Cleaning system, cleaning device, base station, and cleaning system control method

Abstract

A cleaning system, a cleaning device, a base station, and a cleaning system control method. The cleaning system comprises the cleaning device and the base station. The cleaning device comprises a first filtering assembly, a water inlet, and a debris propulsion apparatus disposed at the water inlet. The debris propulsion apparatus is configured to accelerate water surface debris to flow through the water inlet into the interior of the first filtering assembly. The base station comprises: a carrier member adapted for docking of the cleaning device; and a support member comprising a second filtering assembly. The base station is configured to suction debris from within the first filtering assembly of the cleaning device into the second filtering assembly. The cleaning system control method comprises: when a cleaning device receives an instruction to return to a base station, controlling the cleaning device to be in a water surface state, and navigating the cleaning device in the water surface state toward a carrier member for docking; and performing self-cleaning upon completion of docking.

Description

Cleaning system, cleaning equipment, base station and cleaning system control methods

[0001] This disclosure claims priority to Chinese Patent Application No. 202521181866.7, filed on June 10, 2025, entitled “Cleaning Equipment”, the entire contents of which are incorporated herein by reference.

[0002] This disclosure claims priority to U.S. Patent Application No. US18 / 946861, filed November 13, 2024, entitled “Mobile Device, Cleaning Device and Method of Controlling Cleaning Device”, the entire contents of which are incorporated herein by reference.

[0003] 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 herein by reference.

[0004] 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.

[0005] 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.

[0006] This disclosure claims priority to PCT application No. PCT / CN2025 / 085184, filed on March 26, 2025, entitled “Control Method and Cleaning System for Cleaning System”, the entire contents of which are incorporated herein by reference. Technical Field

[0007] This disclosure relates to the field of cleaning equipment technology, and in particular to a cleaning system, cleaning equipment, base station, and cleaning system control method. Background Technology

[0008] Cleaning equipment with surface cleaning capabilities typically has a water inlet and a filter assembly. During surface cleaning, the equipment floats on the water's surface, and floating debris such as leaves and insect carcasses enters the filter assembly through the inlet. The filtered water then flows back into the pool, thus cleaning the pool. However, because the cleaning equipment moves along a specific path or randomly during surface cleaning, this movement causes fluctuations in the water surface. These fluctuations cause debris that was originally flowing towards the inlet, or even previously stationary debris, to move away from the inlet, resulting in low surface cleaning efficiency.

[0009] More and more pool owners are getting used to using cleaning equipment to clean their pools. However, because the filter components in these cleaning equipment have limited capacity, users need to repeatedly remove the equipment from the pool and manually take out the filter components to clean them. After cleaning, the filter components are put back into the cleaning equipment so that it can be used for the next cleaning. Since the cleaning equipment is not light and the process of cleaning the filter components is complicated, the operation is very inconvenient.

[0010] Therefore, a cleaning system that can solve the above problems is needed. Summary of the Invention

[0011] In a first aspect, this disclosure provides a cleaning system, comprising: a cleaning device adapted to perform cleaning tasks in a pool, including a first filter assembly; a base station, the base station including: a carrier adapted to allow the cleaning device to dock on or underwater; a support member; and a second filter assembly adapted to draw debris from the first filter assembly of the cleaning device docked on the carrier into the second filter assembly and discharge liquid filtered by the second filter assembly out of the base station.

[0012] On the other hand, this disclosure provides a cleaning device, including: a housing having at least a first receiving cavity; a first water inlet disposed on the side of the housing; a driving mechanism for driving the cleaning device to move on the water surface; a first filter assembly at least partially housed in the first receiving cavity, wherein the first filter assembly has a first opening at a position corresponding to the first water inlet, and the first opening is connected to the first water inlet; when the cleaning device cleans the water surface of a pool, surface debris enters the interior of the first filter assembly from the first water inlet; and a debris propulsion device that sprays fluid toward the first opening to accelerate the flow of surface debris from the first water inlet into the interior of the first filter assembly.

[0013] On the other hand, this disclosure provides a base station, comprising: a carrier member disposed on the wall of a pool, at least partially below the water surface and at least partially above the water surface, the carrier member being suitable for docking the cleaning equipment; and a support member located on the bank of the pool, one end of which is connected to the carrier member, the support member having a second filter assembly disposed therein, the base station being able to draw garbage from the first filter assembly of the cleaning equipment docked on the carrier member into the second filter assembly, and discharge the liquid filtered by the second filter assembly outside the base station.

[0014] Alternatively, this disclosure provides a cleaning system control method, the method comprising:

[0015] The cleaning equipment received a command to return to the base station;

[0016] If the cleaning equipment is on the water surface, the cleaning equipment will move from the water surface to the carrier and complete the docking operation on the water surface;

[0017] If the cleaning equipment is at the bottom of the pool, the cleaning equipment will switch from the bottom state to the surface state, and then move towards the carrier in the surface state to complete the docking operation.

[0018] If the cleaning equipment is on the pool wall, the cleaning equipment will switch from the pool wall state to the water surface state, and then move towards the carrier in the water surface state to complete the docking operation.

[0019] After docking is completed, the base station will draw the waste from the first filter assembly of the cleaning equipment docked on the carrier into the second filter assembly, and discharge the liquid filtered by the second filter assembly out of the base station. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0021] Figure 1A is a structural schematic diagram of an embodiment of the cleaning equipment provided in this disclosure;

[0022] Figure 1B is a schematic diagram of the structure located on the water surface in one embodiment of the cleaning equipment provided in this disclosure;

[0023] Figure 1C is a cross-sectional view along the XZ plane in one embodiment of the cleaning device provided in this disclosure;

[0024] Figure 1D is another cross-sectional view along the XZ plane in one embodiment of the cleaning device provided in this disclosure;

[0025] Figure 1E is another cross-sectional view along the XZ plane in one embodiment of the cleaning device provided in this disclosure;

[0026] Figure 1F is another cross-sectional view along the XZ plane in one embodiment of the cleaning device provided in this disclosure;

[0027] Figure 1G is a structural schematic diagram of an embodiment of the cleaning equipment provided in this disclosure;

[0028] Figure 1H is a partial exploded view of an embodiment of the cleaning equipment provided in this disclosure;

[0029] Figure 2A is a schematic diagram of another structure located on the water surface in one embodiment of the cleaning device provided in this disclosure;

[0030] Figure 2B is a partial enlarged view of the first water inlet in an embodiment of the cleaning equipment provided in this disclosure;

[0031] Figure 3A is another partial enlarged view of the first water inlet in one embodiment of the cleaning device provided in this disclosure;

[0032] Figure 3B is another enlarged view of the first water inlet in one embodiment of the cleaning equipment provided in this disclosure;

[0033] Figure 3C is a structural schematic diagram of an embodiment of the cleaning equipment provided in this disclosure;

[0034] Figure 4 is a partial exploded view of the first filter component in an embodiment of the cleaning device provided in this disclosure;

[0035] Figure 5 is another cross-sectional view along the XZ plane in one embodiment of the cleaning equipment provided in this disclosure;

[0036] Figure 6A is a structural schematic diagram of an embodiment of the main cleaning component provided in this disclosure;

[0037] Figure 6B is a structural schematic diagram of an embodiment of the main cleaning component provided in this disclosure;

[0038] Figure 6C is an exploded structural view of an embodiment of the main cleaning component provided in this disclosure;

[0039] Figure 6D is a cross-sectional schematic diagram of an embodiment of the main cleaning component provided in this disclosure;

[0040] Figure 6E is a partial structural schematic diagram of an embodiment of the main cleaning component provided in this disclosure;

[0041] Figure 6F is a partial exploded view of an embodiment of the main cleaning component provided in this disclosure;

[0042] Figure 7A is a partial structural schematic diagram of an embodiment of the main cleaning component provided in this disclosure;

[0043] Figure 7B is a partial structural schematic diagram of an embodiment of the main cleaning component provided in this disclosure;

[0044] Figure 8 is a partial structural schematic diagram of an embodiment of the main cleaning component provided in this disclosure;

[0045] Figure 9A is a partial structural cross-sectional schematic diagram of an embodiment of the floating inlet assembly provided in this disclosure;

[0046] Figure 9B is a partial structural schematic diagram of an embodiment of the cleaning equipment provided in this disclosure;

[0047] Figure 9C is a partial structural schematic diagram of an embodiment of the floating inlet assembly provided in this disclosure;

[0048] Figure 10A is a cross-sectional schematic diagram of an embodiment of the cleaning equipment provided in this disclosure;

[0049] Figure 10B is an exploded view of the first filter assembly in an embodiment of the cleaning device provided in this disclosure;

[0050] Figure 11A is a structural schematic diagram of a base station embodiment provided in this disclosure;

[0051] Figure 11B is a structural schematic diagram of another state of the base station provided in Figure 11A;

[0052] Figure 11C is a schematic diagram of the structure of the self-cleaning sewage inlet of the base station provided in Figure 11A;

[0053] Figure 11D is a cross-sectional view of the D1-D1 position in Figure 11B;

[0054] Figure 11E is a cross-sectional view at position E1-E1 in Figure 11B;

[0055] Figure 11F is a schematic diagram of an embodiment of the cleaning equipment of this disclosure being connected to a base station;

[0056] Figure 11G is a structural schematic diagram of an embodiment of the base station support component disclosed herein;

[0057] Figure 11H is a structural schematic diagram of an embodiment of the cleaning equipment and the carrier component of this disclosure;

[0058] Figure 12A is a structural schematic diagram of an embodiment of the cleaning equipment disclosed herein;

[0059] Figure 12B is a schematic diagram of the structure of the cleaning equipment after the first filter component is removed in Figure 12A;

[0060] Figure 12C is a schematic diagram of the first filter component and the first dust chamber structure of the cleaning equipment in Figure 12A;

[0061] Figure 12D is a schematic diagram of the sewage discharge channel structure of the cleaning equipment in Figure 12A;

[0062] Figure 12E1 is a schematic diagram of an embodiment of the internal heating structure of the base station disclosed herein;

[0063] Figure 12E2 is an exploded structural diagram of an embodiment of the base station disclosed herein;

[0064] Figure 12E3 is an overall schematic diagram of the base station in Figure 12E2;

[0065] Figure 12F is a first cross-sectional view of an embodiment of the cleaning equipment and base station of the present disclosure docked in a water pool;

[0066] Figure 12G is a second cross-sectional view of the base station in Figure 12F;

[0067] Figure 12H is a schematic diagram of an embodiment of the base station disclosed herein;

[0068] Figure 12I is a schematic diagram of an embodiment of the base station disclosed herein;

[0069] Figure 12J is a schematic diagram of an embodiment of the base station disclosed herein;

[0070] Figure 12K is a schematic diagram of an embodiment of the base station disclosed herein;

[0071] Figure 12L is a schematic diagram of an embodiment of the internal heating structure of the base station disclosed herein;

[0072] Figure 13A is a schematic diagram of an embodiment of the docking of the cleaning equipment and the carrier of the present disclosure;

[0073] Figure 13B is a schematic diagram of an embodiment of the docking of the cleaning equipment and the carrier of this disclosure;

[0074] Figure 13C is a schematic diagram of an embodiment of the docking of the cleaning equipment and the carrier of this disclosure;

[0075] Figure 13D is a schematic diagram of an embodiment of the docking of the cleaning equipment and the carrier of this disclosure;

[0076] Figure 13E is a schematic diagram of an embodiment of the docking of the cleaning equipment and the carrier of this disclosure;

[0077] Figure 13F is a schematic diagram of an embodiment of the docking of the cleaning equipment and the carrier of this disclosure;

[0078] Figure 13G is a schematic diagram of an embodiment of the docking of the cleaning equipment and the carrier component of this disclosure;

[0079] Figure 13H is a schematic diagram of an embodiment of the docking of the cleaning equipment and the carrier of this disclosure;

[0080] Figure 13I is a schematic diagram of an embodiment of the docking of the cleaning equipment and the carrier of the present disclosure;

[0081] Figure 14 is a schematic diagram of an embodiment of the docking of the cleaning equipment and the carrier component of this disclosure;

[0082] Figure 15A is a schematic diagram of an embodiment of the base station's installation location and the cleaning equipment's movement state in the water tank configuration of this disclosure;

[0083] Figure 15B is a schematic diagram of an embodiment of the base station's installation location and the cleaning equipment's movement state in the water tank configuration of this disclosure;

[0084] Figure 15C is a schematic diagram of an embodiment of the base station's installation location and the cleaning equipment's movement state in the water tank configuration of this disclosure;

[0085] Figure 15D is a schematic diagram of an embodiment of the base station's installation location and the cleaning equipment's movement state in the water tank configuration of this disclosure;

[0086] Figure 15E is a schematic diagram of an embodiment of the base station's location and the movement of the cleaning equipment in the water tank configuration of this disclosure;

[0087] Figure 16A is a cross-sectional schematic diagram of the first dust box in one embodiment of the present disclosure;

[0088] Figure 16B is a cross-sectional schematic diagram of the first dust box and the first dust hopper in one embodiment of the present disclosure;

[0089] Figure 16C is a cross-sectional schematic diagram of the first dust box and the first dust hopper in one embodiment of the present disclosure;

[0090] Figure 17A is a cross-sectional schematic diagram of a first filter component in one embodiment of the present disclosure;

[0091] Figure 17B is an exploded view of the first filter component in Figure 17A;

[0092] Figure 17C is another exploded view of the first filter assembly in Figure 17A;

[0093] Figure 18A is a structural schematic diagram of an embodiment of the cleaning equipment disclosed herein;

[0094] Figure 18B is a structural schematic diagram of an embodiment of the cleaning equipment disclosed herein;

[0095] Figure 18C is a structural schematic diagram of an embodiment of the cleaning equipment disclosed herein;

[0096] Figure 18D is a structural schematic diagram of an embodiment of the cleaning equipment disclosed herein;

[0097] Figure 18E is a structural schematic diagram of an embodiment of the cleaning equipment disclosed herein;

[0098] Figure 18F is a structural schematic diagram of an embodiment of the cleaning equipment disclosed herein;

[0099] Figure 18G is a top view of the first filter assembly and the first suction assembly of the cleaning device in Figure 18F;

[0100] Figure 19 is a schematic diagram of an embodiment of the wall-mounted water line of the cleaning equipment disclosed herein;

[0101] Figure 20A is a first state diagram of an embodiment in which the cleaning equipment of this disclosure is connected to a base station in a water pool;

[0102] Figure 20B is a second state diagram of an embodiment of the cleaning equipment and base station of the present disclosure docking in a water pool;

[0103] Figure 20C is a third state diagram of an embodiment of the cleaning equipment and base station of the present disclosure docking in a water pool;

[0104] Figure 20D is a fourth state diagram of an embodiment of the cleaning equipment and base station of the present disclosure docking in a water pool;

[0105] Figure 20E1 is a schematic diagram of an embodiment of the process by which the cleaning equipment of this disclosure returns to the base station;

[0106] Figure 20E2 is a schematic diagram of an embodiment of the process by which the cleaning equipment of this disclosure returns to the base station;

[0107] Figure 20E3 is a schematic diagram of an embodiment of the process of the cleaning equipment returning to the base station according to the present disclosure;

[0108] Figure 20F1 is a schematic diagram of an embodiment of the process of the cleaning equipment returning to the base station according to the present disclosure;

[0109] Figure 20F2 is a schematic diagram of an embodiment of the process of the cleaning equipment returning to the base station according to the present disclosure;

[0110] Figure 20F3 is a schematic diagram of an embodiment of the process of the cleaning equipment returning to the base station according to the present disclosure;

[0111] Figure 20G1 is a schematic diagram of an embodiment of the process of the cleaning equipment returning to the base station according to the present disclosure;

[0112] Figure 20G2 is a schematic diagram of an embodiment of the process of the cleaning equipment returning to the base station according to the present disclosure;

[0113] Reference numerals: 1. First water flow; 2. Second water flow; 3. Third water flow; 4. Fourth water flow; 5. First water level; 6. Second water level; 10. Cleaning system; 100. Cleaning equipment; 101. Water surface; 102. First fluid channel; 103. Second fluid channel; 104. First valve; 105. First position; 106. Second position; 107. First drive mechanism; 108. Fifteenth opening; 200. Housing; 201. First inlet; 202. First baffle; 203. First outlet; 204. Upper side wall; 205. Lower side wall; 206. Left side wall; 207. Right side wall; 208, First receiving cavity; 209, Second receiving cavity; 210, Third receiving cavity; 211, Second opening; 212, Third opening; 213, Second water inlet / floating suction inlet; 214, Sixth opening; 215, Second baffle; 216, Second flow channel; 217, Second water outlet; 218, Third baffle; 300, First dust bin; 301, Seventh opening; 302, Eighth opening; 400. First filter assembly; 401. First dust box; 402. First opening; 403. Fifth opening; 404. Ninth opening; 405. First component; 406. Second component; 407. Filter cleaning assembly; 408. First cover; 409. First filter surface; 410. First annular support; 411. Sixteenth opening; 412. Seventeenth opening; 413. First transmission assembly; 414. Second annular support; 415. First space; 416. Second space; 417. Fourth filter assembly; 418. Eighteenth opening; 419. Second cover; 420. First isolation component; 421. Fourth one-way valve; 422. Fifth one-way valve; 423. Sixth one-way valve; 424. Third space; 425. Fourth space; 426. First outer frame; 427. Third flow channel; 428. Second filter surface; 500. Waste propulsion device; 501. Spraying device; 502. Jet nozzle; 503. First conveying device; 504. Jet channel; 505. First inlet; 506. First outlet; 507. Fourth opening; 508. First nozzle; 509. First support arm; 600. Electrical control box; 700. First suction assembly; 800. Sewage discharge channel; 1200. Main cleaning assembly; 1202. Third connecting piece; 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 Drive Shaft; 12051a, Twelfth Protrusion; 12051b, Thirteenth Protrusion; 12052, Fifth Drive Shaft; 12053, Sixth Drive Shaft; 12053a, Fourteenth Protrusion;12053b, Fifteenth protrusion; 12061, First cleaning body; 12062, Second cleaning body; 12063, Blade; 1207, Second fixed seat; 1208, Eighth motor; 1209, Connecting plate; 1210, Sealing sleeve; 1211, Elastic support; 1211a, Support shaft; 1211b, Elastic connector; 111, First side; 112, Second side; 113, Third side; 114, Fourth side; 117, Track; 12, Second arm; 121, Second connecting part; 13, First arm; 131, First connecting part; 1311, First hole; 1312, Second hole; 141, Third connecting part; 1411, First pin; 1412, Second pin; 142, Fourth connecting part; 1421, Third hole; 1422, Fourth hole; 1010, First docking assembly; 1017, First water inlet pipe; 1018, First dust chamber cover; 1071, Walking mechanism; 1171, First walking wheel; 1172, Second walking wheel; 1101, First position of suction inlet; 1102, Second position of suction inlet; 1103, Second position of first arm; 1104, First position of first arm; 1300, Self-cleaning sewage outlet; 2000, Base station; 2001, Docking auxiliary component; 2002, Fourth receiving cavity; 2003, Fifth receiving cavity; 2004, Tenth opening; 2005, Eleventh opening; 2006. Adapter; 2007, Twelfth Opening; 2008, First Check Valve; 2009, Thirteenth Opening; 2010, Drainage Channel; 2011, Second Conveying Device; 2012, Second Suction Assembly; 2013, First Air Outlet; 2014, Ramp; 2015, Third Filter Assembly; 2016, Sixth Receiving Chamber; 2017, Fourteenth Opening; 2018, First Side Wall; 2019, First Gas Channel; 2020, Waterproof and Breathable Device 2021, First cover plate; 2022, First protrusion; 2023, Second protrusion; 2024, First connector; 2025, Third check valve; 2026, Seventh check valve; 2030, Second docking assembly; 2040, Bearing member; 2050, Support member; 2041, First main body; 2042, Second main body; 2043, Self-cleaning drain outlet; 2044, Second nozzle; 2045, Second support arm; 2046, First plate; 2100 Self-cleaning inlet; 2102 First heating element; 2105 First sterilizer; 2103 First fan; 2108 First condenser; 2110 Second filter assembly; 2111 Top surface; 2112 Bottom surface; 2200 First flow channel; 20009 Suction channel; 3303 First equilibrium water surface; 20004 First docking surface; 310 Bottom wall; Side wall 320; 320a First side wall; 320b Second side wall; 320c Third side wall; 320d Fourth side wall; Detailed Implementation

[0114] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0115] It should be noted that the embodiments of this disclosure include descriptions involving "first," "second," etc., which are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0116] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this disclosure. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that, without conflict, the embodiments and features described herein can be combined with other embodiments and features described herein.

[0117] This disclosure provides a cleaning system 10, which includes a cleaning device 100. The cleaning device 100 is used to perform cleaning, disinfection, and rescue tasks in a target area. The target area can be a water-containing area where the cleaning device 100 can move. The target area is not limited to swimming pools, ponds, oil wells, sewers, etc. The following description uses a pond as an example. The cleaning device 100 is suitable for operation in the water of the pond. For example, the cleaning device is a swimming pool cleaning robot.

[0118] The cleaning equipment includes a housing 200, on which a first inlet and a first outlet are provided. The cleaning equipment also includes a first filter assembly, a first suction assembly, a first drive mechanism, and a walking mechanism. The first inlet serves as the entry point for liquid from the water supply tank into the first filter assembly. The water surface movement function of the cleaning equipment is achieved through the first drive mechanism, while the movement along the tank bottom and walls is achieved through the walking mechanism. Under the action of the first suction assembly, liquid in the tank is drawn into the first filter assembly through the first inlet. The filtered liquid passes through the first suction assembly and is finally discharged from the cleaning equipment through the first outlet.

[0119] The cleaning equipment also includes a main cleaning component, used to lift debris from the bottom or walls of the pool and roll it into the first filter assembly, or to scrub the surfaces to be cleaned. For example, the main cleaning component scrubs the pool walls and water lines.

[0120] Furthermore, if the cleaning equipment has both surface and underwater cleaning functions, it must have at least three states: bottom, wall, and surface. The bottom state includes either the equipment moving along the bottom of the pool or remaining stationary at the bottom. The wall state includes either the equipment moving along the wall or remaining stationary at the wall. The surface state includes either the equipment moving along the surface, remaining stationary at the surface, or floating on the surface. To enable switching between these states, the equipment also includes a mode-switching component. This component allows the equipment to switch between bottom and wall states, between bottom and surface states, or from a first state to a wall state and then to a surface state, or from a surface state to a wall state and then back to the bottom state, thus enabling the equipment to float and submerge.

[0121] The cleaning system may also include a base station, which includes a carrier and a support. The carrier is used to dock with the cleaning equipment, and the support houses a second filter assembly. The cleaning equipment can dock on the carrier and perform one of the following operations: the base station charges the cleaning equipment; cleans the first filter assembly of the cleaning equipment (hereinafter also referred to as self-cleaning); cleans or replaces the main cleaning assembly of the cleaning equipment; cleans or replaces the auxiliary cleaning assembly of the cleaning equipment; communicates with the cleaning equipment; or replaces the tracks of the walking mechanism of the cleaning equipment. Alternatively, when the agent dispensing assembly is located on the cleaning equipment, the base station replenishes the reagent for the first agent dispensing assembly, or replaces the agent dispensing assembly on the cleaning equipment; or changes the type of reagent in the first agent dispensing assembly. Alternatively, when the water quality detection assembly is located on the cleaning equipment, the base station can automatically replace the water quality detection assembly. Alternatively, after the cleaning task or patrol of the cleaning equipment is completed, the base station is used at least for the cleaning equipment to dock or charge, and the cleaning equipment can be in standby mode, etc.

[0122] This disclosure will first introduce the cleaning equipment:

[0123] This disclosure provides a cleaning device capable of cleaning pools, swimming pools, spa pools, water storage tanks, etc. The cleaning device can be a pool cleaning robot, a pool vacuum cleaner, an underwater cleaning device, etc. This disclosure does not limit the specific form of the cleaning device, as long as it achieves the principle of this application. Unless otherwise specified, the following description will use cleaning a pool as an example.

[0124] Please refer to Figure 1A, which is a structural schematic diagram of an embodiment of the cleaning device provided in this disclosure. In the figure, the positive X-axis direction is forward, the rear X-axis direction is backward, the positive Y-axis direction is right, the negative Y-axis direction is left, the positive Z-axis direction is up, and the negative Z-axis direction is down. Unless otherwise specified, the above directions are used for description. The cleaning device 100 can at least be used to clean the water surface 101 of a pool. In some embodiments, the cleaning device 100 can also be used to clean at least one of the pool bottom, pool wall, and waterline.

[0125] Referring to Figures 1A-1H and 4, the cleaning device 100 includes a housing 200 and a first drive mechanism 107 for driving the cleaning device 100 to move on the water surface. The first drive mechanism can be a water pump, propeller, etc., which is not limited here. At least one first drive mechanism 107 is provided. When multiple first drive mechanisms are provided, they can be symmetrically arranged at the rear of the housing 200. A first filter assembly 400 is also provided inside the housing 200. At least one first water inlet 201 is provided on the housing 200. The first water inlet 201 is provided on the front side of the housing 200. A first opening 402 is provided at the position corresponding to the first water inlet of the first filter assembly 400. The first opening 402 is connected to the first water inlet 201, so that the first water inlet 201 and the interior of the first filter assembly 400 are in fluid communication. When the cleaning device cleans the water surface 101 of the pool, the first water inlet is at least partially above the water surface and at least partially below the water surface. Debris floating on the water surface, such as leaves and insect carcasses, can enter the first filter assembly 400 through the first inlet 201 and the first opening 402. The water filtered by the first filter assembly flows out from the first housing 200, thereby cleaning the surface of the pool.

[0126] The cleaning device 100 also includes a debris propulsion device 500, which is used to accelerate the flow of debris from the first inlet into the first filter assembly 400. In some embodiments, the debris propulsion device 500 may be a movable robotic arm disposed on the housing of the cleaning device. The robotic arm pushes the debris from the water surface toward the first inlet 201 through its back-and-forth movement, and accelerates the flow of debris from the first inlet 201 into the first filter assembly 400 of the cleaning device. In some embodiments, the debris propulsion device 500 may also be a spraying device 501 disposed at or near the first inlet. The spraying device 501 sprays fluid toward the first inlet or the first opening, for example, spraying fluid toward the water surface at the first inlet or the first opening, or spraying fluid toward the water at the first inlet or the first opening. The following embodiment uses the example of spraying fluid towards the water surface at the first inlet or the first opening. In this embodiment, the purpose of spraying fluid is to accelerate the flow of surface debris towards the first inlet 201 so that it can enter the first filter assembly 400, thereby accelerating the cleaning of surface debris. It should be noted that the fluid sprayed from the spraying device only needs to cause the surface liquid at the first inlet or the first opening to flow faster in the negative X-axis direction, or to generate a force at the first inlet or the first opening that pushes the surface liquid towards the negative X-axis direction. This disclosure is applicable to all cases where the fluid is sprayed towards the first inlet or the first opening. The spraying toward the water surface at the first inlet 201 can also be considered as spraying toward the water surface at the first opening 402. Unless otherwise specified, the spraying toward or towards the water surface at the first inlet 201 described in this disclosure can be understood as spraying toward the water surface at the first inlet 201 and / or the water surface at the first opening 402; the spraying toward or towards the water surface at the first opening 402 can be understood as spraying toward the water surface at the first opening 402 and / or the water surface at the first inlet 201; the fluid can be a gas or a liquid.

[0127] In this embodiment, the spraying device 501 is used as an example of the garbage propulsion device 500. The spraying device 501 includes a jet nozzle 502, a first conveying device 503, and a jet channel 504. One end of the first conveying device 503 is connected to the jet nozzle 502 through a first fluid channel 102, and the other end is connected to the liquid below the water surface or to the gas above the water surface through a second fluid channel 103. The jet channel 504 includes a first fluid channel 102 and a second fluid channel 103. The first conveying device 503 can transport liquid or gas through the jet channel 504 to the jet nozzle 502, and spray the liquid or gas from the jet nozzle 502 toward the water surface at the first inlet. Under the action of water flow or air flow, the garbage on the water surface at the first inlet flows into the first inlet more quickly, thereby accelerating the entry of the garbage into the first filter assembly 400 and improving the water surface cleaning efficiency of the cleaning equipment. In some embodiments, the first conveying device 503 may be a device capable of conveying water or air, such as a water pump, an air pump, a centrifugal pump, a high-pressure blower, etc. This embodiment does not impose any restrictions.

[0128] Referring to Figures 1C and 4, Figure 1C is a cross-sectional view of the ZX plane of an embodiment of the cleaning device provided in this disclosure. The housing 200 has a first receiving cavity 208 and a second receiving cavity 209, with the first receiving cavity 208 located above the second receiving cavity 209. The first filter assembly 400 is at least partially located within the first receiving cavity 208. The cleaning device 100 also includes an electrical control box 600 located within the second receiving cavity 209. The electrical control box is used to at least accommodate a battery pack. The housing 200 has a first water inlet 201, and a first baffle 202 is provided at the first water inlet 201. The first baffle 202 can open or close the first water inlet 201. 1. When the cleaning equipment is cleaning the water surface, the first baffle 202 is in the open state; the first filter component 400 is the first dust box 401. The first dust box 401 is provided with a first opening 402 at the position corresponding to the first water inlet 201. The first opening 402 is connected to the first water inlet 201, so that the garbage entering the first water inlet 201 can enter the interior of the first dust box 401 through the first opening 402. The first dust box 401 has at least one filter surface. The liquid or dust-containing liquid entering the interior of the first dust box is filtered by the filter surface, so that the garbage is retained in the interior space of the first dust box 401, and the filtered liquid can flow out of the cleaning equipment.

[0129] In some embodiments, the control box is further provided with a control circuit board, and the switch button of the cleaning equipment is located on the rear side of the housing corresponding to the control circuit board. The switch button adopts a Hall switch, thereby reducing the sealing level and saving costs.

[0130] In some embodiments, the housing 200 of the cleaning device 100 is further provided with a first outlet 203, which is located at the top of the housing 200 and is used to discharge filtered liquid from the cleaning device. The first outlet 203 is connected to the first receiving cavity 208 through a first water passage. The cleaning device 100 is also provided with a first suction assembly 700, which is used to generate suction force to guide the liquid flow direction. The first suction assembly 700 is at least partially located in the first water passage. Under the action of the first suction assembly 700, the liquid filtered by the first filter assembly 400 flows into the first receiving cavity 208 and is then discharged from the cleaning device through the first outlet 203 via the first water passage, thereby achieving the cleaning of the pool. In some embodiments, the first suction assembly 700 can also generate negative pressure in the first receiving cavity 208 or the first filter assembly 400, thereby accelerating the flow of liquid on the surface of the pool or liquid inside the pool from the inlet of the housing into the first filter assembly 400 for filtration, improving the cleaning efficiency of the cleaning device.

[0131] In some embodiments, the first suction component 700 may be omitted. During water surface cleaning, the cleaning device is driven by the drive mechanism 107 to move on the water surface, causing liquid or floating debris on the water surface to flow into the filter assembly from the first inlet and out of the cleaning device from the first outlet, thus cleaning the water surface. This process does not require the first suction component; the water flows into and out of the cleaning device entirely under the drive of the first drive mechanism 107. In this case, the first inlet 201 may not be provided on the cleaning device housing. Under the action of the first drive mechanism, the debris on the water surface directly enters the filter assembly from the first opening 402 and is directly discharged into the water pool after being filtered by the filter assembly 400. At this time, the jetting device 501 is located on the housing 200 near the first opening of the filter assembly. The jetting device sprays fluid toward the water surface at the first opening to accelerate the entry of debris into the first filter assembly, thereby improving the water surface cleaning efficiency.

[0132] The waste propulsion device 500 can increase the flow velocity of the liquid on the water surface at the first inlet and / or the first entrance in the negative X-axis direction, thereby accelerating the flow of surface waste from the first inlet into the first filter assembly 400. For ease of understanding, the following embodiment uses a jetting device 501 as the waste propulsion device 500, but the present invention is not limited thereto. The waste propulsion device 500 can also be any device that can accelerate the entry of surface waste into the first filter assembly, such as a robotic arm, a blower / suction device, etc.

[0133] In some embodiments, referring to Figures 1A-1F, the spraying device 501 includes a jet nozzle 502, a first conveying device 503, and a jet channel 504. In this embodiment, the jet nozzle 502 includes a cylindrical nozzle, which is hollow. The first water inlet 201 of the cleaning device is funnel-shaped, and its cross-section in the YZ plane is rectangular or approximately rectangular, with the size of the rectangle or approximately rectangular gradually increasing along the positive X-axis. The first water inlet 201 includes four side walls: an upper side wall 204, a lower side wall 205, a left side wall 206, and a right side wall 207. The four side walls form a water flow channel for the first water inlet 201, through which surface debris passes through the first water inlet and enters the first filter assembly via the first opening. In this embodiment, the jet nozzle 502 is disposed within the lower side wall 205 of the first water inlet 201, and the outlet surface of the jet nozzle 502 is flush with or slightly protrudes from the lower side wall surface. At least one jet nozzle 502 is provided. When one jet nozzle 502 is provided, it is located on the outer part of the middle of the lower sidewall 205 (outer part is relative to the center of the cleaning device housing) and tilted upward at a certain angle, as shown in Figure 1D. The jet nozzle 502 forms a certain angle M4 with the positive Z-axis direction, where 5°≤M4≤88°. In some embodiments, M4 is selected from at least one of 10°, 20°, 30°, 40°, 50°, 55°, 60°, 70°, 80°, or 85°. When the cleaning device is cleaning the water surface, the lower sidewall 205 is below the water surface 101. The jet nozzle tilting upward at a certain angle can spray water or air onto the water surface at the first inlet, thereby accelerating the flow of surface debris from the first inlet into the first filter assembly through the first opening. When there are multiple jet nozzles 502, the multiple jet nozzles are evenly distributed on the lower side wall. Except for the jet nozzle in the middle of the lower side wall, the other jet nozzles are tilted upward at a certain angle and also tilted towards the center of the first inlet at a certain angle (see the tilting method shown by the arrows in Figures 3A and 3B). The liquid or gas sprayed from the jet nozzles 502 can accelerate the floating garbage on the water surface towards the first inlet, making it easier for the garbage on the water surface to enter the first filter component from the first inlet, thereby improving the water surface cleaning efficiency.

[0134] In some embodiments, the first conveying device 503 is disposed inside the housing 200 near the first water inlet and is connected to the jet nozzle through the first fluid channel 102, for conveying pool water or air to the jet nozzle.

[0135] Referring to Figures 1C-1E, the first conveying device 503 is located inside the housing 200 near the first inlet 201, and has a first inlet 505 and a first outlet 506. When the jet nozzle 502 sprays liquid, the first inlet 505 is connected to the first receiving cavity 208 through the second fluid channel 103; when the jet nozzle 502 sprays gas, the first inlet 505 is connected to the air inlet (not shown in the figure) at the top of the housing 200 through the second fluid channel. In this embodiment, the jet nozzle spraying liquid is used as an example for explanation. The structure when spraying gas is similar and will not be described in detail. The first outlet 506 is connected to the jet nozzle 502 through the first fluid channel 102 (the first fluid channel 102 is shown by the dashed arrow in Figure 1D). In this embodiment, a third receiving cavity 210 is provided below the lower sidewall 205. The jet nozzle 502 is at least partially located within the third receiving cavity 210 and is in fluid communication with the third receiving cavity 210. One end of the third receiving cavity is provided with a second opening 211, which is in fluid communication with the first outlet 506. The first fluid channel 102 originates from the first outlet 506 of the first conveying device 503, flows through the second opening 211, and flows into the jet nozzle 502 within the third receiving cavity 210, thereby allowing fluid (gas or liquid) to be ejected from the jet nozzle 502 toward the water surface at the first inlet. In some embodiments, the third receiving cavity 21 may not be provided, and the first fluid channel 102 may be directly connected to the jet nozzle 502.

[0136] Referring to Figure 1E, a third opening 212 is provided at the bottom of the first receiving cavity 208. The first inlet 505 is connected to the third opening 212 through the second fluid channel 103 (shown by the dashed arrow in Figure 1E). Liquid filtered by the first filter assembly 400 flows into the first receiving cavity 208. The liquid in the first receiving cavity 208 flows into the first inlet 505 of the conveying device 503 through the third opening 212 and the second fluid channel 103. After being processed by the first conveying device 503, it is conveyed to the jet nozzle through the first outlet 506 and the first fluid channel 102. The processing referred to in this embodiment includes both physical and chemical processing, such as centrifugal processing, rotary processing, pressurized processing, conveying processing, compression processing, etc. This embodiment is not limited to these methods. In some embodiments, the first conveying device 503 may be a water pump, such as a centrifugal pump. Water flowing into the centrifugal pump from the first inlet 505 is processed by the centrifugal pump and becomes a high-pressure water flow that is output from the second outlet 506. This flow is then sprayed through the first fluid channel from the jet nozzle toward the water surface at the first inlet, accelerating the entry of surface debris from the first inlet into the first filter assembly, thereby improving the water surface cleaning efficiency of the cleaning equipment. In some embodiments, the first conveying device 503 may be an air pump. Airflow entering the air pump from the first inlet 505 is processed by the air pump (e.g., pressurization) and becomes a high-pressure airflow that is output from the second outlet 506. This airflow is then sprayed through the first fluid channel from the jet nozzle toward the water surface at the first inlet, accelerating the entry of surface debris from the first inlet into the first filter assembly, thereby improving the water surface cleaning efficiency of the cleaning equipment.

[0137] In some embodiments, the first fluid channel 102 and the second fluid channel 103 can be implemented in the form of water pipes. The first outlet 506 of the first conveying device is connected to the second opening 211 of the third receiving cavity 210 through a water pipe, and the first inlet 505 is connected to the third opening 212 through a water pipe. This allows the filtered liquid to flow from the third opening of the first receiving cavity into the first inlet of the first conveying device through the water pipe. After being processed by the first conveying device, the liquid is conveyed from the first outlet to the third receiving cavity through the water pipe, and then sprayed out towards the water surface at the first inlet through a jet nozzle. This accelerates the flow of surface debris from the first inlet into the first filter assembly, improving the water surface cleaning efficiency of the cleaning equipment. In this embodiment, the third receiving cavity can be sealed or not. In some embodiments, referring to Figures 1G and 1H, the third receiving cavity 210 may not be provided. In this case, the water pipe constituting the first fluid channel is directly connected to one end of the jet nozzle, and the first conveying device directly conveys the liquid through the water pipe to one end of the jet nozzle, and sprays it out towards the water surface at the first inlet from the other end of the jet nozzle.

[0138] In some embodiments, the first fluid channel 102 and the second fluid channel 103 can be implemented in the form of air pipes. In this case, the first inlet 505 of the first conveying device is connected to the air inlet (not shown in the figure) on the top of the housing 200 through an air pipe, and the first outlet 506 is connected to the second opening 211 of the third receiving cavity 210 through an air pipe. At this time, the third receiving cavity 210 is sealed to prevent liquid in the pool from flowing into the third receiving cavity and thus affecting the flow of gas. When the cleaning equipment is cleaning the water surface, the top of the housing 200 is above the water surface, and the air inlet on it is also above the water surface. At this time, under the action of the first conveying device 503, the gas above the water surface can enter the first conveying device through the air pipe from the air inlet, and after being processed by the first conveying device, it is transported to the third receiving cavity 210 through the air pipe from the first outlet. The gas is then sprayed towards the water surface at the first water inlet through the jet nozzle, thereby accelerating the flow of garbage from the water surface into the first filter assembly from the first water inlet and improving the water surface cleaning efficiency of the cleaning equipment. In some embodiments, referring to Figures 1G and 1H, the third receiving cavity 210 may not be provided. In this case, the air pipe constituting the first fluid channel is directly connected to one end of the jet nozzle, and the first conveying device directly conveys the gas through the air pipe to one end of the jet nozzle, and sprays it out from the other end of the jet nozzle toward the water surface at the first inlet.

[0139] In some embodiments, when multiple jet nozzles are provided, the multiple jet nozzles can be connected to the first conveying device through multiple jet channels, or they can share a single jet channel to be connected to the first conveying device. Of course, each jet nozzle can also be provided with an independent first conveying device, which is connected to it through mutually independent jet channels. This embodiment does not limit this.

[0140] In some embodiments, the jet nozzle is disposed on the upper, left, or right side wall of the first inlet, and a corresponding receiving cavity is also provided on the corresponding side wall. The jet nozzle is at least partially located in the receiving cavity and is in fluid communication with the receiving cavity. In this embodiment, except for the placement of the jet nozzle, it is basically similar to the above embodiments, and will not be described again here. In some embodiments, multiple jet nozzles are disposed on at least one side wall of the upper, lower, left, or right side wall of the first inlet. The tilt angle of the multiple jet nozzles is determined so that when the cleaning device cleans the water surface, opening any one jet nozzle at its own tilt angle to spray fluid onto the water surface at the first inlet can accelerate the entry of floating debris from the first inlet into the interior of the first filter assembly; and when all jet nozzles are opened at the same time, the nozzles will not interfere with each other and thus affect the entry of floating debris from the first inlet into the interior of the first filter assembly.

[0141] In some embodiments, referring to Figures 1G and 1H, two jet nozzles are respectively disposed on the left and right sides of the first inlet. The two jet nozzles can be symmetrically or asymmetrically disposed. The first fluid channel and the second fluid channel are both composed of water pipes. In some embodiments, air pipes can also be used. The first conveying device 503 is connected to one end of the jet nozzle through the first fluid channel 102 and connected to the first receiving cavity 208 through the second fluid channel 103. The liquid ejected from the other end of the jet nozzle can be sprayed toward the water surface at the first inlet 201 or the water surface at the first opening 402, and the direction of the fluid ejected from the jet nozzle is parallel or approximately parallel to the left and / or right sides of the first inlet.

[0142] In some embodiments, the fluid ejected from the jet nozzle 502 is directed toward the water surface at the first inlet or toward the water surface at the first opening 402 of the first filter assembly. Here, the fluid direction refers to the initial direction in which the fluid travels after being ejected from the jet nozzle. The setting of the jet nozzle direction in the above embodiments can also be considered as the setting of the direction of the fluid ejected from the jet nozzle. The premise for setting the jet nozzle direction or the direction of the ejected fluid is to ensure that the ejected fluid can accelerate the flow of the liquid at the first inlet or the first opening toward the negative X-axis (i.e., increase the flow velocity of the liquid at the first inlet or the first opening toward the negative X-axis), or to generate a force at the water surface at the first inlet or the first opening that pushes the liquid at the water surface toward the negative X-axis. In some embodiments, the direction of the fluid ejected from the jet nozzle 502 is parallel or approximately parallel to the left or right side wall of the first opening.

[0143] In some embodiments, as shown in Figures 1G and 1H, a fifteenth opening is provided on the left and / or right side walls of the first water inlet 201 of the cleaning device. The fifteenth opening is located between the jet nozzle and the first opening 402, and is close to the jet nozzle. The fifteenth opening is used to increase the liquid flow rate at the first water inlet. The liquid in the pool located outside the left and right side walls of the first water inlet can flow into the first water inlet from outside the left and right side walls through the fifteenth opening, thereby increasing the liquid flow rate into the first water inlet. Under the action of the jet nozzle spraying fluid, it can accelerate the entry of surface debris into the first water inlet and the first opening, and thus into the interior of the first filter assembly, thereby improving the efficiency of water surface cleaning.

[0144] In some embodiments, referring to Figures 2A and 2B, the jet nozzle 502 is disposed at the left side wall 206 and / or the right side wall 207 of the first inlet 201. In this embodiment, the structure of the jet nozzle 502 is slightly different from that in the above embodiments. In this embodiment, the jet nozzle 502 includes a fourth opening 507, a first nozzle 508, and a first support arm 509. The first nozzle 508 is in fluid communication with the fourth opening 507. The jet nozzle 502 is fixed at the left side wall 206 and / or the right side wall 207 of the first inlet 201 by the support arm 509. It should be noted that the first support arm 509 can also be integrally formed with the left and right side walls of the first inlet. The fourth opening 507 is connected to the first outlet of the first conveying device through a first fluid channel. The first inlet of the first conveying device is connected to the first receiving cavity or to the air inlet at the top of the housing through a second fluid channel. In this embodiment, the arrangement of the first conveying device and the arrangement of the second fluid channel are basically similar to those in the above embodiments, and will not be described in detail here. Liquid in the first receiving cavity or air above the water surface flows into the first conveying device through the second fluid channel. After being processed by the first conveying device, it is transported through the first fluid channel to the fourth opening of the jet nozzle, so that the fluid can be ejected from the first nozzle 508 of the jet nozzle. By adjusting the position of the first nozzle, the first nozzle can spray fluid towards the water surface at the first inlet, prompting the surface debris to enter the interior of the first filter assembly more quickly from the first inlet, thereby improving the water surface cleaning efficiency of the cleaning equipment. The position of the first nozzle is determined so that when the cleaning equipment is cleaning the water surface, opening any one jet nozzle and spraying fluid towards the water surface at the first inlet at its own position can accelerate the entry of floating debris from the first inlet into the interior of the first filter assembly; and when all jet nozzles are opened at the same time, the nozzles will not interfere with each other and thus affect the entry of floating debris from the first inlet into the interior of the first filter assembly.

[0145] In some embodiments, when the cleaning device is cleaning the water surface, the first nozzle 508 in the jet nozzle may be located below the water surface and tilted upwards at a certain angle relative to the horizontal plane toward the first water inlet or the first inlet. In one embodiment, the first nozzle 508 is located 3-20 mm below the water surface and tilted upwards at 3°-30° relative to the horizontal plane toward the first water inlet or the first inlet; in some embodiments, the first nozzle 508 is located at at least one of 3 mm, 5 mm, 8 mm, 10 mm, 15 mm, 18 mm, or 20 mm below the water surface and tilted upwards at at least one of 3°, 5°, 8°, 10°, 12°, 15°, 20°, 25°, or 30° relative to the horizontal plane toward the first water inlet or the first inlet.

[0146] Referring to Figure 2B, a jet nozzle 502 is provided on each of the left and right side walls of the first water inlet in Figure 2B. The first nozzle 508 is positioned facing the first water inlet or the first inlet, and the angle between it and the positive Y direction is M2, where 10°≤M2≤80°. In some embodiments, the angle of M2 is the same as the angle between the left side wall of the first water inlet and the positive Y direction, that is, the first nozzle 508 is set parallel to the left side wall. The distance M1 between the first nozzle 508 and the outermost point in front of the first inlet (positive X-axis direction) is 0mm ≤ M1 ≤ 100mm. When M1 = 0mm, the first nozzle 508 is flush with the outermost point in front of the first inlet. The distance M3 between the first nozzle 508 on the left side wall 206 and the outermost point on the left side of the first inlet is 0mm ≤ M3 ≤ 100mm. When M3 = 0mm, the first nozzle 508 is flush with the outermost point on the left side of the first inlet. The distance between the first nozzle 508 on the right side wall 207 and the outermost point on the right side of the first inlet can be the same as or different from M3; this embodiment does not impose a limitation. In some embodiments, the jet nozzle 502 on the left side wall and the jet nozzle on the right side wall are arranged symmetrically or asymmetrically.

[0147] In some embodiments, M2 is selected as 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 70°, or 80°; M1 is selected as 0mm, 10mm, 20mm, 30mm, 32mm, 35mm, 38mm, 40mm, 42mm, 45mm, 48mm, 50mm, 52mm, 55mm, 58mm, 60mm, 70mm, 80mm, 90mm, or 100mm; and M3 is selected as 0mm, 10mm, 15mm, 20mm, 22mm, 25mm, 28mm, 30mm, 32mm, 35mm, 38mm, 40mm, 50mm, 60mm, 70mm, 80mm, 90mm, or 100mm.

[0148] In some embodiments, when the cleaning equipment is cleaning the water surface, the first nozzle 508 in the jet nozzle can also be positioned above the water surface. The specific position can be determined by referring to the position below the water surface. The angle is adjusted so that the ejected fluid can accelerate the flow of the liquid at the first inlet or the first opening in the negative X-axis direction (i.e., increase the flow velocity of the liquid at the first inlet or the first opening in the negative X-axis direction), or the force generated on the water surface at the first inlet or the first opening can be used to push the liquid to flow in the negative X-axis direction. For example, the jet nozzle is positioned on the left side wall 206 and / or the right side wall 207 of the first inlet, and the first nozzle 508 is tilted downwards at a certain angle relative to the horizontal plane towards the first inlet or the first opening. In one embodiment, the first nozzle 508 is disposed 3-20 mm above the water surface and is inclined downward at 3°-30° relative to the horizontal plane toward the first water inlet or the first inlet; in some embodiments, the first nozzle 508 is disposed at at least one of 3 mm, 5 mm, 8 mm, 10 mm, 15 mm, 18 mm or 20 mm above the water surface and is inclined downward at at least one of 3°, 5°, 8°, 10°, 12°, 15°, 20°, 25° or 30° relative to the horizontal plane toward the first water inlet.

[0149] In some embodiments, the first nozzle 508 may also be positioned at or near the water surface, with its spray angle slightly upward or approximately parallel to the water surface, so that the sprayed fluid is approximately parallel to the sidewall at the first inlet and approximately parallel to the water surface.

[0150] In some embodiments, the direction of the fluid ejected by the jet nozzle is toward the water surface at the first inlet 201 or the water surface at the first opening 402, as long as the fluid ejected by the jet nozzle can accelerate the flow of the liquid on the water surface at the first inlet or the first opening toward the negative X-axis, or generate a force on the water surface at the first inlet or the first opening that pushes the liquid on the water surface toward the negative X-axis. In some embodiments, the direction of the fluid ejected by the jet nozzle is parallel or approximately parallel to the left or right side wall of the first opening.

[0151] In this disclosure, the direction of the fluid ejected by the jet nozzle or the first nozzle can also be referenced to the setting direction of the first nozzle. For example, if the first nozzle is set at an angle of 5° upward, it can be considered that the direction of the fluid ejected by the first nozzle is set at an angle of 5° upward. If the tilt direction of the first nozzle is parallel to the left side wall, right side wall, upper side wall, or lower side wall of the first inlet, it can also be considered that the direction of the fluid ejected by the first nozzle is parallel to the left side wall, right side wall, upper side wall, or lower side wall of the first inlet. That is, the direction of the fluid ejected by the first nozzle is consistent with the direction of the first nozzle described above, and will not be elaborated further here.

[0152] In some embodiments, referring to FIG3A, the jet nozzle 502 is disposed on the upper sidewall 204 of the first water inlet 201. The jet nozzle 502 is fixed to the upper sidewall 204 of the first water inlet 201 by the first support arm 509. It should be noted that the first support arm 509 can also be integrally formed with the upper sidewall of the first water inlet. The connection and structure between the jet nozzle and the first conveying device are basically similar to those in the above embodiments. This embodiment will not elaborate further, but only focuses on the parts that are different from those in the above embodiments. When there is one jet nozzle 502, the jet nozzle 502 is disposed at the middle position of the outermost side of the upper side. The first nozzle 508 is tilted downward toward the first water inlet or the first inlet. Its tilt angle is to ensure that when the cleaning equipment is cleaning the water surface, the fluid sprayed by the first nozzle can accelerate the entry of floating garbage into the first water inlet or the first inlet. When there are multiple jet nozzles 502, the multiple jet nozzles can be evenly distributed on the outer side of the upper sidewall of the first inlet. When the jet nozzles 502 are distributed in a non-central position on the outer sidewall of the upper sidewall, the first nozzle, in addition to tilting downward at a certain angle, also tilts towards the center of the first inlet at a certain angle (as shown by the arrows in Figures 3A and 3B). For example, when the jet nozzle is located to the left of the outer sidewall of the upper sidewall, its first nozzle, in addition to tilting downward at a certain angle, also tilts to the right (positive Y-axis direction) at a certain angle, as shown by the left arrow in Figure 3A; when the jet nozzle is located to the right of the outer sidewall of the upper sidewall, its first nozzle, in addition to tilting downward at a certain angle, also tilts to the left (negative Y-axis direction) at a certain angle, as shown by the right arrow in Figure 3A. The tilt angle is to ensure that the fluid sprayed by the first nozzle can accelerate the entry of floating garbage into the first inlet when the cleaning equipment is cleaning the water surface.

[0153] In some embodiments, referring to FIG3B, the jet nozzle 502 is disposed on the lower sidewall 205 of the first water inlet 201. The jet nozzle 502 is fixed to the lower sidewall 205 of the first water inlet 201 by the first support arm 509. It should be noted that the first support arm 509 can also be integrally formed with the lower sidewall of the first water inlet. The connection and structure between the jet nozzle and the first conveying device are basically similar to those in the above embodiments. This embodiment will not elaborate further, but only focuses on the parts that are different from those in the above embodiments. When there is one jet nozzle 502, the jet nozzle 502 is disposed at the middle position of the outermost side of the lower side. The first nozzle 508 is tilted upward toward the first water inlet. The tilt angle is such that when the cleaning equipment is cleaning the water surface, the fluid sprayed by the first nozzle can accelerate the entry of floating garbage into the first water inlet. When there are multiple jet nozzles 502, the multiple jet nozzles can be evenly distributed on the outer side of the lower sidewall of the first inlet. When the jet nozzles 502 are distributed in a non-central position on the outer sidewall of the lower sidewall, the first nozzle, in addition to tilting upward at a certain angle, also tilts towards the center of the first inlet at a certain angle. For example, when the jet nozzle is set to the left of the outer sidewall of the upper sidewall, its first nozzle, in addition to tilting upward at a certain angle, also tilts to the right (positive Y-axis direction) at a certain angle, as shown by the left arrow in Figure 3B; when the jet nozzle is set to the right of the outer sidewall of the lower sidewall, its first nozzle, in addition to tilting upward at a certain angle, also tilts to the left (negative Y-axis direction) at a certain angle, as shown by the right arrow in Figure 3B. The tilt angle is to ensure that the fluid sprayed by the first nozzle can accelerate the entry of floating garbage into the first inlet when the cleaning equipment is cleaning the water surface.

[0154] In some embodiments, referring to FIG3C, the jet nozzle 502 is disposed on the lower sidewall 205 of the first water inlet, and the first nozzle head 508 of the jet nozzle sprays fluid toward the first water inlet or the first opening. In this embodiment, there are at least two jet nozzles, which are symmetrically or asymmetrically disposed on the lower sidewall 205. At least one jet nozzle is disposed on the lower sidewall of the first water inlet at a position on the left, and at least one jet nozzle is disposed on the lower sidewall of the first water inlet at a position on the right. The left and right positions are relative to the middle position of the lower sidewall. When the cleaning device cleans the water surface, the first nozzle head 508 can be above the water surface, below the water surface, or flush with the water surface. The fluid sprayed from the first nozzle head 508 is also sprayed toward the first water inlet or the first opening. Furthermore, the fluid sprayed from the first nozzle head 508 is sprayed toward the water surface at the first water inlet or the water surface at the first opening.

[0155] In some embodiments, the first inlet may not have a left side wall 206 and / or a right side wall 207, thereby increasing the flow rate of liquid from the first inlet into the first filter assembly during water surface cleaning, thereby improving the water surface cleaning efficiency.

[0156] In some embodiments, as shown in Figures 1G and 1H, the jet nozzle is disposed inside the side wall of the first inlet, for example, inside the left and right side walls, with only the first nozzle 508 of the jet nozzle exposed. The first nozzle 508 can spray fluid toward the water surface at the first inlet or the water surface at the first opening.

[0157] In some embodiments, there are two jet nozzles, symmetrically arranged on the left and right sides of the first inlet. When the cleaning device is cleaning the water surface, the two first nozzles 508 are below the water surface; or when the cleaning device is cleaning the water surface, the two first nozzles 508 are above the water surface or flush with or approximately flush with the water surface, or the fluid ejected by the first nozzles is parallel to or approximately parallel to the water surface, and / or the fluid ejected by the first nozzles is parallel to or approximately parallel to the left or right side of the first inlet.

[0158] In some embodiments, there are multiple jet nozzles, which are distributed on at least one of the left, right, upper, or lower side walls of the first inlet. The tilt angle of the multiple jet nozzles is determined so that when the cleaning equipment is cleaning the water surface, opening any one jet nozzle at its own tilt angle to spray fluid can accelerate the entry of floating debris into the first inlet; and when all jet nozzles are opened at the same time, the nozzles will not interfere with each other and thus affect the entry of floating debris into the first inlet. At least one of the multiple jet nozzles sprays fluid that is parallel or approximately parallel to the water surface, or at least one of the multiple jet nozzles sprays fluid that is parallel or approximately parallel to the left or right side wall of the first inlet.

[0159] In some embodiments, referring to FIG5, the cleaning device 100 includes two first water outlets 203 and two first suction components 700. Each of the first water outlets is connected to a first receiving cavity via an independent first suction component. At least one of the two first water outlets 203 can spray water vertically (perpendicular to the XY plane) outwards, and at least one of the two first water outlets 203 can spray water at an angle (not perpendicular to the XY plane) outwards. The cleaning device 100 can reasonably adjust the switching of the corresponding first suction components according to its cleaning mode and movement state. For example, when the cleaning device is cleaning the bottom of the pool, the first suction component in the vertically spraying outlet is activated, while the first suction component in the angled spraying outlet is deactivated. When the cleaning device starts climbing from the bottom of the pool towards the pool wall, the first suction component in the vertically spraying outlet is deactivated, while the first suction component in the angled spraying outlet is activated. When the cleaning device is cleaning the water surface, the first suction component in the vertically spraying outlet is deactivated, while the first suction component in the angled spraying outlet is activated.

[0160] In some embodiments, referring to FIG1C, the cleaning device 100 includes two first water outlets 203, a first suction assembly 700, and the two first water outlets share the same first suction assembly. A first valve 104 is disposed between the two first water outlets, and a stepper motor is also provided. The stepper motor can control the movement of the first valve at a first position 105 and a second position 106. When the first valve is in the first position and the second position, one of the first water outlets is open, and the other is closed. At least one of the two first water outlets 203 can achieve vertical (perpendicular to the XY plane) outward spraying, and at least one of the two first water outlets 203 can achieve inclined (at a non-perpendicular angle to the XY plane) outward spraying. The cleaning device 100 can reasonably adjust the position of the corresponding first valve according to its own cleaning mode and movement state. For example, when the cleaning equipment is cleaning the bottom of the pool, the stepper motor controls the first valve to be in the first position 105, so that water is sprayed out from the vertical spray outlet; when the cleaning equipment starts to climb from the bottom of the pool to the pool wall, the stepper motor controls the first valve to be in the second position 106, so that water is sprayed out from the inclined spray outlet; when the cleaning equipment is cleaning the water surface, the stepper motor controls the first valve to be in the second position 106, so that water is sprayed out from the inclined spray outlet.

[0161] In some embodiments, the cleaning device 100 includes a second water inlet 213, which is located at the bottom of the housing 200. The second water inlet is connected to the interior of the first filter assembly 400 through a second flow channel 216. A second baffle 215 is provided at the other end of the second flow channel 216 (in some embodiments, it can also be considered that a second baffle is provided at the second water inlet). The second baffle can open or close the second flow channel. When the cleaning device cleans the bottom or the wall of the pool, the second baffle 215 opens the second flow channel, and the liquid or dust-laden liquid entering from the second water inlet can enter the first filter assembly 400 through the second flow channel. After being filtered by the first filter assembly 400, it flows into the first receiving cavity and is then discharged from the cleaning device through the first outlet 203 by the suction of the first suction assembly, thereby achieving the cleaning of the bottom or the wall of the pool.

[0162] When the cleaning equipment cleans the water surface, the second baffle closes the second flow channel and the first baffle opens the first water inlet; when the cleaning equipment cleans the bottom or walls of the pool, the second baffle opens the second flow channel and the first baffle closes the first water inlet.

[0163] In some embodiments, the cleaning device further includes a mode switching component for changing the state of the cleaning device, such as switching from a bottom state to a surface state. The mode switching component includes a float cavity for containing gas or liquid, and a first adjusting component for adjusting the volume of gas or liquid within the float cavity. The first adjusting component adjusts the volume of gas or liquid within the float cavity to achieve the buoyancy adjustment of the cleaning device, thereby switching between bottom cleaning and surface cleaning. In some embodiments, the float cavity is arranged around a first filter assembly; in some embodiments, there are three float cavities, one on each of the three sides except for the side of the first filter assembly near the first inlet. In other embodiments, the float cavity is arranged around a second receiving cavity. The float cavity can be a rigid float cavity made of rigid material. The float cavity is connected to the air inlet or liquid outlet of the cleaning device through a fluid channel. Air is injected or absorbed through the air inlet, or liquid is discharged or discharged through the liquid outlet, thereby adjusting the overall buoyancy of the cleaning device to achieve the buoyancy adjustment function. In some embodiments, the buoyancy cavity may also be made of a flexible material, and the overall buoyancy of the cleaning equipment can be adjusted by controlling the volume of the internal space of the flexible material, thereby achieving the function of floating and diving.

[0164] After cleaning a water tank for a period of time, cleaning equipment often experiences clogging of the first filter element. While reducing the filtration precision of the first filter element can avoid or delay clogging to some extent, it also leads to a decrease in the cleaning effect of the water tank. Conversely, increasing the filtration precision of the first filter element exacerbates the clogging. To address these issues, this disclosure provides a first filter element that achieves high-precision filtration while effectively preventing clogging of the filter surface.

[0165] Referring to Figures 17A, 17B, and 17C, Figure 17A is a cross-sectional schematic diagram of an embodiment of the first filter assembly provided in this disclosure; Figure 17B is an exploded view of some components of the first filter assembly provided in Figure 17A (the first suction assembly and the component that fixes the first suction assembly are omitted relative to Figure 17A); Figure 17C is an exploded view of another part of the first filter assembly provided in Figure 17A; The first filter assembly 400 includes a first component 405 and a second component 406. A first filter surface 409 is provided on the second component 406. The first filter surface 409 is cylindrical and has a space inside. The first suction assembly 700 is disposed in the space enclosed by the first filter surface 409. For ease of description, the space enclosed by the first filter surface is referred to as the second space 416 below, and the space inside the first component other than the second space 416 is referred to as the first space 415. A filter cleaning component 407 is also provided on the outer side of the first filter surface 409. The filter cleaning component is disposed close to the outer side of the first filter surface and extends from the top to the bottom of the first filter surface. The filter cleaning component 407 can rotate around the axis of the cylinder formed by the first filter surface, thereby cleaning the debris stuck or trapped on the first filter surface. In this embodiment, the filter cleaning component 407 is a spiral scraper that spirals from the top to the bottom of the first filter surface. Of course, the filter cleaning component can also be other structures, such as an "L"-shaped scraper, where the long side of the "L" extends from the top to the bottom of the first filter surface. This embodiment does not limit the specific shape of the filter cleaning component; any component capable of cleaning the first filter surface is included.

[0166] The second component 406 is also provided with a first annular support 410 on the outer periphery of the first filter surface 409. The first annular support 410 is hollowed out, so that the first annular support 410 can support the first component without isolating the inner and outer spaces of the first annular support. The garbage scraped off the first filter surface by the filter cleaning component will fall into the space between the first annular support 410 and the first filter surface 409 under the action of gravity, and then enter other internal spaces of the second component 406. The bottom of the first component has a sixteenth opening 411 at a position corresponding to the first annular support 410. The first filter surface 409 and the filter cleaning assembly 407 on the second component pass through the sixteenth opening 411 and enter the internal space of the first component, so that the second component is set close to the bottom of the first component. At this time, part of the first filter surface is located in the internal space of the first component and part is located in the internal space of the second component; similarly, part of the filter cleaning assembly is located in the internal space of the first component and part is located in the internal space of the second component. The size of the second component is such that at least part of the bottom of the first component is not covered by the second component. The internal spaces of the first component 405 and the second component 406 are connected. A fifth opening 403 is provided on the part of the bottom of the first component that is not covered by the second component. The fifth opening is in fluid communication with the second water inlet at the bottom of the cleaning equipment housing. The dust-laden liquid at the bottom of the pool can enter the interior of the first component from the second water inlet through the fifth opening 403.

[0167] A first cover 408 is also provided on the top of the first component 405. The first cover 408 covers the first component and is used to close and open the first component. A seventeenth opening 412 is provided on the first cover 408 at the position corresponding to the filter cleaning component 407 and the first filter surface 409. One end of the first filter surface 409 and the filter cleaning component 407 pass through the seventeenth opening 412, thereby connecting the internal space enclosed by the first filter surface 409 with the external space of the first filter component. Driven by the first suction component 700, the liquid in the pool can enter the first space 415 of the first component from the second inlet 213 through the fifth opening 403, then pass through the first filter surface 409 into the second space 416 enclosed by the first filter surface, and then, through the suction component, drive the liquid in the second space to flow from the seventeenth opening 412 to the outside of the first filter component. The direction of water flow is shown by the dashed arrow in Figure 17A. After being filtered by the first filter surface 409, debris such as leaves remain in the first space of the first component. As the water circulates, debris such as leaves and insects remain inside the first space of the first component and do not stick to the filter screen of the first filter surface. However, some debris, such as small pebbles, gets stuck in the gaps of the filter screen, while some debris, such as algae and hair, sticks to the filter screen, causing clogging. At this time, the filter cleaning component is driven to rotate. The rotation of the filter cleaning component allows the scraper to directly contact the filter screen of the first filter surface for deep cleaning. The cleaned debris, such as pebbles, will fall into the second component under the action of gravity. Therefore, the first filter component of this disclosure achieves fine filtration while avoiding clogging, and can also separate debris, that is, separate leaf debris from stone debris, which facilitates the subsequent cleaning of the filter component. The first filter assembly disclosed herein employs a structure of a first component and a second component, such that during the cleaning process, most of the water flow occurs inside the first component (as shown by the dashed arrow in Figure 17A). Thus, when the cleaning equipment cleans the water tank, the water flow does not affect the garbage inside the second component, which can prevent the garbage from being stirred up to a certain extent.

[0168] In some embodiments, a first transmission component 413 is also provided at the portion of the filter cleaning component 407 exposed at the seventeenth opening. The rotation of the first transmission component 413 drives the rotation of the filter cleaning component 407. A second drive mechanism (not shown in the figure) is also provided on the cleaning device. The second drive mechanism can drive the first transmission component 413 to rotate, thereby achieving the rotation of the filter cleaning component. During the cleaning process of the water tank, the second drive mechanism can be set to drive the first transmission component at regular intervals, thereby driving the filter cleaning component to rotate and clean the first filter surface, preventing clogging of the first filter surface. After the filter cleaning component scrapes the first filter surface for a period of time, the drive of the second drive mechanism stops, saving energy consumption. In some embodiments, the second drive mechanism remains closed when the cleaning device is working normally. When clogging of the first filter surface is detected, the second drive mechanism is opened, and the second drive mechanism drives the filter cleaning component to rotate for a period of time before stopping, thus achieving the cleaning of the first filter surface. In some embodiments, the second drive mechanism can remain open continuously. When the cleaning device is cleaning the water tank, the second drive mechanism can continuously drive the filter cleaning component to rotate, thereby achieving the cleaning of the first filter surface. In some embodiments, the first transmission component 413 is a ring gear.

[0169] In some embodiments, the first transmission member 413 may be connected to an impeller disposed at the first water outlet. The impeller is driven to rotate by the water flow at the first water outlet, thereby driving the spiral scraper to rotate through the first transmission member, thus cleaning the first filter surface.

[0170] In some embodiments, the first suction assembly includes a motor and an impeller, the motor driving the impeller to rotate thereby driving the flow of water. In this embodiment, the first transmission member 413 is directly or indirectly connected to the impeller of the first suction assembly. The rotation of the impeller of the first suction assembly can drive the rotation of the first transmission member, thereby driving the rotation of the spiral scraper to achieve cleaning of the first filter surface.

[0171] In some embodiments, the drive mechanism that drives the first transmission member 413 to rotate can also be disposed on the base station 2000. For example, the drive mechanism is disposed on the carrier or support member of the base station. When the cleaning equipment is parked on the base station to perform self-cleaning operation, while the self-cleaning drain port is connected to the self-cleaning inlet port, the first transmission member 413 of the cleaning equipment can be directly or indirectly connected to the drive mechanism on the base station, so that the drive mechanism on the base station, such as the base station motor, can directly or indirectly drive the rotation of the first transmission member 413, thereby driving the rotation of the spiral scraper and improving the self-cleaning effect of the cleaning equipment on the base station.

[0172] In some embodiments, the bottom of the second component 406 is provided with an eighteenth opening 418 corresponding to the position of the first annular support 410. A second cover 419 is provided at the eighteenth opening. The second cover 419 is rotatably connected or detachably connected to the bottom of the second component. Opening the second cover can expose the internal space of the second component, so that the garbage inside the second component can flow out through the eighteenth opening, thereby facilitating the cleaning of the second component.

[0173] In some embodiments, a second annular support 414 is further provided near the sixteenth opening of the first component to support the first cover 408. The second annular support 414 is arranged around the filter cleaning assembly and spaced apart from it by a certain distance. The filter cleaning assembly is disposed in the space between the first filter and the second annular support 414. The second annular support 414 is hollowed out to not obstruct water flow from the first space of the first component through the first filter surface into the second space enclosed by the first filter surface.

[0174] In some embodiments, the first cover 408 can also be integrally formed with the first component, thereby saving process costs; in some embodiments, the first cover 408 can also be detachably connected to the first component; in some embodiments, the first component and the second component can also be integrally formed or detachably connected, which is not limited in this embodiment.

[0175] In some embodiments, the filter cleaning component 407 may also be disposed inside the first filter surface 409, extending from the top to the bottom of the first filter surface, thereby enabling deep scraping and cleaning of the first filter surface from its internal space. Other configurations in this embodiment are similar to those in the above embodiments and will not be described in detail here.

[0176] The first filter assembly disclosed herein can employ a high-precision filter screen. While providing high-precision filtration, the filter screen of the filter assembly is prevented from becoming clogged through the setting of the filter screen cleaning component, thereby improving cleaning efficiency and cleaning effect.

[0177] During pool cleaning, the pool debris is collected inside the first filter component. Due to the size, weight, and internal structure of the cleaning equipment, the volume of the first filter component is often less than half the overall volume of the equipment. This significantly limits the operating time of the cleaning equipment (the first filter component needs to be stopped and sent to the base station for self-cleaning when full, or the user needs to retrieve it for cleaning). This is especially true for the first use of the pool each year, when cleaning is required – often referred to as initial cleaning. However, after a period of time (nearly a year or six months), the amount of debris in the pool far exceeds that of a frequently used pool. If existing cleaning equipment is used, the limited volume of the first filter component necessitates periodic cleaning, greatly reducing the efficiency of initial cleaning and negatively impacting the user experience. Therefore, this embodiment provides a cleaning device with a large-volume filter component, suitable for initial pool cleaning.

[0178] Figures 18A-18E illustrate a cleaning device. For ease of understanding and description, some unimportant components and some components that are the same as or similar to those in other embodiments of the cleaning device are omitted in Figures 18A-18E. The components that are different from those in other embodiments are highlighted. As for other components not shown, those skilled in the art can understand that, without conflict, the corresponding components disclosed in any other embodiment of this disclosure can be used. They will not be described in detail in the following embodiments.

[0179] As shown in Figure 18A, the solid arrow in Figure 18A indicates the direction of travel of the cleaning equipment. In this embodiment, the cleaning equipment includes a housing 200, a first filter component 400 and a first suction component 700. A first water inlet 201 is provided on the front side of the housing, a second water inlet 213 is provided at the bottom, and a first water outlet 203 is provided at the top. A first baffle 202 is installed at the first inlet 201, and a second baffle 215 is installed at the second inlet. When the cleaning equipment cleans the bottom of the pool, under the action of the first suction component, the dust-laden liquid at the bottom of the pool flows into the first filter component from the second inlet 213, and then is discharged from the outside of the cleaning equipment from the first outlet 203 through the first suction component. The debris in the liquid remains inside the first filter component. At this time, the first baffle 202 closes the first inlet, and the second baffle 215 opens the second inlet. When the cleaning equipment cleans the water surface, the dust-laden liquid on the water surface flows into the first filter component from the first inlet, and then is discharged from the outside of the cleaning equipment from the first outlet 203 through the first suction component. The debris in the liquid remains inside the first filter component. At this time, the first baffle 202 opens the first inlet, and the second baffle 215 closes the second inlet.

[0180] The cleaning equipment also includes a fourth filter assembly 417, whose capacity is greater than that of the first filter assembly, typically 1-20 times the capacity. The fourth filter assembly 417 is positioned above the housing 200. A second outlet 217 is also provided at the top of the housing 200. One end of the second outlet 217 communicates with the internal space of the first filter assembly, and the other end communicates with the internal space of the fourth filter assembly 417 via a flow channel. A third baffle 218 is also provided at the second outlet 217, which can open or close the second outlet 217. When the cleaning equipment is cleaning the bottom of the pool or the surface, the third baffle 218 closes the second outlet 217. In some embodiments, when the cleaning equipment is cleaning the bottom of the pool or the surface, the third baffle 218 can be selectively opened, allowing water to flow through the second outlet 217 into the interior of the fourth filter assembly 417.

[0181] The first suction component 700 also includes a first working mode and a second working mode. In the first working mode, if the first suction component 700 rotates forward, it forms a water flow from the second inlet of the cleaning device to the interior of the first filter component, and then to the first outlet of the cleaning device (the water flow is shown by the dashed arrow in Figure 18A). At this time, the second baffle is open, and the first and third baffles are closed. In the second working mode, if the first suction component 700 rotates in the reverse direction, it forms a water flow from the first outlet to the interior of the first filter component. At this time, the third baffle 218 is open, and the first and second baffles are closed. The water flow can flow from the first outlet to the interior of the first filter component, and then through the second outlet into the interior of the fourth filter component 417, thereby sucking the debris from inside the first filter component into the interior of the fourth filter component.

[0182] The following describes the workflow of the cleaning equipment in this embodiment when cleaning the bottom or walls of a water tank, especially when the water tank contains a large amount of garbage.

[0183] When the cleaning equipment begins cleaning the bottom or walls of the pool, the first suction component 700 is in its first working mode. At this time, the second baffle is open, and the first and third baffles are closed. Dust-laden water from the bottom of the pool flows into the interior of the first filter component through the second inlet 213, and then flows out of the cleaning equipment through the first suction component from the first outlet 203. The debris at the bottom of the pool is retained inside the first filter component. As the cleaning process continues, more and more debris accumulates inside the first filter component. Once the debris content in the first filter component exceeds a certain range, or after a certain cleaning time, the working mode of the first suction component is adjusted, for example, from the first working mode to the second working mode. At this time, driven by the first suction component, water from the pool flows into the cleaning equipment from the first outlet 203 and towards the first filter component. The first and second baffles are closed, and the third baffle is open. The water flowing into the first filter component flows through the second outlet to the fourth filter component, thereby... The waste inside the first filter component is sucked into the fourth filter component. When the waste content inside the first filter component is below a certain range, or after the first suction component has been working in the second working mode for a certain period of time, the working mode of the first suction component is adjusted again, for example, from the second working mode to the first working mode. At this time, the first and third baffles are closed and the second baffle is opened. The dust-laden water at the bottom of the pool flows into the first filter component again from the second inlet and flows out from the first outlet, leaving the waste inside the first filter component. When the waste content inside the first filter exceeds a certain range, or after cleaning for a certain period of time, the working mode of the suction component is adjusted again. This cycle continues until both the fourth and first filter components are full of waste or the waste content exceeds a certain range. Then, the cleaning equipment travels to the base station for self-cleaning or travels to the water surface and stops at a designated location, where the user removes the cleaning equipment from the pool and manually cleans or replaces the first and fourth filter components.

[0184] The following is a brief introduction to the cleaning equipment in this embodiment when cleaning the surface of the pool, especially when there is a lot of garbage on the surface of the pool. The working process of the cleaning equipment is only described in detail, focusing on some differences from the cleaning of the bottom of the pool. The similarities will not be described in detail.

[0185] To ensure the cleaning equipment can utilize the fourth filter component during surface cleaning, the second outlet must be positioned below the water surface, and at least part of the fourth filter component must also be below the water surface. For example, the second outlet can be positioned below the first inlet. When the cleaning equipment begins surface cleaning, the first suction component 700 is in its first operating mode. At this time, the second and third baffles are closed, and the first baffle is open. Dust and debris on the water surface flow into the first filter component from the first inlet 201, and then flow out of the cleaning equipment through the first suction component from the first outlet 203. Debris at the bottom of the pool is retained inside the first filter component. As the cleaning process progresses, more and more debris accumulates in the first filter component. Once the debris content exceeds a certain range, the operating mode of the first suction component is adjusted, for example, from the first operating mode to the second operating mode. At this time, driven by the first suction component, water in the pool flows out from the first outlet. Water flows into the cleaning equipment from point 203 or through gaps in the outer casing (it should be noted that when the cleaning equipment is cleaning the water surface, the first outlet may be below or above the water surface. When the first outlet is below the water surface, the water from the pool flows into the cleaning equipment from the first outlet under the drive of the first suction component; when the first outlet is above the water surface, since the cleaning equipment casing is not completely sealed, the water from the pool flows into the cleaning equipment through gaps in the casing under the drive of the first suction component), and flows to the first filter component. The first and second baffles are closed, and the third baffle is open. The water flowing into the first filter component flows to the fourth filter component through the second outlet, thereby sucking the debris from inside the first filter component into the fourth filter component. When the debris content inside the first filter component falls below a certain range, the working mode of the first suction component is adjusted again. Other processes during water surface cleaning are basically similar to the above-described bottom cleaning embodiment and will not be described in detail here.

[0186] Since the capacity of the fourth filter component is much larger than that of the first filter component, the cleaning device in this embodiment can perform cleaning work for a long time, which is especially suitable for the initial cleaning of swimming pools and swimming pools with a lot of garbage, without requiring users to frequently replace or clean the filter components.

[0187] In some embodiments, when the cleaning device is cleaning the bottom of the pool, the working mode of the first suction component is switched according to a certain cycle. For example, the first suction component first works in the first working mode for a certain period of time, then works in the second working mode for a certain period of time, and then switches back to the first working mode, and so on.

[0188] In some embodiments, the fourth filter assembly is detachably connected to the second water outlet, facilitating the replacement and cleaning of the fourth filter assembly. In some embodiments, the fourth filter assembly may also be a disposable filter device such as a disposable dust bag. When the debris in the fourth filter assembly exceeds a certain range, the cleaning device reminds the user to replace the first filter assembly and travels to a specific position on the water surface of the pool, allowing the user to easily remove and replace the disposable dust bag. In some embodiments, the fourth filter assembly may also be a dust box structure, and the fourth filter assembly may be located above, below, on the left side, or on the right side of the cleaning device housing; this embodiment is not limited to this. In addition to being connected to the second water outlet or the first water inlet or outlet via a flow channel, the fourth filter assembly may also be detachably or non-detachably fixed to the housing 200 via other components.

[0189] In some embodiments, the cleaning device does not need to have a separate second outlet 217; the first inlet 201 of the cleaning device can be used as the second outlet. Referring to Figure 18B, compared to the above embodiments, this embodiment uses the original first inlet 201 of the cleaning device as the second outlet, and the first baffle as the third baffle. In this case, the cleaning device is used to clean the bottom or walls of the pool, but is not suitable for cleaning the water surface. When it is necessary to clean the water surface, the fourth filter assembly can be removed from the cleaning device, thus making the cleaning device suitable for cleaning the water surface. In this embodiment, the process of cleaning the bottom or walls of the pool is basically similar to that in the above embodiments, and will not be described in detail here.

[0190] In some embodiments, as shown in FIG18C, the first outlet of the cleaning device is used as the second outlet. In this case, the fourth filter component 417 is in fluid communication with the first outlet. The liquid flowing out from the first outlet enters the fourth filter component for filtration, and the garbage remains inside the fourth filter component. In this embodiment, the first filter component may be omitted, or the filter screen of the first filter component may be removed, leaving only the frame of the first filter component. In this embodiment, the first suction component has only one working mode, such as the first working mode. When the cleaning device cleans the bottom or wall of the pool, the first baffle is closed and the second baffle is opened. The first suction component works in the first working mode. Driven by the first suction component, the dust-laden debris from the bottom or wall of the pool enters the first filter component or the interior of the cleaning device through the second inlet 213. Then, through the first suction component, it flows into the fourth filter component through the first outlet 203 for filtration. Thus, the debris remains inside the fourth filter component. Since the capacity of the fourth filter component is much larger than that of the first filter component, the cleaning device in this embodiment can perform cleaning work for a long time. It is especially suitable for the initial cleaning of swimming pools and for swimming pools with a large amount of debris, without requiring users to frequently replace or clean the filter components.

[0191] Since the first filter component is not installed at this time or the filter screen of the first filter component is removed, in order to prevent the garbage entering the cleaning equipment from getting tangled in the first suction component, the first suction component in this embodiment includes a motor and an impeller. The impeller is detachably connected to the drive shaft of the motor. When the garbage gets tangled in the impeller, the impeller can be disassembled for cleaning or replaced, thereby facilitating the cleaning of the tangled garbage.

[0192] When the cleaning equipment is cleaning the water surface, its posture is roughly as shown in Figures 1B and 2A. At this time, the first drive mechanism 107 drives the cleaning equipment to move on the water surface of the pool. The dust-laden liquid on the water surface enters the first filter assembly through the first inlet and is discharged from the first outlet. The debris remains inside the first filter assembly, thereby cleaning the water surface of the pool. Since the entire machine is almost located near the water surface, the first drive mechanism generates a huge thrust on the debris on the water surface when driving the cleaning equipment on the water surface. Especially when the cleaning equipment moves faster on the water surface, the thrust generated is even greater, making it easier to push the debris away from the cleaning equipment. When the cleaning equipment reduces its speed, the cleaning efficiency of the water surface is very low, and it takes a longer time to clean the entire water surface.

[0193] To address the aforementioned issues, this embodiment discloses a cleaning device with an external filter assembly. During water surface cleaning, only this external filter assembly protrudes above the water surface, thereby reducing the pushing force exerted by the cleaning device on surface debris and improving cleaning efficiency. Furthermore, due to the relatively large capacity of the external filter assembly, this cleaning device is also suitable for swimming pools with large amounts of debris, making it ideal for initial pool cleaning and reducing the frequency of filter assembly cleaning by the user, thus enhancing the user experience.

[0194] Referring to Figure 18D, the cleaning equipment includes a housing 200, a first filter assembly 400, a first suction assembly 700, and a fourth filter assembly 417. The fourth filter assembly is located above the housing 200, and a first water inlet 201 is located on the front side wall of the fourth filter assembly, communicating with the internal space of the fourth filter assembly. A first water outlet 203 is located at the top of the housing 200, and a second water inlet 213 is located at the bottom. A second baffle 215 is located at the second water inlet. The first suction assembly 700 is located in the external space of the first filter assembly. The first suction assembly can generate negative pressure inside the first filter assembly and suck the dust-laden liquid in the pool into the first filter assembly from the second water inlet, and then discharge it out of the cleaning equipment through the first water outlet 203, leaving the waste inside the first filter assembly.

[0195] A second water outlet 217 is also provided on the top of the housing 200 near the fourth filter assembly 417. One end of the second water outlet 217 is connected to the internal space of the first filter assembly 400, and the other end of the second water outlet is connected to the internal space of the fourth filter assembly 417 through a flow channel. A third baffle 218 is also provided at the second water outlet 217. The third baffle 218 can open or close the second water outlet 217. When the cleaning equipment is cleaning the bottom or the walls of the pool, the second baffle is opened, and the third baffle 218 is closed. In some embodiments, when the cleaning equipment is cleaning the bottom or the walls of the pool, the third baffle 218 can also be selectively opened, allowing water to flow into the interior of the fourth filter assembly 417 through the second water outlet 217.

[0196] When the cleaning equipment is cleaning the water surface, the second baffle 215 and the third baffle 218 are closed to prevent debris in the fourth filter assembly from flowing into the first filter assembly through the second outlet 217. Of course, in some embodiments, the third baffle 218 may also be in the open state, and the second baffle may be closed, so that the debris flowing out of the fourth filter assembly enters the first filter assembly but will not re-enter the water tank.

[0197] This embodiment is basically the same as the embodiment in Figure 18A, except that the first water inlet 201 in this embodiment is located on the fourth filter component 417. Therefore, the cleaning of the pool bottom and pool walls in this embodiment is completely the same as that in the embodiment in Figure 18A, and will not be described in detail here. This embodiment focuses on the water surface cleaning process, which is different from that in Figure 18A.

[0198] Unlike the water surface cleaning postures shown in Figures 1B and 2A, in this embodiment, when the cleaning device cleans the water surface, only the fourth filter component is exposed above the water surface, while the other parts are below the water surface. At this time, at least part of the first inlet is above the water surface, and at least part is below the water surface. The first drive mechanism 107 can then drive the cleaning device to move on the water surface, allowing surface debris to enter the fourth filter component through the first inlet for filtration. The filtered debris remains inside the fourth filter component.

[0199] In this embodiment, only the fourth filter component is exposed above the water surface during water surface cleaning, which greatly reduces the pushing force on the surface debris when the cleaning equipment moves on the water surface, thereby improving the cleaning efficiency of the surface debris.

[0200] In some embodiments, the fourth filter assembly can also be connected to the first outlet through another flow channel. When the cleaning device cleans the bottom or walls of the pool, the liquid filtered by the first filter assembly flows into the fourth filter assembly from the first outlet, is filtered again by the fourth filter assembly, and then flows into the pool. At this time, the first suction assembly can have two working modes. When cleaning the bottom and walls of the pool, the first suction assembly operates in the first working mode. For example, the first suction assembly rotates forward, causing the dust-laden water to be drawn into the first filter assembly from the second inlet, and then flows into the fourth filter assembly through the first outlet 203. After being filtered again by the fourth filter assembly, it is discharged out of the cleaning device. When cleaning the water surface, the first suction assembly operates in the second working mode. For example, the first suction assembly rotates in the reverse direction, causing the dust-laden water to enter the first filter assembly from the first inlet 201, and flow into the cleaning device or the first filter assembly through the first outlet and / or the second outlet, and then flow out of the cleaning device through the housing gaps or the second inlet. At this time, the fourth filter component can be set in a sealed space, such as the third dust chamber, so that the first suction component can form a negative pressure in the sealed space to accelerate the flow of dust-laden liquid from the water surface into the first water inlet.

[0201] In some embodiments, referring to Figure 18E, similar to Figure 18C, the first outlet of the cleaning device is also used as the second outlet in this embodiment. In this case, the fourth filter component 417 is in fluid communication with the first outlet. The liquid flowing out from the first outlet enters the fourth filter component for filtration, and the waste remains inside the fourth filter component. In this embodiment, the first filter component may not be provided, or the filter screen of the first filter component may be removed, leaving only the frame of the first filter component. The cleaning process of the pool bottom and pool wall in this embodiment is similar to the cleaning process of the pool bottom and pool wall in Figure 18C. The difference is that the first inlet 201 in this embodiment is set on the fourth filter component 417. Therefore, the water surface cleaning process in this embodiment is different from the water surface cleaning process of the cleaning device in Figure 18C. However, the water surface cleaning process in this embodiment is basically similar to the water surface cleaning process of the cleaning device in Figure 18D, and will not be described again here. In this embodiment, the first suction component may also have two working modes, and the working method is similar to that in Figure 18D, and will not be described again here.

[0202] Since the capacity of the fourth filter component is much larger than that of the first filter component, the cleaning device in this embodiment can perform cleaning work for a long time, which is especially suitable for the initial cleaning of swimming pools and swimming pools with a lot of garbage, without requiring users to frequently replace or clean the filter components.

[0203] In the above embodiments, the fourth filter component may have different or the same filtration precision as the first filter component, or it may have different or the same capacity, shape, etc.; this disclosure does not limit it.

[0204] In some embodiments, the first filter assembly of the cleaning device may also be the first filter assembly disclosed in Figures 17A-17C.

[0205] During the cleaning process of a water tank, the first filter component has a certain filtration precision. Debris within this precision range is retained inside the first filter component. However, finer debris exceeding the filtration precision can pass through the first filter component and, under the action of the first suction component, flow out of the cleaning equipment through the first outlet and back into the water tank, resulting in the visible stirring of fine debris at the first outlet. To solve this problem, the filtration precision of the filter component is usually increased, but this can lead to clogging. To address this issue, this embodiment provides a first filter component and a cleaning device incorporating it. This first filter component effectively prevents debris from being stirred up at the first outlet and is less prone to clogging.

[0206] Referring to Figures 18F and 18G, to illustrate the water flow direction within the first filter assembly, Figure 18G only shows a top view of the first filter assembly and the first suction assembly in Figure 18F, omitting some other components of the cleaning device. The cleaning device includes a first filter assembly 400, a first suction assembly 700, and a housing 200. A fourth filter assembly 417 is also provided on the housing 200. A second water inlet 213 is provided at the bottom of the housing 200, and a first water outlet 203 is provided at the top. A second baffle is also provided at the second water inlet, which can open or close the second water inlet. The first water inlet 201 is located on the front side wall of the fourth filter assembly and communicates with the internal space of the fourth filter assembly. A first baffle 202 is provided at the first water inlet, which can open or close the first water inlet. The top of the housing 200 is also provided with a second water outlet 217. One end of the second water outlet 217 is connected to the internal space of the first filter assembly, and the other end of the second water outlet 217 is connected to the internal space of the fourth filter assembly 417 through a flow channel. A third baffle 218 is also provided at the second water outlet 217, which can open or close the second water outlet 217.

[0207] The first suction component 700 operates in two modes: a first working mode and a second working mode. In the first working mode, if the first suction component 700 rotates forward, it forms a water flow from the second inlet of the cleaning device into the interior of the first filter component, and then into the first outlet of the cleaning device (as shown by the dashed arrows in Figures 18G and 18F). At this time, the second baffle 215 is open, and the first and third baffles are closed. In the second working mode, if the first suction component 700 rotates in the reverse direction, it forms a water flow from the first outlet into the interior of the first filter component. At this time, the third baffle 218 is open, and the first and second baffles are closed. The water flow can flow from the first outlet into the interior of the first filter component, and then through the second outlet into the interior of the fourth filter component 417, thereby drawing the debris from the first filter component into the fourth filter component.

[0208] In some embodiments, as shown in Figures 18F and 18G, the first filter assembly 400 includes a first outer frame 426. A first separator 420 is disposed within the first outer frame 426, dividing the interior of the first outer frame 426 into two spaces: a third space 424 and a fourth space 425. The first separator 420 has multiple sides, at least one side having a second filter surface 428. The third space 424 communicates with the fourth space 425 through the second filter surface. At least one third flow channel 427 is included between the first separator 420 and the first outer frame 426, allowing liquid in the third space 424 to flow into the third flow channel through the second filter surface and out of the first filter assembly, thereby leaving waste residue in the third space 424. The third space 424 communicates with a second outlet 217 and is connected to the internal space of the fourth filter assembly through the second outlet 217. A second inlet 213 is located at the lower part of the third space 424 and communicates with it.

[0209] In some embodiments, as shown in Figures 18F and 18G, the first isolation member is U-shaped and has three sides, one of which is provided with a second filter surface 428. The fourth space 425 is U-shaped and surrounds the third space 424. There are two third flow channels 427 (the channels through which the dashed arrows in Figure 18G flow) between the first isolation member 420 and the first outer frame 426. In some embodiments, a one-way valve is also provided at the connection between the third flow channel 427 and the first outer frame 426, such as the fourth one-way valve 421 and the sixth one-way valve 423 in Figure 18. The fourth one-way valve 421 and the sixth one-way valve 423 allow liquid to flow out of the first filter assembly from the third flow channel 427, while preventing liquid outside the first filter assembly from flowing into the third flow channel 427.

[0210] In some embodiments, a fifth one-way valve 422 is also provided on the side of the first outer frame 426 near the first suction assembly. The fifth one-way valve 422 is in communication with the interior of the third space 424, so that fluid can flow from the outside of the first filter assembly to the third space of the first filter assembly, and prevent fluid from flowing out of the first filter assembly from the third space of the first filter assembly.

[0211] When the cleaning equipment cleans the bottom of the pool, the first suction component is in the first working mode, the second baffle is open, and the third baffle is closed. Driven by the first suction component, the dust-laden water at the bottom of the pool enters the third space 424 of the first filter component from the second inlet 213. After being filtered by the second filter surface 428, it enters the fourth space 425, flows out of the first filter component through the third flow channel 427, and finally is discharged from the cleaning equipment through the first outlet 203. Debris remains in the third space 424. After a certain period of operation or when the amount of debris in the third space 424 reaches a certain level, the first suction component is controlled to enter the second working mode. The second baffle closes and the third baffle opens. Driven by the first suction component, water in the pool flows from the first outlet 203 into the third space of the first filter component through the fifth one-way valve, and then flows into the fourth filter component from the second outlet. During the water flow, the debris in the third space is carried into the fourth filter component. The liquid filtered by the fourth filter component flows into the pool, thereby collecting the debris in the first filter component into the fourth filter component. Since the second filter surface is far from the first suction component, it will not have too much impact on the debris attached to the second filter surface, thus preventing the debris from being stirred up. In some embodiments, the second filter surface 428 adopts HEPA filtration, membrane filtration, etc., which is not limited in this embodiment. When the second filter surface uses HEPA filtration, since the waste is attached to the inside of the HEPA structure, the first suction component will have less impact on the waste attached to the second filter surface when working in the second working mode, further reducing the waste lifting effect.

[0212] In some embodiments, the capacity of the fourth filter component 417 is greater than that of the first filter component, typically about 1 to 20 times the capacity of the first filter component. Therefore, the cleaning device in this embodiment can greatly extend the cycle of cleaning the first filter component for the user and improve the user experience.

[0213] In this embodiment, the cleaning equipment also has a water surface cleaning function. The water surface cleaning function in this embodiment is similar to the water surface cleaning function of the cleaning equipment in Figure 18D, and will not be described again here.

[0214] In some embodiments, a second water outlet may not be provided separately. Instead, the first water outlet can be used as the second water outlet and connected to the interior of the fourth filter component. In this case, the suction component can operate only in the first working mode. Other settings and cleaning processes in this embodiment are similar to the cleaning device shown in Figure 18E, and will not be described in detail here.

[0215] In this embodiment, the internal space of the first filter component is divided into two different flow channels. When the suction component is working in the first working mode, it sucks the garbage in the pool into the flow channel inside the first filter component. When the suction component is working in the second working mode, it transfers the garbage inside the first filter component into the flow channel inside the fourth filter component. By setting different flow channels, the risk of garbage being stirred up is reduced on the one hand, and the cleaning cycle of the first filter component is extended on the other hand, thus improving the user experience.

[0216] In some embodiments, referring to Figures 1A and 1C, the cleaning device 100 further includes a main cleaning assembly 1200, which is disposed on the front and rear sides of the bottom of the cleaning device. When the cleaning robot is cleaning the bottom or walls of the pool, the main cleaning assembly located at the front of the cleaning device can lift the debris on the bottom or walls of the pool and push it towards the second water inlet 213 at the rear, allowing the debris to enter the first filter assembly for filtration through the second water inlet 213. In some embodiments, the main cleaning assembly 1200 can be a roller brush, for example, it can include a front roller brush and / or a rear roller brush. The front roller brush is disposed at the front of the bottom of the housing, and the rear roller brush is disposed at the rear of the bottom of the housing. The second water inlet is disposed between the front and rear roller brushes. The front roller brush includes two roller brushes, and the rear roller brush also includes two roller brushes. The front and rear roller brushes are driven by a motor. Different roller brushes can be driven by the same motor coupled together, or they can be driven by independent motors, which is not limited here.

[0217] In some cases, the pool walls may have uneven surfaces, such as curved surfaces, making it difficult for cleaning equipment to conform to these surfaces, thus affecting the cleaning effect. To improve the cleaning effect on irregular surfaces, the main cleaning component 1200 can be improved.

[0218] To better conform the main cleaning assembly to uneven surfaces, the main cleaning assembly 1200 can be designed to be floating. The main cleaning assembly includes at least one roller, with a cleaning body encased around the roller. The cleaning body may have multiple blades. On a flat surface, the main cleaning assembly is generally cylindrical with a central axis running through both ends, and the outer edges of the cleaning body blades are equidistant from this central axis at various points along the roller's axial direction. On an uneven surface, the outer edges of the cleaning body blades are at unequal distances from the central axis at various points along the roller's axial direction. Specifically, the roller may be offset relative to the central axis, or the cleaning body blades may extend different lengths along the roller's axial direction.

[0219] In some embodiments, taking Figures 6A to 6D as examples, the main cleaning component 1200 includes a third connector 1202, which includes a first connecting rod 1202a and a second connecting rod 1202b. The end of the first connecting rod 1202a away from the second connecting rod 1202b is connected to the bottom of the main body of the cleaning device. The main cleaning component 1200 also includes a first roller 12031 and a second roller 12032, which are arranged side by side. The ends of the two rollers that are close to each other are respectively sleeved on the two ends of the second connecting rod 1202b, and the other ends of the two rollers are respectively sleeved on the first universal joint 12041 and the second universal joint 12042. The first universal joint 12041 and the second universal joint 12042 are respectively connected to the fourth drive shaft 12051 and the fifth drive shaft 12052 on both sides of the main body of the cleaning device. The main cleaning component 1200 also includes a first cleaning body 12061 and a second cleaning body 12062, which are respectively fitted onto the first roller 12031 and the second roller 12032. When the surface is flat, as shown in Figure 6A, the first roller and the second roller are arranged in a straight line; when encountering an uneven surface, as shown in Figure 6B, the first roller 12031 and the second roller 12032, which are fitted onto one end of the spherical hinge, can rotate relative to the fourth drive shaft 12051 and the fifth drive shaft 12052. At this time, the first roller and the second roller are adapted to be arranged in a zigzag line, so as to fit better with the pool wall.

[0220] Optionally, the first connecting rod 1202a is rotatably connected to the bottom of the cleaning equipment body, thereby allowing the first roller 12031 and the second roller 12032 to be positioned relative to the bottom of the cleaning equipment body. As shown in Figure 6C, the first connecting rod 1202a is rotatably connected to the second fixed base 1207, which is fixed to the bottom of the cleaning equipment body.

[0221] Optionally, a counterweight 1202c is provided at each end of the second connecting rod 1202b. The counterweights are pressed inside the first and second rollers to prevent the ends of the rollers that are close to each other from tilting upwards.

[0222] Optionally, sealing sleeves may be provided at the ends of the first and second rollers to prevent debris from entering the rollers.

[0223] Optionally, the first universal joint 12041 and the second universal joint 12042 each have at least two rotational degrees of freedom, that is, they can rotate about at least two axes. As shown in Figures 6C and 6D, the first universal joint 12041 and the second universal joint 12042 are both spherical hinges. Taking the first spherical hinge 12041 as an example, its first axis of rotation is perpendicular to the axial direction of the fourth drive shaft 12051, and its second axis of rotation is perpendicular to the axial direction of the first roller 12031. The first axis of rotation and the second axis of rotation are perpendicular to each other. Along the first axis of rotation, a tenth groove 12041a and an eleventh groove 12041b are formed on the surface of the first spherical hinge. The fourth drive shaft 12051 is provided with a twelfth protrusion 12051a and a thirteenth protrusion 12051b, which are respectively inserted into the tenth groove 12041a and the eleventh groove 12041b, so that the fourth drive shaft and the first spherical hinge can rotate relative to each other around the first axis of rotation. Along the second axis of rotation, a twelfth groove 12041c and a thirteenth groove 12041d are formed on the surface of the first spherical hinge. The inner wall of the first roller 12031 is provided with a third protrusion and a fourth protrusion, which are respectively inserted into the twelfth groove and the thirteenth groove, so that the first roller and the first spherical hinge can rotate relative to each other around the second axis of rotation. Thus, the first roller can rotate relative to the fourth drive shaft around the first axis of rotation and the second axis of rotation. Optionally, a sixth drive shaft 12053 is fixed on the inner wall of the first roller, and a fourteenth protrusion 12053a and a fifteenth protrusion 12053b are provided on the sixth drive shaft 12053.

[0224] In some embodiments, similar to the previous embodiment, the ends of the two rollers close to each other are respectively sleeved on both ends of the second connecting rod 1202b of the third connecting member. The difference from the previous embodiment lies in the connection method between the other ends of the two rollers and the main body of the cleaning device. Specifically, taking the first roller 12031 as an example, its drive motor (hereinafter referred to as the eighth motor 1208 for ease of description) is located in the inner cavity of the first roller 12031. The main body of the eighth motor does not contact the inner wall of the first roller, and the output shaft 1208a of the eighth motor is fixedly connected to the inner wall of the first roller. The first roller rotates under the drive of the eighth motor. The end of the eighth motor near the side of the main body of the cleaning device is floatingly connected to the main body of the cleaning device through a connecting plate 1209. Optionally, the end of the connecting plate 1209 connected to the main body of the cleaning equipment can move or rotate relative to the main body of the cleaning equipment; alternatively, the end of the connecting plate connected to the eighth motor 1208 can move or rotate relative to the eighth motor. This allows the eighth motor to move or rotate relative to the main body of the cleaning equipment as the surface to be cleaned undulates, thus changing the arrangement of the two rollers from a straight line to a zigzag line, better adapting to uneven surfaces. A sealing sleeve 1210 can also be provided at one end of the first roller near both sides of the main body of the cleaning equipment to seal the inner cavity of the first roller and protect the eighth motor.

[0225] In some embodiments, the hollow cavities of the first roller and the second roller are provided with elastic supports. The rollers are sleeved on the elastic supports and can move radially with the elastic supports, thereby allowing the cleaning body sleeved outside the rollers to make more sufficient contact with the surface to be cleaned. Taking the first roller 12031 as an example, as shown in Figures 7A and 7B, its hollow cavity is provided with an elastic support 1211. The elastic support 1211 includes a support shaft 1211a and at least one elastic connector 1211b extending radially outward along the support shaft. The elastic connector 1211 abuts against the inner wall of the first roller 12031, allowing the first roller to move radially relative to the support shaft 1211a. Optionally, a plurality of elastic connectors 1211b are evenly distributed around the support shaft 1211a. Optionally, a plurality of elastic connectors 1211b are distributed along the axial direction of the support shaft 1211a. Optionally, a ring of elastic connectors 1211b is distributed circumferentially near each end of the support shaft 1211a. The support shaft 1211a may have a shaft hole at its center for the insertion of the drive component.

[0226] In some embodiments, the first cleaning body 12061 and the second cleaning body 12062 include a plurality of blades 12063 extending radially along the roller. The blades may be segmented and arranged axially along the first and second rollers. To conform to the curved surface, the lengths of the blades extending radially along the roller can be differentiated. Optionally, as shown in FIG8, the blades closer to the sides of the cleaning device body are shorter, and the blades farther from the sides of the cleaning device body are longer, so that the main cleaning component is generally thicker in the middle and thinner at both ends. In this way, when running on the curved surface, the thicker part in the middle of the main cleaning component can conform to the concave part of the curved surface, and the thinner part at both ends can conform to the high part of the curved surface; when running on a flat surface, the longer blades can be compressed to the same length as the shorter blades. Optionally, the first roller and the second roller may be integrated into a single roller, and the first cleaning body and the second cleaning body may also be integrated into a single cleaning body sleeved on the outside of the roller.

[0227] In some embodiments, referring to FIG1C, the cleaning device 100 includes a second water inlet 213, which is disposed at the bottom of the housing 200. A fifth opening 403 is provided at the position corresponding to the second water inlet in the first filter assembly. The second water inlet 213 and the fifth opening 403 are in fluid communication, thereby the second water inlet is in communication with the interior of the first filter assembly 400. When the cleaning device performs pool bottom cleaning or pool wall cleaning, the liquid or dust-laden liquid entering from the second water inlet can enter the first filter assembly 400, flow into the first receiving cavity after being filtered by the first filter assembly 400, and then be discharged from the cleaning device from the first water outlet by the suction of the first suction assembly, thereby achieving the cleaning of the pool bottom or pool wall.

[0228] In this disclosure, the first filter component 400 may be the first dust box 401. Unless otherwise specified, the two can be regarded as the same component. For example, the fifth opening 403 of the first filter component 400 is also the fifth opening 403 of the first dust box 401; the first opening of the first filter component may also be the first opening of the first dust box.

[0229] In some embodiments, referring to Figures 10A and 10B, the first filter component 400 is a hollow cylinder or approximately a hollow cylinder, and the first suction component 700 is at least partially located in the hollow position. Of course, the first filter component 400 can also be other shapes, such as a hollow square cylinder or a hollow rectangular cylinder, which is not limited in this embodiment. The housing 200 includes a first dust chamber 300, and the internal space of the first dust chamber 300 forms a first receiving cavity. The first filter component is disposed in the first receiving cavity within the first dust chamber. The shape of the first dust chamber matches the shape of the first filter component. For example, when the first filter component 400 is circular, the first dust chamber is also circular; when the first filter component is square, the first dust chamber is also square. A water inlet extends outward from the side wall of the first dust chamber. This water inlet can also be considered as the first water inlet 201 on the cleaning device housing. Of course, in some embodiments, the first water inlet 201 on the cleaning device housing and the water inlet on the first dust chamber are different water inlets, but the two water inlets are connected. This embodiment is described by taking the water inlet on the first dust chamber and the first water inlet 201 on the housing 200 as the same water inlet. Therefore, the first water inlet 201 can also be considered as the first water inlet 201 of the first dust chamber. A first opening 402 is provided at the position corresponding to the first water inlet 201 of the first dust chamber on the first filter assembly 400. The first water inlet 201 includes four side walls: an upper side wall 204, a lower side wall 205, a left side wall 206, and a right side wall 207. The four side walls form a water flow channel for the first water inlet 201, which is connected to the first opening of the first filter assembly. Surface debris flows along the water flow channel, passes through the first inlet, and enters the first filter assembly through the first opening. In this embodiment, a sixth opening 214 is provided on the lower side wall 205 of the first inlet 201. A first baffle 202 is provided at the front of the sixth opening (positive X-axis direction) of the first dust bin 300. A stepper motor is also provided next to the first dust bin 300. The stepper motor can drive the first baffle 202 to switch between a horizontal position and a vertical position. When the first baffle 202 is in the horizontal position, it can seal and close the sixth opening 214, preventing liquid in the pool from entering the first filter assembly through the water flow channel at the first inlet from the sixth opening 214. When the first baffle 202 is in the vertical position, it can seal and close the first inlet, thereby preventing liquid in the pool from entering the first filter assembly from the first inlet 201. The bottom of the housing is provided with a second water inlet 213, which extends from the bottom of the housing to a sixth opening 214 on the first dust chamber 300. When the cleaning equipment performs water surface cleaning, the stepper motor controls the first baffle to be in a horizontal state, thereby sealing the sixth opening 213. Liquid on the water surface at the first water inlet can enter the interior of the first filter assembly through the first opening without flowing out from the sixth opening 213.When the cleaning equipment cleans the bottom or walls of the pool, the stepper motor controls the first baffle to be in a vertical position, thereby sealing the first water inlet 201. This allows pool water to enter the first filter assembly only through the second water inlet 213, the sixth opening, and the first opening, thus completing the filtration of the pool water. In this embodiment, the first filter assembly does not need to have a fifth opening 403. Instead, a sixth opening is provided on the lower side wall of the first water inlet of the first dust chamber. The same baffle is used to open and close both the first and sixth openings, saving costs while improving the sealing performance of the first and sixth openings.

[0230] In some embodiments, the first filter assembly can also be configured as a hollow cone, that is, the first filter assembly includes an upper part, a lower part, and a transition region connecting the upper part and the lower part. The size of the upper part is larger than that of the lower part, and the transition region gradually transforms the large size of the upper part into the small size of the lower part. At least part of the first suction assembly is located in the hollow position. The fifth opening of the first filter assembly is located on the side wall of the hollow cone and is located on the upper part of the large size of the first filter assembly. The surface of the fifth opening is flush with the side wall of the cone, so that after the liquid enters the first filter assembly from the fifth opening, it can rotate and flow along the side wall of the first filter assembly and form a downward vortex under the suction of the first suction assembly. This allows the debris (such as small stones) with a density greater than water in the liquid to be separated to the bottom side wall of the first filter assembly. The separation of specific debris is achieved by centrifugal force, which facilitates the subsequent cleaning of the first filter assembly.

[0231] In some embodiments, as shown in FIG1C, the second water inlet 213 in this embodiment is floating, that is, the cleaning device includes a floating suction port assembly, and the floating suction port assembly includes a floating suction port. In this case, the second water inlet 213 can also be referred to as the floating suction port 213. The floating suction port 213 is disposed at the bottom of the housing 200 so that when the cleaning device travels on an uneven walking surface, such as when there are pits or protrusions on the walking surface, the floating suction port 213 can be adaptively adjusted to better fit the walking surface, thereby ensuring that the suction force generated by the main water pump of the cleaning device can effectively act on the walking surface and improve the cleaning effect.

[0232] As shown in Figures 9A-9C, the floating suction port 213 includes a first port that contacts the walking surface and a second port that connects to the fifth opening 403 of the first filter mechanism or the first dust box of the cleaning equipment. When the cleaning equipment performs a cleaning task on the walking surface, the first port at least partially abuts against the walking surface, forming an inlet for water and debris to enter the cleaning equipment. The second port can be directly connected to the fifth opening 403, or indirectly connected through the housing 200 of the cleaning equipment, flexible connecting hose, etc., so that the water and debris entering the cleaning equipment from the first port can smoothly enter the dust box through the second port for filtration and cleaning.

[0233] The first port is formed by at least a first side 111 and a second side 112 arranged generally along the width direction of the cleaning device, and two side edges arranged generally along the length direction of the cleaning device and respectively connecting the two ends of the first side 111 and the second side 112; the second port is formed by at least a third side 113 and a fourth side 114 arranged generally along the width direction of the cleaning device, and two side edges arranged generally along the length direction of the cleaning device and respectively connecting the two ends of the third side 113 and the fourth side 114. Each side of the first port and each side of the second port are connected by sidewalls to form a flow channel for the floating suction port 213 between the first port and the second port.

[0234] As shown in Figures 1C and 9B, the floating suction port 213 can move at least between a first suction port position 1101 (the position shown in Figure 1C) and a second suction port position 1102 (the position indicated by the arrow in Figure 1C), wherein, along the height direction of the cleaning device, the first suction port position 1101 corresponds to the lowest position of the floating suction port 213, and the second suction port position 1102 corresponds to the highest position of the floating suction port 213. In response to different travel surface conditions, the floating suction port can also remain at any third position between the first suction port position 1101 and the second suction port position 1102. In one embodiment, when the floating suction port 213 is at the first suction port position 1101, at least part of the first port protrudes from the bottom of the cleaning device. That is, when the cleaning device travels on a walking surface with a depression and the floating suction port 213 is located at the corresponding position of the depression, the floating suction port 213 can move downwards to abut against the wall of the depression, thereby forming a large negative pressure between the floating suction port 213 and the wall of the depression, improving the cleaning degree of the garbage in the depression. When the cleaning device travels on a walking surface with a protrusion and the floating suction port 213 passes over the protrusion, the floating suction port 213 can be pushed upwards by the protrusion. In the process of passing over the protrusion, on the one hand, the cleaning degree of the protruding part can be improved, and on the other hand, the protruding part of the walking surface will not impact the suction port, which is conducive to the obstacle crossing of the cleaning device. In one embodiment, a gravity block is provided on the floating suction port 213. When the cleaning device travels on a flat surface or over a surface with depressions, the gravity block will cause the entire floating suction port assembly to contact the surface. When it passes over a surface with protrusions, the protrusions will push the entire floating suction port assembly towards the second position of the suction port. Optionally, the gravity block can be located near the first side 111 or the second side 112 in contact with the surface, which can provide a more stable force to press the floating suction port assembly against the surface.

[0235] As shown in Figure 1C, when the cleaning device is placed upright, along the height direction (Z-axis direction) of the cleaning device, the fifth opening 403 of the first filter assembly 400 is positioned at least higher than or flush with the position of the second port of the floating suction port 213. In one embodiment, the second port and the fifth opening can be connected by a retractable flexible connector, such as a corrugated hose. When the floating suction port 213 moves between the first suction port position 1101 and the second suction port position 1102, it can drive the flexible connector to extend and retract, ensuring communication between the second port and the fifth opening 403. In another embodiment, a cleaning device guide inner wall is formed between the fifth opening 403 and the floating suction port 213. The movement of the floating suction port 213 between the first suction port position 1101 and the second suction port position 1102 is carried out against the guide inner wall. During the movement of the floating suction port 213, the second port is at least partially in close contact with the guide inner wall, so that the operation of the first suction component of the cleaning device, such as the main water pump, generates a cleaning water path that flows sequentially through the first port, the second port, the guide inner wall, the fifth opening 403, the first dust box, and the first suction component.

[0236] In one embodiment, as shown in FIG9B, the floating suction port assembly includes, in addition to the floating suction port 213, a first arm 13 and a second arm 12, as well as a first connecting portion 131 and a second connecting portion 121. One end of the first arm 13 and the second arm 12 are respectively connected approximately symmetrically to the third side 113 or the fourth side 114 or the sidewall of the floating suction port 213, and the other end is connected to the cleaning device housing via the first connecting portion 131 and the second connecting portion 121, respectively.

[0237] In one embodiment, as shown in FIG9A, taking the connection of the first connecting part 131 to the cleaning equipment housing as an example, a third connecting part 141 and a fourth connecting part 142 can be respectively provided on both sides of the first connecting part 131. The third connecting part 141 and the fourth connecting part 142 can be directly connected to the cleaning equipment housing, and the connection method can be a buckle, bolt, etc. A first pin 1411 and a second pin 1412 are provided on the third connecting part 141, and a third hole 1421 and a fourth hole 1422 are provided on the fourth connecting part. A first hole 1311 and a second hole 1312 are provided on the first connecting part 131. The first hole 1311 and the third hole 1421 correspond to the first pin 1411, and the first pin 1411 can rotate in the first hole and the third hole. The second hole 1312 corresponds to the fourth hole 1422, and the second pin 1412 can rotate in the fourth hole 1422 and can rotate and slide in the second hole 1312. The engagement of the first pin 1411 with the first hole 1311 and the third hole 1421 forms the fulcrum for the rotation of the floating suction inlet assembly. The engagement of the second hole 1312, which has a certain arc and length, with the second pin 1412 allows the floating suction inlet assembly to move between the first position 1101 and the second position 1102, constrained by the second hole 1312. Correspondingly, the first arm 13 can move between the first position 1104 and the second position 1103. Of course, the third connecting part 141 and / or the fourth connecting part can be part of the cleaning device housing; or the first pin 1411 and / or the second pin 1412 can be respectively disposed on at least one of the first connecting part 131, the third connecting part 141, or the fourth connecting part 142 to form the above-mentioned movement relationship.

[0238] In another embodiment, the floating suction port assembly includes a floating suction port 213 and at least one elastic element connected to the cleaning device housing. This elastic element can be, for example, disposed between the second port and the cleaning device housing, and can be a torsion spring, spring, flexible elastic element, etc. When the cleaning device travels on a flat surface, the elastic element is only pulled by the gravity of the floating suction port 213 and acts on its own weight, causing it to naturally elongate or twist. The floating suction port 213 can then move to a third position, contacting the travel surface. When there is a depression below the floating suction port 213, the elastic element can further elongate or twist, causing the floating suction port 213 to further move to contact the wall of the depression. At this time, within a preset stroke, the floating suction port 213 can be in another third position or reach the first suction port position 1101. When there is a protrusion below the floating suction port 213, the protrusion pushes the elastic element upward, compressing it. While maintaining contact with the protrusion, the floating suction port 213 can float between another third position and the second suction port position 1102. The elastic element can be disposed on one or more of the first side 111, and / or the second side 112, and / or the third side 113, and / or the fourth side 114; it is understood that in order to enable the entire floating suction port assembly to be subjected to force smoothly, the elastic element can be disposed approximately symmetrically on the floating suction port 213.

[0239] In one embodiment, as shown in Figure 9C, along the normal travel direction of the cleaning device, the first side 111 is positioned in front of the second side 112. That is, when the cleaning device travels, the first side 111 first reaches the starting position of the depression or protrusion, and as the cleaning device continues to travel, the second side 112 then reaches the starting position of the depression or protrusion. In other words, the first side 111 first crosses the depression or protrusion, and then the second side 112 crosses it. When the cleaning device travels on a flat surface, from the height direction of the cleaning device, the first side 111 is slightly higher than the second side 112, meaning there is a certain gap between the first side 111 and the travel surface, allowing the second side 112 to contact the travel surface. This arrangement helps to provide a more concentrated suction negative pressure within the cleaning range of the floating suction port 213 and the travel surface, achieving a better cleaning effect. When the floating suction port 213 moves upward to the second position of the suction port, the first side 111 and the second side 112 can remain at approximately the same height, or the first side 111 may still be slightly lower than the second side. In one configuration, the first side 111, the second side 112, the third side 113, and the fourth side 114 of the floating suction port 11 are integrated, and the entire floating suction port 11 moves synchronously on uneven running surfaces. In another configuration, the first side 111 and the second side 112 can move independently of each other, and the third side 113 and / or the fourth side 114 can be made of flexible material. Elastic elements are respectively provided on the first side 111 and the second side 112 to allow the first side 111 and the second side 112 to float independently according to different terrains. In this case, the floating suction port 11 will fit more closely to the running surface when facing different terrains, which is more conducive to the contact between the floating suction port 11 and the running surface. Of course, the specific configuration method is not limited here.

[0240] In one embodiment, flexible rubber or bristles can be selectively provided on the first side 111, and / or the second side 112, and / or the third side 113, and / or the fourth side 114 of the floating suction port 11. Alternatively, rubber / bristles can be provided on some sides while remaining unprovided on others, or vice versa. The rubber or bristles are generally oriented towards the travel surface. The length of the rubber or bristles can be set as needed. For example, when the floating suction port 11 moves to the second position 1102, it can still maintain contact with the travel surface, or it can simply ensure that the floating suction port 11 is in contact with the travel surface at the first and third positions, but not between the third and second positions.

[0241] In one embodiment, still taking the normal travel direction of the cleaning equipment as a reference, the floating suction port assembly can be positioned between the front roller brush of the cleaning equipment and the electrical control box, battery assembly, or walking drive motor. In this case, an opening facing the inside of the cleaning equipment can be provided on the bottom housing of the cleaning equipment, and there is enough space to install the floating suction port assembly.

[0242] The following is a description of the base station:

[0243] The cleaning system may also include a base station. A base station is not essential to the cleaning system disclosed herein. When the cleaning system includes a base station, in certain scenarios, the cleaning equipment needs to return to the base station. After returning, the base station can perform at least one of the following operations on the cleaning equipment: charging the cleaning equipment; cleaning the first filter component 400 of the cleaning equipment; cleaning or replacing the main cleaning component of the cleaning equipment; cleaning or replacing the auxiliary cleaning component of the cleaning equipment; communicating with the cleaning equipment; replacing the tracks of the walking mechanism of the cleaning equipment; or, when the agent dispensing component is located on the cleaning equipment, the base station replenishes the reagent for the first agent dispensing component; or the base station replaces the agent dispensing component on the cleaning equipment; or changes the type of reagent in the agent dispensing component; or, when the water quality detection component is located on the cleaning equipment, the base station can automatically replace the water quality detection component; or, after the cleaning task or patrol of the cleaning equipment is completed, the base station is at least used for parking the cleaning equipment, and the cleaning equipment can be in standby mode, etc.

[0244] Depending on the location of the base station on the pool, the state in which the cleaning equipment returns to the base station also varies (in some embodiments, the cleaning equipment returning to the base station is equivalent to the cleaning equipment returning to the carrier of the base station).

[0245] In the first implementation, at least part of the base station is located on the shore of the pool. The cleaning equipment needs to be taken ashore from the pool and then returned to the base station, where the base station performs the aforementioned operations on the cleaning equipment from the shore.

[0246] In the second embodiment, at least a portion of the base station (e.g., the first portion) is located on the shore of a pool, and at least a portion of the base station (e.g., the second portion) is located inside the pool. The cleaning equipment does not need to go ashore; it docks with the second portion inside the pool to complete its return to the base station within the pool. The first and / or second portions of the base station perform the aforementioned operations on the cleaning equipment partly inside the pool and partly on the shore. For example, as shown in FIG11F, the first portion of the base station is a support member 2050, and the second portion is a carrier member 2040. Charging of the cleaning equipment is performed on the carrier member; cleaning of the first filter assembly of the cleaning equipment by the base station is performed through the cooperation of the carrier member and the support member, meaning that part of the cleaning of the first filter assembly is performed on the shore.

[0247] In the third implementation, at least part of the base station is located on the inner wall of the pool, so the cleaning equipment does not need to go ashore and can return to the base station from inside the pool. All operations performed by the base station on the cleaning equipment are carried out inside the pool.

[0248] In the second and third implementation methods, the cleaning equipment does not need to go ashore. The cleaning equipment returns to the base station from inside the pool. The cleaning equipment can return to the base station from the water surface, or it can walk from the bottom wall of the pool to the side wall of the pool to return to the base station, or it can return to the base station from any position in the water.

[0249] This disclosure focuses on the second implementation method.

[0250] In some embodiments, at least a portion of the base station is disposed on the inner wall of the pool, and at least a portion of the base station is located on the bank of the pool. After completing the cleaning work in the pool, the cleaning equipment returns directly to the base station within the pool. The base station performs corresponding operations on the cleaning equipment, such as charging and self-cleaning (self-cleaning, as referred to in this disclosure, means that the base station cleans the filter components (such as the first filter component) of the cleaning equipment without requiring the user to remove the filter components for cleaning), etc., all within the pool. The cleaning equipment does not need to go ashore for charging, self-cleaning, or other operations. In some embodiments, the cleaning equipment can return to the base station from the surface of the pool, or from the bottom of the pool, or from the pool wall, or from any position in the water.

[0251] In some embodiments, referring to Figures 11A-11G, the base station 2000 includes a carrier 2040 and a support 2050. The support 2050 is disposed on the bank of a pool, and one end of the carrier 2040 extends along the pool wall into the pool, while the other end is fixed to the bottom of the support 2050. Cleaning equipment in the pool can be docked on the carrier 2040. The carrier 2040 and the support 2050 cooperate to perform operations such as charging, cleaning the filter, garbage collection, and replenishing chemicals for the cleaning equipment.

[0252] In some embodiments, a fourth receiving cavity 2002 is provided within the support member 2050 of the base station 2000, and a second filter assembly 2110 is provided within the fourth receiving cavity 2002 (in some embodiments, the fourth receiving cavity is also referred to as a second dust chamber, and the second dust chamber contains the second filter assembly). A self-cleaning inlet 2100 is provided on the carrier member 2040, and the self-cleaning inlet 2100 is connected to the internal space of the second filter assembly 2110. A self-cleaning outlet 1300 is provided on the cleaning device, and the self-cleaning outlet 1300 can be the water inlet of the cleaning device. The cleaning equipment has a drain outlet, a separate opening, and a self-cleaning drain outlet 1300 connected to the internal space of the first filter assembly 400. Waste inside the first filter assembly 400 can be discharged through the self-cleaning drain outlet. When the cleaning equipment is parked on the support assembly 2040 of the base station, the self-cleaning drain outlet of the cleaning equipment is sealed to the self-cleaning inlet on the support assembly. Waste inside the first filter assembly of the cleaning equipment can enter the self-cleaning inlet through the self-cleaning drain outlet, thereby entering the internal space of the second filter assembly 2110, thus achieving cleaning and dust collection of the first filter assembly. The base station 2000 also has a drainage channel 2010, which is connected to the internal space of the fourth receiving cavity of the support assembly. Liquid filtered by the second filter assembly 2110 flows out of the base station through the drainage channel 2010, such as flowing into a pool through the drainage channel 2012, or flowing to the pool bank, or flowing into a sewer, etc.

[0253] In some embodiments, the internal capacity of the second filter component is greater than that of the first filter component. Therefore, the user does not need to clean the first filter component frequently, but only needs to clean the second filter component at regular intervals, thereby greatly reducing the frequency of cleaning the filter components. In some embodiments, the second filter component adopts a disposable dust bag structure, so that the user can replace the dust bag regularly, improving user convenience.

[0254] In some embodiments, a self-cleaning drain outlet 2043 is provided at one end of the drainage channel 2010, and the other end of the drainage channel 2010 is connected to the fourth receiving cavity 2002 for discharging liquid filtered by the second filter assembly 2110 from the base station. In some embodiments, the self-cleaning drain outlet 2043 is located below the water surface of the pool, and the liquid drained from the drainage channel 2010 returns to the pool; in some embodiments, the self-cleaning drain outlet 2043 may also be an opening provided at the bottom of the support member, the opening being connected to the fourth receiving cavity, and the liquid filtered by the second filter assembly flowing directly out of the base station through the opening.

[0255] In some embodiments, the carrier 2040 is further provided with a charging module, which is a wireless charging module. When the cleaning equipment is docked on the carrier, the wireless charging module can charge the cleaning equipment. For example, a wireless charging transmitter is provided next to the self-cleaning inlet of the carrier, and a wireless charging receiver is provided next to the self-cleaning outlet of the cleaning equipment. When the cleaning equipment is docked on the carrier, the wireless charging transmitter and the wireless charging receiver are also docked, thereby enabling the cleaning equipment to be charged through the base station. In some embodiments, the base station is further provided with a solar energy structure. For example, the support is also provided with an energy storage battery, and a solar panel is provided on the upper surface of the support. The solar panel can convert solar energy into electrical energy and store it in the energy storage battery. The energy storage battery is connected to the wireless charging transmitter to provide electrical energy for charging the cleaning equipment.

[0256] During the return process of the cleaning equipment to the base station, to ensure that the cleaning equipment can accurately return to the base station, a first docking component 1010 (see Figure 12A) is provided on the cleaning equipment. In some embodiments, as shown in Figure 11C, a second docking component 2030 is also provided on the carrier 2040. The second docking component 2030 corresponds to the first docking component 1010, and the first and second docking components can be detachably connected. When the cleaning equipment is parked on the carrier, the first and second docking components dock with each other to fix the cleaning equipment on the carrier, reducing the probability of the cleaning equipment slipping off the carrier. When the first docking component 1010 and the second docking component 2030 are disconnected, the cleaning equipment 100 is released from the carrier 2040, and the cleaning equipment 100 can drive away from the carrier 2040. In some embodiments, the first docking component is located next to the self-cleaning drain port of the cleaning equipment; the second docking component is located next to the self-cleaning inlet port of the base station.

[0257] The purpose of the first docking component 1010 and the second docking component 2030 can be determined according to the specific configuration of the carrier 2040. For example, when the carrier is used to fix the cleaning equipment 100, that is, when the cleaning equipment 100 is moored to the carrier 2040 after returning, the first docking component 1010 and the second docking component 2030 are used to connect the cleaning equipment 100 to the carrier 2040 to form a mooring fixation. Alternatively, when the carrier 2040 is also used to provide a water path from the self-cleaning drain to the second filter component, the first docking component 1010 and the second docking component 2030 can also be used to assist in the accurate docking of the self-cleaning drain of the cleaning equipment 100 with the self-cleaning inlet of the carrier 2040, so as to improve the success rate of docking.

[0258] The removable connection between the second docking component 2030 and the first docking component 1010 can include at least one of the following: magnetic connection, mechanical locking connection, and snap-fit ​​connection. Alternatively, the second docking component 2030 and the first docking component 1010 can also be connected using other methods such as threaded locking, as long as a removable connection is achieved; no limitation is imposed here.

[0259] In some embodiments, the first docking component and the second docking component may be magnetic components.

[0260] With the above setup, when the cleaning device 100 returns to the base station 2000, it can be directly and permanently fixed to the support of the base station 2000 via the first docking component 1010 and the second docking component 2030, enabling wireless charging. Furthermore, through accurate docking of the self-cleaning drain port and the self-cleaning inlet port, the base station's support can draw debris from the first filter component into the second filter component for cleaning. The cleaning device 1000 will not float with the water flow, thus not affecting the use of the pool, and there is no need for manual retrieval to clean the first filter component. Additionally, since the capacity of the second filter component is greater than that of the first filter component, the frequency of cleaning the filter components can be significantly increased, improving the user experience.

[0261] In some embodiments, when the cleaning device 100 travels on the water surface, at least one of the first docking component 1010 and the second docking component 2030 can adapt to changes in the water level of the pool, enabling them to connect. The adaptability of the first docking component 1010 and the second docking component 2030 to changes in the water level means that when the water level of the pool changes, at least a portion of the first docking component 1010 and / or the second docking component 2030 can always be located on or near the water surface, and the docking of the first docking component 1010 or the second docking component 2030 will not be affected by the difference in water level.

[0262] In some embodiments, the first docking component 1010 adapts to changes in the water level of the pool by allowing the entire cleaning device 1000 to move and change position with the water level, or by allowing the first docking component 1010 to move relative to the cleaning device 1000 to adapt to changes in the water level. Similarly, the second docking component 2030 adapts to changes in the water level of the pool by allowing the entire support member 2040 or base station 2000 to change position with the water level, or by allowing the second docking component 2030 to move relative to the support member 2040 or base station 2000 to adapt to changes in the water level of the pool.

[0263] With the above settings, the first docking component 1010 of the cleaning equipment 100 is less likely to fail to connect with the second docking component 2030 due to changes in water level, and the overall cleaning system is stable in use.

[0264] In some embodiments, the cleaning device 1000 is provided with a first floating component (not shown in the figure). A first docking component 1010 is disposed on the floating component. The floating component can be coupled within the cleaning device 1000. The floating component is provided with a motion mechanism and a charging receiver or communication module. When the cleaning device 1000 approaches the carrier 2040 or the base station 2000, and the cleaning device 100 only needs to perform charging or communication tasks, the floating component can be released by the cleaning device 100 and float to the water surface. Driven by the motion mechanism, the floating component moves to the carrier 2040 or the base station 2000, so that the first docking component 1010 can connect with the second docking component 2030 on the carrier 2040. Alternatively, the floating component can also be disposed on the carrier 2000. The second docking component 2030 is disposed on the floating component. The floating component can be coupled within the carrier 2000. The floating component is provided with a motion mechanism and a charging component or communication module. When the cleaning device 100 moves to the vicinity of the carrier 2040 or the base station 2000, the floating component can be released and float to the water surface, and is driven by the motion mechanism to approach the cleaning device 100, so that the first docking component 1010 docks with the second docking component 2030.

[0265] In other embodiments, when the cleaning equipment 100 is operating underwater, the second docking assembly 2030 is at least partially underwater. The first docking assembly 1010 may connect to the underwater portion of the second docking assembly 2030. Alternatively, there may be multiple second docking assemblies, sequentially distributed along the height of the pool wall, such that at least one second docking assembly is underwater, and the first docking assembly is connected to the underwater second docking assembly.

[0266] In some embodiments, as shown in Figures 11A, 11B, and 11F, the carrier 2040 includes a carrier body. A self-cleaning inlet is provided on the front side of the carrier body. A first flow channel 2200 connected to the self-cleaning inlet is provided inside the carrier body. In this embodiment, the carrier body has a telescopic structure, and the first flow channel 2200 extends and retracts with the extension and retraction of the carrier body, thereby allowing the position of the self-cleaning inlet to the water surface to be reasonably adjusted according to different water levels, different pool environments, and different cleaning equipment. In some embodiments, the carrier body includes a first main body 2041 and a second main body 2042. The first main body 2041 and the second main body 2042 are hollow. The first flow channel 2200 is provided inside the first main body 2041 and the second main body 2042 (indicated by the arrow in Figure 11F). The first flow channel 2200 can be formed by the internal space of the first main body and the second main body, or it can be formed by setting a water pipe inside the first main body and the second main body. No limitation is made here. One end of the first main body 2041 is fixed to the support member 2050, and the second main body 2042 is sleeved inside the first main body 2041. The second main body 2042 can extend from the other end of the first main body 2041 or retract into the internal space of the first main body 2041. During the extension and retraction process, it will not affect the operation of the first flow channel 2200. When the first flow channel adopts a water pipe structure, the water pipe is a telescopic water pipe. When the internal spaces of the first main body and the second main body are used to form the first flow channel, the other end of the first main body 2041 is also provided with a sealing member. This sealing member is used to maintain the fluid seal between the first main body and the second main body without affecting the extension and retraction of the second main body relative to the first main body.

[0267] A self-cleaning inlet 2100 is provided on the front side wall of the second main body 2042, which is connected to the first flow channel 2200. To ensure a better sealing connection between the self-cleaning inlet and the self-cleaning outlet, the self-cleaning inlet 2100 extends outward from the side wall of the second main body by a certain distance, and is perpendicular or approximately perpendicular to the side wall of the second main body. The shape of the self-cleaning inlet 2100 corresponds to the shape of the self-cleaning outlet on the cleaning equipment. For example, if the self-cleaning outlet is approximately rectangular, the shape of the self-cleaning inlet is also approximately rectangular, and the size of the self-cleaning inlet is greater than or equal to the size of the self-cleaning outlet. A ring of docking auxiliary parts 2001 is also provided around the self-cleaning inlet 2100 to assist in the docking and sealing of the self-cleaning outlet of the cleaning equipment with the self-cleaning inlet of the carrier. For example, the docking auxiliary part 2001 is provided with a second docking component 2030 for detachable connection with the first docking component 1010 on the cleaning equipment. The number of the second docking components 2030 can be one or more, and this embodiment is not limited. Additionally, a sealing ring (not shown in the figure) can be provided on the docking auxiliary component 2001 to achieve a seal at the interface when the self-cleaning drain port and the self-cleaning inlet port are docked. The carrier component 2040 serves both as a docking point for the cleaning equipment and as a fluid passage from the self-cleaning inlet port to the second filter component.

[0268] In some embodiments, the relative distance between the self-cleaning inlet and the water surface is kept constant by the telescoping between the first and second bodies. For example, a floating element (not shown in the figure) is provided at one end of the second body that is fitted inside the first body. The floating element is also provided inside the first body and can float on the surface of the pool. Different water levels allow the floating element to be located at different positions inside the first body, but the distance between the self-cleaning inlet at the other end of the second body and the water surface remains constant. This allows the base station of this disclosure to be applicable to pools with different water levels. The above is only one embodiment of keeping the distance between the self-cleaning inlet and the water surface constant. This disclosure is not limited to this. For example, the second body can also be fitted outside the first body, and the corresponding floating element can also be fitted outside the first body.

[0269] In some embodiments, referring to FIG11C, the self-cleaning inlet 2100 is connected to the second body via a first connector 2024. The first connector 2024 is hollow, with one end serving as the self-cleaning inlet 2100 and the other end communicating with the second body. The first connector 2024 can rotate relative to the second body within a certain angle range. For example, the angle between the first connector 2024 and the second body can rotate within a range of 90°±30°, thereby facilitating the docking of the self-cleaning outlet of the cleaning device with the self-cleaning inlet on the second body. In some embodiments, the first connector 2024 can also be made of a flexible material, allowing it to not only rotate relative to the second body within a certain angle range but also extend and retract relative to the second body, further facilitating the docking of the cleaning device. In some embodiments, the first connector 2024 is in the shape of an "I" (as shown in FIG11C, 11F, 13A, 13B). The "I" shape of the first connector allows the self-cleaning inlet 2100 to be perpendicular or approximately perpendicular to the support member 2040. In some embodiments, the first connector is L-shaped (as shown in Figures 13C, 13D, 13E, 13F), and the L-shaped first connector allows the self-cleaning inlet 2100 to be parallel or approximately parallel to the carrier 2040.

[0270] In some embodiments, referring to FIG11G, the base station 2000 is further provided with a second support arm 2045. The second support arm 2045 may be vertically or approximately vertically disposed on the carrier 2040 or the drainage channel 210. For example, the second support arm 2045 is disposed vertically to the carrier, with one end connected to the carrier and the other end provided with a second nozzle 2044 (in some embodiments, it is also referred to as a self-cleaning nozzle). The second nozzle 2044 is connected to a clean water source (details of the clean water source are described below) through the second support arm and the carrier, so that the clean water source can be sprayed from the second nozzle 2044 toward the filter surface of the first filter assembly through the second support arm 2045. In one embodiment, the second nozzle is in fluid communication with the drainage channel through the second support arm, using the liquid flowing out of the support in the drainage channel as the clean water source, so that the liquid in the drainage channel can be sprayed from the second nozzle toward the filter surface of the first filter assembly through the second support arm. The second support arm is positioned above the self-cleaning inlet, and its distance from the self-cleaning inlet is equal to the distance between the first water inlet 201 and the self-cleaning outlet 1300. This ensures that when the self-cleaning outlet of the cleaning equipment is connected to the self-cleaning inlet on the base station, the second support arm can drive the second nozzle to extend from the first water inlet of the cleaning equipment into the interior of the first filter assembly.

[0271] In the previous embodiment, the second support arm extends into the interior of the first filter assembly from the first water inlet of the cleaning device. In other embodiments, a separate inlet can be provided on the cleaning device, which communicates with the interior of the first filter assembly. When the cleaning device docks with the carrier of the base station, the second support arm extends into the interior of the first filter assembly from this inlet. If a baffle, such as a first baffle, is also provided at the first water inlet or the inlet, the baffle opens the first water inlet or the inlet before the second support arm extends into the interior of the first filter assembly from the first water inlet or the inlet.

[0272] The second support arm can also be a telescopic structure mounted on the base station. When the cleaning equipment docks with the base station carrier, it does not need to extend into the first filter assembly from the first water inlet or the inlet. Instead, the second support arm extends from the carrier or drainage channel and into the first filter assembly from the first water inlet or the inlet only when the second nozzle is needed. After the self-cleaning operation of the cleaning equipment is completed, the second support arm can retract into the base station.

[0273] When the cleaning equipment is docked on the carrier to complete the self-cleaning operation, the cleaning water source can also be sprayed from the second nozzle towards each filter surface of the first filter assembly through the second support arm, thereby improving the cleaning effect of the base station on the filter surface of the first filter assembly.

[0274] In some embodiments, referring to Figures 11A, 11D, 11F, and 11G, the base station support 2050 includes a sidewall, a bottom, and a first cover plate 2021. The support 2050 has a fourth receiving cavity 2002 and a fifth receiving cavity 2003 internally, separated by a first sidewall 2018. The first cover plate 2021 covers the fourth and fifth cavities and has a handle. Opening the first cover plate 2021 with the handle exposes the fourth and fifth receiving cavities 2002 and 2003. A second filter assembly 2110 is disposed within the fourth receiving cavity 2002. The bottom of the support 2050 has a tenth opening 2004 communicating with the internal space of the fourth receiving cavity. The first body 2041 of the carrier can pass through this tenth opening 2004. The first main body is fixed to the bottom of the support member. An eleventh opening 2005 is provided at the position corresponding to the tenth opening in the second filter assembly 2110. One end of the first main body passes through both the tenth and eleventh openings, thus connecting with the internal space of the second filter assembly. One end of the first main body 2041 can directly connect with the internal space of the second filter assembly after passing through the tenth and eleventh openings, or it can connect with the internal space of the second filter assembly through an adapter 2006. The adapter 2006 is right-angled or nearly right-angled in shape and has a right-angled or nearly right-angled flow channel inside, used to change the direction of the internal flow channel of the first main body, that is, to change the internal flow channel of the first main body from vertical output to horizontal or nearly horizontal output, so that the fluid flowing into the second filter assembly from the self-cleaning inlet is output horizontally or nearly horizontally to the internal space of the second filter assembly. In some embodiments, the adapter can also change the flow channel from vertical output to downward inclined output at a certain angle. The adapter 2006 has a twelfth opening 2007 at one end where the fluid outputs to the interior of the second filter assembly. A first one-way valve 2008 is also provided at the twelfth opening 2007. This first one-way valve allows fluid and / or solids to enter the interior of the second filter assembly from the first body, while preventing fluid and / or solids from flowing into the first body from the interior of the second filter assembly. The first one-way valve 2008 can be a flexible baffle, which is not limited in this embodiment. In some embodiments, the adapter may not be provided, and one end of the first flow channel can be directly connected to the interior of the second filter assembly. In this case, the end of the first flow channel connected to the interior of the second filter assembly is called the twelfth opening 2007. The opening direction of the twelfth opening 2007 can be set to horizontal, approximately horizontal, or tilted downwards at a certain angle.

[0275] Fluid entering the second filter assembly from the self-cleaning drain port is filtered by the second filter assembly and then flows into the fourth receiving cavity. The bottom of the support member is also provided with a thirteenth opening 2009, which communicates with the internal space of the fourth receiving cavity (in some embodiments, the fourth receiving cavity is also referred to as the second dust chamber, and the thirteenth opening is also referred to as the second dust chamber outlet); the thirteenth opening is connected to the drainage channel 2010, and the liquid filtered by the second filter assembly flows into the drainage channel through the thirteenth opening, thereby being discharged from the base station. In one embodiment, the thirteenth opening 2009 may not be connected to the drainage channel, and the liquid filtered by the second filter assembly may be directly discharged from the base station through the thirteenth opening. In some embodiments, the thirteenth opening and the tenth opening are the same opening. When they are the same opening, the tenth opening is used both for the first main body to pass through and for connection to the drainage channel.

[0276] In some embodiments, referring to Figures 11A-11F, a drainage channel 2010 is disposed beside the support member. A second conveying device 2011 is also disposed within the drainage channel 2010. The second conveying device 2011 is used to drive or accelerate the flow of liquid in the fourth receiving cavity out of the base station through the drainage channel. When one end of the drainage channel 2010 is located in a water tank, the second conveying device 2011 is used to drive or accelerate the flow of liquid in the fourth receiving cavity into the water tank through the drainage channel 2010. In some embodiments, as shown in Figure 11D, the second conveying device is a water pump. The water pump is disposed within the drainage channel 2010 near the self-cleaning drain outlet 2043.

[0277] In some embodiments, the support member 2050 further includes a second suction assembly 2012, which is disposed in the fifth receiving cavity 2003. The upper part of the first side wall 2018 is provided with a first gas channel 2019 connecting the fifth receiving cavity and the fourth receiving cavity, as shown by the dashed arrow in FIG11D. Gas can enter the fifth receiving cavity from the fourth receiving cavity 2002 through the first gas channel 2019. The side wall of the fifth receiving cavity is provided with a first air outlet 2013. Gas entering the fifth receiving cavity can be discharged to the atmosphere from the first air outlet 2013. As gas is continuously discharged from the first air outlet, a negative pressure is formed in the fourth receiving cavity of the support member, so that the dust-laden liquid in the first filter assembly of the cleaning equipment flows into the second filter assembly from the second body and the first body under the action of negative pressure through the self-cleaning drain port and the self-cleaning inlet port, thereby achieving the cleaning of the first filter assembly. A waterproof and breathable device 2020 is also provided in the fifth accommodating cavity. The waterproof and breathable structure 2020 is located between the first gas channel 2019 and the second suction assembly 2012 to prevent water or water vapor from the fourth accommodating cavity from entering the fifth accommodating cavity and thus affecting the operation of the second suction assembly. The waterproof and breathable device does not affect the flow of gas from the fourth accommodating cavity into the fifth accommodating cavity and its discharge from the first air outlet 2013 of the fifth accommodating cavity. In some embodiments, a second one-way valve is also provided at the first air outlet 2013. The second one-way valve allows gas in the fifth accommodating cavity to discharge from the first air outlet 2013 and prevents external gas from entering the fifth accommodating cavity from the first air outlet 2013. In some embodiments, the second suction assembly 2012 is a fan or vacuum pump, which is located in the fifth accommodating cavity near the first air outlet 2013, thereby facilitating the discharge of gas from the fifth accommodating cavity.

[0278] In some embodiments, the fifth receiving cavity is inclined, as shown in FIG11E. A ramp 2014 is provided inside the fifth receiving cavity, sloping downwards from the second suction component 2012. This results in a larger space away from the second suction component compared to the space near it. Therefore, even if water or moisture enters the fifth receiving cavity, it will accumulate along the ramp away from the second suction component, reducing the impact of water or moisture on the second suction component. In some embodiments, an opening is provided at the bottom of the ramp to drain water accumulated at the bottom. In some embodiments, the second suction component is a fan. When the fan rotates forward, it can discharge the gas in the fourth and fifth receiving cavities through the first air outlet, creating a negative pressure in the fourth receiving cavity. When the fan rotates in reverse, it allows outside air to enter the fifth receiving cavity through the first air outlet and blow it onto the second filter component in the fourth receiving cavity, drying the waste in the second filter component and preventing it from becoming moldy and breeding bacteria due to prolonged exposure to a humid environment. In this case, no one-way valve is provided at the first air outlet 2013. Of course, the fifth cavity may not be inclined; for example, the bottom of the fifth cavity may be set to be horizontal or approximately horizontal.

[0279] In some embodiments, the waterproof and breathable device is a HEPA filter assembly, a nanofiber membrane, a waterproof and breathable membrane, etc. This embodiment does not impose any restrictions, as long as it can achieve the function of breathability and waterproofness.

[0280] In some embodiments, a third filter assembly 2015 is provided between the second filter assembly and the drainage channel to further filter the liquid flowing into the drainage channel and prevent the base station from discharging sewage into the water tank through the drainage channel.

[0281] In some embodiments, as shown in FIG11D, a sixth receiving cavity 2016 is also provided on the thirteenth opening 2009, and the thirteenth opening is sealed to the sixth receiving cavity; the sixth receiving cavity 2016 is located in the fourth receiving cavity and surrounds the thirteenth opening 2009, and the sixth receiving cavity is connected to the drainage channel 2010 through the thirteenth opening 2009. The sixth receiving cavity 2016 is independently set up from the fourth receiving cavity and has multiple side walls. At least one fourteenth opening 2017 is provided on at least one side wall. In Figure 11D, the sixth receiving cavity 2016 is a cuboid or approximately cuboid receiving cavity. The shape of the sixth receiving cavity is not limited in this embodiment. At least one fourteenth opening 2017 is provided on the side wall of the sixth receiving cavity 2016 near the fifth receiving cavity 2003. The fourteenth opening 2017 is connected to the third filter assembly 2015. Each fourteenth opening 2017 corresponds to one third filter assembly 2015. The liquid in the fourth receiving cavity is filtered by the third filter assembly 2015, and then flows into the sixth receiving cavity through the fourteenth opening. It then flows into the drainage channel 2010 through the thirteenth opening, and then into the water tank. The liquid filtered by the second filter assembly is filtered again before being discharged into the water tank to prevent pollution of the water tank. The purpose of having multiple fourteenth openings 2017 and corresponding third filter components 2015 is to ensure that even if one filter component becomes clogged, it will not affect the discharge of liquid from the fourth containment chamber.

[0282] In some embodiments, the positions of the second conveying device 2011 and the second suction assembly 2012 can be adjusted, for example, the second conveying device 2011 can be disposed inside the sixth receiving cavity; and / or the second suction assembly can be disposed in the fifth receiving cavity away from the first air outlet.

[0283] In some embodiments, referring to Figures 11F and 11D, to facilitate the formation of a drainage channel, the height of the twelfth opening 2007 is greater than the height of the thirteenth opening 2009, and the height of the first gas channel 2019 is greater than the height of the twelfth opening 2007. This facilitates the formation of negative pressure within the fourth receiving cavity, allowing the liquid within the fourth receiving cavity to be discharged outside the base station.

[0284] In some embodiments, as shown in FIG11G, the second filter assembly 2110 includes a top surface 2111 and a bottom surface 2112, having at least one filter surface. To facilitate the formation of a first gas channel 2019 on the upper part of the first sidewall 2018, a first protrusion 2022 is also provided on the top surface 2111 of the second filter assembly 2110. The first protrusion 2022 serves to support the first cover plate 2021 on one hand, and to form a space between the first cover plate 2021 and the second filter assembly 2110 on the other hand. This space is in gas communication with the fifth receiving cavity through the first gas channel. In one embodiment, four first protrusions 2022 are shown, respectively disposed at the four corners of the top surface, to balance the support of the first cover plate 2021. In some embodiments, a handle is also provided on the top surface, which allows the second filter assembly to be extracted from the fourth receiving cavity. When there is too much debris in the second filter assembly, the first cover plate of the support member can be opened first, and then the second filter assembly can be removed from the fourth receiving cavity through the handle on the top surface, facilitating subsequent manual cleaning of the second filter assembly. In some embodiments, the top and / or bottom surfaces of the second filter assembly are detachable. When the second filter assembly is removed from the fourth receiving cavity by means of the handle, the top or bottom surface of the second filter assembly is opened to expose the internal space of the second filter assembly, thereby facilitating the cleaning of the inside of the second filter assembly.

[0285] In some embodiments, referring to FIG11G, a second protrusion 2023 is provided on the bottom surface of the second filter assembly. The second protrusion 2023 is used to support the second filter assembly, so that there is a gap between the second filter assembly and the bottom of the support member, thereby accelerating air circulation and improving drying efficiency during the drying process of the second filter assembly. When the drainage channel 2010 is not provided, and the filtered pool water is discharged directly from the thirteenth opening at the bottom of the support member 2050, the gap between the second filter assembly and the bottom of the support member can also accelerate the discharge of pool water.

[0286] The following describes the structure of the cleaning equipment in this disclosure through some embodiments. Structures not mentioned in the embodiments are not the focus of the improvement of this disclosure. Please refer to the priority document.

[0287] Cleaning equipment 100 generally has surface cleaning and / or underwater cleaning functions. When the cleaning equipment has both surface cleaning and underwater cleaning functions, the cleaning equipment has at least three states: pool bottom state, pool wall state, and water surface state.

[0288] In some embodiments, referring to Figures 12A-12D, a self-cleaning drain port 1300 is provided on one side of the cleaning device housing 200. The self-cleaning drain port can be located on the front side of the housing, below the first water inlet 201. Of course, in other embodiments, the self-cleaning drain port can also be located on the rear side, left side, or right side of the housing. This embodiment does not limit this. Taking the self-cleaning drain port located on the front side as an example, the method is similar when the self-cleaning drain port is located on other sides, and will not be described in detail here. The housing 200 includes a first dust chamber 300, and a first filter assembly 400 is disposed in the first dust chamber. A seventh opening 301 is provided at the bottom of the first dust chamber 300. The seventh opening 301 is connected to the second water inlet 213 of the housing 200. In some embodiments, the seventh opening 301 of the first dust chamber can also serve as the second water inlet 213 of the housing. The seventh opening 301 is also connected to the fifth opening 403 of the first filter assembly, so that when the cleaning equipment cleans the bottom of the pool, the pool liquid can enter the interior of the first filter assembly through the second inlet 213, the seventh opening 301, and the fifth opening 403, thereby achieving filtration of the pool liquid. The first dust chamber 300 is also provided with an eighth opening 302, and the first filter assembly 400 is provided with a ninth opening 404 at the corresponding position of the eighth opening 302. The ninth opening 404 is connected to the eighth opening 302, and the ninth opening 404 of the first filter assembly is connected to the self-cleaning drain outlet 1300 through the eighth opening 302; thus, the waste inside the first filter assembly can flow out from the ninth opening through the eighth opening to the self-cleaning drain outlet.

[0289] In some embodiments, a drain channel 800 is also provided. The drain channel 800 is hollow and forms a fluid channel between its two ends. One end serves as a self-cleaning drain port 1300, and the other end is sealed to the ninth opening 404; or the other end is sealed to the eighth opening 302, and the eighth opening 302 is sealed to the ninth opening; thereby realizing fluid communication between the ninth opening 404 and the self-cleaning drain port 1300.

[0290] In some embodiments, a baffle is also provided at the ninth opening 404. The baffle can open and close the ninth opening. When the cleaning equipment is cleaning the pool, such as cleaning the bottom or the surface, the baffle closes the ninth opening. When the cleaning equipment is docked on the base station 2000 for self-cleaning, the baffle opens the ninth opening, thereby connecting the internal space of the first filter assembly 400 with the self-cleaning drain port 1300. The debris in the first filter assembly can flow from the ninth opening through the drain channel 800, the self-cleaning drain port 1300, and the self-cleaning inlet 2100 into the second filter assembly 2110 on the base station, thereby achieving self-cleaning of the first filter assembly. In other embodiments, the baffle can also be provided in the eighth opening 302 or the drain channel 800, as long as it can achieve the goal of closing the drain channel when the cleaning equipment is cleaning the pool and opening the drain channel when the cleaning equipment is self-cleaning.

[0291] In some embodiments, referring to Figures 13A, 13B, and 11F, the self-cleaning drain port 1300 is disposed on the front side of the housing, below the first water inlet 201 and above the main cleaning assembly 1200. In some embodiments, the self-cleaning drain port may also be disposed on other sides of the housing.

[0292] In some embodiments, the first water inlet 201 of the cleaning device can be used as a self-cleaning drain outlet 1300 to discharge debris from inside the first filter assembly. In this case, there is no need to set up an additional independent self-cleaning drain outlet. When the cleaning device needs to return to the base station for self-cleaning, the cleaning device connects to the self-cleaning drain outlet on the carrier through the first water inlet. Furthermore, the first baffle at the first water inlet is in an open state during the self-cleaning operation of the cleaning device to facilitate the flow of debris from inside the first filter assembly into the self-cleaning drain outlet.

[0293] In some embodiments, the second water inlet 213 of the cleaning device can be used as a self-cleaning drain outlet to discharge debris from inside the first filter assembly. In this case, there is no need to set up an additional independent self-cleaning drain outlet. When the cleaning device needs to return to the base station for self-cleaning, the cleaning device connects to the self-cleaning drain outlet on the carrier through the second water inlet (the specific connection method is described below). Furthermore, the second baffle at the second water inlet is in an open state during the self-cleaning operation of the cleaning device to facilitate the flow of debris from inside the first filter assembly into the self-cleaning drain outlet.

[0294] When the cleaning equipment 100 needs to dock on the base station carrier to clean the first filter assembly, the cleaning equipment 100 moves to the vicinity of the carrier (see the following description for how the cleaning equipment moves to the vicinity of the carrier) and docks with the carrier 2040. At this time, the first docking component 1010 on the cleaning equipment 100 docks with the second docking component 2030 on the carrier 2040, and the self-cleaning drain port docks with the self-cleaning inlet port, thereby allowing the internal space of the first filter assembly to be cleaned through the ninth opening 404, the eighth opening 302, the drain channel 800, and the self-cleaning drain port. The cleaning drain outlet 1300, the self-cleaning inlet 2100, the first flow channel 2200, the adapter 2006 are connected to the internal space of the second filter component (hereinafter referred to as the suction channel 20009). In some embodiments, some components, such as the eighth opening 302 or the adapter 2006, may be omitted from the suction channel 20009. When the eighth opening 302 is omitted, one end of the drain channel 800 is directly sealed to the ninth opening. When the adapter 2006 is omitted, the specific shape of the output end of the first main body can be adjusted. The second suction component inside the support member 2050 starts working, sucking the air in the fourth accommodating cavity of the support member 2050 into the fifth accommodating cavity and discharging it into the atmosphere through the first air outlet 2013. At this time, a negative pressure is generated in the fourth accommodating cavity. The negative pressure causes the dust-laden liquid in the first filter component to enter the internal space of the second filter component through the suction channel 20009. Since the self-cleaning drain outlet of the drainage channel is located below the water surface of the pool, the negative pressure also causes the water in the pool to enter the fourth accommodating cavity through the drainage channel 2010. When the liquid level in the fourth accommodating cavity exceeds the height of the twelfth opening 2007, a water path is formed between the suction channel 20009 and the drainage channel 2010. At this time, the second conveying device 2011 is opened, and the dust-laden liquid in the first filter component is conveyed through this water path from the suction channel to the drainage channel and discharged into the pool through the drainage channel. The debris in the dust-laden liquid is retained inside the second filter component, thereby achieving the cleaning of the first filter component.

[0295] In some embodiments, the base station support component further includes at least one of a water quality testing component and a pesticide application component, facilitating water quality testing and pesticide application by the user. In other embodiments, the support component also includes a pesticide container for storing pesticides, allowing the user to easily replace the pesticides in the cleaning equipment.

[0296] In one embodiment, the cleaning device 100 can also perform cleaning or waste collection of the first filter assembly 400 or the first dust box 401 on the base station 2000. Exemplarily, as shown in Figures 12E1-12K, a second suction assembly 2012 is also provided within the support member 2050. The second suction assembly can be a first fan or other device capable of generating negative pressure. The self-cleaning inlet 2100 is connected to the second filter assembly through a first flow channel. The support member has a fourth receiving cavity 2002, within which the second filter assembly is located. The air inlet of the second suction component 2012 is connected to the space of the fourth accommodating cavity 2002 where the second filter component 2110 is located. The air inlet can be located in the upper part or top space of the fourth accommodating cavity 2002, or connected to the upper part or top space of the fourth accommodating cavity 2002 through a pipe, so as to prevent water from entering the first fan 2103 through the air inlet when the water level in the fourth accommodating cavity rises. The air outlet of the first fan 2103 can be directly or indirectly connected to the atmosphere through a pipe. A second conveying device 2011 is provided in the carrier 2040, support 2050, or drainage channel 2010. The second conveying device 2011 can be a water pump or other device capable of conveying fluid. The inlet of the second conveying device is connected to the fourth receiving cavity 2002, and the connection is located on the lower side or bottom of the fourth receiving cavity 2002, so as to facilitate the second conveying device 2011 to effectively pump out the water in the fourth receiving cavity. The outlet of the second conveying device 2011 can be directly connected to the water tank, or connected to the water tank through a pipe provided in the support, or connected to a place outside the water tank, so as to pump out the water in the fourth receiving cavity.

[0297] In one embodiment, when the cleaning device 100 is docked on the carrier, the self-cleaning drain port of the cleaning device is sealed and connected to the self-cleaning inlet port on the carrier. After the base station and / or the cleaning device receives the self-cleaning command, the second suction component 2012 is activated, discharging the gas in the fourth containment chamber to the atmosphere, creating a negative pressure in the fourth containment chamber and the pipe connected to it to the self-cleaning inlet port 2100, thereby drawing the garbage and water in the first filter component 400 or the first dust box 401 into the second filter component 2110 in the fourth containment chamber. Due to the presence of negative pressure and the airtightness of the self-cleaning channel, although the liquid in the second filter component is at a high level (as shown in Figures 12F and 12G, the dotted line indicates the water level, and a high water level means that the water level in the fourth containment chamber is higher than the connection between the fourth containment chamber and the inlet port of the second conveying device), the liquid in the fourth containment chamber will not be discharged from the pipe connecting the fourth containment chamber to the outside on its own. When the water level in the fourth receiving cavity 2002 reaches a preset height—a height sufficient to prevent water from entering the air inlet of the second suction assembly—the second conveying device 2011 can be activated. At this time, the second conveying device 2011 counteracts the negative pressure generated by the second suction assembly, discharging the water filtered by the second filter assembly 2110 from the support member 2050. During this process, a water level sensor, such as a float or capacitive sensor, can be installed in the support member 2050 to detect the water level in the fourth receiving cavity and transmit the detection signal to the base station or cleaning equipment control unit. This allows for further adjustment of the power of the second suction assembly and the second conveying device to ensure that the water level in the fourth receiving cavity does not exceed the preset height. As can be seen, there are two channels in this self-cleaning process: the suction channel where the second suction component operates and the drainage channel where the second conveying device operates. As shown by the dashed arrow in Figure 12F, the overall liquid flow direction of the suction and drainage channels is: first filter component 500, self-cleaning drain port of cleaning device 100, self-cleaning inlet 2100 of base station carrier, suction channel 20009, second filter component 2110, fourth receiving cavity 2002, thirteenth opening 2009, and drainage channel 2010. As shown by the dashed arrow in Figure 12G, the liquid flow direction of the drainage channel is: second filter component 2100, fourth receiving cavity 2002, thirteenth opening 2009, and drainage channel 2010 to the water tank or the outside. It should be noted that, as described above, the fourth receiving cavity 2002 is not connected to the second suction component 2012 or the second conveying device 2011 at the same location.

[0298] In one embodiment, as shown in FIG12H, the base station includes a support member 2050, a first fan 2103 disposed inside the support member 2050, and a fourth receiving cavity 2002 disposed inside the support member 2050. A second filter assembly 2110 is disposed inside the fourth receiving cavity 2022. A carrier member 2040 is disposed on the lower part of one side of the support member 2050. The carrier member 2040 is also provided with a suction channel 20009 and a drainage channel 2010. One end of the suction channel 20009 serves as a self-cleaning inlet 2100, which is sealed and connected to the self-cleaning outlet of the cleaning equipment. The other end of the suction channel serves as a twelfth opening 2007, which is connected to the second filter assembly 2110. The second filter assembly is used to filter the liquid conveyed by the twelfth opening 2007. One end of the drainage channel 2010 serves as a thirteenth opening 2009, which is connected to the fourth receiving cavity, and is used to allow the liquid filtered by the second filter assembly to flow into the drainage channel 2010. The other end of the drainage channel serves as a self-cleaning outlet 2043.

[0299] During operation, the second suction component 2012 and the second conveying device 2011 are activated. They can be activated simultaneously, or the second suction component 2012 can be activated first, and the second conveying device 2011 can be activated after the liquid enters the fourth receiving chamber and the liquid level is higher than the preset height. With the cooperation of the second suction component 2012 and the second conveying device 2011, the liquid forms a stable first equilibrium water surface 3303 in the fourth receiving chamber. As shown in Figure 12F, if the first equilibrium water surface 3303 is located below the twelfth opening 2007, and the twelfth opening 2007 is connected to the air in the fourth receiving chamber, then by changing the operating parameters of the second suction component, the suction flow rate of the suction channel can be increased, and the self-cleaning speed of the first filter component of the cleaning equipment can be accelerated. If changing the operating parameters of the second conveying device cannot increase the suction flow rate of the suction channel, in this embodiment, the self-cleaning drain outlet of the drainage channel can be in an underwater environment or connected to the air to discharge the liquid in the drainage channel.

[0300] As shown in Figure 12G, if the first equilibrium water surface 3303 is above the twelfth opening 2007, and the twelfth opening 2007 is below the first equilibrium water surface in the fourth receiving cavity, since the twelfth opening 2007 is not connected to the air in the fourth receiving cavity, changing the operating parameters of the second suction component will not increase the suction flow rate of the suction channel. Therefore, changing the operating parameters of the second conveying device is necessary to increase the suction flow rate of the suction channel and accelerate the self-cleaning speed of the first filter component of the cleaning equipment. In this embodiment, the self-cleaning drain outlet of the drainage channel needs to be connected to the aquatic environment; for example, at least a portion of the self-cleaning drain outlet may be located within the liquid in the pool or connected to the external aquatic environment.

[0301] As shown by the dashed line in Figure 12H, the second conveying device 2012 can be installed inside the support member 2050 or in other suitable locations such as the drainage channel 2010. There can be one or more such devices; this disclosure does not limit the number.

[0302] In another embodiment, the second suction component 2012 can act on either water or gas. In the aforementioned embodiment, the suction channel 20009 is mainly driven by the second suction component 2012, and the drainage channel 2010 is mainly driven by the second conveying device. In this embodiment, both the suction channel 20009 and the drainage channel 2010 can be driven by the second suction component 2012. That is, the second suction component 2012 draws water from the first filter component to the second filter component located in the support on the shore, and then discharges the water filtered by the second filter component to the pool or outside the pool. This arrangement eliminates the need for a separate second conveying device. The water / air flow direction in this process is: first filter component, self-cleaning drain port of the cleaning equipment, self-cleaning inlet of the support component, suction channel 20009, second filter component, fourth receiving cavity, drainage channel 2010, pool or outside the pool.

[0303] In another embodiment, as shown in Figures 12I and 12J, a seventh one-way valve 2025 is also provided on the fourth receiving cavity 2002. The seventh one-way valve 2025 can discharge the gas in the fourth receiving cavity 2002 to the outside of the fourth receiving cavity in one direction and prevent external gas from entering the fourth receiving cavity through the seventh one-way valve 2025. The seventh one-way valve 2025 can also prevent the liquid in the fourth receiving cavity from flowing out or flowing in through the seventh one-way valve. The fourth receiving cavity 2002 is sealed to the outside except for the seventh one-way valve 2025. The water flow in both the suction channel 20009 and the drainage channel 2010 can be driven by the second conveying device 2011, eliminating the need for a second suction assembly 2012. The self-cleaning drain outlet at one end of the second conveying device 2011 and the drainage channel 2010 needs to be located in an underwater environment, such as below the surface of a pool or in a water environment outside the pool. The second conveying device 2011 is connected to the drainage channel 2010 and can be located inside the drainage channel 2010 or in other suitable locations, as shown in Figures 12I and 12J. The second conveying device 2011 is located inside the drainage channel 2010 and can rotate in both directions. When rotating in the forward direction, it can discharge the liquid in the fourth receiving cavity 2002 to the pool or outside the pool through the drainage channel 2010 (as shown by the dashed arrow in Figure 12J). When rotating in the reverse direction, it can draw the liquid in the pool or the liquid in the water environment outside the pool into the fourth receiving cavity 2002 through the drainage channel 2010 (as shown by the dashed arrow in Figure 12I). During self-cleaning operation, after the self-cleaning drain port of the cleaning equipment is connected to the self-cleaning inlet 2100 of the carrier, the second conveying device 2011 first starts to reverse, conveying the liquid in the pool or the liquid in the external environment into the fourth receiving cavity through the drain channel 2010 (as shown by the dashed arrow in Figure 12I). At the same time, the air in the fourth receiving cavity is discharged to the outside of the fourth receiving cavity through the seventh one-way valve 2025. As liquid is continuously input, since the suction channel 20009 is located at the bottom of the fourth receiving cavity and is connected to the second filter component in the fourth receiving cavity, when the fourth receiving cavity is full of liquid, the suction channel 20009 is also full. The liquid is then removed, thus forming a closed water flow path (as shown by the dashed arrow in Figure 12J) by the first filter assembly, the self-cleaning drain port of the cleaning equipment, the self-cleaning inlet 2100 of the support member, the suction channel 20009, the second filter assembly 2110, the fourth receiving cavity 2002, the thirteenth opening 2009, and the drainage channel 2010. At this time, the second conveying device is controlled to stop rotating in reverse and start rotating in forward, drawing the liquid from the first filter assembly into the second filter assembly 2110 in the fourth receiving cavity of the support member 2050, and then discharging the water filtered by the second filter assembly 2110 into the pool or outside the pool, thereby cleaning the first filter assembly.

[0304] In another embodiment, as shown in Figure 12K, the second conveying device 2011 is located inside the suction channel 20009, below the water surface of the pool. There are two different configurations depending on whether the self-cleaning drain outlet of the drainage channel 2010 is connected to the water environment or to the air. When the self-cleaning drain outlet of the drainage channel 2010 is connected to the air, there is no need to install a seventh check valve. The second conveying device 2011 also does not need to switch directions during self-cleaning operation. During self-cleaning operation, the second conveying device 2011 is activated. It only needs to pump the liquid in the first filter assembly through the self-cleaning drain outlet and self-cleaning inlet from the suction channel 20009 into the second filter assembly in the fourth receiving chamber. After filtration by the second filter assembly, the liquid is discharged to the pool or outside the pool through the fourth receiving chamber, the thirteenth opening, and the drainage channel 2010. The entire process is driven solely by the second conveying device 2011, without the need for a second suction assembly 2012. When the self-cleaning drain outlet of the drainage channel 2010 is connected to the water environment, such as when it is connected to the liquid in the pool, a seventh one-way valve 2025 needs to be installed on the fourth receiving chamber 2002. The seventh one-way valve 2025 can discharge the gas in the fourth receiving chamber 2002 to the outside of the fourth receiving chamber in one direction and prevent external gas from entering the fourth receiving chamber through the seventh one-way valve 2025. The seventh one-way valve 2025 can also prevent the liquid in the fourth receiving chamber from flowing out or flowing in through the one-way valve. The fourth receiving chamber is sealed to the outside except for the seventh one-way valve 2025. During self-cleaning operation, the second conveying device 2011 does not need to switch directions. It only needs to convey the liquid from the first filter assembly through the self-cleaning drain port and self-cleaning inlet port, via the suction channel 20009, into the second filter assembly. The second filter assembly is located within the fourth receiving chamber. During liquid input, air within the fourth receiving chamber is discharged through the seventh one-way valve. As liquid continues to be input, since the drain channel 2010 is located at the bottom of the fourth receiving chamber and communicates with it, when the fourth receiving chamber is full of liquid, the drain channel 2010... The chamber is also filled with liquid. At this time, a closed water flow path is formed from the first filter component, the self-cleaning drain port of the cleaning device 100, the self-cleaning inlet port 2100 of the carrier, the suction channel 20009, the second filter component 2110, the fourth receiving cavity 2002, the thirteenth opening, and the drainage channel 2010 (as shown by the dashed arrow in Figure 12K). At this time, the second conveying device 2011 continues to work, drawing the liquid from the first filter component to the second filter component, and then discharging the water filtered by the second filter component to the pool or outside the pool, thereby cleaning the first filter component.

[0305] During the self-cleaning process in the four embodiments described above, the first suction component 700 of the cleaning device 100 may or may not operate. Water in the pool can enter through the second or first water inlet of the cleaning device 100, or through the first water outlet, or through other openings communicating with the first receiving cavity. When the first suction component 700 of the cleaning device operates in the second operating mode (when rotating in reverse), it can provide a larger water flow for self-cleaning, thereby generating a larger impact water flow from the outside to the inside of the first filter component, which helps to flush away the debris attached to the inner wall of the first filter component, achieving a better cleaning effect on the dust box.

[0306] In the above embodiments, the second filter component 2110 is located outside the water tank, while the first filter component is located in the water. After completing the self-cleaning process, the waste in the first filter component is transferred to the second filter component. After the water in the second filter component 2110 is drained, the waste may become moldy and smelly in the second filter component 2110. Therefore, in some embodiments, a drying or disinfection device is also provided inside the support member to dry or disinfect the second filter component 2110 and the waste therein. A first heating element 2102 and / or a first sterilizer 2105 are provided inside the support member 2050 of the base station, as shown in Figure 12E1. The second suction component can be reversed or a first fan 2103 can be added to form an airflow blowing towards the first heating element 2102. The heated airflow after being heated by the first heating element 2102 flows through at least the second filter component 2110 before being discharged into the atmosphere or forming a circulation within the support member. The source of this heated airflow can be the atmosphere; or as shown in Figure 12L, a first condenser 210 is also provided inside the base station. 8. A closed airflow channel is formed, passing through at least the second suction assembly or the first fan 2103, the first heating element 2102, the second filter assembly 2110, and the first condenser 2108. The humid airflow discharged from the second filter assembly 2110 is condensed by the first condenser 2108 to form dry airflow, which then flows back to the fan inlet. This cycle continues until the second filter assembly 2110 reaches the required level of dryness. In one embodiment, a humidity sensor can be installed between the second filter assembly 2110 and the first condenser 2108 to detect the degree of dryness. A first sterilizer 2105, such as an ultraviolet lamp, can also be installed in the fourth receiving cavity 2002 to sterilize the second filter assembly 2110 and the waste therein after or before drying. This allows for a longer waste storage time and reduces the frequency of user operations. In some embodiments, a temperature sensor may be provided in the fourth receiving cavity to sense the temperature inside the fourth receiving cavity. When the temperature is below a certain threshold, the first heating element 2102 is turned on, and when the temperature exceeds a certain threshold, the first heating element 2102 is turned off, so that the fourth receiving cavity is always kept within a certain temperature range, thereby reducing the rate of waste decomposition and improving drying efficiency.

[0307] In some embodiments, the second conveying device is a water pump, a vacuum suction device, etc., and the second suction component is a fan, a vacuum pump, etc.

[0308] The following details how the cleaning equipment returns to the base station and how it performs self-cleaning operations while docked on the carrier.

[0309] Cleaning equipment typically needs to return to the base station in the following situations:

[0310] Scenario 1: The cleaning device 100 receives a back-to-base station command. At this time, the cleaning device may be cleaning a water tank, or it may be stuck at the bottom of the tank due to a malfunction, or it may be trapped in the tank. This disclosure does not limit the scope of the scenario. The back-to-base station command can be issued by the user, for example, through a terminal APP, or by the user through the base station. The back-to-base station command can also be issued by the base station itself, for example, the base station can issue back-to-base station commands periodically; or the base station may issue a back-to-base station command to the cleaning device if it determines that the user-set conditions for back-to-base station have been triggered.

[0311] Scenario 2: The cleaning equipment 100 triggered a back-to-base call command due to changes in its own status. Changes in its own status include, but are not limited to: low battery, clogged dustbin, full dustbin, cleaning task completed, reagent or clarifying agent depleted, component damage, machine malfunction, etc.

[0312] In scenario 2 above, the call-back-to-base command is mostly issued by the control unit of the cleaning equipment itself. For ease of description, unless otherwise specified, the phrase "the cleaning equipment receives a call-back-to-base command" in the following text includes both scenario 1 and scenario 2 above, and may also include call-back-to-base commands issued by any other device capable of communicating with the cleaning equipment. The call-back-to-base command mentioned below can be considered as the call-back-to-base command received by the cleaning equipment after it has received the call-back-to-base command.

[0313] In one embodiment, the support member 2040 extends downwards from the edge of the pool to below the water surface, flush against the wall. For irregularly shaped, circular, elliptical, or rectangular pools, the base station 2000 can be located anywhere on the edge of the pool, as shown at positions A, B, and C in Figures 15A-15E. At least one base station 2000 can be located on the edge of a pool. Although Figure 15A shows two base stations on one pool edge, this should not be considered a limitation of this embodiment. The method of the cleaning device returning to the base station when one base station is located on the pool edge is essentially the same as when more than one base station is located on the pool edge. The cleaning device receives only one return-to-base station command at a time and only returns to the designated base station. In some embodiments, when multiple base stations are located on the pool edge, it is necessary to confirm whether the base station is idle before issuing the return-to-base station command to ensure that the base station to which the cleaning device returns is in an idle state.

[0314] The cleaning equipment 100 can return to the base station and dock on the carrier 2040 in the following ways:

[0315] When the cleaning equipment receives the call-back command and is located at the bottom of the pool (as shown by positions A0' and B0' in Figure 15A, and position C0' in Figure 15B), the following call-back methods exist:

[0316] In Method 1, after determining its relative position to the base station 2000 or the carrier 2040, the cleaning equipment 100 first moves to the position on the bottom of the pool corresponding to the carrier 2040 (i.e., the projection position of the carrier 2040 on the bottom of the pool, as shown in A1', B1', and C1' in the figure). Then, it adjusts to a wall-climbing posture and moves vertically upward along the wall to the carrier 2040 and docks with it. For example, it moves from position A0' to position A1' in Figure 15A and then climbs the wall to the carrier at position A; or it moves from position B0' to position B1' and then climbs the wall to the carrier at position B; or as shown in Figure 15B, it moves from position C0' to position C1' and then climbs the wall to the carrier at position C. In this method, the path from position A0' to position A1', or from position B0' to position B1', or from position C0' to position C1' can be any of the following: the shortest path, the edge path, or the bow-shaped path. It can also be other paths such as obstacle avoidance paths. In this method, there is no limitation on the path planning method for the cleaning equipment to run to the projection position of the carrier 2040 on the bottom of the pool when it receives the back-to-base station command.

[0317] Method Two: After determining its relative position to the base station 2000 or the carrier 2040, the cleaning device 100 identifies the nearest wall and moves to it, as shown in Figure 15C. It then moves from position D0' to position D1', and vertically climbs the wall to transition from the wall state to the water surface state at position D2'. It then travels along the edge of the water surface. Figure 15C uses the right edge as an example, but this embodiment is not limited to this; a left edge path is also possible. The cleaning device travels along the right edge of the water surface, moving from position D2' to D3' and D4' before reaching and docking with the carrier at position D5'. In this method, the path from position D2' to position D5' can also be the shortest path, a zigzag path, an obstacle avoidance path, etc.; this method is not limited. The travel path from position D0' to the nearest wall position D1' is not limited in this embodiment. For example, it can be the shortest path, a bow-shaped path, or an obstacle avoidance path, etc.

[0318] Method 3: After determining its relative position to the base station 2000 or the carrier 2040, the cleaning device 100 continues to move along its current path until it encounters the pool wall, as shown in Figure 15E. The cleaning device continues moving from position D0' along its previous direction until it reaches position D1', then vertically climbs the wall to transition from the second state to the third state at position D2' on the water surface. It then moves from position D2' to position D5' and docks with the carrier. The path planning from position D2' to position D5' can employ the shortest path, a zigzag path, an edge-following path, an obstacle-avoidance path, etc., and this method is not limited to any particular path.

[0319] Methods two and three can also be summarized as follows: the cleaning equipment first switches from the bottom state to the wall state, then switches from the wall state to the surface state, and then travels to the carrier in the surface state to dock with the carrier.

[0320] The time point at which the cleaning device 100 determines its relative position to the base station 2000 or the carrier 2040 can be at the moment it receives a return-to-base station instruction (i.e., immediately determining its relative position to the base station 2000 or the carrier 2040 upon receiving the instruction), or at any point during its journey back to the base station, such as at any point after the cleaning device has moved from the pool wall to the water surface. This disclosure does not limit this. In some embodiments, after receiving the return-to-base station instruction, the cleaning device first switches from the pool bottom state to the water surface state. While in the water surface state, it uses its own sensors or information transmitted by the base station to locate the carrier. The switch from the pool bottom state to the water surface state can be a direct switch from the pool bottom state to the water surface state, or it can be a switch from the pool bottom state to the pool wall state first, and then to the water surface state.

[0321] When the cleaning equipment receives the call-back command while it is on the surface of the pool (as shown in positions A2' and B2' in Figure 15A, and position C2' in Figure 15B), the following call-back methods exist:

[0322] Method 4: After determining its relative position to the base station 2000 or the carrier 2040, or while moving to locate the base station 2000, the cleaning device 100 can move along the edge until it comes into contact with the carrier 2040. Then, it adjusts to a preset stopping posture, such as moving from positions A2' and B2' in Figure 15A to the carrier at position A and position B, or from position C2' in Figure 15B to the carrier at position C. For example, if the cleaning device 100 is moving along the right edge, it can rotate 90° to bring its front or rear part into contact with the carrier 2040. For swimming pools with corners, such as right-angled corners, the base station 2000 can be positioned at that corner, as shown at position B in Figure 15A. The cleaning device 1000 can then directly contact the carrier 2040 from the front or rear by moving along the edge of the water surface. Of course, the path from the water surface position A2' to the bearing position is not limited to the edge (left edge, right edge), but can also be the shortest path, the bow-shaped path, etc. This disclosure does not limit it.

[0323] Method 5: After determining its relative position to the base station 2000 or the carrier 2040, or while locating the base station 2000 during its movement, the cleaning device 100 can switch from a surface state to a bottom state via a mode switching component. At this point, the cleaning device can return to the base station using any of the methods described in Methods 1 to 3 above, which will not be elaborated further here. Alternatively, the cleaning device 100 located on the surface of the pool can first travel to any pool wall, and then switch from a surface state to a wall state and finally to a bottom state via the mode switching component.

[0324] In some embodiments, when the cleaning device returns to the carrier, as shown in Figures 11F and 13A-13F, the cleaning device is in a roughly horizontal position. In the height direction of the cleaning device (i.e., the Z-axis direction), the top of the cleaning device faces the positive Z-axis direction, and the bottom faces the negative Z-axis direction. If the above method is used to reconnect to the base station four times, after docking, the cleaning device will be in a roughly horizontal position.

[0325] In some embodiments, when the cleaning device returns to the carrier, the cleaning device is in a generally vertical position (the cleaning device is approximately perpendicular to the water surface), with the head of the cleaning device (the side of the cleaning device with the first water inlet is also referred to as the head) facing upwards. If the cleaning device returns to the base station in the above manner, after docking is completed, it will be in a generally vertical position.

[0326] Of course, the state of the cleaning equipment returning to the base station can also be switched using a mode switching component. For example, in method four, the cleaning equipment travels to the base station's support component in a roughly horizontal state on the water surface. After approaching the support component, the mode switching component can switch the roughly horizontal state to a roughly vertical state for docking. In method one, when the cleaning equipment docks with the support component at the bottom of the pool via the pool wall, the mode switching component can switch the roughly vertical state to a roughly horizontal state after approaching the support component for docking.

[0327] The orientation of the cleaning equipment when docking with the base station carrier depends on the location of the self-cleaning inlet on the carrier and the location of the self-cleaning outlet on the cleaning equipment. The docking orientation of the cleaning equipment should ensure that its self-cleaning outlet accurately aligns with the self-cleaning inlet of the carrier. This disclosure does not impose specific limitations.

[0328] In some embodiments, as shown in Figures 12F, 12G, and Figures 20A-20D, the carrier 2040 further includes a first plate 2046. The first plate 2046 is disposed in front of the carrier body, above the self-cleaning inlet. The first plate 2046 is rotatably connected to the carrier body, with the rotation axis approximately perpendicular to the water surface. In some embodiments, the first plate 2046 is disposed on a first main body of the carrier body; in another embodiment, the first plate is disposed on a second main body of the carrier body and is movable with the second main body. In some embodiments, the carrier body is non-retractable, and the first plate is used to assist the cleaning equipment in docking on the carrier. In some embodiments, the self-cleaning inlet may also be disposed on the first plate 2046.

[0329] As shown in Figures 20A-20D, the first plate 2046 includes at least a first state and a second state. In the first state, the first plate is in a retracted state, that is, approximately parallel to the carrier body, as shown in Figures 20C and 20D. In the second state, the first plate is in an open state, that is, approximately perpendicular to the carrier body, as shown in Figures 20A and 20B. For any shape of pool, the base station 2000 can be positioned anywhere beside the pool. When the cleaning device 100 performs a task in the pool, the first plate 2046 is in the first state; when the cleaning device 100 performs a return-to-base action, the first plate 2046 is in the second state. The state switching of the first plate 2046 can be performed based on the base station 2000's controller receiving an instruction from the cleaning device 100 that it is about to return to the base station, or based on the base station 2000 sending a return-to-base instruction to the cleaning device. The rotation of the first plate 2046 can be achieved by a drive motor and transmission mechanism installed on the base station, which is not limited to support linkage, gear rack, etc. Alternatively, a reset component and a magnetic attraction component can be installed on the rotation axis of the first plate. For example, magnetic attraction components and magnetic attraction components are respectively installed at corresponding positions on the carrier body and the first plate 2046. The first plate is fixed in the first state by the magnetic attraction component and the magnetic attraction component. In response to the signal from the cleaning device 100 to the base station, the control unit installed on the base station body releases the magnetic attraction force of the magnetic attraction component and the magnetic attraction component. The first plate moves to the second state under the action of the reset component (e.g., torsion spring). After the cleaning device 100 is docked and fixed with the first plate 2046, the pusher of the cleaning device 100 provides continuous power to overcome the force of the reset component and push the first plate from the second state to the first state. Thus, the magnetic attraction component and the magnetic attraction component are attracted again, and the pusher of the cleaning device stops or reduces its power.

[0330] As shown in Figures 20A-20H2, when the cleaning device 100 receives a command to return to the base station or needs to return to the base station due to low power, dustbin blockage, dustbin fullness, or completion of cleaning task, if it is at the bottom or wall of the pool, it can first move to the water surface, that is, move from the first or pool wall state to the water surface state, and then switch to the edge-running state; if the cleaning device 1000 is running on the water surface, it directly switches to the waterline edge-running state. Then it continues to move along the edge until it reaches the first plate 2046 in the second state, that is, it performs the process shown in Figures 20A to 20B. In one embodiment, the first plate 2046 drives the cleaning device 100 or the cleaning device 100 pushes the first plate from the second state to the first state, and then the cleaning device 100 switches from the water surface state to the pool wall state, that is, it realizes the actions from Figures 20B to 20D. The arc arrow in Figure 20C shows the process of the cleaning device switching from the water surface state to the pool wall state. This part can also be referred to in other places in this document or in the priority documents. In another embodiment, the cleaning device 100 and the first plate 2046 are in the state shown in FIG20B. The cleaning device 100 first switches from the water surface state to the pool wall state, and then the first plate 2046 switches from the second state to the first state, reaching the state shown in FIG20D. In one embodiment, the cleaning device 100 and the first plate 2046 switch from the state shown in FIG20A to the state shown in FIG20C, that is, the cleaning device 100 maintains the water surface state, and only the first plate 2046 switches from the second state to the first state. In this embodiment, if the first inlet of the cleaning device 100 is used as the self-cleaning drain outlet, or a self-cleaning drain outlet is provided on the front side of the cleaning device, and the first plate 2046 or the carrier body is provided with a self-cleaning inlet 2100 corresponding to the self-cleaning drain outlet, then the self-cleaning process can be implemented in the state shown in FIG20C.

[0331] In one embodiment, the docking and fixing method between the cleaning device 100 and the carrier 2040 may include: a first magnetic element or a first connector is provided on the carrier body or the first plate 2046 as a second docking assembly; a second magnetic element or a second connector is provided on the bottom of the cleaning device 100 (corresponding to the state in FIG. 20D) or the front or rear part of the cleaning device 100 (corresponding to the state in FIG. 20C) as a first docking assembly; when the cleaning device 100 abuts against the carrier body or the first plate, the first magnetic element or the first connector cooperates with the second magnetic element or the second connector to temporarily fix the cleaning device 100 to the carrier body or the first plate 2046.

[0332] In one embodiment, a first sensing unit for wireless charging of the cleaning device 100 is provided on the carrier body or the first plate 2046. A second sensing unit corresponding to the first sensing unit is provided at the bottom of the cleaning device 100 (corresponding to the state in FIG. 20D) or at the front or rear of the cleaning device 100 (corresponding to the state in FIG. 20C). The second sensing unit is directly connected to or connected to the rechargeable battery pack through the control unit of the cleaning device 100. The first sensing unit is electrically connected to a power source or a solar panel, thereby enabling the cleaning device 100 to be recharged after it stops.

[0333] Based on the aforementioned content regarding the cleaning equipment and base station, the cleaning equipment does not need to go ashore to return to the base station. The cleaning equipment docks with the base station's support structure inside the pool. The cleaning equipment can dock with the support structure from the water surface, from the side wall of the pool, or from any position in the water.

[0334] The cleaning equipment can travel upwards from the side wall of the pool to return to the support, allowing the self-cleaning drain port of the cleaning equipment to align with the self-cleaning inlet port on the support. The following description primarily focuses on the docking method between the cleaning equipment and the base station's support; therefore, descriptions of the support components are omitted from some of the accompanying drawings and text. It is understood that, unless otherwise specified, the support components in this embodiment can be any of the support components disclosed in any embodiment of this disclosure.

[0335] For example, in one embodiment, the surface on which the carrier docks with the cleaning equipment is referred to as the first docking surface 20004 (in the previous embodiment, the side of the first plate docking with the cleaning equipment can be considered as the first docking surface). The first docking surface can be the front side wall, rear side wall, left side wall, or right side wall of the carrier, and the action of the cleaning equipment returning to the base station is the same. Taking the front sidewall of the carrier as the first docking surface as an example, the process of the cleaning device moving upwards from the sidewall of the pool back to the base station is illustrated in Figure 20E1. If the cleaning device 100 is located on the bottom wall 310 of the pool, after receiving the signal to return to the base station, the cleaning device can first move from the bottom wall 310 to the sidewall 320 of the pool where the carrier is located. The cleaning device continues to move upwards on the sidewall 320 of the pool, moving upwards from below the bottom of the carrier to the front sidewall of the carrier. During this process, the cleaning device adjusts its posture, and the attraction between the first docking component of the cleaning device and the second docking component on the carrier causes the self-cleaning drain port 1300 on the bottom of the cleaning device and the self-cleaning inlet port 2100 on the front sidewall of the carrier to dock, thus completing the cleaning device's return to the base station operation. The actions of adjusting the posture of the cleaning device include at least one of moving up and down, moving left and right, twisting left and right, rotating, and moving laterally on the sidewall, until the self-cleaning drain port and the self-cleaning inlet port dock.

[0336] Specifically, in one embodiment, the cleaning device can first adjust its posture below the carrier to align the cleaning device and the carrier in the height direction of the pool sidewall (i.e., the cleaning device is directly below the carrier), so that the cleaning device can directly move upward from below the carrier to the front sidewall of the carrier to complete the docking; or the cleaning device can adjust its posture while moving upward from below the carrier to the carrier; or the cleaning device can first move upward from below the carrier to the front sidewall of the carrier without adjusting its posture, and then adjust its posture on the front sidewall of the carrier. Alternatively, before the cleaning equipment moves upwards from below the carrier to the front wall of the carrier, it should first adjust its posture to align the cleaning equipment and the carrier in height (i.e., the cleaning equipment is directly below the carrier). Then, as the cleaning equipment moves to the front wall of the carrier, it can adjust its posture a second time, or not. Once the cleaning equipment is on the front wall, it should be adjusted a third time until the self-cleaning inlet and the self-cleaning outlet are aligned. Alternatively, the cleaning equipment can move upwards from below the carrier to the front wall of the carrier, adjusting its posture throughout the process until the self-cleaning inlet and the self-cleaning outlet are aligned.

[0337] In other words, in this embodiment, the cleaning device moves upwards from below the support member while in the pool wall state, returning to the support member to complete the connection between the self-cleaning inlet and the self-cleaning outlet. When the cleaning device receives a signal to return to the base station, if it is in the pool bottom state, it switches from the pool bottom state to the pool wall state first, and then returns to the base station in the pool wall state; if it is in the pool wall state, it can directly return to the base station from the pool wall state, or switch from the pool wall state to the pool bottom state first, and then switch back to the pool wall state to return to the base station. Alternatively, when the cleaning device receives a return signal to the base station, if it is in the water surface state, it switches from the water surface state to the pool wall state first, and then returns to the base station. In one embodiment, the cleaning device directly switches from the water surface state to the pool wall state; or, as shown in Figure 20E2, the cleaning device switches from the water surface state to the pool bottom state first, then switches back to the pool wall state, and then returns to the base station.

[0338] For example, as shown in Figure 20E3, the sidewalls of the pool include at least a first sidewall 320a, a second sidewall 320b, a third sidewall 320c, and a fourth sidewall 320d connected end to end. Each sidewall can be an arc surface, a curved surface, or a vertical surface. In one embodiment, if the base station is located on the first sidewall 320a, when the cleaning device receives a signal back to the base station, the cleaning device is located on the second sidewall 320b, the third sidewall, or the fourth sidewall. The cleaning device can first move from the second sidewall, the third sidewall, or the fourth sidewall to the bottom wall of the pool, that is, first switch from the pool wall state to the pool bottom state. The cleaning device moves on the bottom wall of the pool to approach the first sidewall 320a. Then, the cleaning device moves from the bottom wall of the pool to the first sidewall. On the first sidewall, the cleaning device moves upward from below the base station body back to the first mating surface of the base station's support component.

[0339] For example, when the cleaning equipment receives a return signal from the base station, if both the cleaning equipment and the base station body are on the first sidewall 320a, the cleaning equipment can move directly along the first sidewall to position itself below the base station's support component, and then move upwards from below the support component to return to the base station's support component. Alternatively, if the cleaning equipment is on the bottom wall of the pool, it can move along the bottom wall to approach the first sidewall, then move from the bottom wall to the first sidewall, and finally move from the first sidewall to the mating surface of the support component.

[0340] In another embodiment, as shown in Figure 20F1, when the cleaning device returns to the base station on the side wall, the cleaning device first adjusts its posture on the side wall so that the walking direction of the cleaning device is perpendicular to or intersects with the height direction of the base station carrier. The cleaning device walks to the base station carrier in the forward or backward direction, for example, state A in Figure 20F1. Then the cleaning device rotates 90 degrees on the base station carrier and adjusts its walking direction so that the walking direction of the cleaning device is parallel to the height direction of the base station carrier, as shown in state B in Figure 20F1. During this process, the cleaning device adjusts its posture to connect the self-cleaning drain port and the self-cleaning inlet port.

[0341] Similarly, when the cleaning equipment receives a signal from the base station (e.g., the base station is located on the first side wall), if the cleaning equipment is on the bottom wall 310 of the pool, it moves along the bottom wall 310 to near the bottom of the first side wall. Then, it moves from the bottom wall to the first side wall and moves upwards along it until its height is close to the height of the self-cleaning inlet on the base station support. At this point, the cleaning equipment can be located on the right or left side of the base station support. Alternatively, when the cleaning equipment receives a signal from the base station, both the base station support and the cleaning equipment are on the first side wall of the pool. The cleaning equipment first moves along the first side wall until its height is close to the height of the self-cleaning inlet on the base station support, and is located on the right or left side of the base station support. Alternatively, when the cleaning device receives a signal returning to the base station, the base station and the cleaning device are located on different side walls of the pool. For example, the base station is located on the first side wall of the pool, and the cleaning device is located on the second, third, or fourth side wall. The cleaning device first moves to the bottom wall of the pool, then moves from the bottom wall to the bottom near the first side wall, and then moves to the first side wall, so that the height of the cleaning device is close to the height of the self-cleaning inlet on the base station carrier, located on the right or left side of the base station body. Alternatively, when the cleaning device receives a signal returning to the base station, the base station and the cleaning device are located on different side walls of the pool. For example, the base station is located on the first side wall, and the cleaning device is located on the second side wall, as shown in Figure 20F2. In this case, the cleaning device can move directly from the second side wall to the first side wall. The cleaning device can move laterally, or the cleaning device can adjust its posture and move from the second side wall to the first side wall by moving forward or backward, so that the height of the cleaning device is close to the height of the self-cleaning inlet on the base station carrier, located on the right or left side of the base station carrier. For example, as shown in Figure 20F3, the cleaning equipment is located on the second side wall, and the base station carrier is located on the first side wall. If the initial walking direction of the cleaning equipment is vertical, the cleaning equipment first rotates 90° so that the front of the cleaning equipment faces the first side wall. Then, the cleaning equipment moves forward from the second side wall to the first side wall until it reaches the first docking surface of the base station carrier. Finally, the cleaning equipment adjusts its posture on the first docking surface of the base station carrier and rotates upward by 90° so that the walking direction of the cleaning equipment is vertical, thereby realizing the docking of the self-cleaning drain port and the self-cleaning inlet of the cleaning equipment.

[0342] In this embodiment, the cleaning equipment is positioned against the pool wall. By adjusting its posture on the pool sidewall, the equipment's travel height is brought to near the height of the self-cleaning inlet on the base station support. Then, by moving forward or backward, the equipment first travels to the docking surface on the support. Next, the cleaning equipment rotates and / or travels on the first docking surface to adjust its posture, thereby aligning the self-cleaning inlet and the self-cleaning outlet. During the docking process, the attraction between the first and second docking components can also be used to assist in the docking.

[0343] In other embodiments, the cleaning equipment returns to the base station from the water surface; that is, the cleaning equipment first switches from the water surface state to the pool wall state in order to return to the base station.

[0344] Based on the aforementioned surfacing and diving actions of the cleaning equipment (see the description above or in the priority document), this embodiment provides a method for the cleaning equipment to return to the base station along the water surface. Specifically, if the cleaning equipment is not in a water surface state when it needs to return to the base station, it needs to switch from other movement states to a water surface state. The switching process is detailed in the aforementioned embodiment. In the water surface state, the cleaning equipment realizes the connection process between the first docking component of the cleaning equipment and the second docking component of the base station; or realizes the docking process between the self-cleaning sewage inlet and the self-cleaning sewage outlet.

[0345] For example, as shown in Figures 20G1 and 20G2, if the self-cleaning inlet is located on the right side wall of the base station carrier, then the right side wall of the base station carrier serves as the first mating surface 20004, and the self-cleaning outlet 1300 is located on the bottom of the cleaning equipment. In one embodiment, the cleaning device returns to the base station along the edge of the water surface. When the cleaning device is in the bottom or wall state of the pool, it first switches to the surface state. Then, the cleaning device moves along the edge (or waterline) of the water surface towards the first mating surface of the base station support. During this process, regardless of whether the first water inlet is located at the front or rear of the cleaning device, the cleaning device can move forward or backward along the edge. If the cleaning device moves forward along the edge in the water, it continues until the front of the cleaning device abuts the first mating surface. If the cleaning device moves backward along the edge in the water, it continues until the rear of the cleaning device abuts the first mating surface. At this point, the cleaning device begins to switch from the surface state to the wall state, with the bottom of the cleaning device abutting the first mating surface. After switching to the wall state, the cleaning device can adjust its posture to align the self-cleaning inlet and the self-cleaning outlet, thus completing the return of the cleaning device to the base station on the water surface. The posture adjustment of the cleaning device includes at least one of the following on the first mating surface: moving up and down, moving left and right, twisting, rotating, and moving laterally.

[0346] For example, the base station body is located on the first side wall of the pool, and the first docking surface faces the second side wall of the pool. When the cleaning device receives the return signal to the base station, the cleaning device is located on the third side wall. The cleaning device then moves along the edge of the water surface from the third side wall to the second side wall, and then from the second side wall to the first side wall, until the cleaning device collides with the first docking surface along the edge of the first side wall. After that, the cleaning device switches from the water surface state to the pool wall state to complete the docking.

[0347] In one embodiment, if the self-cleaning drain outlet is located at the front of the cleaning device, for example, the self-cleaning drain outlet can be a first water inlet, or it can be located independently of the first water inlet at the front of the cleaning device. When the cleaning device returns to the base station along the water surface, the cleaning device moves forward until the front of the cleaning device abuts or collides with the first docking surface. At this point, the attitude of the cleaning device is adjusted so that the self-cleaning drain outlet and the self-cleaning inlet are docked, completing the return of the cleaning device along the water surface to the base station, i.e., the cleaning device docks with the base station while on the water surface. Alternatively, the cleaning device can retreat along the water surface to the base station until the rear of the cleaning device abuts the first docking surface. At this point, the cleaning device rotates in place to adjust its attitude so that the front of the cleaning device abuts the first docking surface, thus docking the self-cleaning drain outlet and the self-cleaning inlet.

[0348] In another embodiment, when the cleaning equipment returns to the base station on the water surface, the cleaning equipment can walk from any position on the water surface to the first docking surface of the base station carrier, so that the self-cleaning sewage outlet of the cleaning equipment faces the first docking surface. By adjusting the posture of the cleaning equipment, the self-cleaning sewage outlet and the self-cleaning sewage inlet are docked, thus completing the cleaning equipment's return to the base station along the water surface.

[0349] In some embodiments, during the process of the first mating surface of the cleaning device and the carrier aligning, an attractive force is generated between the first mating component on the cleaning device and the second filter component on the carrier, which is used to assist the alignment of the self-cleaning inlet and the self-cleaning outlet.

[0350] In some embodiments, as shown in FIG11F, a self-cleaning drain outlet 1300 is disposed on the front side of the cleaning device and located below the first water inlet 201. A first docking component is disposed next to the self-cleaning drain outlet. The direction of the self-cleaning inlet on the carrier 2040 is perpendicular or approximately perpendicular to the carrier 2040. The self-cleaning inlet is located below the water surface 101, and the distance from the self-cleaning inlet to the water surface is equal to or approximately equal to the distance from the self-cleaning drain outlet to the water surface when the cleaning device is on the water surface. A second docking component is disposed next to the self-cleaning inlet and corresponds to the first docking component. When the cleaning device receives a return-to-base station command, it is in a water surface state. At this time, the cleaning device moves from the water surface position to the carrier. During the movement, the cleaning device can determine the position of the base station through a visual sensor or an ultrasonic sensor. For example, the cleaning device can use a visual sensor to identify specific feature information of a specific position of the carrier to determine the position of the carrier; or the cleaning device can use an ultrasonic sensor to identify the position information of the carrier during the movement. The base station can also send a position signal to the cleaning device at a certain frequency, which is not limited in this disclosure. Of course, the cleaning equipment can also be in other motion states when it receives a command to return to the base station, such as the bottom state. In this case, the cleaning equipment can switch from the bottom state to the surface state through the mode switching component, or switch from the bottom state to the wall state and then from the wall state to the surface state.

[0351] When the cleaning equipment moves on the water surface to the carrier, if the equipment is parallel to the surface of the carrier with the self-cleaning inlet, the self-cleaning inlet and self-cleaning outlet can be easily connected by the suction between the first and second docking components and / or the thrust of the first drive mechanism, without requiring much rotation from the equipment itself, since the first connector can be made of a flexible material. If the equipment approaches the carrier from the side, it needs to rotate towards the front of the carrier (in this context, the front of the carrier refers to the surface with the self-cleaning inlet) by controlling the first drive mechanism on the water surface until it is directly or nearly directly facing the front of the carrier. Then, the self-cleaning outlet and self-cleaning inlet are connected by the docking of the first and second docking components.

[0352] After docking, the second suction component 2012 inside the support 2050 starts working, sucking the air in the fourth receiving cavity of the support 2050 into the fifth receiving cavity and discharging it into the atmosphere through the first air outlet 2013. At this time, a negative pressure is generated in the fourth receiving cavity. The negative pressure causes the dust-laden liquid in the first filter component to enter the internal space of the second filter component through the suction channel 20009. Since the self-cleaning drain outlet of the drainage channel 2010 is located below the water surface of the pool, the negative pressure also causes the water in the pool to enter the fourth receiving cavity through the drainage channel 2010. When the liquid level in the four accommodating cavities exceeds the height of the twelfth opening 2007, a self-cleaning water path is formed between the suction channel 20009 and the drainage channel 2010. At this time, the second conveying device 2011 is activated. Driven by the second conveying device 2011, the dust-laden liquid in the first filter assembly is conveyed through this self-cleaning water path via the suction channel, the second filter assembly, and the third filter assembly to the drainage channel, and then discharged into the water tank through the drainage channel. The debris in the dust-laden liquid is retained inside the second filter assembly, thereby cleaning the first filter assembly. In some embodiments, the third filter assembly may not be provided.

[0353] In some embodiments, the second conveying device 2011 may be omitted, and the first suction component 700 of the cleaning device 100 may be used to provide power for the self-cleaning water path. When the first suction component 700 of the cleaning device 100 serves as the power component for the self-cleaning water path, the operating modes of the first suction component 700 include a first operating mode and a second operating mode. During the cleaning process of the cleaning device 1000 cleaning the water tank, the first suction component 700 is in the first operating mode. For example, if the first suction component 700 rotates forward, it forms a water flow from the inlet of the cleaning device to the interior of the first filter component, and then to the outlet of the cleaning device. During the self-cleaning process of the cleaning device 100, the first suction component 700 is in the second operating mode. For example, if the first suction component 700 rotates in the reverse direction, it forms a water flow from the interior of the first filter component to the suction channel, then to the second filter component, the third filter component, and finally to the drainage channel. The first suction component 700 in the cleaning equipment 100 serves as a power component, which can utilize the structure of the cleaning equipment itself to achieve driving force, thereby reducing costs. The entire cleaning system can achieve the cleaning process of the cleaning equipment 100 in cleaning the water tank and the self-cleaning process of the cleaning equipment 100 through one first suction component 700.

[0354] In some embodiments, the base station support 2050 can also be connected to a skimmer next to the pool. In this case, the skimmer's circulation pump can be used as the driving component for the self-cleaning water path, eliminating the need for the second conveying device 2011. Under the action of the skimmer's circulation pump, the self-cleaning water path flows from inside the first filter assembly to the suction channel, then to the second filter assembly, the third filter assembly, and finally to the drainage channel, thus flowing into the pool. That is, the driving component for the self-cleaning water path can be at least one of the second conveying device, the first suction assembly, or the skimmer's circulation pump.

[0355] When the cleaning equipment is docked on the carrier for self-cleaning, the second baffle 215 and / or the first baffle 202 open, and the water in the pool flows into the interior of the first filter assembly from the second inlet 213 and / or the first inlet 201 of the cleaning equipment. Driven by the second conveying device or the first suction assembly, the water flows from the ninth opening 404 through the sewage channel 800 to the first flow channel 2020, and then into the interior of the second filter assembly. After being filtered by the second filter assembly, the water flows into the drainage channel 2010 and then into the pool. This cycle continues, drawing the pool debris from the first filter assembly into the second filter assembly, thereby cleaning the first filter assembly.

[0356] In some embodiments, as shown in FIG11G, irrelevant components are omitted to highlight areas requiring explanation. For example, only the carrier is shown in FIG11G, while the support component 2050 is omitted. In this embodiment, the base station is also provided with a second support arm 2045 and a second nozzle 2044. In the figure, the dashed unidirectional arrows indicate the water flow into and out of the first receiving cavity 208, and the first filter assembly 400 is located inside the first receiving cavity 208. Figure 11G illustrates the docking of the cleaning equipment with the carrier via a water surface docking method. For example, the docking can be performed using the method described in Scheme 4 above. Alternatively, the cleaning equipment can first switch from the bottom state to the second moving state and then to the water surface state before docking with the carrier at the water surface. This embodiment does not limit the initial state of the cleaning equipment, as long as the final docking of the cleaning equipment with the carrier at the water surface is ensured. When the second support arm is set in a non-retractable manner, during the docking process between the cleaning equipment and the carrier, the second support arm drives the second nozzle to extend from the first water inlet into the interior of the first filter component. When the second support arm is set in a retractable manner, it can be controlled to extend from the first water inlet into the interior of the first filter component when a liquid level difference is formed between the second water level and the first water level (how to form a liquid level difference is described in detail below). At this time, at least part of the first water inlet is above the water surface 101, and at least part is below the water surface 101. The water level at the water surface 101 is referred to as the first water level 5. When the cleaning equipment performs its self-cleaning operation after docking with the carrier, the water flowing into the first receiving cavity of the cleaning equipment, driven by the self-cleaning water circuit drive assembly, includes the following water flows: First water flow 1, flowing into the first receiving cavity from the first water circuit of the cleaning equipment; Second water flow 2, flowing into the first receiving cavity from the second inlet 213; Third water flow 3, flowing into the first receiving cavity from the first inlet 201. The water flowing out of the first receiving cavity includes a fourth water flow 4, which flows into the first flow channel 2200 from the eighth opening 302 or the ninth opening 404 through the sewage discharge channel 800.

[0357] In this embodiment, by controlling the operating power of the self-cleaning water path drive component, such as the second conveying device or the first suction component, the flow rate of the fourth water flow 4 is made greater than the sum of the flow rates of the first water flow 1, the second water flow 2, and the third water flow 3. That is, the outflow rate of the first receiving cavity is greater than the inflow rate, thereby causing the water level in the first receiving cavity (hereinafter referred to as the second water level 6) to continuously decrease. At this time, there is a liquid level difference between the first water level and the second water level. As time goes by, the second water level 6 will continue to decrease, and the liquid level difference will become larger and larger. When the second water level decreases to slightly higher than the eighth or ninth opening, the operating power of the self-cleaning water path drive component is adjusted again so that the flow rate of the fourth water flow 4 is equal to the sum of the flow rates of the first water flow 1, the second water flow 2, and the third water flow 3, thereby keeping the second water level constant and the liquid level difference between the second water level and the first water level constant. At this time, the cleaning water source is controlled to spray liquid from the second nozzle towards the filter surface of the first filter component through the second support arm to improve the cleaning effect on the filter surface of the first filter component. The operating power of the self-cleaning water circuit drive component is controlled again, so that the flow rate of the fourth water flow 4 is equal to the sum of the flow rates of the first water flow 1, the second water flow 2, the third water flow 3, and the water flow sprayed from the second nozzle, and the second water level is positioned slightly higher than the eighth or ninth opening, thereby facilitating the second nozzle to spray and clean the filter surface of the first filter component. After self-cleaning is completed, the second support arm can also retract back into the base station.

[0358] In some embodiments, the second nozzle 2044 can also be disposed on the cleaning device, in which case the second support arm 2045 may not be provided; the cleaning device is provided with a first filter assembly 400, the first filter assembly 400 including a first dust box 401. Referring to FIG16A, FIG16A is a cross-sectional schematic diagram of the first dust box in an embodiment of the present disclosure. For ease of explanation, the position of the second nozzle 2044 is indicated by circles in the figure (not indicating the structure of the second nozzle). The second nozzle 2044 is disposed on the inner side wall of the first dust box. The number of second nozzles can be one or more. The head of the second nozzle is provided with a plurality of water outlets. The second nozzle is a rotatable nozzle or a non-rotatable nozzle. Multiple second nozzles can be independently disposed. The second nozzles are placed on the inner sidewall of the first dust box, for example, at the bottom of the first dust box or at the four corners of the bottom, or at the four corners of the inner sidewall of the first dust box at one-half, one-third or two-thirds of the length. The invention is not limited to these locations. In addition, the second nozzles can be arranged symmetrically or diagonally, and can be arranged in a regular or irregular manner. Multiple second nozzles can spray water independently or in conjunction with each other. Multiple second nozzles can each be connected to a first water inlet pipe 1017, or all the second nozzles can be connected in series or in parallel through one or more first water inlet pipes 1017. The first water inlet pipes 1017 can be connected to cleaning water sources individually, or they can be collected and then connected to a unified cleaning water source. In this embodiment, the liquid in the float cavity of the cleaning device 100 can be used as a self-cleaning water source. At this time, each of the first water inlet pipes 1017 can be connected to the float cavity respectively, or each of the first water inlet pipes 1017 can be combined and then connected to the float cavity in a unified manner, so that the liquid in the float cavity can be sprayed out from the outlet of the second nozzle through the first water inlet pipe 1017 to clean the filter surface of the first dust box.

[0359] In another embodiment, at least one strip-shaped or ring-shaped nozzle support arm (not shown in the figure) is provided inside the first dust box. The nozzle support arm is arranged along the inner wall of the first dust box and can be located at the bottom, top, half, one-third or two-thirds of the inner sidewall of the first dust box 1051. At least one second nozzle is provided on the nozzle support arm. The nozzle support arm is in communication with the float cavity so that the liquid in the float cavity can be sprayed out from the outlet of the second nozzle through the nozzle support arm to clean the filter surface of the first dust box.

[0360] The driving device for the cleaning water source can be the pump that the cleaning equipment 100 uses to adjust its buoyancy and descent, the main water pump of the cleaning equipment 1000, or an external base station water pump installed on the base station. No limitation is made here. When the cleaning water source comes from a water tank on the base station or an external water source such as tap water, the cleaning equipment 100 is equipped with a water inlet connected to the nozzle support arm. During self-cleaning operation, this water inlet connects to the water tank outlet on the base station 2000 or the outlet of the external water source.

[0361] In some embodiments, referring to FIG16B, FIG16B is a cross-sectional schematic diagram of a first dust box and a first dust chamber in an embodiment of the present disclosure. For ease of explanation, the second nozzle 2044 is indicated by a circle in the figure. The cleaning device is provided with a first dust chamber 300, and the first filter assembly 400 includes a first dust box 401, which is disposed in the first dust chamber. In this embodiment, the second nozzle is disposed in the space between the inner wall of the first dust chamber and the outer wall of the first dust box. The number of second nozzles can be one or more. The head of the second nozzle is provided with several water outlets. The second nozzle can be a rotatable nozzle or a non-rotatable nozzle. Multiple nozzles can be independently disposed on the inner side wall of the first dust chamber 300, for example, disposed at the four corners of the bottom or top of the first dust chamber, or disposed at the four corners of the bottom, top, half, one-third or two-thirds of the inner side wall of the first dust chamber. The present invention is not limited to this. In addition, the second nozzles can be symmetrically disposed, or diagonally disposed, or disposed in a regular or irregular manner. Multiple second nozzles can spray water independently or in conjunction. Multiple second nozzles can each be connected to a first water inlet pipe 1017, or all nozzles can be connected in series or in parallel through one or more first water inlet pipes 1017. The first water inlet pipes 1017 can be connected to cleaning water sources individually, or they can be collected and then connected to a unified cleaning water source. The only difference between this embodiment and the above embodiments is the location of the nozzle. The other structures are basically similar and can be used interchangeably without causing conflict. They will not be described in detail here.

[0362] In some embodiments, referring to FIG16C, FIG16C is a cross-sectional schematic diagram of a first dust box and a first dust chamber in an embodiment of the present disclosure. For ease of explanation, the setting position of the second nozzle is indicated by a circle in the figure. The cleaning device 100 is provided with a first dust chamber 300. The first filter assembly 400 includes a first dust box 401. The first dust box 401 is disposed in the first dust chamber 300. A first dust chamber cover 1018 is provided above the first dust chamber. The first dust chamber cover 1018 can be disposed on the housing of the cleaning device. The first dust box 401 can be taken out or put back by opening the first dust chamber cover. The first dust box 401 is provided with an upward opening. At least one second nozzle 2044 is also provided on the first dust chamber cover 1018. The head of the second nozzle is provided with several water outlets. The multiple second nozzles are arranged facing the filter surface of the first dust box in different directions. The second nozzle is a rotatable nozzle or a non-rotatable nozzle. Multiple second nozzles can be independently installed on the inner sidewall of the first dust chamber cover 1018 facing the filter surface of the first dust box, for example, at the four corners of the first dust chamber cover 1018, or at the center of the first dust chamber cover 1018; the invention is not limited thereto. Furthermore, the second nozzles can be symmetrically arranged, diagonally arranged, regularly arranged, or irregularly arranged. Multiple nozzles can spray water independently or in conjunction. In another embodiment, at least one strip-shaped or ring-shaped nozzle support arm is provided on the inner wall of the first dust chamber cover 1018 facing the first dust box. The nozzle support arm is arranged along the inner wall of the first dust chamber cover 1018 and can be arranged in a specific shape, such as a straight line or a star shape. At least one second nozzle is provided on the nozzle support arm, and multiple second nozzles are arranged facing the filter surface of the first dust box at different locations. The nozzle support arm is connected to the float cavity so that liquid in the float cavity can be sprayed out from the outlet of the second nozzle through the nozzle support arm 2172 to clean the filter surface of the first dust box. The only difference between this embodiment and the above embodiments is the location of the nozzle. The other structures are basically similar and can be used interchangeably without causing conflict. They will not be described in detail here.

[0363] In some embodiments, the first dust box is provided with a dust box cover, which can open or close the first dust box. When the dust box cover is opened, the internal space of the dust box can be exposed. The second nozzle can also be provided on the dust box cover of the first dust box. The specific configuration structure and cleaning process are similar to those of the nozzle being provided on the first dust box cover 1018, and will not be described in detail here.

[0364] This invention provides a self-cleaning cleaning device, eliminating the need for frequent cleaning of the filter components within the cleaning device 100. Users only need to periodically replace or clean the second filter component within the base station, significantly reducing labor costs. Furthermore, since the support member 2050 is positioned on the shore, such as the edge of a pool, it and the second filter component are not permanently submerged in the water. This keeps the pool debris within the second filter component 2110 dry, preventing bacterial growth and odors caused by prolonged immersion in water. In another embodiment, a drying device can be installed within the cavity of the support member 2050 to promptly dry the pool debris collected by the second filter component, further preventing bacterial growth and odors.

[0365] The following section details the specific setup methods and sources of clean water sources:

[0366] In some embodiments, the clean water source originates from a water tank on the base station. The base station 2000 is also equipped with a water tank, which may be located within the cavity of the support member 2050, on its surface, beside its side wall, or in other suitable locations. The water tank stores a certain amount of liquid, such as water, detergent, or disinfectant, used as a clean water source for cleaning the first filter assembly. This invention is not limited to the aforementioned liquids; any liquid capable of cleaning and harmless to humans falls within the scope of this invention.

[0367] In some embodiments, the cleaning water source may also be liquid from the float cavity. The cleaning device 100 is provided with a first water outlet channel, which can be directly or indirectly connected to the float cavity, for example, by connecting the float cavity through a first connecting pipe, so that the liquid in the float cavity can flow out of the cleaning device 100 through the first water outlet channel. When the cleaning device 100 is docked on the carrier for self-cleaning operation, when a liquid level difference is formed in the first receiving cavity, the liquid in the float cavity is driven to be sprayed towards the filter surface of the first filter assembly through the second nozzle, thereby cleaning the filter surface of the first filter assembly.

[0368] In some embodiments, the cleaning water source can also be water from a pool. In this case, the second nozzle is connected to the water in the pool through a water path. In this embodiment, a filter device can be installed at the water path to prevent dirt from the pool from being sucked into the second nozzle.

[0369] In some embodiments, the cleaning water source can also be an external water source, where "external" refers to a part other than the pool and the base station. In this case, the second nozzle can be connected to an external water source through a water path, such as connecting to an external tap water pipe or an external cleaning solution, etc., to clean the filter surface of the first filter component using the external water source.

[0370] In some embodiments, the cleaning water source may be liquid from the drain channel 2010. For example, the second support arm may be disposed on the drain channel, or the second nozzle may be connected to the drain channel through a water passage. Liquid filtered by the second and third filter components may enter the second nozzle through the water passage and be sprayed from the second nozzle onto the filter surface of the first filter component, thereby cleaning the filter surface of the first filter component.

[0371] The present invention also includes a water flow driving device, which drives the clean water source to the second nozzle and sprays it onto the filter surface of the first filter assembly through the outlet on the second nozzle 2044, thereby cleaning the filter surface of the first filter assembly. The water flow driving device can be a pump used by the cleaning device 100 itself to adjust its buoyancy and descent, or another pump in the suction assembly of the cleaning device. It can also be a base station water pump or an air pump, etc. The present invention is not limited to these. The base station water pump can be installed in any suitable location within the base station, such as inside the water tank or any location within the support member 2050. In one embodiment, the suction assembly of the cleaning device 100 or other pumps can also be used as the water flow driving device to drive the clean water source to flow to the second nozzle 2044.

[0372] The docking process between the cleaning equipment and the base station is described below through some embodiments, as shown in Figures 13A-13I. For ease of explanation, some irrelevant and optional components, such as support components and second support arms, are omitted from the figures. The cleaning equipment 100 in Figures 13A-13G is drawn in a simplified manner, and its posture is almost similar to that of the cleaning equipment in Figure 11F, that is, the cleaning equipment is in a horizontal or near-horizontal posture, with the first water inlet 201 in front and the second water inlet facing downwards. In Figures 11F and 13A-13F, the final docking posture of the cleaning equipment is in a roughly horizontal state, that is, in the height direction of the cleaning equipment (i.e., the Z-axis direction), the top of the cleaning equipment faces the positive Z-axis direction and the bottom faces the negative Z-axis direction. After docking, the cleaning equipment will also be in a roughly horizontal state.

[0373] Referring to Figure 13A, the cleaning device 100 docks with the carrier of the base station in water. At this time, the length of the carrier is adjusted to be suitable for docking in water. The first connector is in the shape of an "I". The self-cleaning inlet 2100 is perpendicular to the surface of the carrier. The self-cleaning outlet is located on the front side of the cleaning device and below the first inlet 201. The cleaning device moves from the water to the carrier 2040 of the base station. When the cleaning device moves towards the carrier in a parallel posture facing or approximately facing the front of the carrier (i.e., the cleaning device moves towards the front of the carrier along the positive X-axis), since the first connector can be made of flexible material, the self-cleaning inlet and the self-cleaning outlet can be docked well by relying only on the suction between the first docking component and the second docking component and / or the thrust of the first drive mechanism, without the cleaning device itself needing to perform too much rotation.

[0374] When the cleaning equipment approaches the carrier in a parallel, edge-to-edge manner, or when it first contacts the side of the carrier or travels towards the side of the carrier, the cleaning equipment needs to rotate or turn as it approaches or contacts the carrier to adjust its posture to face the carrier directly for docking. For example, when the cleaning equipment approaches the carrier in water in a right-edge-to-right manner, and the carrier is positioned at position A in Figure 15A, the cleaning equipment, upon contacting or approaching the side of the carrier at a certain distance, controls the state of the first drive mechanisms on both sides to first rotate 90 degrees to the left, travel a certain distance, then rotate 90 degrees to the right, and so on, thus achieving a posture facing the carrier directly. At this point, the thrust of the first drive mechanism and / or the suction between the first and second docking components dock the cleaning equipment with the carrier, achieving docking between the self-cleaning drain outlet and the self-cleaning inlet.

[0375] In some embodiments, referring to Figure 13B, the cleaning device 100 docks with the carrier of the base station in water. The first connector is L-shaped, with the self-cleaning inlet facing parallel to the carrier. The length of the carrier is adjusted to suit underwater docking. The self-cleaning outlet of the cleaning device is located at the bottom; for example, a second inlet can be used as the self-cleaning outlet, or a separate self-cleaning outlet can be provided at the bottom of the cleaning device. The underwater docking process in this embodiment is basically similar to that in the above embodiments and will not be described in detail here.

[0376] In another embodiment, referring to Figure 13C, the cleaning device 100 docks with the carrier of the base station in water. The first connector is L-shaped, and the orientation of the self-cleaning inlet is parallel to that of the carrier. The orientation of the self-cleaning inlet in this embodiment is opposite to that in the above embodiments. The self-cleaning outlet of the cleaning device is located at the top of the cleaning device. Other structures and docking methods are basically similar to those in the above embodiments and will not be described again here.

[0377] In some embodiments, referring to Figure 13D, Figure 13D shows another implementation of the underwater docking of the self-cleaning device in Figure 13B. The length of the carrier is adjusted to be suitable for docking the cleaning device with it in the water. When the cleaning device receives the back-to-base station command, it is located on the water surface, that is, in the water surface state. At this time, the cleaning device can first travel on the water surface to directly above the self-cleaning drain port of the carrier, control the mode switching component, so that the cleaning device starts to sink from the water surface state in an approximately parallel posture. During the sinking process, docking is achieved through the suction between the first docking component and the second docking component.

[0378] Similarly, the self-cleaning device in Figure 13C can also adopt another docking method. Referring to Figure 13E, the length of the carrier is adjusted to be suitable for docking the cleaning device with it in the water. When the cleaning device receives the return base station command, it is located at the bottom of the pool, that is, in the state of being at the bottom of the pool. At this time, the cleaning device can first travel at the bottom of the pool to directly below the self-cleaning drain port of the carrier. At this time, by adjusting the operation mode of the cleaning device drive device, the cleaning device is raised from the bottom of the pool in a parallel posture. During the raising process, docking is achieved by the suction between the first docking component and the second docking component.

[0379] In some embodiments, the cleaning device and the carrier are connected at the bottom of the pool, as shown in Figure 13F. The length of the carrier is adjusted to suit the connection between the cleaning device and the carrier at the bottom of the pool. The self-cleaning drain outlet is located on the front side of the cleaning device and below the first water inlet 201. The difference between this embodiment and the embodiment in Figure 13A is that in this embodiment, the cleaning device ultimately moves from the bottom of the pool to the carrier 2040 of the base station, while in Figure 13A, the cleaning device ultimately moves from the water surface to the carrier 2040 of the base station. For example, in this embodiment, when the cleaning device receives a command to return to the base station while cleaning the water surface, the cleaning device can switch from the water surface state to the pool bottom state through the mode switching component, that is, switch from the water surface state to the bottom pool state. At this time, the cleaning device moves from the pool bottom to the carrier. Other methods in this embodiment are basically similar to those in Figure 13A and will not be described in detail here.

[0380] Similarly, referring to Figure 13G, in this embodiment, the cleaning equipment a...

Claims

1. A cleaning device, said cleaning device being capable of cleaning at least the surface of a pool of water, the cleaning device comprising: A housing having at least a first receiving cavity; A first water inlet is located on the side of the casing; A drive mechanism is used to drive the cleaning equipment to move on the water surface; A first filter component is at least partially housed in the first receiving cavity. The first filter component has a first opening at a position corresponding to the first water inlet, and the first opening is connected to the first water inlet. When the cleaning equipment cleans the surface of the pool, the surface debris enters the first filter component from the first water inlet. Its characteristic is that it further includes: A waste propulsion device, wherein the waste propulsion device sprays fluid into the first opening to accelerate the flow of surface waste from the first inlet into the first filter assembly.

2. The cleaning apparatus of claim 1, wherein, The waste propulsion device includes a jet nozzle, a conveying device, and a jet channel. The jet channel includes a first fluid channel and a second fluid channel. The conveying device is connected to the jet nozzle through the first fluid channel. The jet nozzle is located at or near the first water inlet. The jet nozzle can spray fluid onto the water surface at the first opening to accelerate the flow of waste from the water surface into the first filter assembly from the first water inlet.

3. The cleaning apparatus of claim 2, wherein, The conveying device is also connected to the first receiving cavity through a second fluid channel, for conveying the liquid in the first receiving cavity to the jet nozzle.

4. The cleaning apparatus of claim 2, wherein, The conveying device is also connected to the air inlet at the top of the housing via a second fluid channel, for conveying air from the water surface to the jet nozzle.

5. A cleaning apparatus as claimed in any one of claims 3-4, characterized in that, The first water inlet includes four side walls: an upper side wall, a lower side wall, a left side wall, and a right side wall. The jet nozzle is disposed inside or on at least one of the four side walls of the first water inlet.

6. The cleaning apparatus of claim 5, wherein, The jet nozzle is at least two, with at least one disposed on the left side wall of the first inlet and at least one disposed on the right side wall of the first inlet. A fifteenth opening is also disposed on the left side wall and the right side wall.

7. A cleaning apparatus as claimed in any one of claims 3-4, characterized in that, The first water inlet includes an upper sidewall and a lower sidewall, and there are at least two jet nozzles, at least one of which is located on the lower sidewall of the first water inlet at a position on the left, and at least one of which is located on the lower sidewall of the first water inlet at a position on the right.

8. The cleaning apparatus of claim 1, wherein, The first filter assembly further includes a filter cleaning assembly for cleaning the filter of the first filter assembly.

9. The cleaning apparatus of claim 8, wherein, The first filter assembly shown includes a first component and a second component. The second component is provided with a first filter surface. The filter cleaning component is arranged around the first filter surface, or the first filter surface surrounds the filter cleaning component. The first component and the second component respectively collect different types of waste from the water tank.

10. The cleaning apparatus of claim 1, wherein, It also includes a fourth filter component, which is located above the housing and is connected to the internal space of the first filter component. When the amount of waste inside the first filter component exceeds a certain amount, the cleaning device can transfer the waste inside the first filter component to the fourth filter component. Alternatively, the cleaning equipment can periodically transfer the debris inside the first filter element to the fourth filter element.

11. The cleaning apparatus of claim 10, wherein, The cleaning device also includes a first suction component, and a second inlet and a first outlet are provided at the bottom of the housing. The second inlet is connected to the inside of the first filter component, and the first outlet is connected to both the first suction component and the first filter component. The first suction component has a first working mode and a second working mode. In the first working mode, the first suction component is used to form a water flow from the second inlet of the cleaning device to the inside of the first filter component, and then to the first outlet. In the second working mode, the first suction component is used to form a water flow from the first outlet to the inside of the first filter component, and then to the inside of the fourth filter component, thereby transferring the debris inside the first filter component to the inside of the fourth filter component.

12. A cleaning system comprising a cleaning apparatus according to any one of claims 1-11; characterized in that, It also includes a base station, which includes: A support member is disposed on the wall of a water tank, at least partially below the water surface and at least partially above the water surface, the support member being suitable for docking the cleaning equipment; A support member is located on the bank of the pool, with one end connected to a carrier member. A second filter assembly is installed inside the support member. The base station is able to draw the garbage from the first filter assembly of the cleaning equipment parked on the carrier member into the second filter assembly, and discharge the liquid filtered by the second filter assembly outside the base station.

13. The cleaning system of claim 12, wherein, The cleaning equipment travels from the water surface to the carrier and docks with it. After docking, the cleaning equipment is in a roughly horizontal or vertical state.

14. The cleaning system of claim 12, wherein, The cleaning equipment travels from the pool wall to the support and docks with it. After docking, the cleaning equipment is in a roughly vertical or horizontal state.

15. The cleaning system according to any of claims 13-14, characterized by The cleaning device is also provided with a first docking component and a self-cleaning drain port, the self-cleaning drain port being connected to the interior of the first filter component; the carrier is also provided with a second docking component and a self-cleaning inlet, the self-cleaning inlet being connected to the interior of the second filter component; when the cleaning device is docked with the carrier, the first docking component is connected to the second docking component, and the self-cleaning inlet is connected to the self-cleaning drain port.

16. The cleaning system of claim 13, wherein, The height of the self-cleaning inlet can be adaptively adjusted relative to the water surface of the pool, thereby keeping the distance between the self-cleaning inlet and the water surface of the pool approximately constant.

17. The cleaning system of claim 12, wherein, The support member is also provided with a fourth receiving cavity, and the second filter component is disposed in the fourth receiving cavity. Liquid filtered by the second filter component can flow into the fourth receiving cavity. The base station also includes a drainage channel, which is connected to the fourth receiving cavity. Liquid in the fourth receiving cavity can be discharged into a water pool or outside the base station through the drainage channel.

18. The cleaning system of claim 17, wherein, The support component is also provided with a second suction assembly, which can draw the dust-laden liquid in the first filter assembly of the cleaning equipment into the second filter assembly.

19. The cleaning system of claim 18, wherein, The support component is also equipped with a drying or disinfection device for drying or disinfecting the waste in the second filter assembly.

20. A control method of a cleaning system comprising a cleaning system according to any one of claims 12-19, the cleaning device being adapted to operate in a water basin, characterized in that, The method includes: The cleaning equipment received a command to return to the base station; If the cleaning equipment is on the water surface, the cleaning equipment will move from the water surface to the carrier and complete the docking operation on the water surface; If the cleaning equipment is at the bottom of the pool, the cleaning equipment will switch from the bottom state to the surface state, and then move towards the carrier in the surface state to complete the docking operation. If the cleaning equipment is on the pool wall, the cleaning equipment will switch from the pool wall state to the water surface state, and then move towards the carrier in the water surface state to complete the docking operation. After docking is completed, the base station will suck the garbage in the first filter component of the cleaning equipment docked on the carrier into the second filter component, and discharge the liquid filtered by the second filter component out of the base station; The state of the pool bottom refers to the state when the cleaning equipment is located at the bottom of the pool, including the state of walking on the bottom of the pool and the state of keeping the position unchanged. The state of the pool wall refers to the state of the cleaning equipment when it is located on the pool wall, including the state of walking on the pool wall and the state of keeping its position unchanged. The water surface state refers to the state of the cleaning equipment when it is located on the water surface, including the state of walking on the water surface, the state of keeping the position unchanged, and the state of floating. The switching from the bottom state to the surface state includes switching directly from the bottom state to the surface state, or switching from the bottom state to the pool wall state and then switching to the surface state.

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