purposes. One end of the fifth baffle is pivotally connected to the sidewall of the first base plate or the first frame. The other end (opening / closing end) of the fifth baffle or the first base plate is provided with a third magnetic member 1700. A sixth opening 1504 or bottom opening 1507 is provided at a location corresponding to the opening / closing end of the fifth baffle or the first base plate. For ease of description, the configuration of the fifth baffle in this embodiment is also applicable to the configuration of the first base plate. To facilitate explanation and reduce redundant details, the fifth baffle will be described in this embodiment in place of the fifth baffle or the first base plate. The position of the fourth magnetic member 1701 is adjustable, having at least a third position and a fourth position (as shown in FIG9S , the solid line is the third position, and the dotted line is the fourth position), and can be switched between the third position and the fourth position. When the fifth baffle closes the sixth opening, the second magnetic member is in the third position. When in the third position, the magnetic force between the third magnetic member and the fourth magnetic member is greater than or much greater than the fifth baffle's own weight, thereby ensuring that the third magnetic member is magnetically connected to the fourth magnetic member, providing a closing force for the fifth baffle to close the sixth opening, and realizing the peripheral sealing of the fifth baffle to the sixth opening; when the fifth baffle needs to be opened, the fourth magnetic member is controlled to be in the fourth position. When in the fourth position, the magnetic force between the fourth magnetic member and the third magnetic member is less than or much less than the fifth baffle's own weight, thereby enabling the fifth baffle to open the sixth opening under the action of its own weight. As for the position adjustment method of the fourth magnetic member 1701, it includes but is not limited to motor-driven position movement, spring-driven position movement, shaft-driven position movement, and the like.

[0449] When the cleaning device is cleaning the pool, the fifth baffle is in a state of closing the sixth opening, similar to the first state described above. At this time, the fourth magnetic member remains in the third position, and together with the third magnetic member, provides the force required for closing. When the cleaning device is located on the base station body and is ready to perform a self-cleaning operation, the fourth magnetic member is controlled to be in the fourth position. At this time, the magnetic force between the fourth magnetic member and the third magnetic member is less than or much less than the gravity of the fifth baffle, and is therefore insufficient to provide the force to close the sixth opening. Under the action of its gravity, the fifth baffle opens the sixth opening, connecting the internal space of the first filter box 1051 with the internal space of the second filter box 21102 (the second filter box is described below). At this time, the fifth baffle is in the third state described above. When the rotation of the fifth baffle is controlled by the magnetic force between the magnetic parts, a sixteenth protrusion 1702 (see Figure 18A) is provided on the backward path of the cleaning equipment at the fourth opening of the base station body (the fourth opening is described in detail later). The height of the sixteenth protrusion 1702 is slightly lower than the height of the bottom of the first main body when the cleaning equipment walks to the surface of the base station body (also referred to as the stopping surface or docking position of the cleaning equipment), and the sixteenth protrusion 1702 does not affect the normal movement of the cleaning equipment. When the cleaning device completes the self-cleaning operation on the surface of the base station body and retreats to continue pool cleaning or other operations, the fifth baffle opens the sixth opening due to gravity (that is, the fifth baffle is in the third state). During the retreat, due to the setting of the sixteenth protrusion 1702, the sixteenth protrusion 1702 will prevent the fifth baffle from retreating. As the cleaning device continues to retreat, the opening and closing end of the fifth baffle will rotate around the other end. When it rotates to a certain position, the magnetic force of the third magnetic part and the fourth magnetic part is greater than or much greater than the gravity of the fifth baffle. At this time, the fifth baffle can actively close the sixth opening under the action of the magnetic force, thereby changing the fifth baffle from the third state to the first state, which is suitable for later cleaning of the pool or other operations.

[0450] In some embodiments, the location of the sixteenth protrusion 1702 on the base station body is related to the rotational connection position of the fifth baffle on the first base plate, as well as whether the cleaning device adopts a backward or forward closing method to close the sixth opening. For example, when the sixth opening is closed in a backward manner, the sixteenth protrusion 1702 is generally located on the side of the fourth opening facing the carrier (the carrier is described in detail below), that is, on the backward path of the cleaning device; when the sixth opening is closed in a forward manner, the sixteenth protrusion 1702 is located on the side of the fourth opening away from the carrier. In this case, after the first body completes the self-cleaning operation, the fifth baffle closes the sixth opening by moving forward a certain distance.

[0451] In some embodiments, the sixteenth protrusion 1702 may be omitted, and the side edge of the fourth opening 2055 on the surface of the base station body may be directly used to achieve the transition of the fifth baffle from the third state to the first state. When the fifth baffle is in the third state and the cleaning device completes self-cleaning, the cleaning device is controlled to retreat away from the base station body. At this time, because the fifth baffle is located within the fourth opening, during the retreat of the cleaning device, one side edge of the fourth opening (the side edge located in the direction of the cleaning device's retreat) prevents the movement of the fifth baffle, causing the opening and closing end of the fifth baffle to rotate about the other end. When the opening and closing end rotates to a certain position, the magnetic force of the fourth magnetic member and the fourth magnetic member is greater than or much greater than the weight of the fifth baffle. At this time, the fifth baffle can actively close the sixth opening under the action of the magnetic force, thereby causing the fifth baffle to transition from the third state to the first state, suitable for later cleaning of the pool or other operations. In other words, in this embodiment, the side edge of the fourth opening replaces the function of the sixteenth protrusion, thereby saving overall cost and facilitating design.

[0452] In some embodiments, during the daily cleaning operation of the cleaning equipment, the fourth magnetic member is usually maintained in the third position (the position shown by the solid line in Figure 9S), that is, it is maintained in the state where the fifth baffle closes the sixth opening. When the cleaning equipment is ready to perform a self-cleaning operation on the base station body, the fourth magnetic member switches from the third position to the fourth position. When the fifth baffle opens the sixth opening under the action of gravity, the fourth magnetic member immediately returns to the third position from the fourth position, thereby facilitating the completion of the subsequent self-cleaning operation. As the cleaning equipment moves, the fifth baffle rotates the opening and closing end under the obstruction of the sixteenth protrusion or one side of the fourth opening, thereby utilizing the magnetic force between the third magnetic member and the second magnetic member to attract the fifth baffle to close the sixth opening.

[0453] In some embodiments, the third magnetic component and the fourth magnetic component are magnets, or magnetized magnetic materials such as iron, nickel, cobalt or their alloys, etc. Of course, one can also use a magnet or a magnetized magnetic material, and the other can use a magnetic material such as iron, nickel, cobalt or their alloys, etc., as long as it is ensured that the magnetic force generated between the third magnetic component and the fourth magnetic component is greater than or much greater than the gravity of the fifth baffle.

[0454] In some embodiments, when both the third magnetic member and the fourth magnetic member are magnets or magnetized magnetic materials, the fourth magnetic member can be configured to be rotatable instead of being movable to open and close the fifth baffle. For example, when the fifth baffle is in the first state, the third magnetic member and the fourth magnetic member have opposite magnetic poles facing each other, thereby generating a magnetic force that overcomes the gravity of the fifth baffle, thereby enabling the fifth baffle to close the sixth opening. When the cleaning device is ready to perform a self-cleaning operation on the base station body, the fourth magnetic member is rotated to swap the magnetic poles of the fourth magnetic member, thereby making the fourth magnetic member and the third magnetic member have like magnetic poles facing each other, generating a repulsive force. Under the action of the repulsive force and the gravity of the fifth baffle, the fifth baffle opens the sixth opening. After the fifth baffle opens the sixth opening, the fourth magnetic member is rotated again, that is, the magnetic poles of the fourth magnetic member are swapped again, thereby facilitating the self-cleaning operation. After the cleaning device moves, the fifth baffle rotates the opening and closing end under the obstruction of the sixteenth protrusion or one side of the fourth opening, thereby utilizing the magnetic force between the third magnetic member and the second magnetic member to attract the fifth baffle to close the sixth opening.

[0455] In some embodiments, the third magnetic part and / or the fourth magnetic part can also be implemented by an electromagnet. In this case, the opening and closing of the fifth baffle is achieved by turning on and off the electromagnet current or changing the direction of the current instead of rotating or moving the fourth magnetic part. For example, when the fourth magnetic part is an electromagnet and the third magnetic part is a non-electromagnet magnetic part such as a magnet or a magnetic material, when the fifth baffle is in the first state, the fourth magnetic part is energized to generate a magnetic field to attract the third magnetic part. If the magnetic part at this time is a magnet or a magnetized magnetic material, the direction of the current after the fourth magnetic part is energized is ensured to make the fourth magnetic part and the third magnetic part have opposite poles, thereby generating a magnetic force that overcomes the gravity of the fifth baffle and enables the fifth baffle to close the sixth opening. When the cleaning device is ready to perform a self-cleaning operation on the base station body, the fourth magnetic part is powered off or input. An electric current in the opposite direction is input, thereby eliminating the magnetic force between the fourth magnetic member and the third magnetic member or generating a repulsive force. Under the action of the repulsive force and / or the gravity of the fifth baffle, the fifth baffle opens the sixth opening. After the fifth baffle opens the sixth opening, the fourth magnetic member is energized again, or the current input direction of the second magnetic member is changed again, so as to facilitate the self-cleaning operation. After the cleaning device moves, the fifth baffle rotates the opening and closing end under the obstruction of the sixteenth protrusion or one side of the fourth opening, thereby utilizing the magnetic force between the third magnetic member and the second magnetic member to attract the fifth baffle to close the sixth opening.

[0456] In some embodiments, when the third magnetic component is an electromagnet and the fourth magnetic component is a non-electromagnetic magnetic component such as a magnet or magnetic material, the working process is similar to the above embodiment and will not be repeated here.

[0457] In some embodiments, when the fifth baffle opens the sixth opening, no matter what position the fourth magnetic member is in (the third position or the fourth position), the magnetic force between the fourth magnetic member and the third magnetic member is always less than the gravity of the fifth baffle, that is, when the fifth baffle is in the third state, without external force, the fifth baffle cannot be changed from the third state to the first state by the magnetic force between the fourth magnetic member and the third magnetic member alone. When the cleaning device completes the self-cleaning operation on the base station body, when moving back or forward, the sixteenth protrusion or the side of the fourth opening can make the opening and closing end of the fifth baffle move toward the sixth opening. After moving a certain distance, the magnetic force between the fourth magnetic member and the third magnetic member is greater than or much greater than the gravity of the fifth baffle. At this time, the fifth baffle can actively close the sixth opening under the action of the magnetic force, thereby changing the fifth baffle from the third state to the first state, which is suitable for the later cleaning of the pool. The above design ensures the stability of the third state and facilitates the realization of the self-cleaning operation of the cleaning device.

[0458] In some embodiments, the fourth magnetic member can be multiple magnetic members. As shown in FIG9T , the fourth magnetic member 1701 can be two, namely, a first sub-magnetic member 1701a and a second sub-magnetic member 1701b. The first sub-magnetic member 1701a can generate attraction with the third magnetic member, and the magnetism or magnetic pole position of the second sub-magnetic member 1701b can be adjusted (specific adjustment methods such as rotation, movement, power on or off, supply of opposite current, etc., which have been recorded above and will not be r...

Claims

1. A method for controlling a cleaning system, wherein the cleaning system comprises at least a cleaning device adapted to perform cleaning tasks in a water body of a pool, and a base station disposed on the bank of the pool; in, The cleaning equipment comprises: A walking mechanism, provided on opposite sides of the cleaning device, comprising at least one of a walking wheel and a crawler track; The floating and diving mechanism includes at least one float chamber, the float chamber is used to contain at least gas, so as to adjust the posture of the cleaning device when it is running on the bottom, wall or surface of the pool by adjusting the volume of gas in the float chamber; a first propeller, at least for providing driving force when the cleaning device is running on the water surface; The base station includes: The base station body is suitable for being set up on the bank of a pool; a bearing member, the bearing member comprising a first end and a second end, and a bearing surface located between the first end and the second end, the second end being pivotally connected to the base station body; The process of returning the cleaning device from the water surface to the base station body at least includes: the cleaning device running to the carrying surface; and the cleaning device walking on the carrying surface by the walking mechanism back to the docking position of the base station body; The process of the cleaning device running onto the carrying surface at least includes: the first propeller driving the cleaning device to run on the water surface until the first end of the cleaning device abuts against the carrying surface; rotating the carrying member and adjusting at least one of the posture of the cleaning device, so that the cleaning system switches from the abutment between the first end of the cleaning device and the carrying surface to the abutment between at least a portion of the bottom surface of the walking mechanism of the cleaning device and the carrying surface, so that the cleaning device is suitable for staying on the carrying surface or walking on the carrying surface; The first end is the front or rear of the cleaning device.

2. The control method of the cleaning system according to claim 1, wherein: The first end portion includes the front end portion or the rear end portion of the walking mechanism, The process of the cleaning device running onto the carrying surface at least includes: the first propeller drives the cleaning device to run on the water surface until the front end or the rear end of the walking mechanism abuts against the carrying surface; By rotating at least one of the supporting member and adjusting the posture of the cleaning device, the cleaning system switches from the front end or the rear end of the walking mechanism abutting against the supporting surface to at least a portion of the bottom surface of the walking mechanism abutting against the supporting surface, so as to be suitable for the cleaning device to stay on the supporting surface or walk on the supporting surface.

3. The control method of the cleaning system according to any one of claims 1 to 2, wherein: The bearing member has a first posture; the base station body has a rest surface, and the docking position is located on the rest surface; In the first posture, a first angle θ1 is formed between the carrying surface and the resting surface, where 0°<θ1<90°; When the supporting member is in the first posture, at least a portion of the lower portion of the supporting surface is located below the water surface, so that the cleaning device can run on the water surface until it abuts the supporting surface.

4. The control method of the cleaning system according to any one of claims 1 to 2, wherein: The carrier has a first posture and a third posture or a storage posture, the base station body has a rest surface, and the docking position is located on the rest surface; In the first posture, a first angle θ1 is formed between the carrying surface and the resting surface, where 0°<θ1<90°; In the third position or the stowed position, a third angle θ3 is formed between the carrying surface and the resting surface, θ1<θ3≤90°; When the carrier is in the third position or the stowed position, the first propeller drives the cleaning device to move on the water surface until the first end of the cleaning device abuts against the carrier surface; During the process of the support member rotating from the third position or the storage position to the first position, the contact between the first end portion and the support surface is switched to at least a portion of the bottom surface of the walking mechanism contacting the support surface, so as to allow the cleaning equipment to stay on the support surface or walk on the support surface.

5. The control method of the cleaning system according to claim 4, wherein: During at least a period of time during the process of the carrier rotating from the third position or the storage position to the first position, the first propeller continues to operate to keep the first end in contact with the carrier surface; and during the rotation of the carrier, the contact position of the cleaning device and the carrier on the bottom surface of the walking mechanism moves from the first end toward the second end.

6. The control method of the cleaning system according to any one of claims 1 to 5, wherein: By adjusting the posture of the cleaning device, the cleaning device switches from the first end portion abutting against the carrying surface to at least a portion of the bottom surface of the walking mechanism abutting against the carrying surface, which at least includes: Adjusting the posture of the cleaning device by having the walking mechanism move upward on the carrying surface; and / or By injecting liquid into the float chamber, the second end portion moves toward the supporting surface to adjust the posture of the cleaning device; and / or The cleaning device also includes a first water inlet, provided at the bottom of the cleaning device; a first water outlet, provided at the top or rear of the cleaning device; a first filter assembly at least partially housed within the first body of the cleaning device; A suction assembly, comprising at least a main water pump, configured to form a water flow at least through the first water inlet, the first filter assembly, and the first water outlet; The operation of the main water pump drives the second end portion to move toward the bearing surface, thereby adjusting the posture of the cleaning device.

7. The control method of the cleaning system according to any one of claims 3 to 6, wherein: When the carrier is kept in the first posture, the cleaning device moves on the carrier surface to the docking position of the base station body through the walking mechanism.

8. The control method of the cleaning system according to any one of claims 3 to 6, wherein: The carrier has a second posture; In the second posture, a second angle θ2 is formed between the carrying surface and the resting surface, 0°≤θ2<θ1; In the first posture, the cleaning device returns to the carrying surface; The cleaning device walking on the carrying surface through the walking mechanism back to the docking position of the base station body at least includes: The supporting member rotates from the first position to the second position, and the cleaning device moves from the supporting surface back to the parking position on the rest surface through the walking mechanism.

9. The control method of the cleaning system according to claim 8, wherein: In the first posture, the cleaning device returns to the carrying surface and stays at a first preset position on the carrying surface; During the process of the carrier rotating from the first position to the second position, the cleaning device remains in the first preset position; When the carrier rotates to the second posture, the cleaning device moves from the first preset position on the carrier surface to a docking position on the rest surface.

10. The control method of the cleaning system according to claim 8, wherein; In the first posture, the cleaning device returns to the carrying surface and stays at a first preset position on the carrying surface; During the process of the carrier rotating from the first position to the second position, the cleaning device moves a preset distance from the first preset position on the carrier surface and then stops at the second preset position on the carrier surface; When the carrier rotates to the second posture, the cleaning device moves from the second preset position on the carrier surface to a docking position on the rest surface.

11. The control method of the cleaning system according to claim 10, wherein the carrier further comprises a first transition posture; In the first transition position, a first transition angle β1 is formed between the carrying surface and the resting surface, θ2<β1<θ1; In the first posture, the cleaning device returns to the carrying surface and stays at a first preset position on the carrying surface; The rotation of the supporting member from the first posture to the second posture at least comprises: When the cleaning device is maintained at the first preset position, the carrier rotates from the first position to the first transition position; the cleaning device moves a preset distance from the first preset position on the carrying surface and then stops at a second preset position; The carrier rotates from the first transitional position to the second position, and the cleaning device moves from the second preset position on the carrier surface to a docking position on the rest surface.

12. The control method of the cleaning system according to any one of claims 9 to 11, wherein: In the first posture, the cleaning device stays at the first preset position due to the friction between the walking mechanism and the carrying surface.

13. The control method of the cleaning system according to claim 12, wherein: The cleaning device also includes: a first water inlet, provided at the bottom of the cleaning device; a first water outlet, provided at the top or rear of the cleaning device; a first filter assembly at least partially housed within the first body of the cleaning device; A suction assembly, comprising at least a main water pump, configured to form a water flow at least through the first water inlet, the first filter assembly, and the first water outlet; In the first posture, at least a portion of the first water inlet is located underwater, and the operation of the main water pump generates a thrust toward the bearing surface, so that the cleaning device stays at the first preset position.

14. A method for controlling a cleaning system, the cleaning system comprising at least a cleaning device adapted to perform cleaning tasks in a water body of a pool, and a base station disposed on the bank of the pool; in, The cleaning equipment comprises: A walking mechanism, provided on opposite sides of the cleaning device, comprising at least one of a walking wheel and a crawler track; The floating and diving mechanism includes at least one float chamber, the float chamber is used to contain at least gas, so as to adjust the posture of the cleaning device when it is running on the bottom, wall or surface of the pool by adjusting the volume of gas in the float chamber; a first propeller, at least for providing driving force when the cleaning device is running on the water surface; A lateral propulsion assembly, at least for driving the cleaning device to move laterally on the water surface; The base station includes: The base station body is suitable for being set up on the bank of a pool; a bearing member, the bearing member comprising a first end and a second end, and a bearing surface located between the first end and the second end, the second end being pivotally connected to the base station body; The process of returning the cleaning device from the water surface to the base station body at least includes: the cleaning device running to the carrying surface; and the cleaning device walking on the carrying surface through the walking mechanism to return to the docking position of the base station body; The process of the cleaning device running onto the carrying surface at least includes: At least one of the first propeller and the lateral propulsion assembly drives the cleaning equipment to run on the water surface until the cleaning equipment abuts against the carrying surface, and the walking surface of the cleaning equipment forms a certain angle with the carrying surface; by rotating the carrying member and adjusting at least one of the posture of the cleaning equipment, the cleaning equipment switches from the walking surface forming a certain angle with the carrying surface to the walking surface being roughly parallel to the carrying surface, and at least part of the walking surface abuts against the carrying surface, so as to be suitable for the cleaning equipment to stay on the carrying surface or walk on the carrying surface.

15. The control method of the cleaning system according to claim 14, wherein: The bearing member has a first posture; the base station body has a rest surface, and the docking position is located on the rest surface; In the first posture, a first angle θ1 is formed between the carrying surface and the resting surface, where 0°<θ1<90°; The supporting member is in a first posture, and at least a portion of the lower portion of the supporting surface is below the water surface, so that the cleaning device can be operated on the water surface until it abuts the supporting surface.

16. The control method of the cleaning system according to claim 14, wherein: The carrier has a first posture and a third posture or a storage posture, the base station body has a rest surface, and the docking position is located on the rest surface; In the first posture, a first angle θ1 is formed between the carrying surface and the resting surface, where 0°<θ1<90°; In the third position or the stowed position, a third angle θ3 is formed between the carrying surface and the resting surface, θ1<θ3≤90°; When the carrier is in the third position or the stowed position, at least one of the first propeller and the lateral propulsion assembly drives the cleaning device to move on the water surface until the cleaning device abuts against the carrier surface, and the walking surface forms a certain angle with the carrier surface; During the process of rotating the supporting member from the third position or the storage position to the first position, the walking surface is switched to be roughly parallel to the supporting surface at a certain angle to the supporting surface, and at least part of the walking surface abuts against the supporting surface, so as to be suitable for the cleaning equipment to stay on the supporting surface or walk on the supporting surface.

17. The control method of the cleaning system according to claim 16, wherein the cleaning device has a third side and a fourth side opposite to each other in a width direction; In the first posture, the cleaning device, under the operation of the lateral propulsion assembly, drives the third side or the fourth side of the cleaning device to abut or approach the carrying surface; under the operation of the first propeller, drives the cleaning device to turn so that the first end of the cleaning device abuts the carrying surface, and the walking surface forms a certain angle with the carrying surface; in, The first end is the front or rear of the cleaning device.

18. The control method of the cleaning system according to claim 17, wherein: During at least a period of time during the process of the carrier rotating from the third position or the storage position to the first position, the first propeller continues to operate to keep the first end in contact with the carrier surface; and during the rotation of the carrier, the contact position of the cleaning device and the carrier on the bottom surface of the walking mechanism moves from the first end toward the second end.

19. The control method of the cleaning system according to claim 17 or 18, wherein: During the process of the support member rotating from the third position or the storage position to the first position, the cleaning device adjusts the posture, and the cleaning device switches from the walking surface and the support surface being at a certain angle to the walking surface and the support surface being approximately parallel and abutting.

20. The control method of the cleaning system according to claim 19, wherein: By adjusting the posture of the cleaning device, the cleaning device switches from the walking surface and the carrying surface being at a certain angle to the walking surface and the carrying surface being substantially parallel and abutting each other, which at least includes: Adjusting the posture of the cleaning device by having the walking mechanism move upward on the carrying surface; and / or By injecting liquid into the float chamber, the second end portion is driven to move toward the bearing surface to adjust the posture of the cleaning device; and / or The cleaning device also includes: a first water inlet, provided at the bottom of the cleaning device; a first water outlet, provided at the top or rear of the cleaning device; a first filter assembly at least partially housed within the first body of the cleaning device; The suction component includes at least a main water pump, which is used to form a water flow at least through the first water inlet, the first filter component, and the first water outlet; through the operation of the main water pump, the second end is driven to move toward the supporting surface to adjust the posture of the cleaning device.

21. A cleaning system comprising a cleaning device adapted to perform cleaning tasks in a water body of a pool, and a base station disposed on the bank of the pool; The cleaning equipment comprises: At least one water inlet, provided at the bottom or side of the cleaning device; At least one first water outlet, provided at the top or rear of the cleaning device; a first filter assembly at least partially housed within the cleaning device housing; The base station includes: The base station body is arranged on the bank of the pool; A carrier, suitable for the cleaning device to run onto the resting surface of the base station body through the carrier; in, The first filter assembly includes at least a bottom opening and a baffle; the bottom opening is configured as an opening for the garbage in the first filter assembly to be discharged from the first filter assembly when the cleaning device performs self-cleaning on the base station; the baffle is configured to open or close the bottom opening; The cleaning system further includes a drive assembly configured to drive the baffle to open or close the bottom opening; The first filtering component includes at least the following three states: a first state, which is a state of the first filter assembly when the cleaning device performs a cleaning task, wherein the baffle closes the bottom opening; a second state, wherein the first filter assembly is in the process of being removed from the cleaning device or after being removed, wherein the baffle closes the bottom opening and the baffle will not be inappropriately opened by garbage or liquid therein, or the baffle will not be opened by the drive assembly; The third state is the state of the first filter component when the cleaning device is located on the base station to clean the first filter component. At this time, the baffle is driven by the driving component to open the bottom opening, which is suitable for the garbage in the first filter component to be discharged from the bottom opening.

22. The cleaning system according to claim 21, wherein the base station body further comprises at least a second filter assembly and a self-cleaning sewage inlet; the cleaning device further comprises a self-cleaning sewage outlet; the resting surface is located at the top of the base station body and above the second filter assembly, and the resting surface is for the cleaning device to dock on the base station body; the self-cleaning sewage inlet is at least partially located on the resting surface of the base station body and is connected to the upward opening of the second filter assembly; the self-cleaning sewage outlet is located at the bottom of the cleaning device, and when the cleaning device travels to the resting surface, the self-cleaning sewage outlet is connected to the self-cleaning sewage inlet, and the second filter assembly is used to filter garbage and liquid entering the base station body from the self-cleaning sewage inlet.

23. According to the cleaning system as described in any one of claims 21-22, the first filter assembly also includes a position maintaining structure, and the position maintaining structure can keep the baffle closing the bottom opening when the first filter assembly is in the second state; when the first filter assembly is in the first state, the position maintaining structure does not affect or basically does not affect the switching of the first filter box from the first state to the third state.

24. The cleaning system according to any one of claims 21 to 23, wherein: The base station body further includes a self-cleaning component, which includes at least one nozzle, and the nozzle cleans the first filter component of the cleaning device located on the rest surface.

25. The cleaning system of claim 24, wherein: When the cleaning device is located on the resting surface of the base station body to clean the first filter component, the nozzle extends from the water inlet of the cleaning device into the interior of the first filter component to clean the first filter component from the inside.

26. The cleaning system of any one of claims 24-25, wherein: The nozzle is arranged inside the base station body. When the cleaning device is located on the rest surface of the base station body to clean the first filter component, the nozzle is located outside the first filter component to clean the first filter component from the outside.

27. The cleaning system of any one of claims 24 to 26, wherein: During the process of the cleaning device moving toward the self-cleaning component on the stop surface, the nozzle extends into the interior of the first filter component from the water inlet on the side of the cleaning device; after the self-cleaning is completed, the cleaning device retreats, and during the retreat process, the nozzle moves out of the water inlet on the side, and the cleaning device retreats into the pool through the supporting member.

28. The cleaning system of any one of claims 24 to 27, wherein: The self-cleaning component can move relative to the base station body. After the self-cleaning of the cleaning device is completed, the nozzle can be moved out of the first filter component through the movement of the self-cleaning component.

29. The cleaning system of any one of claims 24 to 28, wherein: The self-cleaning component is also provided with a first water source inlet, a water path is formed between one end of the first water source inlet and the nozzle, and the other end of the first water source inlet is connected to at least one of the water in the pool, tap water, and liquid in the clean water tank.

30. The cleaning system of any one of claims 22 to 29, wherein: The base station body further includes a self-cleaning drain outlet, a water channel is formed between the self-cleaning drain outlet and the second filter assembly, and the liquid filtered by the second filter assembly is discharged from the base station body through the self-cleaning drain outlet.

31. The cleaning system of any one of claims 29-30, wherein: The first water source inlet is arranged on the carrier. When the cleaning equipment runs to the rest surface of the base station body through the carrier, the carrier switches to a position in which the first water source inlet is kept below the water surface of the pool.

32. The cleaning system as described in any one of claims 22-31, wherein the base station body is further provided with a reagent spreading component and a water quality detection component, and at least one of the second filter component, the reagent spreading component and the water quality detection component can be pulled out from the side of the base station body for cleaning, replacing or replenishing the components.

33. In the cleaning system as described in claim 32, the reagent spreading component and / or water quality detection component includes at least one storage box for placing the reagent storage component and / or water quality detection component, and the reagent storage component and / or water quality detection component is arranged in the storage box; the second filter component and the storage box are configured to be pulled out synchronously from one side of the base station body.

34. The cleaning system according to any one of claims 32-33, wherein the carrier is further provided with a reagent spreading port, the reagent spreading port being connected to the reagent spreading assembly and being used to spread the reagent in the reagent spreading assembly into the water pool through the reagent spreading port.

35. The cleaning system as described in any one of claims 21-34, wherein a charging component is further provided on the base station body, and a charging receiver is provided on the cleaning device, and when the cleaning device is docked on the resting surface of the base station body, the charging component can dock with the charging receiver for charging the cleaning device.

36. The cleaning device as described in claim 35, further comprises a drying component on the base station body for drying the charging component and / or the charging receiving component, and before charging the cleaning device, the charging component and / or the charging receiving component are first dried by the drying component.

37. The cleaning system according to any one of claims 35-36, wherein the base station body is further provided with an anti-scratch component for preventing the charging component from scratching the bottom of the cleaning device when the cleaning device is traveling on a resting surface.

38. The cleaning device as described in claim 37, wherein the anti-scratch component includes an elastic support component, the charging component is arranged on the elastic support component, and the elastic support component is used to realize the lifting and lowering of the charging component to prevent scratching of the bottom of the cleaning device.

39. The cleaning system of any one of claims 21 to 38, wherein: The base station also includes a protective shell, which at least partially surrounds the base station body; wherein, the protective shell includes at least two states, state one: suitable for providing protection for cleaning equipment that enters the resting surface of the base station body; state two: suitable for users to remove the cleaning equipment from the base station body.

40. The cleaning system of claim 39, wherein: The process of switching the protective shell from state one to state two is linked to at least one of the following actions: removing the self-cleaning component from the inside of the first filter component, pulling out the second filter component from the side of the base station, pulling out the reagent spreading component from the side of the base station, and pulling out the water quality detection component from the side of the base station.

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