Control method for cleaning system

Abstract

A control method for a cleaning system. The cleaning system comprises a base station (2000) and a swimming pool robot (1000). The base station (2000) comprises a base station body (20001), a first spray head (2173), and a second filter box (21102) provided on the base station body (20001); the second filter box (21102) is provided with a third inlet (21101) serving as a debris inlet; and the first spray head (2173) is used for spraying liquid to a first filter box (1051) of the swimming pool robot (1000), so as to clean the first filter box (1051). The swimming pool robot (1000) is docked on the base station (2000), and the third inlet (21101) is in communication with a third opening (10531) of the first filter box (1051), so that debris in the first filter box (1051) enters the second filter box (21102). The cleaning system and the method can realize automatic cleaning of the first filter box of the swimming pool robot, without requiring manual intervention from a user, thereby improving the cleaning efficiency.

Description

A control method for a cleaning system

[0001] This disclosure claims priority to PCT application No. PCT / CN2025 / 085184, filed on March 26, 2025, entitled “Control Method and Cleaning System for Cleaning System”, the entire contents of which are incorporated herein by reference.

[0002] This disclosure claims priority to Chinese Patent Application No. 2025108644645, filed on June 25, 2025, entitled “A Base Station and a Cleaning System”, the entire contents of which are incorporated herein by reference.

[0003] This disclosure claims priority to Chinese Patent Application No. 2025111810532, filed on August 22, 2025, entitled "A Base Station, a Cleaning System, a Cleaning System Control Method and a Pool Robot", the entire contents of which are incorporated herein by reference.

[0004] This disclosure claims priority to PCT application No. PCT / CN2025 / 126025, filed on September 30, 2025, entitled "A base station, a cleaning system, a cleaning system control method and a pool robot", the entire contents of which are incorporated herein by reference.

[0005] This disclosure claims priority to Chinese Patent Application No. 2026100073359, filed on January 5, 2026, entitled "A Control Method for a Cleaning System", the entire contents of which are incorporated herein by reference. [Technical Field]

[0006] This disclosure relates to the field of pool robot technology, and in particular to a control method for a cleaning system. [Background Technology]

[0007] When existing pool robots are performing cleaning tasks in the water or when the cleaning task is completed, if the first filter box of the pool robot is full of trash, or if the amount of trash reaches a preset amount, the trash in the first filter box needs to be cleaned. At this time, the user needs to manually retrieve the pool robot from the pool, remove the first filter box from the main body, and empty the trash in the first filter box. If some trash is attached to the inner wall of the first filter box and is difficult to empty, the user needs to manually clean the trash attached to the inner wall of the first filter box.

[0008] It is evident that the cleaning of the first filter box in existing swimming pool robots can only be done manually by the user, resulting in low cleaning efficiency. [Summary of the Invention]

[0009] This disclosure provides a control method for a cleaning system, wherein the cleaning system includes a base station and a pool robot; the base station includes: a base station body; a first nozzle, fixedly or movably disposed on the base station body; a second filter box disposed on the base station body; the second filter box has a third inlet, which serves as an entry point for waste into the second filter box; the pool robot includes: a first body; a fourth inlet disposed on the pool robot; a baffle configured to open or close the fourth inlet; the first filter box, at least partially located within the first body; a third opening disposed in the first filter box; and a first bottom cover configured to open or close the third opening;

[0010] The method includes: controlling the movement of at least one of the first nozzle and the pool robot, so that the first nozzle extends into the first body through the fourth inlet; or, controlling the movement of at least one of the first nozzle and the pool robot, so that when the nozzle is outside the first body, the liquid sprayed by the first nozzle enters the first body through the fourth inlet; controlling the first nozzle to spray liquid to clean the first filter box, and the debris in the first filter box enters the second filter box through the third opening and the third inlet.

[0011] When the pool robot stops at the base station, the third inlet can connect with the third opening of the first filter box, allowing the second filter box to receive the waste from the first filter box, thus achieving automatic cleaning of the first filter box. The cleaning process of the first filter box does not require manual intervention from the user. [Attached Image Description]

[0012] Figure 1 is a structural schematic diagram of an embodiment of the pool robot provided in this disclosure;

[0013] Figure 2 is a partial structural diagram of the first bottom cover of the first filter box of the pool robot in Figure 1 in the open state;

[0014] Figure 3 is a partial structural diagram of the second handle of the first filter box of the pool robot in Figure 1 in the first state;

[0015] Figure 4 is an exploded view of the swimming pool robot in Figure 1 after some of its structure has been removed;

[0016] Figure 5 is a cross-sectional view of the first bottom cover of the first filter box of the pool robot in Figure 1 in the closed state;

[0017] Figure 6 is a cross-sectional view of the first bottom cover of the first filter box of the pool robot in Figure 1 with the first cover open;

[0018] Figure 7 is a partial structural diagram of the pool robot;

[0019] Figure 8 is a structural schematic diagram of an embodiment of the first filter box provided in this disclosure with the first bottom cover in a closed state;

[0020] Figure 9 is a structural schematic diagram of an embodiment of the first filter box provided in this disclosure with the first bottom cover in the open state;

[0021] Figure 10 is a structural schematic diagram of an embodiment of the first dust bin provided in this disclosure;

[0022] Figure 11 is a partial structural schematic diagram of an embodiment of the unlocking mechanism of the first filter box provided in this disclosure;

[0023] Figure 12 is a partial structural schematic diagram of an embodiment of the unlocking mechanism of the first filter box provided in this disclosure;

[0024] Figure 13 is a structural schematic diagram of an embodiment of the base station provided in this disclosure in which the first nozzle is in an extended state;

[0025] Figure 14 is a structural schematic diagram of an embodiment of the base station provided in this disclosure with the first nozzle in a retracted state;

[0026] Figure 15 is a cross-sectional schematic diagram of the base station in Figure 13;

[0027] Figure 16 is a structural schematic diagram of an embodiment of the pool robot provided in this disclosure located on a base station body;

[0028] Figure 17 is a structural schematic diagram of an embodiment of the pool robot provided in this disclosure performing a cleaning operation on the first filter box located on the base station body;

[0029] Figure 18 is a schematic diagram of an embodiment of the base station push rod assembly in a retracted state;

[0030] Figure 19 is a top view of the arrangement of the first closing mechanism, the lever mechanism, and the charging component on the mounting plate.

[0031] Figure 20A is a schematic diagram of the lever mechanism in the fourth position;

[0032] Figure 20B is a structural schematic diagram of Figure 20A from another angle;

[0033] Figure 21A is a schematic diagram of the lever mechanism in the fifth position;

[0034] Figure 21B is a structural schematic diagram of Figure 21A from another angle;

[0035] Figure 22A is a schematic diagram of an embodiment of the lever mechanism in the sixth position;

[0036] Figure 22B is a structural schematic diagram of Figure 22A from another angle;

[0037] Figure 23A is a schematic diagram of an embodiment in which the pool robot is stopped on the base station with the first bottom cover closed and the third opening closed;

[0038] Figure 23B is a schematic diagram of an embodiment of the swimming pool robot parked on the base station with the first bottom cover opened;

[0039] Figure 23C is a schematic diagram of an embodiment in which the pool robot is stopped on the base station, the first closing mechanism drives the first bottom cover to rotate, and the first bottom cover closes the third opening;

[0040] Figure 24 is a schematic diagram of the drainage assembly installed in the base station;

[0041] Attached image number: 1000 - Pool robot; 1001-First main body / pool robot main body; 1001a-First end; 1001b-Second end; 1001c-Front shell; 1001d-Rear shell; 1001e-Upper shell; 1001f-Bottom shell; 1001g-First side shell; 1001h-Second side shell; 1001j-Third clearance opening; 10011-Front part; 10012-Rear part; 10013-First receiving cavity; 10013a-Second drain port; 10013b-Third drain port; 10013c-Third baffle; 10014-Second receiving cavity; 10014a-First cavity; 10014b-Second cavity; 1016-Fourth inlet; 1017-Pick-up / Put-out port; 1018-First shielding cover; 105-First drain port; 1020-Charging Receiver; 1031-First inlet; 1032-Second inlet; 1041-First outlet; 1051-First filter box; 10511c-First baffle; 10511d-Second baffle; 1053-First frame; 10531-Third opening; 10532-Eleventh opening; 1054-First bottom cover; 1060-Suction assembly; 1080-Locking mechanism; 10801-First limiting hole; 10802-First telescopic component; 108021-First limiting end; 108022-First mounting end; 10803-Fourth elastic component; 10804-First sliding hole; 10805-Second sliding hole; 10806-First limiting component; 1101-Float cavity; 1103-Air inlet; 1206-First communication sensor; 2000-Base station; 20001 - Base station body; 2054 - Third receiving cavity; 2090 - Charging component; 2091 - Charging element; Second filter component; 21101 - Third inlet; 21102 - Second filter box; 2120 - Drain outlet; 2170 - Second cleaning component; 2173 - First nozzle; 7003 - Unlocking mechanism; 70031 - Unlocking component; 70032 - Second mating part; 70033 - Second telescopic part; 70034 - Fifth elastic part; 70035 - Motor; 70036-Fifth clearance opening; 70037-Unlock lever; 70038-Sliding seat; 70039-Cam; 70040-Second protrusion; 7004-First closing mechanism; 70041-Push rod; 700411-Third mounting part; 700412-Push part; 70042-Motor; 7006-Lever mechanism; 70061-Lever assembly; 70062-Lever; 700621-Actuating part; 2000266-Second driving component.

Detailed Implementation Methods

[0042] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0043] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least some of the embodiments disclosed herein. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0044] This application provides a cleaning system, which includes a pool robot 1000 and a base station 2000. The base station is used at least to clean the first filter box 1051 of the pool robot, so that the garbage in the first filter box is transferred from the pool robot or temporarily stored in the base station.

[0045] The pool robot can be equipped with a first communication module to enable information interaction between the pool robot and smart terminals and base stations. Smart terminals include, but are not limited to: remote controls, mobile phones, tablets, laptops, desktop computers, smartwatches, smart speakers, etc. Applications related to the pool robot and / or base stations can be installed on the smart terminals.

[0046] For example, the first communication module may include a first communication component, which is a device that supports information interaction in the air. For example, the first communication component may be a communication device using signal types such as Bluetooth, infrared, or WIFI. And / or, the first communication module may include a second communication component, which is a device that supports information interaction in liquids. For example, the second communication component may be a communication device using signal types such as underwater acoustic communication or underwater optical communication. When the first communication module includes a second communication component, a communication relay station can be set up in the swimming pool. The portion of the communication relay station above the water surface contains the second communication module, and the portion below the water surface contains a third communication module. The second communication module is a device that supports information interaction in the air, and may use signal types such as Bluetooth, infrared, or WIFI. The third communication module is a device that supports information interaction in liquids, and may use signal types such as underwater acoustic communication or underwater optical communication.

[0047] A communication relay station can be a dedicated communication device, a swimming pool robot floating on the water, or a base station. For example, a swimming pool can have two or more swimming pool robots. The swimming pool robot floating on the water is the first swimming pool robot, and the swimming pool robot below the water surface is the second swimming pool robot. The first swimming pool robot is equipped with a second communication module and a third communication module, and the second swimming pool robot is equipped with at least a second communication component. The second swimming pool robot can use its second communication component to interact with the third communication module of the first swimming pool robot in the liquid. The second swimming pool robot can then use its second communication module to interact with devices such as smart terminals in the air, thus indirectly enabling the first swimming pool robot in the liquid to interact with devices such as smart terminals in the air.

[0048] The base station may be equipped with a fourth communication module to enable information interaction between the base station and smart terminals and swimming pool robots. For example, the fourth communication module may include a third communication component, which is a device that supports information interaction in the air; for example, the third communication component may be a communication device using signal types such as Bluetooth, infrared, or Wi-Fi. And / or, if at least a portion of the base station is located underwater, the fourth communication module may further include a fourth communication component, which is a device that supports information interaction in liquids; for example, the fourth communication component may be a communication device using signal types such as underwater acoustic communication or underwater optical communication.

[0049] In some embodiments, as shown in Figures 1 and 2, the pool robot further includes at least one first communication sensor 1206, and at least one second communication sensor is provided on the base station. Communication is established below the water surface through the first and second communication sensors, enabling underwater communication between the pool robot and the base station. For example, both the first and second communication sensors can be underwater acoustic sensors. To obtain the orientation of the pool robot relative to the base station, the total number of first and second communication sensors is typically at least three. For example, there are two first communication sensors and one second communication sensor, forming a triangle relationship between the two first communication sensors and the one second communication sensor.

[0050] In some embodiments, as shown in FIG5, the pool robot includes a pool robot body 1001 (hereinafter referred to as the "first body" for ease of description), at least one liquid inlet, at least one first filter assembly, at least one liquid outlet, and at least one suction assembly 1060. The liquid inlet is used to allow liquid from the pool to enter the pool robot body 1001, enabling the pool robot to clean at least one of the pool bottom, pool walls, waterline, and water surface. The liquid outlet is used to discharge the liquid filtered by the first filter assembly out of the first body. The suction assembly 1060 is used to generate suction force, thereby guiding the direction of liquid flow. The first filter assembly is used to filter dust-laden water, retaining debris in the water flow within the first filter assembly.

[0051] Under the action of the suction component 1060, the dust-laden water in the pool is drawn into the first filter component through the liquid inlet and filtered by the first filter component. The garbage carried in the liquid remains in the first filter component. After being filtered, the liquid is discharged from the first main body through the liquid outlet after passing through the suction component.

[0052] In some embodiments, the first filtration assembly includes at least a first filter cartridge 1051, at least a portion of which is disposed within the first body, and the first filter cartridge is used to filter liquid entering therein.

[0053] In some embodiments, as shown in FIG2, the liquid inlet section includes at least a first inlet 1031, and the liquid outlet section includes at least one first outlet 1041; the first inlet 1031, the first filter assembly, the suction assembly 1060, and the first outlet 1041 are sequentially fluidly connected to form a first water path for cleaning the bottom wall, side wall, or waterline of the pool. For example, in some embodiments, there is one first outlet. Alternatively, in other embodiments, there are multiple first outlets. For example, there are two, three, or more first outlets.

[0054] In some other embodiments, as shown in FIG1, the liquid inlet section includes at least a second water inlet 1032, and the liquid outlet section includes at least a first water outlet 1041; the second water inlet 1032, the first filter component, the suction component 1060 and the first water outlet 1041 are sequentially connected to form a second water channel for cleaning the water surface and water line.

[0055] In some embodiments, as shown in FIG1, the first body includes a first end 1001a and a second end 1001b, one of which is a front end 10011 and the other is a rear end 10012. For example, a second water inlet is provided on the first end or the second end of the first body.

[0056] For example, the front end includes at least the front sidewall of the first main body, and the rear end includes at least the rear sidewall of the first main body. As shown in Figure 1, in some embodiments, the second water inlet 1032 is located on the front sidewall of the first main body, and the pool robot cleans the water surface by walking forward when cleaning the water surface. In another embodiment, the second water inlet 1032 is located on the rear sidewall of the first main body (not shown in the figure), and the pool robot cleans the water surface by walking backward when cleaning the water surface.

[0057] In some embodiments, the first body is the outer shell of a pool robot, as shown in Figures 1 and 4. The first body includes at least a front shell 1001c, a rear shell 1001d, a bottom shell 1001f, an upper shell 1001e, a first side shell 1001g, and a second side shell 1001h. The front shell is connected to the front of the bottom shell, the first side shell, the second side shell, and the upper shell, and the rear shell is connected to the rear of the bottom shell, the first side shell, the second side shell, and the upper shell to form the first outer shell.

[0058] In some embodiments, the front sidewall of the first body refers to the front shell, and the rear sidewall of the first body refers to the rear shell; the bottom of the first body refers to the bottom shell, and the top of the first body refers to the top shell; the first sidewall of the first body includes at least the first side shell, and the second sidewall of the first body includes at least the second side shell. Alternatively, the first sidewall includes the first side shell, and at least one of a portion of the bottom shell and a portion of the top shell; or, the second sidewall includes a second shell side, and at least one of a portion of the bottom shell and a portion of the top shell. For example, if the side of the bottom shell extends upward with a first side edge and a second side edge, then the first sidewall includes the first side shell and the first side edge, and the second sidewall includes the second side shell and the second side edge. In some embodiments, the aforementioned front end portion 10011 of the first body includes at least the front shell, and the rear end portion 10012 includes at least the rear shell. Alternatively, in other embodiments, the front end portion 10011 of the first body includes at least the front shell, and at least one of the front portion of the first side shell, the front portion of the second side shell, and the front portion of the bottom shell. The rear end portion 10012 of the first body includes at least one of a rear shell, a rear portion of a first side shell, a rear portion of a second side shell, and a rear portion of a bottom shell.

[0059] In some embodiments, as shown in FIG4, the first body includes a first receiving cavity 10013 and a second receiving cavity 10014, which are separated. A second drain port 10013a is provided on the side wall of the first receiving cavity, which connects the first receiving cavity and the second receiving cavity. At least a portion of the first filter box is disposed in the first receiving cavity. The suction assembly 1060 includes a main water pump, which is disposed in the second receiving cavity. The first water outlet is connected to the second receiving cavity, thereby the first water inlet, the first filter box, the first receiving cavity, the second drain port, the main water pump, and the first water outlet are sequentially fluidly connected to form a first water path.

[0060] Further, in some embodiments, as shown in FIG5, the second receiving cavity 10014 includes a first cavity 10014a and a second cavity 10014b, wherein the first cavity and the second cavity are separated; a second drain port 10013a connects the first receiving cavity and the first cavity, and a first outlet 1041 is provided on the first body and communicates with the first cavity. The suction assembly includes at least a main water pump, the main impeller of the main water pump is located in the first cavity 10014a, the main motor of the main water pump is located in the second cavity 10014b, the first outlet communicates with the first cavity, and the second drain port connects the first receiving cavity and the first cavity, so that the first inlet, the first filter box, the first receiving cavity, the second drain port, the main impeller in the first cavity, and the first outlet are sequentially fluidly connected to form a first water path. The second inlet, the first filter box, the first receiving cavity, the second drain port, the main impeller in the first cavity, and the first outlet are sequentially connected to form the aforementioned second water path.

[0061] In some embodiments, a first baffle 10511c is provided at the first inlet 1031, and a second baffle 10511d is provided at the second inlet. When the pool robot is cleaning the water surface, the first baffle is in a closed state to prevent liquid in the pool from entering the first filter box through the first inlet 1031, and the second baffle is in an open state to allow liquid to enter the first filter box through the second inlet and the second inlet. When the pool robot is cleaning the pool bottom or pool wall, the second baffle is in a closed state to prevent liquid from entering the first filter box through the second inlet, and the first baffle is in an open state to allow liquid to enter the first filter box through the first inlet 1031. That is, when cleaning the water surface, the first baffle is in a closed state and the second baffle is in an open state; when cleaning the pool wall or pool bottom, the first baffle is in an open state and the second baffle is in a closed state.

[0062] In some embodiments, as shown in FIG10, a third drain port 10013b is further provided on the side wall or bottom of the first receiving cavity, or a portion of the third drain port is on the side wall of the first receiving cavity and a portion is on the bottom of the first receiving cavity; the third drain port 10013b is connected to the second cavity 10014b. As shown in FIG2 and FIG7, a first drain port 105 is provided on the bottom or side wall of the first body, or a portion of the first drain port is provided on the bottom of the first body and a portion is provided on the side wall of the first body; the first receiving cavity, the third drain port 10013b, the second cavity, and the first drain port are sequentially connected to form a third water channel for rapid drainage. A third baffle 10013c is provided at the third drain port. When the pool robot performs cleaning, the third baffle is in a closed state to block the liquid from flowing through the third water channel. When the pool robot is lifted out of the water, the third baffle can be in an open state to allow the liquid to flow out through the third water channel and be quickly discharged from the pool robot.

[0063] In some embodiments, as shown in FIG8, the first filter box further includes an eleventh opening 10532, at least a portion of which is located on the top of the first filter box. As shown in FIG1, FIG3, and FIG4, the pool robot further includes a pick-up / placement port 1017 and a first cover 1018, wherein at least a portion of the pick-up / placement port is located on the top of the first body and communicates with the first receiving cavity, and the first cover is movably located at the pick-up / placement port to open or close the pick-up / placement port. The pick-up / placement port is used for the user to place the first filter box into the first receiving cavity or to remove the first filter box from the first receiving cavity. As shown in FIG8, the eleventh opening and the pick-up / placement port communicate, which facilitates the user to empty the waste in the first filter box through the eleventh opening; and facilitates the first nozzle to penetrate the first filter box through the pick-up / placement port and the eleventh opening when cleaning the first filter box, and spray liquid to clean the first filter box; or, the liquid sprayed by the first nozzle enters the first filter box through the pick-up / placement port and the eleventh opening to clean the first filter box. As shown in Figure 9, the eleventh opening 10532 can also be set on the side of the first filter box and connected to the second water inlet.

[0064] In some embodiments, to discharge waste from the first filter box, as shown in FIG9, the first filter box includes at least one third opening 10531 and a first bottom cover 1054, which can open or close the third opening. At least a portion of the third opening is located on the bottom of the first filter box. When the pool robot stops on the base station, after the first bottom cover opens the third opening, the third opening can communicate with the third inlet of the second filter box on the base station, so that waste and liquid in the first filter box can be discharged from the third opening and fall into the second filter box through the third inlet.

[0065] For example, the first filter box 1051 includes a first frame 1053 (which can also be described as a first box body), the aforementioned first bottom cover, and a first filter screen; at least a portion of the third opening is disposed on the bottom of the first frame; or, the bottom opening of the first frame serves as the third opening; the first filter screen is disposed on at least one side wall of the first frame to form a filter surface for filtering the liquid entering the first filter box; the first bottom cover is movably disposed on the first frame to open or close the third opening.

[0066] In some embodiments, a first bottom cover is movably disposed on a third opening to open or close the third opening. For example, the first bottom cover has a working state with the third opening open and a non-working state with the third opening closed; when the first nozzle of the base station cleans the first filter box by spraying liquid, the first bottom cover is in a working or non-working state according to the cleaning needs; when the pool robot performs a cleaning task, the first bottom cover is in a non-working state. Furthermore, when the user removes the first filter box from the pool robot, or after removing it, the first bottom cover can also remain in a non-working state to prevent debris from falling out of the third opening during or after the user removes the first filter box from the pool robot. After the first filter box is removed from the pool robot, the user can manually open or close the first bottom cover according to their needs.

[0067] In some embodiments, the first bottom cover has a locked state and an unlocked state, wherein when the first bottom cover is in the locked state, the first bottom cover is locked onto the first frame and keeps the third opening closed; when the first bottom cover is in the unlocked state, the first bottom cover can move relative to the first frame to open or close the third opening.

[0068] As shown in Figure 11, the pool robot also includes a locking mechanism 1080, which is used to lock the first bottom cover onto the first frame so that the first bottom cover remains closed at the third opening; correspondingly, the pool robot or base station body is provided with an unlocking mechanism 7003, which is used to release the locking mechanism 1080 from locking the first bottom cover.

[0069] As shown in Figure 12, the locking mechanism includes a first limiting hole 10801, a first locking member, and a fourth elastic member 10803. For example, the first locking member is a first telescopic member 10802; one of the first telescopic member and the first limiting hole is located on the first frame, and the other is located on the first bottom cover; the fourth elastic member applies its elastic force to the first telescopic member, forcing the first telescopic member to tend to extend, so as to keep it within the first limiting hole and lock the first bottom cover on the first frame; correspondingly, the unlocking mechanism is used to drive the first telescopic member to retract, so as to exit the first limiting hole.

[0070] As shown in Figures 11 and 12, a first limiting hole 10801 is provided on the first frame, and a first telescopic member is telescopically or slidably provided on the first bottom cover. The first telescopic member has a first limiting end 108021 and a first mounting end 108022. The fourth elastic member is a compression spring, with one end of the fourth elastic member provided on the first mounting end of the first telescopic member and the other end provided on the first bottom cover. The compression spring applies a biasing force to the first telescopic member in the direction of the first limiting hole, causing the first limiting end of the first telescopic member to tend to extend out of the first bottom cover and into the first limiting hole, thereby locking the first bottom cover on the first frame and keeping the first bottom cover closed at the third opening.

[0071] In some embodiments, the first mounting end of the first telescopic member is disposed within the first bottom cover, and the first limiting end can extend out of the first bottom cover and into the first limiting hole. For example, the first bottom cover includes a first mounting cavity, the first mounting end of the first telescopic member is disposed within the first mounting cavity, the fourth elastic member is disposed within the first mounting cavity, the first bottom cover has a first sliding hole 10804, and the first limiting end of the first telescopic member is located outside the first bottom cover through the first sliding hole; or, the first telescopic member is slidably disposed on the first sliding hole, the first mounting end of the first telescopic member is located within the first mounting cavity, and the first limiting end of the first telescopic member is located outside the first bottom cover. For example, in a specific embodiment, the first mounting cavity is formed by the aforementioned first base, second base, and first protrusion.

[0072] Furthermore, in some embodiments, since the fourth elastic member applies a biasing force towards the outside of the first telescopic member, in order to prevent the first telescopic member from sliding outward from the first bottom cover and detaching from it, as shown in FIG12, the locking mechanism further includes a first limiting component. The first limiting component is disposed on the first bottom cover and is used to block the first telescopic member on the first bottom cover. For example, in some embodiments, the first limiting component includes a second sliding hole 10805 and a first limiting member 10806, wherein the first limiting member is fixedly or detachably connected to the first telescopic member, the second sliding hole is disposed on the first bottom cover, and the second sliding hole and the first sliding hole are staggered in the horizontal or vertical direction. The first limiting member moves synchronously with the first telescopic member and slides in the second sliding hole, thereby limiting the first telescopic member on the first bottom cover.

[0073] In other embodiments, after the first filter cartridge is removed from the pool robot, the user can press the first limiting member to drive the first telescopic member to retract, thereby manually releasing the first telescopic member from locking the first bottom cover. This allows the first bottom cover to move, opening the third opening, or the user can manually close the first bottom cover to the third opening. Furthermore, a button is provided at one end of the first limiting member, allowing the user to unlock the first bottom cover by pressing the button.

[0074] In some embodiments, the first body is provided with a fourth inlet 1016, which communicates with the first filter box, allowing the first nozzle to extend into or exit the pool robot through the fourth inlet; or, allowing liquid sprayed by the first nozzle to enter the first body through the fourth inlet. The first nozzle can extend into the first body to spray liquid onto the first filter box, or the liquid sprayed by the first nozzle can enter the first body to spray liquid onto the first filter box, so that the liquid sprayed by the first nozzle can be sprayed onto the first filter box, ensuring the cleaning effect of the first filter box.

[0075] Regarding the fourth inlet, for example, in some embodiments, the pool robot does not need to have a separate fourth inlet on the first body. Instead, the second water inlet mentioned above is used as the fourth inlet, allowing the first nozzle to pass through the fourth inlet and extend into the first filter box. The liquid sprayed by the first nozzle cleans the first filter box. At the same time, the pool robot can maintain its original structure, making the base station more widely applicable. For example, the second water inlet can be located on the front or rear side wall of the first body.

[0076] For example, in other embodiments, when the pool robot includes the loading and unloading port of the foregoing embodiments, the loading and unloading port is used to allow the first filter box to be placed into or removed from the first body, and the loading and unloading port serves as a fourth inlet.

[0077] In some embodiments, the pool robot also includes a baffle movably disposed at a fourth entrance, the baffle being used to open or close the fourth opening.

[0078] In the aforementioned embodiments, the water flow direction for cleaning the first filter box is as follows: the liquid passes through the fourth inlet, the first filter chamber of the first filter box, and the third opening to clean the first filter box. Alternatively, during the cleaning process of the first filter box, the fourth inlet, the first filter box, and the third opening are sequentially fluidly connected to form a cleaning water path for cleaning the first filter box. This cleaning water path is different from the aforementioned first, second, and third water paths.

[0079] In some embodiments, the pool robot includes a floating and diving mechanism. This mechanism can be used to enable the pool robot to float and / or sink in a liquid. For example, the floating and diving mechanism is used at least for the pool robot to float on the surface of the liquid, and / or at least for the pool robot to move from the bottom of the pool to being suspended in the liquid, and / or for the pool robot to descend from floating on the surface of the liquid or from being suspended in the liquid to the bottom of the pool.

[0080] The surfacing and diving mechanism includes at least one float cavity 1101 located within the main body 1001; a first drive member in fluid communication with the float cavity; and at least one gas circulation section connecting the float cavity to the external environment, or connecting the float cavity to the gas storage chamber.

[0081] For example, a pool robot walks along the pool wall, and when it reaches the waterline, the gas flow section is positioned above the liquid surface. Alternatively, the pool robot may include a second propeller that drives it to float directly from the bottom of the pool to the surface, ensuring the gas flow section is also above the liquid surface.

[0082] When the float cavity is made of a flexible material and the gas circulation section is located above the liquid surface, under the action of the first driving component, outside air enters the float cavity through the gas circulation section to increase the volume of gas inside the float cavity. This increase in float cavity volume displaces the liquid in the space between the shell and the float cavity. The increase in gas and decrease in liquid within the main body reduces the weight of the pool robot, causing it to float upwards, such as to the liquid surface, or to drift on the liquid surface. The pool robot can perform surface cleaning under the action of the first thruster. And / or, when the float cavity is made of a flexible material, under the action of the first driving component, the gas inside the float cavity is discharged outside the float cavity through the gas circulation section, reducing the volume of gas inside the float cavity. This decrease in float cavity volume allows liquid to enter the space between the shell and the float cavity. The increase in liquid and decrease in gas within the main body increases the weight of the pool robot, causing it to sink, such as from the liquid surface to the bottom of the pool.

[0083] The floating cavity is made of flexible material, while the air storage chamber is a gas storage component located within the main body. The air storage chamber is a rigid shell; for example, a sealed electrical control box can be reused as the air storage chamber. After the gas is extracted from the air storage chamber, its volume remains unchanged. The gas in the air storage chamber is drawn into the flexible floating cavity, filling it with gas and increasing its volume. This displaces the liquid in the space between the shell and the floating cavity, increasing the gas content and decreasing the liquid content within the main body, thus reducing the pool robot's weight and causing it to float. Alternatively, the gas in the floating cavity can also be discharged into the air storage chamber or out of the main body, reducing the volume of the floating cavity. Liquid enters the space between the shell and the floating cavity, increasing the liquid content and decreasing the gas content within the main body, thus increasing the pool robot's weight and causing it to sink.

[0084] When the float cavity is made of a rigid material, the buoyancy and submersion mechanism also includes at least one liquid flow section connected to the float cavity and located within the shell. Under the action of the first driving member, liquid enters the float cavity through the liquid flow section. The liquid entering the float cavity forces the gas in the float cavity out through the gas flow section, thereby reducing the gas volume in the float cavity and increasing the volume of liquid in the float cavity. This increases the weight of the pool robot, causing it to sink. Alternatively, the gas flow section is located above the liquid surface. When the first driving member draws liquid out of the float cavity through the liquid flow section, outside air is drawn into the float cavity through the gas flow section to increase the gas volume in the float cavity. This reduces the weight of the pool robot, causing it to float.

[0085] In some embodiments, the pool robot further includes a first battery pack for powering the pool robot. The first battery pack is connected to a charging receiver 1020, which can be a charging plate or a coil. A charging assembly on a base station is used to charge the charging receiver to charge the first battery pack. For example, the charging receiver is located on the bottom or side wall of the first body so that the charging assembly on the base station can charge the first battery pack of the pool robot.

[0086] In some embodiments, the base station includes a base station body, a second filtering component, and a second cleaning component.

[0087] For the base station body 20001, in some embodiments, the base station body is used for docking of the pool robot to support the pool robot. For example, in some embodiments, the pool robot automatically walks from the pool to the base station body to dock; or, in other embodiments, the user manually moves the pool robot onto the base station body to dock. For example, the base station body has a resting surface for the pool robot to dock on. The base station body has at least a cleaning position, whereby when the pool robot docks, a first nozzle of the second cleaning component (mentioned below) cleans the first filter box by spraying liquid onto the first filter box of the pool robot.

[0088] When the pool robot stops on the base station, the second cleaning component cleans the pool robot's first filter box by spraying liquid, collecting the debris in the first filter box into the second filter box. During the cleaning process of the second cleaning component in the first filter box, no manual intervention from the user is required, realizing automatic cleaning of the first filter box, thereby improving cleaning efficiency and cleaning effect, and also enhancing the user experience.

[0089] As shown in Figures 13 and 14, the second cleaning component 2170 includes at least one first nozzle 2173 (or nozzle). The first nozzle is located on the base station body. When the pool robot stops on the base station body, the first nozzle is used to spray liquid onto the first filter box to rinse the garbage inside the first filter box and the garbage attached to the wall of the first filter box, thereby cleaning the garbage inside the first filter box.

[0090] In some embodiments, as shown in FIG15, the second filter assembly 2110 includes at least a second filter box 21102, which has at least one filter surface for filtering liquids and waste entering therein and retaining waste inside the second filter box. As shown in FIG16, the second filter box is provided with at least one third inlet 21101, which serves as the entry point for waste into the second filter box.

[0091] As shown in Figures 16 and 17, when the pool robot is stationary on the base station body, the third inlet connects to the third opening of the first filter box, allowing the waste in the first filter box to enter the second filter box through the third opening and the third inlet. When the pool robot is stationary on the base station body, the first nozzle sprays liquid into the first filter box. After the first bottom cover of the first filter box opens the third opening, the waste in the first filter box and the liquid sprayed into the first filter box by the first nozzle enter the second filter box through the third opening and the third inlet. The waste remains in the second filter box, and the liquid is filtered by the second filter box and discharged from the base station body, completing the cleaning of the first filter box. No user intervention is required during the cleaning process of the first filter box, achieving automatic cleaning.

[0092] For example, when the pool robot is in the cleaning position of the base station body, at least a portion of the first filter box is located above at least a portion of the second filter box, and at least a portion of the third inlet is located below the third opening, so that the inner cavity of the first filter box is in communication with the inner cavity of the second filter box, and the debris inside the first filter box can fall into the second filter box through the third inlet under the action of gravity and / or the impact force of the liquid sprayed by the first nozzle. That is to say, at least a portion of the first filter box or at least a portion of the first frame and at least a portion of the second filter box are vertically distributed in the height direction of the base station body.

[0093] In some embodiments, the first nozzle sprays liquid into the first filter box through the aforementioned fourth inlet to clean the first filter box. Specifically, when the first nozzle extends into the first filter box and sprays liquid to flush away debris, at least a portion of the first nozzle is directly above at least a portion of the third opening and at least a portion of the fourth opening. The liquid sprayed by the first nozzle pushes the debris in the first filter box towards the third opening; and under the impact of the sprayed liquid, some of the debris in the first filter box is directly flushed into the second filter box, thereby accelerating the entry of debris from the first filter box into the second filter box through the third opening and the third inlet. For example, at least a portion of the first nozzle is directly above the third opening, and the third opening is directly above the third inlet, further accelerating the cleaning of debris in the first filter box.

[0094] For the first nozzle, the first nozzle 2173 can be selected as a single-hole nozzle, a multi-hole nozzle, a rotating nozzle, a non-rotating nozzle, a high-pressure nozzle, a low-pressure nozzle, etc.

[0095] The second cleaning component also includes at least one first water inlet for connecting the cleaning water source to the liquid inlet component of the first nozzle, so that the first water inlet and the first nozzle are in fluid communication to form a fourth water path, thereby delivering the cleaning water source into the first nozzle, and the first nozzle spraying liquid onto the first filter box to clean the first filter box.

[0096] In other embodiments, the second cleaning component further includes at least one valve located in the fourth water path, upstream of the nozzle of the first spray head. This valve connects or disconnects the water flow between the faucet (or cleaning water source) and the nozzle, thereby facilitating control of the first spray head to spray liquid into or stop spraying liquid into the first filter box. Due to the valve, the faucet can be normally open. A processor on the base station or pool robot controls the opening and closing of the valve to control the first spray head to begin or stop spraying liquid. The valve can be at least one of a solenoid valve, a baffle valve, a ball valve, a butterfly valve, etc.

[0097] In some embodiments, at least a portion of the second filter box is disposed within the base station body, as shown in Figures 15, 16, and 17. The base station body includes a third receiving cavity 2054 and at least one drain outlet 2120. At least a portion of the second filter box is disposed within the third receiving cavity. The drain outlet is used to connect the third receiving cavity to the outside. The drain outlet is used to discharge the liquid that has been filtered by the second filter box and entered the third receiving cavity out of the base station. The liquid discharged from the drain outlet can be returned to the swimming pool for reuse. Alternatively, the liquid discharged through the drain outlet can be discharged to the user's sewer or lawn.

[0098] In some embodiments, as shown in FIG14, the base station further includes a fourth baffle 200021, which is movably disposed on the base station body to open or close the ninth opening. When the first nozzle cleans the first filter box, the fourth baffle closes the ninth opening to prevent liquid in the third receiving cavity from flowing out of the ninth opening, ensuring that the liquid filtered by the second filter box is discharged outside the base station through the drain outlet. When it is necessary to remove or place the second filter box, the fourth baffle is opened to expose the second filter box to the external environment, making it convenient for the user to remove or place the second filter box from or into the third receiving cavity. In some embodiments, the fourth baffle and the base station body can be connected in various ways, such as a rotational connection, a sliding connection, or a magnetic connection.

[0099] In some embodiments, after the first bottom cover is unlocked, its rotation is not driven by a motor. For example, the first bottom cover rotates due to its own weight to open the third opening; or the first bottom cover rotates due to the weight of the garbage and liquid inside the first filter box; or the first bottom cover rotates due to the weight of the garbage and liquid inside the first filter box, as well as the impact force of the liquid sprayed from the first nozzle, to open the third opening. When it is necessary for the first bottom cover to close the third opening, the closing of the first bottom cover requires a motor drive. For example, a closing mechanism built into the base station or the first main body can be used to drive the rotation of the first bottom cover to close the third opening.

[0100] For example, in some embodiments, the base station further includes at least one closing mechanism disposed on the base station body; the closing mechanism is used to drive the first bottom cover of the first filter box to rotate toward the third opening, so that the first bottom cover closes the third opening. After the liquid sprayed by the first nozzle has cleaned the first filter box, the closing mechanism drives the first bottom cover to rotate to close the third opening.

[0101] As shown in Figure 18, the closing mechanism may include at least one first closing mechanism 7004, which drives the first bottom cover to rotate via a motor so that the first bottom cover closes the third opening.

[0102] Specifically, as shown in Figure 18, the first closing mechanism includes at least a driving component and a pushing component. The driving component includes at least a driving member, which drives the pushing component to perform telescopic movements, switching the pushing component between an extended state and a retracted state. When the first nozzle sprays liquid to clean the first filter box, the pushing component is in a retracted state to avoid the first bottom cover. After the liquid sprayed by the first nozzle cleans the first filter box, the pushing component switches from the retracted state to the extended state to push the first bottom cover to rotate toward the third opening, thereby closing the third opening. After the first bottom cover closes the third opening, the pushing component switches back from the extended state to the retracted state. For example, the driving member can be a motor 70042 or a cylinder.

[0103] For example, in some embodiments, the pushing component is a push rod assembly, which includes at least one push rod 70041. The push rod includes a third mounting portion 700411 and a pushing portion 700412, wherein the third mounting portion is driven by a motor, and the pushing portion is used to push the first bottom cover to rotate toward the third opening. The motor drives the push rod to extend, causing the pushing portion to abut against the first bottom cover, thereby pushing the first bottom cover to rotate toward the third opening and closing the third opening. Specifically, in some embodiments, under the drive of the motor, the push rod makes an inclined extension movement, i.e., the push rod has motion components in both the horizontal and vertical directions. In other embodiments, under the drive of the motor, the push rod extends approximately in the vertical direction. Alternatively, in other embodiments, under the drive of the motor, the push rod extends approximately in the horizontal direction to push the first bottom cover to rotate.

[0104] In some embodiments, the pool robot rests on the base station body. When the first bottom cover opens the third opening, at least a portion of the first bottom cover extends into or through the fourth opening into the second filter box. When the pushing component is in the retracted state, it has at least two embodiments. For example, in some embodiments, the pushing component avoids or is not located within the fourth opening to avoid interfering with the opening of the first bottom cover. In other embodiments, at least a portion of the pushing component is located within the fourth opening; when the first bottom cover opens the third opening, at least a portion of the pushing component (e.g., the aforementioned pushing part) approaches or contacts the first bottom cover; or a clearance groove is provided on the bottom of the first bottom cover, and at least a portion of the pushing component (e.g., the pushing part) is located within the clearance groove, but the pushing component (e.g., the pushing part) does not collide with the first bottom cover.

[0105] When the push component is in the extended state, at least a portion of the push component (e.g., the push part) is located inside the fourth opening, or at least a portion of the push component (e.g., the push part) extends through the fourth opening to above the fourth opening to push the first bottom cover to rotate toward the third opening, thereby closing the third opening.

[0106] In some embodiments, the base station is provided with an unlocking mechanism, which drives the first telescopic member to retract and exit the first limiting hole. For example, the unlocking mechanism includes a cylinder that drives the first telescopic member to retract, thereby exiting the first telescopic member from the first limiting hole. Alternatively, in other embodiments, as shown in Figures 8, 9, 11, and 12, the unlocking mechanism includes a first motor and an unlocking component 7003. The first motor drives the unlocking component to extend, thereby pushing the first telescopic member to retract and exit the first limiting hole. Alternatively, in other embodiments, the unlocking mechanism includes a first motor and an unlocking component. The first motor drives the unlocking component to rotate, thereby pushing the first telescopic member to retract and exit the first limiting hole.

[0107] As shown in Figure 11, the unlocking assembly 7003 includes a second unlocking member, a fifth elastic member 70034, and a motor. For example, the second unlocking member is a second telescopic member 70033. The fifth elastic member applies its elastic force to the second telescopic member, forcing it to tend to stay away from the first limiting hole. The first motor drives the second telescopic member to extend into the first limiting hole, pushing it to move and causing it to exit the first limiting hole. For example, the fifth elastic member is a compression spring, with one end connected to the second telescopic member and the other end located on the first main body or in the first receiving cavity. The second telescopic member is subjected to the biasing force of the fifth elastic member and is located outside the first limiting hole. When the first motor removes its driving force on the second telescopic member, under the elastic action of the fifth elastic member, the second telescopic member returns to its original position outside the first limiting hole.

[0108] As shown in Figure 11, the unlocking component 7003 also includes a second mating member 70032. The first motor drives the second mating member to move upward, so that the second mating member pushes the second telescopic member towards the first telescopic member, thereby pushing the first telescopic member out of the first limiting hole. The second mating member and the second telescopic member are engaged by an abutting surface. Due to the effect of the inclined surface, when the second mating member moves upward, it can push the second telescopic member to move in the horizontal direction, thereby pushing the first telescopic member to retract.

[0109] In other embodiments, the unlocking component 7003 further includes a first unlocking member disposed on the base station body; at least a portion of the second mating member is disposed within the first main body, as shown in FIG7. The first main body is provided with a third clearance opening 1001j so that the bottom of the second mating member is connected to the outside, i.e., the second mating member is exposed. A first motor drives the first unlocking member to move upward, and the first unlocking member pushes the second mating member to move upward through the third clearance opening 1001j, thereby driving the second telescopic member to move into the first limiting hole, and then pushing the first telescopic member to retract. The first telescopic member exits the first limiting hole, realizing the unlocking function of the first bottom cover.

[0110] In some embodiments, as shown in FIG15, the first unlocking member and the first motor 70035 are disposed in the base station body, and the base station body is provided with at least one fifth clearance opening 70036, for example, the fifth clearance opening is disposed on the resting surface at the top of the base station body.

[0111] When the first motor drives the first unlocking member to move upward, at least a portion of the first unlocking member extends out of the base station body through the fifth clearance opening, driving the second mating member to move upward or driving the second unlocking member to rotate; when the first motor drives the first unlocking member to move downward, at least a portion of the first unlocking member retracts to its initial position inside the base station body through the fifth clearance opening. For example, in some embodiments, both the first unlocking member and the first motor are located within the aforementioned sixth receiving cavity, and the fifth clearance opening is located on the top surface of the base station body and is near or around the fourth opening. For example, the fifth clearance opening is located on the first upper shell and is distributed away from the fourth opening.

[0112] As shown in Figure 15, the first unlocking component is an unlocking rod 70037. The unlocking rod is vertically and flexibly mounted on the base station body, allowing it to have at least a first position and an initial position. When the unlocking rod is in the first position, it extends from the base station body, pushing the second mating component upwards to disengage the first telescopic component from the first limiting hole. When the unlocking rod is in the initial position, it retracts into the base station body and no longer contacts the second mating component, releasing its force on the second mating component. Alternatively, in another embodiment, when the unlocking rod is in the initial position, it retracts into the base station body, with the top of the unlocking rod approximately flush with the resting surface of the base station body. In this case, the unlocking rod still contacts the second mating component, but it does not exert any force on the second mating component.

[0113] In some embodiments, since the waste and liquid in the first filter box enter the second filter box through the third opening, the fourth opening, and the third inlet, the waste in the second filter box tends to accumulate at or below the fourth opening (e.g., the waste accumulates in a small hill). The waste accumulated at the fourth opening makes it difficult for the waste in the first filter box to fall into the second filter box.

[0114] Therefore, in some embodiments, the base station further includes at least one lever mechanism (also described as a toggle mechanism), which is movably disposed on the base station body and at least partially located inside the second filter box. The lever mechanism is used to toggle the garbage accumulated in the second filter box to spread or flatten the accumulated garbage, evenly disperse the garbage in the inner cavity of the second filter box, improve the space utilization rate inside the second filter box, avoid garbage accumulation below the fourth opening, and ensure that the garbage in the first filter box falls smoothly into the second filter box.

[0115] In some embodiments, the lever mechanism moves or swings back and forth to agitate the waste, causing it to spread out within the second filter box.

[0116] In some embodiments, a lever mechanism is disposed within the base station body. For example, at least a portion of the lever mechanism is located within the second filter box and below the fourth opening, and reciprocates or moves to agitate the debris within the second filter box. The lever mechanism can agitate or flatten the debris along the length or width of the second filter box.

[0117] In some embodiments, as shown in Figures 15 to 17, the lever mechanism includes a third motor and a lever assembly 70061. At least a portion of the lever assembly 70061 is located within the second filter box. The lever assembly is used to agitate or flatten the waste in the second filter box. The motor drives the lever assembly 70061 to reciprocate or move within the second filter box, enabling the lever assembly to agitate the waste in both directions, facilitating rapid flattening of the waste.

[0118] In some embodiments, as shown in Figures 20A to 22B, the lever assembly includes at least one actuating element. For example, in some embodiments, the actuating element is a lever 70062, which is connected to a third motor. The third motor drives the lever to move unidirectionally or reciprocally within the second filter box to agitate debris. To enable the lever to move within the second filter box, the length of the lever is less than the width or length of the second filter box, allowing the lever to move inside the second filter box.

[0119] As shown in Figure 19, the lever has at least a fifth position A and a fourth position B. Driven by a third motor, the lever oscillates back and forth between the fourth and fifth positions, as shown in Figure 22A. The lever includes a connecting part 700622 and a moving part 700621. This oscillation process includes at least the oscillation of the moving part 700621 below the fourth opening. Therefore, the moving part moves the waste located below the fourth opening, causing the waste to be evenly dispersed into the space of the second filter box. The lever also has a sixth position located between the fourth and fifth positions, where the sixth position is a dynamically changing position. For example, the sixth position C shown in Figure 19 is an intermediate position between the fourth and fifth positions.

[0120] In some embodiments, when the pool robot is stationary at the cleaning position of the base station, the first bottom cover is located outside the fourth opening when the third opening is closed; after the first bottom cover opens the third opening, a portion of the first bottom cover extends into the fourth opening, or even through the fourth opening into the second filter box. During the swinging of the lever between the fourth and fifth positions, the lever always avoids the first bottom cover and does not interfere with the rotation of the first bottom cover to open or close the third opening; or in other words, the swinging path of the lever and the rotation path of the first bottom cover are offset or do not overlap.

[0121] In other embodiments, when the base station includes the aforementioned first motor and first unlocking member, the third motor used to drive the lever assembly to move and the first motor used to drive the first unlocking member to move are the same motor. That is, the same motor drives the lever to swing back and forth, and at the same time can drive the first unlocking member to move upward, so as to drive the first locking member to exit from the first limiting hole.

[0122] Specifically, the aforementioned first and second transmission components are the same transmission component. Correspondingly, when the lever is in the fourth position, as shown in Figures 20A and 20B, the second protrusion 70040 on the first transmission component pushes the first unlocking member upward, causing the first locking member to disengage from the first limiting hole and unlock the locking of the first bottom cover. When the lever is in the fifth position, as shown in Figures 21A and 21B, the second protrusion on the first transmission component disengages from the first unlocking member, and the second protrusion does not push the first unlocking member upward. After the first bottom cover is unlocked, and the third opening of the first bottom cover is opened, the first motor drives the lever to swing back and forth between the fifth and fourth positions to move the debris in the second filter box. For example, as shown in Figures 22A and 22B, when the lever is in the sixth position, the second protrusion disengages from the first unlocking member; during this back-and-forth swinging process, if the lever reaches the fourth position, the second protrusion will push the first unlocking member upward again, but since the first bottom cover is in the unlocked state, it will not unlock the locking mechanism of the first bottom cover. After the liquid sprayed by the first nozzle cleans the first filter box, the first closing mechanism needs to push the first bottom cover to close the third opening. The lever cannot be in the fourth position to ensure that the first closing mechanism drives the first bottom cover to move towards the third opening, thus closing the third opening. Otherwise, when the lever is in the fourth position, the second protrusion will always drive the first unlocking member to move upward, unlocking the first bottom cover, and the first bottom cover cannot close the third opening. Therefore, when or before the first bottom cover needs to close the third opening, the processor controls the lever not to be in the fourth position. For example, the lever is controlled to be in the fifth position; or, for example, in one embodiment, the lever rotates approximately 180 degrees from the fifth position to the fourth position, and the processor controls the first motor to drive the lever to rotate less than 180 degrees, for example, rotating 120 degrees or 90 degrees from the fifth position, so that the lever cannot reach the fourth position.

[0123] As the lever rotates from the fourth position to the fifth position, the second protrusion gradually changes from a state of contact with the first unlocking member, driving the first unlocking member to rise, to a state where the second protrusion disengages from the first unlocking member. For example, from the state shown in Figures 20A and 20B, the lever rotates counterclockwise in Figure 20A, passing through the states shown in Figures 22A and 22B, and finally reaches the state shown in Figures 21A and 21B. Conversely, as the lever rotates from the fifth position to the fourth position, the second protrusion gradually changes from a state of separation from the first unlocking member to a state of contact with the first unlocking member, driving the first unlocking member to rise. For example, from the state shown in Figures 21A and 21B, the lever rotates clockwise in Figure 21A, passing through the states shown in Figures 22A and 22B, and finally reaches the state shown in Figures 20A and 20B.

[0124] In some embodiments, when the lever mechanism and unlocking component on the base station use the same motor (i.e., the first motor and the third motor are the same motor), and when the base station is provided with a first closing mechanism, the entire process of the cleaning system cleaning the first filter cartridge includes at least a first stage, a second stage, and a third stage.

[0125] As shown in Figure 23A, the first stage (alignment stage) includes: when the pool robot stops at the cleaning position of the base station, the first bottom cover closes the third opening, the first closing mechanism is in the retracted state, and the lever assembly is in the fifth position.

[0126] The second stage (cleaning stage) includes: the baffle opens the fourth inlet, the first nozzle extends into the first body, and when the first bottom cover closes the third opening, the first nozzle sprays liquid onto the first filter box to clean the first filter box. That is, the first nozzle sprays liquid onto the first filter box first, and then the first bottom cover is opened; or, the first bottom cover can be opened first, and then the first nozzle sprays liquid onto the first filter box to clean the first filter box.

[0127] This stage requires opening the first bottom cover: As shown in Figure 23B, the lever assembly moves from the fifth position to the fourth position, and the second protrusion of the cam 70039 pushes the first unlocking member to move upward, thereby driving the first locking member to exit the first limiting hole and releasing the lock on the first bottom cover; then, under its own weight, the first bottom cover rotates into the fourth opening, opening the third opening. After the first bottom cover is opened, the lever can swing back and forth between the fourth and fifth positions to move the debris in the second filter box and prevent debris from accumulating in the second filter box. In addition, throughout the second stage, as shown in Figure 23B, the first closing mechanism is in a retracted state.

[0128] The third stage (closing stage) includes: after the first filter box is cleaned, the first bottom cover needs to be closed; firstly, the control lever assembly is not in the fourth position. For example, the control lever assembly moves from the current position to the fifth position; the current position can be the fourth or sixth position. As shown in Figure 23C, the first closing mechanism switches from the retracted state to the extended state to push the first bottom cover towards the third opening, and the first bottom cover closes on the third opening. After the first bottom cover closes the third opening, the first closing mechanism then resets from the extended state to the retracted state.

[0129] In some embodiments, when the lever is in the fifth position, the lever and the first closing mechanism are located outside the same side of the fourth opening; when the lever is in the fourth position, the lever is located outside the other side of the fourth opening.

[0130] It should be noted that: Figures 23A, 23B, and 23C are cross-sectional schematic diagrams along a vertical plane (i.e., the vertical plane formed by the X-axis and Z-axis of the three-dimensional coordinate system); the "horizontal plane" involved in this application refers to a surface perpendicular to the vertical plane, i.e., the plane formed by the X-axis and Y-axis of the three-dimensional coordinate system.

[0131] In some embodiments, the base station also includes a charging component for charging the pool robot's first battery pack when the pool robot is stationary on the base station body.

[0132] In some embodiments, as shown in Figures 13 to 15, the charging assembly 2090 includes at least a charging element 2091, which abuts or approaches the charging receiver of the pool robot to charge the first battery pack of the pool robot. The charging element can be a first charging plate, and correspondingly, the charging receiver can be a second charging plate; the first and second charging plates achieve charging through contact. Alternatively, in other embodiments, the charging element is a transmitting coil, and correspondingly, the charging receiver can be a receiving coil; the transmitting and receiving coils achieve wireless charging through contact or proximity.

[0133] Based on the base station and pool robot provided in the above embodiments, this specification also provides a method for controlling the operation of the base station and / or pool robot, which can be executed by a control component. The control component includes a memory and a processor, the processor executing program instructions stored in the memory to implement the steps of the control method embodiments of the cleaning system described above. The control component can be a system shared by the base station and the pool robot, simultaneously controlling both; or it can be a system where the base station and the pool robot are independent, controlling each separately. The control component can be integrated into the base station or the pool robot, or it can be independent of the base station or the pool robot but electrically connected to it.

[0134] In some embodiments, a base station may include at least: a base station body; a first nozzle, fixedly or movably disposed on the base station body, which can spray liquid into the first filter box during cleaning; a second filter box disposed on the base station body; and the second filter box having a third inlet, which serves as an entry point for waste into the second filter box. A pool robot may include at least: a first body; a fourth inlet disposed on the pool robot; a first filter box, at least partially disposed within the first body; a third opening disposed within the first filter box; and a first bottom cover configured to open or close the third opening.

[0135] The base station has a designated cleaning position. When the pool robot is in the cleaning position, the control component can control the first nozzle to spray liquid onto the first filter box to clean it. The base station can move to the cleaning position automatically or be placed there, such as by a user or by other components mounted on the base station.

[0136] For example, the first filter box can be cleaned inside the first main body. Due to the structure of the pool robot, the filtration structure of the first filter box is basically located inside the first main body. Cleaning the first filter box inside the first main body can effectively flush the filtration structure of the first filter box; and the liquid sprayed onto the first filter box is blocked by the first main body, reducing the probability of liquid splashing into the external environment. At the same time, the gap between the first filter box and the first main body can also be cleaned, improving the cleaning effect.

[0137] Alternatively, the first filter cartridge can be cleaned outside the first body. For example, the first filter cartridge can be controlled to move at least partially out of the first body, and the first nozzle can be controlled to spray liquid onto the first filter cartridge located outside the first body to clean the first filter cartridge.

[0138] When cleaning the first filter cartridge within the first main body, the fourth inlet can serve as an entry point for the cleaning liquid into the first main body. For example, during cleaning of the first filter cartridge, the first nozzle can enter the first main body through the fourth inlet, and the liquid is transported to the first nozzle via a pipe. The liquid is then sprayed onto the first filter cartridge within the first main body through the first nozzle, thus achieving liquid entry into the first main body via the fourth inlet. Alternatively, during cleaning of the first filter cartridge, the first nozzle can also be located outside the first main body, with the liquid sprayed by the first nozzle entering the first main body through the fourth inlet.

[0139] For example, the base station can be equipped with a self-cleaning button. When triggered, the user can activate the button, instructing the base station to clean the first filter box. This instruction can then be sent to the pool robot. Alternatively, the self-cleaning button can also be installed on the pool robot itself. Activating this button will also instruct the robot to clean the first filter box and send it to the base station. Furthermore, the user can activate the self-cleaning button on another smart terminal, which will then send a cleaning instruction to the base station and / or the pool robot. Alternatively, the smart terminal can have an option to automatically clean the first filter box. When this option is selected, the pool robot and / or the base station can automatically initiate cleaning of the first filter box if the pool robot is placed in or moved to a cleaning position. If this option is not selected, the user must activate the button to initiate cleaning.

[0140] If the smart terminal has an option to automatically clean the first filter box, after the pool robot is placed in the cleaning position or moves to the cleaning position, it can first determine whether the pool robot has performed a cleaning task on the pool since the last cleaning task on the first filter box (e.g., it can obtain the pool robot's cleaning record for the pool, which may include cleaning start time, cleaning method, cleaning path, etc., and can determine whether the pool robot has performed a cleaning task on the pool based on the cleaning record); if the pool robot has performed a cleaning task on the pool, then the cleaning task on the first filter box will be started this time; if the pool robot has not performed a cleaning task on the pool, then the cleaning task on the first filter box will not be started this time. Alternatively, if the base station is pre-configured to automatically start cleaning the first filter box after detecting that the pool robot has been placed in the cleaning position or has moved to the cleaning position, it can first determine whether the pool robot has performed a cleaning task on the pool since the last cleaning task on the first filter box was performed. If the pool robot has performed a cleaning task on the pool, then the cleaning task on the first filter box will be started this time; if the pool robot has not performed a cleaning task on the pool, then the cleaning task on the first filter box will not be started this time.

[0141] In some embodiments, the pool robot is equipped with a baffle configured to open or close a fourth inlet. The fourth inlet can be kept closed by the baffle before cleaning the first filter cartridge to prevent debris from falling out. The fourth inlet can be opened before the first nozzle sprays liquid.

[0142] For example, the user can manually open the fourth inlet. Alternatively, a motor can be installed on the pool robot to drive the baffle to open. Alternatively, the first nozzle can move into the first body, and when the first nozzle comes into contact with the baffle, the force of the first nozzle against the baffle causes the baffle to move, thus opening the fourth inlet. The pool robot can also be equipped with a detection mechanism to check if the fourth inlet is open. If an abnormality occurs when the fourth inlet is open, an error message is issued, and the cleaning of the first filter box is terminated. The cleaning command for the first filter box can be issued before or after the fourth inlet opens.

[0143] The movement of at least one of the first nozzle and the pool robot is controlled so that the first nozzle extends into the first body through the fourth inlet; or the movement of at least one of the first nozzle and the pool robot is controlled so that the first nozzle is located outside the first body, and the liquid sprayed by the first nozzle enters the first body through the fourth inlet. Controlling the movement of at least one of the first nozzle and the pool robot can be: controlling the first nozzle to move towards the fourth inlet while the pool robot remains stationary; controlling the pool robot to move towards the first nozzle while the first nozzle remains stationary; or simultaneously controlling the pool robot and the first nozzle to move towards each other. Then, the first nozzle is controlled to spray liquid to clean the first filter box. When the first bottom cover moves to open the third opening, the debris in the first filter box enters the second filter box through the third opening and the third inlet.

[0144] Taking the fourth inlet as the second water inlet and the baffle as the second baffle, the movement of the second baffle can be controlled to open the second water inlet of the pool robot; the movement of at least one of the first nozzle and the pool robot can be controlled so that the first nozzle passes through the second water inlet and extends into the first body; the first nozzle can be controlled to spray liquid to clean the first filter box; and when the first bottom cover moves to open the third opening, the debris in the first filter box enters the second filter box through the third opening and the third inlet. The movement of the pool robot can include at least one of the forward or backward movement of the first body and the forward or backward movement of the first filter box.

[0145] Taking the fourth inlet as the loading / unloading port and the baffle plate as the first cover as an example, the movement of the first cover can be controlled to open the loading / unloading port of the pool robot; the movement of at least one of the first nozzle and the pool robot can be controlled so that the first nozzle passes through the loading / unloading port and extends into the first body; the first nozzle can be controlled to spray liquid to clean the first filter box; and when the first bottom cover moves to open the third opening, the debris in the first filter box enters the second filter box through the third opening and the third inlet. The movement of the pool robot can include at least one of the up-and-down movement of the first body and the up-and-down movement of the first filter box.

[0146] By using the first nozzle as a fourth inlet through the second inlet or access port, the first nozzle can clean the first filter box without requiring additional inlets on the pool robot, thus improving the convenience of cleaning the first filter box. Furthermore, the second inlet or access port is located above or on the upper part of the first filter box, allowing the first nozzle to enter the first filter box through this inlet. The liquid sprayed from the first nozzle can more thoroughly flush the side walls of the first filter box, improving the cleaning effect. In addition, using the second inlet as the fourth inlet makes it easier for the first nozzle to enter and exit the first filter box, reducing control complexity. By controlling the first nozzle to spray liquid to clean the first filter box, the first filter box itself and internal debris can be flushed, at least removing some debris adhering to the side walls of the first filter box and debris clogging the first filter screen. Moreover, the flow and / or force of the liquid can help to remove some debris that is difficult to fall off by gravity alone, thereby optimizing the cleaning effect of the first filter box.

[0147] The movement of the baffle can be controlled first, followed by the movement of at least one of the first nozzles and the pool robot. This allows the first nozzle to extend into the first main body through the fourth inlet, or for the first nozzle to be positioned outside the first main body, with the liquid sprayed by the first nozzle entering the first main body through the fourth inlet. Alternatively, the movement of the baffle can be controlled simultaneously with the movement of at least one of the first nozzles and the pool robot. Alternatively, the movement of at least one of the first nozzles and the pool robot can be controlled first, followed by the movement of the baffle.

[0148] For example, the movement of the baffle can be controlled first to partially or fully open the fourth entrance of the pool robot. The opening of the fourth entrance allows the first nozzle to extend into the first body. Then, the first nozzle is controlled to pass through the fourth entrance and extend into the first body. Alternatively, the first nozzle can be controlled to pass through the fourth entrance and extend into the first body simultaneously while the movement of the baffle is being controlled. For example, the movement of at least one of the first nozzle and the pool robot can be controlled so that after the first nozzle contacts the baffle, the baffle moves due to the pushing action of the first nozzle. Furthermore, as the first nozzle gradually extends into the fourth entrance, the movement of the baffle gradually increases, and the fourth entrance gradually opens accordingly.

[0149] Before cleaning the first filter box, the first bottom cover keeps the third opening closed to prevent debris from falling out of the first filter box and polluting the pool or shoreline. During cleaning, the first bottom cover moves to open the third opening, allowing debris to drain out. In some embodiments, the third opening is at least partially located at the bottom of the first filter box. When the first bottom cover moves to open the third opening, because the third opening is located at the bottom of the first filter box, debris inside the first filter box can pass through the third opening under gravity and enter the second filter box located below the first filter box through the third inlet. This eliminates the need for additional debris suction, improving the convenience of debris leaving the first filter box and entering the second filter box, and reducing the energy consumption of the first filter box cleaning process.

[0150] The first bottom cover can move downwards (the manner of downward movement is not limited, such as downward translation, downward rotation, etc.). Alternatively, the first bottom cover can also translate or move upwards.

[0151] In some embodiments, the order in which the first bottom cover moves to open the third opening and the first nozzle extends into the first body is not limited: the first bottom cover can open the third opening at the same time as the first nozzle extends into the first body; the first bottom cover can open the third opening first, and then the first nozzle extends into the first body; the first nozzle can also extend into the first body first, and then the first bottom cover moves to open the third opening.

[0152] In some embodiments, the timing of the first nozzle starting to spray liquid is not limited to the order in which the first bottom cover moves to open the third opening: for example, the first bottom cover moves to open the third opening at the same time as the first nozzle sprays liquid; or the first nozzle sprays liquid first and the first bottom cover moves to open the third opening later; or the first bottom cover moves to open the third opening first and the first nozzle sprays liquid later.

[0153] In some embodiments, the third opening is at least partially located at the bottom of the first filter box, and the first bottom cover can move under the weight of the first bottom cover to open the third opening, making the overall structure for controlling the opening of the third opening simpler.

[0154] For example, before cleaning the first filter box, the first bottom cover can be locked to the first frame using a locking mechanism, keeping the third opening closed. When cleaning the first filter box is required, the first bottom cover can be unlocked from the first frame using an unlocking mechanism. After unlocking, the first bottom cover can move downwards under its own weight to open the third opening, allowing waste to be discharged. Alternatively, the third opening can be at least partially located at the bottom of the first filter box, and the first nozzle can be controlled to spray liquid into the first filter box, causing the first bottom cover to move under the weight of the waste, liquid, and the first bottom cover within the first filter box to open the third opening. For example, before cleaning the first filter box, the first bottom cover can be locked onto the first frame by a locking mechanism to keep the third opening closed. When the first filter box needs to be cleaned, the first bottom cover can move downward under the weight of the garbage, liquid and the first bottom cover inside the first filter box to open the third opening, allowing the garbage to be discharged from the third opening. Thus, without setting an unlocking mechanism, the weight of the garbage, liquid and the first bottom cover can be used to counteract the force of the locking mechanism locking the first cover onto the first frame, thereby unlocking the first bottom cover and moving the first cover downward to open the third opening and allow the garbage to be discharged from the third opening.

[0155] Alternatively, when the third opening needs to be opened, the control components of the pool robot directly control the movement of the first bottom cover to open it. The movement of the first bottom cover is not limited; for example, it can move horizontally or rotate downwards, etc. For instance, an opening mechanism can be provided. This mechanism could be a drive mechanism such as a motor connected to the first bottom cover, or it could be a mechanism that provides pushing or pulling force through contact with the first bottom cover. For example, the bottom surface of the first bottom cover can contact the first frame and block the third opening, using the upward support force applied by the first frame to keep the third opening closed. When cleaning the first filter box is required, if preset conditions are met (e.g., the first nozzle reaches a preset spray time, the first filter box reaches a preset water level, or the first nozzle starts spraying liquid), the opening mechanism drives the first bottom cover to perform a horizontal translation, so that the first bottom cover no longer blocks the third opening, thus opening it. Therefore, by actively driving the movement of the first bottom cover, the locking and unlocking mechanisms can be omitted, making the structural design of keeping the first bottom cover closed of the third opening more flexible. Of course, based on the locking and unlocking mechanisms provided in the above embodiments, an opening mechanism that actively drives the movement of the first bottom cover can be added to more accurately control the movement of the first bottom cover.

[0156] Alternatively, when the third opening is at least partially located at the bottom of the first filter box, the first bottom cover can move under the action of the opening mechanism and the gravity of the garbage, liquid and the first bottom cover inside the first filter box, thereby opening the third opening.

[0157] During the cleaning of the first filter box, the first nozzle can continuously spray liquid; alternatively, it can spray liquid for a period of time and then pause, and then restart as needed.

[0158] In some embodiments, the third opening can be opened after the first nozzle begins spraying liquid, allowing floating debris to be discharged along with some of the water flow, reducing the likelihood of debris adhering to the inner wall of the first filter box, thereby improving the cleaning effect.

[0159] As shown in the above embodiments, the pool robot may further include a locking mechanism for locking the first bottom cover onto the first frame of the first filter box, the first bottom cover blocking the third opening; the base station and / or the pool robot may further include an unlocking mechanism for releasing the locking mechanism from locking the first bottom cover.

[0160] The system can first control the first nozzle to spray liquid into the first filter box for a preset duration, and then control the unlocking mechanism to release the locking mechanism from locking the first bottom cover. Under the weight of the first bottom cover and the weight of the waste and liquid inside the first filter box, the first bottom cover is driven to move to open the third opening; and / or, when it is necessary to open the third opening, the control component of the pool robot controls the movement of the first bottom cover to open the third opening; the waste inside the first filter box enters the second filter box through the third opening and the third inlet.

[0161] After the pool robot is lifted ashore or automatically exits, the liquid inside the machine is usually discharged through the drain. The debris in the first filter box is typically mostly leaves with a small amount of sand and gravel, resulting in relatively low weight. Without external power, the movement of the first bottom cover relies solely on the weight of the debris in the first filter box and the weight of the first bottom cover itself, which cannot guarantee that the third opening will open. Alternatively, the first bottom cover may open normally, but because the debris is mostly leaves and fine sand, and the first filter box is already quite damp, some debris adheres to the inner wall of the first filter box. This requires the first nozzle to spray a very strong liquid with comprehensive coverage of the inside of the first filter box to flush away the debris adhering to the inner wall and allow it to flow out through the third opening. This increases the complexity of the cleaning structure design and increases power consumption. In addition, when there is a gap between the first filter box and the second filter box, lighter debris such as leaves and fine sand may fall into the gap as they enter the second filter box from the first filter box, resulting in inadequate cleaning and potentially affecting the closing of the first bottom cover.

[0162] By first controlling the first nozzle to spray liquid into the first filter box for a preset duration, and then unlocking the first bottom cover, the first bottom cover can be opened smoothly under the gravity of the liquid and debris inside the first filter box. At the same time, the liquid stored in the first filter box and the liquid flow caused by the first nozzle spraying liquid can make the debris inside the first filter box fluctuate with the liquid, reducing the probability of debris adhering to the inner wall of the first filter box. After the first bottom cover is opened, the debris can also flow out of the first filter box quickly with the liquid and flow into the second filter box, ensuring the cleaning effect and minimizing the impact of debris on the closing of the first bottom cover.

[0163] Once it is confirmed that the first bottom cover closes the third opening, the first nozzle is then controlled to begin spraying liquid to ensure a cleaning effect. The detection of whether the first bottom cover closes the third opening can be found in the following embodiment, and will not be elaborated upon here.

[0164] After the first nozzle sprays liquid into the first filter box for a first preset time, it can continue to spray liquid to use the impact force of the liquid sprayed by the first nozzle to flush away the debris in the first filter box. When the first bottom cover is open, the debris in the first filter box flows into the second filter box with the liquid flow, further ensuring the cleaning effect.

[0165] After the first nozzle sprays liquid into the first filter box for a preset duration, the spraying can be paused. Once the third opening is confirmed to be open, the first nozzle can resume spraying. If the third opening fails to open, the base station or pool robot can issue an error message to the user, allowing for timely intervention, such as when the user opens the third opening. Continuing to spray liquid into the first filter box while the third opening remains closed will cause debris and liquid to overflow from other outlets of the pool robot. By detecting whether the third opening is open and only continuing to spray liquid if it is open, the probability of debris and liquid overflow can be reduced. The detection method for whether the third opening is open is described in the following embodiment and will not be repeated here.

[0166] The first preset duration can be an empirical value or an estimated value automatically generated based on the amount of waste in the first filter box. This embodiment does not impose any restrictions on this.

[0167] By setting an unlocking mechanism, the locking mechanism can be released from the first bottom cover when needed, thereby controlling the timing of the first bottom cover's movement and preventing it from moving too early or too late, thus improving the accuracy of the third opening (for example, opening the third opening after the first nozzle sprays liquid into the first filter box for a first preset time).

[0168] In some embodiments, the first bottom cover can be moved first to open the third opening, and then the first nozzle can be controlled to spray liquid to clean the first filter box. Debris in the first filter box enters the second filter box through the third opening and the third inlet. The system can also detect whether the third opening is open; if so, the first nozzle is controlled to spray liquid to prevent debris and liquid from overflowing from other outlets of the pool robot. After the third opening is open, the first nozzle is controlled to spray liquid to clean the first filter box. In some scenarios, after the third opening is opened, some debris in the first filter box enters the second filter box first, and the remaining debris enters the second filter box along with the liquid sprayed by the first nozzle. In some scenarios, after the third opening is opened, debris accumulates at the third opening; after the first nozzle sprays liquid, all the debris in the first filter box enters the second filter box along with the liquid sprayed by the first nozzle.

[0169] In some embodiments, after cleaning the first filter cartridge with the first nozzle, the movement of at least one of the first nozzle and the pool robot is controlled to cause the first nozzle to retract outside the first main body. This prevents the first nozzle from interfering with the pool robot's departure from the base station while it is inside the first main body, thus avoiding situations where the user is unable to retrieve the pool robot or damages the first nozzle or the pool robot while retrieving it. Controlling the movement of at least one of the first nozzle and the pool robot can be achieved by controlling the first nozzle to move away from the pool robot while the pool robot remains stationary; or by controlling the pool robot to move away from the first nozzle while the first nozzle remains stationary; or by simultaneously controlling the pool robot and the first nozzle to move away from each other, causing the first nozzle to retract outside the first main body.

[0170] In some embodiments, the base station further includes a closing mechanism; after cleaning the first filter box by the first nozzle, the closing mechanism is controlled to push the first bottom cover toward the third opening, so that the first bottom cover closes the third opening.

[0171] For example, the closing mechanism pushes the first bottom cover toward the third opening, locking it onto the first frame of the first filter box. The closing mechanism can be located outside the first filter box and can be directly or indirectly driven by a motor or other drive mechanism to push the first bottom cover toward the third opening. When the first bottom cover moves, it triggers a locking mechanism on the pool robot, locking the first bottom cover onto the first frame of the first filter box; or, after the first bottom cover moves to a designated position (e.g., a position where the third opening can be closed), the pool robot controls the locking mechanism to activate, locking the first bottom cover onto the first frame of the first filter box.

[0172] In some embodiments, the base station body or the pool robot is equipped with an opening / closing detection component for detecting whether the third opening is open or closed. The opening / closing detection component may include a Hall sensor and a magnetic element, one disposed on the first bottom cover and the other disposed on or near the first filter box. When the Hall sensor detects the magnetic element, the third opening is considered to be closed; when the Hall sensor does not detect the magnetic element, the third opening is considered to be open. And / or, the opening / closing detection component may have one of the Hall sensor and the magnetic element disposed on the first bottom cover and the other disposed on or near the second filter box. When the Hall sensor detects the magnetic element, the third opening is considered to be open; when the Hall sensor does not detect the magnetic element, the third opening is considered to be closed.

[0173] The magnetic flux detection threshold for when the first bottom cover is closed is greater than the magnetic flux detection threshold for when the first bottom cover is open. The third opening is considered open only when there is a certain distance between the first bottom cover and the frame of the first filter box. This ensures that during cleaning, debris in the first filter box quickly enters the second filter box, preventing debris from overflowing from other outlets of the pool robot due to insufficient space at the third opening caused by continuous liquid spraying from the first nozzle. The first bottom cover is considered closed only when the distance between it and the frame of the first filter box is very small. This prevents the first telescopic component from failing to engage with the first limiting hole if the push rod is not pushed fully, thus failing to lock the first bottom cover.

[0174] After the closing mechanism pushes the first bottom cover toward the third opening, the success of locking the first bottom cover onto the first frame of the first filter box can be determined by judging the operating time of the closing mechanism. For example, if the time for the closing mechanism to push the first bottom cover toward the third opening is greater than or equal to a preset time threshold, then the first bottom cover is considered locked onto the first frame of the first filter box. When the first bottom cover moves to open the third opening, the success of opening the third opening can also be determined by controlling the movement time of the first bottom cover to open the third opening. For example, if the movement time of the first bottom cover to open the third opening is greater than or equal to a preset time threshold, then the first bottom cover is considered to have successfully opened the third opening.

[0175] If the third opening is opened or closed abnormally, the base station or pool robot can issue an abnormality prompt to the user so that the user is aware of the situation in a timely manner. The user can also intervene in time to resolve the abnormality, or push / pull the first bottom cover to open or close the third opening.

[0176] And / or, an opening / closing detection component can be used to detect whether the first filter box is properly installed in the pool robot. When the opening / closing detection component on the pool robot detects that the third opening is closed by the first bottom cover, it can be considered that the first filter box is properly installed in the pool robot. When the opening / closing detection component on the base station body detects that the first bottom cover is open when the third opening is opened, it can be considered that the first filter box is not properly installed in the pool robot. If neither the opening / closing detection component on the pool robot nor the opening / closing detection component on the base station body detects a signal corresponding to the first bottom cover, it can be considered that the first filter box is not properly installed in the pool robot.

[0177] In some embodiments, controlling the first nozzle to spray liquid to clean the first filter box includes: controlling the first nozzle to spray liquid to clean the first filter box at least twice. Wherein, controlling the first nozzle to spray liquid to clean the first filter box at least twice means completing at least two of the cleaning processes described in this embodiment for any of the first filter box cleaning methods. The cleaning process for the first filter box may be the same or different each time.

[0178] Alternatively, the base station performs at least one cleaning operation on the first filter cartridge, wherein the cleaning configuration for each cleaning operation may be the same or different (refer to the following embodiments for the cleaning configuration); for example, in any two cleaning operations, the order in which the third opening is opened is the same or different from the order in which the first nozzle sprays liquid, the duration for which the third opening remains open is the same or different, the duration for which the first nozzle sprays liquid is the same or different, and so on. Throughout the cleaning process of the first filter cartridge, the first nozzle may spray liquid continuously or intermittently, and the third opening may remain continuously open or remain closed for a preset duration.

[0179] For example, if the process of cleaning the filter cartridge involves first controlling the first nozzle to spray liquid into the first filter cartridge, and then opening the third opening, then the third opening can be closed after one cleaning action is completed. In the next cleaning action, the first nozzle can be controlled to spray liquid into the first filter cartridge first, and then the third opening can be opened. Alternatively, after one cleaning action is completed, the third opening can be kept open, and in the next cleaning action, the first nozzle can be controlled to spray liquid into the first filter cartridge while the third opening is open.

[0180] If the cleaning process for the filter cartridge involves first opening the third opening and then controlling the first nozzle to spray liquid to clean the first filter cartridge, then after one cleaning action is completed, the first nozzle can be closed, and in the next cleaning action, the first nozzle can be opened again to spray liquid into the first filter cartridge. Alternatively, after one cleaning action is completed, the third opening can be closed, and in the next cleaning action, the third opening can be opened again. Or, after one cleaning action is completed, the third opening can remain open, and in the next cleaning action, with the third opening open, the first nozzle can be controlled to spray liquid into the first filter cartridge.

[0181] In some embodiments, the base station may perform at least one cleaning action on the first filter box. The cleaning action may include: controlling the first nozzle to spray liquid to clean the first filter box; after a first preset time, controlling the unlocking mechanism to release the locking mechanism from the first bottom cover, so that the first bottom cover moves under at least the weight of the first bottom cover and / or under the weight of the garbage and liquid in the first filter box, opening the third opening; after a second preset time, controlling the first nozzle to stop spraying liquid to clean the first filter box, wherein the second preset time is longer than the first preset time.

[0182] In some embodiments, after a cleaning operation is completed, a closing mechanism can be controlled to drive the first bottom cover to move, thereby locking the first bottom cover onto the first frame of the first filter box and closing the third opening. The closing mechanism may include a driving component and a pushing component. The driving component is used to drive the pushing component to switch between an extended state and a retracted state; wherein, when the pushing component switches from the retracted state to the extended state, it pushes the first bottom cover to move, thereby closing the third opening. After a cleaning operation is completed, if it is determined that the base station still needs to perform a cleaning operation on the first filter box, the pushing component can be controlled to remain in the extended state; if it is determined that the base station does not need to perform a cleaning operation on the first filter box, the pushing component can be controlled to switch from the extended state to the retracted state.

[0183] Between two cleaning actions, the closing mechanism can be kept in a state that keeps the third opening closed (e.g., continuously providing push or pull force to the first bottom cover) to prevent the third opening from being accidentally opened during the cleaning process.

[0184] After completing one cleaning operation, if it is determined that the base station still needs to perform a cleaning operation on the first filter box, and the push component is kept in the extended state, the first nozzle is controlled to spray liquid for a first preset duration; after the first preset duration, the push component is controlled to switch from the extended state to the retracted state; when the push component switches to the retracted state, the unlocking mechanism is controlled to release the locking mechanism from the first bottom cover, so that the first bottom cover moves under the gravity of the first bottom cover and / or at least under the gravity of the garbage and liquid in the first filter box, opening the third opening.

[0185] After completing one cleaning operation, if it is determined that the base station still needs to perform a cleaning operation on the first filter box, the method further includes: after determining that the third opening of the first bottom cover is closed, controlling the first nozzle to start spraying liquid.

[0186] In some embodiments, the control method further includes: during the process of controlling the first nozzle to spray liquid to clean the first filter box, at least one of the main water pump, propulsion mechanism, and walking mechanism of the pool robot is in a stopped state.

[0187] During the cleaning process of the first filter box, at least one of the main water pump, propulsion mechanism, and walking mechanism is stopped, thereby reducing the power consumption of the pool robot during the cleaning process.

[0188] In some embodiments, the control method further includes: during the process of controlling the first nozzle to spray liquid to clean the first filter box, at least one of the main water pump, propulsion mechanism, and walking mechanism of the pool robot is in a state of reduced operating power.

[0189] Specifically, reducing the operating power of the main water pump, propulsion assembly, and walking mechanism means reducing the operating power of at least one of these components compared to before the first nozzle sprays liquid. For example, the operating power of the drive mechanism corresponding to the main water pump, propulsion assembly, or walking mechanism can be reduced. This reduces the power consumption of the pool robot during the cleaning of the first filter box.

[0190] In some embodiments, the base station further includes a lever mechanism; the control method further includes: during the process of controlling the first nozzle to spray liquid to clean the first filter box, controlling the lever mechanism to swing back and forth or move back and forth to move the debris accumulated in the second filter box. Controlling the lever mechanism in the base station body to swing back and forth or move back and forth to move the debris in the second filter box prevents the debris from clogging the third inlet, allowing the debris in the first filter box to smoothly enter the second filter box, thereby ensuring the cleaning effect of the first filter box.

[0191] In some embodiments, the movement of the lever mechanism and the movement of the first bottom cover are staggered in timing or trajectory to avoid interference between their trajectories, so that the third opening can be opened and closed normally.

[0192] The lever mechanism can be activated after the first nozzle starts spraying liquid, or it can be activated simultaneously with the first nozzle starting to spray liquid. Alternatively, the lever mechanism can be activated first and then the first nozzle can be controlled to start spraying liquid.

[0193] The lever mechanism can operate with the third opening open or closed. For example, when the third opening is open, the lever mechanism can be controlled to move the debris accumulated in the second filter box; and / or, when the first bottom cover closes the third opening, the lever mechanism can be controlled to move the debris accumulated in the second filter box; and / or, during the opening or closing of the first bottom cover, the lever mechanism can be controlled to move the debris accumulated in the second filter box. If the lever mechanism and the unlocking mechanism share the same motor and transmission assembly, during the closing of the third opening of the first bottom cover and / or when the third opening of the first bottom cover is closed, the lever assembly will not move to the fourth position when the lever mechanism is controlled to move, so as to avoid driving the unlocking element to move, releasing the locking mechanism from the first bottom cover, and thus preventing the third opening from being closed.

[0194] In some embodiments, the lever mechanism and the unlocking mechanism share the same motor and transmission assembly. The lever mechanism further includes a lever assembly, which is driven by the motor through the transmission assembly to move and agitate the debris accumulated in the second filter box. The unlocking mechanism further includes an unlocking element, which is driven by the motor through the transmission assembly to release the locking mechanism from locking the first bottom cover. The lever assembly has at least a third state and a fourth state, and can switch between the third state and the fourth state under the drive of the motor. When it is necessary to open the third opening, the lever assembly is driven to switch to the fourth state, and the unlocking element releases the locking mechanism from locking the first bottom cover. When the third opening is open, the lever assembly is driven to the third state so that at least a portion of the lever assembly moves within the second filter box to agitate the debris accumulated in the second filter box.

[0195] Alternatively, in other embodiments, the lever mechanism and the unlocking mechanism share the same motor and transmission assembly; the lever mechanism further includes a lever assembly, which is driven by a motor to move between a fourth position and a fifth position, agitating the debris accumulated in the second filter box; the unlocking mechanism further includes an unlocking member, which is driven by a motor to move between a first position and an initial position, wherein the unlocking member releases the locking mechanism from locking the first bottom cover when in the first position, and does not apply force to the locking mechanism when in the initial position.

[0196] When the third opening needs to be opened, the motor is controlled to operate, causing the transmission component to move the lever assembly to the fourth position, and the unlocking component to move to the first position, thereby releasing the lock on the first bottom cover. The first bottom cover then moves, and the third opening opens. With the third opening open, the motor is controlled to operate, causing the transmission component to move the lever assembly between the fourth and fifth positions, agitating the debris accumulated in the second filter box. During this process, the lever assembly may or may not move to the fourth position.

[0197] For example, if the lever assembly moves between the fourth and fifth positions for a third preset duration, the control motor drives the lever assembly to move to the fifth position, or any position between the fourth and fifth positions, controls the first nozzle to stop spraying liquid, and controls the push assembly to switch to the extended state, so as to prevent the lever assembly from affecting the closing of the first bottom cover when it is in the fourth position, and to prevent the liquid flowing out from the third opening from hitting the first bottom cover when the first bottom cover moves upward, causing the area around the base station to be damp.

[0198] Upon receiving a cleaning task for the first filter cartridge, the lever assembly is first moved to the fourth position to open the third opening. The lever assembly can then continue operating. Liquid can be sprayed from the first nozzle before or after the third opening opens. When the third opening is open, the first nozzle can spray liquid for a first specified duration. After this duration, the push assembly can be switched to the extended state to move the first bottom cover and close the third opening. During the movement of the first bottom cover to close the third opening, the first nozzle can continue spraying liquid or stop spraying liquid. After the first bottom cover closes the third opening, the first nozzle can spray liquid for a second pre-specified duration. After this duration, the motor can be operated to move the transmission assembly to the fourth position, and the unlocking component to the first position to release the lock on the first bottom cover. The first bottom cover then moves, and the third opening opens. During the process of the first bottom cover moving to close the third opening, while the first bottom cover is closed, the lever assembly can continue to move but not to the fourth position, or it can stop moving and remain in a position other than the fourth position. After a second specified time, the first nozzle can be controlled to spray liquid continuously for a third specified time.

[0199] In some embodiments, the fourth baffle is kept locked at least until the motor-driven lever assembly moves to the fifth position and the first nozzle stops spraying liquid, to prevent abnormalities when the user removes the second filter cartridge. Alternatively, the base station keeps the fourth baffle locked during the cleaning of the pool robot, and the user can only remove the second filter cartridge after the cleaning is complete. Alternatively, during the cleaning of the first filter cartridge, it is not necessary to keep the fourth baffle locked; the user can remove the second filter cartridge, but if the removal of the second filter cartridge is detected, the cleaning task for the first filter cartridge is stopped.

[0200] In some embodiments, the base station has a cleaning position and a charging position; controlling the first nozzle to spray liquid to clean the first filter box includes: when the pool robot stops at the cleaning position, controlling the first nozzle to spray liquid to clean the first filter box; when the pool robot stops at the charging position, controlling the charging component on the base station to charge the pool robot.

[0201] The base station is equipped with charging and cleaning positions, providing charging for the pool robot and cleaning for the first filter cartridge, respectively. This allows a single base station to perform both charging and cleaning functions simultaneously. The pool robot no longer needs to move between different charging and cleaning devices when charging and cleaning are required, nor does the user need to manually switch between them, significantly improving the convenience of both functions. Furthermore, by integrating the first nozzle and charging components onto the base station, the space required for both functions is reduced, further enhancing the ease of use.

[0202] In some embodiments, the charging location and the cleaning location are the same location. In some embodiments, the charging location and the cleaning location are different locations.

[0203] In some embodiments, the base station further includes a docking location for the pool robot to dock. In various embodiments of this specification, the docking location can be any location on the base station, or one or more pre-designated locations. If the docking location is designated as a location other than the charging location, the pool robot, after moving to the docking location, can proceed to the charging location if it receives an instruction to do so. If the docking location is designated as a location other than the cleaning location, the pool robot, after moving to the docking location, can proceed to the cleaning location if it receives an instruction to do so. If the docking location is any location on the base station, the pool robot, after moving to the docking location, can determine whether its current location overlaps with the charging or cleaning location if it receives an instruction to do so. If the locations overlap, the robot does not need to move; if the locations do not overlap, the robot can move from the docking location to the charging or cleaning location.

[0204] In some embodiments, the charging location, cleaning location, and docking location may be the same location or different locations. For example, the charging location and the docking location may be the same location, where the pool robot may simply dock at that location or charge the pool robot via the charging component while docking.

[0205] The pool robot can be placed in a charging position, cleaning position, or docking position, or it can move to the charging position, cleaning position, or docking position on its own; there are no restrictions.

[0206] When the charging position and the cleaning position are in the same location, the first filter box can be cleaned and the pool robot can be charged at the same time. Alternatively, the first filter box can be cleaned first and then the pool robot can be charged, or the pool robot can be charged first and then the first filter box can be cleaned.

[0207] In one specific implementation, when the charging position and the cleaning position are different positions, the pool robot can switch between the charging position and the cleaning position according to the cleaning command and the charging command.

[0208] When the swimming pool robot moves to or is placed in the charging position, the base station begins charging it. Once the robot's battery reaches its full charge threshold, the base station can stop charging. Alternatively, the base station can stop charging upon receiving a command to interrupt charging. For example, upon receiving a cleaning command, the base station stops charging; after cleaning, if the robot is in the charging position, the base station resumes charging until its battery reaches its full charge threshold. Starting charging the robot as soon as it moves to or is placed in the charging position avoids the problem of the robot being unable to respond promptly to base station or user actions when placed in the charging position with a depleted battery. Alternatively, the base station can also begin charging the robot only after the user triggers a charging command when it moves to or is placed in the charging position.

[0209] When the pool robot moves to the charging position or is placed there by the user, if the water in the buoyancy and descent mechanisms is not completely drained, the charging process and the operation of draining the liquid from the descent mechanism may overlap in time. Alternatively, the charging process and the operation of draining the liquid from the descent mechanism may not overlap in time. If the pool robot's battery is depleted or low, the operation of draining the liquid from the descent mechanism may be performed only after a preset charging time or when the battery level reaches a certain threshold.

[0210] In some embodiments, the pool robot first moves to the charging position, then moves to the cleaning position, and after cleaning the first filter box, moves back to the charging position. For example, when the robot is heading towards the base station, if the cleaning position is in front of the charging position along the direction the pool robot is moving, the pool robot can first stop at the charging position, then move forward to the cleaning position, and then move backward to the charging position.

[0211] In some embodiments, when the pool robot is placed at a base station to perform charging or cleaning operations, the positioning of the pool robot may be off, resulting in a positional misalignment between the charging receiver of the pool robot and the charging component of the base station, or a misalignment between the third opening of the pool robot and the third inlet of the second filter box, affecting the charging or cleaning operation. The base station body or the pool robot can be adjusted relative to the base station body to position the pool robot suitable for charging or cleaning (e.g., aligning the charging receiver of the pool robot with the charging component), facilitating subsequent charging or cleaning in the correct position. This reduces the user's operational complexity, ensures the pool robot performs charging or cleaning operations without positional deviation, and improves the accuracy of the corresponding operations.

[0212] For example, referring to the above embodiments, the pool robot can use the user's initial placement position as its docking position, and then adjust from the docking position to a cleaning position or a charging position based on the operation to be performed. As shown in the following embodiments, the pool robot and / or the base station body are equipped with a positioning detection component. The base station body or the pool robot can determine whether the user's initial placement position deviates from the cleaning or charging position based on the positioning detection component and / or the detection of whether the pool robot's movement is restricted. If a deviation exists, the position of the pool robot relative to the base station is adjusted; if no position deviation exists, the pool robot does not need to perform position adjustment, i.e., the docking position overlaps with the cleaning position or the charging position, and the cleaning or charging operation can be performed at that position.

[0213] When the pool robot moves from its current position to another desired location, it can be adjusted to a position suitable for movement on the base station body at the current position (e.g., to correct any deviation in the pool robot's orientation), or adjusted to a position suitable for movement on the base station body during the movement, so as to accurately move to the other desired location.

[0214] In some embodiments, a position detection component is provided on the pool robot and / or base station body to detect whether the pool robot has reached at least one of the charging position, cleaning position, and parking position; the position detection component may include a position sensor and a sensed element that cooperates with the position sensor, such as a Hall sensor for the position sensor and a magnetic element for the sensed element, or a light receiver for the position sensor and a light emitter for the sensed element; or the position detection component may only include a position sensor, such as a vision sensor, a position switch, a capacitive-inductive sensor, etc.

[0215] In one specific embodiment, the cleaning system includes at least one of a first positioning detection component and a second positioning detection component, both used to detect whether the pool robot has reached the charging position. The first and second positioning detection components differ in at least one aspect, such as type or location. For example, the first positioning detection component may include a Hall sensor mounted on the pool robot and a magnetic component mounted on the base station body, or a Hall sensor mounted on the base station body and a magnetic component mounted on the pool robot; the second positioning detection component includes a positioning switch (e.g., a microswitch) mounted on the base station body and a mating component mounted on the pool robot (for triggering the positioning switch), or a positioning switch mounted on the pool robot and a mating component mounted on the base station body. Specifically, when the magnetic component or the positioning switch is mounted on the base station body, the magnetic component may be located near or within the charging position, and the positioning switch may be located on or near the charging component. The second positioning detection component can be set individually or in multiples according to actual needs. For example, when the charging component includes charging electrodes, a second positioning detection component can be set near each charging electrode; or, the base station body is equipped with at least two second positioning detection components, each of which corresponds to the side of the pool robot. Specifically, when the pool robot is about to approach or is located at the charging position, at least one side of the pool robot contacts the second positioning detection component. For example, the left side of the pool robot contacts one of the second positioning detection components, and the right side contacts the other.

[0216] If the cleaning system includes a first positioning detection component and a second positioning detection component, and both the first positioning detection component and at least one second positioning detection component detect a state change, then the pool robot can be considered to be actually in the charging position. If only the first positioning detection component detects a state change, there may be a false alarm, for example, the pool robot may come into contact with other magnetic components outside the charging position. If only the second positioning detection component detects a state change, the pool robot may be in a powered-off state. If it can be determined that the pool robot is in a powered-off state, further methods can be used to assist in determining whether the pool robot is in position, such as detecting whether there is an impedance value on the charging component. If there is, it indicates that the pool robot has reached the charging position. If only the second positioning detection component detects a state change, and the pool robot is in a powered-on state, there is a possibility that the first positioning detection component is pressed by other foreign objects. In this case, the user can be prompted to clean it, or the pool robot or the base station itself can actively clean the foreign object.

[0217] In one specific embodiment, the cleaning system includes at least one of a third positioning detection component and a fourth positioning detection component, both used to detect whether the pool robot has reached the cleaning position. The third and fourth positioning detection components differ in at least one aspect, such as type or location. For example, the third positioning detection component may include a Hall sensor mounted on the pool robot and a magnetic component mounted on the base station body; the fourth positioning detection component includes a positioning switch (e.g., a microswitch) mounted on the base station body and a mating component on the pool robot (for triggering the positioning switch). Specifically, the magnetic component and / or the positioning switch may be located near or within the cleaning position. One or more fourth positioning detection components may be used depending on actual needs. If both the third positioning detection component and at least one fourth positioning detection component detect a change in state, the pool robot is considered to be actually in the cleaning position.

[0218] In one specific embodiment, a first and / or second positioning detection component can be used to assist in determining whether a cleaning position has been reached. For example, if the pool robot is initially in the charging position and then moves from the charging position to the cleaning position, and the first and / or second positioning detection components have confirmed that the pool robot was previously in the charging position, then when the third or fourth positioning detection component detects the change in state, it can be considered that the pool robot is actually in the cleaning position. This further improves the accuracy of positioning detection.

[0219] In one specific embodiment, detecting whether the pool robot has reached the cleaning position can also be aided by detecting whether its movement is restricted. A limit device, such as a baffle or support, is provided at the cleaning position. When the pool robot moves in the cleaning position, it will be restricted from continuing to move forward by touching the limit device. When it is detected that the pool robot's movement is restricted (for example, by detecting whether the current of the drive motor of the pool robot's walking mechanism is continuously greater than the normal operating current value), and when the third or fourth positioning detection component detects a change in state, the control component on the base station body can determine that the pool robot is actually in the cleaning position, thereby further improving the accuracy of positioning detection.

[0220] In some embodiments, a first nozzle is movably mounted on the base station body, having an extended position and a retracted position; when the nozzle is in the extended position, it sprays liquid to clean the first filter box, and when the nozzle is in the retracted position, it does not interfere with the pool robot's arrival at or departure from the cleaning position. When the first nozzle is in the extended position, it is controlled to spray liquid to clean the first filter box, and the debris in the first filter box enters the second filter box through the third opening and the third inlet.

[0221] After cleaning the first filter cartridge, control the first nozzle to switch from the extended position to the retracted position. Alternatively, when it is determined that the pool robot needs to leave the cleaning location of the base station, control the first nozzle to switch from the extended position to the retracted position. This avoids the first nozzle interfering with the pool robot's arrival or departure from the cleaning location.

[0222] When a baffle is installed at the fourth inlet, the baffle can be moved to open the fourth inlet before the first nozzle is switched from the retracted position to the extended position.

[0223] After cleaning the first filter cartridge, the baffle can be moved to close the fourth inlet. Alternatively, the baffle can be moved to close the fourth inlet when it is determined that the pool robot needs to leave the cleaning position of the base station. For example, the baffle can be moved to close the fourth inlet after the first nozzle is switched to the storage position, to avoid the first nozzle interfering with the movement of the baffle, or the baffle interfering with the movement of the first nozzle.

[0224] For example, when the pool robot stops in the cleaning position, the first nozzle is controlled to move from the retracted position to the extended position, so as to extend into the first body. The pool robot can move from the non-cleaning position to the cleaning position and can be placed in the cleaning position. When the pool robot has stopped in the cleaning position, the first nozzle is controlled to move from the retracted position to the extended position, so as to extend into the first body of the pool robot. At this time, the fourth inlet can be opened in advance, or the fourth inlet can be opened by the first nozzle pushing against the baffle plate; this embodiment does not limit this.

[0225] In some embodiments, when the pool robot stops at the cleaning position, the baffle is first moved to open the fourth inlet; then, the first nozzle is moved from the retracted position to the extended position to enter the first body. The first nozzle can be moved from the retracted position to the extended position after the pool robot stops at the cleaning position, allowing it to enter the first body of the pool robot solely through its own movement. Furthermore, opening the fourth inlet before moving the first nozzle when the pool robot stops at the cleaning position avoids contact between the first nozzle and the baffle, thereby reducing the risk of damage to the first nozzle or the baffle if the baffle is in a locked state.

[0226] In some embodiments, when the pool robot stops at a non-clean position, it is first controlled to move from the non-clean position to a clean position; the baffle is controlled to move to open the fourth inlet; and the first nozzle is controlled to move from a retracted position to an extended position to insert into the first body. The non-clean position is a location other than the clean position on the base station, such as a charging position, or a location other than both the charging and cleaning positions. First, the pool robot is controlled to move from the non-clean position to the clean position. During the movement or after the pool robot has moved to the clean position, the baffle is controlled to move to open the fourth inlet. During the opening of the fourth inlet or when it is fully open, the first nozzle is controlled to move from the retracted position to the extended position to insert into the first body of the pool robot. Alternatively, while the pool robot is stopped at a non-clean position or moving from a non-clean position to a clean position, the baffle is controlled to move to open the fourth inlet, and then the pool robot is controlled to move to the clean position, and the first nozzle is controlled to move from the retracted position to the extended position to insert into the first body.

[0227] In some embodiments, the first nozzle is stationary relative to the base station. Controlling the movement of a baffle to open the fourth inlet of the pool robot, and controlling the movement of the pool robot to allow the first nozzle to pass through the fourth inlet and extend into the first body, includes: when the pool robot is stopped at a non-clean position of the base station, controlling the movement of the baffle to open the fourth inlet; controlling the pool robot to walk from the non-clean position to a clean position so that the first nozzle passes through the fourth inlet and extends into the first filter box.

[0228] When the first nozzle is stationary relative to the base station, the pool robot can initially stop at a non-clean position on the base station. If the pool robot moves to or is placed in a non-clean position, during or when the fourth inlet is fully open, the robot can be controlled to move from the non-clean position to the clean position. This allows the first nozzle to pass through the fourth inlet and enter the first filter box when the robot reaches the clean position. This improves the design flexibility of the baffle movement structure when the fourth inlet is open and prevents interference between the pool robot and the first nozzle when the robot is placed in or leaves the clean position. Similarly, after the first filter box is cleaned, the pool robot can be controlled to move from the clean position to the non-clean position, closing the fourth inlet during the movement or at the non-clean position.

[0229] In the above embodiments, the movement of the baffle and the first nozzle can also be manually operated by the user. Whether the baffle and the first nozzle have moved into position can be detected by a detection mechanism. The detection principle can be referred to the opening and closing of the first cover, which will not be elaborated here. Subsequent actions can be performed after confirming that the baffle and the first nozzle have moved into position. If the detection mechanism fails to detect that the baffle or the first nozzle has moved into position after a preset time, the base station or the pool robot can issue an abnormality prompt to the user.

[0230] In some embodiments, when the cleaning position and the charging position are the same position, when the pool robot stops at the cleaning position, the first nozzle is controlled to spray liquid to clean the first filter box; and when the pool robot stops at the charging position, the charging component on the base station is controlled to charge the pool robot, including: after the first nozzle sprays liquid to clean the first filter box, the charging component is then controlled to charge the pool robot.

[0231] When the cleaning and charging locations are the same, the first filter box can be cleaned first at that location. After cleaning is complete or after a period of time, the charging component can then be used to charge the pool robot. If the pool robot is charged first, the charging time is relatively long, which may cause the debris in the first filter box to dry out. Dry debris is more likely to stick inside the first filter box, increasing the difficulty of cleaning. By cleaning the first filter box first, the debris inside is cleaned while it is still damp, improving the cleaning effect of the first filter box.

[0232] In some embodiments, when the cleaning position and the charging position are the same, controlling the charging component on the base station to charge the pool robot includes: controlling the charging component to charge the pool robot during the process of cleaning the first filter box through the first nozzle.

[0233] By charging the pool robot while cleaning the first filter box, compared to cleaning the first filter box first and then charging the pool robot, or vice versa, it saves overall time and effectively improves the user experience.

[0234] In some embodiments, when the cleaning position and the charging position are the same position, when the pool robot stops at the cleaning position, the first nozzle is controlled to spray liquid to clean the first filter box; and when the pool robot stops at the charging position, the charging component on the base station is controlled to charge the pool robot, including: after the charging component is controlled to charge the pool robot, the first nozzle is controlled to clean the first filter box.

[0235] When the cleaning and charging positions are the same, the charging component can be controlled to charge the pool robot first at that position. After charging is complete or after a period of charging, the first filter box can be cleaned. This avoids the pool robot being unable to perform operations such as opening the cover due to low or depleted battery, which would affect the cleaning of the first filter box.

[0236] For example, after the pool robot switches from the pool to the base station, if the pool robot's battery level is greater than or equal to a first preset threshold, the first nozzle is controlled to spray liquid to clean the first filter box. The preset threshold is the amount of power required to complete the cleaning of the first filter box. The pool robot may run out of power or have low power in the pool. To prevent the pool robot from being unable to perform operations such as opening the cover due to low or depleted power, which would affect the cleaning of the first filter box, the first filter box is cleaned first when the power is sufficient. Cleaning the debris in the first filter box while it is still damp ensures effective cleaning.

[0237] Before controlling the first nozzle to spray liquid to clean the first filter box, if the pool robot's battery level is below a first preset threshold, the charging component can be controlled to perform an initial charge on the pool robot. This allows the first nozzle to spray liquid to clean the first filter box when the pool robot has a battery level above the first preset threshold. For example, if the pool robot has a battery level above the first preset threshold, a prompt can be issued to the user, prompting the user to promptly trigger the cleaning command for the first filter box. Alternatively, if the user has pre-triggered the cleaning command for the first filter box, and the pool robot's battery level is below the first preset threshold, the base station will first charge the pool robot. Once the pool robot has a battery level above the first preset threshold, it will automatically begin cleaning the first filter box.

[0238] While controlling the first nozzle to spray liquid to clean the first filter box, the charging component can be controlled to stop charging the pool robot, and then continue charging the pool robot after cleaning is completed.

[0239] After the first filter box is cleaned by the first nozzle, the charging component is controlled to charge the pool robot a second time if the battery level of the pool robot is less than the second preset threshold. The second preset threshold is the amount of power required to support the pool robot in performing pool cleaning operations, ensuring that the pool robot has sufficient power when performing pool cleaning.

[0240] In some embodiments, when the cleaning position and the charging position are different, the pool robot returns from the cleaning position to the charging position after cleaning the first filter box via the first nozzle. When the charging position and the cleaning position are different, the pool robot can first be in the charging position, then move from the charging position to the cleaning position, and after cleaning the first filter box in the cleaning position, return to the charging position. When the pool robot is in the charging position, it can choose to charge itself or not, depending on the situation. That is, charging can be performed before, after, or both before and after cleaning the first filter box, thus improving the flexibility of the pool robot's charging process.

[0241] In some embodiments, when the cleaning position and the charging position are different positions, before controlling the pool robot to walk from the charging position to the cleaning position, the charging component is first controlled to charge the pool robot for the first time; after the first charging is completed, the pool robot is controlled to walk from the charging position to the cleaning position; after the first filter box is cleaned by the first nozzle, the pool robot is controlled to return from the cleaning position to the charging position; and the charging component is controlled to charge the pool robot for the second time.

[0242] The pool robot is charged both before and after cleaning the first filter box using the first nozzle. Charging methods may include, but are not limited to, preset charging time, preset charge level, or charging until a target charge level is reached. The charging methods for the first and second charges may be the same or different. For example, the preset charging time for the first charge may be less than or equal to the preset charging time for the second charge; the preset charge level for the first charge may be less than or equal to the preset charge level for the second charge; or the target charge level for the first charge may be less than or equal to the target charge level for the second charge.

[0243] In some specific implementations, the first charge is short, ensuring the pool robot has sufficient power to perform subsequent operations on the base station (e.g., walking from the charging position to the cleaning position, controlling the movement of the baffle). The second charge is longer, charging the pool robot to the level required for the cleaning task or fully charging it. Refer to the above embodiments for details. The first preset threshold can be the power required to clean the first filter box and the power required for the pool robot to move between the charging and cleaning positions. By charging the pool robot briefly before cleaning the first filter box, sufficient power is provided to clean it, and the debris inside the filter box is cleaned while still damp, improving the cleaning effect.

[0244] In some embodiments, the base station is further provided with a drying component; the control method further includes: controlling the drying component to blow air onto the charging component to dry or air-dry the charging component. Before or during the charging process of the pool robot, the charging component can be dried or air-dried by the drying component to avoid problems such as reduced charging efficiency or damage to the pool robot or the charging component caused by residual moisture in the charging component.

[0245] In one specific implementation, when the pool robot is charged more than once, the above-mentioned blowing process can be performed before or during each charge.

[0246] In some embodiments, the pool robot further includes a floating and diving mechanism; the method further includes: when the pool robot stops at a cleaning position and water is present in the float cavity of the floating and diving mechanism, controlling the first adjusting component of the floating and diving mechanism to open for a preset time to drain the liquid in the float cavity. The drainage of the float cavity can be performed by the first adjusting component inside the pool robot (e.g., an air pump, water pump, etc.), or by a mechanism on the base station body (e.g., a drainage structure provided on the base station body).

[0247] By draining water from the float chamber, the weight of the pool robot is reduced, thus lessening the burden on the user when retrieving the robot and reducing power consumption caused by its weight. Furthermore, the robot does not need to be pre-drained before performing surface tasks, improving the efficiency of these tasks.

[0248] In one specific implementation, the presence of water in the float cavity can be determined based on the location of the pool robot before it returns to the base station. If the pool robot was on the surface of the pool and floating before returning to the base station, the water in the float cavity has usually been drained, and there is no need to repeat the draining process. If the pool robot was on the surface of the pool and the float cavity was being drained before returning to the base station, there may be some water remaining in the float cavity, and draining the float cavity is necessary. If the pool robot was in the water or at the bottom of the pool before returning to the base station, there may still be water in the float cavity, and draining the float cavity is necessary.

[0249] In one specific implementation, when the pool robot is performing buoyancy drainage outside the pool, it can prompt the user through any means such as voice, text, or images to indicate that it is currently in the buoyancy drainage stage, thus preventing the user from misjudging that the pool robot is malfunctioning.

[0250] In some embodiments, the method further includes: when the pool robot stops at the cleaning position, the float cavity of the buoyancy and submersion mechanism is a flexible float cavity, and there is gas in the float cavity, controlling the first adjusting member of the buoyancy and submersion mechanism to open for a preset time to expel the gas in the float cavity.

[0251] The venting of the floating cavity can be performed by the first adjusting component inside the pool robot (such as an air pump or water pump), or by a mechanism on the base station body (such as an venting structure set on the base station body).

[0252] By expelling the gas from the float cavity, the risk of the pool robot colliding with or even being punctured by other structures within the first body due to the presence of gas in the float cavity during a collision can be avoided.

[0253] In some embodiments, the control method further includes: after the first nozzle retracts from the first body, controlling a baffle to move to block the fourth inlet. By controlling the movement of the baffle to block the fourth inlet, debris is prevented from entering the first body from the fourth inlet; and when the baffle at least partially protrudes from the first body, controlling the baffle to move to the position blocking the fourth inlet prevents damage to the baffle.

[0254] In one specific embodiment, if the first nozzle is moved to retract from the first main body, after the first nozzle retracts from the first main body, the pool robot can control the movement of the baffle at the cleaning position to block the fourth inlet.

[0255] When the cleaning position and the charging position are different, after the first nozzle exits the first main body, the pool robot is controlled to move from the cleaning position to the charging position, and the baffle is controlled to move in the charging position to block the fourth inlet.

[0256] In some embodiments, the base station further includes: a third receiving cavity disposed on the base station body; a fourth opening disposed on the base station body and communicating with the third receiving cavity, the fourth opening being located above at least a portion of the third inlet; a first bottom cover rotatably disposed on the first frame of the first filter box, the first bottom cover rotating outward toward the first body of the pool robot, at least a portion of the first bottom cover extending into the fourth opening to open the third opening; and waste in the first filter box falling into the second filter box through the third opening, the fourth opening, and the third inlet.

[0257] The first bottom cover is rotatably disposed on the first frame of the first filter box. Under the weight of the first bottom cover and the weight of the garbage and liquid inside the first filter box, the first bottom cover rotates outward from the first main body, or is controlled to move outward from the first main body. After rotation, at least a portion of the first bottom cover extends into the fourth opening to open the third opening; wherein, at least a portion of the first bottom cover may extend only into the fourth opening without extending into the third inlet, or may extend into both the fourth opening and the third inlet.

[0258] After the third opening is partially or fully opened, the waste in the first filter box falls into the second filter box through the third opening, the fourth opening, and the third inlet.

[0259] In some embodiments, the third opening is at least partially located at the bottom of the first filter box; when the first bottom cover moves to open the third opening, since the third opening is located at the bottom of the first filter box, the waste in the first filter box can pass through the third opening under the action of gravity and enter the second filter box located below the first filter box through the fourth opening and the third inlet, without the need for additional suction of the waste, which improves the convenience of the waste leaving the first filter box and entering the second filter box and reduces the energy consumption of the cleaning process of the first filter box.

[0260] In some embodiments, the base station further includes a second cover (not shown in the figure) for covering the fourth opening and opening the fourth opening.

[0261] For example, when the pool robot is not yet on the base station and the fourth opening is open to the outside, the second cover is placed over the fourth opening, at least partially blocking it. This prevents dust, fallen leaves, branches, or rainwater from falling into the second filter box and the third receiving cavity, thus protecting them. Before the pool robot stops on the base station, the second cover opens the fourth opening to allow the robot to stop, and debris from the first filter box enters the second filter box through the fourth opening. Alternatively, the second cover opens the fourth opening after the pool robot stops on the base station. For instance, after receiving a command to clean the first filter box, the control component controls the second cover to open the fourth opening. After cleaning the first filter box is completed, the control component controls the second cover to close the fourth opening.

[0262] Alternatively, in other embodiments, the second cover can not only cover the fourth opening, but also other structures located around the fourth opening. For example, the fourth opening is located on the resting surface of the base station body, and the sliding seat of the unlocking mechanism is located on the resting surface of the base station body and outside the fourth opening. While covering the fourth opening, the second cover can also cover the sliding seat, preventing dust, fallen leaves, branches, or rainwater from falling on the sliding seat and affecting the lifting and lowering movement of the unlocking component on the sliding seat.

[0263] In other embodiments, the charging component of the charging assembly protrudes from the resting surface; the second shielding cover can also shield the charging component. For example, the second shielding cover covers both the positive and negative charging components, preventing liquids in the environment (e.g., rainwater or water sprayed from a sprinkler) from falling onto the charging components when the base station is placed outdoors, thus reducing the probability of electrolysis of the positive charging component and protecting it. Alternatively, the second shielding cover can shield the positive charging component but not the negative charging component.

[0264] Alternatively, in other embodiments, the second shielding cover can block the entire landing surface of the base station, thereby preventing dust, leaves, branches, and other debris, as well as liquids from the environment, from falling onto the landing surface, thus maintaining the entire landing surface. The landing surface is the upper or top surface of the base station body, for the pool robot to dock.

[0265] In some embodiments, the second cover is slidably or rotatably disposed on the base station body to block the fourth opening and open the fourth opening. Alternatively, the second cover is neither slidably nor rotatably connected to the base station body. When it is necessary to block the fourth opening, the second cover is placed on the fourth opening to block it; when it is not necessary to block the fourth opening, the second cover is removed from the fourth opening.

[0266] The pool robot rests on the base station body. The first nozzle, first filter box, second filter box, and drainage assembly are sequentially fluidly connected to form a cleaning water path for cleaning the first filter box. In some embodiments, as shown in Figure 24, the drainage assembly includes at least one second drive component 2000266, located on the cleaning water path and downstream of the second filter box, used to drive the filtered liquid from the second filter box to drain out of the base station body. For example, the second drive component is a water pump. Because the water flow rate from the first nozzle is large during cleaning, if the liquid is not drained smoothly or slowly from the base station without a drainage drive in the cleaning water path, it may overflow from gaps in the upper or side parts of the base station, affecting the user experience. In this embodiment, by further setting a drainage assembly in the cleaning water path, the liquid can be drained quickly from the second filter box. By setting the second drive component downstream of the cleaning water path, the drainage of liquid from the second filter box can be accelerated, reducing the probability of the above phenomenon occurring.

[0267] When a drain assembly is installed in the cleaning water path, the drain assembly can be controlled to operate simultaneously with, before, or after the first nozzle sprays liquid. The drain assembly can be controlled to stop operating after a third preset time after the first nozzle returns to its retracted position; alternatively, the drain assembly can be controlled to stop operating simultaneously with or before the first nozzle returns to its retracted position (e.g., when the first nozzle stops spraying liquid).

[0268] Alternatively, if a drainage component is installed in the cleaning water path, the drainage component can be controlled to operate simultaneously with the opening of the third opening of the first bottom cover, or before the opening of the third opening of the first bottom cover, or after a second preset time period following the opening of the third opening of the first bottom cover. The drainage component can be controlled to stop operating after a third preset time period following the closing of the third opening of the first bottom cover; or, the drainage component can be controlled to stop operating simultaneously with the closing of the third opening of the first bottom cover, or before the closing of the third opening of the first bottom cover.

[0269] During the operation of the drainage assembly, abnormalities can be detected. If an abnormality occurs, the drainage assembly can be shut down and an abnormality warning will be issued. The cleaning task can also be stopped, such as controlling the first nozzle to stop spraying liquid. If the drainage assembly includes a water pump, it can detect whether the water pump is running dry. If the number of dry runs exceeds a preset value, the water pump will be shut down, indicating an abnormality in the drainage assembly.

[0270] In the embodiments of this specification, components that need to move between different positions, such as levers, push rods, first nozzles, second baffles, first bottom covers, etc., can be equipped with position detection elements (such as Hall effect sensors, position switches, etc.) to detect whether each component has moved to the correct position. If it fails to move to the correct position, an abnormality prompt can be issued. And / or, a movement duration can be set for the movement of each component. When the required movement duration is reached, the component is considered to have moved to the correct position. Alternatively, when the required movement duration is reached, the detection result of the position detection element can be combined. If the position detection element fails to detect that the component has moved to the correct position, an abnormality prompt can be issued. And / or, for components that need to move under motor drive, such as levers, push rods, first nozzles, second baffles, etc., a motor stall detection can be provided. After the motor stalls for a specified duration, the motor can be controlled to stop running, and an abnormality prompt can be issued.

[0271] It can also monitor whether the liquid sprayed by the first nozzle is abnormal, whether the liquid drainage component is working abnormally, and can issue an abnormality prompt when an abnormality occurs.

[0272] In case of an abnormality, cleaning of the first filter box can be stopped. When cleaning of the first filter box is stopped, at least some components can also be controlled to return to the position before cleaning of the first filter box was initiated.

[0273] In some embodiments, an automatic detection task may be performed before cleaning the first filter box to automatically detect the operating status of at least one component in the base station, so as to ensure that all components in the base station are operating normally before the first filter box is cleaned.

[0274] For example, the automatic detection task may include at least one of the following: controlling the movement of the first nozzle between a retracted position and an extended position (e.g., controlling the first nozzle to move from the retracted position to the extended position, and / or controlling the first nozzle to move from the extended position to the retracted position), controlling the movement of the push rod between an extended state and a retracted state (e.g., controlling the push rod to move from the extended state to the retracted state, and / or controlling the push rod to move from the retracted state to the extended state), and controlling the movement of the lever between a fourth position and a fifth position (controlling the lever to move from the fifth position to the fourth position, and / or controlling the lever to move from the fourth position to the fifth position). And / or, the automatic detection task may include at least one of the following: detecting whether the first nozzle is located in a preset position (e.g., the extended position or the retracted position), detecting whether the push rod is located in a preset state (e.g., the extended state or the retracted state), and detecting whether the lever is located in a preset position (e.g., the fourth position, or the fifth position, or a specified position between the fourth and fifth positions). When the motion and / or position detection items are normal, the corresponding component is considered to be operating normally; when the motion and / or position detection items are abnormal, the corresponding component is considered to be operating abnormally.

[0275] Automatic detection tasks may also include: detecting whether the liquid sprayed by the first nozzle is abnormal, whether the drainage component is malfunctioning, etc.

[0276] For example, an automatic detection task can be initiated at least once after the base station establishes an electrical connection with an external power source, once after the base station is powered on, or at least once before each cleaning of the first filter box. The automatic detection task can be triggered via buttons on the base station and / or the pool robot, via a smart terminal, or based on a preset duration; the triggering method is unrestricted. For instance, after the base station establishes an electrical connection with an external power source, if a cleaning task for the first filter box is received, it can first determine whether an automatic detection task has already been performed since the electrical connection was established. If an automatic detection task has been performed and all components are functioning normally, then there is no need to perform another automatic detection task, and cleaning of the first filter box can begin. If no automatic detection task has been performed, or if there was a component malfunction in the previous automatic detection task, then the automatic detection task is initiated, and cleaning of the first filter box begins if all components are functioning normally. If a component in the base station malfunctions during the automatic detection process, an error message can be issued so that the user can handle it promptly.

[0277] In some embodiments, cleaning the first filter cartridge may have at least one cleaning configuration. The cleaning configuration may include at least one of the following: cleaning duration for cleaning the first filter cartridge; timing of the first nozzle moving to the extended position and the retracted position; timing of the first nozzle starting to spray liquid and stopping liquid spraying; duration of liquid spraying; amount of liquid sprayed per unit time; timing of the first bottom cover opening / closing the third opening; timing of the push rod moving to the extended state and the retracted state; timing of the lever starting to move, ending to move, and the position reached by the lever; timing of the fourth inlet being opened by the cover and closing by the cover; timing of the drainage assembly starting to drain liquid and ending to drain, etc. By pre-configuring the operating timing, duration, and position of each component, the operation of each component can better meet the cleaning requirements of the first filter cartridge, improving the cleaning effect of the first filter cartridge.

[0278] The cleaning configuration for cleaning the first filter box can be determined based on at least one of the following information: the amount and / or type of debris in the first filter box, the cleaning records of the pool robot (such as the cleaning path of the pool robot (which area of ​​the pool bottom, surface, or walls is being cleaned based on the cleaning path), cleaning duration, etc.), the distribution of dirt in the pool and the turbidity of the water when the pool robot is cleaning (e.g., during the leaf fall season, there are many leaves in the pool; during initial cleaning, the amount of debris in the pool is large and the liquid is relatively turbid; or, sensors on the pool robot can be used to detect the distribution of dirt and the turbidity of the water in the pool). By pre-configuring the operating sequence, duration, and movement position of each component, and further selecting the cleaning configuration for cleaning the first filter box based on the cleaning information of the pool robot, the operation of each component can be made more in line with the cleaning needs of the first filter box, improving the cleaning effect and efficiency of the first filter box.

[0279] Alternatively, at least one cleaning mode for the first filter cartridge can be set on the smart terminal, and / or pool robot, and / or base station, with different cleaning configurations for each cleaning mode. For example, a cleaning mode selection interface can be displayed on the smart terminal's screen, showing at least one cleaning mode, as well as the applicable scenarios for each cleaning mode, the corresponding cleaning configuration, etc. The user can select the corresponding cleaning mode as needed on this interface, so that the base station can perform cleaning of the first filter cartridge according to the user's selection.

[0280] For example, the cleaning modes can include a first cleaning mode, a second cleaning mode, and a third cleaning mode. The first cleaning mode is suitable when the pool robot's cleaning time is short or the waste type is simple. In the first cleaning mode, the base station cleans the first filter box for the first cleaning time. The second cleaning mode is suitable when the pool robot's cleaning time is long or the waste type is complex. In the second cleaning mode, the base station cleans the first filter box for the second cleaning time, which is longer than the first cleaning time. The third cleaning mode is suitable for the leaf-falling season or land reclamation scenarios. In the third cleaning mode, the base station cleans the first filter box for the third cleaning time, which is longer than the second cleaning time. Users can select the cleaning mode as needed on the smart terminal, and / or the pool robot, and / or the base station, so that the base station cleans the first filter box based on the cleaning configuration corresponding to the selected cleaning mode. It should be noted that the first, second, and third cleaning modes are not only different in cleaning time; referring to the above embodiments, the operating parameters of each component may also differ, which will not be elaborated here.

[0281] Based on the solutions shown in the above embodiments, this specification also provides a control method for a base station, wherein the base station performs cleaning operations on at least the pool robot. The control method can be applied to the control components of the base station.

[0282] In some embodiments, the base station may include: a base station body; a first nozzle movably disposed on the base station body; a second filter box disposed on the base station body; the second filter box having a third inlet, the third inlet serving as an entry point for waste into the second filter box. The pool robot may include: a first filter box, at least partially located within a first body of the pool robot; a third opening disposed in the first filter box; and a first bottom cover configured to open or close the third opening.

[0283] The base station body has a cleaning position. When the pool robot stops in the cleaning position, the first nozzle sprays liquid to clean the first filter box. The first nozzle has an extended position and a retracted position. When the nozzle is in the extended position, it sprays liquid to clean the first filter box. When the nozzle is in the retracted position, it does not interfere with the pool robot's arrival or departure from the cleaning position.

[0284] Upon receiving a cleaning instruction for the pool robot, the robot controls the first nozzle to switch from the retracted position to the extended position. When the first nozzle is in the extended position, the robot controls the first nozzle to spray liquid to clean the first filter box. The debris in the first filter box enters the second filter box through the third opening and the third inlet.

[0285] In some embodiments, after cleaning the first filter box is completed, the first nozzle is controlled to switch from the extended position to the retracted position; or, when it is determined that the pool robot needs to leave the cleaning position of the base station, the first nozzle is controlled to switch from the extended position to the retracted position.

[0286] By controlling the movement of the first nozzle, the complexity of controlling the arrival or departure of the pool robot from the base station when it performs cleaning can be reduced.

[0287] In some embodiments, the pool robot may further include a fourth inlet; when the first nozzle is in the extended position, the first nozzle extends into the first body through the fourth inlet; or, when the first nozzle is in the extended position, the first nozzle is outside the first body, and the liquid sprayed by the first nozzle enters the first body through the fourth inlet. Cleaning the first filter box inside the first body can reduce water splashing. At the same time, by utilizing the gap between the first body and the first filter box, the impact of the water flow on the first filter box can be further enhanced, improving the cleaning effect; and the gap between the first body and the first filter box can also be cleaned.

[0288] In some embodiments, the pool robot also includes a baffle configured to open or close a fourth inlet. The baffle is moved to open the fourth inlet before the first nozzle is switched from a retracted position to an extended position. Keeping the baffle closed before cleaning prevents debris from flowing out of the fourth inlet and providing a poor user experience. Opening the baffle before cleaning, followed by moving the first nozzle, avoids interference between the baffle and the first nozzle during movement, reducing the probability of abnormal situations.

[0289] In some embodiments, after cleaning the first filter cartridge is completed, the baffle is controlled to move to close the fourth inlet; or, when it is determined that the pool robot needs to leave the cleaning position of the base station, the baffle is controlled to move to close the fourth inlet. The baffle is controlled to move to close the fourth inlet after the first nozzle has switched to the storage position. Controlling the first nozzle to move first after cleaning, and then controlling the baffle to open, can avoid interference between the baffle and the first nozzle during movement, reducing the probability of abnormal situations.

[0290] In some embodiments, the pool robot also includes a locking mechanism for locking the first bottom cover to the first frame of the first filter box, thereby closing the third opening. The base station or pool robot also includes an unlocking mechanism for releasing the locking mechanism from the first bottom cover. Controlling the unlocking mechanism to release the locking mechanism from the first bottom cover allows the first bottom cover to move and open the third opening. Locking the first bottom cover with the locking mechanism before cleaning prevents debris from the pool robot from flowing out of the third opening, polluting the environment, and providing a poor user experience.

[0291] In some embodiments, the third opening is at least partially located at the bottom of the first filter box; the first nozzle is controlled to spray liquid for a first preset duration to clean the first filter box; after the first preset duration, the unlocking mechanism is controlled to release the locking mechanism from the first bottom cover, so that the first bottom cover moves under the weight of the first bottom cover and / or at least the weight of the garbage and liquid in the first filter box, opening the third opening. As shown in the above embodiments, opening the third opening after spraying liquid for a period of time can further improve the cleaning effect. Alternatively, the unlocking mechanism is first controlled to release the locking mechanism from the first bottom cover, so that the first bottom cover moves under the weight of the first bottom cover and / or at least the weight of the garbage and liquid in the first filter box, opening the third opening; then the first nozzle is controlled to spray liquid for a first preset duration to clean the first filter box.

[0292] In some embodiments, the base station or pool robot is also equipped with a closing mechanism. This closing mechanism drives the first bottom cover to move, thereby closing the third opening. After cleaning the first filter box is completed, the closing mechanism is controlled to drive the first bottom cover to move, thereby closing the third opening. For example, when conditions such as the duration of liquid spraying from the first nozzle meets a preset duration, the cleanliness of the first filter box reaches a preset requirement, or the second filter box is full of debris (e.g., this can be determined by using a camera to photograph the second filter box), the cleaning of the first filter box is determined to be fully or partially completed. The closing mechanism is then controlled to drive the first bottom cover to move, thereby closing the third opening. After the third opening is closed, the pool robot or base station can more flexibly perform subsequent actions, avoiding interference from the first bottom cover.

[0293] In some embodiments, the base station can perform at least one cleaning action on the first filter box. In each cleaning action, the duration of liquid spraying from the first nozzle, the duration the third opening remains open, and the duration of lever movement can be the same or different. Similarly, the timing of liquid spraying from the first nozzle, the opening or closing of the third opening of the first bottom cover, the start or end of lever operation, and the position of the lever movement can also be the same or different. For example, a cleaning action may include: controlling the first nozzle to spray liquid to clean the first filter box; after a first preset time, controlling the unlocking mechanism to release the locking mechanism from the first bottom cover, so that the first bottom cover moves under the weight of at least the debris and liquid inside the first filter box, opening the third opening; and after a second preset time, controlling the first nozzle to stop spraying liquid to clean the first filter box, where the second preset time is longer than the first preset time.

[0294] The base station or pool robot is also equipped with a closing mechanism, which drives the first bottom cover to move and close the third opening. Correspondingly, after completing one cleaning action, the closing mechanism is controlled to drive the first bottom cover to lock it onto the first frame of the first filter box, closing the third opening. If there are subsequent cleaning actions, referring to the above embodiment, liquid can be stored in the first filter box, further improving the cleaning effect of subsequent cleaning actions. Closing the third opening promptly after no further cleaning actions are performed allows the pool robot or base station to perform subsequent actions more flexibly, avoiding interference from the first bottom cover.

[0295] The closing mechanism is located on the base station and includes a drive component and a push component. The drive component drives the push component to switch between an extended state and a retracted state. The push component switches from the retracted state to the extended state, pushing the first bottom cover to close the third opening. After one cleaning operation is completed, if it is determined that the base station still needs to perform a cleaning operation on the first filter box, the push component is kept in the extended state; if it is determined that the base station does not need to perform a cleaning operation on the first filter box, the push component switches from the extended state to the retracted state. If there are subsequent cleaning operations, keeping the push component in the extended state maintains pressure on the first bottom cover, preventing it from accidentally opening during cleaning. If there are no subsequent cleaning operations, promptly switching the push component to the retracted state prevents it from interfering with the subsequent actions of the pool robot or the base station.

[0296] In some embodiments, after a cleaning operation is completed, if it is determined that the base station still needs to perform a cleaning operation on the first filter box, the method further includes: while the pushing component is kept in the extended state, controlling the first nozzle to spray liquid for a first preset duration; after the first preset duration, controlling the pushing component to switch from the extended state to the retracted state; while the pushing component is switched to the retracted state, controlling the unlocking mechanism to release the locking mechanism from the first bottom cover, so that the first bottom cover moves under the gravity of at least the garbage and liquid in the first filter box, opening the third opening.

[0297] Alternatively, after closing the third opening, the push component can be switched to the retracted state, and while the push component remains in the retracted state, the first nozzle can be controlled to spray liquid for a first preset duration.

[0298] In some embodiments, after completing one cleaning operation, if it is determined that the base station still needs to perform a cleaning operation on the first filter box, the method further includes: controlling the first nozzle to start spraying liquid when it is determined that the third opening of the first bottom cover is closed. By detecting whether the first bottom cover is closed, and only executing the liquid spraying operation of the first nozzle when it is determined that the third opening of the first bottom cover is closed, it can be ensured that the liquid can be stored in the first filter box, further improving the cleaning effect of subsequent cleaning operations.

[0299] In some embodiments, the base station also includes a lever mechanism movably disposed on the base station and at least partially located within the second filter box. The lever mechanism is used to move debris accumulated within the second filter box, and its movement can be controlled to move the debris. For example, the lever mechanism can be controlled to move the debris accumulated within the second filter box even when the third opening is open. By providing the lever, debris accumulation can be prevented, thus avoiding some debris from entering the second filter box from the first filter box.

[0300] In some embodiments, the lever mechanism and the unlocking mechanism share the same motor and transmission assembly. The lever mechanism further includes a lever assembly, which is driven by the motor via the transmission assembly to move and agitate debris accumulated in the second filter box. The unlocking mechanism also includes an unlocking element, which is driven by the motor via the transmission assembly to release the locking mechanism from locking the first bottom cover. The lever assembly has at least a third state and a fourth state, and can switch between the third and fourth states under the drive of the motor. When it is necessary to open the third opening, the lever assembly is driven to switch to the fourth state, and the unlocking element releases the locking mechanism from locking the first bottom cover. When the third opening is open, the lever assembly is driven to the third state, so that at least a portion of the lever assembly moves within the second filter box to agitate debris accumulated there. By reusing a single motor, structural and control complexity can be reduced.

[0301] In some embodiments, the lever mechanism and the unlocking mechanism share the same motor and transmission assembly; the lever mechanism further includes a lever assembly, which is driven by the motor to move between a fourth position and a fifth position, agitating the debris accumulated in the second filter box; the unlocking mechanism further includes an unlocking member, which is driven by the motor to move between a first position and an initial position. In the first position, the unlocking member releases the locking mechanism from locking the first bottom cover; in the initial position, the unlocking member does not apply force to the locking mechanism. By reusing a single motor, structural and control complexity can be reduced.

[0302] When the third opening needs to be opened, the motor is controlled to operate, causing the transmission assembly to move the lever assembly to the fourth position and the unlocking element to the first position. With the third opening open, the motor is controlled to operate, causing the transmission assembly to move the lever assembly between the fourth and fifth positions, thus dispersing the debris accumulated in the second filter box.

[0303] When the lever assembly has been moving between the fourth and fifth positions for a third preset time, the control motor drives the lever assembly to move to the fifth position. When the lever assembly has been moving between the fourth and fifth positions for a third preset time, the control system stops the first nozzle from spraying liquid. When the lever assembly has moved to the fifth position and the first nozzle has stopped spraying liquid, the control system switches the push assembly to the extended state.

[0304] In some embodiments, the base station also has a charging position. When the pool robot is in the charging position, the charging component on the base station charges the pool robot. The charging position is the same as the cleaning position. Before controlling the first nozzle to spray liquid to clean the first filter box, if the pool robot's power is less than a first preset threshold, the charging component is controlled to charge the pool robot first; if the pool robot's power is greater than or equal to the first preset threshold, the first nozzle is controlled to spray liquid to clean the first filter box.

[0305] While controlling the first nozzle to spray liquid to clean the first filter box, the charging component stops charging the pool robot. After cleaning the first filter box is complete, the charging component resumes charging the pool robot.

[0306] The base station control method provided in the above embodiments is only a partial example. Referring to the aforementioned base station and the structure and control method of the swimming pool robot, the base station control method can also have other extended implementations, which will not be elaborated here.

[0307] Based on the solutions shown in the above embodiments, this specification also provides an example of a base station performing cleaning and charging of a swimming pool robot. The second water inlet used by the swimming pool robot for surface cleaning can be used as a fourth inlet, and a second baffle acts as a barrier to close the fourth inlet. The second baffle rotates outward toward the first main body, opening the second water inlet. The first bottom cover of the first filter box is exposed above the first main body. When the swimming pool robot stops on the base station body, after the first bottom cover opens its third opening, the third opening can communicate with the third inlet of the second filter box, allowing waste and liquid in the first filter box to be discharged from the third opening and fall into the second filter box through the third inlet.

[0308] The cleaning and charging positions on the base station are the same. The pool robot is placed in the cleaning position on the base station. When the pool robot is in the cleaning position, the base station can clean or charge the pool robot.

[0309] As shown in the above embodiments, the user can trigger a cleaning command for the first filter box via a smart terminal. The smart terminal can then send the command to the pool robot and / or the base station. For example, the smart terminal may have a display interface showing a base station interaction interface. This interface includes buttons for self-cleaning, child lock, and voice announcement. After the user triggers the "self-cleaning" button, the smart terminal sends the cleaning command for the first filter box to the pool robot and / or the base station. If the base station is currently cleaning the pool robot's first filter box, the "self-cleaning" button on the base station interaction interface can be switched to a "stop self-cleaning" button. After the user triggers the "stop self-cleaning" button, the smart terminal sends a command to the pool robot and / or the base station to end the cleaning of the first filter box, thus stopping the cleaning operation. Alternatively, the base station interaction interface may display a "self-cleaning" icon, with a switch button attached to one side. The user can activate and deactivate the "self-cleaning" function by triggering the switch button. The child lock button and voice announcement functions are similar to the "self-cleaning" interaction method described above and will not be elaborated further. Of course, the interactive interface can also use other display and interaction methods, without limitation.

[0310] A "self-cleaning" button can also be installed on the base station or the pool robot. The base station can also have buttons for child lock, voice announcement, etc. Users can click the "self-cleaning" button on the base station or the pool robot. For example, if the user clicks the "self-cleaning" button before initiating the cleaning of the first filter box, the base station and / or the pool robot receive the instruction to clean the first filter box, and the base station and / or the pool robot begin cleaning the first filter box. If the user clicks the "self-cleaning" button during the cleaning process of the first filter box, the base station and / or the pool robot will interrupt or end the cleaning of the first filter box.

[0311] Alternatively, the base station interface can include an "Automatic Start Cleaning" option. When the user selects "Automatic Start Cleaning," if the pool robot is placed in or moved to a cleaning location, the pool robot and / or the base station can automatically initiate the cleaning of the first filter box. If "Automatic Start Cleaning" is not selected, the user needs to perform the aforementioned button trigger operation to initiate the cleaning of the first filter box by the pool robot and / or the base station.

[0312] When the pool robot is placed in the cleaning area and its battery level is below the full charge threshold, the base station can charge the robot. After the pool robot's charging pads connect to the base station's charging pads, the base station can control the charging assembly to charge the robot. During the charging process, the pool robot remains powered on. This way, even if the robot's battery is depleted and it is powered off when placed on the base station, it can quickly power on again after being placed in the cleaning area to display its battery status to the user, allowing them to monitor the battery progress.

[0313] Upon receiving a command to clean the first filter cartridge, the pool robot can first check if its battery level is sufficient. If responding to a user-triggered cleaning command, and the battery level is sufficient to clean the first filter cartridge, it can initiate cleaning or issue a notification that cleaning can begin. Alternatively, if the pool robot's battery level is insufficient to clean the first filter cartridge after receiving a user-triggered cleaning command, the base station or the pool robot can delay cleaning and the base station can first charge the pool robot. Once the battery level is sufficient to clean the first filter cartridge, the base station will then perform the cleaning. This cleaning action can be initiated autonomously by the pool robot or the base station after the battery level is sufficient, or it can be triggered by the user.

[0314] The first nozzle can have an extended position and a retracted position. When the first nozzle is in the extended position, it can enter the first main body through the second water inlet and spray liquid onto the first filter box to clean it. When the first nozzle is in the retracted position, it is located outside the first main body and will not interfere with the pool robot leaving or reaching the cleaning position.

[0315] The lever and unlocking lever share a single motor. The lever can rotate between the fourth and fifth positions. When the lever is in the fourth position (B) and / or the fifth position (A), the lever is positioned above the second filter box, not obstructing its removal. As the lever rotates from the fourth to the fifth position, the cam engages with the unlocking lever. With continued rotation, the cam further drives the unlocking lever upwards. Correspondingly, during this upward movement, after the unlocking lever engages with the second mating part, it drives the second mating part upwards, causing it to push the second telescopic member towards the first telescopic member, thereby pushing the first telescopic member out of the first limiting hole. After the first telescopic member exits the first limiting hole, the first bottom cover moves downwards under the weight of the debris and liquid inside the first filter box, extending into the second filter box. The lever can rotate between the fourth and fifth positions to move the debris inside the second filter box; alternatively, when unlocking the first bottom cover is not required, and only the debris inside the second filter box needs to be moved using the lever, the lever may not move to the fourth position.

[0316] The specific execution process is as follows:

[0317] 1. Status detection of pool robots and base stations

[0318] (1) Communication Status Detection: After the pool robot is placed at the cleaning position of the base station, the communication status between the pool robot and the base station can be detected after the user triggers a cleaning command for the first filter box or the pool robot automatically triggers a cleaning command for the first filter box. If the communication is abnormal, an abnormal prompt can be issued, such as communication interruption, the base station and the pool robot not being paired, or the base station and / or the pool robot not receiving the cleaning task for the first filter box. The abnormal prompts in the embodiments of this specification can be issued by at least one of the smart terminal, the pool robot, and the base station, and the prompting method can be such as interface display, voice prompt, light effect prompt, etc.

[0319] (2) Base station status detection

[0320] For example, the system can detect whether the second filter cartridge is installed, whether it is full of debris, and whether the base station's operating temperature is within a preset range. If the base station's status does not meet the conditions for cleaning the first filter cartridge, an error message can be issued. For example, a message could indicate that the second filter cartridge is not installed or that the ambient temperature is too low. Of course, if the ambient temperature is too low, only a reminder can be issued without affecting the cleaning of the first filter cartridge.

[0321] (3) Status detection of pool robot

[0322] For example, it can detect whether the pool robot is powered on, whether the pool robot is in a cleaning position, and whether the first filter box of the pool robot is installed. For instance, a magnet is installed on the first bottom cover, a Hall sensor is installed on the base station, and a Hall sensor is installed on the first body of the pool robot. The Hall sensor on the first body can be used to detect whether the first bottom cover is placed over the third opening, and the Hall sensor on the base station can be used to detect whether the first bottom cover has fallen into the base station. In this structure, the Hall sensor on the first body or the Hall sensor on the base station can be used to detect whether the first filter box is installed.

[0323] A Hall sensor can be installed at the cleaning location of the base station, with a magnet placed on the pool robot; alternatively, a Hall sensor can be installed on the pool robot, with a magnet placed at the cleaning location of the base station. Based on the detection information from the Hall sensor, it can be determined whether the pool robot is in the cleaning location. If it is determined that the pool robot is not in the cleaning location of the base station, the base station, the pool robot, or the smart terminal can issue an abnormality prompt so that the user can adjust the position of the pool robot in a timely manner.

[0324] If any abnormalities are detected in the status detection of the pool robot or base station, the cleaning task can be terminated and a notification sent to the user. The cleaning task can then resume once the status detection of the pool robot and base station is normal.

[0325] 2. The pool robot checks if it has enough power.

[0326] After receiving a cleaning command for the first filter cartridge, the swimming pool robot can first check if its battery level is sufficient. For example, the robot can check its own battery level and, if it has enough power for the base station to clean the robot, send a cleaning command to the base station. If the battery is low, the robot can send a charging command to the base station. Upon receiving the charging command, the base station controls the charging component to charge the robot. When the battery level is at least sufficient to clean the first filter cartridge, the robot sends a stop charging command to the base station, which then controls the charging component to stop charging. After stopping charging, the robot sends a cleaning command to the base station. Alternatively, if the battery level is at least sufficient to clean the first filter cartridge, the robot can issue a prompt to start cleaning the first filter cartridge, such as a voice prompt, a prompt sent to a smart terminal, or a prompt sent to the base station for voice prompting, etc. Upon receiving the prompt, the user triggers the cleaning command for the first filter cartridge.

[0327] The base station stops charging the pool robot when it begins cleaning the first filter cartridge. Cleaning the first filter cartridge requires significant power; if the base station were to simultaneously start charging the pool robot, the required power would also be substantial, resulting in higher costs for the power supply equipment.

[0328] 3. The pool robot opens the fourth entrance.

[0329] If the second water inlet is closed before the pool robot sends a cleaning command to the base station, the robot, provided it has sufficient power, can first control the second baffle to open the second water inlet. After the second inlet is open, the pool robot then sends the cleaning command to the base station. Because the second baffle moves outwards, controlling it to open first before sending the cleaning command avoids interference between the first nozzle and the second baffle when the first nozzle rotates inwards.

[0330] It can detect whether the second baffle has moved outward to the correct position. If the second baffle has not moved outward to the correct position within a preset time, an abnormality prompt will be issued.

[0331] 4. The base station controls the first nozzle to switch to the extended position.

[0332] After receiving a cleaning command, the base station can control the first nozzle to rotate, switching it from the retracted position to the extended position. A position switch can be installed at the extended position to detect whether the first nozzle has rotated to the correct position. If the first nozzle fails to rotate to the extended position within a preset time, an error message will be issued. Keeping the first nozzle in the retracted position initially prevents interference between the pool robot and the first nozzle when it is placed in the cleaning position. It also prevents interference with the first nozzle when the second baffle moves outward, thus avoiding obstruction of the second water inlet opening.

[0333] 5. The base station controls the first nozzle to spray liquid.

[0334] A solenoid valve can be used to control the first nozzle to spray liquid. After receiving a signal that the first nozzle has rotated to the correct position, the base station can control the solenoid valve to open, allowing the first nozzle to spray liquid and clean the first filter box. The first nozzle can be controlled to spray liquid for a preset duration, for example, 30 seconds.

[0335] When the first nozzle begins spraying liquid, if it is necessary to keep the third opening open, the lever can be moved to the fourth position to unlock the first bottom cover and open the third opening. After the third opening is open, the first nozzle can then be controlled to spray liquid.

[0336] When the first nozzle starts spraying liquid, if it is necessary to keep the third opening closed, if the third opening is not closed, the push rod can be controlled to move the first bottom cover to close the third opening.

[0337] When a drain assembly is installed in the cleaning water path, the drain assembly can be controlled to work after the first nozzle sprays liquid for a second preset time to accelerate the discharge of liquid.

[0338] 6. Move the base station control lever to the fourth position.

[0339] If the third opening remains closed when the first nozzle begins to spray liquid, the base station can control the lever to move from the fifth position to the fourth position after the first nozzle has been spraying liquid for a first preset time, so that the first bottom cover moves and opens the third opening.

[0340] It can detect whether the lever has moved to the fourth position, and issue an abnormal prompt if the lever fails to move to the fourth position.

[0341] 7. The pool robot determines whether the first bottom cover has opened the third opening.

[0342] For example, a magnet is installed on the first bottom cover, a Hall sensor is installed on the base station, and a Hall sensor is installed on the first body of the pool robot. The Hall sensor on the first body can be used to detect whether the first bottom cover is covering the third opening, and the Hall sensor on the base station can be used to detect whether the first bottom cover has fallen into the base station. In this structure, the Hall sensor on the first body and / or the Hall sensor on the base station can be used to detect whether the third opening is open. If the Hall sensor on the first body does not detect the magnet, but the Hall sensor on the base station detects the magnet, then the third opening is open. If the Hall sensor on the first body detects the magnet, but the Hall sensor on the base station does not detect the magnet, then the third opening is closed.

[0343] If the third opening is not opened, an error message will be issued. If the detection signal determines that the first bottom cover is not open, the pool robot can issue an error message to the user, such as a voice prompt or send a notification to the smart terminal, reminding the user of the cleaning error. The pool robot can also send a stop cleaning command to the base station, which can stop cleaning upon receiving the command. It can control each component to stop working, or control each component to return to its position before cleaning the first filter box.

[0344] If the detection signal determines that the first bottom cover has not been opened, the pool robot can send a command to the base station to attempt to unlock it again. Based on this command, the base station can control the lever to return to the fifth position, and then turn it back to the fifth position, causing the first bottom cover to move and open the third opening.

[0345] Of course, after the control motor starts running, it can be kept rotating continuously, causing the lever to reciprocate between the fifth and fourth positions to move the debris. When the lever reaches the fourth position, the cam will cause the unlocking lever to rise, so even if the third opening fails to open on the first attempt, it can be attempted to open it again with subsequent motor operation. However, if the pool robot determines that the third opening still fails to open after the lever has reciprocated between the fifth and fourth positions for a preset time, it can issue an error message to the user; the pool robot can also send a stop cleaning command to the base station, which can stop cleaning upon receiving the command. It can control each component to stop working, or control each component to return to its position before cleaning the first filter box.

[0346] 8. The base station control lever reciprocates between the fourth and fifth positions; or, the base station control lever does not reach the fourth position during its reciprocating motion.

[0347] The fourth and / or fifth positions can be equipped with position detection; if the lever does not move to the fourth and / or fifth positions, an abnormality warning can be issued. At least one position between the fourth and fifth positions can be equipped with position detection; if the lever is not detected within a specified time, an abnormality warning can also be issued, and cleaning can be stopped. Alternatively, it can also control the components to stop operating, or control the components to return to their positions before cleaning the first filter cartridge.

[0348] 9. After the base station control lever has reciprocated for a period of time three preset times, the control lever stops at the fifth position; or, if the base station control lever does not reach the fourth position during its reciprocating motion, it can continue to move after the base station control lever has reciprocated for a period of time three preset times.

[0349] 10. The base station controls the first nozzle to stop spraying liquid; or, the base station controls the first nozzle to continue spraying liquid.

[0350] 11. The base station controls the push rod to extend to the extended state. The push rod pushes against the first bottom cover, and the first telescopic component enters the first limit hole to lock the first bottom cover.

[0351] After confirming that the first bottom cover is in place, the pool robot sends a command to the base station to begin the second cleaning operation.

[0352] The pool robot issues an error message to the user when it determines that the first bottom cover is not in place. Alternatively, the pool robot can send a locking command to the base station, causing the base station to attempt to control the push rod movement again. If the base station attempts to control the push rod several times but the first bottom cover fails to move, the pool robot can issue an error message to the user. The pool robot can also send a stop cleaning command to the base station, which can then stop cleaning upon receiving the command. This allows the robot to control each component to stop working or return it to its position before cleaning the first filter box.

[0353] Alternatively, if the first bottom cover does not need to close the third opening between the first and second cleaning actions, the push rod movement can be disregarded, and the second cleaning can begin directly.

[0354] 12. After locking the first bottom cover, the base station control push rod remains in the extended state, so that the push rod continues to push against the first bottom cover; or, the push rod can be retracted to the retracted state.

[0355] 13. When the base station controls the first nozzle to stop spraying liquid, the base station controls the first nozzle to start spraying liquid to perform a second cleaning action on the first filter box. After confirming that the first bottom cover is locked, the pool robot sends a command to the base station to perform a second cleaning action on the first filter box. Upon receiving the command, the base station controls the first nozzle to start spraying liquid.

[0356] 14. The base station control push rod retracts to the retracted state.

[0357] If the push rod fails to return to its retracted position, an error message will be issued.

[0358] 15. Repeat steps 6-11 until the second cleaning action is completed; if there is a third or more cleaning actions, continue to repeat the above steps, which will not be elaborated further. Once the overall cleaning is complete, in step 10, select to stop the first nozzle from spraying liquid.

[0359] Alternatively, the cleaning configuration for the second cleaning action can differ from that of the first cleaning action. The specific configuration can be set as needed and will not be elaborated here. If there is a third or more cleaning actions, the configuration for at least one subsequent cleaning action can also differ from that of the already executed cleaning actions.

[0360] 16. The base station control push rod retracts to the retracted state.

[0361] If the push rod fails to return to its retracted position, an error message will be issued.

[0362] 17. The base station controls the first nozzle to switch to the storage position.

[0363] After a third preset time period following the return of the first nozzle to its retracted position, the control drainage component stops operating.

[0364] The execution order of steps 16 and 17 is not limited, and there may be overlap in time.

[0365] After the first nozzle is switched to the storage position, the base station can send a cleaning completion signal to the pool robot. At least one of the base station, the pool robot, and the smart terminal can issue a cleaning completion notification.

[0366] If the first nozzle fails to return to its retracted position, the cleaning operation for the first filter cartridge will also end. For example, if the first nozzle fails to return to its retracted position after a preset number of attempts, a cleaning completion message can be issued, along with a message indicating that the first nozzle failed to return to its retracted position, to remind the user to remove the pool robot from the base station and be aware that the first nozzle may cause interference.

[0367] 18. The pool robot controls the movement of the second baffle to close the second water inlet.

[0368] 19. After the first nozzle is switched to the storage position, the base station controls the charging component to continue charging the pool robot.

[0369] 20. After the pool robot is fully charged, it sends a charging signal to the base station, and the base station turns off the charging switch.

[0370] During the cleaning of the first filter box, continuous status monitoring of the base station and / or the pool robot, and position detection of the first nozzle can be performed. If any abnormality occurs, the cleaning operation of the first filter box can be stopped. The base station can control each component to stop working, or control each component to return to its position before cleaning the first filter box; and / or, the second baffle of the pool robot moves to close the second water inlet. Components exhibiting abnormalities can remain inactive to avoid continued operation and potential damage. The base station or pool robot can also synchronize each stage of cleaning and any abnormal situations to the cloud, or synchronize them to other terminals via Bluetooth, so that users can accurately and promptly understand the cleaning progress through other terminals. The base station or pool robot can also issue prompts, such as voice prompts and light effects, so that users can accurately and promptly understand the cleaning progress through the base station or pool robot even when communication between devices is interrupted.

[0371] Each time the base station is powered on, it can also perform a component status check, such as checking whether the first nozzle, lever assembly, and push assembly are operating normally. The component status check can be automatically triggered after the base station is powered on, or it can be triggered by a user through a prompt. After the component status check is triggered, it can control the first nozzle to switch from the retracted position to the extended position and then back to the retracted position; and / or control the lever assembly to move between the fourth and fifth positions (if the lever is in the fifth position, the lever movement may not be controlled); and / or control the push assembly to switch from the retracted state to the extended state and back to the retracted state; and use position detection, motor stall detection, etc., to determine whether the movement of the first nozzle, lever assembly, and push assembly is normal. Each component can perform the check simultaneously or separately, without limitation.

[0372] The base station will not clean the first filter box until the component status detection is completed. If the base station receives a cleaning instruction for the first filter box before the component status detection is completed, it can issue a prompt to perform the component status detection or indicate that the component status detection is in progress. If an abnormality is found during the component status detection, a corresponding abnormality prompt can be issued. The base station will only perform cleaning of the first filter box if the component status detection is normal. For example, if the cleaning button on the base station is triggered before the base station performs the component status detection, the component status detection will be performed. Only after the component status detection is completed and no abnormality is found will the cleaning button on the base station be triggered to perform cleaning of the first filter box. If the component status detection is abnormal or incomplete, the base station will not perform cleaning of the first filter box. By performing the component status detection first and then performing cleaning of the first filter box only after the component is operating normally, the stability of the cleaning of the first filter box can be guaranteed, improving the user experience.

[0373] When the ambient temperature is below a certain threshold, the liquid in the water path between the solenoid valve and the first nozzle can be drained to prevent damage to the water pipe or the solenoid valve. For example, the solenoid valve can be opened by triggering an interactive button on a smart terminal or a button on a base station, allowing the liquid in the water path between the solenoid valve and the first nozzle to drain from the first nozzle. After the liquid has drained, the solenoid valve can be closed by triggering an interactive button on a smart terminal or a button on a base station. Since the liquid may splash onto the user when it drains from the first nozzle, the user can be prompted to remove the first nozzle before opening the solenoid valve, so that the liquid drains from the water pipe between the first nozzle and the solenoid valve, or from the pipe between the liquid inlet and the solenoid valve.

[0374] In some embodiments, the control component includes a memory and a processor, the processor being configured to execute program instructions stored in the memory to implement the steps of the control method embodiments of the cleaning system described above. The control component can be a system shared by the base station and the pool robot, simultaneously controlling both; or it can be a system where the base station and the pool robot are independent, controlling each separately. The control component can be integrated into the base station or the pool robot, or it can be independent of the base station or the pool robot but electrically connected to it.

[0375] Specifically, the processor controls itself and the memory to implement the steps of any of the above-described embodiments of the pool robot control method, where the executing entity is a pool robot. The processor can also be called a CPU (Central Processing Unit). The processor may be an integrated circuit chip with signal processing capabilities. The processor can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor can be a microprocessor or any conventional processor. Furthermore, the processor can be implemented using integrated circuit chips.

[0376] In some embodiments, a computer-readable storage medium stores program instructions that, when executed, implement the methods provided by any embodiment of the control method of the cleaning system disclosed herein, and any non-conflicting combination thereof.

[0377] The program instructions can be formed into a program file and stored in the aforementioned computer-readable storage medium in the form of a software product, so that a computer device (which may be a personal computer, server, or network device, etc.) can execute all or part of the steps of the methods of the various embodiments of this disclosure. The aforementioned computer-readable storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, or terminal devices such as computers, servers, mobile phones, and tablets.

[0378] If the technical solution disclosed herein involves personal information, the product using this technical solution has clearly informed the user of the personal information processing rules and obtained the user's voluntary consent before processing the personal information. If the technical solution disclosed herein involves sensitive personal information, the product using this technical solution has obtained the user's separate consent before processing the sensitive personal information, and also meets the requirement of "express consent". For example, at personal information collection devices such as cameras, clear and prominent signs are set up to inform users that they have entered the scope of personal information collection and that personal information will be collected. If an individual voluntarily enters the collection scope, it is deemed that they have agreed to the collection of their personal information; or on the personal information processing device, with clear signs / information informing users of the personal information processing rules, authorization is obtained from the individual through pop-up information or by asking the individual to upload their personal information; wherein, the personal information processing rules may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the types of personal information processed.

[0379] The terms "first," "second," and "third" in this disclosure are for descriptive purposes only and should not be construed as indicating the number of technical features indicated. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of those features. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this disclosure are only used to explain the relative positional relationships and movements between components in a specific orientation (as shown in the figures). If the specific orientation changes, the directional indications will change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. A process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0380] The above are merely embodiments of this disclosure and do not limit the patent scope of this disclosure. Any equivalent structural or procedural transformations made using the content of this disclosure and its drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this disclosure.

Claims

1. A control method for a cleaning system, wherein, The cleaning system includes base stations and pool robots; The base station includes: Base station body; The first nozzle is fixedly or movably mounted on the base station body; The second filter box is disposed on the base station body; the second filter box has a third inlet, which serves as the inlet for garbage to enter the second filter box; The pool robot includes: First subject; The fourth entry point is located on the swimming pool robot; A shield, configured to open or close the fourth inlet; The first filter box is at least partially located within the first body; The third opening is located in the first filter box; The first bottom cover is configured to open or close the third opening; The method includes: Control the movement of at least one of the first nozzle and the pool robot so that the first nozzle extends into the first body through the fourth inlet; or, control the movement of at least one of the first nozzle and the pool robot so that, when the nozzle is outside the first body, the liquid sprayed by the first nozzle enters the first body through the fourth inlet. The first nozzle is controlled to spray liquid to clean the first filter box, and the debris in the first filter box enters the second filter box through the third opening and the third inlet.

2. The control method as described in claim 1, wherein, The pool robot also includes a locking mechanism for locking the first bottom cover to the first frame of the first filter box, the first bottom cover blocking the third opening; The base station or pool robot also includes an unlocking mechanism for releasing the locking mechanism from locking the first bottom cover; Controlling the first nozzle to spray liquid to clean the first filter box, when the first bottom cover moves to open the third opening, the debris in the first filter box enters the second filter box through the third opening and the third inlet, including: First, control the first nozzle to spray liquid into the first filter box for a preset duration; Then control the movement of the unlocking mechanism to release the locking mechanism from locking the first bottom cover; Under the weight of the first bottom cover and the weight of the waste and liquid in the first filter box, the first bottom cover is driven to move to open the third opening; or, the movement of the first bottom cover is controlled to open the third opening; the waste in the first filter box enters the second filter box through the third opening and the third inlet.

3. The control method as described in claim 1, characterized in that, After cleaning the first filter cartridge through the first nozzle, the method further includes: Control the movement of at least one of the first nozzle and the pool robot to cause the first nozzle to retract from the first body.

4. The control method as described in claim 1, characterized in that, The base station also includes a shutdown mechanism; After cleaning the first filter cartridge through the first nozzle, the method further includes: The closing mechanism is controlled to push the first bottom cover toward the third opening, so that the first bottom cover is locked onto the first frame of the first filter box.

5. The control method as described in claim 1, characterized in that, The first bottom cover is rotatably disposed on the first frame of the first filter box. The first bottom cover rotates such that at least a portion of the first bottom cover extends into the second filter box to open the third opening.

6. The control method as described in claim 1, characterized in that, The base station also includes a lever mechanism; The method further includes: During the process of controlling the first nozzle to spray liquid to clean the first filter box, the lever mechanism is controlled to swing or move back and forth to move the debris accumulated in the second filter box.

7. The control method as described in claim 1, characterized in that, The first nozzle is movably mounted on the base station body, having an extended position and a retracted position; the base station has a cleaning position, and when the pool robot stops at the cleaning position, it controls the first nozzle to spray liquid to clean the first filter box; Controlling the movement of at least one of the first nozzle and the pool robot, such that the first nozzle extends through the fourth inlet into the first body of the pool robot, includes: when the pool robot is stopped in the cleaning position, controlling the baffle to move to open the fourth inlet, and controlling the first nozzle to move from the storage position to the extension position to extend into the first body.

8. The control method as described in claim 1, characterized in that, The base station has a cleaning position and a charging position; the cleaning position and the charging position are the same location. When the pool robot stops at the cleaning position, it controls the first nozzle to spray liquid to clean the first filter box. And when the pool robot stops at the charging position, control the charging component on the base station to charge the pool robot; The method includes: after the first nozzle sprays liquid to clean the first filter box, controlling the charging component to charge the pool robot.

9. The control method as described in claim 1, characterized in that, The base station has at least a cleaning location; the pool robot also includes a surfacing and diving mechanism; the method further includes: When the pool robot stops at the cleaning position and there is water in the float cavity of the buoyancy and submersion mechanism, the first adjusting component of the buoyancy and submersion mechanism is controlled to open for a preset time to discharge the liquid in the float cavity.

10. The control method as described in claim 1, characterized in that, The base station also includes: The third receiving cavity is provided on the base station body; A fourth opening is provided on the base station body and communicates with the third receiving cavity. The fourth opening is located above at least a portion of the third inlet. The first bottom cover is rotatably disposed on the first frame of the first filter box. The first bottom cover rotates outward toward the first body of the pool robot. At least a portion of the first bottom cover extends into the fourth opening to open the third opening. Waste in the first filter box falls into the second filter box through the third opening, the fourth opening, and the third inlet.

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