On-deck docking station and cleaning system

Abstract

The present application relates to the technical field of cleaning robots, and specifically relates to an on-deck docking station and a cleaning system. The on-deck docking station comprises a docking station body, a carrying mechanism, and a driving mechanism. The carrying mechanism is used for carrying a cleaning robot, and the carrying mechanism has a connecting end portion and a free end portion arranged opposite to each other. The driving mechanism is mounted on the docking station body, the driving mechanism is rotatably connected to the connecting end portion, and the driving mechanism is used for driving the carrying mechanism to move relative to the docking station body, so that the carrying mechanism enters or exits a water pool. In the present application, the carrying mechanism is movable relative to the docking station body; during the process of the carrying mechanism returning to the docking station body, when a foreign object is stuck between the docking station body and the carrying mechanism, the free end portion can rotate about the joint between the driving mechanism and the connecting end portion by applying an acting force to the free end portion in a direction away from the docking station body, thereby facilitating removal of the foreign object and preventing the foreign object from remaining stuck between the carrying mechanism and the docking station body.

Description

Off-water base station and cleaning system

[0001] This application claims priority to Chinese Patent Application No. 2025101211192, filed on January 24, 2025, entitled “Water-off Base Station and Swimming Pool Cleaning Device”, and Chinese Patent Application No. 2025101240621, filed on January 24, 2025, entitled “Water-off Base Station and Cleaning System”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning robot technology, and in particular to a water-off base station and cleaning system. Background Technology

[0003] With the improvement of people's living standards, the use of private pools is becoming increasingly popular. Pool cleaning robots, as a convenient automated device, are widely used in pool cleaning and maintenance. In related technologies, after completing the cleaning task, the cleaning robot needs to return to its off-water base station. During this return process, if a foreign object gets stuck in the carrying mechanism used to house the robot, the object may become trapped and unable to be removed. Summary of the Invention

[0004] This application provides a water-removing base station and cleaning system to solve the problem of foreign objects being stuck in the towing mechanism and unable to be removed.

[0005] Firstly, this application provides a water-removing base station, which includes a base station body, a towing mechanism, and a drive mechanism. The towing mechanism is used to carry a cleaning robot and has a connecting end and a free end that are arranged opposite to each other. The drive mechanism is mounted on the base station body and is rotatably connected to the connecting end. The drive mechanism is used to drive the towing mechanism to move relative to the base station body, so that the towing mechanism enters or leaves the water tank.

[0006] In some embodiments, a limiting groove is provided on the base station body, and the connecting end is movably accommodated in the limiting groove.

[0007] In some embodiments, the drive mechanism includes a drive member and a transmission member, the drive member being mounted on the base station body, and the transmission member being connected between the drive member and the connection end.

[0008] In some embodiments, the transmission component includes a first link and a second link. One end of the first link is rotatably connected to the base station body, and the other end of the first link is rotatably connected to the connecting end. One end of the second link is drive-connected to the driving component, and the other end of the second link is rotatably connected to the first link.

[0009] In some embodiments, the drive mechanism further includes a pivot, and a plurality of first links are provided, which are arranged at intervals between each other, and the plurality of first links are rotatably connected to the connecting end via the pivot.

[0010] In some embodiments, the base station body has a placement position, and the towing mechanism is movable relative to the base station body between a first position and a second position. The towing mechanism is used to place in a water tank in the first position and placed in the placement position in the second position. The water-free base station also includes a detection component and a controller. The detection component is used to output a detection signal. The controller is disposed on the base station body or the towing mechanism. The controller is electrically connected to a drive component and is also electrically connected to the detection component. The controller is used to control the towing mechanism to perform a preset operation when it is determined from the detection signal that there is an obstacle at the placement position.

[0011] In some embodiments, the driving component includes a driving motor disposed in the base station body, and the driving motor drives the transmission component to move; the detection component includes a current sampling circuit, which is used to detect the current of the driving motor to output a detection signal, and the controller is used to determine that there is an obstacle at the placement position when the current of the driving motor is greater than a first threshold.

[0012] In some embodiments, the water-free base station further includes a support wheel, which is rotatably disposed on the base station body, and the towing mechanism can contact the support wheel during movement; the detection component includes a pressure sensor, which is used to detect the magnitude of the real-time pressure on the support wheel to output a detection signal, and the controller is used to determine that there is an obstacle at the placement location when the real-time pressure on the support wheel is less than a second threshold.

[0013] In some embodiments, the base station body includes a first terminal for docking with a second terminal on a cleaning robot, so that the base station body outputs charging power to the cleaning robot; the detection component includes a docking detection circuit electrically connected to the first terminal, the docking detection circuit is used to output a detection signal, and the controller is used to determine the docking status of the first terminal and the second terminal according to the detection signal. If the first terminal and the second terminal fail to dock successfully within a preset time, it is determined that there is an obstacle at the placement position.

[0014] In some embodiments, the base station body further includes a host body, a first terminal is connected to the host body, the first terminal protrudes from the plane where the placement position is located, and the towing mechanism has a slot. When the towing mechanism is in the second position, the first terminal extends into the slot and docks with the second terminal.

[0015] In some embodiments, the detection component includes an attitude sensor for detecting the actual motion attitude of the towing mechanism, and a controller for comparing a preset attitude with the actual motion attitude and determining, based on the comparison result, that an obstacle exists at the placement position.

[0016] In some embodiments, the towing mechanism includes a towing body and a movable baffle. The towing body is configured with a receiving slot for accommodating a cleaning robot, and an opening is configured on the towing body. The movable baffle is disposed at the opening and is used to open or close the opening.

[0017] In some embodiments, the base station body is provided with a support surface for supporting the towing mechanism, and the ground clearance of the side of the support surface away from the free end is greater than the ground clearance of the side of the support surface closer to the free end.

[0018] In some embodiments, the water-off base station further includes a charging mechanism disposed on a support surface, the charging mechanism being used to charge the cleaning robot.

[0019] In some embodiments, the water-free base station further includes a locking mechanism installed on the base station body. The locking mechanism has a locked state and an unlocked state. When the locking mechanism is in the locked state, the locking mechanism restricts the towing mechanism from rotating relative to the base station body. When the locking mechanism is in the unlocked state, the towing mechanism can rotate relative to the base station body.

[0020] In some embodiments, the water-free base station further includes a support member, which is rotatably connected to the towing mechanism and / or the base station body. The support member is used to abut against the towing mechanism and the base station body to create a gap between the towing mechanism and the base station body.

[0021] Secondly, this application provides a cleaning system, which includes a cleaning robot and a water-removing base station as described in any of the above claims, the water-removing base station being used to drive the cleaning robot into or out of a water tank.

[0022] In the water-removing base station and cleaning system provided in this application, the towing mechanism has a connecting end and a free end that are arranged opposite to each other. The drive mechanism is installed on the base station body and is rotatably connected to the connecting end. This allows the towing mechanism to move relative to the base station body. The free end can rotate around the connection between the connecting end and the drive mechanism. During the process of the towing mechanism returning to the base station body, if a foreign object is stuck between the base station body and the towing mechanism, by applying a force to the free end in a direction away from the base station body, the free end can rotate around the connection between the drive mechanism and the connecting end. This makes it easy to remove the foreign object and prevents the foreign object from being stuck between the towing mechanism and the base station body. Attached Figure Description

[0023] Figure 1 is a schematic diagram of the cleaning system provided in the embodiment of this application when it is in the first working state;

[0024] Figure 2 is a schematic diagram of the cleaning system provided in the embodiment of this application when it is in the second working state;

[0025] Figure 3 is a schematic diagram of the structure of the towing mechanism provided in the embodiment of this application when it is placed on the base station body;

[0026] Figure 4 is a schematic diagram of the structure of the towing mechanism provided in the embodiment of this application when it is lifted;

[0027] Figure 5 is a partial cross-sectional view of the cleaning system provided in an embodiment of this application;

[0028] Figure 6 is a schematic diagram of the water-free base station in the cleaning system shown in Figure 2;

[0029] Figure 7 is a schematic diagram of the structure of the base station body provided in an embodiment of this application;

[0030] Figure 8 is a partial cross-sectional view of a cleaning system provided in some embodiments of this application;

[0031] Figure 9 is a partial cross-sectional view of a cleaning system provided in some other embodiments of this application;

[0032] Figure 10 is a schematic diagram of the water-free base station in the cleaning system shown in Figure 1;

[0033] Figure 11 is a schematic diagram of the structure of the water-based base station provided in an embodiment of this application;

[0034] Figure 12 is a cross-sectional view of the cleaning system provided in an embodiment of this application after removing part of the structure;

[0035] Figure 13 is a partial top view of the cleaning system provided in an embodiment of this application;

[0036] Figure 14 is a schematic diagram of the electrical connection of the water-off base station provided in an embodiment of this application;

[0037] Figure 15 is a schematic diagram of the structure of the water-off base station provided in some embodiments of this application;

[0038] Figure 16 is a schematic diagram of the structure of the water-off base station provided in some other embodiments of this application;

[0039] Figure 17 is a flowchart of the control method for an off-water base station provided in an embodiment of this application.

[0040] Explanation of reference numerals in the attached drawings: Cleaning system 1000; Water-free base station 100; Base station body 10; Main unit 111; First surface 1111; Second surface 1112; Groove 1113; Limiting groove 101; Support surface 102; Slot 124; Movable hole 103; Mounting groove 104; Bearing wheel 121; Charging mechanism 13; First terminal 113; Detection component 140; Current sampling circuit 141; Docking detection circuit 143; Controller 150; Towing mechanism 20; Receiving groove 201; Groove bottom wall 2012; Opening 202; Towing body 21; Connecting end 211; Free end 212; Movable baffle 22; Rotating component 2 3; Sealing part 24; Rotation axis 2301; Body part 231; Protrusion 232; Guide groove 233; Guide wall 2331; Drive mechanism 30; Drive component 31; Drive motor 311; Lead screw 312; Slide table 313; Transmission component 32; First connecting rod 321; Sliding groove 3211; Second connecting rod 322; First pivot 331; Second pivot 332; Third pivot 333; Fourth pivot 334; Cleaning robot 400; Cleaning body 41; Walking wheel 42; Rotation axis 421; Embankment 51; Pool 52; Pressure sensor 61; Attitude sensor 62; Grip part 63; Support component 64. Detailed Implementation

[0041] The technical solutions of the embodiments of this application 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 application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0042] In this document, references to "embodiment" or "implementation" mean that a particular feature, structure, or characteristic described in connection with an embodiment or implementation may be included in at least one embodiment of this application. 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.

[0043] It should be noted that the terminology in the specification, claims, and accompanying drawings of this application is only for describing specific embodiments and is not intended to limit this application. The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. The term "and / or" as used in the specification and appended claims refers to any combination of one or more of the associated listed items, and all possible combinations, including such combinations.

[0044] Please refer to Figures 1 and 2 together. Figure 1 is a structural schematic diagram of the first working state of the cleaning system 1000 provided in this application embodiment, and Figure 2 is a structural schematic diagram of the second working state of the cleaning system 1000 provided in this application embodiment. This application provides a cleaning system 1000, which includes a cleaning robot 400 and a water-removal base station 100. The water-removal base station 100 is installed on the embankment 51. The water-removal base station 100 is used to drive the cleaning robot 400 into or out of a pool 52. The pool 52 can be a swimming pool, a reservoir, etc. The cleaning robot 400 is used to perform cleaning operations on the pool 52. In this way, the water-removal base station 100 automates the entry and exit operations of the cleaning robot 400, avoiding manual handling of the cleaning robot 400, improving the automation level of the cleaning system 1000, and making the use of the cleaning robot 400 more convenient.

[0045] The water-removable base station 100 includes a base station body 10 and a towing mechanism 20. The base station body 10 is installed on a embankment 51 and positioned near the edge of a pool 52. The towing mechanism 20 is movably disposed relative to the base station body 10. The towing mechanism 20 is used to carry and accommodate a cleaning robot 400. The water-removable base station 100 has a first operating state and a second operating state. When the water-removable base station 100 is in the first operating state, the towing mechanism 20 moves from the pool 52 to the base station body 10. The water-removable base station 100 can enter the first operating state after the cleaning robot 600 enters the towing mechanism 20 from the pool 52. When the water-removable base station 100 is in the second operating state, the towing mechanism 20 moves relative to the base station body 10, enters the pool 52, and is at least partially submerged below the water surface of the pool 52. At this time, the cleaning robot 400 can move away from the towing mechanism 20 and enter the pool 52.

[0046] Figure 1 is intended only to schematically illustrate the arrangement between the cleaning robot 400 and the water-removing base station 100, and is not intended to specifically limit the connection positions, connection relationships, or specific structures of the various components. Figure 1 is merely a schematic representation of the structure of the water-removing base station 100 according to an embodiment of this application, and does not constitute a specific limitation on the water-removing base station 100. In some embodiments, the water-removing base station 100 may include more or fewer mechanisms than shown in Figure 1, or a combination of certain mechanisms, or different mechanisms. For example, the water-removing base station 100 may also include, but is not limited to, a communication mechanism. The communication mechanism is used to connect with a smart terminal to control the water-removing base station 100 to automatically control the towing mechanism 20 to drive the cleaning robot 400 into or out of the water tank 52.

[0047] Please refer to Figures 3, 4, and 5 together. Figure 3 is a structural schematic diagram of the towing mechanism 20 provided in this embodiment when placed on the base station body 10. Figure 4 is a structural schematic diagram of the towing mechanism 20 provided in this embodiment when lifted. Figure 5 is a partial cross-sectional view of the cleaning system 1000 provided in this embodiment. The water-removing base station 100 includes a base station body 10, a towing mechanism 20, and a drive mechanism 30. The drive mechanism 30 is equivalent to the power mechanism 130 in Chinese patent application No. 2025101211192, entitled "Water-removing Base Station and Pool Cleaning Device". The towing mechanism 20 is used to carry the cleaning robot 400. The towing mechanism 20 has a connecting end 211 and a free end 212 that are disposed opposite to each other. The drive mechanism 30 is mounted on the base station body 10. The drive mechanism 30 is rotatably connected to the connecting end 211. The drive mechanism 30 is used to drive the towing mechanism 20 to move relative to the base station body 10, so that the towing mechanism 20 enters or leaves the water tank 52, causing the cleaning system 1000 to enter a first working state or a second working state. The free end 212 can rotate about the connection point between the connecting end 211 and the drive mechanism 30. In this embodiment, the towing mechanism 20 has a connecting end 211 and a free end 212 that are arranged opposite to each other. The driving mechanism 30 is mounted on the base station body 10. The driving mechanism 30 is rotatably connected to the connecting end 211, so that the towing mechanism 20 can move relative to the base station body 10. The free end 212 can rotate around the connection between the connecting end 211 and the driving mechanism 30. During the process of the towing mechanism 20 returning to the base station body 10, when a foreign object is stuck between the base station body 10 and the towing mechanism 20, by applying a force to the free end 212 in a direction away from the base station body 10, the free end 212 can rotate around the connection between the driving mechanism 30 and the connecting end 211, so that the free end 212 is separated from the base station body 10, thereby facilitating the removal of the foreign object and preventing the foreign object from being stuck between the towing mechanism 20 and the base station body 10. The foreign objects can be non-living objects such as bottles, bags, wood, and stones, or they can be living objects such as fish, cats, dogs, or human body parts. By lifting the towing mechanism 20 to remove the living foreign objects, safety accidents can be avoided.

[0048] The base station body 10 is fixedly mounted on the embankment 51 to prevent displacement of the base station body 10 when the towing mechanism 20 is lifted. The base station body 10 can be fixed to the embankment 51 by means of suction cups, bolts or other locking structures. The base station body 10 can also be fixed to the embankment 51 by means of adhesive, welding to the metal structure on the surface of the embankment 51 or other methods. The fixed connection method between the base station body 10 and the embankment 51 is not specifically limited in this embodiment.

[0049] A limiting groove 101 is provided on the base station body 10. The connecting end 211 is movably accommodated within the limiting groove 101. The opening of the limiting groove 101 faces towards the water pool 52. A movable space is formed between the groove wall of the limiting groove 101 and the connecting end 211. When the base station 100 is in its first working state, the towing mechanism 20 is located on the base station body 10, and the connecting end 211 moves into the limiting groove 101. When a force is applied to the free end 212 in a direction away from the base station body 10, the towing mechanism 20 rotates, and the connecting end 211 can move within the limiting groove 101. The limiting groove 101 is used to limit the range of motion of the connecting end 211, that is, to limit the rotation angle of the towing mechanism 20 relative to the base station body 10. When the connecting end 211 abuts against the groove wall of the limiting groove 101 on the side away from the embankment 51, the connecting end 211 is restricted by the groove wall and cannot move, so that the towing mechanism 20 cannot continue to rotate relative to the base station body 10. Thus, by limiting the connection end 211 through the limiting groove 101, the rotation angle of the towing mechanism 20 relative to the base station body 10 can be limited, so as to avoid the towing mechanism 20 from over-rotating relative to the base station body 10, to avoid the cleaning robot 400 falling out of the towing mechanism 20, and to avoid damage to the water-free base station 100.

[0050] The base station body 10 is provided with a support surface 102. The support surface 102 is used to support the towing mechanism 20. The ground clearance of the side of the support surface 102 away from the free end 212 is greater than the ground clearance of the side of the support surface 102 near the free end 212. The support surface 102 is set at an acute angle to the horizontal plane, and the ground clearance of the side of the support surface 102 away from the water pool 52 is greater than the ground clearance of the side of the support surface 102 near the water pool 52. The support surface 102 is inclined, which on the one hand reduces the driving force required by the drive mechanism 30 to drive the towing mechanism 20 to move along the support surface 102, thereby reducing the power consumption of the water-removing base station 100; on the other hand, when the towing mechanism 20 is located on the base station body 10, the water on the base station body 10, the towing mechanism 20, and the cleaning robot 400 automatically flows out under the action of gravity, thereby reducing the water accumulation in the water-removing base station 100. The limiting groove 101 is located on the side of the support surface 102 away from the free end 212. The wall of the limiting groove 101 on the side closest to the ground can be connected to the support surface 102, so as to facilitate the drive mechanism 30 to drive the connecting end 211 into the limiting groove 101.

[0051] In some embodiments, when the drive mechanism 30 drives the towing mechanism 20 to move onto the base station body 10, the free end 212 protrudes relative to the base station body 10. Thus, the free end 212 provides a gripping point for easy holding, facilitating the lifting of the free end 212 and removal of foreign objects between the towing mechanism 20 and the base station body 10. Furthermore, the protrusion of the free end 212 relative to the base station body 10 also prevents the user's hand from being trapped between the towing mechanism 20 and the base station body 10 when the free end 212 is lowered, avoiding hand pinching and improving the safety and convenience of using the water-removable base station 100.

[0052] When the towing mechanism 20 is located on the base station body 10, the free end 212 can be located above the water pool 52. When the drive mechanism 30 drives the towing mechanism 20 away from the water pool 52 and moves onto the base station body 10, the water on the towing mechanism 20 and the cleaning robot 400 can flow back into the water pool 52 along the free end 212.

[0053] Please refer to Figures 5, 6, and 7 together. Figure 6 is a structural schematic diagram of the water-removing base station 100 in the cleaning system 1000 in Figure 2, and Figure 7 is a structural schematic diagram of the base station body 10 provided in this embodiment. In this embodiment, the drive mechanism 30 is rotatably connected to the connecting end 211 and the base station body 10, respectively. When a force is applied to the free end 212 in a direction away from the base station body 10, the towing mechanism 20 can rotate about the connection between the towing mechanism 20 and the drive mechanism 30, and about the connection between the drive mechanism 30 and the base station body 10, that is, about the first pivot 331 and the third pivot 333.

[0054] The drive mechanism 30 includes a drive component 31 and a transmission component 32. The drive component 31 is mounted on the base station body 10. The transmission component 32 connects the drive component 31 and the connecting end 211. A movable hole 103 is provided on the support surface 102 of the base station body 10. The transmission component 32 is movably inserted into the movable hole 103. The drive component 31 drives the connecting end 211 to move via the transmission component 32. The transmission component 32 and the connecting end 211 are rotatably connected via a first pivot 331. The drive component 31 and the transmission component 32 are drively connected via a second pivot 332. Thus, the drive component 31 is mounted on the base station body 10. During the process of the drive component 31 driving the towing mechanism 20 back to the base station body 10 via the transmission component 32, the base station body 10 can support the towing mechanism 20, which can reduce the pressure exerted on the transmission component 32 by the towing mechanism 20 and the cleaning robot 400, and extend the service life of the drive mechanism 30.

[0055] The driving component 31 includes a drive motor 311, a lead screw 312, and a slide 313. The drive motor 311 is installed inside the base station body 10. The drive motor 311 is connected to the lead screw 312 and drives the lead screw 312 to rotate. The rotation axis of the lead screw 312 can be parallel to the support surface 102. The two ends of the lead screw 312 are respectively located on the side of the support surface 102 closest to the water tank 52 and the side furthest from the water tank 52. The slide 313 is screwed to the lead screw 312. When the lead screw 312 rotates, the slide 313 moves along the axis of the lead screw 312. The slide 313 is connected to the transmission component 32 and drives the transmission component 32 to move. In this way, through the transmission arrangement of the lead screw 312 and the slide 313, the driving torque of the drive motor 311 can be amplified, which is beneficial for the drive motor 311 to drive the towing mechanism 20 to move.

[0056] In this embodiment, the transmission component 32 includes a first link 321 and a second link 322. One end of the first link 321 is rotatably connected to the base station body 10 via a third pivot 333, and the other end of the first link 321 is rotatably connected to the connecting end 211 via a first pivot 331. One end of the second link 322 is rotatably connected to the slide 313 of the drive component 31 via a second pivot 332, and the other end of the second link 322 is rotatably connected to the first link 321 via a fourth pivot 334. When the drive motor 311 drives the lead screw 312 to rotate, the lead screw 312 drives the slide 313 to move. The slide 313 drives the second connecting rod 322 to move via the second pivot 332. The second connecting rod 322 pushes or pulls the first connecting rod 321 to rotate around the third pivot 333 via the fourth pivot 334. The first connecting rod 321 pushes or pulls the towing mechanism 20 from the water tank 52 to the base station body 10, or from the base station body 10 to the water tank 52 via the first pivot 331. In some embodiments, the second connecting rod 322 can be connected to the position between the opposite ends of the first connecting rod 321 via the fourth pivot 334. In some embodiments, the second connecting rod 322 can be connected to the end of the first connecting rod 321 near the connecting end 221 via the fourth pivot 334. The fourth pivot 334 and the first pivot 331 can be configured as the same pivot, or the fourth pivot 334 and the first pivot 331 can be two independently set pivots.

[0057] Specifically, the first pivot 331 can be independently or integrally formed with the connecting end 211, or the first pivot 331 can be independently or integrally formed with the first connecting rod 321. The second pivot 332 can be independently or integrally formed with the slide table 313, or the second pivot 332 can be independently or integrally formed with the second connecting rod 322. The third pivot 333 can be independently or integrally formed with the base station body 10, or the third pivot 333 can be independently or integrally formed with the first connecting rod 321. The fourth pivot 334 can be independently or integrally formed with the base station body 10, or the fourth pivot 334 can be independently or integrally formed with the second connecting rod 322.

[0058] In this embodiment, multiple first connecting rods 321 are arranged at intervals. The multiple first connecting rods 321 are pivotally connected to the connecting end 211, wherein the pivot is configured as a first pivot 331. Thus, by having multiple first connecting rods 321 jointly drive the towing mechanism 20 to move, the uniformity of force distribution on the towing mechanism 20 can be improved, and the stability of the towing mechanism 20 during movement can be enhanced. Exemplarily, two first connecting rods 321 can be provided, with a shaft hole provided on the connecting end 211, through which the first pivot 331 passes, with both axial ends of the first pivot 331 extending beyond the shaft hole. The two first connecting rods 321 are respectively located on both sides of the connecting end 211 in the width direction and are respectively connected to the axial ends of the first pivot 331, thereby improving the stability and reliability of the movement of the towing mechanism 20 relative to the base station body 10. Of course, one or more first connecting rods 321 can also be provided; this embodiment does not specifically limit the number of first connecting rods. For example, when there is only one first link 321, the first link 321 can be connected to the middle part of the width direction of the connecting end 211.

[0059] Please refer to Figure 8, which is a partial cross-sectional view of a cleaning system 1000 provided in some embodiments of this application. In some embodiments, the transmission member 32 may not include the second link 322, and the transmission member 32 may be configured as a first link 321. The first link 321 is connected between the drive member 31 and the connecting end 211. Specifically, one end of the first link 321 is rotatably connected to the base station body 10 via a third pivot 333, and the other end of the first link 321 is rotatably connected to the connecting end 211 via the first pivot 331. The slide 313 is slidably connected to the first link 321. One of the slide 313 and the first link 321 is provided with a sliding groove 3211, and the other is connected to the second pivot 332, which is slidably connected in the sliding groove 3211. When the drive motor 311 drives the lead screw 312 to rotate, the lead screw 312 drives the slide table 313 to move. The slide table 313 drives the second pivot 332 to slide along the sliding groove 3211. The second pivot 332 drives the first connecting rod 321 to rotate around the third pivot 333. The first connecting rod 321 pushes or pulls the towing mechanism 20 to move through the first pivot 331.

[0060] Please refer to Figure 9, which is a partial cross-sectional view of a cleaning system provided in some embodiments of this application. In some embodiments, the drive mechanism 30 is rotatably connected to the connecting end 211. When a force is applied to the free end 212 in a direction away from the base station body 10, the towing mechanism 20 rotates about the connection between the towing mechanism 20 and the drive mechanism 30, that is, about the first pivot 331. The embodiment shown in Figure 9 is similar to the embodiment shown in Figure 5, except that the drive mechanism 30 includes a drive member 31, which includes a drive motor 311, a lead screw 312, and a slide 313. The slide 313 is rotatably connected to the connecting end 211 via the first pivot 331. When the drive motor 311 drives the lead screw 312 to rotate, the slide 313 moves along the lead screw 312 and drives the towing mechanism 20 to move via the first pivot 331.

[0061] In some embodiments, the drive mechanism 30 may be rotatably connected to the base station body 10. When a force is applied to the free end 212 in a direction away from the base station body 10, the towing mechanism 20 and the drive mechanism 30 rotate together about the connection between the drive mechanism 30 and the base station body 10, that is, they rotate together about the third pivot 333.

[0062] Referring to Figures 5 and 7, the water-based base station 100 also includes a support wheel 121. The support wheel 121 is rotatably mounted on the base station body 10. The towing mechanism 20 can contact the support wheel 121 during movement. Therefore, when the towing mechanism 20 rotates relative to the base station body 10, the support wheel 121 can provide sliding support for the towing mechanism 20, reducing wear between the towing mechanism 20 and the base station body 10, and reducing resistance when the drive mechanism 30 drives the towing mechanism 20. The support wheel 121 protrudes relative to the base station body 10 to support the towing mechanism 20 and prevent frictional contact between the towing mechanism 20 and the base station body 10. The support wheel 121 can be located at the end of the base station body 10 near the water tank 52.

[0063] For example, in this embodiment, a mounting groove 104 is provided on the top of the end of the base station body 10 near the water tank 52, and the support wheel 121 is rotatably mounted in the mounting groove 104. Thus, on the one hand, the mounting groove 104 improves the space utilization of the support wheel 121 on the base station body 10, resulting in a compact structure; on the other hand, the mounting groove 104 is located on the top of the end of the base station body 10 near the water tank 52, thereby ensuring that the support wheel 121 can consistently support the towing mechanism 20 during the process of the towing mechanism 20 driving the cleaning robot 400 to move to the base station body 10, reducing wear between the towing mechanism 20 and the base station body 10, and reducing the pressure exerted by the towing mechanism 20 and the cleaning robot 400 on the transmission component 32, thus extending the service life of the drive mechanism 30.

[0064] The support wheel 121 can be constructed as a hollow structure to reduce the weight of the support wheel 121, reduce the rotational resistance of the support wheel 121, and make the water-based base station 100 lighter. In some embodiments, the support wheel 121 can also be configured as a solid structure.

[0065] Please refer to Figures 10 and 11. Figure 10 is a structural schematic diagram of the water-removing base station 100 in the cleaning system 1000 of Figure 1, and Figure 11 is a structural schematic diagram of the water-removing base station 100 provided in an embodiment of this application. The towing mechanism 20 includes a towing body 21 and a movable baffle 22. The towing body 21 is configured with a receiving groove 201 for accommodating a cleaning robot 400. An opening 202 communicating with the receiving groove 201 is configured on the towing body 21. The opening 202 is used for the cleaning robot 400 to pass through, so that the cleaning robot 400 can enter into or leave the receiving groove 201. The movable baffle 22 is disposed at the opening 202. The movable baffle 22 is used to open or close the opening 202. The movable baffle 22 is rotatably connected to the towing body 21. The movable baffle 22 has a first state and a second state relative to the towing body 21. When the movable baffle 22 is in the first state, it is positioned to avoid the opening 202, allowing the cleaning robot 400 to pass freely through the opening 202. When the movable baffle 22 is in the second state, it closes the opening 202 to confine the cleaning robot 400 within the receiving slot 201, or to prevent foreign objects from entering the receiving slot 201 after the cleaning robot 400 has exited it.

[0066] Referring to Figures 10 and 11, in one possible implementation, the towing mechanism 20 further includes a blocking part 24 and a connecting end 211. The cleaning robot 400 enters the towing mechanism 20 through the opening 202. The blocking part 24 is positioned opposite to the opening 202, and the connecting end 211 is connected to the side of the blocking part 24 facing away from the opening 202. The connecting end 211 is connected to the first connecting rod 321. Specifically, the cleaning robot 400 enters the towing mechanism 20 through the opening 202. In a specific embodiment, when the towing mechanism 20 is placed in a pool, the inlet of the towing mechanism 20 faces the bottom wall of the pool, and the cleaning robot 400 can enter the towing mechanism 20 from bottom to top along the depth direction of the pool. The blocking part 24 is located opposite the opening 202, meaning that the cleaning robot 400 is blocked by the blocking part 24 when entering the towing mechanism 20 from bottom to top. The cleaning robot 400 can be connected to the blocking part 24. The connecting end 211 is provided on the side of the sealing part 24 opposite to the opening 202, and the connecting end 211 protrudes from the side of the sealing part 24 to connect the first link 321.

[0067] The cleaning robot 400 includes a cleaning body 41 and wheels 42 mounted on the cleaning body 41. The cleaning body 41 drives the wheels 42 to rotate, causing the wheels 42 to move the cleaning body 41, and is used to clean the pool 52. The wheels 42 can be configured as tracked wheels to increase the friction between the wheels 42 and the pool wall of the pool 52. In some embodiments, the wheels 42 can also be configured as other wheel structures, which are not specifically limited in this application, such as circular rubber wheels.

[0068] In some embodiments, the walking wheels 42 of the cleaning robot 400 are provided with toothed structures, and the movable baffle 22 is provided with mating structures that cooperate with the toothed structures. One of the toothed structures and the mating structures can be constructed as a plurality of protrusions arranged at intervals, and the other can be constructed as a plurality of grooves arranged at intervals, the grooves accommodating the protrusions. When the walking wheels 42 abut against the movable baffle 22, the toothed structures and the mating structures cooperate, causing the walking wheels 42 to rotate relative to the towing body 21, thus rotating the movable baffle 22 from a second state to a first state, allowing the cleaning robot 400 to pass through the opening 202. In this way, by having the cleaning robot 400 drive the movable baffle 22 to rotate, it is possible to avoid setting up additional driving components to drive the movable baffle 22 to rotate, simplifying the structure of the water station 100 and reducing manufacturing costs. The movable baffle 22 may be provided with a mating structure on both the side close to the receiving groove 201 and the side away from the receiving groove 201, so that the cleaning robot 400 can open the movable baffle 22 from both inside and outside the receiving groove 201 via the walking wheels 42.

[0069] Please refer to Figures 12 and 13 together. Figure 12 is a cross-sectional view of the cleaning system 1000 provided in this embodiment after removing part of the structure, and Figure 13 is a partial top view of the cleaning system 1000 provided in this embodiment. In some embodiments, the towing mechanism 20 further includes a rotating member 23. The rotating member 23 is rotatably connected to the towing body 21 and is at least partially located within the receiving groove 201. The rotating member 23 is mounted on the groove wall of the receiving groove 201 on the side away from the opening 202. The rotating member 23 is used to contact the wheels 42 of the cleaning robot 400. The rotating member 23 is aligned with the wheels 42 of the cleaning robot 400.

[0070] After the walking wheel 42 of the cleaning robot 400 moves to contact the rotating component 23, as the walking wheel 42 continues to rotate, the direction of the frictional force exerted by the walking wheel 42 on the rotating component 23 through friction is along the tangent direction of the contact point between the rotating component 23 and the walking wheel 42. The frictional force is perpendicular to the line connecting the rotation axis of the rotating component 23 and the rotation axis of the walking wheel 42, and points towards the side near the bottom wall of the receiving groove 201. On the one hand, this frictional force is used to drive the rotating component 23 to rotate. The rotating component 23 rotates, thereby eliminating the friction between the rotating component 23 and the traveling wheel 42. This significantly reduces or eliminates the reaction force exerted by the rotating component 23 on the traveling wheel 42 in a direction away from the bottom wall of the receiving tank 201. This prevents the reaction force from creating a tipping torque on the cleaning robot 400, thus preventing the cleaning robot 400 from tipping over under the action of the reaction force and falling back into the water tank. This keeps the cleaning robot 400 within the receiving tank 201, improving its water separation efficiency. The base station 100 has the ability to recover the cleaning robot 400. On the other hand, compared with the direct contact between the walking wheel and the wall of the receiving tank in related technologies, and the sliding friction between the walking wheel and the wall of the receiving tank, in this embodiment, by making the rotating member 23 contact the walking wheel 42, the walking wheel 42 can be prevented from directly contacting the wall of the receiving tank, thereby preventing the walking wheel 42 from climbing up the wall of the receiving tank, effectively preventing the cleaning robot 400 from climbing out of the receiving tank 201. Furthermore, by making the rotating member 23 contact the walking wheel 42, the cleaning robot 400 can be prevented from climbing out of the receiving tank 201. By making contact with the wheel 42, direct contact between the traveling wheel 42 and the wall of the receiving groove 201 can be avoided, thereby preventing the wall of the receiving groove 201 from being worn by the traveling wheel 42 and improving the service life of the towing mechanism 20. Furthermore, by rotating the rotating member 23 relative to the towing mechanism 20, the sliding friction between the traveling wheel 42 and the wall of the receiving groove 201 is converted into rolling friction between the traveling wheel 42 and the rotating member 23, which can greatly reduce the wear of the traveling wheel 42 on the rotating member 23 and greatly improve the service life of the towing mechanism 20.

[0071] In some embodiments, the rotating member 23 may be configured as an elastic structure, or an elastic structure may be provided on the outer peripheral wall of the rotating member 23. In this way, when the traveling wheel 42 contacts the rotating member 23, the rotating member 23 can absorb the impact force of the traveling wheel 42 on the rotating member 23 through elastic deformation, thereby reducing impact wear on the rotating member 23 and improving its service life. Exemplarily, the rotating member 23 may be configured as a rotating member made of elastic rubber, or the outer periphery of the rotating member 23 may be covered with a rubber sleeve.

[0072] The number of rotating members 23 corresponds to the number of wheels 42 of the cleaning robot 400. Exemplarily, in this embodiment, the cleaning robot 400 has two wheels 42, which are positioned on either side of the cleaning body 41 in the width direction. The number of rotating members 23 is correspondingly set to two. Each rotating member 23 corresponds to one wheel 42. In some embodiments, the number of wheels 42 of the cleaning robot 400 can also be set to other numbers, such as three, four, etc.

[0073] In some embodiments, when the cleaning robot 400 has more than two wheels 42, the number of rotating members 23 can be set to two, or more than two. Each rotating member 23 is aligned with at least one wheel 42, and the rotating member 23 can contact at least one wheel 42 simultaneously. In some embodiments, the width of the rotating member 23 along the rotation axis can be greater than the width of the wheel 42 along the rotation axis, and the rotating member 23 can be aligned with two or more wheels 42.

[0074] The vertical distance between the rotation axis 2301 of the rotating member 23 and the bottom wall 2012 of the receiving groove 201 is the first distance D1, and the vertical distance between the rotation axis 421 of the traveling wheel 42 and the bottom wall 2012 of the receiving groove 201 is the second distance D2. The first distance D1 is set to be greater than or equal to the second distance D2. Exemplarily, in this embodiment, the first distance D1 is set to be greater than the second distance D2. After the cleaning robot 400 comes into contact with the rotating member 23, as the traveling wheel 42 continues to rotate, the cleaning robot 400 exerts pressure on the rotating member 23 along the line connecting the rotation axis 421 of the traveling wheel 42 and the rotation axis 2301 of the rotating member 23. This pressure points towards the rotating member 23. The reaction force F1 generated by the rotating member 23 on the traveling wheel 42 is along the line connecting the rotation axis 2301 of the rotating member 23 and the rotation axis 421 of the traveling wheel 42. This reaction force F1 points towards the traveling wheel 42. The reaction force F1 can be decomposed into a first component F11 and a second component F12 perpendicular to the first component F11. The first component F11 is directed towards the opening 202. The direction of the first component F11 is opposite to the direction of movement of the cleaning robot 400, and the first component F11 is used to prevent the cleaning robot 400 from continuing to move towards the rotating member 23. The second component F12 is perpendicular to the bottom wall 2012 of the receiving groove 201 and is directed towards the bottom wall 2012. Thus, under the action of the second component F12, the rotating member 23 pushes the walking wheel 42 towards the bottom wall 2012, thereby effectively preventing the cleaning robot 400 from tipping over and preventing the cleaning robot 400 from climbing out of the receiving groove 201. In some embodiments, the first distance D1 can be equal to the second distance D2. The rotation of the rotating member 23 can prevent the rotating member 23 from exerting a reaction force on the walking wheel 42 in a direction away from the bottom wall 2012 of the trough, thus preventing the cleaning robot 400 from tipping over and preventing the cleaning robot 400 from climbing out of the receiving trough 201.

[0075] The rotating member 23 includes a body portion 231 and a protrusion 232. The body portion 231 extends along the rotation axis 2301 of the rotating member 23. The body portion 231 is generally cylindrical. The protrusion 232 is located at the axial end of the body portion 231. The protrusion 232 is arranged in an annular shape around the rotation axis 2301. The radial dimension of the protrusion 232 is larger than the radial dimension of the body portion 231. The protrusion 232 and the body portion 231 can be integrally formed, or the protrusion 232 and the body portion 231 can be independently arranged and fixedly connected together by means of bonding, snap-fitting, fusion welding, welding, screwing, etc. There can be two protrusions 232, each corresponding to one of the two axial ends of the body portion 231. In some embodiments, there can also be one protrusion 232, located at one of the axial ends of the body portion 231.

[0076] A guide groove 233 is formed between the protrusion 232 and the main body 231. The guide groove 233 is used to accommodate the traveling wheel 42. The traveling wheel 42 is used to contact the main body 231. Along the rotation axis 2301 of the rotating member 23, the width of the guide groove 233 is greater than or equal to the width of the traveling wheel 42, so that the traveling wheel 42 can enter the guide groove 233. The width of the guide groove 233 can be the distance along the rotation axis 2301 between the connection points of the two protrusions 232 of the rotating member 23 and the main body 231. The guide groove 233 can limit the position of the traveling wheel 42, thereby limiting the position of the cleaning robot 400 in the receiving groove 201, reducing or avoiding collisions between the cleaning robot 400 and the sidewall of the receiving groove 201, so as to reduce or avoid wear of the sidewall of the groove by the traveling wheel 42. The main body 231 has a protrusion 232 at one end near the side wall of the receiving groove 201. The protrusion 232 guides and limits the movement of the wheel 42, thus preventing the wheel 42 from wearing down the side wall of the receiving groove 201.

[0077] In this embodiment, a guide wall 2331 is provided on the side of the protrusion 232 near the center of the main body 231 along the rotation axis 2301 of the rotating member 23. The center of the main body 231 is located at the midpoint of the line connecting the two opposite ends of the main body 231 along the rotation axis 2301. The guide wall 2331 connects the outer peripheral surface of the protrusion 232 and the outer peripheral surface of the main body 231. The end of the guide wall 2331 connected to the outer peripheral surface of the protrusion 232 is inclined away from the center of the main body 231 relative to the end of the guide wall 2331 connected to the outer peripheral surface of the main body 231. The guide groove 233 extends along the axial direction of the rotating member 23, and its cross-section is approximately trapezoidal on the cross-sectional plane passing through the rotation axis 2301. Along the rotation axis 2301, the width of the portion of the guide groove 233 near the main body 231 is smaller than the width of the portion of the guide groove 233 away from the main body 231. Thus, during the process of the walking wheel 42 entering the guide groove 233, when the position of the walking wheel 42 is not directly aligned with the main body 231, the guiding effect of the guide wall 2331 on the walking wheel 42 allows the cleaning robot 400 to move laterally along the direction of the rotation axis 2301, thereby aligning the walking wheel 42 with the main body 231 and allowing the walking wheel 42 to smoothly enter the guide groove 233, thus avoiding contact between the walking wheel 42 and the side wall of the receiving groove 201. The connection points between the guide wall 2331 and the outer peripheral surface of the protrusion 232, and between the guide wall 2331 and the outer peripheral surface of the main body 231, can be respectively provided with arc transitions to improve the guiding effect of the protrusion 232 and the guide wall 2331 on the walking wheel 42, and reduce the wear of the rotating component 23. In some embodiments, the guide wall 2331 can also be provided perpendicular to the rotation axis 2301.

[0078] Referring to Figures 4, 5, and 11, in some embodiments, the water-removing base station 100 further includes a charging mechanism 13 disposed on the support surface 102. The charging mechanism 13 is used to charge the cleaning robot 400. The charging mechanism 13 can be connected to a power supply battery or to mains power. The power supply battery can be a rechargeable battery or a disposable battery. Thus, the base station body 10 can provide a power source for the cleaning robot 400, ensuring the normal operation of the cleaning robot 400, increasing the working time of the cleaning system 1000, and improving the automation level of the cleaning system 1000. The towing mechanism 20 is provided with a clearance opening 203 for the charging mechanism 13 to pass through, so that the charging mechanism 13 can connect to the cleaning robot 400. When the drive mechanism 30 drives the towing mechanism 20 to move onto the base station body 10, as the towing mechanism 20 approaches the base station body 10, the charging mechanism 13 aligns with the clearance opening 203 and passes through it.

[0079] In some embodiments, the controller of the water-removing base station 100 is connected to the charging mechanism 13. The controller is used to detect the operating status of the water-removing base station 100 and whether the charging mechanism 13 is properly connected to the cleaning robot 400. Specifically, when there is a foreign object between the towing mechanism 20 and the base station body 10, the towing mechanism 20 is obstructed by the foreign object and cannot move to its normal position relative to the base station body 10. At this time, the connection between the charging mechanism 13 and the cleaning robot 400 is abnormal, and the charging mechanism 13 cannot charge the cleaning robot 400. The controller can determine that there is a foreign object between the towing mechanism 20 and the base station body 10 when it detects that the water-removing base station 100 is in its first operating state and the charging mechanism 13 is not properly connected to the cleaning robot 400. Thus, by detecting the presence of a foreign object between the towing mechanism 20 and the base station body 10 through the operating status of the water-removing base station 100 and the charging status of the charging mechanism 13, the controller can improve the automation level and intelligence of the water-removing base station 100. In some embodiments, the water-free base station 100 also includes an alarm connected to a controller. When the controller detects a foreign object between the towing mechanism 20 and the base station body 10, the controller controls the alarm to sound an alarm to prompt the user to clean up the foreign object.

[0080] In existing technologies, water-free base stations are exposed to the external environment for extended periods, which can lead to the accumulation of foreign objects such as plant residues (twigs, leaves), household waste (plastic bags, clothing), hard objects (stones), or even human parts penetrating the base station body. Therefore, preventing obstacles from affecting the towing process during the retrieval of the cleaning robot is crucial. The water-free base station and cleaning system proposed in this application can solve the problem of obstacles affecting the towing of the cleaning robot by the water-free base station. The following description, in conjunction with the accompanying drawings and specific embodiments, illustrates this. Figure 14 is a schematic diagram of the electrical connections of the water-free base station provided in an embodiment of this application. Referring to Figures 3, 5, and 14, in some embodiments, the towing mechanism 20 is the main body for receiving, releasing, and securing the cleaning robot 400. The towing mechanism 20 is movably connected to the base station body 10 and can move between a first position and a second position. The first position is located inside the swimming pool; in a specific embodiment, the first position can be the side wall of the pool. After the towing mechanism 20 moves to the first position (i.e., the side wall of the pool), the cleaning robot 400 can detach from the towing mechanism 20, that is, leave the water-removing base station 100, and the cleaning robot 400 cleans the side wall of the pool. The second position is located at the placement position, that is, the position on the base station body 10 used to place the towing mechanism 20.

[0081] Understandably, the cleaning robot 400 only returns to a stopped state and is ready for charging after the towing mechanism 20 has fully returned to the second position and engaged with and fixed to the base station body 10. However, in the existing technology, since the base station body 10 is exposed to the external environment for a long time, foreign objects may remain on the base station body 10 when the towing mechanism 20 has not returned to the second position. These foreign objects may include plant residues (twigs, leaves), household waste (plastic bags, clothing), hard objects (stones), or even human parts that may have entered the base station body 10. When the towing mechanism 20 returns from the first position to the second position, these foreign objects block the towing mechanism 20, preventing it from fully returning to the second position. Therefore, these foreign objects are obstacles to the towing mechanism 20. If the towing mechanism 20 continues to move towards the second position while blocked by these obstacles, it may easily cause damage to the water-removed base station 100, such as cracking of the towing mechanism 20 or the base station body 10, or overload and burnout of the motor. Therefore, it is crucial to avoid obstacles affecting the movement of the towing mechanism 20.

[0082] To address the aforementioned technical problems, this invention includes a detection component 140 in the water-removing base station 100. The detection component 140 is electrically connected to a controller 150. During the movement of the towing mechanism 20 from the first position to the second position, the detection component 140 detects the operational information of each mechanism in the water-removing base station 100 and sends this information to the controller (i.e., sends a detection signal). Upon receiving the detection signal, the controller 150 determines whether an obstacle exists at the placement position. If an obstacle is detected, the controller 150 controls the towing mechanism 20 to perform a preset operation. In a specific embodiment, the towing mechanism 20 performing the preset operation may include: the controller 150 controlling the towing mechanism 20 to stop moving, or the controller 150 controlling the towing mechanism 20 to return to the first position. Of course, if the controller 150 determines that no obstacle exists, the controller 150 controls the towing mechanism 20 to continue moving to return to the second position.

[0083] In specific embodiments, the detection component 140 detects whether there is an obstacle at the placement position using two methods: active detection and passive detection. Active detection involves the detection component 140 detecting the presence of an obstacle at the placement position, directly obtaining the result that an obstacle exists, and outputting a detection signal. This type of active detection can use devices such as cameras, radar, and infrared sensors to directly acquire the position of the obstacle at the placement position and output the detection result. Furthermore, active detection can obtain obstacle information in advance and stop moving before the towing mechanism 20 touches the obstacle, thus preventing damage to the towing mechanism 20.

[0084] Alternatively, a passive detection method can be used where the detection component 140 outputs the changes in other components detected during the movement of the towing mechanism 20 to the controller 150. The controller 150 then determines whether an obstacle exists at the placement position based on the detection information. This type of passive detection can detect changes in the current of the water-based base station 100, the movement trajectory of moving parts, and the posture of the towing mechanism 20 during movement. When the change in the current of the water-based base station 100 is too large, or when the movement trajectory or posture of parts deviates, it can be determined that an obstacle exists. Passive detection can obtain information about the obstacle even after the towing mechanism 20 has already come into contact with it, resulting in more accurate judgments and lower costs.

[0085] The water-removable base station 100 provided in this application is used for a swimming pool cleaning device. The towing mechanism 20 retrieves the cleaning robot 400 from the pool and can drive the cleaning robot 400 back to the placement position of the base station body 10. By setting a detection component 140, the detection component 140 detects the water-removable base station 100 and outputs a detection signal. The controller can determine whether there is an obstacle at the placement position based on the received detection signal. When the controller determines that there is an obstacle at the placement position, the controller can control the towing mechanism to perform a preset operation, thereby protecting the towing mechanism 20 and the cleaning robot 400 on the towing mechanism 20, preventing the obstacle from affecting the water-removable base station 100's retrieval of the cleaning robot 400, and preventing damage to the towing mechanism 20 or the base station body 10 during the towing process. Please refer to Figures 3, 5, and 14. In some embodiments, the driving component 31 includes a driving motor 311, which is disposed in the base station body 10. The driving motor 311 drives the transmission component 32 to move. The detection component 140 includes a current sampling circuit 141, which is used to detect the current of the driving motor 311 to output a detection signal. The controller 150 is used to determine that there is an obstacle at the placement position when the current of the driving motor 311 is greater than a first threshold.

[0086] Specifically, the driving component 31 includes a drive motor 311, which is installed in the base station body 10. The drive motor 311 is used to drive the transmission component 32 to move, thereby moving the towing mechanism 20. In a specific embodiment, the driving component 31 includes a lead screw 312 and a connecting member. The connecting member is connected to the lead screw 312, which is connected to the drive motor 311. The connecting member is also connected to the transmission component 32. The drive motor 311 is used to drive the connecting member to move along the axial direction of the lead screw 312, thereby driving the transmission component 32 to move. The transmission component 32 can drive the towing mechanism 20 by changing the direction of the force. The extension direction of the lead screw 312 is the first direction X mentioned above.

[0087] In a specific embodiment, the current sampling circuit 141 is electrically connected to the drive motor 311. The current sampling circuit 141 can supply current to the motor and also collect the magnitude of the current passing through it. The current sampling circuit 141 collects the real-time current magnitude in the circuit and sends the detected real-time current data as a detection signal to the controller 150. The controller 150 uses the current magnitude as a judgment criterion. It can be understood that when the drive motor 311 drives the transmission component 32, its output power should be constant, and the current should also remain constant under constant voltage. When the drive motor 311 is blocked by an obstacle, or when the transmission component 32 (or the towing mechanism 20) is blocked by an obstacle, the drive motor 311 continues to output power and increases its power, resulting in an increase in the current in the circuit, which indicates that there is an obstacle at the placement position. Therefore, the first threshold mentioned above can be the current magnitude of the drive motor 311 when it is working normally (without obstacles).

[0088] This application uses a current sampling circuit 141 to collect the current of the drive motor 311, and the controller 150 uses this to determine whether there is an obstacle. The current sampling circuit 141 has the advantages of low cost and simple setup, so it can improve detection efficiency and reduce detection cost. In addition, the circuit design does not need to consider the position of the detection component to complete the detection, so as to avoid interference to the detection component caused by the movement of the component.

[0089] Please refer to Figures 14 and 15, which are schematic diagrams of the structure of the water-removing base station 100 provided in some embodiments of this application. Please also refer to Figures 3, 5, 14, and 15. In one embodiment, referring to Figures 2 to 5, the base station body 10 includes a main body 111 and a support wheel 121. The support wheel 121 is rotatably connected to the main body 111. During the movement of the towing mechanism 20, the towing mechanism 20 drives the support wheel 121 to rotate, and the towing mechanism 20 applies pressure to the support wheel 121. The detection component 140 includes a pressure sensor 61, which is used to detect the real-time pressure on the support wheel 121 to output a detection signal. The controller 150 is used to determine that an obstacle exists at the placement location when the real-time pressure on the support wheel 121 is less than a second threshold. Specifically, when the water-removing base station 100 is in the first working state, when there is a foreign object between the towing mechanism 20 and the base station body 10, the pressure detected by the pressure sensor 61 will change relative to the pressure when there is no foreign object between the towing mechanism 20 and the base station body 10. The controller can also be connected to the pressure sensor 61. The controller can determine whether there are foreign objects between the towing mechanism 20 and the base station body 10 by the pressure change detected by the pressure sensor 61.

[0090] The location of the pressure sensor 61 can be specifically set according to actual needs, and is not specifically limited in this application. For example, the pressure sensor 61 can be disposed on the base station body 10. For instance, the pressure sensor 61 can be disposed on the support wheel 121, or on the shaft of the support wheel 121. In some embodiments, the pressure sensor 61 can also be disposed on the towing mechanism 20. In some embodiments, pressure sensors 61 can be disposed on both the base station body 10 and the towing mechanism 20.

[0091] In some embodiments, multiple pressure sensors 61 can be configured. In this way, multiple pressure sensors 61 can be used to jointly confirm whether the pressure exerted by the towing mechanism 20 on the base station body 10 has changed, thereby improving detection accuracy and reducing false judgments.

[0092] The main body 111 is the main component used to support the towing mechanism 20 and the cleaning robot 400. In a specific embodiment, the main body 111 includes a placement position, which includes a support surface 102. The support surface 102 forms an angle α with the side wall of the pool and an angle β with the edge of the pool. The towing mechanism 20 is placed on the support surface 102. The transmission component 32 drives the towing mechanism 20 to move upward along the side wall of the pool until it contacts the base station body 10. Then, the towing mechanism 20 abuts against the support wheel 121 and moves diagonally upward until it is completely placed on the support surface 102. The function of the support wheel 121 is to reduce interference during the movement of the towing mechanism 20 from the side of the pool to the support surface 102 and to reduce friction to reduce energy consumption and ensure smooth movement. Therefore, in the absence of obstacles, the towing mechanism 20 will always abut against the support wheel 121 during movement.

[0093] In a specific embodiment, pressure sensor 61 is used to detect the applied pressure on the bearing wheel 121. During the movement of the towing mechanism 20, the towing mechanism 20 is always in contact with the bearing wheel 121 and applies pressure. If, during the operation of the power mechanism 130 of the towing mechanism 20, the towing mechanism 20 is lifted by a foreign object, and there is no contact or the intimacy of contact between the towing mechanism 20 and the bearing wheel 121 decreases, the pressure output by the pressure sensor becomes smaller and less than the second threshold. The pressure value received by the controller 150 becomes smaller, and the controller 150 determines that there is an obstacle. Then, it can control the towing mechanism 20 to stop moving to avoid continuously squeezing the foreign object.

[0094] In one embodiment, referring to FIG7, the main body 111 includes a first surface 1111 and a second surface 1112 connected together. The first surface 1111 is parallel to the side of the pool, and the second surface 1112 has an angle with the first surface 1111. A groove 1113 is formed at the connection between the first surface 1111 and the second surface 1112. A support wheel 121 is received in the groove 1113 and the support wheel 121 protrudes from the first surface 1111 and the second surface 1112.

[0095] Specifically, the second surface 1112 can form an angle of 90° or greater with the first surface 1111. In a specific embodiment, the second surface 1112 can form a 90° angle with the first surface 1111, that is, the second surface 1112 is parallel to the plane of the pool's edge. A groove 1113 is formed at the connection between the first surface 1111 and the second surface 1112, and the bearing wheel 121 is engaged in the groove 1113 and rotatably connected to the main body 111. It can be understood that when the towing mechanism 20 moves along the side of the pool, it will pass through the first surface 1111, and because the bearing wheel 121 protrudes from the first surface 1111, the towing mechanism 20 connects to and presses against the bearing wheel 121; when the towing mechanism 20 moves and rotates to pass through the second surface 1112, because the bearing wheel 121 still protrudes from the second surface 1112, the towing mechanism 20 maintains connection and presses against the bearing wheel 121. This not only enables the towing mechanism 20 to change its direction of movement during rotation, but also transforms the original sliding friction into rolling friction, reducing friction and improving the movement efficiency of the towing mechanism 20.

[0096] Specifically, the first terminal 113 is disposed on the support surface 102 and protrudes from the support surface 102. Since the bottom surface of the towing mechanism is parallel to the placement surface after the towing mechanism returns to the second position, and the support surface 102 is an inclined surface relative to the horizontal plane, in order to fix the towing mechanism 20, the first terminal 113 can be inserted into the towing mechanism 20, and the slot 124 cooperates with the first terminal 113 to prevent the towing mechanism 20 from sliding downward.

[0097] In one embodiment, referring to Figures 3, 5, 7, and 15, the base station body 10 further includes a first terminal 113, which is used to connect with a second terminal on the cleaning robot 400; so that the base station body 10 outputs charging power to the cleaning robot 400. The cleaning robot 400 is equivalent to the pool cleaning device 200 in Chinese patent application No. 2025101211192, entitled "Water-free base station and pool cleaning device"; the detection component 140 includes a docking detection circuit 143 electrically connected to the first terminal 113, which is used to output a detection signal. The controller 150 is used to determine the docking status of the first terminal 113 and the second terminal based on the detection signal. If the first terminal 113 and the second terminal fail to dock successfully within a preset time, it is determined that there is an obstacle at the placement position.

[0098] The base station body 10 also includes a first terminal 113, which can be connected to the host body 111 in the above embodiment. The first terminal 113 can be a charging power interface and is electrically connected to an external power supply line. The cleaning robot 400 includes a second terminal. In a specific embodiment, the first terminal 113 and the second terminal can be a male connector and a female connector, respectively. The first terminal 113 and the second terminal are engaged to allow the base station body 10 to charge the cleaning robot 400.

[0099] After the towing mechanism 20 moves from the first position to the second position along a preset path, the first terminal 113 and the second terminal are properly connected. However, if the towing mechanism 20 is blocked by an obstacle, it cannot return to the second position, and the first terminal 113 and the second terminal cannot be connected (which can be understood as no current being generated between them). Therefore, the detection component 140 can be configured to include a connection detection circuit 143, which is used to detect the connection status of the first terminal 113 and the second terminal and continuously output a detection signal.

[0100] In a specific embodiment, the time taken for the towing mechanism 20 to move along the preset path should be fixed, i.e., there is a preset time for completing the preset path. Therefore, the determination criterion of the docking detection circuit 143 also includes the connection status of the first terminal 113 and the second terminal after the preset time. For example, if it takes 10 seconds (the preset time) for the towing mechanism 20 to move from the first position to the second position, the docking detection circuit 143 can continuously detect from the moment the towing mechanism 20 starts from the first position and output the detected detection signal to the controller. Within the preset time, the detection signal received by the controller 150 should indicate that the first terminal 113 and the second terminal are not docked. If, after continuously receiving the detection signal for 10 seconds, the detection signal still indicates that the first terminal 113 and the second terminal have not successfully docked, the controller 150 determines that there is an obstacle and controls the towing mechanism 20 to perform the preset operation.

[0101] In one embodiment, referring to Figures 3, 5, 11 and 15, the first terminal 113 is connected to the main body 111 and protrudes from the plane where the placement position is located. The towing mechanism 20 has a slot 124. When the towing mechanism 20 is in the second position, the first terminal 113 extends into the slot 124 and docks with the second terminal.

[0102] Specifically, the first terminal 113 is disposed on the support surface 102 and protrudes from the support surface 102. Since the bottom surface of the towing mechanism 20 is parallel to the support surface 102 after the towing mechanism 20 returns to the second position, and the support surface 102 is an inclined surface relative to the horizontal plane, in order to fix the towing mechanism 20, the first terminal 113 can be inserted into the towing mechanism 20, and the slot 124 cooperates with the first terminal 113 to prevent the towing mechanism 20 from sliding downward.

[0103] In one embodiment, referring to Figure 15, the detection component 140 includes an attitude sensor 62 for detecting the actual movement attitude of the towing mechanism 20. The controller 150 compares the preset attitude with the actual movement attitude and determines, based on the comparison result, that an obstacle exists at the placement position. Specifically, the attitude sensor 62 is mounted on the towing mechanism 20. The attitude sensor 62 is used to detect the position state of the towing mechanism 20 relative to the base station body 10. When the water-removed base station 100 is in a first working state and there is no foreign object between the towing mechanism 20 and the base station body 10, the position attitude of the towing mechanism 20 detected by the attitude sensor 62 is the first position attitude. When the water-removed base station 100 is in the first working state and there is a foreign object between the towing mechanism 20 and the base station body 10, the position attitude of the towing mechanism 20 detected by the attitude sensor 62 is the second position attitude. The second position attitude is different from the first position attitude. Thus, by detecting the position attitude of the towing mechanism 20 through the attitude sensor 62, it can be determined whether there is a foreign object between the towing mechanism 20 and the base station body 10. The controller can be connected to the attitude sensor 62. The controller can determine whether there are foreign objects between the towing mechanism 20 and the base station body 10 by detecting the position and attitude of the towing mechanism 20 by the attitude sensor 62, thereby improving the automation level of the water-removing base station 100.

[0104] During the process of moving along a preset path and reaching the second position within a preset time period, the towing mechanism 20, driven by the power mechanism 130, should maintain a fixed posture at each time interval of the preset time period. It is understood that the towing mechanism 20 does not always move on the same plane; it initially moves from the side wall of the pool (first position), then moves to the support surface 102 and is completely positioned on the support surface 102 (second position), during which time its posture changes because there is an angle between the pool side wall and the support surface 102. If, in the presence of an obstacle, the towing mechanism 20 fails to reach the corresponding position at a fixed time, or its posture upon reaching the corresponding position is incorrect, this can be used as a basis for judgment.

[0105] In a specific embodiment, the attitude sensor 62 can be an inertial measurement sensor. After the water-removing base station 100 is installed, and after the towing mechanism 20 completes the first towing of the cleaning robot 400, the attitude sensor 62 can output the preset attitude data and the corresponding timestamp, and store the preset attitude data and the corresponding timestamp to obtain an attitude reference template. During subsequent towing of the cleaning robot 400 by the towing mechanism 20, the attitude sensor 62 can acquire the actual motion attitude in real time and compare the actual motion attitude data with the preset data. If the error is too large, a detection signal is output.

[0106] The water-removing base station 100 may include both a pressure sensor 61 and an attitude sensor 62, or only one of them. When the water-removing base station 100 detects a foreign object between the towing mechanism 20 and the base station body 10, it can control the drive mechanism 30 to stop working to avoid damage to the water-removing base station 100 by the foreign object and to reduce safety hazards.

[0107] In one embodiment, the water-based base station 100 further includes a communication module, which is located inside or outside the controller 150. The communication module is electrically connected to the controller 150 and is used to transmit signals to an external receiver.

[0108] The communication module includes one or more of the following: a Wi-Fi module, a 4G signal module, a 5G signal module, and a Bluetooth module. It is understood that the communication module is primarily a wireless communication module. The communication module can be located within the controller 150 or externally connected to the controller 150. Based on the detected signal, the controller 150 can also send a prompt message to an external receiver via the communication module to indicate that a foreign object has become stuck between the base station body 10 and the towing mechanism 20. In a specific embodiment, the external receiver may include, but is not limited to, a mobile phone or a computer.

[0109] It should be noted that the detection component 140 may include at least one of the following: current sampling circuit 141, pressure sensor 61, docking detection circuit 143, and attitude sensor 62. That is, the water-off base station 100 may include any one of the above detection components, or it may include all of the above detection components.

[0110] In some embodiments, the towing mechanism 20 is provided with a gripping portion 63 at or near the free end 212. The gripping portion 63 provides a gripping point, allowing the user to easily lift the free end 212 and to more firmly grasp it, preventing slippage and improving the safety of the water-based base station 100. The gripping portion 63 can be configured as a handle. In some embodiments, the gripping portion 63 can also be configured as a movable baffle 22. The movable baffle 22 serves as the gripping portion, or a handle is provided on the movable baffle 22.

[0111] Please refer to Figures 3, 5, and 16 together. Figure 16 is a schematic diagram of the structure of the water-removing base station provided in some embodiments of this application. In some embodiments, the water-removing base station 100 further includes a support member 64. The support member 64 is rotatably connected to the towing mechanism 20 and / or the base station body 10. The support member 64 is used to abut against the towing mechanism 20 and the base station body 10, thereby creating a gap between the towing mechanism 20 and the base station body 10. Wherein, when there is foreign matter between the towing mechanism 20 and the base station body 10, after the towing mechanism 20 is lifted by pulling the free end 212, the support member 64 can be supported between the towing mechanism 20 and the base station body 10, thereby maintaining a gap between the towing mechanism 20 and the base station body 10 to facilitate the removal of foreign matter. After the foreign matter is removed, the support member 64 can be removed from between the towing mechanism 20 and the base station body 10, or the support member 64 can be housed in the towing mechanism 20 or the base station body 10.

[0112] For example, the support member 64 is rotatably connected to the base station body 10. The support member 64 is mounted on the base station body 10 to avoid increasing the weight of the towing mechanism 20 and reduce the driving resistance of the drive mechanism 30. The base station body 10 is provided with a receiving groove. The support member 64 has a first posture and a second posture relative to the base station body 10. When the support member 64 is in the first posture, the support member 64 is received in the receiving groove. When the support member 64 is in the second posture, the support member 64 abuts between the towing mechanism 20 and the base station body 10, so that a gap is formed between the towing mechanism 20 and the base station body 10. Wherein, when there is a foreign object between the towing mechanism 20 and the base station body 10, the free end 212 can be lifted and the support member 64 can be rotated out of the receiving groove, so that the support member 64 is supported between the towing mechanism 20 and the base station body 10. After the foreign object is cleaned, the support member 64 can be returned to the receiving groove and the towing mechanism 20 can be placed on the base station body 10. Thus, with the support member 64 providing support, the user can avoid continuously lifting the towing mechanism 20 when removing foreign objects, making it easier for the user to remove foreign objects and reducing the difficulty of removing them.

[0113] In some embodiments, the support member 64 may also be mounted on the towing mechanism 20, and the support member 64 is rotatably connected to the towing mechanism 20. The towing mechanism 20 may be provided with a receiving slot. In some embodiments, the base station body 10 and the towing mechanism 20 may each be provided with a support member 64. Multiple support members 64 are provided to improve the stability of the support members 64 in supporting the towing mechanism 20 and to improve the safety of the water-based base station 100. The number of support members 64 can be specifically set according to actual needs, and is not specifically limited in this application.

[0114] In some embodiments, the offshore base station 100 further includes a locking mechanism installed on the base station body 10. The locking mechanism has a locked state and an unlocked state. When the locking mechanism is in the locked state, it restricts the rotation of the towing mechanism 20 relative to the base station body 10, thus fixing the towing mechanism 20 relative to the base station body 10. When the locking mechanism is in the unlocked state, the towing mechanism 20 is rotatably mounted relative to the base station body 10. At this time, by applying a force to the free end 212 in the direction away from the embankment 51, the towing mechanism 20 can be lifted. Thus, on the one hand, by locking the towing mechanism 20 with the locking mechanism, the towing mechanism 20 can be prevented from being lifted arbitrarily, thereby improving the safety of the offshore base station 100. On the other hand, when the offshore base station 100 is in a state of long-term inactivity, locking the towing mechanism 20 with the locking mechanism can prevent living foreign objects from entering between the towing mechanism 20 and the base station body 10, thereby improving the safety of use and preventing damage to the offshore base station 100.

[0115] Based on the above-mentioned water-off base station 100, the present invention also provides a control method for the water-off base station 100, specifically an obstacle detection and response method for the water-off base station 100. Please refer to Figure 17, which is a flowchart of the control method for the water-off base station provided in the embodiment of this application.

[0116] In one embodiment, the control method for the off-water base station includes:

[0117] Step S100: Control the towing mechanism to move the pool cleaning equipment from the first position to the second position.

[0118] In step S200, the detection component detects the water-based base station and outputs a detection signal.

[0119] Step S300: Receive the detection signal and determine whether there is an obstacle at the placement position based on the detection signal.

[0120] Step S400: If it is determined that there is an obstacle at the placement location, control the towing mechanism to perform a preset operation.

[0121] Specifically, in step S100, the controller controls the power mechanism to drive the towing mechanism to move the pool cleaning equipment from a first position to a second position; wherein the second position is the placement position on the base station body. In step S200, the detection component detects information about each component of the water-free base station during the movement of the towing mechanism and outputs the detected information as a detection signal; wherein the detection work of the detection component can be performed before the towing mechanism starts, that is, steps S100 and S200 are not necessarily sequential. In step S300, the controller receives the detection signal and determines whether there is an obstacle based on the detection signal. In step S400, if the controller determines that there is an obstacle at the placement position, it controls the towing mechanism to perform a preset operation.

[0122] In one embodiment, in step S100, controlling the towing mechanism to move the pool cleaning equipment from a first position to a second position specifically includes: the controller controlling the towing mechanism to move from the first position to the second position along a preset path, a preset posture, and a preset duration.

[0123] It is understandable that the water-removing base station is fixedly installed on the edge of the pool. Driven by the power mechanism, the towing mechanism moves from a first position to a second position. With the cooperation of the connecting rod and the drive motor 311, the towing mechanism should always move in a fixed posture and along the same path each time it tows the pool cleaning equipment. Since both the path and posture remain fixed, the movement time is also fixed. Therefore, in a specific embodiment, the posture of the towing pool cleaning equipment from the first position to the second position during the first use of the water-removing base station can be set as a preset posture, the movement path as a preset path, and the time taken to move from the first position to the second position as a preset time.

[0124] In one embodiment, the detection component includes a current sampling circuit. In step S200, the detection device detects the water-based base station and outputs a detection signal. Specifically, the current sampling circuit continuously detects the current magnitude of the drive motor 311 during operation within a preset time period and outputs the current value as a detection signal to the controller.

[0125] In one embodiment, the controller stores a first threshold. In step S300, a detection signal is received and the presence of an obstacle at the placement position is determined based on the detection signal. Specifically, the controller compares the current value in the detection signal with the magnitude of the first threshold. If the current value in the detection signal is greater than the first threshold, it is determined that an obstacle exists.

[0126] In a specific embodiment, the detection signal output by the current sampling circuit includes a normal signal and an abnormal signal. The normal signal is data where the current value of the drive motor 311 is equal to or less than a first threshold, and the abnormal signal is data where the current value of the drive motor 311 is greater than the first threshold. The controller stores the first threshold. The current value of the drive motor 311 is collected in real time by the current sampling circuit and sent to the controller as a detection signal. If the controller finds that the current value is greater than the first threshold, the controller confirms that an obstacle has been detected.

[0127] In one embodiment, the detection component includes a pressure sensor. In step S200, the detection device detects the water-free base station and outputs a detection signal. Specifically, the pressure sensor continuously detects the real-time pressure on the bearing wheel within a preset time period and outputs the pressure value as a detection signal to the controller.

[0128] In one embodiment, the controller stores a second threshold. In step S300, a detection signal is received and the presence of an obstacle at the placement position is determined based on the detection signal. Specifically, the controller compares the pressure value in the detection signal with the magnitude of the second threshold. If the pressure value in the detection signal is less than the second threshold, it is determined that an obstacle exists.

[0129] In a specific embodiment, the detection signal output by the pressure sensor includes a normal signal and an abnormal signal. The normal signal is data where the pressure value of the bearing wheel is equal to or greater than a first threshold, and the abnormal signal is data where the pressure value of the bearing wheel is less than the first threshold. The controller stores a second threshold. When the pressure sensor collects the pressure value of the bearing wheel in real time and sends it to the controller as a detection signal, if the controller determines that the pressure value is less than the second threshold, the controller confirms that an obstacle has been detected.

[0130] In one embodiment, the detection component includes a docking detection circuit. In step S200, the detection device detects the water-based base station and outputs a detection signal. Specifically, the docking detection circuit continuously detects the docking status of the first terminal and the second terminal for a period of time exceeding a preset time. The docking status includes the current of the first terminal and the second terminal, and the current value is output to the controller as a detection signal.

[0131] In one embodiment, in step S300, receiving a detection signal and determining whether there is an obstacle at the placement position based on the detection signal specifically includes: the controller determining whether the first terminal and the second terminal generate current; if, after a preset time period, the detection signal includes no current generated at the first terminal and the second terminal, then it is determined that there is an obstacle.

[0132] In a specific embodiment, after a preset time period, the detection signal output by the docking detection circuit includes a normal signal and an abnormal signal. The normal signal is that current is generated between the first terminal and the second terminal (i.e., current is generated and the current value is greater than 0). The abnormal signal is that no current is generated between the first terminal and the second terminal (i.e., no current is generated and the current value is 0). When the controller receives the detection signal that no current is generated between the first terminal and the second terminal, the controller confirms that an obstacle has been detected.

[0133] In one embodiment, the detection component includes an attitude detection sensor. In step S200, the detection device detects the water-off base station and outputs a detection signal. Specifically, the attitude detection sensor detects the actual motion attitude of the towing mechanism and outputs the actual attitude data as a detection signal to the controller.

[0134] In one embodiment, the controller stores a preset posture. In step S300, a detection signal is received and the presence of an obstacle at the placement position is determined based on the detection signal. Specifically, the controller compares the preset posture with the actual motion posture. If the actual motion posture is different from the preset posture, then an obstacle is determined to exist.

[0135] In a specific embodiment, the attitude detection sensor outputs actual motion attitude data to the controller, and the preset attitude data and corresponding timestamps are stored in the controller. The controller obtains the actual motion attitude data output by the attitude detection sensor in real time and compares the actual motion attitude data with the preset data.

[0136] In a specific embodiment, the controller stores multiple timestamps within a preset time period, as well as the attitude of the towing mechanism corresponding to the timestamp. Taking the fifth second of the towing mechanism movement as one of the timestamps, the preset attitude corresponding to the fifth second stored in the controller is the first attitude, and the attitude detection sensor detects the actual movement attitude at the fifth second as the second attitude. When the controller compares the second carrier with the first attitude and the error is too large, it determines that there is an obstacle.

[0137] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0138] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A water-based base station, characterized in that, include: Base station main body; A towing mechanism for carrying a cleaning robot, the towing mechanism having a connecting end and a free end disposed opposite to each other; A drive mechanism is mounted on the base station body and is rotatably connected to the connecting end. The drive mechanism is used to drive the towing mechanism to move relative to the base station body, so that the towing mechanism enters or leaves the water pool.

2. The water-free base station according to claim 1, characterized in that, The base station body is provided with a limiting groove, and the connecting end is movably accommodated in the limiting groove.

3. The water-free base station according to claim 1, characterized in that, The driving mechanism includes a driving component and a transmission component. The driving component is mounted on the base station body, and the transmission component is connected between the driving component and the connecting end.

4. The water-off base station according to claim 3, characterized in that, The transmission component includes a first link and a second link. One end of the first link is rotatably connected to the base station body, and the other end of the first link is rotatably connected to the connecting end. One end of the second link is drive-connected to the driving component, and the other end of the second link is rotatably connected to the first link.

5. The water-free base station according to claim 4, characterized in that, The drive mechanism further includes a pivot, and multiple first links are provided, which are arranged at intervals between each other, and the multiple first links are rotatably connected to the connecting end via the pivot.

6. The water-off base station according to claim 3, characterized in that, The base station body has a placement position, and the towing mechanism is movable relative to the base station body between a first position and a second position. When the towing mechanism is in the first position, it is placed in the water tank, and when it is in the second position, it is placed in the placement position. The water-free base station also includes a detection component and a controller. The detection component is used to output a detection signal. The controller is disposed on the base station body or the towing mechanism. The controller is electrically connected to the drive component and also electrically connected to the detection component. The controller is used to control the towing mechanism to perform a preset operation when it is determined from the detection signal that there is an obstacle at the placement position.

7. The water-off base station according to claim 6, characterized in that, The driving component includes a drive motor, which is disposed in the base station body and drives the transmission component to move; the detection component includes a current sampling circuit, which is used to detect the current of the drive motor to output the detection signal; the controller is used to determine that there is an obstacle at the placement position when the current of the drive motor is greater than a first threshold.

8. The water-off base station according to claim 6, characterized in that, The water-free base station also includes a support wheel, which is rotatably mounted on the base station body. The towing mechanism can contact the support wheel during movement. The detection component includes a pressure sensor, which is used to detect the real-time pressure on the support wheel to output the detection signal. The controller is used to determine that there is an obstacle at the placement location when the real-time pressure on the support wheel is less than a second threshold.

9. The water-free base station according to claim 6, characterized in that, The base station body includes a first terminal, which is used to dock with a second terminal on the cleaning robot so that the base station body outputs charging power to the cleaning robot; the detection component includes a docking detection circuit electrically connected to the first terminal, which is used to output the detection signal; the controller is used to determine the docking status of the first terminal and the second terminal according to the detection signal; if the first terminal and the second terminal fail to dock successfully within a preset time, it is determined that there is an obstacle at the placement position.

10. The water-free base station according to claim 9, characterized in that, The base station body also includes a host body, the first terminal is connected to the host body, the first terminal protrudes from the plane where the placement position is located, the towing mechanism has a slot, and when the towing mechanism is in the second position, the first terminal extends into the slot and docks with the second terminal.

11. The water-free base station according to claim 6, characterized in that, The detection component includes an attitude sensor for detecting the actual movement attitude of the towing mechanism, and the controller is used to compare the preset attitude with the actual movement attitude and determine the presence of an obstacle at the placement position based on the comparison result.

12. The water-free base station according to claim 1, characterized in that, The towing mechanism includes a towing body and a movable baffle. The towing body is configured with a receiving slot for accommodating the cleaning robot. The towing body has an opening, and the movable baffle is disposed at the opening. The movable baffle is used to open or close the opening.

13. The water-free base station according to claim 1, characterized in that, The base station body is provided with a support surface, which is used to support the towing mechanism. The ground clearance of the side of the support surface away from the free end is greater than the ground clearance of the side of the support surface closer to the free end.

14. The water-off base station according to claim 13, characterized in that, The water-free base station also includes a charging mechanism disposed on the support surface, which is used to charge the cleaning robot.

15. The water-free base station according to claim 1, characterized in that, The water-free base station also includes a locking mechanism installed on the base station body. The locking mechanism has a locked state and an unlocked state. When the locking mechanism is in the locked state, the locking mechanism restricts the towing mechanism from rotating relative to the base station body. When the locking mechanism is in the unlocked state, the towing mechanism can rotate relative to the base station body.

16. The water-free base station according to claim 1, characterized in that, The water-free base station also includes a support member, which is rotatably connected to the towing mechanism and / or the base station body. The support member is used to abut against the towing mechanism and the base station body to create a gap between the towing mechanism and the base station body.

17. A cleaning system, characterized in that, The cleaning system includes a cleaning robot and a water-removing base station as described in any one of claims 1-16, wherein the water-removing base station is used to drive the cleaning robot into or out of the water pool.

Images