Base station, cleaning system, cleaning system control method, and robotic pool cleaner

Abstract

A base station, a cleaning system, a cleaning system control method, and a robotic pool cleaner. A base station (2000) comprises: a base station body (20001); a second filter box (21102) provided on the base station body (20001), the second filter box (21102) being provided with at least one third inlet (21101), and the third inlet (21101) being used as an inlet for debris to enter the second filter box (21102); and at least one first spray head (2173) provided on the base station body (20001), the first spray head (2173) being used for spraying liquid to a first filter box (1051) of a robotic pool cleaner (1000) so as to clean the first filter box (1051), wherein when the robotic pool cleaner (1000) stops on the base station (2000), the third inlet (21101) can be communicated with a third opening (10531) of the first filter box (1051), so that the second filter box (21102) receives debris from the first filter box (1051).

Description

A base station, a cleaning system, a cleaning system control method, and a swimming pool robot.

[0001] This disclosure claims priority to U.S. Patent Application No. US18 / 946861, filed November 13, 2024, entitled “Walking Device, Cleaning Equipment and Method for Controlling Cleaning Equipment”, the entire contents of which are incorporated herein by reference.

[0002] This disclosure claims priority to PCT application No. PCT / CN2024 / 137628, filed on December 6, 2024, entitled "Cleaning System, Cleaning Equipment, Base Station and Control Method for Cleaning System", the entire contents of which are incorporated herein by reference.

[0003] 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.

[0004] 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.

[0005] This disclosure claims priority to PCT application No. PCT / CN2025 / 074953, filed on January 24, 2025, entitled "Cleaning System", the entire contents of which are incorporated herein by reference.

[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.

[0007] This disclosure claims priority to Chinese Patent Application No. 2025108644645, filed on June 25, 2025, entitled “A Base Station and a Cleaning System”, the entire contents of which are incorporated herein by reference.

[0008] This disclosure claims priority to Chinese Patent Application No. 2025111810532, filed on August 22, 2025, entitled "A Base Station, a Cleaning System, a Cleaning System Control Method and a Pool Robot", the entire contents of which are incorporated herein by reference. [Technical Field]

[0009] This disclosure relates to the field of cleaning equipment technology, and in particular to a base station, a cleaning system, a cleaning system control method, and a swimming pool robot. [Background Technology]

[0010] When existing pool robots are performing cleaning tasks in the water or when the cleaning task is completed, if the first filter box of the pool robot is full of trash, or if the amount of trash reaches a preset amount, the trash in the first filter box needs to be cleaned. At this time, the user needs to manually retrieve the pool robot from the pool, remove the first filter box from the main body, and empty the trash in the first filter box. If some trash is attached to the inner wall of the first filter box and is difficult to empty, the user needs to manually clean the trash attached to the inner wall of the first filter box.

[0011] It is evident that the cleaning of the first filter box in existing pool robots can only be done manually by the user, resulting in low cleaning efficiency. [Summary of the Invention]

[0012] This disclosure provides a base station for cleaning the first filter box of a swimming pool robot and receiving waste from the first filter box. The base station includes a base station body; a second filter box disposed on the base station body; the second filter box having at least one third inlet, the third inlet serving as an entry point for waste into the second filter box; and at least one first nozzle disposed on the base station body, the first nozzle being used to spray liquid onto the first filter box of the swimming pool robot to clean the first filter box; when the swimming pool robot is stationary on the base station, the third inlet can communicate with a third opening of the first filter box, allowing the second filter box to receive waste from the first filter box, thereby achieving automatic cleaning of the first filter box without manual intervention from the user.

[0013] This application also provides a cleaning system, including a base station and a pool robot; wherein the base station includes a second filter box, the second filter box having at least one third inlet, the third inlet serving as an entry point for waste into the second filter box; at least one first nozzle; the pool robot includes a first body; the first filter box, at least partially disposed within the first body; a third opening, at least partially disposed at the bottom of the first filter box; a first bottom cover for opening or closing the third opening; the first nozzle for spraying liquid onto the first filter box to clean it; when the pool robot is stationary on the base station, the first bottom cover opens the third opening, the third opening communicating with the third inlet, allowing waste in the first filter box to enter the second filter box through the third opening and the third inlet.

[0014] Preferably, the first filter box includes a first frame, at least a portion of which is disposed on the bottom of the first frame; at least one first filter screen disposed on the first frame; and at least one first bottom cover movably disposed on the first frame to open or close the third opening.

[0015] Preferably, the pool robot also includes at least one first water inlet, which is connected to the first filter box; when the pool robot is cleaning the pool bottom or pool wall, the first water inlet is used to allow liquid to flow into the first filter box; the first water inlet is located on the first bottom cover, and the first bottom cover drives the first water inlet to move synchronously to open or close the third opening.

[0016] Preferably, the pool robot also includes at least one fourth inlet located on the first body, the fourth inlet communicating with the interior of the first body, so that the first nozzle can extend into the first body through the fourth inlet to spray liquid onto the first filter box; or so that the first nozzle can exit the first body.

[0017] Preferably, the first nozzle is rotatably or retractably mounted on the base station body, so that the first nozzle has a retracted position and an extended position; when the first nozzle is in the retracted position, the first nozzle is located outside the pool robot; when the first nozzle is in the extended position, the first nozzle extends into the first body through the fourth inlet.

[0018] Preferably, the pool robot further includes a second water inlet, located on the front or rear side wall of the first main body, and the second water inlet communicates with the first filter box; when the pool robot is cleaning the water surface, the second water inlet allows liquid to flow into the first filter box; and / or a pick-and-place port, at least partially located on the top of the first main body, for placing the first filter box into or removing it from the first main body; one of the second water inlet and the pick-and-place port serves as the fourth inlet.

[0019] Preferably, the base station further includes a third receiving cavity; a fourth opening communicating the third receiving cavity with the outside; at least a portion of the fourth opening being located above at least a portion of the third inlet; a second filter box removably disposed within the third receiving cavity; and a drain outlet for discharging liquid from the third receiving cavity outside the base station; when the pool robot is stationed on the base station, at least a portion of the third opening is located above at least a portion of the fourth opening, so that waste in the first filter box can sequentially fall into the second filter box through the third opening, the fourth opening, and the third inlet.

[0020] Preferably, the cleaning system also includes a locking mechanism for locking the first bottom cover to the first frame; and an unlocking mechanism for driving the locking mechanism to move, releasing the locking mechanism from the first bottom cover, so that the first bottom cover moves relative to the first frame to open or close the third opening.

[0021] Preferred, the locking mechanism locks the first bottom cover onto the first frame by extending; the unlocking mechanism drives the locking mechanism to retract by telescopic movement or rotation, thereby releasing the locking mechanism from locking the first bottom cover.

[0022] Preferably, after the locking mechanism releases the first bottom cover from the lock, the first bottom cover rotates under its own weight to open the third opening; the cleaning system further includes a closing mechanism for driving the first bottom cover to rotate toward the third opening so that the first bottom cover closes the third opening.

[0023] Preferably, the base station further includes a lever mechanism that, by reciprocating swinging or reciprocating movement, moves the waste in the second filter box to spread out the accumulated waste; and / or a charging component; the charging component is used to charge the pool robot when the pool robot stops on the base station. [Attached Image Description]

[0024] Figure 1 is a cross-sectional schematic diagram of an embodiment of the pool robot provided in this disclosure;

[0025] Figure 2 is a schematic diagram of the structure of the pool robot provided in this disclosure after a cross-sectional view;

[0026] Figure 3 is a partial structural schematic diagram of the pool robot in Figure 1;

[0027] Figure 4 is a structural schematic diagram of an embodiment of the pool robot provided in this disclosure;

[0028] Figure 5 is a partial structural diagram of the first bottom cover of the first filter box of the pool robot in Figure 4, with the first cover in the open state;

[0029] Figure 6 is a partial structural diagram of the first bottom cover of the first filter box of the pool robot in Figure 4 in the closed state;

[0030] Figure 7 is a partial structural diagram of the second handle of the first filter box of the pool robot in Figure 4 in the second state;

[0031] Figure 8 is a partial structural diagram of the second handle of the first filter box of the pool robot in Figure 4 in the first state;

[0032] Figure 9 is an exploded view of the pool robot in Figure 4 after some of its structure has been removed;

[0033] Figure 10 is a cross-sectional view of the first bottom cover of the first filter box of the pool robot in Figure 4 in the closed state;

[0034] Figure 11 is a cross-sectional view of the first bottom cover of the first filter box of the pool robot in Figure 4 with the first cover open;

[0035] Figure 12 is a structural schematic diagram of an embodiment of the pool robot provided in this disclosure;

[0036] Figure 13 is a partial structural schematic diagram of the pool robot in Figure 12;

[0037] Figure 14 is a cross-sectional view of the pool robot in Figure 12;

[0038] Figure 15 is a structural schematic diagram of an embodiment of the pool robot provided in this disclosure;

[0039] Figure 16 is a structural schematic diagram of an embodiment of the first filter box provided in this disclosure;

[0040] Figure 17 is a structural schematic diagram of an embodiment of the first filter box provided in this disclosure;

[0041] Figure 18 is a partial structural schematic diagram of the first filter box provided in this disclosure, which has a first bottom cover drive component;

[0042] Figure 19 is a structural schematic diagram of an embodiment of the first filter box provided in this disclosure with the first bottom cover in a closed state;

[0043] Figure 20A is a structural schematic diagram of an embodiment in which the first engagement mechanism of the first filter box and the fourth clearance opening cooperate to realize the second handle in the second state;

[0044] Figure 20B is a schematic diagram of the structure of an embodiment of the first filter box provided in this disclosure, in which the second handle is in the second state under the cooperation of the first engagement mechanism and the second engagement mechanism;

[0045] Figure 21 is a structural schematic diagram of an embodiment of the first filter box provided in this disclosure with the first bottom cover in the open state;

[0046] Figure 22A is a structural schematic diagram of an embodiment in which the first engagement mechanism of the first filter box and the fourth clearance opening cooperate to realize the second handle in the first state;

[0047] Figures 22B and 20B are schematic diagrams of the structure of the first filter box provided in this disclosure, with the second handle in the first state under the cooperation of the first and second locking mechanisms.

[0048] Figure 23 is a structural schematic diagram of an embodiment of the first dust bin provided in this disclosure;

[0049] Figure 24 is a schematic diagram of a structure of an embodiment of the second engagement mechanism of the first dust chamber provided in this disclosure;

[0050] Figure 25 is a structural schematic diagram of an embodiment of the second handle and the first engaging mechanism of the first filter box provided in this disclosure;

[0051] Figure 26 is a partial structural schematic diagram of an embodiment of the unlocking mechanism of the first filter box provided in this disclosure;

[0052] Figure 27 is a partial structural schematic diagram of an embodiment of the unlocking mechanism of the first filter box provided in this disclosure;

[0053] Figure 28 is a partial structural schematic diagram of an embodiment of the first filter box provided in this disclosure with the first bottom cover in the open state;

[0054] Figure 29 is a partial structural schematic diagram of an embodiment of the first filter box provided in this disclosure with the first bottom cover in a closed state;

[0055] Figure 30 is an exploded view of an embodiment of the first bottom cover of the first filter box provided in this disclosure;

[0056] Figure 31 is a partial structural schematic diagram of a base station according to an embodiment of the present disclosure;

[0057] Figure 32 is a structural schematic diagram of an embodiment of the base station provided in this disclosure;

[0058] Figure 33 is a cross-sectional view of the pool robot in Figure 32;

[0059] Figure 34 is a cross-sectional view of the pool robot in Figure 32;

[0060] Figure 35 is a top view of the pool robot in Figure 32;

[0061] Figure 36 is a top view of the pool robot in Figure 32;

[0062] Figure 37 is a structural schematic diagram of an embodiment of the base station provided in this disclosure;

[0063] Figure 38 is a cross-sectional view of the pool robot in Figure 37;

[0064] Figure 39 is a cross-sectional view of the pool robot in Figure 37;

[0065] Figure 40 is a cross-sectional schematic diagram of a partial structure of the pool robot in Figure 37;

[0066] Figure 41 is a cross-sectional schematic diagram of a partial structure of the pool robot in Figure 40;

[0067] Figure 42 is a cross-sectional schematic diagram of a partial structure of the pool robot in Figure 40;

[0068] Figure 43 is a structural schematic diagram of an embodiment of the base station provided in this disclosure in which the first nozzle is in an extended state;

[0069] Figure 44 is a structural schematic diagram of an embodiment of the base station provided in this disclosure with the first nozzle in a retracted state;

[0070] Figure 45 is a cross-sectional schematic diagram of the base station in Figure 43;

[0071] Figure 46A is a cross-sectional schematic diagram of the base station in Figure 43;

[0072] Figure 46B is an exploded view of an embodiment of the base station body;

[0073] Figure 47 is a structural schematic diagram of an embodiment of the pool robot provided in this disclosure located on a base station body;

[0074] Figure 48 is a structural schematic diagram of an embodiment of the pool robot provided in this disclosure performing a cleaning operation on the first filter box located on the base station body;

[0075] Figure 49 is a structural schematic diagram of an embodiment of the first nozzle of the base station;

[0076] Figure 50 is a structural schematic diagram of an embodiment of the first nozzle of the base station;

[0077] Figure 51 is a structural schematic diagram of an embodiment of the first nozzle of the base station;

[0078] Figure 52 is a structural schematic diagram of an embodiment of the first nozzle of the base station;

[0079] Figure 53 is a partial structural schematic diagram of an embodiment of the first nozzle of the base station;

[0080] Figure 54 is a structural schematic diagram of an embodiment of the toggle assembly and unlocking lever of the base station;

[0081] Figure 55 is a schematic diagram of an embodiment in which the lever assembly of Figure 54 cooperates with the unlocking lever to place the unlocking lever in the first position;

[0082] Figure 56 is a schematic diagram of one embodiment of the toggle assembly and unlocking lever of the base station;

[0083] Figure 57 is a schematic diagram of an embodiment in which the lever assembly of Figure 56 cooperates with the unlocking lever to place the unlocking lever in the first position;

[0084] Figure 58 is a schematic diagram of an embodiment of the base station push rod assembly in a retracted state;

[0085] Figure 59 is a partial structural schematic diagram of an embodiment of the base station push rod assembly in the extended state;

[0086] Figure 60 is a schematic diagram of an embodiment of the base station push rod assembly in the extended state;

[0087] Figure 61 is a schematic diagram of one embodiment of the drying component and charging component of the base station;

[0088] Figure 62 is a structural schematic diagram of an embodiment of the drying component and charging component of a base station;

[0089] Figure 63 is a cross-sectional schematic diagram of an embodiment of the drying assembly and charging assembly of Figure 62;

[0090] Figure 64 is a structural schematic diagram of an embodiment of the drying component and charging component of the base station;

[0091] Figure 65 is a structural schematic diagram of an embodiment of the second filter box of the base station.

[0092] Figure 66A is a top view of the arrangement of the first closing mechanism, the lever mechanism, and the charging component on the mounting plate.

[0093] Figure 66B is a structural schematic diagram of an embodiment in which the first closing mechanism, the lever mechanism, and the charging component are arranged on the mounting plate;

[0094] Figure 66C is a schematic diagram of an embodiment in which the first closing mechanism, the lever mechanism, and the charging assembly are arranged on the mounting plate (a schematic diagram from the bottom of the mounting plate to the top of the mounting plate);

[0095] Figure 66D is a schematic diagram of an embodiment of the two lever mechanisms arranged on the mounting plate when they are in the sixth position.

[0096] Figure 67A is a schematic diagram of the lever mechanism in the fourth position;

[0097] Figure 67B is a structural schematic diagram of Figure 67A from another angle;

[0098] Figure 68A is a schematic diagram of the lever mechanism in the fifth position;

[0099] Figure 68B is a structural schematic diagram of Figure 68A from another angle;

[0100] Figure 69A is a schematic diagram of an embodiment of the lever mechanism in the sixth position;

[0101] Figure 69B is a structural schematic diagram of Figure 69A from another angle;

[0102] Figure 70A is a schematic diagram of an embodiment in which the pool robot is stopped on the base station with the first bottom cover closed and the third opening closed;

[0103] Figure 70B is a schematic diagram of an embodiment of the swimming pool robot parked on the base station with the first bottom cover opened;

[0104] Figure 70C is a schematic diagram of an embodiment in which the pool robot is stopped on the base station, the first closing mechanism drives the first bottom cover to rotate, and the first bottom cover closes the third opening.

[0105] Reference numerals: 1000 - Cleaning equipment / pool robot; 1001 - First body / cleaning equipment body; 1001a - First end; 1001b - Second end; 1001c - Front shell; 1001d - Rear shell; 1001e - Upper shell; 1001f - Bottom shell; 1001f1 - First side; 1001f2 - Second side; 1001g - First side shell; 1001h - Second side shell; 1001j - Third clearance opening; 10011 - Front; 10012 - Rear; 10013 - First receiving cavity; 10013a - Second drain port; 10013b - Third drain port; 10013c - Third baffle; 100131 - Upper section; 100132 - Lower section; 100133 - First transition section; 100134 - Second engaging mechanism; 100134a - First slide groove; 100134b - First groove; 10134c - First hook part; 10014 - Second receiving cavity; 10014a - First cavity; 10014b - Second cavity; 1015 - Cover; 1016 - Fourth inlet; 1017 - Loading / unloading port; 1018 - First dust chamber cover / first shielding cover; 105 - First drain port; 1020 - Charging receiver; 1021 - Fourth groove; 1031 - First inlet; 1032 - Second inlet; 1033 - Seventh opening; 1040 - Liquid outlet; 1041 - First outlet; 10411 - First sub-drain outlet; 10412 - Second sub-drain outlet; 10413 - Sixth baffle; 10414 - First flow channel; 10414a - First sub-flow channel; 10414b - Second sub-flow channel; 10415 - Second flow channel; 10416 - Main flow channel; 1050 - First filter assembly; 1051 - First filter box / first dust box; 10511a - First inlet; 10511b - Second inlet; 10511c - First baffle; 10511c1 - Second mounting part; 10511c2 - Second movable part; 10511d - Second baffle; 10511f - Fifth baffle; 10511g - Fifth opening; 10517 - First base plate; 10518 - Sixth opening; 1052 - First dust bin; 10523 - First protrusion; 1053 - First frame; 10531 - Third opening; 10532 - Eleventh opening; 10533 - Second outer edge; 10534 Second slide groove; 10535 Second groove; 10536 First extension; 1054 First bottom cover; 1054a First mounting part; 1054b First movable part; 1054c First pivot; 1054d First mounting cavity; 10541 First base; 10542 Second base; 105421 First sub-base; 105421a Protrusion; 105421b First transition part; 105421c First mating part; 105422 Second sub-base; 105422a Second transition part; 105422b Second mating part;105423 - Third sub-base; 105424 - First stepped surface; 1055 - First filter screen; 1056 - Counterweight; 1057 - Second handle; 10581 - First interceptor; 10582 - First gap; 10591 - First engaging mechanism; 10591a - First engaging protrusion; 105921 - Third gear; 105922 - Fourth gear; 105923 - Motor; 1060 - Suction assembly; 1061 - Main water pump; 10611 - Main motor; 10612 - Main impeller; 1071 - Traveling mechanism; 10721 - First thruster; 1080-Locking mechanism; 10801-First limiting hole; 10802-First telescopic component; 108021-First limiting end; 108022-First mounting end; 10803-Fourth elastic component; 10804-First sliding hole; 10805-Second sliding hole; 10806-First limiting component; 1091-First section; 1092-Second section; 1101-Floating cavity; 1103-Air intake; 1131-Main roller brush; 1132-Side brush; 115-Lateral propulsion assembly; 115a-Fourth flow channel; 115b-Second motor; 115c-Second impeller; 1171-First traveling wheel; 1172-Second traveling wheel; 1173-Annular area; 117-Track; 1201 - First distance sensor; 1203 - First image acquisition unit; 1205 - Third distance sensor; 1206 - First communication sensor; 1300 - First drain outlet; 1400 - Battery pack; 2000 - Base station; 20001 - Base station body; 20001a - Second top cover; 20001b - Second side cover; 20001c - Second bottom cover; 20002 - Fourth clearance opening; 200011 - Fourth receiving cavity; 200013 - Mounting plate; 200018 - Dwelling surface; 2000181 - First section; 2000182 - Second section; 200020 - First air outlet; 2000201 - Second air outlet; 200021 - Fourth baffle; 200023 - Support assembly; 2000231 - Support platform; 2000232 - Guide port; 200024 - Auxiliary support assembly; 2010 - Fifth receiving cavity; 2020 - Sixth receiving cavity; 2040 - Bearing component; 2041 - First end; 2042 - Second end; 2043 - Bearing surface; 2054 - Third receiving cavity; 2055 - Fourth opening; 2056 - Ninth opening; 2090 - Charging component; 2091 - Charging element; 20911 - Positive charging element; 20912 - Negative charging element; 2094 - Supporting roller; 2096 - First base; 20961 - Second mounting end; 20962 - Second free end; 2110 - Second filter assembly; 21101 - Third inlet; 21102 - Second dust box / second filter box; 211041 - Tray; 211042 - Water outlet; 2112 - Second frame; 2113 - Second filter screen;2114-First handle / first pull handle; 2120-Drain outlet; 2150-Second dust bin; 2170-Second cleaning component; 2171-Support base; 2172-Support arm; 2173-First nozzle; 21731-Liquid inlet component; 21732-Nozzle; 21733-First sub-nozzle; 21734-Second sub-nozzle; 2174-Motor; 2175-First gear; 2176-Second gear; 2190-First sealing box; 2191-Processor; 2192-Power adapter; 2400-Button; 2800-Drying component; 2801-Fan; 2802-Heating element; 2803-First air duct; 2804-Second air duct; 2805-Main air duct; 2806-Third baffle; 7000 - Charging position; 7001 - Cleaning position; 7002 - Parking position; 7003 - Unlocking mechanism; 70031 - Unlocking component; 70032 - Second mating part; 70033 - Second telescopic part; 70034 - Fifth elastic part; 70035 - Motor; 70036 - Fifth clearance opening; 70037 - Unlocking lever; 70038 - Sliding seat; 70039 - Cam; 70040 - Second protrusion; 7004-First closing mechanism; 70041-Push rod; 700411-Third mounting part; 700412-Push part; 70042-Motor; 70043-First connecting port; 7005-Second closing mechanism; 70051-Protruding assembly; 7006-Lever mechanism; 70061-Lever assembly; 70062-Lever; 700621-Actuating part; 700622-First connecting part; 700623-Second connecting part; 70063-Actuating tooth; 7007-Limiting part; 7010-First positioning detection assembly; 7011-Second positioning detection assembly.

Detailed Implementation Methods

[0106] 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. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0107] 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 some of the embodiments disclosed herein. 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 the embodiments described herein can be combined with other embodiments.

[0108] This application provides a cleaning system, which includes a cleaning device 1000 and a base station 2000. The base station is used at least to clean the first filter box 1051 of the cleaning device, so that the garbage in the first filter box is transferred from the cleaning device or temporarily stored in the base station.

[0109] In some embodiments, the base station includes a base station body, a first nozzle, and a second filter box; wherein the first nozzle cleans the first filter box by spraying liquid onto it; when the pool robot stops on the base station body, it sprays liquid through the first nozzle to clean the first filter box, and the debris in the first filter box falls into the second filter box, thereby transferring the debris in the first filter box into the second filter box.

[0110] The cleaning equipment 1000 is used to perform cleaning, disinfection, and rescue tasks in a target area. The target area can be any area containing water in which the cleaning equipment 1000 can move. For example, the target area may include, but is not limited to, swimming pools, water tanks, oil wells, sewers, etc. The following description uses a swimming pool (or water tank) as an example. For a swimming pool, the pool includes at least a pool bottom and pool walls.

[0111] The cleaning equipment can be positioned on the pool bottom, meaning it has a pool-bottom posture and can move or stay on the pool bottom; or, the cleaning equipment can be below the water surface but its bottom does not contact the pool bottom, meaning it can float or move in the water, and its bottom does not touch the pool bottom, indicating it has a floating posture. The cleaning equipment can also be positioned on the pool wall, meaning it has a wall-climbing or pool-wall-hugging posture and can move or stay on the pool wall. Finally, the cleaning equipment can be positioned on the water surface, meaning it has a floating posture. For example, at least part of the cleaning equipment is above the water surface, and at least part is below the water surface; the cleaning equipment floats on the water surface and can move or remain still on the water surface.

[0112] For example, the cleaning equipment is a pool robot. For ease of explanation, the following text will use a pool robot as an example to illustrate the structure of the cleaning equipment.

[0113] For pool robots, they can be robots powered by built-in rechargeable batteries or devices powered by external cables. If a pool robot has the ability to move along the pool bottom and walls, it can clean those areas. If it has bottom, wall, and surface movement capabilities, it can clean the pool bottom, walls, and surface. A pool robot with movement capabilities is considered an autonomous walking robot, requiring no user pushing or pulling.

[0114] In some embodiments, as shown in FIG1, the cleaning device includes a cleaning device body 1001 (hereinafter referred to as "first body" for ease of description), at least one liquid inlet, at least one first filter assembly 1050, at least one liquid outlet 1040, and at least one suction assembly 1060. The liquid inlet 1030 is used to allow pool liquid to enter the cleaning device body 1001, enabling the pool robot to clean at least one of the pool bottom, pool walls, waterline, and water surface. The liquid outlet 1040 is used to discharge the liquid filtered by the first filter assembly out of the first body. The suction assembly 1060 is used to generate suction force, thereby guiding the direction of liquid flow. The first filter assembly 1050 is used to filter the dust-laden water flow, retaining debris in the water flow within the first filter assembly.

[0115] Under the action of the suction component 1060, the dust-laden water in the pool is drawn into the first filter component through the liquid inlet and filtered by the first filter component. The garbage carried in the liquid remains in the first filter component. After being filtered, the liquid is discharged from the first main body through the liquid outlet after passing through the suction component.

[0116] In some embodiments, the first filtration assembly includes at least a first filter box 1051 (i.e., a first dust box), at least a portion of which is disposed within the first body, and the first filter box is used to filter liquids entering therein.

[0117] In some embodiments, as shown in Figures 1, 10, and 11, the liquid inlet section includes at least a first inlet 1031, and the liquid outlet section includes at least one first outlet 1041. The first inlet 1031, the first filter assembly 1050, the suction assembly 1060, and the first outlet 1041 are sequentially fluidly connected to form a first water path for cleaning the bottom wall, side wall, or waterline of the pool. For example, in some embodiments, there is one first outlet. Alternatively, in other embodiments, there are multiple first outlets. For example, there are two, three, or more first outlets.

[0118] In other embodiments, as shown in Figures 1, 4, 7 and 8, the liquid inlet includes at least a second water inlet 1032, and the liquid outlet includes at least a first water outlet 1041; the second water inlet 1032, the first filter assembly 1050, the suction assembly 1060 and the first water outlet 1041 are sequentially connected to form a second water path for cleaning the water surface and water line.

[0119] In some embodiments, as shown in FIG4, the first body includes a first end 1001a and a second end 1001b, one of which is a front portion 10011 and the other is a rear portion 10012. For example, a second water inlet is provided on the first end or the second end of the first body. For example, one of the first end and the second end is a front end and the other is a rear end. The front end includes at least the front sidewall of the first body, and the rear end includes at least the rear sidewall of the first body.

[0120] For example, as shown in Figures 1, 4, and 7 to 9, in some embodiments, the second water inlet 1032 is located on the front side wall of the first main body, and the cleaning device cleans the water surface by moving forward when cleaning the water surface. In another embodiment, the second water inlet 1032 is located on the rear side wall of the first main body (not shown in the figure), and the cleaning device cleans the water surface by moving backward when cleaning the water surface.

[0121] In some embodiments, the first body is the outer shell of a pool robot, as shown in Figures 4, 6, and 9. The first body includes at least a front shell 1001c, a rear shell 1001d, a bottom shell 1001f, an upper shell 1001e, a first side shell 1001g, and a second side shell 1001h. The front shell is connected to the front end or front portion of the bottom shell, the first side shell, the second side shell, and the upper shell, and the rear shell is connected to the rear end or rear portion of the bottom shell, the first side shell, the second side shell, and the upper shell to form the first outer shell.

[0122] In this embodiment, the front sidewall of the first body refers to the front shell, and the rear sidewall of the first body refers to the rear shell; the bottom of the first body refers to the bottom shell, and the top of the first body refers to the top shell; the first sidewall of the first body includes at least the first side shell, and the second sidewall of the first body includes at least the second side shell. Alternatively, the first sidewall includes the first side shell, and at least one of a portion of the bottom shell and a portion of the top shell; or, the second sidewall includes the second shell side, and at least one of a portion of the bottom shell and a portion of the top shell. For example, as shown in FIG9, the side of the bottom shell extends upward with a first side edge 100f1 and a second side edge 1001f2, then the first sidewall includes the first side shell and the first side edge, and the second sidewall includes the second side shell and the second side edge. In some embodiments, the aforementioned front end of the first body includes at least the front shell, and the rear end includes at least the rear shell; or, in other embodiments, the front end includes at least the front shell, and at least one of the front portion of the first side shell, the front portion of the second side shell, and the front portion of the bottom shell. The rear end includes at least a rear shell, and at least one of the rear portion of the first side shell, the rear portion of the second side shell, and the rear portion of the bottom shell.

[0123] In some embodiments, as shown in FIG9, the first body includes a first receiving cavity 10013 and a second receiving cavity 10014, which are separated. A second drain port 10013a is provided on the side wall of the first receiving cavity, which connects the first receiving cavity and the second receiving cavity. At least a portion of the first filter box is disposed in the first receiving cavity. The suction assembly 1060 includes a main water pump 1061, which is disposed in the second receiving cavity. The first water outlet is connected to the second receiving cavity, so that the first water inlet, the first filter box, the first receiving cavity, the second drain port, the main water pump, and the first water outlet are sequentially fluidly connected to form a first water path.

[0124] Furthermore, in some other embodiments, as shown in Figures 1, 10, and 11, the second receiving cavity 10014 includes a first cavity 10014a and a second cavity 10014b, wherein the first cavity and the second cavity are separated; a second drain port 10013a connects the first receiving cavity and the first cavity, and a first outlet 1041 is provided on the first main body and communicates with the first cavity. The suction assembly includes at least a main water pump, the main impeller of the main water pump is located in the first cavity 10014a, the main motor of the main water pump is located in the second cavity 10014b, the first outlet communicates with the first cavity, and the second drain port connects the first receiving cavity and the first cavity, so that the first inlet, the first filter box, the first receiving cavity, the second drain port, the main impeller in the first cavity, and the first outlet are sequentially fluidly connected to form a first water path. The second inlet, the first filter box, the first receiving cavity, the second drain outlet, the main impeller inside the first cavity, and the first outlet are connected in sequence to form the aforementioned second water channel.

[0125] In some embodiments, as shown in Figures 10 and 11, the pool robot further includes a cover 1015, which specifically comprises a first cavity 10014a. One end of the cover 1015 is disposed on the side wall of the first receiving cavity and covers or surrounds the second drain port 10013a, so that the second drain port 10013a communicates with the first cavity 10014a. The other end of the cover 1015 is connected to the first water outlet. As shown in Figures 1, 10, and 11, the portion of the second receiving cavity outside the cover serves as the second cavity 10014b. The main motor 10611 of the main water pump is disposed in the electrical control box, and the output shaft of the main motor extends out of the electrical control box and into the cover, connecting to the main impeller 10612.

[0126] In some embodiments, as shown in FIG1, a third drain port 10013b is provided on the side wall or bottom of the first receiving cavity, or a portion of the third drain port is on the side wall of the first receiving cavity and a portion is on the bottom of the first receiving cavity; the third drain port 10013b is connected to the second cavity 10014b. As shown in FIG5, FIG6 and FIG13, a first drain port 105 is provided on the bottom or side wall of the first body, or a portion of the first drain port is provided on the bottom of the first body and a portion is provided on the side wall of the first body; the first receiving cavity, the third drain port 10013b, the second cavity and the first drain port are connected in sequence to form a third water channel for rapid drainage. When the pool robot is lifted off the water, the third baffle 10013c on the third drain port opens, and the liquid in the first filter box and the first receiving cavity is quickly discharged out of the cleaning equipment through the third drain port, the second cavity and the first drain port. The third baffle on the third drain port is only open when the pool robot leaves the water. In other states, the third baffle is always closed.

[0127] Regarding the second cavity, in some embodiments, any internal cavity outside the first cavity of the first body, other than the first receiving cavity, can serve as the second cavity. For example, in some embodiments, the first dust chamber 1052 (mentioned below) is located within the first body, and the internal cavity of the first dust chamber serves as the first receiving cavity. Then, the cavity formed between the inner wall of the first body and the outer wall of the first dust chamber serves as the second receiving cavity. For example, the internal cavities formed between the first dust chamber and the front shell, the first side shell, the second side shell, the bottom shell, and the rear shell can all serve as the second receiving cavity. The cavities other than the cover body serve as the second cavity.

[0128] In some embodiments, the pool robot includes a fourth handle, which the user can grip to lift the pool robot out of the pool and allow it to exit the water; or, the user can move the pool robot from the shore. For example, the fourth handle is located on the front of the first main body, and there are multiple first drain ports 105, some located on the rear side wall of the first main body and some located on the bottom of the first main body. When the user lifts the handle, the pool robot exits the water in an inclined posture. At this time, the first drain port on the rear side wall of the first main body is located below the first drain port on the bottom of the first main body. After the liquid in the first receiving cavity enters the second cavity through the third drain port, it can be quickly discharged from the first drain port on the rear side wall of the first main body, further accelerating the drainage speed of the pool robot during the exiting the water process.

[0129] In some embodiments, as shown in Figures 1, 10, and 11, the pool robot further includes a first electrical control box 6000. The first electrical control box 6000 has a sealed cavity, at least a portion of which is located within a second cavity. The main motor of the main water pump 1061 is disposed within the sealed cavity, and the output shaft of the main motor extends out of the sealed cavity and into the first cavity, connecting to the main impeller 1061a. In some embodiments, the sealed cavity of the first electrical control box is used to house electrical components and the motor. For example, the first electrical control box may house at least one of the following: a drive motor for the walking mechanism, a processor (or controller), a sensor, and a first adjusting member for the buoyancy and submersion mechanism, to prevent the electrical components and motor from contacting the outside environment and affecting the robot's performance.

[0130] In some embodiments, the pool robot further includes a battery pack 1400 for powering the pool robot. In some embodiments, the battery pack is disposed within a first control box; or, in other embodiments, the battery pack is externally encased in a waterproof layer, and the first battery pack is disposed within a second cavity but outside the first control box. In some embodiments, the first battery pack is connected to a charging receiver, which may be a charging plate or a coil. A charging assembly on a base station is used to charge the charging receiver to charge the first battery pack. For example, the charging receiver is disposed on the bottom or side wall of the first body for the charging assembly on the base station to charge the first battery pack of the pool robot.

[0131] In some embodiments, as shown in FIG19, the first filter box further includes an eleventh opening 10532, at least a portion of which is located on the top of the first filter box. As shown in FIG4, FIG7, and FIG9, the pool robot further includes a pick-up / placement port 1017 and a first cover 1018, wherein at least a portion of the pick-up / placement port is located on the top of the first body and communicates with the first receiving cavity, and the first cover is movably located at the pick-up / placement port to open or close the pick-up / placement port. The pick-up / placement port is used for the user to place the first filter box into the first receiving cavity or to remove the first filter box from the first receiving cavity. The eleventh opening communicates with the pick-up / placement port, which facilitates the user to empty the waste in the first filter box through the eleventh opening; and also facilitates the first nozzle to penetrate the pick-up / placement port and the eleventh opening to extend into the first filter box and spray liquid to clean the first filter box when the first nozzle cleans the first filter box.

[0132] In some embodiments, as shown in FIG9, the first body further includes a first dust chamber 1052, which is disposed within the first body. The inner cavity of the first dust chamber serves as a first receiving cavity to separate the first receiving cavity from the second receiving cavity. For example, the first dust chamber is fixed to the upper shell or the bottom shell; or, the first dust chamber is integrally formed on the bottom shell or the upper shell. In some embodiments, the loading and unloading port is disposed on the top of the first dust chamber, the first filter box is disposed inside the first dust chamber, and a first dust chamber cover 1018 (i.e., a first shielding cover 1018) is disposed above the first dust chamber. The first shielding cover is disposed on the first body to cover the loading and unloading port of the first dust chamber. Opening the first dust chamber cover 1018 exposes the first filter box 1051, thereby facilitating the user to remove or put back the first filter box 1051 from the first receiving cavity.

[0133] For example, in some embodiments, the first dust chamber is fixed to the aforementioned bottom shell; or, the first dust chamber is fixed to the aforementioned upper shell. As an alternative embodiment of the first dust chamber, the first dust chamber can be replaced by a partition, which is arranged to form a first receiving cavity.

[0134] In some embodiments, the suction assembly 1060 includes at least one main water pump disposed within the first body. For example, in some embodiments, there is one main water pump. In other embodiments, there are at least two or more main water pumps. Under the action of at least one main water pump, liquid flows sequentially through the inlet section, the first filter box, the first receiving cavity, the main impeller of the main water pump, and the outlet section to be discharged outside the pool robot.

[0135] For example, in some embodiments, there is one main water pump and one first outlet. Alternatively, in other embodiments, there is at least one main water pump, and the first outlet includes at least one first sub-drainage port 10411 and a second sub-drainage port 10412, both located on the rear of the first body.

[0136] In other embodiments, there are multiple suction components, each corresponding to at least one first outlet. For example, there may be two, three, four, or more suction components. For ease of description, the suction component located at the rear of the first main body is referred to as the first suction component, and the first outlet corresponding to the first suction component is referred to as the first sub-outlet. The suction component located within the second cavity and distributed outside the sidewall of the first filter box is referred to as the second suction component, and the first outlet corresponding to the second suction component is referred to as the second sub-outlet.

[0137] The first suction component is disposed within the second cavity and located behind the first filter box. For example, there may be one, two, or three first suction components. Specifically, in some embodiments, there are two first suction components, both disposed within the second cavity and located behind the first filter box, with each first suction component corresponding to a first sub-outlet. Alternatively, in other embodiments, there is only one first suction component.

[0138] In some embodiments, the second suction assembly is disposed within the second cavity and located outside the side wall of the first filter box, i.e., the second suction assembly is located at the front of the first body. For example, there are two second suction assemblies, distributed outside the side walls of the first filter box, with each second suction assembly corresponding to a second sub-outlet. Specifically, one second suction assembly is located in the area between the first side wall of the first body and the first dust chamber, and the other second suction assembly is located in the area between the second side wall of the first body and the first dust chamber. Since both the first control box and the first suction assembly are located at the rear of the first body, the weight of the rear of the first body is greater than the weight of the front of the first body. By providing one or more second suction assemblies at the front of the first body to increase the weight of the front of the first body, the front of the pool robot will not tilt upwards when walking downhill from a horizontal surface to a slope, or uphill from a slope to a horizontal surface, thus improving the stability of the pool robot when walking on the pool bottom.

[0139] In some embodiments, each suction assembly corresponds to a housing to form a first cavity, such that the main impeller of each suction assembly is disposed in a corresponding first cavity. For the second suction assembly, the main motor of the main pump of the second suction assembly is not housed in the first electrical control box, but is housed in a separate sealed box, thus isolating the main motor from the liquid in the second cavity.

[0140] In some embodiments, when the pool robot includes the aforementioned second suction component, when the pool robot is cleaning the water surface, the first suction component is turned on and the second suction component is turned off. Since the second sub-outlet of the second suction component is closer to the second inlet than the first sub-outlet, if the second suction component is turned on, the second sub-outlet will spray liquid, which can easily push away the debris in the liquid in front of the second inlet, affecting the entry of debris on the water surface into the second inlet.

[0141] In some embodiments, the second receiving cavity is closer to the second end than the first receiving cavity or the first filter box, and at least one of the main water pump, the first electrical control box, and the first battery pack is disposed in the second receiving cavity. In some embodiments, the pool robot moves along a first direction on the pool bottom to clean the pool bottom, wherein the first direction is the direction from the first end to the second end; in other embodiments, the pool robot cleans the pool bottom along a second direction on the pool bottom; wherein the second direction is the direction from the second end to the first end, and the first and second directions are opposite.

[0142] It should be noted that, in the aforementioned embodiment, the second receiving cavity is a cavity within the first main body other than the first receiving cavity. In the first direction, the first filter box includes at least a first side portion near the first end and a second side portion near the second end; and in a third direction perpendicular to the first direction, a third side portion near the first sidewall of the first main body and a fourth side portion near the second sidewall of the first main body. The second receiving cavity includes at least a first region formed between the first side portion and the first end, a second region formed between the second side portion and the second end, a third region formed between the third side portion and the first sidewall, and a fourth region formed between the fourth sidewall and the second sidewall. In this embodiment, the second receiving cavity being closer to the second end than the first receiving cavity or the first filter box means that the second region of the second receiving cavity is closer to the second end than the first receiving cavity or the first filter box. At least one of the main water pump, the first electrical control box, and the first battery pack is located within the second region of the second receiving cavity. The term "second receiving cavity" as used below refers to the second region and will not be elaborated further.

[0143] For example, in some embodiments, the first end is the front end and the second end is the rear end. The second receiving cavity is closer to the rear end than the first receiving cavity. Since at least one of the suction assembly, the first electronic control box, and the first battery pack is located in the second receiving cavity, especially the main water pump of the suction assembly, the weight of the rear part of the pool robot is greater than the weight of the front part. When the pool robot moves along the second direction on the pool bottom, i.e., the direction of travel of the pool robot, especially when the pool robot moves downhill from a generally flat surface or uphill from a slope to a generally flat surface, the greater weight of the rear part of the pool robot compared to the front part causes the pool robot to be prone to tipping over when walking on the pool bottom; and the pool robot may float when walking or turning on the pool bottom.

[0144] In other embodiments, when the pool robot cleans the bottom of the pool, the pool robot moves along a first direction; and in the first direction, the second receiving cavity is located in front of the first filter box; or, at least one of the first control box, the main water pump, and the first battery pack is located in front of the first receiving cavity or the first filter box.

[0145] For example, in some embodiments, the first end is the front end and the second end is the rear end. The second receiving cavity is closer to the rear end (i.e., the second end) than the first receiving cavity. Since at least one of the suction assembly, the first electronic control box, and the first battery pack is located in the second receiving cavity, and at least one first water outlet is located at the rear of the first body, the weight of the rear of the pool robot is greater than the weight of the front. The pool robot moves along the first direction on the pool bottom, i.e., the backward direction. Because the second receiving cavity is located in front of the first receiving cavity or the first filter box, and at least one of the suction assembly, the first electronic control box, and the first battery pack is located in front of the first receiving cavity or the first filter box, and the weight of the rear of the pool robot is greater than the weight of the front, the pool robot will not exhibit tipping or drifting when moving backward on the pool bottom. Furthermore, in some embodiments, when cleaning the pool wall, the pool robot moves along the first direction, i.e., the pool robot moves backward on the pool wall.

[0146] For example, in some embodiments, the first end is the rear end, the second end is the front end, and the second receiving cavity is closer to the second end than the first receiving cavity or the first filter box. At least one of the suction assembly, the first battery pack, and the first control box is disposed in the second receiving cavity. When the pool robot cleans the bottom of the pool, the pool robot moves along the first direction. Since the first end is the rear end and the second end is the front end, the first direction is the forward direction of the pool robot. In the first direction, the second receiving cavity is located in front of the first receiving cavity or the first filter box, and at least one of the suction assembly, the first control box, and the first battery pack is located in front of the first receiving cavity or the first filter box. This makes the weight of the front part of the pool robot greater than the weight of the rear part of the pool robot, so that the pool robot will not exhibit a nose-lifting or drifting phenomenon when moving forward on the bottom of the pool. In some embodiments, when the pool robot cleans the pool wall, the pool robot moves along the first direction, that is, the pool robot moves forward on the pool wall; or when the pool robot cleans the pool wall, it moves along the second direction, that is, the pool robot moves backward on the pool wall.

[0147] In some embodiments, if the second water inlet is located on the first end, when the pool robot is cleaning the water surface, the pool robot moves on the water surface along the second direction. For example, if the first end is the front end and the second end is the rear end, then the second direction is the forward direction of the pool robot; or, if the first end is the rear end and the second end is the front end, then the second direction is the backward direction of the pool robot.

[0148] In other embodiments, if the second water inlet is located on the second end, the pool robot moves along the first direction on the water surface when cleaning. For example, if the first end is the front end and the second end is the rear end, then the second direction is the backward direction of the pool robot; or if the first end is the rear end and the second end is the front end, then the second direction is the forward direction of the pool robot.

[0149] In some embodiments, there are at least two main water pumps, with at least one main water pump located within the second receiving cavity, wherein at least one main water pump is closer to the second end than the first filter box. For example, in some embodiments, there are at least two main water pumps, both of which are located within the second receiving cavity.

[0150] Alternatively, in other embodiments, at least one main water pump is located in the second receiving cavity, and at least one main water pump is located in the first receiving cavity and within the first filter box, but away from the first filter cavity of the first filter box. The first receiving cavity is closer to the first end than the second receiving cavity. If at least one main water pump is located in the first receiving cavity, the weight of the front part of the pool robot is increased, thereby reducing or avoiding the phenomenon of the pool robot tilting and drifting when moving along the second direction at the bottom of the pool.

[0151] For at least one main water pump located within the first receiving cavity and the first filter box, for example, the first filter box includes a first outer side wall, a first inner side wall, and a first bottom wall, the first outer side wall, the first inner side wall, and the first bottom wall forming an annular first filter cavity; the second inner side wall forms a clearance cavity, and the main impeller of the main water pump is located within the clearance cavity. In one embodiment, at least one first filter screen is provided on the first outer side wall, and no first filter screen is provided on the first inner side wall. Then, the liquid in the pool enters the first filter cavity through the first inlet or the second inlet, is filtered by the first filter screen, the waste remains in the first filter cavity, the liquid enters the first filter box and the first receiving cavity, flows through the clearance cavity, passes the main impeller, and finally exits the pool robot through the first outlet.

[0152] In some embodiments, as shown in Figures 12 and 14, the first outlet 1041 includes a first sub-drainage outlet 10411 and a second sub-drainage outlet 10412, wherein the first sub-drainage outlet 10411 is located at the front of the cleaning device and the second sub-drainage outlet 10412 is located at the rear of the cleaning device.

[0153] The first cavity includes a main channel 10416 and a second channel 10415. The main channel is connected to the first receiving cavity via a second drain port 10013a, and the main channel is connected to the second channel 10415. The main impeller of the main water pump is located in the main channel. The second channel is located downstream of the main impeller and is connected to the second sub-drain port. The liquid outlet also includes a first channel 10414 and a sixth baffle 10413. One end of the first channel 10414 is connected to one end of the second channel, and the other end of the first channel is connected to the first sub-drain port 10411. The sixth baffle is located in the first channel or the second channel, or at the connection between the first channel and the second channel. The sixth baffle is used to switch the main channel from being connected to the first channel or the second channel, so as to select the liquid in the main channel to be discharged through the first sub-drain port or the second sub-drain port. Since the first sub-drain outlet is located at the front of the first main body, when the pool robot is cleaning the bottom of the pool, the sixth baffle cuts off the connection between the main channel and the second channel, so that the main channel and the first channel are connected, and the liquid is discharged through the first sub-drain outlet. This liquid generates a thrust on the front of the pool robot towards the bottom of the pool, thereby preventing the pool robot from tilting its head and drifting when walking on the bottom of the pool.

[0154] In other embodiments, a first flow channel is disposed on a first shielding cover 1018, and the first flow channel moves synchronously with the first shielding cover. A second flow channel is disposed within a first main body, and the first flow channel is located above the first filter box. The first flow channel has a state of being separated from the second flow channel and a state of being connected to the first flow channel. A first sub-drain outlet is disposed on the first shielding cover. When the first shielding cover opens the pick-up / drop-off port, the first shielding cover drives the first flow channel to move synchronously, separating the first flow channel from the second flow channel, so that the user can pick up or drop the first filter box in the first receiving cavity through the pick-up / drop-off port. When the first shielding cover closes the pick-up / drop-off port, the first flow channel and the second flow channel are connected. By rotating the sixth baffle, the connection between the main flow channel and the first flow channel or the second flow channel is switched, thereby selecting the liquid in the main flow channel to be discharged through the second sub-drain outlet 10412 or the first sub-drain outlet 10411.

[0155] Alternatively, in some other embodiments, as shown in Figure 14, the first flow channel 10414 includes a first sub-flow channel 10414a and a second sub-flow channel 10414b. The second sub-flow channel is connected to the first main body and is located within the first main body, remaining stationary. The first sub-flow channel 10414a is connected to the first sub-drain outlet, and the first and second sub-flow channels have both separated and connected states. The first sub-flow channel and the first sub-drain outlet are located on the first cover. When the first cover opens the access port, the first cover drives the first sub-flow channel to move synchronously, separating the first and second sub-flow channels, making it convenient for the user to take out and put in the first filter box through the access port. When the first cover closes the access port, the first and second sub-flow channels are connected. The aforementioned sixth baffle can be located on at least one of the second sub-flow channel and the second flow channel.

[0156] For example, in Figure 12, there are two first outlets, each of which includes a first sub-drain outlet and a second sub-drain outlet. Each first outlet corresponds to a first flow channel, a second flow channel, a main flow channel, at least one main impeller of a main water pump, and at least one sixth baffle 10413. In another embodiment, one first outlet may be provided; or, three or more first outlets may be provided, each of which corresponds to at least one main water pump.

[0157] In some other embodiments, the first sub-drainage port and the second sub-drainage port may both be located at the rear of the first main body. In this embodiment, when the pool robot is cleaning the bottom of the pool, it moves along the first direction on the bottom of the pool to avoid the pool robot from tilting its head up.

[0158] In some embodiments, as shown in Figures 12, 13, and 15, the pool robot further includes at least one first distance sensor 1201. The first distance sensor is located on a first end, and a second water inlet is also located on the first end. Since the pool robot moves along a second direction on the water surface when cleaning, the first distance sensor located on the first end is used to detect the distance between the pool robot and obstacles, facilitating obstacle avoidance. Obstacles can be pool walls, steps within the pool, pillars, lounge chairs, sun decks, etc. For example, the first distance sensor can be an ultrasonic sensor, an infrared sensor, a line laser sensor, or an LDS sensor. In other embodiments, there can be at least two first distance sensors, with the two second sensors being different sensors. For example, one first distance sensor is an ultrasonic sensor, and the other is an infrared sensor.

[0159] In some embodiments, the pool robot further includes at least one second distance sensor (not shown in the figure). The second distance sensor is disposed on the second end. Since the pool robot moves along a first direction when cleaning the pool bottom, and the second end is located in front of the first end in the first direction, the second distance sensor on the second end is used to detect the distance between the pool robot and obstacles. The obstacles are similar to those in the previous embodiments, and will not be described again here. Similar to the first distance sensor, the second distance sensor can be an ultrasonic sensor, an infrared sensor, a line laser sensor, or an LDS, etc. Similarly, in other embodiments, there can be at least two second distance sensors, and the two second distance sensors are different sensors.

[0160] In some embodiments, as shown in Figures 5 and 6, the pool robot further includes at least one third distance sensor 1205. The third distance sensor is disposed on one side wall of the first main body and is used to detect the distance between the pool robot and the pool wall or obstacles when the pool robot walks along the edge of the pool bottom or water surface, for edge walking or obstacle avoidance. Similarly, the third distance sensor can be an ultrasonic sensor, an infrared sensor, a line laser sensor, or an LDS, etc. In some embodiments, there can also be at least two third distance sensors, and the two third distance sensors are different sensors. For example, one third distance sensor is an ultrasonic sensor, and the other is an infrared sensor.

[0161] In some embodiments, as shown in Figures 4 to 9, 12, 13, and 15, the pool robot further includes at least one first image acquisition unit 1203, which is located at a first end and is used to acquire images of objects in the pool or on the shore. For example, the first image acquisition unit is a camera. When the second water inlet is located at the first end, the pool robot moves along the second direction on the water surface while cleaning the water surface, and the first image acquisition unit acquires images of objects in the pool from the front. The images of objects within the pool can be at least one of the following: pool walls, pool bottom, water surface, and images of trash and obstacles within the pool. The first image acquisition unit acquires images of the pool bottom, pool walls, and water surface. The processor uses these images to perform 3D mapping of the pool and to locate the current position of the pool robot. Alternatively, the first image acquisition unit acquires photos of trash within the pool. The processor uses these images to control the pool robot to deviate from its current position (i.e., the first current position) and move towards the direction of the trash acquired by the first image acquisition unit to clean it. After the pool robot has cleaned the trash for a preset time or a preset number of times, the processor controls the pool robot to return from its current position (i.e., the second current position) to the first current position and continue moving along the original path to perform any previously unfinished tasks. Alternatively, the first image acquisition unit acquires images of obstacles within the pool. The processor uses these images to control the pool robot to either cross or avoid the obstacles. The images of objects on the shore can include base stations, buildings, pets, people, etc. The processor can use the images acquired by the first image acquisition unit to control the pool robot to return from the pool to the base station, or to return to the vicinity of the base station; or it can control the pool robot to stop on the water's surface near a person on the shore, making it easier for the person to retrieve the robot. For example, the pool robot may stop in a roughly horizontal position on the water's surface or at the waterline. Alternatively, the pool robot may stop close to the pool wall at the waterline.

[0162] In some embodiments, the pool robot further includes at least one second image acquisition device (not shown in the figure), disposed at the second end, for acquiring images of objects within the pool. The images of objects within the pool can be images of the pool walls, pool bottom, water surface, and debris, obstacles, etc., within the pool. When the pool robot moves along the first direction at the bottom of the pool, the second image acquisition device acquires photos of objects within the pool from the front, identical to the images acquired by the first image acquisition device. Based on the images from the second image acquisition device, the processor creates a 3D map of the pool, locates the current position of the pool robot, performs targeted cleaning of debris, and avoids or overcomes obstacles, etc. For details, please refer to the descriptions of the first image acquisition device and the processor described above.

[0163] In some embodiments, if the pool robot moves in the second direction when cleaning the pool bottom and when cleaning the water surface, i.e., the second water inlet is located at the first end, then a second image acquisition device may not be required, and only a first image acquisition device may be provided. The first image acquisition device can be one or more, for example, at least two. One first image acquisition device is located at the upper part of the first end and is used at least to acquire images of objects on the pool surface and on the shore; another first image acquisition device is located at the middle or lower part of the first end and is used at least to acquire images of objects below the pool surface. In some embodiments, when the pool robot is cleaning the water surface, at least a portion of the first image acquisition device located at the upper part of the first end is above the water surface, or the entire first image acquisition device is above the water surface, facilitating more accurate image acquisition of objects on the pool surface and on the shore from the air. When the pool robot is cleaning the bottom of the pool, the first image acquisition unit located at the lower or middle part of the first end is below the water surface, so that the first image acquisition unit is in a water environment. That is, the first image acquisition unit is in a single medium environment, which can more accurately acquire images of objects in the pool; and avoid the situation where the camera part of the first image acquisition unit is located in the air and part is located in the water, resulting in unclear images acquired in two different media.

[0164] In some embodiments, as shown in FIG12, a first image acquisition device is disposed on a first end, and there are two first image acquisition devices. The two first image acquisition devices are distributed on both sides of the second water inlet, and at least part of each first image acquisition device is located above the second water inlet. This allows the first image acquisition device to be at a greater distance from the water surface when the pool robot moves on the water surface, and the first image acquisition device can capture a wider field of view, making it easier to acquire images of a larger area of ​​water surface or objects on the shore.

[0165] In other embodiments, as shown in Figure 12, when a side brush 1132 is provided on the first end, the first image acquisition device is located above the side brush. For example, there are two side brushes, distributed on both sides of the second water inlet. When the pool robot walks along the edge of the pool bottom or water surface, one side brush can brush the pool wall; when the pool robot cleans the water surface, both side brushes rotate, and the side brushes push the liquid near the side brushes toward the second water inlet, so that the liquid enters the second water inlet more quickly.

[0166] In some embodiments, as shown in Figures 12 and 13, the pool robot further includes at least one first communication sensor 1206, and at least one second communication sensor is provided on the base station. Communication is established below the water surface through the first and second communication sensors, enabling underwater communication between the pool robot and the base station. For example, both the first and second communication sensors can be underwater acoustic sensors. In some embodiments, as shown in Figures 4 to 8, 12, 13, and 15, if the pool robot moves along a second direction on the water surface, both the first communication sensor and the second water inlet are located on the first end, with the first communication sensor located below the second water inlet. Regardless of whether the pool robot moves on the water surface, the bottom of the pool, or the pool wall, both the first and second communication sensors remain below the water surface. To obtain the direction of the pool robot relative to the base station, the total number of first and second communication sensors is typically at least three. For example, there are two first communication sensors and one second communication sensor, with the two first communication sensors symmetrically arranged on the first end, forming a triangular relationship between the two first communication sensors and the second communication sensor.

[0167] In the aforementioned embodiments, the first receiving cavity and the second region of the second receiving cavity are arranged side by side in the horizontal direction, that is, the first filter box and the first electronic control box are arranged horizontally, for example, front and back. This arrangement makes the space occupied by the first receiving cavity relatively small, thus the volume of the first filter cavity in the first filter box is small, and the amount of garbage that the first filter cavity can hold is small. At the same time, the first electronic control box, the main motor, the drive motor of the walking mechanism, the first adjustment component of the buoyancy and submersion mechanism, the battery pack, etc. are located in the second region of the second receiving cavity, so that the weight of the rear of the pool robot is greater than the weight of the front of the pool robot, and the center of gravity of the pool robot is closer to the rear of the pool robot. More counterweights need to be set in the pool robot to adjust the center of gravity of the pool robot to reach the preset position, so as to improve the movement performance of the pool robot.

[0168] In other embodiments, the aforementioned first receiving cavity is located above the second receiving cavity, and in the height direction of the pool robot, the first filter box is distributed above the first electrical control box. That is, the first filter box is stacked on top of the first electrical control box, but the first water inlet of the first filter box and the first electrical control box are horizontally offset. That is, the first electrical control box is located below a portion of the first filter box.

[0169] In this embodiment, the first filter box includes the aforementioned first outer side wall, first inner side wall, and clearance cavity. The main motor of the main water pump is located inside the first electrical control box, and the main impeller is located inside the clearance cavity. The output shaft of the main motor extends out of the first electrical control box and into the clearance cavity within the first receiving cavity, connecting with the main impeller. That is, the main motor is located in the second receiving cavity, and the main impeller is located in the first receiving cavity. Correspondingly, the first water outlet is located on the first shielding cover, and the first water outlet communicates with the clearance cavity so that the filtered liquid passes through the main impeller and is discharged from the first water outlet outside the pool robot. Since the first and second receiving cavities are arranged vertically, the volume of the first receiving cavity is increased, thereby increasing the volume of the first filter box, which can hold more waste. In addition, since the first electrical control box, the main motor, the drive motor of the walking mechanism, the first adjusting component of the buoyancy and submersion mechanism, the battery pack, etc., are located below the first filter box, the center of gravity of the pool robot is closer to the middle of the pool robot. The center of gravity of the pool robot can be adjusted to a preset position by setting a small number of counterweights to improve the movement performance of the pool robot.

[0170] In other embodiments, the liquid inlet section includes at least the aforementioned first inlet and second inlet. The first inlet 1031, the first filter assembly 1050, the suction assembly 1060, and the first outlet 1041 are sequentially fluidly connected to form a first water path for cleaning the bottom of the pool, the side walls of the pool, or the waterline. The second inlet 1032, the first filter assembly 1050, the suction assembly 1060, and the first outlet 1041 are sequentially fluidly connected to form a second water path for cleaning the water surface and the waterline.

[0171] Regarding the first inlet, in some embodiments, as shown in FIG1, the first inlet 1031 is located at the bottom of the first main body 1001; correspondingly, as shown in FIG1, the first filter box is provided with a first inlet 10511a (in FIG16, the first inlet can also be described as a fifth opening 10511g), the first inlet 10511a is connected to the first inlet 1031, so that the liquid in the pool enters the first filter box 1051 for filtration through the first inlet 1031. In other embodiments, the first filter box is provided with a second inlet 10511b, the second inlet is connected to the second inlet 1032, so that the liquid on the surface of the pool water enters the first filter box 1051 for filtration through the second inlet 1032.

[0172] For example, the first inlet is located at the bottom of the first filter box, and the first inlet is connected to the first water inlet. In other embodiments, when the second water inlet is located on the front side wall of the first main body, correspondingly, the second inlet is located on the front side wall of the first filter box, and the second water inlet is located in front of and connected to the second inlet; or, when the second water inlet is located on the rear side wall of the first main body, correspondingly, the second inlet is located on the rear side wall of the first filter box, and the second water inlet is located behind and connected to the second inlet, so that the pool liquid can directly enter the first filter box from the second water inlet and the second water inlet. That is, the second water inlet is located outside the second inlet.

[0173] In other embodiments, as shown in Figures 3, 5, 6, 10, 11, and 13, the first inlet is located at the bottom of the first filter box, with the bottom of the first filter box exposed above the first main body or connected to the outside. Liquid in the pool enters the first filter box through the first inlet. That is, the first inlet and the first entrance are one opening. Alternatively, as shown in Figure 16, a first protrusion 10523 is provided on the bottom of the first filter box, extending into the first filter box. The first protrusion is hollow to form a liquid inlet channel, with the outer end of the liquid inlet channel serving as the first inlet and the inner end of the liquid inlet channel serving as the first entrance.

[0174] In some embodiments, to discharge waste from the first filter box, as shown in FIG16 or FIG21, the first filter box includes at least one third opening 10531; and a first bottom cover 1054, which can open or close the third opening. At least a portion of the third opening is located on the bottom of the first filter box. When the pool robot stops on the base station, after the first bottom cover opens the third opening, the third opening can communicate with the third inlet of the second filter box on the base station, so that waste and liquid in the first filter box can be discharged from the third opening and fall into the second filter box through the third inlet.

[0175] For example, in some embodiments, when the pool robot is stationary on the base station, and at least a portion of the first filter box is located above at least a portion of the second filter box, or at least a portion of the first filter chamber of the first filter box is located above at least a portion of the second filter chamber, when the third opening is open, the waste and liquid in the first filter box are discharged from the first filter box through the third opening under the influence of gravity, and fall into the second filter box through the third inlet. Alternatively, in other embodiments, when the pool robot is stationary on the base station, the first filter box is located directly above the second filter box, and the third opening is located directly above the third inlet, so that the waste and liquid in the first filter box can quickly fall into the second filter box under the influence of gravity.

[0176] It should be noted that: the bottom of the first filter box being exposed above the first main body or communicating with the outside means that after the third opening is closed by the first bottom cover; the bottom wall of the first bottom cover is flush with the bottom wall of the first main body; or the bottom wall of the first bottom cover protrudes downward beyond the bottom wall of the first main body (i.e., in the height direction of the pool robot, the bottom wall of the first bottom cover is lower than the bottom wall of the first main body); or the bottom wall of the first bottom cover is recessed relative to the bottom wall of the first main body (i.e., in the height direction of the pool robot, the bottom wall of the first bottom cover is higher than the bottom wall of the first main body).

[0177] In other words, when the third opening is closed by the first bottom cover, the user can see the bottom wall of the first bottom cover from the bottom of the pool robot. The bottom wall of the first bottom cover, as part of the bottom wall of the pool robot, is exposed to the external environment. The bottom wall of the pool robot includes at least the bottom wall of the bottom shell, the bottom wall of the first bottom cover, the walking surface of the walking mechanism (e.g., the walking surface of the track), the bottom wall of the main roller brush, etc.

[0178] For example, the bottom wall of the first body is the bottom wall of the aforementioned bottom shell, and the bottom shell is provided with a seventh opening (mentioned below) to avoid the movement of the first bottom cover, so as to open or close the third opening, thereby exposing the bottom wall of the first bottom cover to the external environment through the seventh opening.

[0179] In some embodiments, the bottom of the first filter box has a bottom opening, which serves as a third opening. A first bottom cover is movably disposed on the third opening to open or close it. For example, the first bottom cover has a working state with the third opening open and a non-working state with the third opening closed; the first bottom cover is in the working state when the first nozzle of the base station cleans the first filter box by spraying liquid; the first bottom cover is in the non-working state when the pool robot is performing a cleaning task. Furthermore, the first bottom cover can also remain in the non-working state during or after the user removes the first filter box from the pool robot to prevent debris from falling out of the third opening during or after the user removes the first filter box from the pool robot. After the first filter box is removed from the pool robot, the user can manually open or close the first bottom cover according to their needs.

[0180] It should be noted that the third opening can occupy a portion or the entire area of ​​the bottom of the first filter box. For example, the third opening may occupy 1 / 2, 1 / 3, 3 / 4, or 4 / 5 of the bottom area of ​​the first filter box. The area occupied by the third opening can be determined based on the actual situation and is not specifically limited. Alternatively, in some embodiments, the third opening includes a first part and a second part, wherein the first part is located on the bottom of the first filter box, and the second part is located on the side wall of the first filter box, to further increase the size of the third opening of the first filter box, facilitating the discharge of large-sized waste from the first filter box. Alternatively, in some embodiments, the third opening includes the aforementioned first part and at least two of the aforementioned second parts, thereby further increasing the size of the third opening. In the following embodiments, for ease of description, the example of the third opening being located on the bottom of the first filter box is used; of course, it is also applicable to the scheme where at least a portion of the third opening is located on the side wall of the first filter box and at least a portion is located on the bottom of the first filter box.

[0181] In some embodiments, as shown in FIG5, the first bottom cover is rotatably disposed at the third opening, and the third opening is opened or closed by rotating the first bottom cover; or, in other embodiments, the first bottom cover is slidably disposed at the third opening, and the third opening is opened or closed by sliding the first bottom cover. For example, the first bottom cover is translatably disposed at the third opening in the horizontal direction.

[0182] For example, in some embodiments, as shown in Figures 21, 16, and 17, a third opening 10531 is located on the bottom of the first filter box. As shown in Figures 28, 16, and 17, the first bottom cover includes a first base 10541, which is used to open or close the third opening. When the first base opens the third opening, the waste inside the first filter box is discharged out of the first filter box through the third opening. In Figure 17, the third opening is also referred to as a sixth opening 10518, and the first base is also referred to as a fifth baffle 10511f. In Figure 16, the first base is also referred to as a first bottom plate 10517.

[0183] In some embodiments, as shown in FIG5, a seventh opening 1033 is provided at the bottom of the first body. In some embodiments, at least a portion of the third opening is located above at least a portion of the seventh opening in the height direction of the pool robot. When the first base opens the third opening, the waste in the first filter box is discharged out of the pool robot sequentially through the third opening and the seventh opening. In this embodiment, the seventh opening not only allows the waste to be discharged out of the pool robot, but also needs to avoid the movement of the first base, that is, the seventh opening serves as the first drain outlet for the waste in the first filter box to be discharged out of the pool robot. For example, the first base is rotatably disposed at the third opening, and the seventh opening needs to avoid the rotation of the first base. Specifically, the first base rotates outward toward the first body through the seventh opening to open the third opening; or, the first base rotates toward the third opening through the seventh opening to close the third opening.

[0184] In other embodiments, the seventh opening is located above or flush with the third opening. When the first base opens the third opening, the waste in the first filter box is directly discharged from the pool robot through the third opening. In this case, the seventh opening mainly serves to allow the first bottom cover to rotate and expose the first base to the external environment when the first bottom cover closes the third opening; or it exposes the third opening to the external environment when the first bottom cover opens the third opening. For example, the first base rotates below the seventh opening to open or close the third opening. In this embodiment, the third opening serves as the first drain outlet for discharging waste from the first filter box from the pool robot.

[0185] In some embodiments, when at least a portion of the third opening is located on the bottom of the first filter box and a seventh opening 1033 is provided on the first main body, the first inlet is located on the bottom of the first main body, and a first inlet (the fifth opening 10511g as shown in Figure 16) is also provided on the bottom of the first filter box. The first inlet and the first inlet are connected, and the liquid in the pool enters the first filter box sequentially through the first inlet and the first inlet. As shown in Figure 17, the first inlet and the third opening are staggered on the bottom of the first filter box. In this embodiment, the movement of the first base does not synchronously drive the movement of the first inlet and the first inlet, that is, the movement of the first base is independent of the first inlet and the first inlet.

[0186] In this embodiment, for the first water inlet and the seventh opening, in one embodiment, the first water inlet and the seventh opening are staggered and distributed in the first body, and the two are set independently; in other embodiments, the first water inlet and the seventh opening are combined into a large-sized opening, namely the eighth opening, part of the eighth opening is connected to the first inlet, and part of the eighth opening is connected to the third opening.

[0187] In some embodiments, the eighth opening is lower than the first inlet in the height direction of the pool robot, and the liquid in the pool enters the first filter box through the eighth opening and the first inlet; or, in another embodiment, the eighth opening is higher than or level with the first inlet in the height direction of the pool robot, and the liquid in the pool enters the first filter box through the first inlet. The eighth opening mainly serves to avoid the first inlet of the first filter box from the external environment, or to expose the first base to the external environment.

[0188] In some embodiments, the third opening is located above the eighth opening, so that the waste and liquid in the first filter box are discharged out of the pool robot through the third opening and the eighth opening; or, in another embodiment, the third opening is lower than or level with the eighth opening, so that the waste in the first filter box is discharged out of the pool robot through the third opening. In this embodiment, the eighth opening mainly serves to avoid the third opening or the first bottom cover of the first filter box.

[0189] In other embodiments, in the height direction of the pool robot, the eighth opening is higher than the first inlet and the third opening; or, in other embodiments, the eighth opening is lower than or level with the first inlet and the third opening; or, a portion of the eighth opening (i.e. the portion corresponding to the first inlet) is higher than the first inlet, and another portion (i.e. the portion corresponding to the third opening) is lower than or level with the third opening; or, a portion of the eighth opening (i.e. the portion corresponding to the first inlet) is lower than or level with the first inlet, and another portion (i.e. the portion corresponding to the third opening) is higher than the third opening.

[0190] In other embodiments, at least a portion of the third opening is located on the bottom of the first filter box, while the first inlet is not located on the bottom of the first main body. The first inlet is located on the bottom of the first filter box, and the first inlet and the third opening are staggered on the bottom of the first filter box. Pool liquid enters the first filter box through the first inlet. For example, the first inlet is closer to the first end than the third opening, or the third opening is closer to the second end than the first inlet. In this embodiment, although the first inlet is located on the bottom of the first filter box, the movement of the first base is independent of the first inlet and does not cause the first inlet to move synchronously.

[0191] Furthermore, in order to expose the first inlet to the bottom of the first main body, a first clearance opening is provided on the bottom of the first main body to expose the first inlet of the bottom of the first filter box to the external environment, so that the pool liquid enters the first filter box through the first inlet. Alternatively, in order to expose the third opening or the first base to the bottom of the first main body, the aforementioned seventh opening is provided on the bottom of the first main body. If the seventh opening is higher than or level with the third opening, the third opening serves as the first drain outlet; if the seventh opening is lower than the third opening, the seventh opening serves as the first drain outlet.

[0192] Alternatively, in some other embodiments, in order to expose both the first water inlet and the first base to the bottom of the first body at the same time, a second clearance opening can be provided on the first body (equivalent to merging the aforementioned first clearance opening and the aforementioned seventh opening into a large opening) to expose the bottom of the first filter box, thereby exposing both the first water inlet and the first base to the external environment at the same time. This facilitates the entry of pool water into the first filter box through the first water inlet, and also facilitates the movement of the first base outward from the pool robot through the second clearance opening to open the third opening, or to move towards the third opening through the second clearance opening to close the third opening.

[0193] In the aforementioned embodiments, since the first inlet or first water inlet is located at the bottom of the first filter box and is horizontally offset from the third opening, the first inlet or first water inlet occupies a portion of the bottom area of ​​the first filter box, making the area of ​​the third opening limited. This can cause large-sized debris in the first filter box 1051 to have difficulty falling into the second filter box from the third opening, or large-sized debris to get stuck at the third opening, affecting the cleaning effect of the liquid sprayed by the first nozzle 2173 on the debris in the first filter box 1051.

[0194] Therefore, in order to increase the area occupied by the third opening on the bottom of the first filter box and to discharge large debris from the first filter box, in some embodiments, the first bottom cover includes a first base 10541 (the first base plate 10517 shown in Figure 16), and a first water inlet is provided on the first base. The first base moves to drive the first water inlet to move synchronously to open or close the third opening, thereby increasing the area of ​​the third opening at the bottom of the first filter box. The third opening can occupy all or most of the area of ​​the bottom of the first filter box, thereby increasing the area of ​​the third opening. This makes it easier for large debris in the first filter box to be discharged from the third opening when the first base opens the third opening, so that it can fall into the second filter box.

[0195] When the first inlet is located on the first base, it is equivalent to the first inlet and the first entrance being combined into a single opening. Alternatively, as shown in Figures 16 and 30, the first bottom cover also includes a first protrusion 10523 (or described as a dust box liquid inlet). The first protrusion is located on the first base and extends into the interior of the first filter box. The first protrusion is hollow to form a liquid inlet channel. The outer end of the first protrusion serves as the first inlet, and the inner end serves as the first entrance, allowing liquid in the pool to enter the first filter box through the first inlet and the first entrance. The first protrusion moves synchronously with the first base to open or close the third opening. Alternatively, the entire liquid inlet channel can be used as the first inlet or the first entrance.

[0196] For example, when the pool robot is placed on a horizontal surface, the vertical projection of the first water inlet on the horizontal surface is the first projection, and the vertical projection of the third opening on the horizontal surface is the second projection, with the first projection located within the second projection; or the third opening is located directly above the first water inlet, and the area of ​​the third opening is larger than the area of ​​the first water inlet. When the first bottom cover 1054 moves away from the third opening, the first bottom cover 10517 moves together with the first water inlet to open the third opening, allowing large debris in the first filter box 1051 to fall into the second filter box of the base station. In some embodiments, when the pool robot stops at the cleaning position 7001 of the base station body, the first bottom cover 10517 rotates outward from the first body to open the third opening, and when the third opening is open, at least a portion of the first bottom cover 10517 extends into the second filter box.

[0197] In some embodiments, as shown in Figures 3, 14, 13 and 21, when the first water inlet is located on the first bottom cover, as shown in Figure 13, the first body is provided with a seventh opening 1033. The seventh opening is at least used to expose the bottom of the first bottom cover to the first body or to the external environment, to avoid the movement of the first bottom cover, so as to open or close the third opening.

[0198] For example, in some embodiments, the third opening is higher than the seventh opening in the height direction of the pool robot. When the first bottom cover opens the third opening, the waste in the first filter box is discharged from the first main body sequentially through the third opening and the seventh opening, falling into the second filter box. The seventh opening serves as the first drain outlet for discharging waste from the first filter box out of the pool robot. Specifically, in some embodiments, at least a portion of the first bottom cover rotates out of the pool robot through the seventh opening to open the third opening; and at least a portion of the first bottom cover rotates back to the third opening through the seventh opening to close the third opening. In other embodiments, the first inlet is lower than or level with the seventh opening, and liquid in the pool enters the first filter box through the first inlet; or, in other embodiments, the first inlet is higher than the seventh opening, and liquid in the pool enters the first filter box through the seventh opening and the first inlet.

[0199] For example, in other embodiments, the third opening is lower than or flush with the seventh opening in the height direction of the pool robot; when the first bottom cover opens the third opening, the waste in the first filter box is discharged from the first main body through the third opening, which serves as the first drain outlet 1300. Specifically, in some embodiments, the first bottom cover rotates below the seventh opening to open or close the third opening. Alternatively, in some embodiments, since the third opening is lower than or flush with the seventh opening, the first water inlet is located on the first bottom cover, and the liquid in the pool enters the first filter box through the first water inlet.

[0200] For example, in other embodiments, in the height direction of the pool robot, if the first water inlet is lower than or level with the seventh opening, the liquid in the pool enters the first filter box through the first water inlet; or, if the first water inlet is higher than the seventh opening, the liquid in the pool enters the first filter box through the seventh opening and the first water inlet.

[0201] In other embodiments, as shown in FIG30, the first bottom cover further includes at least one counterweight 1056, which is disposed on the first base to adjust the overall weight of the pool robot and make the center of gravity of the pool robot more stable. For example, in some embodiments, the counterweight is foam. When the first base faces the bottom of the pool, the foam makes the buoyancy of the first bottom cover greater than its weight, thereby allowing the first base to be pressed more firmly against the third opening.

[0202] In one embodiment, the counterweight is disposed on the bottom, top, or side wall of the first base; or the counterweight is disposed on the first base and at least partially surrounds at least a portion of the outer periphery of the first protrusion.

[0203] Alternatively, in some embodiments, the first bottom cover has a first mounting cavity 1054d, and a counterweight is disposed within the first mounting cavity. For example, the first bottom cover further includes a second base 10542, which is disposed on the first base. At least a portion of the second base surrounds the outer periphery of at least a portion of the first protrusion 10523. The first base 10541, the first protrusion, and the second base form the first mounting cavity, and the counterweight is disposed within the first mounting cavity. For example, in some embodiments, at least a portion of the second base surrounds the outer periphery of the first protrusion.

[0204] Alternatively, in some other embodiments, if the first mounting cavity is a sealed cavity, the counterweight can be a gas or liquid sealed therein. That is, the counterweight is located in the first mounting cavity, and the weight in the first mounting cavity can remain stable. The structure of the counterweight is not limited.

[0205] In some embodiments, as shown in FIG29, a second base covers or is disposed on or around the outer periphery of the first protrusion, and the second base closes or opens the third opening. That is, the second base presses against or seals the third opening to close it; the first bottom cover moves to move the second base away from the third opening to open it. Alternatively, in other embodiments, the second base is disposed above the first base, and the edge of the second base is located within the edge of the first base. The first base presses against or seals the third opening to close it; the first base moves away from the third opening to open it. That is, at least one of the first base and the second base of the first bottom cover is used to close or open the third opening.

[0206] In some embodiments, to ensure that the first or second base can seal the third opening when it is closed, a sealing gasket (not shown in the figure) is provided on the first or second base. When the first or second base closes the third opening, the sealing gasket is pressed tightly against the third opening to seal it, allowing the liquid in the pool to enter the filter box through the first inlet, rather than through the gap between the first bottom cover and the third opening. If the pool's dust-laden water flows through the gap between the first bottom cover and the third opening into the dust box, some debris will inevitably get stuck in this gap, affecting the opening or closing of the first bottom cover.

[0207] In other embodiments, as shown in FIG30, the second base 10542 includes at least a first sub-base 105421 and a second sub-base 105422, which are distributed on both sides of the first protrusion. The first sub-base is closer to the first pivot of the first bottom cover than the second sub-base. In some embodiments, the first and second sub-bases are formed on the first protrusion; or, the first and second sub-bases are detachably disposed on the first protrusion; at least one of the first sub-base, the second sub-base, and the first protrusion is connected to the first base to form a first mounting cavity for the first bottom cover.

[0208] When the first bottom cover opens the third opening, as shown in Figure 21, the first sub-base 105421 is located above the second sub-base 105422. During the process of the waste in the first filter box being discharged through the third opening, liquid may flow over or remain on the upper surface of the first sub-base. Some waste may adhere tightly to or be attached to the upper surface of the first sub-base, making it difficult for it to fall into the second filter box. For example, some waste may be leaves, which tend to adhere entirely to the upper surface of the first sub-base.

[0209] Therefore, in some embodiments, as shown in FIG30, the second base further includes at least one, two, or more protrusions 105421a. The protrusions protrude from the upper surface of the first sub-base. When the garbage falls from the third opening, some of the garbage lands on the upper surface of the first sub-base. Due to the protrusions, the upper surface of the first sub-base forms an uneven surface, preventing the garbage from completely adhering to the upper surface of the first sub-base, so that the garbage can fall smoothly from the third opening into the second filter box. For example, the protrusions can be raised dots, raised strips, raised teeth, or ribs.

[0210] In other embodiments, if the entire upper surface of the first sub-base is flush with the upper surface of the first protrusion, then the first sub-base and the first protrusion are located inside the first filter box, occupying a portion of the internal space of the first filter box, thus reducing the space available for waste within the first filter box. To address this technical problem, further, in other embodiments, as shown in FIG30, the first sub-base includes at least a first transition portion 105421b. When the first bottom cover closes the third opening, a first angle is formed between the first transition portion and the horizontal plane, i.e., the first filter box forms a first recessed area at the first transition portion to accommodate waste, thereby reducing the area occupied by the first sub-base within the first filter box. For example, the first angle is 15 degrees, 30 degrees, 45 degrees, 60 degrees, 75 degrees, etc. As shown in Figure 28, when the first bottom cover opens the third opening, the setting of the first included angle makes the first transition part tilted (that is, the first transition part is tilted, tilting downward from the upper end of the first transition part to its lower end). So, during the process of garbage falling from the third opening to the second filter box, even if some garbage falls on the first transition part, the garbage will slide down along the tilting direction of the first transition part, avoiding garbage residue on the first transition part.

[0211] Furthermore, in some embodiments, the first sub-base is closer to the main impeller of the main water pump than the first protrusion, and the upper surface of the first sub-base is located on the path of the first water channel. If the entire upper surface of the first sub-base is flush with the upper surface of the first protrusion, under the drive of the main water pump, after the debris contained in the liquid enters the first filter box, the debris will preferentially remain on the upper surface of the first sub-base. As the debris accumulates on the upper surface of the first sub-base, it is easy to block the first inlet or the first water inlet of the first protrusion. To this end, the first sub-base includes the aforementioned first transition portion 105421b to form a first recessed area. Under the action of the main water pump, the liquid enters the first filter box, and the debris remains in the first recessed area, especially dense debris, such as sand and stones, so that debris will not accumulate on the upper surface of the first sub-base, thus avoiding blockage of the first water inlet or the first water inlet. Furthermore, in some embodiments, the first recessed area is closer to the first pivot of the first bottom cover than the second sub-base, and the first recessed area has a higher load-bearing capacity, which can better support heavy objects such as sand and stones within the first recessed area. The connection between the second sub-base and the first frame (mentioned below) is more flexible. Furthermore, the first bottom cover includes a first mounting part 1054a and a first movable part 1054b, wherein the first mounting part is rotatably mounted on the first frame via a first pivot 1054c, and the first movable part rotates around the first pivot to open or close the third opening. The first mounting part is closer to the main water pump than the first movable part.

[0212] In other embodiments, as shown in FIG30, the first sub-base further includes a first mating portion 105421c, which is connected to the first transition portion and is closer to the first pivot of the first bottom cover than the first transition portion. For example, when the first bottom cover closes the third opening, the first mating portion is used to close or seal the third opening, and the first mating portion is connected to the bottom of the first transition portion. When the first bottom cover opens the third opening, the first mating portion is located above the first transition portion. For example, in some embodiments, when the first bottom cover closes the third opening, the first mating portion is in a horizontal section, and the connection between the first transition portion and the first mating portion is a smooth transition. The horizontal section of the first mating portion can better press against the third opening, closing or sealing the third opening. In some embodiments, the first mating portion is also used to connect with the first pivot, or to be mounted on the first pivot.

[0213] In some embodiments, the second sub-base is similar to the first sub-base, as shown in FIG30. The second sub-base 105422 includes a second transition portion 105422a. When the first bottom cover closes the third opening, the second transition portion forms a second angle with the horizontal plane to reduce the space occupied by the second sub-base in the inner cavity of the first filter box, thereby forming a second recessed area that can accommodate waste. For example, the second angle is 15 degrees, 30 degrees, 45 degrees, 60 degrees, 75 degrees, etc. The angle of the second angle can be greater than the first angle, or the angle of the second angle can be equal to or less than the angle of the first angle. The angles of the first and second angles are not limited and can be selected according to actual needs.

[0214] When the first bottom cover closes the third opening, the second included angle causes the second transition portion to be in an inclined state (i.e., the second transition portion is an inclined section, tilting downwards from its upper end to its lower end), reducing the space occupied by the second sub-base within the first filter box. In other embodiments, if the third opening is located above the seventh opening, the second included angle facilitates the first bottom cover to rotate outwards through the seventh opening or to rotate towards the third opening through the seventh opening, thereby opening or closing the third opening.

[0215] In another embodiment, the first transition section is closer to the main impeller of the main water pump than the second transition section 105422a, and the area of ​​the upper surface of the first filter section is larger than the area of ​​the upper surface of the second transition section, so that the volume of the first recessed area is larger to accommodate more sand, stones and other garbage, and avoid clogging the first inlet or the first water inlet.

[0216] In other embodiments, similar to the aforementioned first mating portion 105421c, the second sub-base also includes a second mating portion 105422b, which is connected to the second transition portion and is further away from the first pivot of the first bottom cover than the second transition portion. For example, when the first bottom cover closes the third opening, the second mating portion is used to close or seal the third opening of the portion, and the second mating portion is connected to the bottom of the second transition portion. When the first bottom cover opens the third opening, the second mating portion is located below the second transition portion. For example, in some embodiments, when the first bottom cover closes the third opening, the second mating portion is in a horizontal section, and the connection between the second transition portion and the second mating portion is a smooth transition. The horizontal section of the second mating portion can better press against the third opening to close or seal the third opening of the portion.

[0217] In other embodiments, as shown in FIG30, the second base further includes a third sub-base 105423 that connects at least one of the first sub-bases 105421 and the second sub-base 105422. For example, there are two third sub-bases to connect the upper portions of the first and second sub-bases and surround the outer periphery of the first protrusion (i.e., forming a clearance opening that exposes the first protrusion). For example, when the first bottom cover closes the third opening, the upper surfaces of the edges of the first, second, and third sub-bases abut or press against the third opening to close it. In some embodiments, the third sub-base is a generally horizontal segment that overlaps or is mounted on the upper end of the first base.

[0218] In some embodiments, the aforementioned first sub-base, second sub-base, and third sub-base are integrally formed on the first protrusion; or, the first sub-base, second sub-base, and third sub-base are integrally formed to form a second base, and then the second base is connected to the first protrusion and the first base to form a first mounting cavity.

[0219] In some embodiments, when the first bottom cover closes the third opening, in the height direction of the first filter box, the first mating part 105421c is lower than the second mating part 105422b, and the first included angle is smaller than the second included angle, thereby forming a larger recessed area between the first sub-base 105421 and the first protrusion and the first frame, so that some garbage can be deposited in the recessed area, for example, the garbage is sand, stones, etc.; after the first bottom cover opens the third opening, the garbage in the recessed area is discharged out of the first filter box through the third opening.

[0220] In some embodiments, to facilitate the installation of the second base onto the first base, the edge of the first base is provided with at least one upwardly protruding first outer edge. The aforementioned first mating portion, second mating portion, and third sub-base are all connected to the first outer edge to form a first mounting cavity. In some embodiments, since the heights of the first mating portion, second mating portion, and third sub-base are different, the first outer edge 105411 includes a first sub-outer edge 105411a, a second sub-outer edge 105411b, and a third sub-outer edge 105411c, wherein the first sub-outer edge is connected to the first mating portion, the second sub-outer edge is connected to the second mating portion, and the third sub-outer edge is connected to the third sub-base.

[0221] In other embodiments, there are two first mounting cavities, each containing at least one counterweight. The two first mounting cavities are distributed on both sides of the first protrusion, and the two first mounting cavities may or may not be connected.

[0222] In some embodiments, the first bottom cover is rotatably mounted on the third opening via a first pivot 1054c. In some embodiments, the first pivot is mounted on the first frame (mentioned below); in other embodiments, the first pivot is mounted on the first base or the second base; or in other embodiments, the first pivot is mounted on both the first base and the second base.

[0223] In other embodiments, a first baffle 10511c is provided on the inner end of the first protrusion. The first baffle is used to open or close the inner end of the first protrusion to cut off the liquid in the pool from entering the first filter box through the first protrusion or to allow the liquid in the pool to enter the first filter box through the first protrusion.

[0224] In some embodiments, the second mounting portion of the first baffle is disposed on the first protrusion, and the second movable portion of the first baffle can rotate around the second mounting portion to open or close the inner end of the first protrusion.

[0225] For example, in some embodiments, the upper part of the second base is higher than the top of the first protrusion, and a step is formed between the upper part of the second base and the top of the first protrusion. The second mounting part of the first baffle is rotatably disposed on the first step surface 105424 of the step. When the first baffle closes the inner end of the first protrusion (i.e., the first inlet or the first water inlet), the second movable part presses tightly against the first step surface of the step to close the inner end of the first protrusion.

[0226] In some embodiments, as shown in Figures 10, 19, and 29, when the first baffle closes the first inlet (or first water inlet) opening, the first step surface of the step slopes downward from the second mounting portion toward the second movable portion to form an inclined surface, and the first baffle is in an inclined state; when the first bottom cover opens the third opening, as shown in Figures 11, 21, and 28, when garbage falls onto the first baffle on the first step surface, since the second movable portion of the first baffle is located above the second mounting portion and slopes downward from the second movable portion toward the second mounting portion, and the second mounting portion is closer to the lower edge of the first protrusion relative to the second movable portion, the garbage falling onto the first baffle can slide down along the inclined direction of the first baffle, avoiding garbage getting stuck at the first baffle.

[0227] In some embodiments, as shown in Figures 10 and 11, the second mounting portion of the first baffle is further away from the main water pump of the suction assembly than the second movable portion. Under the action of the main water pump, the second movable portion of the first baffle rotates to open the inner end of the first protrusion, so that the liquid in the pool enters the first filter box through the first protrusion. After being filtered by the first filter box, the liquid passes through the first receiving cavity and the main impeller of the main water pump, and then is discharged from the first outlet of the first body to form the first water path. When the first baffle is open, the first baffle is not in the path of the first water path, and the obstruction force on the water flow is small, so that the liquid flows more smoothly in the first water path.

[0228] In another embodiment, the first bottom cover includes the aforementioned first base, second base, and first protrusion; however, no counterweight is provided in the first mounting cavity. The second base facilitates the process where, when the first bottom cover opens the third opening, some of the waste in the first filter box falls onto the second base, allowing it to continue sliding down along the second base and preventing waste residue from remaining on the first bottom cover. Without the second base, during the fall of waste from the first filter box, the first protrusion protrudes from the first base, making it easy for waste to remain on the first protrusion and at the connection point between the first protrusion and the first base, affecting the cleaning effect of the liquid sprayed by the first nozzle on the first filter box.

[0229] In some embodiments, the first filter box 1051 includes a first frame 1053 (which may also be described as a first box body), the aforementioned first bottom cover, and a first filter screen 1055; at least a portion of the third opening is disposed on the bottom of the first frame; or, the bottom opening of the first frame serves as the third opening; the first filter screen is disposed on at least one side wall of the first frame to form a filter surface for filtering liquid entering the first filter box; the first bottom cover is movably disposed on the first frame to open or close the third opening.

[0230] For example, at least one opening is present on at least one side wall of the first frame, and a first filter screen is disposed at this opening to form a filter surface; in other embodiments, in addition to the first filter screen being disposed on the side wall, the first frame may also be disposed on at least one of the top and bottom of the first frame to form a filter surface. In some embodiments, the material of the first filter screen may be non-woven fabric, nylon, filter cotton, or other materials with filter pores.

[0231] In other embodiments, the shape of the first frame can be arbitrary and not specifically limited. For example, the cross-sectional shape of the first frame can be a square, rectangle, trapezoid, triangle, circle, or ring. For example, the first frame can be barrel-shaped, hollow cylinder-shaped, or hollow cuboid-shaped.

[0232] In some embodiments, the first bottom cover is rotatably mounted on the first frame. For example, the first bottom cover opens the third opening when it rotates inward into the first frame; conversely, it closes the third opening when it rotates outward from the first frame towards the third opening. In this embodiment, when the first bottom cover opens the third opening, some waste will be blocked inside the first frame by the first bottom cover as it rotates into the inner cavity of the first filter box, making it difficult to discharge from the first filter box through the third opening.

[0233] Therefore, in some embodiments, the first bottom cover opens the third opening by rotating outward from the first frame, the pool robot, or the first body; conversely, the first bottom cover closes the third opening by rotating from outside the first frame towards the third opening. In this embodiment, when the third opening is open, since the first bottom cover is located outside the first frame, it will not block the debris in the first filter box, allowing the debris in the first filter box to be discharged from the third opening, thereby improving the cleaning effect of the sprayed liquid from the first nozzle on the first filter box.

[0234] Furthermore, in some embodiments, the base station body includes a third receiving cavity, and at least one fourth opening is disposed on the base station body and communicates with the third receiving cavity; at least a portion of the second filter box is disposed in the third receiving cavity; the fourth opening and the third inlet are communicated; when the pool robot stops on the base station body and the first bottom cover rotates outward toward the pool robot to open the third opening, at least a portion of the first bottom cover engages with the fourth opening, so that the garbage in the first filter box falls sequentially from the third opening, the fourth opening, and the third inlet into the second filter box.

[0235] Specifically, the first bottom cover has the aforementioned first mounting part and first movable part. The first mounting part is rotatably mounted on the first frame. When the first bottom cover is opened to form a third opening, there are multiple implementations for the docking of at least a portion of the first bottom cover with the fourth opening.

[0236] For example, in some embodiments, the first movable portion of the first bottom cover is close to or near the fourth opening and is located above the fourth opening, and a gap may exist between the first movable portion of the first bottom cover and the fourth opening; or, in other embodiments, the first movable portion of the first bottom cover abuts against the top of the fourth opening to shorten the distance between the third and fourth openings, shortening the path for the waste in the first filter box to fall into the second filter box, facilitating the rapid fall of the waste in the first filter box into the second filter box. Or, in other embodiments, to further shorten the distance between the third and fourth openings, the first movable portion extends into the fourth opening; or, the first movable portion extends through the fourth opening into the second filter box. That is, at least a portion of the first bottom cover extends into the fourth opening or at least a portion extends into the second filter box. In this embodiment, the fourth opening not only serves to allow waste to flow through, but also needs to avoid the rotation of the first bottom cover so that the first movable portion of the first bottom cover can rotate into the fourth opening or the second filter box. That is, when the first bottom cover and the fourth opening are aligned, the first frame remains within the first receiving cavity of the pool robot.

[0237] In some embodiments, the base station body includes a second filter box. When the first bottom cover rotates outward from the first body to open the third opening, at least a portion of the first bottom cover engages with the third inlet of the second filter box, thereby shortening the distance between the third opening and the third inlet, facilitating the rapid fall of waste and liquid from the first filter box into the second filter box. Similar to the aforementioned embodiments, there are various ways to engage at least a portion of the first bottom cover with the third inlet of the second filter box. For example, in some embodiments, the first movable part is close to or adjacent to the third inlet and located above the third inlet, with a gap between the first movable part and the third inlet; or, the first movable part abuts against the top of the third inlet, or the first movable part extends into the third inlet, or extends through the third inlet into the second filter box. That is, when the first bottom cover and the third opening are engaged, the first frame remains within the first receiving cavity of the pool robot.

[0238] In some embodiments, the first pivot of the first bottom cover is located on the long side of the side wall of the first frame; or, the pivot of the first bottom cover is located on the short side of the side wall of the first frame.

[0239] In some embodiments, as shown in Figures 19 and 21, the first bottom cover includes a first base, which moves as a whole to open or close the third opening.

[0240] In other embodiments, the first base is not a single integral seat. For example, the first base includes a first door and a second door, which are respectively located at opposite ends of the first frame to form a double-door structure. The first door and the second door cooperate to open or close the third opening. The first door and the second door can move synchronously to open or close the third opening; or, the first door and the second door can move at staggered times to open or close the third opening. In this embodiment, the docking of at least a portion of the first bottom cover with the fourth opening refers to the docking of the first movable part of the first door, the first movable part of the second door, and the fourth opening. For details of the docking, see the docking of the first movable part of the first bottom cover with the fourth opening in the aforementioned embodiments. Alternatively, the docking of at least a portion of the first bottom cover with the third entrance refers to the docking of the first movable part of the first door, the second movable part of the second door, and the third entrance. For details of the docking, see the docking of the first movable part of the first bottom cover with the fourth opening in the aforementioned embodiments.

[0241] Furthermore, in some embodiments, if the first water inlet is located on the first bottom cover, and moves synchronously with the first bottom cover, then the first water inlet is located on one of the first door and the second door; or, part of the first water inlet is located on the first door and part is located on the second door.

[0242] In some embodiments, the first bottom cover is slidably disposed on the first frame. When the pool robot stops on the base station body, the first bottom cover slides above the third inlet of the second filter box to open or close the third opening. In other embodiments, if the base station includes a third receiving cavity, at least a portion of the second filter box is disposed within the third receiving cavity; when the pool robot stops on the base station body, the first bottom cover slides above the fourth opening of the third receiving cavity to open or close the third opening. When the third opening is open, waste and liquid in the first filter box enter the second filter box sequentially through the third opening, the seventh opening, the fourth opening, and the third inlet; or, waste and liquid in the first filter box enter the second filter box sequentially through the third opening, the fourth opening, and the third inlet.

[0243] In some embodiments, the first bottom cover can be slidably disposed on the first frame in various ways. For example, the first bottom cover can be slidably disposed on the first frame by means of a screw structure, a cylinder structure, a gear and rack meshing structure, or a slide rail structure.

[0244] In some embodiments, when the pool robot is stationary on the base station, the first frame of the first filter box remains within the first body of the pool robot, and the first frame does not extend beyond the first body. The first frame is located outside the third receiving cavity and the second filter box of the base station. The first bottom cover moves relative to the first frame to open or close the third opening. At least a portion of the first bottom cover can extend into the third receiving cavity or into the second filter box, or simultaneously into both. Alternatively, the entire first bottom cover is located outside the third receiving cavity or the second filter box. Alternatively, when the pool robot is stationary on the base station and the first bottom cover closes the third opening, the first filter cavity of the first filter box is located outside the second filter cavity and the third receiving cavity of the second filter box, but not in a nested relationship. When the first bottom cover opens the third opening, the first frame remains within the first body.

[0245] For the first filter chamber, the first filter chamber is a receiving cavity formed by at least the first frame, the first filter screen, and the first bottom cover. Similarly, the second filter chamber is a receiving cavity formed by at least the second frame, the second filter screen, and the bottom of the second filter box.

[0246] In some embodiments, a first baffle 10511c is provided at the first inlet 1031 or the first inlet 10511a; and a second baffle 10511d is provided at the second inlet 10511b. When the cleaning equipment is cleaning the water surface, the first baffle is in a closed state to prevent liquid in the pool from entering the first dust box through the first inlet 1031, and the second baffle is in an open state to allow liquid to enter the first dust box through the second inlet and the second inlet. When the cleaning equipment is cleaning the pool bottom or pool wall, the second baffle is in a closed state to prevent liquid from entering the first filter box through the second inlet, and the first baffle is in an open state to allow liquid to enter the first filter box through the first inlet 1031. That is, when cleaning the water surface, the first baffle is in a closed state and the second baffle is in an open state; when cleaning the pool wall or pool bottom, the first baffle is in an open state and the second baffle is in a closed state.

[0247] For example, the second baffle can open the second water inlet by rotating outward toward the first body; or it can close the second water inlet by rotating from the outside of the first body toward the second water inlet. Alternatively, in some other embodiments, the first baffle can be located on the inner end of the first protrusion (i.e., the first water inlet or first inlet), rotating toward the inner cavity of the first filter box and away from the inner end of the first protrusion to open the first water inlet or first inlet; and the first baffle can also rotate toward the inner end of the first protrusion to close the first water inlet or first inlet.

[0248] In some embodiments, when the first water inlet is located on the first bottom cover, since the top of the first main body has a pick-and-place port and the bottom of the first main body has a seventh opening, both the pick-and-place port and the seventh opening are connected to the first receiving cavity. Thus, the first receiving cavity forms a through cavity on the first main body, and a first gap 10582 is formed between the outer side of the first filter box and the first receiving cavity, communicating with the outside. Due to the existence of the first gap, when the pool robot cleans the pool bottom, pool walls, waterline, or water surface, under the action of the suction component, some of the liquid in the pool directly enters the main water pump through the first gap and is finally discharged from the first main body through the first water outlet, forming the fifth water path.

[0249] In other embodiments, some liquid enters directly into the main impeller of the main water pump through the first gap without being filtered by the first filter box, resulting in poor cleaning effect of the pool robot; at the same time, the garbage carried in the liquid will remain at the main impeller of the main water pump, which can easily cause the impeller of the main water pump to get stuck and not rotate.

[0250] Therefore, in some embodiments, as shown in FIG19, the pool robot further includes at least one first interceptor 10581, which is disposed in the first gap and located below the second drain port 10013a, to cut off or block the liquid in the pool from entering the main impeller of the main water pump through the first gap and the second drain port, and from the first outlet; ensuring that when the pool robot cleans the pool bottom, pool wall, waterline or water surface, the liquid in the pool enters the first filter box through the first inlet.

[0251] In some embodiments, the first interceptor 10581 is detachably or fixedly disposed on the first frame of the first filter box. The first interceptor moves synchronously with the first filter box. When the first filter box is removed from the first receiving cavity, the first interceptor is located outside the first body synchronously with the first filter box. Alternatively, the first interceptor is inserted into the first receiving cavity synchronously with the first filter box. Alternatively, in other embodiments, the first interceptor is detachably or fixedly disposed on the first receiving cavity, and the first interceptor is not removed or inserted synchronously from the first body with the first filter box.

[0252] Alternatively, in other embodiments, there are at least two first intercepting elements, wherein one first intercepting element is disposed on the first frame and the other first intercepting element is disposed on the first receiving cavity, and the two first intercepting elements are stacked or distributed vertically in the height direction of the first filter box to form a double-layer interception. In some embodiments, the first intercepting element is a sealing ring or other sealing structure.

[0253] In some other embodiments, as shown in FIG19, the first filter box further includes a second handle 1057, which is disposed on the first frame to facilitate the user to place the first filter box into or remove it from the first receiving cavity by lifting the second handle.

[0254] In some embodiments, as shown in FIG19, the first filter box further includes a first engaging mechanism 10591; as shown in FIG23, the pool robot further includes a second engaging mechanism 100134 disposed on the first receiving cavity. As shown in FIG7, when the user places the first filter box into the first receiving cavity, the handle is rotated to the first state, as shown in FIG8. In the first state, the first engaging structure and the second engaging structure are locked, and the user cannot remove the first filter box from the receiving cavity. As shown in FIG8, when the user needs to remove the first filter box from the first receiving cavity, the second handle is rotated from the first state to the second state, as shown in FIG7. At this time, the first engaging structure and the second engaging structure are unlocked, and the user can remove the first filter box from the first receiving cavity through the second handle. That is, as shown in FIG8, in the first state, the second handle is located inside the first body and does not protrude from the retrieval opening; as shown in FIG7, in the second state, part of the second handle is located outside the first body and part of the second handle protrudes from the retrieval opening. When the second handle is in the first state, it limits or locks the first filter box in the first receiving cavity. The position of the first frame of the first filter box in the first receiving cavity will not change, thereby facilitating the normal opening and closing of the third opening of the first bottom cover.

[0255] In some embodiments, the second handle rotates from a first state to a second state, rotates the second handle forward by a third angle, switches the second handle from the second state to the first state, and rotates the second handle backward by a third angle, wherein one of the forward and backward rotations is clockwise and the other is counterclockwise. Alternatively, the second handle switches between the first and second states; for example, the third angle can be 120 degrees, 110 degrees, 100 degrees, 90 degrees, 85 degrees, 80 degrees, 75 degrees, 70 degrees, 75 degrees, 60 degrees, 55 degrees, 50 degrees, 45 degrees, 40 degrees, 35 degrees, 30 degrees, etc. Alternatively, in some embodiments, the range of the third angle is between 80 degrees and 100 degrees.

[0256] In some embodiments, as shown in FIG20A, the first engaging mechanism includes a first engaging protrusion 10591a, which protrudes from the second handle and is eccentric to the rotation axis of the second handle. The second handle drives the first engaging protrusion to rotate synchronously. As shown in FIG24, the second engaging mechanism is disposed on the first receiving cavity, and the second engaging mechanism includes a first sliding groove 100134a and a first groove 100134b. The groove is recessed approximately along a third direction from its opening to its bottom, and extends approximately along a fourth direction from its opening to its bottom. The third direction extends approximately vertically and intersects with the fourth direction. The opening of the first groove communicates with the wall of the first sliding groove to form a first hook portion 100134c.

[0257] For example, as shown in Figures 8, 19, and 22B, when the second handle is in the first state, the first engaging protrusion is located in the first groove and is limited within the first groove by the first hook portion 100134c. The second handle is located within the pick-up / placement opening and is in a roughly horizontal state. At this time, when the user lifts the handle upwards, due to the limiting effect of the first hook portion, the second handle cannot move upwards and cannot remove the first filter box from the first receiving cavity. When the user rotates the second handle from the first groove to the first slide groove, so that the second handle is in the second state, as shown in Figures 7 and 20B, the first engaging protrusion is located within the first slide groove and faces the opening of the first slide groove. At least a part of the second handle is located outside the pick-up / placement opening and is in a roughly vertical state. At this time, when the user lifts the handle upwards, the first engaging protrusion exits or slides out from the opening of the first slide groove, thereby removing the first filter box from the first receiving cavity.

[0258] For example, as shown in Figures 19 and 22B, when the second handle is in the first state, when the user rotates the second handle from the first groove to the first slide groove, it reaches the state shown in Figures 21 and 20B. For example, rotating the handle 90 degrees in the forward direction, or at other angles; the user lifts the second handle upwards, and the first engaging mechanism of the second handle disengages from the first slide groove; conversely, as shown in Figures 21 and 20B, if the second handle is in the second state, rotating the handle 90 degrees in the reverse direction, the first engaging mechanism is restricted by the first hook portion within the first groove, reaching the state shown in Figures 19 and 22B. At this time, the user cannot remove the first filter box from the first body by lifting the second handle upwards, thus locking the first filter box within the first receiving cavity.

[0259] In other embodiments, when the second handle 1057 is in the first state and locked within the first receiving cavity, the first filter box is also locked within the first receiving cavity. This fixes the position of the first frame within the first receiving cavity, ensuring that the third opening can be closed or opened normally under the normal movement of the first bottom cover. It prevents changes in the position of the first frame within the first receiving cavity, which would hinder the normal opening or closing of the third opening under the movement of the first bottom cover. Furthermore, the aforementioned first flow-blocking component is relatively fixed within the first gap and is compressed, allowing it to better block water flow. For example, in some embodiments, the first flow-blocking component is a sealing ring. When the second handle is in the first state, the sealing ring can be further compressed, allowing it to better seal the first gap and prevent water flow from passing through the first gap and entering the main water pump.

[0260] In some embodiments, the second handle is disposed within the first frame, and the first frame has a fourth clearance opening for the first engaging protrusion 10591a to pass through the fourth clearance opening and engage with the second engaging mechanism of the first receiving cavity. For example, as shown in Figures 20A and 22A, the fourth clearance opening includes a first hole 10534 and a second hole 10535, which are connected; wherein, the first hole 10534 corresponds to the first sliding groove, and the second hole 10535 corresponds to the first groove 10535. In the first state, the second handle is in a first state, with the first engaging protrusion passing through the second hole and located in the first groove, and limited within the first groove by the first hook portion; in the second state, the second handle is in a second state, with the first engaging protrusion passing through the first hole and located in the first sliding groove. In other embodiments, the first engaging protrusion is disposed outside the first frame, in which case the fourth clearance opening is not required on the first frame.

[0261] In other embodiments, when the eccentricity between the first engaging protrusion and the rotation shaft of the second handle is large, considering the relatively low strength of the first engaging protrusion, it may affect the normal fit between the first engaging protrusion and the first groove and the first sliding groove. To increase the strength of the first engaging protrusion, the first engaging mechanism further includes a support protrusion 10591b, which is fixed on the first engaging protrusion to increase its strength and ensure the normal fit between the first engaging protrusion and the first groove and the first sliding groove.

[0262] Alternatively, in some embodiments, the eccentricity between the first engaging protrusion and the rotation axis of the second handle can be shortened, thereby increasing the strength of the first engaging protrusion. In this embodiment, there is no need to provide a support protrusion. For example, in some embodiments, a support block (not shown in the figure) is installed on the rotation axis of the second handle. The support block rotates coaxially with the rotation axis of the second handle, and the first engaging protrusion is fixed on the support block and is eccentric to the rotation axis of the second handle.

[0263] In some other embodiments, the positions of the first engaging mechanism and the second engaging mechanism are reversed, with the first engaging mechanism located on the first receiving cavity and the second engaging mechanism located on the second handle.

[0264] In some embodiments, if the user's requirements for cleaning effect are not high, the first interceptor can be omitted in the first gap. In this case, when the pool robot performs cleaning of the pool bottom, pool walls, waterline, or water surface, the liquid in the pool is discharged from the pool robot through the fifth water channel. For example, when the pool robot is cleaning the pool wall, some liquid is discharged from the pool robot through the fifth water channel. This portion of liquid can exert a thrust on the pool robot towards the pool wall, keeping the pool robot close to the pool wall and preventing it from falling off.

[0265] In some embodiments, the first interceptor 10581 is detachably mounted on the first frame or the first receiving cavity, and the user can choose whether to install the first interceptor according to different cleaning effect requirements. For example, if the user does not have high requirements for cleaning effect or the user can accept that the liquid sprayed from the first outlet carries garbage, the first interceptor can be removed from the first frame or the first receiving cavity, that is, the first interceptor is not installed; if the user has high requirements for cleaning effect or the user cannot accept that the liquid sprayed from the first outlet always carries garbage, the first interceptor can be installed on at least one of the first frame and the first receiving cavity.

[0266] In some embodiments, the first interceptor 10581 can be a sealing ring to seal the first gap, thereby better preventing water from flowing through the first gap into the main water pump. Alternatively, in other embodiments, the first interceptor is a third door, which is rotatably disposed within the first gap. For example, the third door is disposed on the first receiving cavity or the first filter box. The controller controls the opening angle of the third door according to the user's different cleanliness requirements, thereby controlling the flow rate of liquid in the pool flowing through the first gap into the main water pump to adapt to different cleanliness requirements.

[0267] In some embodiments, when the first water inlet is located on the first bottom cover, since the top of the first main body has a pick-and-place port 1017 and the bottom of the first main body has a seventh opening, both the pick-and-place port and the seventh opening are connected to the first receiving cavity. Thus, the first receiving cavity forms a through cavity on the first main body, and a first gap is formed between the outer side of the first filter box and the first receiving cavity, communicating with the outside. Various implementation methods exist to prevent the first filter box from falling out through the seventh opening after it is inserted into the first receiving cavity.

[0268] For example, in some embodiments, a first overlapping portion protrudes from the first receiving cavity, and correspondingly, a second overlapping portion is provided on the outer side of the first filter box. When the first filter box is placed into the first receiving cavity, the second overlapping portion overlaps the first overlapping portion, confining the first filter box within the first receiving cavity and preventing the first filter box from falling out through the seventh opening. In other embodiments, when the first intercepting element is a sealing ring, the sealing ring is disposed between the second overlapping portion and the first overlapping portion.

[0269] For example, in some embodiments, as shown in FIG23, the first receiving cavity includes an upper section 100131, a lower section 100132, and a first transition section 100133. A loading / unloading port 1017 is located on the top of the upper section, and a seventh opening 1033 is provided on the lower section. The first transition section connects the upper and lower sections. The cross-sectional area of ​​the upper section is larger than that of the lower section, resulting in a structure where the first receiving cavity is larger at the top and smaller at the bottom. In the height direction of the first frame, the cross-sectional area of ​​a portion of the first frame is larger than that of the lower section, thereby preventing the first filter box from falling out of the seventh opening within the first receiving cavity. In some embodiments, the first transition section is an inclined section.

[0270] In some embodiments, as shown in FIG21, the first filter box further includes a second outer edge 10533, protruding from the outer periphery of the first frame 1053. The second outer edge 10533 overlaps the first transition section to block the first filter box within the first receiving cavity. In some embodiments, the aforementioned sealing ring is disposed between the first transition section and the second outer edge to seal or block the gap between the first transition section and the second outer edge, thereby sealing the first gap. Further, in some embodiments, when the second handle is in the aforementioned first state, the second handle is locked onto the first receiving cavity. Correspondingly, the second outer edge can interference fit the sealing ring onto the first transition section to ensure that the sealing ring seals the first gap, preventing liquid in the pool from entering the main impeller of the main water pump through the first gap and discharging it from the first outlet outside the first body. In some embodiments, the sealing ring is disposed on the second outer edge and moves synchronously with the first filter box. For example, an annular groove is provided on the outer periphery of the second outer edge, and the sealing ring is disposed within the annular groove. Alternatively, in some embodiments, the sealing ring is disposed on the first transition section.

[0271] In some embodiments, the first bottom cover 10517 only needs to open the third opening when the waste in the first filter box needs to be discharged from the third opening. For example, when the pool robot is parked on the base station, and the first nozzle is cleaning the first filter box, it needs to discharge the waste in the first filter box into the second filter box of the base station, which requires the first bottom cover to open the third opening; or, for example, when the user removes the first filter box from the pool robot, the user manually operates the first bottom cover to open the third opening.

[0272] When the pool robot is in the pool, or on the shore and does not need to discharge waste from the first filter box through the third opening, the first bottom cover is in the closed third opening 1300 state. For example, when the pool robot is performing cleaning in the pool, the first filter box is in the first receiving cavity, and the first bottom cover always keeps the third opening closed so that the waste in the first filter box 1051 will not be discharged from the third opening 1300, thus not affecting the pool robot's cleaning of the pool bottom, pool walls, waterline, or water surface. Alternatively, when the pool robot is on the shore, it may or may not be on the base station, but it is not in the process of the first nozzle cleaning the first filter box. If the user wants to remove the first filter box 1051 from the first body 1001, to ensure that the user removes the first filter box during or after removal, and before the user manually opens the first bottom cover, the first bottom cover remains closed at the third opening to prevent waste in the first filter box 1051 from falling out of the third opening 1300.

[0273] Therefore, in some embodiments, the first bottom cover has a locked state and an unlocked state, wherein when the first bottom cover is in the locked state, the first bottom cover is locked onto the first frame and keeps the third opening closed; when the first bottom cover is in the unlocked state, the first bottom cover can move relative to the first frame to open or close the third opening.

[0274] In some embodiments, as shown in FIG26, the pool robot further includes a locking mechanism 1080, which is used to lock the first bottom cover to the first frame or the side wall of the first filter box so that the first bottom cover remains closed at the third opening; correspondingly, the pool robot or base station body is provided with an unlocking mechanism 7003, which is used to release the locking mechanism 1080 from locking the first bottom cover.

[0275] There are various implementations for the locking mechanism. For example, in some embodiments, the locking mechanism locks the first bottom cover to the first frame using magnetic attraction. For instance, the locking mechanism 1080 includes a first magnet and a first iron block, wherein one of the first magnet and the first iron block is disposed on the first bottom cover, and the other is disposed on the first frame. The first magnetic attraction force generated by the magnet and the iron block locks the first bottom cover to the first frame. In this embodiment, the unlocking mechanism includes a first motor and a first unlocking member, wherein the first unlocking member can be a second magnet or a second iron block. The first motor drives the first unlocking member to move, so that the first unlocking member approaches or contacts the first magnet or the first iron block, and the second iron block generates a third magnetic attraction force with the first magnet; or, the second magnet and the first iron block generate a third magnetic attraction force, which is greater than the first magnetic attraction force, driving the first bottom cover to rotate, so that the first magnet and the first iron block move away, thereby releasing the locking mechanism from locking the first bottom cover.

[0276] Alternatively, the locking mechanism 1080 includes a first magnet and a second magnet, one of which is disposed on the first bottom cover and the other on the first frame. One end of the first magnet and one end of the second magnet have opposite polarities to generate a second magnetic attraction force, magnetically attracting the first bottom cover to the first frame. In this embodiment, the unlocking mechanism includes a first motor and a first unlocking member. The first unlocking member can be iron or a third magnet. The first motor drives the first unlocking member to move, causing it to approach or contact the first magnet or the second magnet. A fourth magnetic attraction force is generated between the first unlocking member and the first magnet or the second magnet. This fourth magnetic attraction force is greater than the second magnetic attraction force, driving the first bottom cover to rotate, causing the first magnet to move away from the second magnet, thereby releasing the locking mechanism from locking the first bottom cover.

[0277] Alternatively, the locking mechanism 1080 includes a first coil and a second coil, one of which is disposed on the first frame and the other on the first bottom cover. By energizing the first coil and the second coil, an electromagnetic field is generated to form a fifth magnetic attraction force, which magnetically attracts the first bottom cover to the first frame. Conversely, by de-energizing at least one of the first coil and the second coil, the fifth magnetic attraction force is removed, thereby releasing the lock on the first bottom cover.

[0278] In other embodiments, the locking mechanism locks the first bottom cover onto the first frame via a latch. For example, the locking mechanism includes a hook and a first mating member, wherein the first mating member can be one of a slot, a hole, a seat (or a boss); one of the hook and the first mating member is located on the first bottom cover, and the other is located on the first frame. The hook engages with the slot or hole, or with the seat, to lock the first bottom cover onto the first frame. In this embodiment, the unlocking mechanism includes a first motor and a first unlocking member. The first motor drives the first unlocking member to rotate, forcing the first bottom cover to rotate, causing the hook to disengage from the first mating member, thereby releasing the locking mechanism from locking the first bottom cover. In some embodiments, the first motor is located on the first bottom cover; in another embodiment, the first motor is located within the first frame or the first body. When the first bottom cover closes the third opening, the first motor is driven to connect with the first unlocking member; when the first motor drives the first unlocking member to rotate the first bottom cover, the first motor separates from the first unlocking member. For example, the first unlocking component includes a first gear, and a second gear is provided on the first bottom cover. When the first bottom cover closes the third opening, the first gear and the second gear mesh; when the first bottom cover opens the third opening, the first gear and the second gear disengage.

[0279] In other embodiments, the locking mechanism locks the first bottom cover onto the first frame by extending; correspondingly, the unlocking mechanism drives the locking mechanism to retract to release the locking mechanism from locking the first bottom cover, allowing the first bottom cover to move relative to the first frame to open or close the third opening.

[0280] In some embodiments, as shown in FIG27, the locking mechanism includes a first limiting hole 10801, a first locking member, and a fourth elastic member 10803. For example, the first locking member is a first telescopic member 10802; one of the first telescopic member and the first limiting hole is provided on the first frame, and the other is provided on the first bottom cover; the fourth elastic member applies its elastic force to the first telescopic member, forcing the first telescopic member to tend to extend, so as to keep it in the first limiting hole and lock the first bottom cover on the first frame; correspondingly, the unlocking mechanism is used to drive the first telescopic member to retract, so as to exit the first limiting hole.

[0281] For example, as shown in Figures 26 and 27, the first limiting hole 10801 is provided on the first frame, and the first telescopic member is telescopically or slidably provided on the first bottom cover. The first telescopic member has a first limiting end 108021 and a first mounting end 108022. The fourth elastic member is a compression spring, one end of which is provided on the first mounting end of the first telescopic member, and the other end is provided on the first bottom cover. The compression spring applies a biasing force to the first telescopic member in the direction of the first limiting hole, causing the first limiting end of the first telescopic member to tend to extend out of the first bottom cover and into the first limiting hole, thereby locking the first bottom cover on the first frame and keeping the first bottom cover closed with the third opening closed.

[0282] In some embodiments, the first mounting end of the first telescopic member is disposed within the first bottom cover, and the first limiting end can extend out of the first bottom cover and into the first limiting hole. For example, the first bottom cover includes a first mounting cavity, the first mounting end of the first telescopic member is disposed within the first mounting cavity, the fourth elastic member is disposed within the first mounting cavity, the first bottom cover has a first sliding hole 10804, and the first limiting end of the first telescopic member is located outside the first bottom cover through the first sliding hole; or, the first telescopic member is slidably disposed on the first sliding hole, the first mounting end of the first telescopic member is located within the first mounting cavity, and the first limiting end of the first telescopic member is located outside the first bottom cover. For example, in a specific embodiment, the first mounting cavity is formed by the aforementioned first base, second base, and first protrusion.

[0283] Furthermore, in some embodiments, since the fourth elastic member applies a biasing force towards the outside of the first telescopic member, in order to prevent the first telescopic member from sliding outward from the first bottom cover and detaching from it, as shown in FIG27, the locking mechanism further includes a first limiting component. The first limiting component is disposed on the first bottom cover and is used to block the first telescopic member on the first bottom cover. For example, in some embodiments, the first limiting component includes a second sliding hole 10805 and a first limiting member 10806, wherein the first limiting member is fixedly or detachably connected to the first telescopic member, the second sliding hole is disposed on the first bottom cover, and the second sliding hole and the first sliding hole are staggered in the horizontal or vertical direction. The first limiting member moves synchronously with the first telescopic member and slides in the second sliding hole, thereby limiting the first telescopic member on the first bottom cover.

[0284] In other embodiments, after the first filter cartridge is removed from the pool robot, the user can press the first limiting member to drive the first telescopic member to retract, thereby manually releasing the first telescopic member from locking the first bottom cover. This allows the first bottom cover to move, opening the third opening, or the user can manually close the first bottom cover to the third opening. Furthermore, a button is provided at one end of the first limiting member, allowing the user to unlock the first bottom cover by pressing the button.

[0285] In some embodiments, the unlocking mechanism drives the first telescopic member to retract, thereby exiting the first limiting hole. For example, the unlocking mechanism includes a cylinder that drives the first telescopic member to retract, causing the first telescopic member to exit the first limiting hole. Alternatively, in other embodiments, as shown in Figures 21, 26, and 55, the unlocking mechanism includes a first motor and an unlocking component 7003. The first motor drives the unlocking component to extend, thereby pushing the first telescopic member to retract, thus exiting the first limiting hole. Alternatively, in other embodiments, the unlocking mechanism includes a first motor and an unlocking component. The first motor drives the unlocking component to rotate, thereby pushing the first telescopic member to retract, causing the first telescopic member to exit the first limiting hole.

[0286] For example, in some embodiments, as shown in FIG26, the unlocking assembly 7003 includes a second unlocking member, a fifth elastic member 70034, and a motor. For example, the second unlocking member is a second telescopic member 70033, and the fifth elastic member applies its elastic force to the second telescopic member, forcing the second telescopic member to tend to stay away from the first limiting hole; the first motor drives the second telescopic member to extend, causing the second telescopic member to extend into the first limiting hole, thereby pushing the first telescopic member to move and exit the first limiting hole. For example, the fifth elastic member is a compression spring, one end of which is connected to the second telescopic member, and the other end is located on the first body or in the first receiving cavity. The second telescopic member is located outside the first limiting hole due to the biasing force of the fifth elastic member. When the first motor removes its driving force on the second telescopic member, the second telescopic member returns to its original position outside the first limiting hole under the elastic action of the fifth elastic member. In some embodiments, the first motor is located on the first body.

[0287] In other embodiments, the first motor is mounted on the base station body, as shown in Figure 26. The unlocking component 7003 also includes a second mating member 70032. The first motor drives the second mating member to move upward, so that the second mating member pushes the second telescopic member towards the first telescopic member, thereby pushing the first telescopic member out of the first limiting hole. For example, the second mating member and the second telescopic member are engaged by an inclined surface. Due to the effect of the inclined surface, when the second mating member moves upward, it can push the second telescopic member to move in the horizontal direction, thereby pushing the first telescopic member to retract.

[0288] In some embodiments, the unlocking component 7003 further includes a first unlocking member 70031 disposed on the base station body; at least a portion of the second mating member is disposed within the first main body, as shown in FIG13. The first main body is provided with a third clearance opening 1001j so that the bottom of the second mating member is connected to the outside, i.e., the second mating member is exposed. A first motor drives the first unlocking member to move upward, and the first unlocking member pushes the second mating member to move upward through the third clearance opening 1001j, thereby driving the second telescopic member to move into the first limiting hole, and then pushing the first telescopic member to retract. The first telescopic member exits the first limiting hole, realizing the unlocking function of the first bottom cover. For example, in some embodiments, the initial position of the second mating member can be that the bottom of the second mating member is located within the third clearance opening; the first unlocking member pushes the second mating member to move upward by extending into the third clearance opening. Alternatively, in some embodiments, the initial position of the second mating member can be that the bottom of the second mating member is located within the first main body; the first unlocking member extends into the first main body through the third clearance opening to push the second mating member to move upward. Alternatively, in some other embodiments, the initial position of the second mating member can be that the bottom of the second mating member extends beyond the bottom of the first main body; the first unlocking member drives the second mating member to move upward outside the first main body. When the first motor removes its force on the second mating member, the second mating member moves downward under its own weight, resetting to its initial position; simultaneously, under the action of the fifth elastic member, the second telescopic member moves to exit the first limiting hole, and the second telescopic member resets to its initial state: the second telescopic member and the second mating member abut against each other again through the aforementioned inclined surface.

[0289] In other embodiments, the aforementioned second unlocking member is rotatably disposed within the first main body; without the aforementioned second mating member, the first motor drives the first unlocking member to move upward, and the first unlocking member pushes the mating end of the second unlocking member to drive the second unlocking member to rotate forward, causing the unlocking end of the second unlocking member to rotate into the first limiting hole, thereby pushing the first telescopic member to retract, and then the first telescopic member to exit the first limiting hole. The biasing force generated by the fifth elastic member tends to keep the unlocking end of the second unlocking member outside the first limiting hole. After the locking mechanism unlocks, when the first motor drives the first unlocking member to move downward, the first unlocking member releases the force on the mating end of the second unlocking member. Under the action of the fifth elastic member, the second unlocking member rotates in the opposite direction to exit the first limiting hole, and the unlocking end of the second unlocking member returns to the outside of the first limiting hole. In this embodiment, the fifth elastic member can be a torsion spring or a compression spring; or, it can also be a tension spring.

[0290] In other embodiments, a first locking member is rotatably disposed on one of the first bottom cover and the first frame, and a first limiting hole is disposed on the other of the first bottom cover and the first frame. Under the elastic force generated by the fourth spring, the locking end of the first locking member tends to remain inserted into the first limiting hole, locking the first bottom cover onto the first frame. In this embodiment, the fourth elastic member can be a torsion spring or a compression spring; alternatively, it can also be a tension spring. Correspondingly, the second unlocking member can push the first locking member to rotate through the aforementioned telescopic movement or rotation, causing the locking end of the first locking member to exit the first limiting hole, thereby unlocking the first locking member.

[0291] When the first bottom cover is rotatably mounted on the first frame, in some embodiments, the first bottom cover is driven to rotate by a motor mounted on the first main body. After the first filter box is removed from the first receiving cavity, the first bottom cover is disconnected from the motor. When the first filter box is placed into the first receiving cavity, a driving connection is established between the first bottom cover and the motor. For example, as shown in Figure 18, the pool robot also includes a third gear 105921, a fourth gear 105922, and a motor 105923. The motor and the third gear are mounted on the first main body, and the fourth gear is connected to the first bottom cover. When the first filter box is inserted into the first receiving cavity, the third gear and the fourth gear mesh, and the motor drives the third gear to rotate, thereby driving the fourth gear to rotate, which in turn drives the first bottom cover to rotate (i.e., the first bottom cover and the motor establish a driving connection), to open or close the third opening. When the first filter box is removed from the first receiving cavity, the third gear and the fourth gear separate, and the motor is disconnected from the fourth gear. Furthermore, in some other embodiments, when the first bottom cover is rotated by a motor, the pool robot can also keep the first bottom cover closed by the self-locking force of the motor, thus closing the third opening. Alternatively, the self-locking force of the motor and the locking mechanism can work together to lock the first bottom cover onto the first frame.

[0292] In other embodiments, the rotation of the first bottom cover is not driven by a motor, but by its own weight; or, the weight of the first bottom cover combined with the weight of the waste and liquid inside the first filter box drives the first bottom cover to rotate, thereby opening or closing the third opening. Correspondingly, in this embodiment, the base station or pool robot also includes a closing mechanism, which drives or pushes the first bottom cover to rotate toward the third opening, so that the first bottom cover closes onto the third opening.

[0293] In some embodiments, when a locking mechanism 1080 is provided on the first bottom cover, the locking mechanism includes the aforementioned first telescopic member, fourth elastic member, and first limiting hole. For example, as shown in Figures 19 and 27, a first extension portion 10536 extending downward is provided on the first frame, and the first limiting hole is provided on the first extension portion. When the first bottom cover needs to close the third opening, the closing mechanism drives the first bottom cover to rotate toward the third opening. When the first telescopic member reaches the first extension portion and is located below the first limiting hole, the first extension portion squeezes the first telescopic member to retract, allowing the first bottom cover to continue rotating toward the third opening. When the first telescopic member rotates to the first limiting hole, the first extension portion releases its squeezing action on the first telescopic member. Under the action of the fourth elastic member, the first telescopic member extends to insert into the first limiting hole, thereby locking the first bottom cover.

[0294] In some embodiments, the pool robot further includes a sixth position detection component (not shown in the figure) for detecting whether the first bottom cover closes the third opening, i.e., detecting whether the first bottom cover opens the third opening. For example, the sixth position detection component includes a Hall sensor and an iron block, wherein one of the iron block and the Hall sensor is located on the first bottom cover, and the other is located on the first body. When the Hall sensor detects the iron block, it indicates that the first bottom cover is closed to the third opening; otherwise, it indicates that the first bottom cover is open to the third opening. Alternatively, the sixth position detection component can also be a position switch.

[0295] In some embodiments, when the first bottom cover is rotatably mounted on the first frame, the first filter box further includes at least one torsion spring (not shown in the figure). The torsion spring is sleeved on a first pivot of the first bottom cover, with one end of the torsion spring acting on the first bottom cover and the other end acting on the first body or the first frame. Under the action of the torsion spring, the first bottom cover tends to close the third opening. In other embodiments, the pool robot may also be equipped with both a torsion spring and a locking mechanism.

[0296] In some embodiments, the first filter assembly further includes a third filter box for fine filtration, while the first filter box is used for coarse filtration. The third filter box, relative to the first filter box, can filter not only large-sized debris but also small-sized debris, thus forming fine filtration. The first filter box filters large-sized debris, such as leaves, stones, and algae; and small-sized debris, such as fine sand.

[0297] In some embodiments, the third filter box is disposed inside the first filter box. When the pool robot cleans the liquid, the liquid carrying debris flows sequentially through the first or second water inlet, the third filter box, the first filter box, the first receiving cavity, the main impeller of the main water pump, and the first outlet. During this cleaning process, both large and small debris remain in the third filter box. Since the third filter box is a fine filter and the first filter box is a coarse filter, the first filter box no longer filters the liquid filtered by the third filter box. It simply allows the liquid filtered by the third filter box to flow through and enter the first receiving cavity, and finally exits the pool robot from the first outlet.

[0298] In other embodiments, the third filter box is located outside the first filter box. When the pool robot cleans the liquid, the liquid carrying debris flows sequentially through the first or second water inlet, the first filter box, the third filter box, the first receiving cavity, the main impeller of the main water pump, and the first outlet. During this cleaning process, large debris remains in the first filter box, and small debris remains in the third filter box. The liquid filtered by the third filter box is finally discharged from the pool robot through the first outlet.

[0299] In the aforementioned embodiment, since the third filter box is a fine filter, the liquid carrying the waste is filtered through the third filter box and finally discharged from the first outlet. The liquid discharged from the first outlet does not contain waste, thus avoiding the phenomenon of waste being sprayed from the first outlet.

[0300] In some embodiments, the third filter cartridge includes a third frame and filter cotton disposed on the third frame. The filter cotton may be disposed on the inner wall or the outer wall of the third frame. For example, the filter cotton may be detachably installed outside the third frame; or the filter cotton may be sleeved outside the third frame for easy replacement by the user.

[0301] In some embodiments, as shown in Figures 5 and 6, when the first water inlet is located on the first bottom cover, the pool robot includes a scraper, at least a portion of which is located on the first bottom cover. For example, the scraper includes a first segment 1091 and two second segments 1092. The first segment is located on the first bottom cover, and the first bottom cover drives the first segment to move synchronously. The two second segments are located on the first body and distributed on both sides of the first water inlet. In the direction from the second end of the first body to the first end (i.e., the second direction), the first water inlet is located in front of the first segment. When cleaning the pool bottom, the pool robot moves along the second direction. Alternatively, in other embodiments, in the direction from the first end of the first body to the second end, the first water inlet is located in front of the first segment. When cleaning the pool bottom, the pool robot moves along the first direction. Having the scraper on the first bottom cover, closer to the first water inlet, facilitates the formation of a negative pressure zone at the first water inlet under the action of the main water pump, allowing the liquid in the pool to quickly enter the first filter box through the first water inlet.

[0302] Alternatively, in some other embodiments, part of the first segment is located on the first bottom cover and part is located on the first body; or, in some other embodiments, the scraper may only have a first segment and not a second segment.

[0303] In some embodiments, the first body is provided with a fourth inlet 1016 (i.e., a self-cleaning opening), which communicates with the first filter box, allowing the first nozzle to extend into or exit the pool robot through the fourth inlet. Since the first nozzle can extend into the first body to spray liquid onto the first filter box, the liquid sprayed by the first nozzle can be effectively applied to the first filter box, ensuring its cleaning effect.

[0304] In some embodiments, a fourth inlet is provided on the first body, but the first nozzle does not extend into the first body. The first nozzle is located outside the first body, and the first nozzle sprays liquid from outside the first body through the fourth inlet to the first filter box, which can also achieve cleaning of the first filter box.

[0305] Regarding the first nozzle extending into the first body to spray liquid onto the first filter box, in some embodiments, at least a portion of the first nozzle extends into the first filter box through a fourth inlet to spray liquid onto the first filter box, i.e., the first nozzle sprays liquid from inside the first filter box outwards; or, in other embodiments, at least a portion of the first nozzle extends into the first gap between the first receiving cavity and the outside of the first filter box through the fourth inlet to spray liquid onto the first filter box, i.e., the first nozzle sprays liquid from outside the first filter box into the first filter box. In this embodiment, in order for at least a portion of the first nozzle to extend into the first gap, the size of the first gap is required to be relatively large, which will increase the size of the first body; furthermore, for the liquid in the first gap to be discharged from the first outlet by the main water pump, the main water pump needs to generate a greater suction force, increasing the power of the main water pump; while in the embodiment where the first nozzle extends into the first filter box, the size of the first gap is relatively small, the structure of the pool robot is compact, and at the same time, the liquid in the first gap is discharged from the first outlet by the main water pump, requiring a smaller suction force from the main water pump.

[0306] For ease of explanation, the following description will use the example of the first nozzle extending into the first filter box; of course, in any of the embodiments described below, the method of the first nozzle extending into the first filter box can be replaced by the first nozzle extending into the first gap to spray liquid to clean the first filter box. For the sake of brevity, this will not be repeated in the following text.

[0307] Regarding the fourth inlet, for example, in some embodiments, the pool robot does not need to have a separate fourth inlet on the first body. Instead, the second water inlet mentioned above is used as the fourth inlet, allowing the first nozzle to pass through the fourth inlet and extend into the first filter box. The liquid sprayed by the first nozzle cleans the first filter box. At the same time, the pool robot can maintain its original structure, making the base station more widely applicable. For example, the second water inlet can be located on the front or rear side wall of the first body.

[0308] For example, in other embodiments, when the pool robot includes the loading and unloading port of the foregoing embodiments, the loading and unloading port is used to allow the first filter box to be placed into or removed from the first body, and the loading and unloading port serves as a fourth inlet.

[0309] Alternatively, in other embodiments, the fourth inlet may be independent of the second inlet and the access port may be located on the first body, allowing the first nozzle to pass through the fourth inlet to extend into the first filter box or exit the pool robot. For example, the second inlet may be located on the front side wall of the first body, and the fourth inlet may be located on the rear side wall of the first body; or the fourth inlet may also be located on the front side wall of the first body and staggered from the second inlet.

[0310] In some embodiments, the fourth inlet is not located on the bottom of the first body, meaning the first nozzle does not extend into the first body from the bottom to spray liquid onto the first filter cartridge. Alternatively, in other embodiments, the fourth inlet is located on the bottom of the first body, but is different from the first inlet. For example, the fourth inlet and the first inlet are staggered on the first body. Or, in other embodiments, the first inlet serves as the fourth inlet.

[0311] In some embodiments, the pool robot also includes a baffle movably disposed at a fourth entrance, the baffle being used to open or close the fourth opening.

[0312] Regarding the first nozzle, there are at least two embodiments. In some embodiments, the first nozzle is stationary relative to the base station body. In other embodiments, the first nozzle is movably disposed relative to the base station body. Specifically:

[0313] When the first nozzle is stationary relative to the base station body, the pool robot moves on the base station body, causing the first nozzle to passively extend into the first filter box through the fourth inlet or exit the pool robot. For example, in some embodiments, the base station body has clean and unclean positions. As the pool robot moves from the unclean position to the clean position, the first nozzle passively extends into the first filter box through the fourth inlet; as the pool robot moves from the clean position to the unclean position, the first nozzle passively exits the pool robot from the fourth inlet. A clean position is the position where the pool robot stops on the base station body when the liquid sprayed by the first nozzle can clean the first filter box. An unclean position is the position where the pool robot stops on the base station body where the liquid sprayed by the first nozzle cannot clean the first filter box. Alternatively, the first nozzle cannot extend into the first body through the fourth inlet, and the liquid sprayed by the first nozzle cannot clean the first filter box. Alternatively, any stopping position on the base station body other than the clean position can be considered an unclean position.

[0314] For example, if the second inlet serves as the fourth inlet and is located on the front sidewall of the first body (e.g., the front shell), the first nozzle extends into the first filter box through the second inlet during the pool robot's forward movement from a non-clean position to a clean position. Conversely, the first nozzle retracts from the pool robot during its backward movement from a clean position to a non-clean position. Alternatively, in other embodiments, if the second inlet serves as the fourth inlet and is located on the rear sidewall of the first body (e.g., the rear shell), the first nozzle extends into the first filter box through the second inlet during the pool robot's backward movement from a non-clean position to a clean position; conversely, the first nozzle retracts from the pool robot during its forward movement from a clean position to a non-clean position.

[0315] Furthermore, in some embodiments, when the second water inlet serves as the fourth inlet, the aforementioned second baffle installed on the second water inlet acts as a barrier. When the pool robot is in a non-clean position, the second baffle opens the second water inlet; subsequently, the pool robot moves from the non-clean position to the clean position.

[0316] In other embodiments, when the pick-up and drop-off port is used as the fourth inlet, the first nozzle is stationary relative to the base station body. The first nozzle is passively inserted into the first filter box or removed from the pool robot by moving the pool robot in the height direction of the first body.

[0317] In other embodiments, the first nozzle is movably disposed relative to the base station body, and the first nozzle has an extended position and a retracted position, and the first nozzle can switch between the retracted position and the extended position.

[0318] There are several possibilities regarding the retracted and extended positions of the first nozzle. Specifically:

[0319] In the first scenario: when the first nozzle is in the retracted position, it is located outside the pool robot; when the first nozzle is in the extended position, it extends into the first main body through the fourth inlet. For example, it extends into the first gap or into the first filter box.

[0320] In the second scenario: When the first nozzle is in the retracted position, it is located outside the pool robot and does not interfere with the user lifting the pool robot vertically or the pool robot moving away from the base station's cleaning position. The first nozzle will not collide with the pool robot, and there is no mutual interference between them. When the first nozzle is in the extended position, it extends into the first main body through the fourth inlet. For example, it may extend into the first gap or into the first filter box.

[0321] The third scenario: When the first nozzle is in the retracted position, it is located outside the pool robot and does not interfere with the user lifting the pool robot vertically or the pool robot moving away from the base station's cleaning position. The first nozzle will not collide with the pool robot, and there is no mutual interference between the first nozzle and the pool robot. When the first nozzle is in the extended position, it is located outside the pool robot, but the liquid sprayed by the first nozzle can pass through the fourth inlet to clean the first filter box.

[0322] To facilitate the description of the extended and retracted positions of the first nozzle, the following embodiments will use the first case of the extended and retracted positions as examples. In particular, the description will focus on the case where the first nozzle extends into the first filter box in the extended position. Any of the following embodiments is applicable to other cases of extended and retracted positions.

[0323] In some embodiments, when the pool robot is stationary in the cleaning position and opens its shield, if the first nozzle is in the retracted position, it needs to move from the retracted position to the extended position. During this movement, the first nozzle gradually extends into the first filter box through the fourth inlet. When the first nozzle reaches the extended position, it is fully inserted into the first filter box. Conversely, when the first filter box is cleaned by the liquid sprayed by the first nozzle, and the first nozzle needs to exit the pool robot, the pool robot remains stationary in the cleaning position, and the first nozzle moves from the extended position to the retracted position. During this movement, the first nozzle gradually exits the pool robot from the fourth inlet until it reaches the retracted position. In this embodiment, by movably mounting the first nozzle on the base station body, the pool robot only needs to be stationary in the cleaning position, and the movement of the first nozzle actively extends into or exits the pool robot into the first filter box. The entire process does not require the pool robot to move on the base station body.

[0324] In some embodiments, where the first nozzle is movably mounted on the base station body, the first nozzle is rotatably mounted on the base station body, and the first nozzle can be rotated to extend into the first filter box or retract from the pool robot.

[0325] For example, when the second inlet serves as the fourth inlet, the first nozzle rotates horizontally about a vertical axis to extend through the second inlet into the first filter box or exit the pool robot. In some embodiments, the first nozzle rotates from the retracted position to the extended position by a first angle. For example, the first angle is approximately 10 degrees, 15 degrees, 30 degrees, 45 degrees, 60 degrees, 75 degrees, 80 degrees, 85 degrees, 90 degrees, etc. Conversely, the first nozzle rotates approximately from the extended position to the retracted position by a second angle. The sum of the first and second angles can be 0 degrees (i.e., the direction of rotation of the first nozzle from the retracted position to the extended position is opposite to the direction of rotation of the first nozzle from the extended position to the retracted position) or 180 degrees (i.e., the direction of rotation of the first nozzle from the retracted position to the extended position is the same as the direction of rotation of the first nozzle from the extended position to the retracted position). Alternatively, in another embodiment, the first nozzle can rotate about other axes (non-vertical axes) to switch between the retracted and extended positions. The aforementioned first and second angles are selected as needed and are not specifically limited.

[0326] For example, when the inlet / outlet is used as the fourth inlet, in some embodiments, the first nozzle rotates vertically about a horizontal axis to extend into or out of the pool robot. The first nozzle rotates from the retracted position to the extended position by a first angle, for example, approximately 5 degrees, 10 degrees, 15 degrees, 45 degrees, 60 degrees, 75 degrees, 80 degrees, 85 degrees, 90 degrees, etc. Conversely, the first nozzle rotates approximately from the extended position to the retracted position by a second angle. The sum of the first and second angles can be 0 degrees (i.e., the direction in which the first nozzle rotates from the retracted position to the extended position is opposite to the direction in which it rotates from the extended position to the retracted position); or 180 degrees (i.e., the direction in which the first nozzle rotates from the retracted position to the extended position is the same as the direction in which it rotates from the extended position to the retracted position); or other angles between 0 degrees and 360 degrees. Alternatively, the first nozzle can rotate around other axes (non-horizontal axes) to switch between a retracted position and an extended position. The aforementioned first and second angles can be selected as needed and are not specifically limited.

[0327] In other embodiments, the first nozzle is retractably mounted on the base station body, and the first nozzle extends into or out of the pool robot by retracting movement.

[0328] For example, when the second inlet is used as the fourth inlet, the first nozzle extends through the second inlet into the first filter box or exits the pool robot by horizontal telescopic movement; or, for example, when the pick-up and drop-off port is used as the fourth inlet, the first nozzle extends through the second inlet into the first filter box or exits the pool robot by vertical telescopic movement.

[0329] In some embodiments, when the fourth inlet is provided with the aforementioned baffle, the baffle is used to open or close the fourth opening; the baffle opens the fourth inlet before the first nozzle switches from the retracted position to the extended position; and the baffle closes the fourth inlet after the first nozzle switches from the extended position to the retracted position.

[0330] For example, when the pool robot stops at the cleaning position, the baffle first opens the fourth inlet, and then the first nozzle moves from the retracted position to the extended position, passing through the fourth inlet and extending into the first filter box. Further, for example, when the second inlet serves as the fourth inlet, the aforementioned second baffle acts as a baffle. As another example, when the loading / unloading port serves as the fourth inlet, the pool robot also includes the aforementioned first cover, which is movably mounted on the loading / unloading port for opening or closing the port; the first cover acts as a baffle.

[0331] In some embodiments, the first cover 1018 is rotatably disposed on the pick-up / drop-off port; in other embodiments, the first cover is slidably disposed on the first body or the pick-up / drop-off port. Alternatively, in other embodiments, the first cover is magnetically attached to the pick-up / drop-off port, and the first cover can be removed from the first body. Furthermore, after the first cover is removed from the first body, the user can spray different colors of paint on the first cover according to their own needs to change the color of the first cover.

[0332] In some embodiments, to allow the first nozzle to extend into the first filter box for cleaning, a twelfth opening is provided on the first filter box corresponding to the aforementioned fourth inlet. The fourth inlet and the twelfth opening are connected, and the first nozzle extends into the first filter box sequentially through the fourth inlet and the twelfth opening. For example, when the second inlet is used as the fourth inlet, the second inlet is correspondingly used as the twelfth opening; or, when the inlet / outlet is used as the fourth inlet, the eleventh opening is correspondingly used as the twelfth opening.

[0333] In the aforementioned embodiments, the water flow direction for cleaning the first filter box is as follows: the liquid passes through the fourth inlet, the first filter chamber of the first filter box, and the third opening to clean the first filter box. Alternatively, during the cleaning process of the first filter box, the fourth inlet, the first filter box, and the third opening are sequentially fluidly connected to form a cleaning water path for cleaning the first filter box. This cleaning water path is different from the aforementioned first, second, and third water paths.

[0334] In some embodiments, the pool robot further includes at least two walking mechanisms, wherein the walking mechanism 1071 is disposed at the bottom or side of the first body, and the walking mechanism 1071 is used to drive the pool robot to walk on the pool bottom and pool wall.

[0335] For example, the traveling mechanism 1071 may include at least two traveling wheels and at least one fourth motor to drive the traveling wheels. For instance, there may be two traveling wheels symmetrically arranged on the first body 1001. Alternatively, there may be four traveling wheels, similar to those on a car, symmetrically arranged on the first body 1001. Or, as shown in Figure 8, each traveling mechanism 1071 includes a drive motor, a first traveling wheel 1171, a second traveling wheel 1172, and a track 117 wrapped around the outer periphery of the first and second traveling wheels. The track and the two traveling wheels form an annular region 1173. The drive motor drives the first traveling wheel to rotate, thereby causing the track and the second traveling wheel to rotate. Alternatively, there may be two traveling mechanisms, located on opposite sides of the first body 1001.

[0336] In some embodiments, the pool robot further includes a propulsion mechanism adapted to drive the pool robot to move in or on the water surface. For example, the propulsion mechanism includes at least one first thruster 10721, which is used to drive the pool robot to walk on the water surface or on the pool wall. The first thruster generates an upward thrust on the pool robot to ensure that the pool robot can walk on the pool wall and prevent the pool robot from falling off the pool wall.

[0337] For example, the first propeller 10721 includes a third flow channel, a fifth motor, and a first impeller; the two ends of the third flow channel are a thirteenth opening 10721a and a fourteenth opening 10721b, respectively, and the fifth motor and the first impeller are located inside the third flow channel. When the fifth motor drives the first impeller to rotate in the forward direction, liquid flows into the third flow channel from the thirteenth opening, passes through the first impeller, and is then ejected from the fourteenth opening. The ejected liquid generates a first driving force on the pool robot, the direction of which is opposite to the direction of the liquid ejected from the fourteenth opening, thus propelling the pool robot forward on the water surface or pool wall. Conversely, when the fifth motor drives the first impeller to rotate in the reverse direction, liquid flows into the third flow channel from the fourteenth opening, passes through the first impeller, and is then ejected from the thirteenth opening. The ejected liquid generates a second driving force on the pool robot, the direction of which is opposite to the direction of the liquid ejected from the thirteenth opening, i.e., the direction of the second driving force is opposite to the direction of the first driving force, thus propelling the pool robot backward.

[0338] The first thruster can change the direction of its driving force on the pool robot by altering the direction of the fifth motor, enabling the pool robot to move forward or backward on the water surface, in the water, or on the pool wall. For example, there are two first thrusters 10721, symmetrically arranged on both sides of the cleaning device. By changing the speed difference between the two first thrusters, the pool robot can turn or turn on the water surface or pool wall. Alternatively, in some embodiments, as shown in Figure 8, each first thruster is located within an annular area formed between the two wheels and tracks of a walking mechanism. This allows the two first thrusters to be symmetrically arranged within the annular areas of the two walking mechanisms, without occupying other space in the first main body, making the pool robot's structure compact. Alternatively, in some embodiments, as shown in Figure 12, the first thruster is located on the side of the first main body and above the walking mechanism.

[0339] In some embodiments, the thirteenth opening is closer to the second inlet than the fourteenth opening. The first propeller drives the pool robot to move along the waterway in front of the water (i.e., the sixth waterway): liquid enters the third flow channel from the thirteenth opening, passes through the first impeller, and exits from the fourteenth opening. Alternatively, the thirteenth opening, the third flow channel, the first impeller, and the fourteenth opening are sequentially fluidly connected. This sixth waterway differs from the aforementioned first, second, third, fourth, and fifth waterways. Conversely, the first propeller drives the pool robot to move backward along the waterway (i.e., the seventh waterway): liquid enters the third flow channel from the fourteenth opening, passes through the first impeller, and exits from the thirteenth opening. Alternatively, the fourteenth opening, the third flow channel, the first impeller, and the thirteenth opening are sequentially fluidly connected. The seventh waterway also differs from the aforementioned first, second, third, fourth, and fifth waterways.

[0340] In some embodiments, the pool robot further includes a first cleaning component, as shown in Figures 3, 5, 6, 10, 11, and 13. For example, the first cleaning component includes a main roller brush 1131. In some embodiments, there may be two main roller brushes, respectively disposed at a first end and a second end of the first body 1001, and located at the bottom of the pool robot, for brushing the pool bottom, pool walls, or waterline. Alternatively, there may be one main roller brush, disposed at a first end or a second end of the first body. In other embodiments, the first cleaning component further includes a side brush 1132, which is used to brush the pool walls or waterline. For example, the side brush is disposed at the first end.

[0341] In some embodiments, as shown in FIG2, the pool robot further includes at least one propulsion assembly 115 (i.e., a lateral propulsion assembly), wherein the propulsion assembly includes a fourth flow channel 115a (i.e., a lateral flow channel), a second motor 115b (i.e., a lateral motor), and a second impeller 115c (i.e., a lateral impeller), wherein at least a portion of the fourth flow channel is disposed on the side of the first body, one end of the fourth flow channel has a first opening 115d, and the other end has a second opening 115e, one of the first opening and the second opening serving as a fluid inlet, and the other end serving as a fluid jet outlet. The second motor and the second impeller are both disposed within the fourth flow channel.

[0342] When the second motor drives the second impeller to rotate, liquid enters the fourth flow channel from the fluid inlet, passes through the second impeller, and is ejected from the fluid jet nozzle. The direction of the water jet from the fluid jet nozzle is away from the side of the first main body 1001. This jet of water generates a second thrust on the cleaning device, wherein the second thrust can provide at least a thrust component in the lateral direction for the cleaning device 1000, so that the pool robot can stay close to the pool sidewall when moving along the pool sidewall on the water surface; and enable the pool robot to move laterally along the waterline on the pool wall to clean the waterline; and enable the pool robot to move in the pool... When at the bottom, the robot walks close to the pool sidewall while moving along the edge of the pool bottom to clean the pool bottom along the edge; it also drives the pool robot to move laterally on the water surface, in the water, on the pool bottom, and on the pool wall to adjust the position of the cleaning equipment, so that the pool robot can return from any position on the water surface or pool wall to the bearing surface 2043 of the carrier 2040; or, the pool robot can return from any position on the water surface, pool wall, or pool bottom to the pool shore (or, the pool robot returns to a preset docking point on the pool shore, i.e., fixed-point docking), so that the user can retrieve the pool robot from the pool. The lateral direction can be defined as the direction pointed by the line connecting the center lines of the left and right sides of the pool robot (i.e., the first sidewall and the second sidewall of the first main body).

[0343] In some embodiments, one end of the fourth flow channel is located in the annular region of a walking mechanism, and the other end of the fourth flow channel is located in the annular region of another walking mechanism, so that both ends of the fourth flow channel are connected to the outside world, thereby utilizing the annular regions of the two walking mechanisms to set up the propulsion component, making the structure of the pool robot compact.

[0344] In some embodiments, as shown in FIG2, the traveling mechanism further includes an outer cover plate 1174. The outer cover plate is disposed on the first main body and at least covers the first and second traveling wheels, preventing the first and second traveling wheels from being exposed and protecting them. This achieves the goal of covering the traveling wheels without interfering with the normal operation of the tracks. Correspondingly, the first opening and the second opening of the fourth flow channel are respectively disposed on the outer cover plate of one of the traveling mechanisms, so that the two ends of the lateral flow channel penetrate through the outer cover plates of the two traveling mechanisms.

[0345] Cleaning devices typically have left-edge and / or right-edge modes. A left-edge mode means the left edge of the cleaning device is close to or adjacent to the edge of the target area (e.g., a swimming pool); a right-edge mode means the right edge of the cleaning device is close to or adjacent to the edge of the target area. For example, in the left-edge mode of a pool robot, the fluid jet nozzle is located on the right side wall of the first body to generate a second thrust towards the left of the pool robot. Conversely, in the right-edge mode of a pool robot, the flow jet nozzle is located on the left side wall of the first body to generate a second thrust towards the right of the pool robot.

[0346] In some embodiments, the pool robot further includes an surfacing and diving mechanism. For example, the surfacing and diving mechanism is disposed within the first body. The surfacing and diving mechanism is used to drive the pool robot to rise from underwater to the surface and enable the pool robot to float on the water surface; it can also be used to drive the pool robot to dive from the surface to underwater. That is, the surfacing and diving mechanism enables the pool robot to switch between underwater and surface conditions.

[0347] In some embodiments, as shown in FIG8, the surfacing and diving mechanism includes at least one float cavity 1101, at least one first adjusting member (not shown in the figure), and at least one air inlet 1103. The float cavity 1101 is used to contain at least gas; one end of the air inlet is connected to the outside, and the other end of the air inlet is connected to the float cavity 1101 or the first adjusting member; the first adjusting member is used to adjust the volume of gas in the float cavity. Under the action of the first adjusting member, outside gas enters the float cavity through the air inlet to increase the volume of gas in the float cavity; or, gas in the float cavity is discharged outside the float cavity through the air inlet to reduce the volume of gas in the float cavity.

[0348] In some embodiments, the float cavity 1101 is flexible. Driven by the first adjusting member, external gas enters the float cavity 1101 through the air inlet or the gas inside the float cavity 1101 is discharged outside the float cavity 1101 through the air inlet, thereby increasing or decreasing the volume of gas inside the float cavity 1101. In this embodiment, the first adjusting member 1102 can be an air pump. The float cavity has two states: when the pool robot floats on the water surface, the float cavity is almost full of gas, and the volume of the float cavity increases, resulting in an inflated state; when the pool robot is at the bottom of the pool or below the water surface, the float cavity is almost empty, resulting in a deflated state. Alternatively, when the pool robot is on the shore, the first adjusting member is opened to discharge the gas inside the float cavity, causing the float cavity to be in a deflated or empty state.

[0349] In other embodiments, the float cavity 1101 is rigid, and the buoyancy and submersion mechanism further includes a drainage section, which includes a discharge port (not shown in the figure). One end of the drainage section is connected to the outside, and the other end is connected to the float cavity 1101 or the first adjusting member. Under the action of the first adjusting member 1102, external gas can be driven into the float cavity 1101 through the air inlet. The volume of the gas entering the float cavity 1101 increases, thereby squeezing the liquid in the float cavity 1101 out of the float cavity 1101 through the drainage section, thereby increasing the volume of gas in the float cavity 1101 and reducing the volume of liquid. In this embodiment, the first adjusting member 1102 is an air pump.

[0350] Alternatively, in some embodiments, under the action of the first adjusting member 1102, the liquid in the float cavity 1101 is driven to be discharged out of the float cavity 1101 through the drain section, creating a negative pressure inside the float cavity 1101. External gas is then drawn into the float cavity 1101 through the air inlet 1103, increasing the volume of gas inside the float cavity 1101. Conversely, under the action of the first adjusting member 1102, external liquid is driven to be drawn into the float cavity 1101 through the drain section. The liquid drawn into the float cavity 1101 forces the gas inside the float cavity 1101 out of the float cavity 1101 through the air inlet 1103, thereby reducing the volume of gas inside the float cavity 1101 and increasing the volume of liquid inside the float cavity 1101. In this embodiment, the first adjusting member 1102 can be a water pump.

[0351] During the process of the pool robot switching from the bottom of the pool to the surface, the pool robot first walks from the bottom of the pool to the side wall, and then switches from the side wall to the surface. Specifically: the pool robot walks from its current position to the pool wall, and then walks towards the surface, so that the air intake 113 is above the surface or in the air. Under the action of the first adjusting member 1102, external air enters the float cavity 1101 through the air intake to increase the volume of air in the float cavity 1101, so that the buoyancy of the pool robot is greater than its weight. The pool robot can then switch from a state of being close to the pool wall to a state of floating on the surface, thereby realizing the switch of the pool robot from underwater to the surface.

[0352] Alternatively, if the pool robot needs to descend from the water surface to the bottom of the pool, when the float cavity is rigid, under the first adjustment action, the gas in the float cavity 1101 is discharged, and the liquid in the pool enters the float cavity 1101 to increase the gravity of the float cavity 1101, so that the gravity of the pool robot is greater than its buoyancy, and the pool robot descends directly from the water surface to the bottom of the pool.

[0353] In some embodiments, if the float cavity 1101 is rigid, when the pool robot floats on the water surface, the float cavity 1101 is almost entirely gas with very little liquid; when the pool robot is below the water surface, the float cavity 1101 is almost entirely liquid with very little gas. When the pool robot automatically walks back to the base station body from the pool wall or bottom with the help of the support member 2040; or when the user retrieves the pool robot from the bottom or pool wall and places it on the base station body, the float cavity 1101 contains liquid. In this case, the pool robot needs to drain the liquid from the float cavity 1101 on the base station body 20001 to reduce the weight of the pool robot and facilitate the user to move the pool robot from the base station body 20001.

[0354] Alternatively, the float cavity may be flexible. When the pool robot is brought ashore, the float cavity is filled with gas and inflated. During transport or when docked on the shore, the pool robot is susceptible to external impacts, which can easily damage the float cavity, resulting in poor sealing and a short service life. Therefore, the gas in the float cavity needs to be released after the pool robot is brought ashore. In some embodiments, the pool robot automatically walks from the water surface onto the base station body using a carrier, or the user retrieves the pool robot from the water and places it on the base station body. In this case, the float cavity is inflated. By controlling the first adjusting component to open for a preset time, the gas in the float cavity is released, causing the float cavity to deflate and preventing damage from external impacts.

[0355] For example, in some embodiments, the base station body has a clean position. When the pool robot stops in the clean position, the first adjusting member is activated for a preset time to expel the gas in the flexible floating cavity or the liquid in the rigid floating cavity. Alternatively, the base station body has a non-clean position. When the pool robot stops in the non-clean position, the first adjusting member is activated for a preset time to expel the gas in the flexible floating cavity or the liquid in the rigid floating cavity.

[0356] The air intake includes at least one air inlet. In some embodiments, the air inlet is located at a first end. During the movement of the pool robot towards the waterline on the pool wall, the pool robot moves in a second direction, with the first end positioned above the second end. The first end is above the liquid surface or in the air before the second end, so that the air inlet is also above the liquid surface. For example, when the first end is the front end and the second end is the rear end, the pool robot moves towards the waterline on the pool wall by advancing forward.

[0357] Alternatively, in other embodiments, the air inlet is located on the second end; as the pool robot moves towards the waterline along the pool wall, the pool robot moves in a first direction, with the second end positioned above the first end, so that the second end reaches the waterline earlier than the first end, i.e., the second end is above the liquid surface or in the air earlier than the first end, so that the air inlet is positioned above the liquid surface. For example, when the first end is the front end and the second end is the rear end, the pool robot moves towards the waterline by reversing along the pool wall.

[0358] The foregoing embodiments focused on the pool robot; the following will describe the base station in detail. In some embodiments, the base station includes a base station body, a second filter component, and a second cleaning component (or self-cleaning component).

[0359] For the base station body 20001, in some embodiments, the base station body is used for docking of the pool robot to support the pool robot. For example, in some embodiments, the pool robot automatically walks from the pool to the base station body to dock; or, in other embodiments, the user manually moves the pool robot onto the base station body to dock. For example, the base station body has a resting surface for the pool robot to dock; or, the base station body has at least a cleaning position, whereby when the pool robot docks at the cleaning position, the first nozzle of the second cleaning component (mentioned below) cleans the first filter box by spraying liquid onto the first filter box of the pool robot.

[0360] In some embodiments, when the pool robot stops on the base station body, the second cleaning component cleans the pool robot's first filter box by spraying liquid, collecting the waste in the first filter box into the second filter box. During the cleaning process of the waste in the first filter box by the second cleaning component, no manual intervention from the user is required, realizing automatic cleaning of the first filter box, thereby improving cleaning efficiency and cleaning effect, and also enhancing the user experience.

[0361] As shown in Figures 31 to 38, the second cleaning component 2170 includes at least one first nozzle 2173 (or nozzle). The first nozzle is disposed on the base station body. When the pool robot stops on the base station body, the first nozzle is used to spray liquid onto the first filter box to rinse the garbage in the first filter box and the garbage attached to the wall of the first filter box, thereby cleaning the garbage in the first filter box.

[0362] In some embodiments, as shown in Figures 33, 34, and 65, the second filter assembly 2110 includes at least a second filter box 21102 (or described as a second dust box). The second filter box has at least one filter surface for filtering liquids and debris entering therein and retaining debris within the second filter box. The second filter box is provided with at least one third inlet 21101, which serves as the entry point for debris into the second filter box.

[0363] As shown in Figures 47 and 48, when the pool robot is stationary on the base station body, the third inlet connects to the third opening of the first filter box, allowing the waste in the first filter box to enter the second filter box through the third opening and third inlet. When the pool robot is stationary on the base station body, the first nozzle sprays liquid into the first filter box. After the first bottom cover of the first filter box opens the third opening, the waste in the first filter box and the liquid sprayed into the first filter box by the first nozzle enter the second filter box through the third opening and third inlet. The waste remains in the second filter box, and the liquid is filtered by the second filter box and discharged from the base station body. This process collects or temporarily stores the waste from the first filter box in the second filter box, completing the cleaning of the first filter box. No user intervention is required during the cleaning process of the first filter box, achieving automatic cleaning.

[0364] In some embodiments, when the pool robot stops at the cleaning position of the base station and the third opening is closed by the first bottom cover, the first filter box is located outside the second filter box, and the two are not nested together. When the third opening is opened by the first bottom cover, a portion of the first bottom cover can extend into the second filter box, or the first bottom cover may not extend into the second filter box. In other words, when the pool robot stops at the cleaning position of the base station, regardless of whether the third opening is open by the first bottom cover, the first frame is located outside the second filter box, and the two are not nested together.

[0365] For example, in some embodiments, when the pool robot is in the cleaning position of the base station body, at least a portion of the first filter box is located above at least a portion of the second filter box, and at least a portion of the third inlet is located below the third opening, so that the inner cavity of the first filter box is in communication with the inner cavity of the second filter box, and the debris inside the first filter box can fall into the second filter box through the third inlet under the action of gravity and / or the impact force of the liquid sprayed by the first nozzle. That is, at least a portion of the first filter box or at least a portion of the first frame and at least a portion of the second filter box are vertically distributed in the height direction of the base station body.

[0366] Furthermore, in some embodiments, when the pool robot stops at the cleaning position of the base station body, the third inlet is located directly below the third opening, and the area of ​​the third inlet is greater than or equal to the size of the third opening, thereby ensuring that all the debris and liquid in the second filter box can fall into the second filter box under the action of its own gravity and the impact force of the liquid sprayed by the first nozzle. For example, the second projection of the third opening on the horizontal plane falls into the third projection of the third inlet on the horizontal plane. More specifically, in some embodiments, when the pool robot stops at the cleaning position of the base station body and the first bottom cover closes the third opening, the third inlet is located directly below the third opening, and the first filter chamber is located directly above the second filter chamber, and the fourth projection of the first filter box on the horizontal plane falls into the fifth projection of the second filter box on the horizontal plane.

[0367] In other embodiments, at least a portion of the third opening is located above at least a portion of the third inlet, and the base station further includes a power assembly for drawing debris from the first filter box into the second filter box for filtration. In this embodiment, debris from the first filter box can enter the second filter box under its own weight and / or the impact force of the liquid sprayed from the first nozzle, as well as the suction force of the power assembly, to accelerate the falling of debris from the first filter box into the second filter box. For example, the power assembly includes at least one water pump, which draws debris from the first filter box into the second filter box.

[0368] In some embodiments, to ensure that the waste in the first filter box falls into the second filter box as quickly as possible, the distance between the third opening and the third inlet is shortened, thereby reducing the travel distance of the waste from the first filter box to the second filter box. For example, the first bottom cover of the first filter box opens the third opening, and at least a portion of the first bottom cover extends into the second filter box, thereby shortening the distance between the third opening and the third inlet and accelerating the speed at which the waste from the first filter box falls into the second filter box.

[0369] For example, the first bottom cover is rotatably disposed at the third opening. When the pool robot stops at the cleaning position, the first frame of the first filter box remains above the second filter box and the first frame remains in the first receiving cavity. The first bottom cover rotates toward the third inlet or the second filter box to open the third opening and make the third opening and the third inlet connected.

[0370] In other embodiments, when the pool robot stops at the cleaning position of the base station, at least a portion of the first filter box is located above at least a portion of the second filter box, but the third opening and the third inlet are horizontally offset, and the aforementioned second and third projections do not have overlapping areas. Alternatively, in other embodiments, when the pool robot stops at the cleaning position of the base station, the first and second filter boxes are horizontally offset, and the third opening and the third inlet are horizontally offset. In both of these embodiments, the third opening and the third inlet are connected by a pipe, so that the waste in the first filter box enters the second filter box from the third opening, the pipe, and the third inlet. In this embodiment, the base station also includes the aforementioned power component for sucking the waste in the first filter box into the second filter box for filtration.

[0371] In some embodiments, since the first interceptor of the first gap is located above the third opening, when the first bottom cover of the first filter box is opened, due to the height difference between the first interceptor and the third opening, some liquid in the first receiving cavity located above the first interceptor can also flow into the first filter box, and then enter the second filter box from the third opening and the third inlet, and be filtered by the second filter box.

[0372] In some embodiments, as shown in Figures 31, 32, 37, 43, and 44, the resting surface 200018 refers to the surface on which the pool robot can rest upon returning to the base station body. The resting surface can be a horizontal surface, a curved surface, an arc surface, or an inclined surface, etc. For example, in some embodiments, as shown in Figures 31 and 43, the resting surface is the upper surface or top surface of the base station body. Furthermore, when the pool robot rests on the resting surface, it generally has an inclined posture or a generally horizontal posture.

[0373] In some embodiments, the first nozzle sprays liquid into the first filter box through the aforementioned fourth inlet to clean the first filter box. Specifically, when the first nozzle extends into the first filter box and sprays liquid to flush away debris, at least a portion of the first nozzle is directly above at least a portion of the third opening and at least a portion of the fourth opening. The liquid sprayed by the first nozzle pushes the debris in the first filter box towards the third opening; and under the impact of the sprayed liquid, some of the debris in the first filter box is directly flushed into the second filter box, thereby accelerating the entry of debris from the first filter box into the second filter box through the third opening and the third inlet. For example, at least a portion of the first nozzle is directly above the third opening, and the third opening is directly above the third inlet, further accelerating the cleaning of debris in the first filter box.

[0374] In some embodiments, the first nozzle is detachably disposed relative to the base station body to facilitate replacement of the first nozzle. The first nozzle 2173 can be selected from a single-hole nozzle, a multi-hole nozzle, a rotating nozzle, a non-rotating nozzle, a high-pressure nozzle, a low-pressure nozzle, etc.

[0375] Specifically, in some embodiments, as shown in Figures 49 and 50, the first nozzle 2173 includes a liquid inlet component 21731 and at least one nozzle 21732. The nozzle is connected to the liquid inlet component. Water from an external water source or a pool first flows into the liquid inlet component, and then the liquid flows through the liquid inlet component to the nozzle. The nozzle is used to spray liquid into the first filter box. When the first nozzle sprays liquid into the first filter box, the nozzle is positioned above at least a portion of the second filter box, causing the liquid sprayed by the nozzle to fall downwards into the second filter box along with the debris in the first filter box.

[0376] For example, the nozzle (i.e., the head of the spray head) is provided with at least one or more water outlets, the shape of which is not limited and can be at least one of circular, fan-shaped, square, or linear shapes, etc. The shape of the nozzle is also not specifically limited; it can be circular, elliptical, polygonal, or similar to a circle.

[0377] In order for the nozzles to clean different side walls and bottom walls inside the first filter box, in some embodiments, the nozzles are stationary relative to the liquid inlet component, and there are at least two or at least three nozzles. By setting multiple nozzles on the liquid inlet component, the outlet directions of the multiple nozzles are different, so that the direction of liquid spraying by different nozzles is different, so as to spray liquid onto different side walls and bottom walls inside the first filter box, thereby ensuring the cleaning effect of the first filter box.

[0378] Alternatively, in some embodiments, the nozzle can rotate relative to the liquid inlet component, thereby causing the outlet on the nozzle to rotate, enabling the nozzle to spray liquid onto different side walls and bottom walls of the first filter box, thus cleaning the side walls and bottom walls of the first filter box comprehensively. In other words, by providing a rotatable first nozzle, cleaning of different side walls and bottom walls of the first filter box can be achieved.

[0379] In some embodiments, as shown in Figures 51, 52, and 53, the nozzle includes at least a first sub-nozzle 21733 and a second sub-nozzle 21734, wherein both the first and second sub-nozzles are connected to the liquid inlet component, the first sub-nozzle is located above the second sub-nozzle, and the first sub-nozzle is used at least to spray liquid onto the side wall of the first filter box; the second sub-nozzle is used at least to spray liquid onto the side wall and bottom of the first filter box.

[0380] In some embodiments, at least a portion of the outlets of the first sub-nozzle and the second sub-nozzle face the sidewall of the first filter box. The liquid sprayed by the first and second sub-nozzles onto the sidewall of the first filter box overlaps, allowing the liquid sprayed in cooperation to cover the entire sidewall of the first filter box. At least a portion of the outlet of the second sub-nozzle faces the bottom of the first filter box, thus spraying liquid onto the bottom of the first filter box. This cleans the bottom of the first filter box and flushes debris from inside the first filter box to the third opening at the bottom, accelerating the flow of debris into the second filter box.

[0381] Furthermore, in some other embodiments, if a first top cover is provided on the eleventh opening of the first filter box, the first top cover is used to open or close the eleventh opening, then at least a portion of the outlet of the first sub-nozzle faces the first top cover, and when the first sub-nozzle sprays liquid, it can spray liquid onto the first top cover to clean the first top cover.

[0382] In some embodiments, the first nozzle may be selected as a spinning nozzle. A spinning nozzle does not require an external motor to drive the nozzle rotation. During the water spraying process of the first nozzle, high-pressure liquid enters the inlet component and is ejected from the nozzle. The ejected liquid exerts a force on the nozzle, driving it to rotate and causing the nozzle to spray liquid in different directions within the first filter box, thereby enabling thorough cleaning of the first filter box. Alternatively, in other embodiments, the second cleaning component further includes a motor for driving the nozzle to rotate relative to the inlet component.

[0383] In some embodiments, as shown in Figures 33, 35, and 36, when the base station is placed on a horizontal plane, the sixth projection of the nozzle on the horizontal plane is located within the third projection of the third inlet on the horizontal plane. In this embodiment, the nozzle sprays liquid onto the first filter box. After the third opening is opened, the liquid sprayed by the nozzle is directly aimed at the third inlet. The sprayed liquid can directly flush the debris in the first filter box into the third inlet, so that the debris and liquid in the first filter box can enter the second filter box more quickly, thereby shortening the time required to clean the first filter box and improving cleaning efficiency. Further, the sixth projection of the nozzle on the horizontal plane is located within the second projection of the third opening on the horizontal plane and the third projection of the third inlet on the horizontal plane, accelerating the entry of debris in the first filter box into the second filter box. Alternatively, the sixth projection of the nozzle on the horizontal plane is located within the first projection of the first inlet on the horizontal plane. Of course, in other embodiments, the sixth projection may not be located within the second or third projection; the nozzle can simply be located above the third opening.

[0384] In some embodiments, as shown in FIG51, the second cleaning assembly 2170 further includes a support arm 2172 (which may also be described as a nozzle support arm), one end of which is disposed on the base station body, and the other end of which is connected to the first nozzle. For example, one end of the support arm is fixedly or movably disposed on the base station body, and the other end of the support arm is connected to the liquid inlet component. Further, for example, one end of the support arm is fixedly or movably disposed on the top or side wall of the base station body, so that the first nozzle is located above the top of the base station body.

[0385] Furthermore, in some embodiments, as shown in Figures 49, 50, 52, and 53, the second cleaning component further includes a support base 2171, with the support arm mounted on the base station body via the support base. For example, one end of the support base is mounted on the base station body, and the other end is detachably or non-detachably connected to the support arm. For example, one end of the support base is mounted on the top or side wall of the base station body. In other embodiments, as shown in Figure 31, when a carrier 2040 is provided on the base station body, allowing the pool robot to automatically walk from the pool to the resting surface or from the resting surface to the pool using the carrier, the carrier is mounted on one end of the base station body, and the support base is mounted on the other end of the base station body, away from the carrier.

[0386] It should be noted that when the first nozzle is stationary or fixed relative to the base station body, it means that the liquid inlet component of the first nozzle is stationary or fixed relative to the base station body, not that the nozzle of the first nozzle is stationary or fixed relative to the base station body.

[0387] When the first nozzle is stationary relative to the base station body, for the first nozzle to extend into the first body through the fourth inlet, the pool robot needs to move on the base station body. During the automatic movement of the pool robot on the base station body, at least a portion of the first nozzle passively extends into the first body or exits the pool robot. For example, the nozzle and part or all of the liquid inlet components of the first nozzle extend into the first filter box, while most of the support arm is located outside the pool robot.

[0388] For example, the base station body also has a non-clean position. As the pool robot moves from the non-clean position to the clean position, the first nozzle can be precisely aligned with the fourth inlet of the pool robot, and as the pool robot moves, the first nozzle passively extends into the first gap or the first filter box. When the pool robot reaches the clean position, the first nozzle has just entered or has already entered the first body through the fourth inlet, and is suitable for cleaning the first filter box. Furthermore, when the fourth inlet is equipped with the aforementioned baffle, when the pool robot is in the non-clean position, the baffle first opens the fourth inlet, and then the pool robot moves to the clean position, ensuring that the first nozzle can smoothly extend into the first body during the self-movement of the pool robot.

[0389] In other embodiments, the first nozzle is movably disposed relative to the base station body, and its movement causes it to actively extend into or out of the pool robot. Extending the first nozzle into the first body includes extending it into a first gap or into a first filter box. For example, the pool robot remains stationary in a cleaning position, the baffle first opens the fourth inlet, and then the first nozzle moves through the fourth inlet to extend into or out of the first body.

[0390] It should be noted that: the first nozzle being movable relative to the base station body refers to the liquid inlet component being movable relative to the base station body, not the nozzle being movable relative to the base station body.

[0391] In some embodiments, the first nozzle has an extended position and a retracted position relative to the base station. When the first nozzle moves from the retracted position to the extended position, the first nozzle extends from outside the pool robot into the first body through the fourth inlet. At this cleaning position, the first nozzle can spray liquid onto the first filter box to clean the first filter box. When the first nozzle moves from the extended position to the retracted position, the first nozzle exits outside the pool robot through the fourth inlet.

[0392] Furthermore, in some embodiments, the first nozzle is rotatably mounted on the base station body, and the first nozzle can switch between an extended position and a retracted position by rotation. For example, a support arm drives the first nozzle to rotate synchronously, and the support arm can pivot relative to the base station body to allow the first nozzle to extend into the first filter box or retract from the pool robot. For example, the support arm is rotatably mounted on a support base, which is fixed to the base station body; or, no support base is provided, and the support arm is rotatably connected to the base station body.

[0393] For example, in some embodiments, the first nozzle rotates horizontally about a generally vertical axis so that during rotation, the first nozzle rotates into or out of the first body via the fourth inlet. For example, as shown in Figures 47 and 48, the fourth inlet is a second water inlet, and the first nozzle rotates about a generally vertical axis to switch between an extended position and a retracted position.

[0394] Alternatively, in other embodiments, the first nozzle rotates vertically about a generally horizontal axis, such that during rotation, the first nozzle rotates into or out of the first body via a fourth inlet. For example, the fourth inlet is a pick-and-place port, and the first nozzle rotates about a generally horizontal axis to switch between an extended position and a retracted position. Alternatively, in other embodiments, the first nozzle rotates about a third axis, which intersects the horizontal axis but is not a vertical axis.

[0395] In other embodiments, the first nozzle is retractably mounted on the base station body, and the first nozzle can switch between an extended position and a retracted position by telescopic movement. For example, a support arm drives the first nozzle to extend into the first main body; the support arm also drives the first nozzle to retract out of the first main body.

[0396] Furthermore, in some embodiments, the first nozzle performs a telescopic movement in the horizontal direction. For example, when the fourth inlet is the second water inlet, the first nozzle performs a telescopic movement in the horizontal direction to extend into the first body through the second water inlet, or to exit the first body from the second water inlet.

[0397] Alternatively, in some embodiments, the first nozzle retracts or extends vertically. For example, when the fourth inlet is a pick-and-place port, the first nozzle retracts or extends vertically to pass through the pick-and-place port into the first body, or to exit the first body from the pick-and-place port.

[0398] In other embodiments, the first nozzle can extend and retract in a fifth direction, which intersects the vertical direction and the horizontal direction, allowing the first nozzle to pass through the fourth inlet and extend into or exit the first body. For example, the fifth direction may intersect the horizontal direction at angles of 5, 10, 15, 20, 30, 45, 60, 75, 85, etc.

[0399] In some embodiments, the second cleaning component further includes at least one drive component for driving the first nozzle to rotate to switch between an extended position and a retracted position. The drive component may be disposed within the base station body or a support base. The drive component includes, but is not limited to, motor drive, hydraulic drive, pneumatic drive, magnetic drive, mechanical drive, etc.

[0400] For example, in some embodiments, as shown in FIG53, the drive assembly includes a motor 2174 disposed within a support base, the motor being rotatably connected to a first nozzle, and the motor driving the first nozzle to rotate to switch between an extended position and a retracted position.

[0401] Alternatively, in other embodiments, the drive assembly further includes at least one transmission assembly disposed between the drive assembly and the first nozzle, for transmitting the driving force provided by the drive assembly to the first nozzle to achieve rotation of the first nozzle. The transmission assembly can be configured as a gear mechanism, linkage mechanism, cam mechanism, etc. For example, as shown in FIG53, the transmission assembly includes at least a first gear 2175 and a second gear 2176. The first gear is fixed to the motor output shaft, and the second gear is mounted on one end of the support arm. The first gear and the second gear mesh. When the motor drives the first gear to rotate, it drives the second gear and the support arm connected thereto to rotate, thereby driving the first nozzle to rotate, so as to switch between the extended position and the retracted position. In other embodiments, the drive assembly may also be disposed within the base station body, without the aforementioned support base.

[0402] Furthermore, in some embodiments, when the motor 2174 is not turned on, the user can manually drive the support arm to rotate or extend the first nozzle, switching the first nozzle between the extended and retracted positions. During the normal cleaning procedure of the base station for the first filter cartridge, manual rotation of the first nozzle is not required. However, manual rotation of the first nozzle is only necessary when there is an abnormality in the switching between the retracted and extended positions.

[0403] In some embodiments, the second cleaning component further includes at least one first water inlet for connecting the cleaning water source to the liquid inlet component of the first nozzle, so that the first water inlet is in fluid communication with the first nozzle to form a fourth water path, thereby delivering the cleaning water source into the first nozzle, and the first nozzle spraying liquid onto the first filter box to clean the first filter box.

[0404] Alternatively, in some embodiments, the first water source inlet is connected to the support arm, so that the first water source inlet, the support arm, and the first nozzle are in sequential fluid communication to form a fourth water channel. Alternatively, in other embodiments, the first water source inlet is connected to the support base, and the support base is connected to the support arm, so that the first water source inlet, the support base, the support arm, and the first nozzle are in sequential fluid communication to form a fourth water channel.

[0405] In some embodiments, the first water inlet may be located on at least one of the support arm, support base, base station body, carrier, etc.

[0406] For the cleaning water source, the cleaning water source can be liquid from a swimming pool or municipal water. For example, in some embodiments, the first water source inlet can be connected to an indoor or outdoor faucet in a user's home via a first pipe to provide cleaning water to the first showerhead. In some embodiments, to facilitate the user's connection of the first pipe to the first water source inlet, the first water source inlet is located on a side wall of the base station body and exposed to the external environment, making it convenient for the user to install or remove the first pipe from the side of the base station body.

[0407] In some embodiments, the user can manually or automatically control the faucet to open or close, thereby controlling the first nozzle to start spraying liquid into the first filter box or to stop spraying liquid into the first filter box.

[0408] Alternatively, in other embodiments, the second cleaning component further includes at least one valve located on the fourth water line, but upstream of the nozzle of the first spray head. This valve connects or disconnects the water flow between the faucet (or cleaning water source) and the nozzle, thereby facilitating the processor to control the first spray head to spray liquid into or stop spraying liquid into the first filter box. Due to the valve, the faucet can be normally open, and the processor on the base station or pool robot controls the opening or closing of the valve to control the first spray head to start or stop spraying liquid. In this embodiment, the faucet is normally open, eliminating the need for manual user control of its opening or closing, further enabling user-free cleaning of the first filter box; or, in other words, no faucet is required between the cleaning water source and the first water source inlet. For example, the valve can be located on at least one of the inlet component, the support arm, and the first pipeline between the first water source inlet and the faucet. In other embodiments, the valve can be selected as at least one of a solenoid valve, a baffle valve, a ball valve, a butterfly valve, etc.

[0409] Furthermore, when the valve's outlet port is located at the first water source inlet, the first water source inlet may be either not exposed or exposed to the external environment, but the valve's inlet port is exposed to the external environment. This allows the user to easily connect the first pipeline to the valve's inlet port and the faucet without requiring the user to install the valve. If the user needs to install the valve, then the first water source inlet is exposed to the environment, facilitating the installation of both the valve and the first pipeline.

[0410] In some embodiments, since the first nozzle extends into the first body through the fourth inlet and the baffle on the fourth inlet is in the open state, some of the liquid sprayed by the first nozzle into the first filter box will splash out of the pool robot from the fourth inlet. The splashed liquid will scatter on the base station or the pool shore, causing a poor user experience.

[0411] Therefore, in some embodiments, the second cleaning assembly further includes a second shielding cover (not shown in the figure), which is used to close or shield the fourth inlet when the first nozzle is in the extended position; and to open the fourth inlet when the first nozzle is in the retracted position. The second shielding cover is disposed on at least one of the liquid inlet component and the support arm. As the liquid inlet component and the first nozzle move synchronously, when the first nozzle switches from the retracted position to the extended position, the second shielding cover shields the fourth inlet. When some liquid sprayed from the first nozzle splashes onto the fourth inlet, the second shielding cover prevents this portion of liquid from splashing into the first body, thus preventing it from splashing outside the pool robot. When the first nozzle switches from the extended position to the retracted position, the second shielding cover moves with the first nozzle away from the fourth inlet, thereby not shielding the fourth inlet.

[0412] In some embodiments, the second filter box includes a second frame 2112 and a second filter screen 2113. The second filter screen is disposed on the second frame to form a filter surface. Alternatively, in other embodiments, the second filter box is a first filter bag, which can be a disposable filter bag or a reusable filter bag. If the second filter box is a disposable filter bag, when the first filter bag is full of garbage, the first filter bag can be directly discarded to replace it with a new one, without the need to clean the first filter bag. Alternatively, the second filter screen can be replaced with filter cotton, which can be disposed outside or inside the second frame.

[0413] In some embodiments, since the second filter box needs to be manually emptied by the user after it becomes full, the volume of the second filter box is larger than that of the first filter box to reduce the frequency of cleaning. That is, the volume of the second filter chamber of the second filter box is larger than the volume of the first filter chamber of the first filter box. For example, if the volume of the second filter box is 1.5 times, 2 times, 3 times, 4 times, 5 times, or 6 times the volume of the first filter box, then the second filter box can temporarily store the debris accumulated from multiple cleanings of the first filter box. This avoids the need for the user to empty the debris from the second filter box every time the first filter box is cleaned. Instead, the user only needs to clean the second filter box once after multiple cleanings of the first filter box, reducing the frequency of cleaning the second filter box and thus improving the dust collection efficiency of the base station.

[0414] In some embodiments, the second filter box is detachably mounted on the base station body to facilitate user access. For example, in some embodiments, the second filter box is retractable onto the base station body. In some embodiments, the second filter box further includes at least one third handle to facilitate user lifting of the second filter box. For example, the third handle is rotatably connected to two opposite sidewalls of the second filter box (i.e., two opposite sidewalls of the second frame), and the third handle has a generally horizontal and a generally vertical state. The user can rotate the third handle to bring it to a generally vertical position before lifting the second filter box.

[0415] In some embodiments, at least a portion of the second filter box is disposed within the base station body, as shown in Figures 38, 39, 45, and 46A. The base station body includes a third receiving cavity 2054 and at least one drain outlet 2120 (or described as a self-cleaning drain outlet). At least a portion of the second filter box is disposed within the third receiving cavity. The drain outlet is used to connect the third receiving cavity to the outside. The drain outlet is used to discharge liquid that has been filtered by the second filter box and entered the third receiving cavity out of the base station. The liquid discharged from the drain outlet can be returned to the pool for reuse. Alternatively, the liquid discharged through the drain outlet can be discharged to the sewer or lawn of a user's home.

[0416] In some embodiments, the third receiving cavity is directly or indirectly connected to the drain outlet 2120, which is disposed on the base station body; further, the drain outlet is disposed at the bottom or side of the base station body. The drain outlet being disposed at the bottom of the third receiving cavity facilitates the drainage of all liquid within the third receiving cavity.

[0417] In some embodiments, the base station body is provided with a drainage channel, one end of which is a drain outlet, and the other end is a main sewage outlet, which is connected to the outside. In one embodiment, the drain outlet is located at the bottom of the third receiving cavity, and the main sewage outlet is located on the outside of the side of the base station body and exposed to the external environment, so that the user can install a drain pipe on the main sewage outlet on the outside of the side of the base station body and drain the liquid in the third receiving cavity into a pool, sewer, or lawn through the drain pipe.

[0418] In other embodiments, the drain outlet may also be located on the side wall of the third receiving cavity, and the main drain outlet may be located on the side or bottom of the base station body.

[0419] In other embodiments, when at least a portion of the second filter box is disposed within the third receiving cavity, in order to allow waste from the first filter box to enter the second filter box, as shown in Figures 33-34, 37-40, and 45-48, the base station body further includes at least one fourth opening 2055. The fourth opening is disposed on the base station body, communicating the third receiving cavity with the outside; the third inlet communicates with the fourth opening; when the pool robot stops at the cleaning position of the base station body, at least a portion of the third opening of the first filter box communicates with at least a portion of the fourth opening, and at least a portion of the fourth opening communicates with at least a portion of the third inlet, facilitating the entry of waste discharged from the first filter box into the second filter box through the fourth opening and the third inlet.

[0420] For ease of explanation, when describing how the waste in the first filter box enters the second filter box, we will take the example of the seventh opening being lower than the third opening. If the seventh opening is higher than or level with the third opening, the waste in the first filter box will not pass through the seventh opening and will be discharged directly out of the pool robot through the third opening. Alternatively, regardless of whether the third opening is higher than, lower than, or level with the seventh opening, since the seventh opening is always located on the outer periphery of the third opening, the waste in the first filter box passing through the third opening can also be considered to have passed through the seventh opening simultaneously.

[0421] In some embodiments, at least a portion of the fourth opening is located above at least a portion of the third inlet; at least a portion of the fourth opening is located below at least a portion of the third opening, so that the waste and liquid in the first filter box fall sequentially from the third opening, the seventh opening, the fourth opening and the third inlet into the second filter box under their own gravity and / or under the impact force of the liquid sprayed from the first nozzle.

[0422] For example, at least a portion of the fourth opening is located at the top of the third receiving cavity; at least a portion of the third inlet is located at the top of the second filter box, so that the garbage and water in the first filter box can quickly fall into the second filter box from the fourth opening and the third inlet under their own gravity.

[0423] For example, the fourth opening is located directly above the third inlet to ensure that all liquid and waste flowing into the fourth opening 2055 can flow into the third inlet 21101. In this case, the fourth opening 2055 can serve as the first sludge inlet. For example, the area of ​​the fourth opening is smaller than the area of ​​the third inlet to further ensure that all waste entering the fourth opening falls into the second filter box. Alternatively, the projection of the fourth opening on the horizontal plane falls entirely within the projection of the third inlet on the horizontal plane, ensuring that all waste entering the fourth opening falls into the second filter box.

[0424] Alternatively, in some embodiments, to ensure that all waste discharged from the first filter box enters the fourth opening, when the pool robot docks on the base station body, the projection of the third opening on the horizontal plane falls entirely within the projection of the fourth opening on the horizontal plane. Alternatively, the fourth opening is located on the upper surface of the base station body, and the projection of the third opening on the upper surface falls entirely within the projection of the fourth opening on the upper surface.

[0425] Alternatively, in other embodiments, when the pool robot stops on the base station body, the projection of the third opening on the horizontal plane falls into the projection of the fourth opening on the horizontal plane, and the projection of the fourth opening on the horizontal plane falls entirely into the projection of the third inlet on the horizontal plane, so that all the garbage discharged from the third opening can enter the second filter box through the fourth opening and the third inlet; to avoid the garbage in the first filter box being discharged outside the base station body (for example, the garbage being scattered on the upper surface of the base station body), requiring the user to manually clean the garbage scattered outside the base station body.

[0426] In other words, when the pool robot stops at the cleaning position of the base station body, the third opening is directly above the fourth opening, and the fourth opening is directly above the third inlet. The area of ​​the third opening is smaller than the area of ​​the fourth opening, and the area of ​​the fourth opening is smaller than the area of ​​the third inlet, ensuring that all the garbage discharged from the third opening falls into the fourth opening and then into the second filter box.

[0427] In some embodiments, when the pool robot stops at the cleaning position of the base station body, the first bottom cover of the pool robot opens the third opening, and the first frame of the first filter box remains inside the first body, not extending outside the first body or into the third receiving cavity. That is, the first frame remains above the third receiving cavity or the second filter box. In other embodiments, when the first nozzle sprays liquid onto the first filter box, the first nozzle is located outside the third receiving cavity and the second filter box, and at least a portion of the first nozzle (e.g., the nozzle) is located above at least a portion of the third receiving cavity or at least a portion of the second filter box, so that when the first nozzle sprays liquid onto the side wall and bottom wall of the first filter box, the liquid can rinse the first filter box from top to bottom, making it easier for the sprayed liquid to wash the debris to the third opening and fall into the second filter box more quickly.

[0428] For example, in some embodiments, when the first nozzle sprays liquid into the first filter box, the nozzle of the first nozzle is located above the third receiving cavity or the second filter box; or, the nozzle is located directly above the fourth opening or the third inlet, and the projection of the nozzle on the horizontal plane falls into the projection of the fourth opening on the horizontal plane, so that when the nozzle sprays liquid from top to bottom, part of the liquid directly washes the garbage into the second filter box, thereby improving cleaning efficiency.

[0429] For example, in some embodiments, when the first nozzle sprays liquid into the first filter box, the nozzle is located directly above at least a portion of the third opening, directly above at least a portion of the fourth opening, and directly above at least a portion of the third inlet, so that the liquid sprayed by the nozzle can directly flush the waste in the first filter box into the second filter box.

[0430] When the first nozzle is not spraying liquid onto the first filter box, the position of the nozzle is not limited; it can be located inside or outside the base station body. For example, when the first nozzle is cleaning the first filter box, the nozzle is located outside the base station body; when the first nozzle is not cleaning the first filter box, the nozzle can be located outside the base station body or housed inside the base station body; or, the first nozzle can be entirely housed outside the base station body.

[0431] In some embodiments, the base station includes a second dust chamber 2150, the inner cavity of which serves as a third receiving cavity 2054. Further, a fourth opening may be provided on the second dust chamber. For example, a fourth opening may be provided on the top of the second dust chamber to communicate with the outside.

[0432] In some embodiments, the third receiving cavity may not contain a second filter box or a first filter bag; that is, the waste and liquid discharged from the first filter box can be directly received or contained within the third receiving cavity. When the pool robot automatically returns to the base station body or the user places the pool robot on the base station body, the waste in the first filter box enters the third receiving cavity through the fourth opening and is discharged outside the base station through the drain outlet. In this embodiment, when the first nozzle sprays liquid onto the first filter box, the nozzle of the first nozzle is located outside the third receiving cavity, and at least a portion of the first nozzle (e.g., the nozzle itself) is located above at least a portion of the third receiving cavity. Compared to other embodiments, this embodiment does not contain a second filter box, and the waste discharged from the first filter box is discharged directly outside the base station without being filtered within the third receiving cavity of the base station.

[0433] In some embodiments, the second filter box is removably disposed within a third receiving cavity of the base station body, allowing the user to easily remove the second filter box from the base station body for replacement or cleaning of the debris inside. For example, in some embodiments, the second filter box can be pulled out from the side wall or top of the base station body for easy removal of the collected debris.

[0434] In some embodiments, as shown in FIG37, a ninth opening 2056 is provided on one side wall of the base station body, which communicates the third receiving cavity with the outside. The second filter box can be pulled into or removed from the third receiving cavity through the ninth opening. The ninth opening facilitates the user to remove and place the second filter box from the outside of the side wall of the base station body. For example, the ninth opening is provided on the left or right side wall, or the front or rear side wall of the base station body.

[0435] In some embodiments, as shown in Figures 37 and 65, a first handle 2114 (or a first pull handle) is also provided on the outer side of one side wall of the second filter box 21102, facilitating the user to pull out the second filter box through the ninth opening using the first handle. The position of the first handle corresponds to the removable position of the second filter box. For example, if the user removes or places the second filter box from the front side wall, the first handle is located on the front side wall of the second filter box; or, if the user removes or places the second filter box from the left side wall, the first handle is located on the left side wall of the second filter box. One or more first handles can be provided to facilitate user operation.

[0436] In other embodiments, an opening (i.e., a ninth opening) may be provided on the top of the base station body to allow the user to remove or insert the second filter cartridge from the third receiving cavity from the top of the base station body. For example, in some embodiments, the ninth opening is the aforementioned fourth opening; or, the ninth opening is different from the aforementioned fourth opening, and the ninth opening and the fourth opening are offset on the top of the base station body.

[0437] In some embodiments, the base station further includes at least one fifth positioning detection component (not shown in the figure), which is used to detect whether the second filter box is installed in place within the third receiving cavity.

[0438] In some embodiments, the fifth position detection component includes at least one of a sensing component, an inductive component, and a switching component. The sensing component includes a sensing element and a sensing mating element. One of the sensing element and the sensing mating element is disposed on the second filter box, and the other is disposed on the third receiving cavity. For example, one of the sensing element and the sensing mating element is a Hall sensor, and the other is an iron element. One of the sensing element and the sensing mating element is disposed on the side wall of the first filter box, and correspondingly the other is disposed on the side wall of the third receiving cavity; or, one of the sensing element and the sensing mating element is disposed on the bottom of the first filter box, and correspondingly the other is disposed on the bottom of the third receiving cavity.

[0439] In some embodiments, as shown in FIG37, the base station further includes a fourth baffle 200021, which is movably disposed on the base station body to open or close the ninth opening. When the first nozzle cleans the first filter box, the fourth baffle closes the ninth opening to prevent liquid in the third receiving cavity from flowing out of the ninth opening, ensuring that the liquid filtered by the second filter box is discharged outside the base station through the drain outlet. When it is necessary to remove or place the second filter box, the fourth baffle is opened to expose the second filter box to the external environment, making it convenient for the user to remove or place the second filter box from or into the third receiving cavity. In some embodiments, the fourth baffle and the base station body can be connected in various ways, such as a rotational connection, a sliding connection, or a magnetic connection.

[0440] For example, the fourth baffle is rotatably connected to the base station body through a structure such as a hinge, a connecting shaft, etc.; or, for another example, the fourth baffle is slidably connected to the base station body through the cooperation of a slider and a slide rail, or the cooperation of a gear and a rack; or, for yet another example, the fourth baffle is connected to the base station body through the magnetic attraction of a magnet and iron.

[0441] In some embodiments, the second filtration assembly further includes a second filter bag (not shown in the figure), which is disposed within a second filter box. The second filter bag has a fifth inlet that communicates with a third opening. The second filter bag is used at least to collect waste falling from the first filter box. The second filter box is used at least for secondary filtration of the liquid filtered by the second filter bag. The dual-layer filtration of the second filter bag and the second filter box further improves the waste filtration effect. Furthermore, the second filter bag is detachably disposed within the second filter box for easy periodic replacement.

[0442] For example, the fifth inlet is located on the top of the second filter bag. The top of the second filter bag is placed over the third inlet of the second filter box, so that the fifth inlet communicates with the fourth and third openings. Waste in the first filter box falls into the second filter bag through the third, fourth, and fifth inlets. The liquid filtered by the second filter bag undergoes secondary filtration through the second filter box, while the waste remains inside the second filter bag. Because the waste is collected in the second filter bag, the user only needs to handle the second filter bag. The second filter bag is also lightweight, making it easy for the user to dispose of the waste inside. In some embodiments, the second filter bag is a disposable filter bag. When the second filter bag is full of waste, the user simply discards it and replaces it with a new one; there is no need for the user to clean the second filter bag.

[0443] In some embodiments, the second filter bag is made of a deformable material; the base station also includes a closure mechanism (not shown in the figure), which is movably disposed at the fifth inlet of the second filter bag; the closure mechanism is used to close or open the fifth inlet. When the second filter bag is full or has collected a preset amount of garbage, because the second filter bag is made of a deformable material, the user can operate the closure mechanism to close or shut the fifth inlet, sealing the garbage inside the second filter bag to form a closed garbage bag. This makes it easy for the user to remove the second filter bag from the second filter box, preventing the garbage inside the second filter bag from falling onto the base station or the ground and causing secondary pollution. When the user needs to empty or clean the garbage from the second filter bag, the user operates the closure mechanism to open the fifth inlet, allowing the garbage inside the second filter bag to be cleaned out through the fifth inlet, and the second filter bag can be reused. Alternatively, the user does not need to clean the garbage inside the second filter bag through the fifth inlet; the user can directly discard the second filter bag and replace it with a new one.

[0444] In some embodiments, the drawstring mechanism includes at least a drawstring, an annular channel is provided at the fifth inlet of the second filter bag, the drawstring is disposed inside the annular channel, and both ends of the drawstring are located outside the annular channel, so as to facilitate the user to operate the two ends of the drawstring to close or open the fifth inlet. Further, in some embodiments, the drawstring may be configured as an elastic pull cord.

[0445] For example, the starting end of the ring channel is the fifteenth entrance and the ending end is the sixteenth entrance. The fifteenth and sixteenth entrances are adjacent or close to each other. The two ends of the strap are located outside the ring channel from the fifteenth and sixteenth entrances, respectively. The user pulls the two ends of the strap to bring the ring channel together as a whole, thus closing the fifth entrance. Conversely, the user does not pull the strap and unfolds the ring channel to open the fifth entrance.

[0446] In some embodiments, the second filter bag can be a disposable filter bag or a reusable filter bag. The filter bag material can be non-woven fabric, filter cotton, nylon mesh, biodegradable materials, or composite filter membranes, etc.

[0447] In the aforementioned embodiments, the fourth opening is located above the third inlet, and the waste in the first filter box enters the second filter box sequentially through the fourth opening and the third inlet; or, when the second filter box is equipped with a second filter bag, the fourth opening is located above the fifth inlet and the third inlet, and the waste in the first filter box enters the second filter bag sequentially through the fourth opening and the fifth inlet.

[0448] However, in some embodiments, the third inlet of the second filter box can be located above the fourth opening, so that the waste in the first filter box can directly enter the second filter box through the third inlet. In this embodiment, the fourth opening mainly serves as a clearance mechanism, allowing the upper part of the second filter box to extend beyond the base station body. Alternatively, in other embodiments, when a second filter bag is provided inside the second filter box, both the fifth and third inlets are located above the fourth opening, so that the waste in the first filter box can directly enter the second filter bag through the fifth inlet.

[0449] In some embodiments, when the second filter box is removably disposed on the base station body, if the second filter bag is disposed inside the second filter box, the second filter bag is removably disposed on the base station body along with the second filter box.

[0450] In some embodiments, as shown in FIG34, the base station further includes a support component, which includes at least a tray 211041. The tray is disposed within the third receiving cavity 2054, and at least a portion of the tray is located below the second filter box for receiving at least a portion of the liquid filtered by the second filter box. The tray has at least one water outlet 211042, which communicates with a drain outlet, allowing the liquid filtered by the second filter box to flow out from the water outlet and then be discharged from the base station body through the drain outlet. For example, the water outlet and drain outlet on the tray are connected through at least one interface, at least one drainage channel, or at least one pipe. In this embodiment, due to the tray, the liquid filtered by the second filter box falls directly onto the tray, reducing contact between the liquid and the third receiving cavity and preventing contamination of the third receiving cavity. Alternatively, when the base station is equipped with a tray, the drain outlet is directly located on the tray, allowing the liquid filtered by the second filter box to fall directly onto the tray and be discharged from the drain outlet on the tray into the third receiving cavity.

[0451] In some embodiments, the tray is detachably disposed within the third receiving cavity. For example, the tray is retractably disposed within the third receiving cavity. When it is necessary to drain the residual liquid and waste from the tray, the tray can be directly removed from the third receiving cavity to clean the residual liquid and waste, facilitating the user's cleaning of residual waste within the base station; in addition, the tray also provides some support for the second filter box.

[0452] Furthermore, in some embodiments, when the tray and the second filter box are removably disposed in the third receiving cavity, the second filter box and the tray can be configured to be removably disposed simultaneously or independently. For example, the second filter box is disposed in the tray, and the tray is removably disposed in the third receiving cavity, thus achieving the removable disposal of the second filter box in the third receiving cavity, i.e., the second filter box is removably disposed in the third receiving cavity simultaneously with the tray; or, the second filter box and the tray are removably disposed in the third receiving cavity respectively, and the second filter box and the tray are removably disposed independently to achieve the retrieval and placement of each in the third receiving cavity. Alternatively, the tray is fixed in the third receiving cavity, and the second filter box can be removably disposed in the third receiving cavity relative to the tray; or, the second filter box is removably disposed in the third receiving cavity without the tray.

[0453] Alternatively, in some embodiments, the tray is rotatably disposed in the third receiving cavity. If there is residual liquid on the tray, the tray can be rotated outside the base station body to clean the residual liquid and debris on the tray; after the tray is cleaned, the tray is rotated back into the third receiving cavity.

[0454] In some embodiments, the second filter box is the aforementioned first filter bag. Similar to the aforementioned second filter bag, the first filter bag is made of a deformable material. The first filter bag can be a disposable filter bag or a reusable filter bag. Furthermore, to facilitate user cleaning of the waste inside the first filter bag, a drawstring mechanism is provided at the third inlet of the first filter bag for closing or opening the third inlet. This drawstring mechanism is the same as the drawstring mechanism of the aforementioned second filter bag. The first and second filter bags are identical; please refer to the foregoing description, which will not be repeated here.

[0455] Furthermore, in other embodiments, the base station body also includes a tray, with the first filter bag disposed within the tray to support it. In some embodiments, the tray is removably disposed within a third receiving cavity, and the first filter bag moves synchronously with the tray to facilitate replacement of the first filter bag. Simultaneously, the tray also serves to receive at least a portion of the liquid filtered by the first filter bag, and the tray has a water outlet and a drain port communicating with each other; alternatively, the drain port is located on the tray. For example, in some embodiments, the tray is a box with an opening at the top, the third inlet of the first filter bag is fitted over the top opening of the box, the first filter bag is located inside the box, and the box supports the first filter bag; a drain port is located at the bottom of the box to allow liquid inside the box to drain out of the base station.

[0456] In some embodiments, when the second filter box is the first filter bag; or when the base station further includes the aforementioned second filter bag, the first filter bag or the second filter bag needs to be replaced with a new filter bag after a period of use.

[0457] To store spare first or second filter bags on the base station, in some embodiments, as shown in Figures 37 and 40, the base station further includes a fifth receiving cavity 2010. The fifth receiving cavity is separated from the third receiving cavity and is used to hold the spare first or second filter bag. This allows users to promptly remove the spare filter bag from the fifth receiving cavity after removing the used first or second filter bag from the third receiving cavity, thus replacing the first or second filter bag. Furthermore, since the filter bags are made of a deformable material, the spare filter bags can be stacked to hold multiple spare filter bags in the fifth receiving cavity.

[0458] In some embodiments, as shown in FIG37, the fifth receiving cavity may be distributed side by side with the third receiving cavity in the horizontal direction. For example, the fifth receiving cavity and the third receiving cavity may be adjacent and horizontally distributed; or they may not be adjacent but are horizontally distributed. Further, in some embodiments, when the base station body is also provided with a fourth receiving cavity for installing the first sealing box (mentioned below), the fifth receiving cavity and the fourth receiving cavity are distributed separately. The fourth receiving cavity and the fifth receiving cavity may be distributed on the same side or different sides of the third receiving cavity.

[0459] In some embodiments, when the fourth and fifth accommodating cavities are located on the same side of the third accommodating cavity, the fourth and fifth accommodating cavities may be arranged side-by-side, either adjacent or non-adjacent, in the horizontal direction. For example, the fourth and fifth accommodating cavities may be arranged side-by-side, either horizontally or front-back, and may be adjacent in the horizontal direction.

[0460] Alternatively, in some embodiments, when the fourth and fifth accommodating cavities are located on the same side of the third accommodating cavity, the fourth and fifth accommodating cavities may also be stacked adjacently or non-adjacently in the vertical direction. For example, the fifth accommodating cavity may be adjacent to the fourth accommodating cavity, and the fifth accommodating cavity may be located above the fourth accommodating cavity; or, the fifth accommodating cavity may be adjacent to the fourth accommodating cavity, and the fourth accommodating cavity may be located above the fifth accommodating cavity.

[0461] Alternatively, in other embodiments, the fourth and fifth receiving cavities are located on different sides of the third receiving cavity. For example, the fourth and fifth receiving cavities are located on opposite sides of the third receiving cavity.

[0462] In other embodiments, the fifth receiving cavity may be stacked adjacent to or not adjacent to the third receiving cavity in the vertical direction. For example, the third receiving cavity may be located above the fifth receiving cavity; or, the third receiving cavity may be located below the fifth receiving cavity. Further, when a fourth receiving cavity is provided on the base station body, at least one of the third and fifth receiving cavities may be distributed side by side with the fourth receiving cavity in the horizontal direction; or at least one of the third and fifth receiving cavities may be stacked with the fourth receiving cavity in the vertical direction.

[0463] In some embodiments, the third receiving cavity is separated from the fourth and fifth receiving cavities to ensure the independence of each receiving cavity. The fourth and fifth receiving cavities are also separated from the third receiving cavity, mainly to prevent liquid in the third receiving cavity from flowing into the fourth and fifth receiving cavities.

[0464] In some embodiments, as shown in FIG37, the base station body is further provided with a tenth opening 2011 for communicating the fifth receiving cavity with the outside of the base station body. The user can take out or put in a spare first filter bag or second filter bag from inside the fifth receiving cavity through the tenth opening. The tenth opening may be provided on at least one side wall of the base station body to facilitate the user to take out or put in the first filter bag or second filter bag from the side of the base station body; or, the tenth opening may be provided at the bottom or top of the base station body.

[0465] In some embodiments, a fifth baffle may also be provided on the base station body. The fifth baffle is movably disposed at the tenth opening and is used to open or close the tenth opening. When the fifth baffle opens the tenth opening, the fifth receiving cavity is exposed, facilitating the user to take out or put in a spare first filter bag or second filter bag from the tenth opening. In some embodiments, the movable connection method between the fifth baffle and the base station body is the same as the movable connection method between the fourth baffle and the base station body described above, and will not be repeated here.

[0466] In some embodiments, as shown in FIG37, the ninth opening and the tenth opening are located on the same sidewall of the base station body, facilitating the user to remove and place the second filter box and replace the spare first filter bag or second filter bag from the same side of the base station body. For example, the ninth opening and the tenth opening are arranged side by side, adjacent or non-adjacent, in the horizontal direction of the base station body. Alternatively, in other embodiments, the ninth opening and the tenth opening are stacked, adjacent or non-adjacent, in the vertical direction of the base station body. For example, the ninth opening and the tenth opening are adjacent, with the ninth opening positioned above the tenth opening; or, the ninth opening is positioned below the tenth opening.

[0467] Furthermore, when the ninth and tenth openings are located on the same side wall of the base station body, the fourth and fifth baffles are also located on the same side of the base station body. In some embodiments, as shown in Figures 37 and 40, the fourth and fifth baffles can be the same baffle. Opening or closing this cover can simultaneously open or close the ninth and tenth openings, thereby saving operation time on the cover. Alternatively, in other embodiments, the fourth and fifth baffles can be different covers, that is, the fourth and fifth baffles can be independently set, and the ninth and tenth openings can be opened and closed separately by the fourth and fifth baffles.

[0468] In some embodiments, when the pool robot stops at the cleaning position of the base station body, at least a portion of the first filter box may be located above the second filter box or the third receiving cavity, so that the debris in the first filter box and the liquid sprayed by the first nozzle can fall into the second filter box under the action of gravity. In other embodiments, the cleaning system further includes a power component, which, under the suction force provided by the power component, draws the debris and liquid in the first filter box into the second filter box. In this case, when the pool robot stops on the base station body, at least a portion of the first filter box may be located above the second filter box or the third receiving cavity, and under the combined action of the suction force and the gravity of the debris and liquid in the first filter box, the debris and liquid in the first filter box fall into the second filter box; or, the first filter box may not be located above the second filter box, but the first filter box is located outside the second filter box or the third receiving cavity, that is, when the pool robot stops on the base station body, the first frame of the first filter box is always outside the second filter box or the third receiving cavity, and under the suction force of the power component, the debris and liquid in the first filter box are drawn into the second filter box. For example, when the pool robot stops on the base station body, the first filter box can be arranged side by side in the horizontal direction or stacked in the vertical direction.

[0469] In some embodiments, as shown in FIG38, the base station 2000 further includes a first sealing box 2190 and a control component, the control component including at least one processor and at least one memory. The first sealing box is disposed within the base station body and has a first sealing cavity, and at least one processor is disposed within the sealing cavity.

[0470] In some embodiments, the base station further includes at least one charging component and a second battery pack, the second battery pack being connected to the charging component and used to power the charging component so that the charging component can charge the pool robot. For example, the second battery pack is disposed within a first sealed cavity to prevent the second battery pack from contacting liquids on the base station or in the external environment, which could cause leakage or short circuits and damage to the battery pack. Alternatively, in other embodiments, the second battery pack is provided with a waterproof wrapping layer to isolate it from external liquids; the second battery pack may be disposed within the first sealed cavity or located outside the first sealed cavity.

[0471] Alternatively, in some embodiments, the base station does not have a second battery pack. In this case, the base station acts as a relay station, lacking the function of storing electrical energy but only transmitting it. An external power source directly supplies power to the pool robot via the base station for charging. For example, as shown in Figure 39, the base station also includes a power adapter 2192, used to convert high-voltage DC power from the power grid into low-voltage DC power required by the base station, thereby providing a safe, stable, and compatible power supply. The power adapter can be mounted on the base station body or located within the base station body.

[0472] In some embodiments, as shown in Figures 33-34, 38-39, and 45-48, the base station body 20001 further includes a fourth receiving cavity 200011, which is isolated from the third receiving cavity to prevent liquid in the third receiving cavity from entering the fourth receiving cavity. A first sealing box is disposed within the fourth receiving cavity 200011 to further prevent liquid in the third receiving cavity from entering the first sealing box, ensuring that the processor is isolated from external liquids. In some embodiments, when the base station includes a second battery pack, and the second battery pack is provided with a waterproof wrapping layer, the second battery pack is disposed within the fourth receiving cavity and located outside the first sealing box to isolate the second battery pack from the liquid in the third receiving cavity.

[0473] In some embodiments, as shown in Figures 33, 38, 45, and 47, the third and fourth accommodating cavities are arranged side-by-side, either adjacent or non-adjacent, in the horizontal direction. For example, the third accommodating cavity 2054 and the fourth accommodating cavity 200011 are arranged adjacent to each other horizontally or front-back in the horizontal direction.

[0474] Alternatively, in other embodiments, the third and fourth receiving cavities are stacked adjacently or non-adjacently in the vertical direction. For example, the fourth receiving cavity 200011 is located below the third receiving cavity 2054 and arranged adjacently; or, the fourth receiving cavity 200011 is located above the third receiving cavity 2054 and arranged adjacently.

[0475] In some embodiments, when the third and fourth receiving cavities are arranged side-by-side or parallel in the horizontal direction within the base station body; in some embodiments, as shown in Figures 33, 38, 45, and 47, the third receiving cavity is positioned closer to the first nozzle than the fourth receiving cavity. Alternatively, in other embodiments, as shown in Figure 31, when the base station body is provided with a carrier, the fourth receiving cavity is positioned closer to the carrier than the third receiving cavity.

[0476] In some embodiments, after the first bottom cover is unlocked, its rotation is not driven by a motor. For example, the first bottom cover rotates due to its own weight to open the third opening; or the first bottom cover rotates due to the weight of the garbage and liquid inside the first filter box; or the first bottom cover rotates due to the weight of the garbage and liquid inside the first filter box, as well as the impact force of the liquid sprayed from the first nozzle, to open the third opening. When it is necessary for the first bottom cover to close the third opening, the closing of the first bottom cover requires a motor drive. For example, a closing mechanism built into the base station or the first main body can be used to drive the rotation of the first bottom cover to close the third opening.

[0477] For example, in some embodiments, the base station further includes at least one closing mechanism disposed on the base station body; the closing mechanism is used to drive the first bottom cover of the first filter box to rotate toward the third opening, so that the first bottom cover closes the third opening. After the liquid sprayed by the first nozzle has cleaned the first filter box, the closing mechanism drives the first bottom cover to rotate and close the third opening. The closing mechanism switches the first bottom cover from the state of having the third opening open to the state of having the third opening closed.

[0478] In some embodiments, as shown in Figures 32 to 48, the closing mechanism may include at least one first closing mechanism 7004, which drives the first bottom cover to rotate via a motor so that the first bottom cover closes the third opening.

[0479] Specifically, in some embodiments, as shown in Figures 58 to 60, the first closing mechanism includes at least a driving component and a pushing component. The driving component includes at least a driving member, which drives the pushing component to perform telescopic movements, thereby switching the pushing component between an extended state and a retracted state. When the first nozzle sprays liquid to clean the first filter box, the pushing component is in a retracted state to avoid the first bottom cover. After the liquid sprayed by the first nozzle cleans the first filter box, the pushing component switches from the retracted state to the extended state to push the first bottom cover to rotate toward the third opening, thereby closing the third opening. After the first bottom cover closes the third opening, the pushing component switches back from the extended state to the retracted state. For example, the driving member can be a motor 70042 or a cylinder.

[0480] For example, in some embodiments, the pushing component is a push rod assembly, which includes at least one push rod 70041. The push rod includes a third mounting portion 700411 and a pushing portion 700412, wherein the third mounting portion is driven by a motor, and the pushing portion is used to push the first bottom cover to rotate toward the third opening. The motor drives the push rod to extend, causing the pushing portion to abut against the first bottom cover, thereby pushing the first bottom cover to rotate toward the third opening and closing the third opening. Specifically, in some embodiments, under the drive of the motor, the push rod makes an inclined extension movement, i.e., the push rod has motion components in both the horizontal and vertical directions. In other embodiments, under the drive of the motor, the push rod extends approximately in the vertical direction. Alternatively, in other embodiments, under the drive of the motor, the push rod extends approximately in the horizontal direction to push the first bottom cover to rotate.

[0481] In some embodiments, the pool robot rests on the base station body. When the first bottom cover opens the third opening, at least a portion of the first bottom cover extends into or through the fourth opening into the second filter box. When the pushing component is in the retracted state, it has at least two embodiments. For example, in some embodiments, the pushing component avoids or is not located within the fourth opening to avoid interfering with the opening of the first bottom cover. In other embodiments, at least a portion of the pushing component is located within the fourth opening; when the first bottom cover opens the third opening, at least a portion of the pushing component (e.g., the aforementioned pushing part) approaches or contacts the first bottom cover; or a clearance groove is provided on the bottom of the first bottom cover, and at least a portion of the pushing component (e.g., the pushing part) is located within the clearance groove, but the pushing component (e.g., the pushing part) does not collide with the first bottom cover.

[0482] When the push component is in the extended state, at least a portion of the push component (e.g., the push part) is located inside the fourth opening, or at least a portion of the push component (e.g., the push part) extends through the fourth opening to above the fourth opening to push the first bottom cover to rotate toward the third opening, thereby closing the third opening.

[0483] In some e...

Claims

1. A base station, characterized by comprising: The base station body comprises a second filter box arranged on the base station body; the second filter box is provided with at least one third inlet, which serves as an inlet for garbage to enter the second filter box; at least one first nozzle arranged on the base station body, which is used to spray liquid to the first filter box of the pool robot to clean the first filter box; when the pool robot is parked on the base station, the third inlet can be in communication with the third opening of the first filter box to allow the second filter box to receive garbage from the first filter box. when the pool robot is parked on the base station, at least part of the third inlet is located directly below at least part of the third opening to allow garbage in the first filter box to fall into the second filter box through the third opening and the third inlet.

2. The base station of claim 1, wherein The second filter box has a second filter cavity; 3. The base station of claim 1 or 2, characterized by when the pool robot is parked on the base station, the second filter cavity is located outside the first filter cavity of the first filter box; and the second filter cavity does not cover the first filter cavity. The first nozzle is located outside the second filter box.

4. The base station of any one of claims 1-3, wherein, The second filter box has a second filter cavity for containing garbage; when the first nozzle sprays liquid to the first filter box, the first nozzle is located outside the second filter cavity, and at least part of the first nozzle is located above at least part of the second filter cavity.

5. The base station of any one of claims 1-4, wherein, When the first nozzle sprays liquid to the first filter box, at least part of the first nozzle is located above at least part of the second filter box; and / or at least part of the first nozzle is located above at least part of the third inlet.

6. The base station of any one of claims 1-5, wherein, The first nozzle comprises 7. The base station of any one of claims 1-6, wherein, a liquid inlet component; a nozzle connected to the liquid inlet component; liquid flows to the nozzle through the liquid inlet component, and the nozzle is used to spray liquid to the first filter box; When the first nozzle sprays liquid to the first filter box, the nozzle is located above at least part of the third inlet; and / or, the nozzle is located above at least part of the third opening. The nozzle can rotate relative to the liquid inlet component.

8. The base station of claim 7, wherein When the base station is placed on a horizontal plane, the nozzle sprays liquid to the first filter box, and the projection of the nozzle on the horizontal plane is located within the projection of the third inlet on the horizontal plane.

9. The base station of claim 7, wherein, The base station body comprises 10. The base station of any one of claims 1-9, wherein, a third accommodating cavity, at least part of the second filter box is arranged in the third accommodating cavity; when the first nozzle sprays liquid to the first filter box, the first nozzle is located out of the third accommodating cavity; at least one drain opening, which communicates the third accommodating cavity with the outside; The drain opening is used to drain the liquid filtered by the second filter box into the third accommodating cavity out of the base station. The base station body further comprises 11. The base station of claim 10, wherein, at least one fourth opening, which communicates the third accommodating cavity with the outside; the third inlet is in communication with the fourth opening; When the pool robot is parked on the base station body, the garbage in the first filter box falls into the second filter box through the fourth opening and the third inlet in sequence. ​ 12. The base station of claim 11, wherein, At least part of the fourth opening is located above at least part of the third inlet; When the pool robot is parked on the base station, at least part of the fourth opening is located below at least part of the third opening, and the garbage in the first filter box falls into the second filter box through the third opening, the fourth opening and the third inlet.

13. The base station of claim 12, wherein, At least part of the fourth opening is located at the top of the third accommodating cavity; and at least part of the third inlet is located at the top of the second filter box.

14. The base station of any one of claims 1-13, wherein, The first spray head sprays liquid into the first filter box to clean the first filter box.

15. The base station of claim 14, characterized by The first spray head sprays liquid into the first filter box by extending at least partially into the first filter box.

16. The base station of any one of claims 1-15, wherein, The base station body further comprises A third accommodating cavity is provided with at least one fourth opening; when the pool robot is parked on the base station, the fourth opening can communicate with the third opening and the third inlet, and the garbage in the first filter box enters the second filter box through at least the third opening, the fourth opening and the third inlet; At least part of the second filter box is pullably arranged in the third accommodating cavity.

17. The base station of claim 16, characterized by A side wall of the base station body is provided with a ninth opening, which communicates the third accommodating cavity with the outside; the second filter box can be pulled into or out of the third accommodating cavity through the ninth opening.

18. The base station of claim 17, characterized by Further comprising A fourth baffle is movably arranged on the base station body to open or close the ninth opening; when the first filter box is cleaned by the liquid sprayed by the first spray head, the fourth cover closes the ninth opening.

19. The base station of any one of claims 1-18, wherein, The second filter box is a first filter bag; The base station further comprises A tray is arranged in the first filter bag; at least part of the tray is pullably arranged on the base station body to receive at least part of the liquid filtered by the first filter bag.

20. The base station of any one of claims 1-18, wherein, Further comprising A second filter bag is arranged in the second filter box; the second filter bag is provided with a fifth inlet, which can communicate with the third opening; the second filter bag is used at least to receive the garbage falling from the first filter box; The second filter box is used at least to perform secondary filtration on the liquid filtered by the second filter bag.

21. The base station of claim 20, wherein, The second filter bag is made of a deformable material; the base station further comprises a closing mechanism movably arranged at the fifth inlet of the second filter bag; the closing mechanism is used to close or open the fifth inlet.

22. The base station of claim 16, wherein, Further comprising a tray arranged in the third accommodating cavity, at least part of the tray is located below the second filter box, and is used to receive at least part of the liquid filtered by the second filter box.

23. The base station of claim 22, wherein, The second filter box is pullably arranged in the third accommodating cavity synchronously with the tray; or the second filter box and the tray are respectively pullably arranged in the third accommodating cavity.

24. The base station of any one of claims 1-23, wherein the first nozzle is stationary relative to the base station body, and wherein movement of the pool robot over the base station body effects at least passive extension of the first nozzle into or out of the first body.

25. The base station of any one of claims 1-23, wherein, The first nozzle is movably disposed on the base station body; movement of the first nozzle effects active extension of the first nozzle into or out of the first body.

26. The base station of claim 25, characterized in that, The first nozzle has an extended position and a retracted position relative to the base station body; When the first nozzle is moved from the retracted position to the extended position, the first nozzle extends from outside the pool robot into the first body; When the first nozzle is moved from the extended position to the retracted position, the first nozzle retracts outside the first body.

27. The base station of claim 26, characterized in that, The first nozzle is rotatably disposed on the base station body, and the first nozzle is rotated to switch between the extended position and the retracted position. Alternatively, the first nozzle is telescopically disposed on the base station body, and the first nozzle is telescopically moved to switch between the extended position and the retracted position.

28. The base station of claim 25, wherein, The base station body has a cleaning position and a charging position; The base station further comprises a charging assembly disposed on the base station body; When the pool robot is parked at the cleaning position, the first nozzle is moved from the retracted position to the extended position to extend into the first body, and liquid sprayed by the first nozzle cleans the first filter cartridge; When the pool robot is parked at the charging position, the charging assembly charges the pool robot.

29. The base station of claim 28, characterized in that, The cleaning position and the charging position are the same position.

30. The base station of claim 24, wherein, The base station body has a cleaning position and a charging position; The base station further comprising a charging assembly disposed on the base station body; When the pool robot is moved from a non-cleaning position to the cleaning position, the first nozzle is passively extended into the first body; When the pool robot is parked at the charging position, the charging assembly charges the pool robot; 31. The base station of claim 30, wherein, The cleaning position and the charging position are two different positions; the non-cleaning position is the charging position or another parking position on the base station body.

32. The base station of claim 31, characterized in that, In a direction from the charging position to the cleaning position, the cleaning position is closer to the first nozzle than the charging position.

33. The base station of claim 1, wherein, The base station body has a parking surface for parking the pool robot; The parking surface comprises a first section, when the pool robot is parked on the first section, liquid sprayed by the first nozzle cleans the first filter cartridge; a second section connected to the first section, the first section is closer to the first nozzle than the second section.

34. The base station of claim 33, characterized by The base station further comprises a charging assembly disposed on the base station body; when the pool robot is parked on the first section, the charging assembly charges the pool robot.

35. The base station of claim 32, wherein, The base station further comprises a charging assembly disposed on the base station body; When the pool is parked on the second section, the charging assembly charges the pool robot.

36. The base station of claim 35, characterized in that, The charging assembly comprises a charging member, which is arranged on the second section; and the fourth opening is arranged on the first section.

37. The base station of claim 35, wherein The upper end of the second section is connected with the first section. The base station further comprises a supporting assembly, which is arranged on the lower end of the second section and is used to support the pool robot when the pool robot is parked on the second section, so as to prevent the pool robot from sliding off the second section.

38. The base station of claim 33, characterized by The base station further comprises a first sealed box having a first sealed cavity; at least one processor arranged in the first sealed cavity; and at least a part of the first sealed box is arranged below the second section. At least a part of the second filter box is arranged below the first section.

39. The base station of any one of claims 10-38, wherein, The base station body further comprises a fourth accommodating cavity which is separated from the third accommodating cavity. The base station further comprises a first sealed box arranged in the fourth cavity; at least one processor arranged in the first sealed box.

40. The base station of claim 39, characterized in that, The third accommodating cavity and the fourth accommodating cavity are arranged side by side in the horizontal direction; or The third accommodating cavity and the fourth accommodating cavity are arranged in a vertical direction.

41. The base station of claim 40, wherein, The third accommodating cavity and the fourth accommodating cavity are adjacent and arranged horizontally; or The third accommodating cavity and the fourth accommodating cavity are adjacent; and the third accommodating cavity is arranged above the fourth accommodating cavity.

42. The base station of claim 39, wherein, The second filter box is a first filter bag; or The base station further comprises a second filter bag arranged in the second filter box, which is used to receive at least the garbage falling from the first filter bag, and the second filter box is used to perform secondary filtration on the liquid filtered by the second filter bag. The base station body further comprises a fifth accommodating cavity which is separated from the third accommodating cavity and the fourth accommodating cavity, and is used to place a spare first filter bag or a spare second filter bag.

43. The base station of claim 42, wherein a side wall of the base station body is provided with a ninth opening, which is used to communicate the third accommodating cavity with the outside, so as to pullably place or take out the second filter box in or from the third accommodating cavity; a side wall of the base station body is provided with a tenth opening, which is used to communicate the fifth accommodating cavity with the outside, so as to place or take out the spare first filter bag or the spare second filter bag.

44. The base station of claim 43, characterized in that, The ninth opening and the tenth opening are arranged on the same side wall of the base station body; and / or, the ninth opening and the tenth opening are arranged side by side in the horizontal direction; or the ninth opening and the tenth opening are arranged in a vertical direction of the base station body.

45. The base station of claim 43, wherein, The base station further comprises a fourth baffle movably arranged on the base station body, which is used to open or close the ninth opening; and a fifth baffle movably arranged on the base station body, which is used to open or close the tenth opening. The fourth baffle and the fifth baffle are the same baffle; and the baffle is used to synchronously open or close the ninth opening and the tenth opening.

46. The base station of claim 45, characterized in that, The fourth accommodating cavity and the fifth accommodating cavity are arranged on the same side of the third accommodating cavity.

47. The base station of claim 42, wherein, The base station further comprises 48. The base station of any one of claims 1-47, wherein, ​ A closing mechanism is arranged on the base station body, and is configured to drive the first bottom cover of the first filter box to rotate towards the third opening of the first filter box, so that the first bottom cover closes the third opening.

49. The base station of claim 48, characterized in that, The closing mechanism comprises a driving assembly comprising at least a driving member; a pushing assembly configured to perform extension and retraction movement under the driving of the driving member, so as to switch between an extended state and a retracted state; when the first filter box is cleaned by the first nozzle, the pushing assembly is in the retracted state to avoid the first bottom cover; after the cleaning of the first filter box by the first nozzle is completed, the pushing assembly switches from the retracted state to the extended state to drive the first bottom cover to move towards the third opening, so as to close the third opening.

50. The base station of claim 48, characterized by The closing mechanism comprises a protruding component protruding from a resting surface of the base station body; after the cleaning of the first filter box by the first nozzle is completed, the pool robot moves on the resting surface to drive the first bottom cover to slide against the protruding component, and the protruding component forces the first bottom cover to be passively rotated towards the third opening, so as to close the third opening.

51. The base station of claim 49, wherein, The base station body further comprises a sixth accommodating cavity, at least a part of which is located above the second filter box; the driving member is arranged in the sixth accommodating cavity, and at least a part of the pushing assembly is arranged outside the sixth accommodating cavity to push the first bottom cover to move, or is arranged in the sixth accommodating cavity to reset to the retracted state.

52. The base station of any one of claims 1-51, wherein, The base station further comprises at least one fourth avoiding opening and at least one charging assembly; wherein the fourth avoiding opening is arranged on the base station body; The charging assembly comprises a first seat body, at least a part of which is arranged in the base station body and at least a part of which is located at the fourth avoiding opening; a charging member arranged on the first seat body and located at the avoiding opening to expose the base station body or protrude out of the base station body, and configured to charge the pool robot.

53. The base station of claim 52, characterized in that, The base station further comprises a drying assembly arranged on the base station body, and the drying assembly is at least configured to dry the charging member.

54. The base station of claim 53, characterized by The drying assembly comprises at least one fan; at least one first air duct, at least a part of a first air outlet of the first air duct faces the charging member, the fan blows air to the charging member through the first air duct.

55. The base station of claim 53, wherein, The base station body comprises a third accommodating cavity, at least a part of the second filter box is arranged in the third accommodating cavity; a sixth accommodating cavity, which is separated from the third accommodating cavity and at least a part of which is located above the third accommodating cavity; at least a part of the first seat body and the drying assembly are arranged in the sixth accommodating cavity.

56. The base station of claim 53, wherein The base station body further comprises a fourth accommodating cavity, which is separated from the third accommodating cavity and horizontally distributed side by side; and at least a part of the sixth accommodating cavity is located above the fourth accommodating cavity; The base station further comprises at least one processor arranged in the fourth accommodating cavity.

57. The base station of claim 56, characterized in that, The base station further comprises A first sealed box having a first sealed cavity; the processor is arranged in the first sealed cavity.

58. The base station of claim 52, wherein The second mounting end of the first seat body is rotatably arranged on the base station body, and the second free end of the first seat body is located at the avoiding opening; the charging member is arranged on the second free end of the first seat body, so that the charging member is floating relative to the base station body.

59. The base station of any one of claims 1-58, wherein, The base station further comprises A poking rod mechanism movably arranged on the base station body and at least partially located in the second filter box, the poking rod mechanism being used for poking the garbage accumulated in the second filter box to spread the accumulated garbage.

60. The base station of claim 59, characterized by The poking rod mechanism pokes the garbage by reciprocating movement or reciprocating swing.

61. The base station of claim 60, wherein, The poking rod mechanism comprises An electric motor arranged on the base station body; A poking rod, at least a part of which is located in the second filter box, the electric motor being used for driving the poking rod to reciprocating swing or reciprocating movement in the second filter box.

62. The base station of any one of claims 1-61, wherein, The base station further comprises An electric motor arranged on the base station body; An unlocking assembly at least partially arranged on the base station body; The electric motor drives the unlocking mechanism to move to release the locking of the first bottom cover and the first frame of the first filter box, so that the first bottom cover moves relative to the first frame to open or close the third opening.

63. The base station of any of claims 1-62, wherein, The base station body has a resting surface for the pool robot to rest on; The base station further comprises A charging assembly comprising a charging member; when the charging member protrudes from the resting surface, the charging member is used for charging the pool robot.

64. The base station of claim 63, characterized by The charging assembly further comprises A first seat body having a second mounting end and a second free end; the second mounting end is movably arranged on the base station body, and the charging member is arranged on the second free end; Through the movement of the first seat body, the charging member has a working position and an avoiding position in the height direction of the base station body; In the working position, the charging member protrudes from the resting surface and is used for abutting or approaching the charging receiving member on the bottom of the pool robot for charging the pool robot; In the avoiding position, the charging member avoids the bottom of the pool robot.

65. The base station of claim 64, characterized by The charging assembly further comprises A second elastic member, by applying the elastic force of the second elastic member to the first seat body, the charging member tends to be kept in the working position; Under the action of the driving force of the external environment, the first seat body moves to drive the charging member to have a downward moving component in the height direction of the base station body, and the charging member switches from the working position to the avoiding position; After the driving force is removed, under the action of the elastic force of the second elastic member, the charging member is reset from the avoiding position to the working position.

66. The base station of claim 64, characterized in that, The charging assembly further comprises A first protruding component arranged on the first seat body and protruding from the resting surface; The base station body has a charging position, when the pool robot moves from the non-charging position to the charging position on the base station body, the first protruding part is in contact with the bottom of the pool robot earlier than the charging part, the pool robot applies the driving force to the first protruding part, so that the charging part is switched from the working position to the avoiding position; When the pool robot moves to the charging position, the first protruding part is embedded in the fourth groove of the bottom of the pool robot, the driving force is removed, and the charging part is switched from the avoiding position to the working position.

67. The base station of claim 66, characterized in that, The fourth avoiding opening is arranged on the base station body, and the charging part switches between the working position and the avoiding position through the fourth avoiding opening.

68. The base station of claim 66, characterized in that, The stay surface has a cleaning position and a charging position; the pool robot stops at the cleaning position, and the first nozzle cleans the first filter box; The pool robot stops at the charging position, and the charging part charges the pool robot; When the cleaning position and the charging position are one position, the charging part is located between the first protruding part and the fourth opening; Or When the cleaning position and the charging position are different positions, the first protruding part is located between the charging part and the fourth opening.

69. A base station, comprising: Including The base station body has a third containing cavity; The fourth opening is arranged on the base station body and communicates with the third containing cavity, serving as an entrance for garbage into the third containing cavity; At least one drain opening is arranged on the base station body and communicates with the third containing cavity; At least one first nozzle is arranged on the base station body and used for spraying liquid on the first filter box of the pool robot to clean the first filter box; when the pool robot stops on the base station body, the garbage in the first filter box enters the third containing cavity through the third entrance and is discharged out of the base station through the drain opening.

70. A cleaning system characterized by, Including The base station is the base station of any one of claims 1-69; The pool robot; The pool robot includes A first body; A first filter box arranged at least partially in the first body; A third opening arranged at least partially on the bottom of the first filter box; A first bottom cover movably opening or closing the third opening; When the pool robot is docked on the base station body, the first bottom cover opens the third opening, the third opening and the third entrance are in communication, and the garbage in the first filter box can enter the second filter box through the third opening and the third entrance.

71. The cleaning system of claim 70, wherein, The pool robot stops on the base station body, and the third opening is located outside the base station body.

72. The cleaning system of claim 70, wherein, The first filter box includes A first frame, at least part of the third opening is arranged on the bottom of the first frame; At least one first filter screen is arranged on the first frame; and At least one first bottom cover movably arranged on the first frame to open or close the third opening. When the pool robot stops on the base station body, the first frame is located outside the base station body or the second filter box.

73. The cleaning system of claim 72, wherein, ​ 74. The cleaning system of claim 72, wherein, The first bottom cover is rotatably arranged on the first frame to open or close the third opening.

75. The cleaning system of claim 74, wherein, The first bottom cover is rotated outwardly relative to the pool robot to open the third opening.

76. The cleaning system of claim 75, wherein, The base body further comprises a third accommodating cavity; at least one fourth opening arranged on the base body and communicating with the third accommodating cavity; The fourth opening and the third inlet communicate to enable the garbage in the first filter box to flow through the third opening, the fourth opening and the third inlet into the second filter box. When the pool robot is parked on the base body and the first bottom cover opens the third opening, at least part of the first bottom cover is in abutment with the fourth opening.

77. The cleaning system of claim 75, wherein, When the pool robot is parked on the base body and the first bottom cover opens the third opening, at least part of the first bottom cover is in abutment with the third inlet.

78. The cleaning system of claim 72, wherein, The first bottom cover is slidably arranged on the first frame to open or close the third opening. When the pool robot is parked on the base body, the first bottom cover is slid above the third inlet to open or close the third opening.

79. The cleaning system of claim 72, wherein, The bottom of the first body is provided with a seventh opening communicating with the third opening to enable the garbage in the first filter box to sequentially flow through the third opening, the seventh opening, the fourth opening and the third inlet into the second filter box.

80. The cleaning system of claim 79, wherein, The first bottom cover is rotatably arranged on the first frame; at least part of the first bottom cover is rotated outwardly of the first body through the seventh opening to open the third opening; and at least part of the first bottom cover is rotated into the third opening through the seventh opening to close the third opening.

81. The cleaning system of any one of claims 70-80, wherein, The pool robot further comprises a first water inlet communicating with the first filter box; when the pool robot is cleaning the pool bottom or pool wall, the first water inlet is used for enabling liquid to flow into the first filter box.

82. The cleaning system of claim 81, wherein, The first water inlet is arranged on the bottom of the first body. The first bottom cover is moved independently of the first water inlet to open or close the third opening.

83. The cleaning system of claim 82, wherein, The bottom of the first body is provided with at least one seventh opening. At least part of the first bottom cover is rotated outwardly of the first body through the seventh opening to open the third opening. At least part of the first bottom cover is rotated into the third opening through the seventh opening to close the third opening. The seventh opening and the first water inlet are staggered on the bottom of the first body.

84. The cleaning system of claim 81, wherein, The first water inlet is arranged on the first bottom cover, and the first bottom cover drives the first water inlet to move synchronously to open or close the third opening.

85. The cleaning system of claim 84, wherein, The bottom of the first body is provided with at least one seventh opening. At least part of the first bottom cover is rotated outwardly of the first body through the seventh opening to open the third opening. At least part of the first bottom cover is rotated into the third opening through the seventh opening to close the third opening. When the first bottom cover opens the third opening, the garbage in the first filter box is sequentially discharged out of the pool robot through the third opening and the seventh opening.

86. The cleaning system of claim 84, wherein, The first bottom cover is provided with a first protruding part extending into the first filter box, and the first protruding part is hollow to form a liquid inlet channel, one end of the liquid inlet channel serving as the first water inlet and the other end serving as a first inlet.

87. The cleaning system of claim 84, wherein, The pool robot further comprises A scraping strip, at least a part of the scraping strip is arranged on the first bottom cover and distributed around or near the first water inlet.

88. The cleaning system of claim 72, wherein, The first bottom cover has a locked state and an unlocked state; When the first bottom cover is in the locked state, the first bottom cover is locked on the first frame to keep the third opening closed; When the first bottom cover is in the unlocked state, the first bottom cover can move relative to the first frame to open or close the third opening.

89. The cleaning system of claim 88, wherein, The first filter box further comprises a locking mechanism for locking the first bottom cover on the first frame.

90. The cleaning system of claim 89, wherein, The locking mechanism locks the first bottom cover on the first frame by magnetic attraction; or The locking mechanism locks the first bottom cover on the first frame by a buckle structure; or The locking mechanism locks the first bottom cover on the first frame by an extension movement.

91. The cleaning system of claim 88, wherein, The cleaning system further comprises An unlocking mechanism, at least partially arranged on the first main body and / or on the base station body, the unlocking mechanism drives the locking mechanism to move to release the locking of the first bottom cover by the locking mechanism.

92. The cleaning system of claim 91, wherein, The locking mechanism comprises A first limiting hole; A first telescopic part, one of the first telescopic part and the first limiting hole is arranged on the first frame, and the other is arranged on the first bottom cover; And A fourth elastic part, the elastic force or biasing force of the fourth elastic part acts on the first telescopic part to force the first telescopic part to tend to remain in the first limiting hole to lock the first bottom cover on the first frame; The unlocking mechanism is used to drive the first telescopic part to retract to exit the first limiting hole.

93. The cleaning system of claim 92, wherein, Under the action of the fourth elastic part, the first telescopic part extends in a substantially horizontal direction to extend into the first limiting hole; The unlocking mechanism is used to drive the first telescopic part to retract in a substantially horizontal direction to exit the first limiting hole.

94. The cleaning system of claim 93, wherein, The unlocking mechanism further comprises A second telescopic part; A fifth elastic part, the elastic force or biasing force of the fifth elastic part acts on the second telescopic part to force the second telescopic part to tend to remain in a retracted state away from the first telescopic part or the first limiting hole; A motor for driving the second telescopic part to extend to push the first telescopic part to retract and then exit the first limiting hole.

95. The cleaning system of claim 70, wherein, The first main body is provided with at least one fourth inlet, the fourth inlet is in communication with the first main body to allow the first nozzle to extend into or exit the first main body through the fourth inlet.

96. The cleaning system of claim 95, wherein, The first nozzle is stationary relative to the base body; the pool robot moves on the base body so that the first nozzle is passively inserted into or withdrawn from the first body through the fourth inlet.

97. The cleaning system of claim 96, wherein, The pool robot further comprises a shutter movably arranged at the fourth inlet, the shutter being used to open or close the fourth inlet; The base body has a cleaning position and a non-cleaning position, when the pool robot is in the non-cleaning position, the shutter opens the fourth inlet; during the process that the pool robot walks from the non-cleaning position to the cleaning position, the first nozzle is inserted into or withdrawn from the first body through the fourth inlet.

98. The cleaning system of claim 96 or 97, wherein, The pool robot further comprises A second water inlet is arranged on the front side wall or the rear side wall of the first body, the second water inlet and the first filter box are in communication; when the pool robot is cleaning on the water surface, the second water inlet allows liquid to flow into the first filter box; The second water inlet also serves as the fourth inlet; through the forward movement or backward movement of the pool robot on the base body, the first nozzle is inserted into or withdrawn from the first body through the second water inlet.

99. The cleaning system of claim 96, wherein, The pool robot further comprises A taking and placing opening is arranged at least partially on the top of the first body; the first filter box is placed into or taken out of the first body through the taking and placing opening; The taking and placing opening also serves as the fourth inlet, through the movement of the pool robot in the vertical direction, the first nozzle is inserted into or withdrawn from the first body through the taking and placing opening.

100. The cleaning system of claim 95, wherein, The first nozzle is movably arranged relative to the base body, the first nozzle has an extended position and a retracted position; The first nozzle moves from the retracted position to the extended position, and the first nozzle is inserted into the first body through the fourth inlet; The first nozzle moves from the extended position to the retracted position, and the first nozzle is withdrawn from the pool robot.

101. The cleaning system of claim 100, wherein, The first nozzle is rotatably arranged on the base body, and the first nozzle is inserted into or withdrawn from the first body by rotating; or The first nozzle is telescopically arranged on the base body, and the first nozzle is inserted into or withdrawn from the first body through telescopic movement.

102. The cleaning system of claim 100, wherein, The pool robot further comprises a shutter movably arranged at the fourth inlet, the shutter being configured to open or close the fourth inlet; The shutter opens the fourth inlet before the first nozzle switches from the retracted position to the extended position.

103. The cleaning system of claim 102, wherein, The base body has a cleaning position, and the first filter box is cleaned by the first nozzle when the pool robot is parked at the cleaning position; When the pool robot is parked at the cleaning position, the shutter opens the fourth inlet first; after the fourth inlet is opened, the first nozzle is inserted into the first body.

104. The cleaning system of any one of claims 100-103, wherein, The pool robot further comprises A second water inlet is arranged on the front side wall or the rear side wall of the first main body, and the second water inlet is in communication with the first filter box; when the pool robot is cleaning the water surface, the second water inlet is used for liquid to flow into the first filter box; the second water inlet also serves as the fourth inlet.

105. The cleaning system of any one of claims 100-103, wherein, The pool robot further comprises A taking and placing opening is arranged at least partially on the top of the first main body, and is used for placing or taking out the first filter box from the first main body; the taking and placing opening also serves as the fourth inlet.

106. The cleaning system of claim 105, wherein, The pool robot further comprises A first cover is movably arranged on the taking and placing opening, and is used for opening or closing the taking and placing opening; When the first cover opens the taking and placing opening, the first nozzle extends into or exits from the first filter box through the taking and placing opening.

107. The cleaning system of claim 105, wherein, The first cover is rotatably arranged at the taking and placing opening; or the first cover is slidably arranged at the taking and placing opening.

108. The cleaning system of claim 70, wherein, The base station body comprises a cleaning position; The base station further comprises A carrier is connected with the base station body, and when the carrier is located in the pool, the pool robot automatically travels from the pool to the cleaning position on the base station body by means of the carrier, and the liquid sprayed by the first nozzle is used for cleaning the first filter box.

109. The cleaning system of claim 108, wherein, The base station further comprises A charging assembly is arranged on the base station body; When the carrier is located in the pool, the pool robot automatically travels from the pool to the charging position on the base station body by means of the carrier; the charging assembly is used for charging the pool robot.

110. The cleaning system of claim 109, wherein, The cleaning position and the charging position are the same position; or The cleaning position and the charging position are different positions, and the cleaning position is closer to the first nozzle than the charging position; when the pool robot returns to the cleaning position, the pool robot passes through the charging position to reach the cleaning position.

111. The cleaning system of claim 70, wherein, The base station body further comprises a cleaning position; the pool robot is manually placed at the cleaning position by a user, and the liquid sprayed by the first nozzle is used for cleaning the first filter box.

112. The cleaning system of claim 70, wherein, The cleaning system comprises a base station and a pool robot; The base station comprises: A base station body; A first nozzle is fixedly or movably arranged on the base station body; A second filter box is arranged on the base station body; the second filter box has a third inlet, and the third inlet serves as an inlet for garbage to enter the second filter box; The pool robot comprises:

113. A method of controlling a cleaning system, wherein, A first main body; A fourth inlet is arranged on the pool robot; A cover is arranged to open or close the fourth inlet; A second filter box is arranged on the base station body; the second filter box has a fourth inlet, and the fourth inlet serves as an inlet for garbage to enter the second filter box. ​ ​ ​ ​ ​ a first filter box at least partially located in the first main body; a third opening provided in the first filter box; a first bottom cover configured to open or close the third opening; the method comprises: controlling at least one of the first spray head and the pool robot to move, so that the first spray head extends into the first main body through the fourth opening; or, controlling at least one of the first spray head and the pool robot to move, so that the liquid sprayed by the first spray head enters the first main body through the fourth opening when the first spray head is located outside the first main body; controlling the first spray head to spray liquid to clean the first filter box, and the garbage in the first filter box enters the second filter box through the third opening and the third opening.

114. The control method of claim 113, wherein, controlling the first spray head to spray liquid to clean the first filter box, and the garbage in the first filter box enters the second filter box through the third opening and the third opening when the first bottom cover moves to open the third opening, comprising: driving the first bottom cover to move to open the third opening under the action of gravity of the first bottom cover and gravity of the garbage in the first filter box, so that the garbage in the first filter box enters the second filter box through the third opening and the third opening; wherein the third opening is at least partially provided at the bottom of the first filter box; or, controlling the first bottom cover to move to open the third opening, so that the garbage in the first filter box enters the second filter box through the third opening and the third opening.

115. The control method of claim 114, wherein, The pool robot further comprises a locking mechanism for locking the first bottom cover on the first frame of the first filter box, and the first bottom cover covers the third opening; The base station or pool robot further comprises an unlocking mechanism for unlocking the first bottom cover by the locking mechanism; controlling the first spray head to spray liquid to clean the first filter box, and the garbage in the first filter box enters the second filter box through the third opening and the third opening when the first bottom cover moves to open the third opening, comprising: firstly controlling the first spray head to spray liquid into the first filter box for a first preset time period; secondly controlling the unlocking mechanism to move to unlock the first bottom cover by the locking mechanism; driving the first bottom cover to move to open the third opening under the action of gravity of the first bottom cover and gravity of the garbage and liquid in the first filter box; or, controlling the first bottom cover to move to open the third opening; and the garbage in the first filter box enters the second filter box through the third opening and the third opening.

116. The control method of claim 113, wherein The method further comprises:

117. The control method of claim 116, wherein, The pool robot further comprises a locking mechanism for locking the first bottom cover on the first frame of the first filter box, and the first bottom cover covers the third opening; The base station or the pool robot further comprises an unlocking mechanism for unlocking the first bottom cover from the locking mechanism; The method further comprises: Controlling the unlocking mechanism to move to unlock the first bottom cover from the locking mechanism.

118. The control method of claim 113 wherein, The method further comprises: Controlling at least one of the first nozzle and the pool robot to move to exit the first nozzle out of the first body.

119. The control method of claim 118 wherein, The base station further comprises a closing mechanism; The method further comprises: Controlling the closing mechanism to push the first bottom cover to move towards the third opening, so that the first bottom cover is locked on the first frame of the first filter box.

120. The control method of claim 113, wherein The first bottom cover is rotatably arranged on the first frame of the first filter box, and the first bottom cover is rotated so that at least part of the first bottom cover extends into the second filter box to open the third opening.

121. The control method of claim 113 wherein, Controlling the first nozzle to spray liquid to clean the first filter box comprises controlling the first nozzle to spray liquid to clean the first filter box at least twice.

122. The control method of claim 113 wherein, The method further comprises:

123. The control method of claim 113 wherein, The base station further comprises a lever mechanism; The method further comprises: Controlling the lever mechanism to reciprocate or move back and forth to push the garbage accumulated in the second filter box during the process of controlling the first nozzle to spray liquid to clean the first filter box.

124. The control method of claim 113 wherein, The base station has a cleaning position and a charging position; Controlling the first nozzle to spray liquid to clean the first filter box comprises controlling the first nozzle spray liquid to clean the first filter box when the pool robot is parked at the cleaning position; The method further comprises:

125. The control method of claim 124, wherein The first nozzle is movably arranged on the base station body and has an extended position and a retracted position; and controlling at least one of the first nozzle and the pool robot to move so that the first nozzle extends into the first body of the pool robot through the fourth opening comprises: When the pool robot is parked at the cleaning position, the first spray head is controlled to move from the stowed position to the extended position to extend into the first body.

126. The control method of claim 125, wherein The cleaning position and the charging position are the same position; the shutter is controlled to move to open the fourth entrance of the pool robot, and at least one of the first spray head and the pool robot is controlled to move so that the first spray head extends into the first body through the fourth entrance, including: When the pool robot is parked at the cleaning position, the shutter is first controlled to move to open the fourth entrance; Then, the first spray head is controlled to move from the stowed position to the extended position to the first body.

127. The control method of claim 125, wherein The non-cleaning position is a position other than the cleaning position on the base station; the shutter is controlled to move to open the fourth entrance of the pool robot, and at the least one of the first spray head and the pool robot is controlled to move so that the first spraying head extends into the first body through the fourth entrance, including: When the pool robot is parked in the non-cleaning position, the shutter is first controlled to move to open the fourth entrance; Then, the pool robot is controlled to move from the non-cleaning position to the cleaning position; The first spray head is controlled to move from the stowed position to the extended position to extend into a first body.

128. The control method of claim 113 wherein, The first spray head is movably arranged on the base station body and has an extended position and a stowed position; the base station has a cleaning position, and when the pool robot is parked at the cleaning position, the first spray head is controlled to spray liquid to clean the first filter box; The first spray head is controlled to move through the fourth entrance into the first body of the pool robot, including: when the pool robot is parked at the cleaning position, the shutter is controlled to move to open the fourth entrance, and the first spray head is controlled to move from the stowed position to the extended position to extend to the first body.

129. The control method of claim 113 wherein, The first spray head is stationary relative to the base station; the base station has a cleaning position and a non-cleaning position, and when the pool robot is parked at the cleaning position, the first spray head is sprayed to clean the first filter box, and the non-cleaning position is a position other than the cleaning position on the base station; The shutter is controlled to move to open the fourth entrance of the pool robot, and the pool robot is controlled to move so that the first spray head extends into the first body, including: when the pool robot is parked at the non-cleaning position of the base station, the shutter is controlled to move to open the fourth entrance; the pool robot is controlled to move from the non-cleaning position to the cleaning position so that the first spray head extends into the first filter box through the fourth entrance.

130. The control method of claim 129 wherein, The base station also has a charging position, and when the pool robot is parked at the charging position, a charging assembly on the base station is controlled to charge the pool robot; The non-cleaning position is the charging position.

131. The control method of claim 124, wherein The cleaning position and the charging position are the same position, when the pool robot stops at the cleaning position, the first nozzle sprays liquid to clean the first filter box; And when the pool robot stops at the charging position, the charging assembly on the base station charges the pool robot, including: After the first nozzle sprays liquid to clean the first filter box, the charging assembly charges the pool robot.

132. The control method of claim 124 wherein, The cleaning position and the charging position are the same position, and the charging assembly on the base station charges the pool robot, including: controlling the charging assembly to charge the pool robot during the process of cleaning the first filter box by the first nozzle.

133. The control method of claim 124, wherein The cleaning position and the charging position are the same position; when the pool robot stops at the cleaning position, the first nozzle sprays liquid to clean the first filter box; And when the pool robot stops at the charging position, the charging assembly on the base station charges the pool robot, including: After controlling the charging assembly to charge the pool robot, the first nozzle cleans the first filter box.

134. The control method of claim 130 wherein, The cleaning position and the charging position are different positions; the method further includes: After the cleaning of the first filter box by the first nozzle is completed, the pool robot is controlled to return from the cleaning position to the charging position.

135. The control method of claim 134 wherein, The cleaning position and the charging position are different positions; before the pool robot is controlled to walk from the charging position to the cleaning position, the charging assembly is first controlled to charge the pool robot for the first time; After the first charging is completed, the pool robot is controlled to walk from the charging position to the cleaning position; After the cleaning of the first filter box by the first nozzle is completed, the pool robot is controlled to return from the cleaning position to the charging position; The charging assembly is controlled to charge the pool robot for the second time.

136. The control method of claim 124 wherein, The base station is further provided with a drying assembly; The method further includes: controlling the drying assembly to blow the charging assembly to dry or blow dry the charging assembly.

137. The control method of claim 124, wherein The pool robot further includes a floating and diving mechanism; the method further includes: When the pool robot stops at the cleaning position and water exists in the floating cavity of the floating and diving mechanism, the first adjusting member of the floating and diving mechanism is controlled to be opened for a preset time to discharge the liquid in the floating cavity.

138. The control method of claim 118 wherein, The method further includes: After the first nozzle exits the first main body, the shielding plate is controlled to move to shield the fourth inlet.

139. The control method of claim 113, wherein The base station further includes: A third accommodating cavity is arranged on the base station body; A fourth opening is arranged on the base station body and communicates with the third accommodating cavity, and the fourth opening is located above at least part of the third inlet; The first bottom cover is rotatably arranged on the first frame of the first filter box, and the first bottom cover rotates outward of the first main body of the pool robot, and at least part of the first bottom cover extends into the fourth opening to open the third opening; The garbage in the first filter box falls into the second filter box through the third opening, the fourth opening and the third inlet.

140. A cleaning system characterized by, A base station and a pool robot are included; The base station includes: a base station body; a second filter box at least partially disposed on the base station body; at least one third inlet disposed on the second filter box as an opening for garbage to enter the second filter box; a first spray head disposed on the base station body; The pool robot includes: a first body including a fourth inlet; a first filter box at least partially disposed in the first body; wherein the first filter box includes a first frame; at least one first filter screen disposed on the first frame; a third opening at least partially disposed on the bottom of the first frame; the first bottom cover is movably disposed on the first frame to open or close the third opening; the fourth inlet is in fluid communication with the first filter box; when the pool robot is docked at the base station, the first spray head extends into the first body through the fourth inlet; the first bottom cover opens the third opening, the third opening is in fluid communication with the third inlet, the first spray head sprays liquid to the first filter box, and the sprayed liquid carries the garbage in the first filter box to fall from the third opening, the third inlet and the second filter box.

141. The cleaning system of claim 140, wherein the base station further includes a third receiving cavity disposed on the base station body; at least one fourth opening disposed on the base station body and in communication with the third receiving cavity; at least one drain disposed on the base station body and in communication with the third receiving cavity; at least a portion of the second filter box is disposed in the third receiving cavity; the first spray head sprays liquid to the first filter box, the sprayed liquid carries the garbage in the first filter box to fall from the third opening, the fourth opening and the third inlet into the second filter box, the garbage remains in the second filter box, and the liquid filtered by the second filter box enters the third receiving cavity and is discharged out of the base station through the drain.

142. A pool robot, characterized in that including a first body including a first end and a second end a liquid inlet portion; a liquid outlet portion disposed on the first body; at least one first filter box disposed in the first body; at least one main water pump disposed in the first body; under the action of at least one main water pump, liquid flows through the liquid inlet portion, the first filter box, the main water pump and the liquid outlet portion in turn; when the pool robot cleans the pool bottom, the pool robot moves in a first direction; and in the first direction, the at least one main water pump is located in front of the at least one first filter box; when the pool robot cleans the water surface, the pool robot moves in a second direction; and in the second direction, the at least one main water pump is located behind the at least one first filter box; wherein the first direction is a direction from the first end to the second end; and the second direction is a direction from the second end to the first end.

143. The pool robot of claim 142, wherein, When the pool robot cleans the pool wall, the pool robot moves in the first direction.

144. The pool robot of claim 142, wherein, One of the first end and the second end is a front end of the first body, and the other is a rear end of the first body.

145. The pool robot of claim 142, wherein, Further comprising a floating and diving mechanism, at least for switching the pool robot from the state of closely abutting the pool wall to the state of floating on the water surface; The floating and diving mechanism comprises At least one floating cavity for containing gas; An air inlet communicating with the floating cavity; A floating cavity pump for adjusting the volume of the gas in the floating cavity; The air inlet is arranged on one of the first end and the second end; when the pool robot walks on the pool wall to the water line, the air inlet is located in the air; Under the action of the floating cavity pump, the air outside enters the floating cavity through the air inlet to increase the volume of the gas in the floating cavity, and the pool robot switches from closely abutting the pool wall to floating on the water surface.

146. The pool robot of claim 145, wherein, The air inlet is arranged on the first end; During the movement of the pool robot on the pool wall to the water line, the pool robot moves in a second direction, and the first end is located above the second end.

147. The pool robot of claim 145, wherein, The air inlet is arranged on the second end; During the movement of the pool robot on the pool wall to the water line, the second end is located above the first end.

148. The pool robot of claim 142, wherein, The liquid inlet part comprises A first water inlet arranged at least partially on the bottom of the first body or the bottom of the first filter box; when the pool robot cleans the pool bottom, the first water inlet allows liquid to flow into the first filter box; A second water inlet arranged at least partially on the first end; when the pool robot cleans the water surface, the second water inlet allows liquid to flow into the first filter box.

149. The pool robot of claim 142, wherein, The first body comprises a first accommodating cavity and a second accommodating cavity separated from each other; the first accommodating cavity and the second accommodating cavity are communicated through at least one third liquid outlet; The first filter box is arranged in the first accommodating cavity, and at least one main water pump is arranged in the second accommodating cavity; the first accommodating cavity is closer to the first end than the second accommodating cavity.

150. The pool robot of claim 142, wherein, Further comprising At least one first distance sensor arranged on the first end for detecting the distance between the pool robot and an obstacle when the pool robot cleans the water surface; and At least one second distance sensor arranged on the second end for detecting the distance between the pool robot and an obstacle when the pool robot cleans the pool bottom. The first distance sensor is an ultrasonic sensor or an infrared sensor; or 151. The pool robot of claim 150, wherein, The second distance sensor is an ultrasonic sensor or an infrared sensor. Further comprising 152. The pool robot of claim 142, wherein, At least one first image collector arranged on the first end for collecting images of objects in the pool and / or objects on the shore; and / or At least one second image collector arranged on the second end for collecting images of objects in the pool. Further comprising 153. The pool robot of claim 142, wherein, At least one third distance sensor arranged on a side wall of the first body for detecting the distance between the pool robot and the pool wall or an obstacle when the pool robot walks along the pool wall or along the water surface. ​ 154. The pool robot of claim 149, wherein, The main water pump is at least two, wherein two main water pumps are arranged in the second installation cavity.

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