Base station and cleaning system

Abstract

The present invention relates to the technical field of swimming pool cleaning devices, and in particular to a base station and a cleaning system. The base station comprises a base station body, a second filter box, a first sealing box, an electric control board, and at least one actuator; the second filter box is at least partially provided in the base station body and is used for receiving debris discharged from a first filter box of a swimming pool cleaning robot; the first sealing box is provided on the base station body and is provided with a first sealing cavity; the electric control board is provided in the first sealing cavity and comprises at least one first control unit; the at least one actuator is connected to the first control unit; the actuator at least comprises a second cleaning assembly; the second cleaning assembly at least comprises a first spray head; the first spray head is used for spraying liquid to the first filter box so as to clean the first filter box; and the first control unit at least is used for controlling the first spray head to spray the liquid. Thus, stable and controllable automatic cleaning of the swimming pool cleaning robot can be achieved, and the continuous operating capability and the convenience of use of the swimming pool cleaning robot can be improved.

Description

A base station and 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. 202610214308.9, filed on February 13, 2026, entitled "A Base Station and a Cleaning System", the entire contents of which are incorporated herein by reference. Technical Field

[0006] This invention belongs to the technical field of swimming pool cleaning equipment, and in particular relates to a base station and cleaning system for an automatic swimming pool cleaning robot. Background Technology

[0007] Currently, to address the cleaning needs of pool bottoms, sidewalls, and surfaces, pool robots have gradually replaced manual cleaning as the mainstream solution. These devices typically consist of a main body and a first filter box inside, used to filter debris from the liquid. However, when debris accumulates in the first filter box to a certain level, current technology generally requires users to remove the robot from the water, manually open the outer casing, and remove the filter box for emptying and cleaning. If stubborn dirt adheres to the filter screen or the inner wall of the box, users also need to perform additional scrubbing or rinsing. This entire process is not only time-consuming and labor-intensive, resulting in a poor user experience, but also suffers from incomplete cleaning, cross-contamination, and low cleaning efficiency. Summary of the Invention

[0008] This invention aims to solve the technical problems of low cleaning efficiency of existing pool robots. It discloses a base station and cleaning system including a first control unit. By setting the first control unit in the base station body, the first control unit controls the various actuators to work together, thereby achieving the effect of autonomous cleaning of the pool robot by the base station.

[0009] The first objective of this application is to disclose a base station, comprising:

[0010] Base station body;

[0011] The second filter box is at least partially located within the base station body; the second filter box is used to receive waste discharged from the first filter box of the pool robot;

[0012] The first sealing box is disposed on the base station body and has a first sealing cavity;

[0013] An electronic control board is disposed within a first sealed cavity; the electronic control board includes at least one first control unit;

[0014] At least one actuator is connected to the first control unit;

[0015] The actuator includes at least a second cleaning component, which includes at least a first nozzle; the first nozzle is used to spray liquid onto the first filter box to clean the first filter box.

[0016] The first control unit is used to control the first nozzle to spray liquid.

[0017] The second objective of this application is to disclose a cleaning system, including

[0018] Pool robots; pool robots include

[0019] Second control unit;

[0020] Second communication module; the second communication module is connected to the second control unit;

[0021] The base station is the base station described above; the base station also includes...

[0022] First communication module; the first communication module is connected to the first control unit;

[0023] When the first communication module and the second communication module establish a communication connection, the first control unit controls at least the first nozzle to spray liquid.

[0024] Compared with existing technologies, the base station and cleaning system described in this invention have the following advantages:

[0025] This application provides a second cleaning component on the base station for spraying liquid onto the first filter box of a swimming pool robot. The first nozzle of the second cleaning component is controlled by a first control unit to spray liquid, so that the first filter box can be rinsed without manual cleaning. By transferring the waste from the swimming pool robot to the second filter box in the base station, the waste and sewage are collected and re-filtered in a centralized manner, reducing the frequency of manual cleaning. Attached Figure Description

[0026] Figure 1 is a structural schematic diagram of an embodiment of the base station provided in this disclosure;

[0027] Figure 2 is a structural schematic diagram of an embodiment of a base station provided in this disclosure, in which a first sealing box is provided.

[0028] Figure 3 is a schematic cross-sectional view of a portion of the base station in Figure 1;

[0029] Figure 4 is an exploded structural diagram of an embodiment of the first sealed box and control assembly provided in this disclosure;

[0030] Figure 5 is an exploded view of the wiring assembly in Figure 4;

[0031] Figure 6 is a cross-sectional view of the connector assembly in Figure 4.

[0032] Figure 7 is an exploded structural diagram of an embodiment of the first sealed box and control assembly provided in this disclosure;

[0033] Figure 8 is a partial cross-sectional view of an embodiment of the assembly and fixation of the first housing and the electronic control board provided in this disclosure;

[0034] Figure 9 is a schematic diagram of a partial structure of the base station shown in Figure 1;

[0035] Figure 10 is a partial structural diagram of the seventh position detection component in the base station provided in this disclosure;

[0036] Figure 11 is a cross-sectional schematic diagram of an embodiment of the second cleaning component in a base station provided in this disclosure;

[0037] Figure 12 is a partial structural schematic diagram of a base station according to an embodiment of the present disclosure;

[0038] Figure 13 is a schematic diagram of an embodiment of a base station provided in this disclosure in which a first sealing box is fixed on a first support frame;

[0039] Figure 14 is a structural schematic diagram of an embodiment of the power adapter provided in this disclosure;

[0040] Figure 15 is an exploded view of the power adapter shown in Figure 14;

[0041] Figure 16 is a structural schematic diagram of an embodiment of the base station provided in this disclosure;

[0042] Figure 17 is a partial cross-sectional view of the base station in Figure 16;

[0043] Figure 18 is a schematic cross-sectional view of the base station in Figure 16;

[0044] Figure 19 is a structural schematic diagram of an embodiment of the base station provided in this disclosure;

[0045] Figure 20 is a structural schematic diagram of an embodiment of the toggle assembly and unlocking lever of the base station;

[0046] Figure 21 is a schematic diagram of an embodiment of the first shutdown mechanism in the base station provided in this disclosure;

[0047] Figure 22 is a schematic diagram of an embodiment of the charging component in the base station provided in this disclosure;

[0048] Figure 23 is a schematic layout diagram of an embodiment of the electronic control board in the first control unit;

[0049] Figure 24 is an exploded structural diagram of an embodiment of the base station provided in this disclosure;

[0050] Figure 25 is a cross-sectional schematic diagram of an embodiment of the base station provided in this disclosure;

[0051] Figure 26A is a schematic diagram of a partial structure in Figure 25;

[0052] Figure 26B is a schematic cross-sectional view of a portion of the third receiving cavity in Figure 25;

[0053] Figure 26C is a schematic diagram of the water receiving tank in Figure 25;

[0054] Figure 26D is a structural schematic diagram of an embodiment of the filter cover in Figure 25;

[0055] Figure 27 is a schematic diagram of an embodiment of the second filter box;

[0056] Figure 28 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;

[0057] Figure 29 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;

[0058] Figure 30 is a cross-sectional structural schematic diagram of an embodiment of the pool robot provided in this disclosure;

[0059] Figure 31 is a partial cross-sectional view of the locking mechanism of the first filter box in the pool robot provided in this disclosure, which cooperates with an unlocking mechanism.

[0060] Figure 32 is a partial structural schematic diagram of an embodiment of the locking mechanism and unlocking mechanism cooperating in Figure 31;

[0061] Figure 33A is a cross-sectional view of the first bottom cover of the first filter box of the pool robot provided in this disclosure in the open state;

[0062] Figure 33B is a schematic diagram of the structure of the first filter box in Figure 33A;

[0063] Figure 34 is a structural schematic diagram of an embodiment of the pool robot provided in this disclosure;

[0064] Figure 35 is a structural schematic diagram of an embodiment of the pool robot provided in this disclosure;

[0065] Figure 36A is a structural schematic diagram of an embodiment of the base station provided in this disclosure;

[0066] Figure 36B is a partial structural schematic diagram of the load-bearing mechanism in Figure 36A;

[0067] Figure 37 is a schematic diagram of an embodiment of the connection between the pool robot and the base station provided in this disclosure;

[0068] Figure 38A is a simplified schematic diagram of the swimming pool robot of this disclosure walking from the bottom of the pool to the pool wall where the base station is located;

[0069] Figure 38B is a simplified schematic diagram of the pool robot of this disclosure walking towards the base station on the pool wall;

[0070] Figure 38C is a simplified schematic diagram of the state of the pool robot of this disclosure reaching the predetermined position on the pool wall;

[0071] Figure 38D is a simplified schematic diagram of the connection established between the pick-and-place component of the base station of this disclosure and the pool robot;

[0072] Figure 38E is a simplified schematic diagram of the state in which the walking mechanism of the pool robot abuts against the auxiliary wheels during the process of the carrier mechanism driving the pool robot back to the base station.

[0073] Figure 38F is a simplified schematic diagram of the carrier mechanism of this disclosure placing the pool robot on the resting surface of the base station;

[0074] Figure 38G is a simplified schematic diagram of the state of the pool robot of this disclosure after it has stopped on the resting surface and the base station's pick-up and drop components have detached from the pool robot.

[0075] The markings in the diagram represent: 1000-Pool robot; 1001-First main body; 1001j-Third clearance opening; 1016-Fourth inlet; 1020-Charging receiver; 1032-Second water inlet; 1051-First filter box; 10511d-Second baffle; 1052-First dust bin; 1053-First frame; 10531-Third opening; 10532-Leg; 1054-First bottom cover; 1055-First filter screen; 1080-Locking mechanism; 10801-First limiting hole; 10802-First locking element; 108021-First limiting end; 108022-First mounting end; 10803-Fourth elastic element; 2000-Base station; 20001 - Base station body; 20001a - Second upper cover; 200011 - Fourth receiving cavity; 200013 - Mounting plate; 2000131 - First mounting bracket; 2000132 - Third connecting part; 200021 - Fourth baffle; 2000252 - First support platform; 2000253 - Fourth connecting part; 2000254 - First connecting hole; 200027 - First side plate; 200028 - Second side plate; 200029 - Third side plate; 2010 - Fifth receiving cavity; 2020 - Sixth receiving cavity; 2054 - Third receiving cavity; 20541 - Guide step; 205411 - First step surface; 205412 - Second step surface; 2054121 - Mounting hole; 2054122 - Second limiting hole; 2055 - Fourth opening; 2090 - Charging component; 2091 - Charging element; 20911 - Positive charging element; 20912 - Negative charging element; 2092 - First support column; 2093 - First elastic element; 2096 - First base; 21101 - Third inlet; 21102 - Second filter box; 2120 - First drain outlet; 2121 - Second water pump; 2122 - Water receiving chamber; 21221 - First outer edge; 21222 - Mounting part; 2123 - Filter cover; 212311 - First limiting element; 212312 - Second limiting element; 21232 - Protruding column; 21233 - Limiting column; 2150 - Second dust chamber; 2170 - Second cleaning component; 2171 - Support base; 2173 - First nozzle; 21731 - Liquid inlet component; 217311 - First liquid inlet component; 217312 - Second liquid inlet component; 2174 - Seventh motor; 2179 - First valve; 2190 - First sealing box; 21901 - First sealing cover; 21902 - First box body; 219021 - Support fixing part; 21903 - First sealing ring; 21904 - Connection port assembly; 219041 - Mounting part; 2190411 - Connection port; 2190411a - First part; 2190411b - Second part; 2190412 - Connecting thread; 219042 - Nut; 219043 - Compression ring; 219044 - Rubber stopper;219045 - Third sealing ring; 21911 - Electrical control board; 2192 - Power adapter; 21921 - Second sealing cover; 21922 - Second housing; 21923 - AC interface; 21924 - DC interface; 21925 - Adapter board; 21926 - Second sealing ring; 21927 - Second support frame; 2800 - Drying assembly; 7003 - Unlocking mechanism; 70033 - Second unlocking component; 70034 - Fifth elastic component; 70035 - First motor; 70037 - First unlocking component; 70038 - Sliding seat; 7004-First closing mechanism; 70041-Push rod; 70042-Sixth motor; 7006-Toggle mechanism; 70062-Toggle; 70064-Third motor; 7010-First position detection component; 7011-Second position detection component; 7012-Seventh position detection component; 7013-Eighth position detection component; 7015-Fifth position detection component; 7018-Speaker; 7019-Lighting mechanism; 7020-Button component; 7021-Ninth position detection component; 7022-Tenth position detection component; 7023-First communication module. 8000 - Load-bearing mechanism; 8001 - First arm; 80011 - First sub-arm; 80012 - Second sub-arm; 80013 - Bending area; 8002 - Second arm; 8003 - First connecting arm; 8004 - Second connecting arm; 8005 - Eighth motor; 8006 - Pick-up and drop-off parts; 8007 - Auxiliary wheel; 8008 - Second sensor; 9001 - Pool bottom; 9002 - Pool wall; 9003 - Shore. Detailed Implementation

[0076] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0077] It should be noted that all directional and positional terms used in this invention, such as "up," "down," "left," "right," "front," "back," "vertical," "horizontal," "inner," "outer," "top," "lower," "lateral," "longitudinal," and "center," are only used to explain the relative positional relationships and connections between components in a specific state (as shown in the accompanying drawings). They are merely for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. Furthermore, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated.

[0078] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0079] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0080] This application provides a cleaning system, as shown in FIG29. The cleaning system 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.

[0081] In some embodiments, as shown in Figures 1 to 3, the base station 2000 includes a base station body 20001, a second cleaning component 2170, and a second filtering component. The base station body 20001 includes a third receiving cavity 2054 and at least one fourth opening 2055, the fourth opening communicating the third receiving cavity with the outside. The second filtering component includes at least a second filter box 21102, at least a portion of which is disposed within the third receiving cavity 2054, for receiving and further filtering debris from the first filter box 1051.

[0082] In some embodiments, the second cleaning component 2170 includes at least one first nozzle 2173, which is disposed on the base station body 20001. The first nozzle 2173 cleans the first filter box 1051 by spraying liquid onto it. This is done when the pool robot 1000 automatically returns to the base station body or when a user places the pool robot on the base station body 20001; or when the pool robot is automatically removed from the pool and placed on the base station body by a carrying mechanism. The first nozzle 2173 sprays liquid onto the first filter box 1051 to rinse away debris inside and adhering to the walls of the first filter box 1051, thereby cleaning the debris inside the first filter box 1051.

[0083] In some embodiments, when the pool robot rests on the base station body, the third opening of the first filter box is located above the fourth opening, and the third and fourth openings are connected. Debris in the first filter box 1051 falls into the second filter box 21102 through the fourth opening 2055, thereby transferring the debris from the first filter box 1051 to the second filter box 21102. No user intervention is required during the cleaning process of the first filter box, achieving automatic cleaning.

[0084] In some embodiments, the second filter box is removably or slidably disposed within the third receiving cavity, facilitating the user to pull the second filter box out of the base station body to clean out the waste collected inside. For example, a ninth opening is provided on one side of the base station body, and a door (fourth baffle) is movably provided on the ninth opening. The door is used to open and close the ninth opening. After the door opens the ninth opening, the second filter box can be removed from and placed into the third receiving cavity.

[0085] In some embodiments, as shown in FIG27, the second filter box includes a second frame 211021, a third inlet 21101, and a second filter screen 211022. The second filter screen is fixed (removable or non-removable) to the side and / or bottom of the second frame; at least a portion of the third inlet is located on the top of the second frame.

[0086] Alternatively, in a further embodiment, the second filter box further includes a filter bag (not shown in the figure), which is fitted inside the second frame. Waste in the first filter box first enters the filter bag through the fourth opening for filtration. The filtered liquid is then filtered by the second filter screen, and finally, the filtered liquid enters the third containment and is discharged from the base station body. In some embodiments, the second filter screen can be made of nylon, or it can also be filter cotton. For example, the filter cotton is made of polyester fiber, i.e., in this case, the filter cotton is non-woven fabric.

[0087] 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.

[0088] 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. If a cleaning command for the first filter box is received, the first control unit controls the second cover to open the fourth opening. After cleaning the first filter box is completed, the first control unit controls the second cover to close the fourth opening.

[0089] 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 70038 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] The pool robot 1000 is used to perform cleaning, disinfection, and rescue tasks in a target area. The target area can be any water-containing area where the pool robot 1000 can move. For example, the target area can include, but is not limited to, swimming pools, oil wells, sewers, etc. The following description uses a swimming pool as an example. For a swimming pool, it includes at least a pool bottom and pool walls.

[0094] In some embodiments, as shown in Figures 28, 29, and 33A, the pool robot includes at least one liquid inlet, at least one first filter assembly 1050, at least one liquid outlet 1040, and at least one suction assembly 1060. The liquid inlet 1050 allows liquid from the pool to enter the first filter assembly, which filters the liquid, enabling the pool robot to clean at least one of the pool bottom, pool walls, waterline, and water surface. The liquid outlet 1040 is used to discharge the filtered liquid from the first body. The suction assembly 1060 generates suction force, drawing dust-laden water from the pool into the first filter assembly, where it is filtered. Debris carried in the liquid remains within the first filter assembly. The filtered liquid, after passing through the suction assembly, is finally discharged from the first body through the liquid outlet.

[0095] In some embodiments, the first filtration assembly includes at least a first filter box 1051 (i.e., a first dust box), at least a portion of which is disposed within the first body, and the first filter box is used to filter liquids entering therein.

[0096] In some embodiments, the liquid inlet section includes at least a first water inlet 1031, and the liquid outlet section includes at least one first water outlet 1041. The first water inlet 1031, the first filter assembly 1050, the suction assembly 1060, and the first water outlet 1041 are sequentially fluidly connected to form a first water path for cleaning the bottom wall, side wall, or waterline of the pool. As shown in FIG33A, the first water inlet may be located on the first bottom cover of the first filter box; or on the bottom of the first body.

[0097] In some other embodiments, as shown in FIG33A, 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 1050, the suction component 1060 and the first water outlet 1041 are sequentially connected to form a second water channel for cleaning the water surface or water line.

[0098] In some embodiments, as shown in FIG35, the first body is the shell of a pool robot, and the first body includes a first end and a second end, one of which is a front portion 10011 and the other is a rear portion 10012. For example, a second water inlet is provided on the first end or the second end of the first body.

[0099] In some embodiments, as shown in FIG33A, the suction assembly 1060 includes a main water pump. The main water pump includes a main motor 10611 and an impeller 10612, the main motor being used to drive the impeller to rotate. Liquid filtered by the first filtration assembly flows through the impeller and is finally discharged from the pool robot from the first outlet 1041.

[0100] In some embodiments, as shown in FIG35, the pool robot further includes at least two walking mechanisms, wherein the two walking mechanisms 1071 are respectively disposed on both sides of the first main body, and the walking mechanisms 1071 are used to drive the pool robot to walk on the pool bottom and pool wall.

[0101] For example, the walking mechanism 1071 may include at least two walking wheels and at least one motor for driving the walking wheels. For instance, there are two walking wheels symmetrically arranged on the first main body 1001. Alternatively, as shown in FIG35, each walking mechanism 1071 includes a motor, a first walking wheel, a second walking wheel, and a track 117 wrapped around the outer periphery of the first and second walking wheels. The motor drives the first walking wheel to rotate, and the track drives the second walking wheel to rotate, thereby realizing the walking function of the walking mechanism.

[0102] In some embodiments, as shown in FIG35, the pool robot further includes a propulsion mechanism adapted to drive the pool robot to move in or on the water surface. For example, the propulsion mechanism includes at least one first thruster 10721, which drives the pool robot to walk on the water surface or on the pool wall. The first thruster generates an upward thrust on the pool robot, ensuring that the pool robot can walk on the pool wall and preventing the pool robot from falling off the pool wall. For example, the first thruster includes a first motor and a first impeller, and a first flow channel is provided on the first body, with the first motor and the first impeller disposed within the first flow channel. The first flow channel includes a fluid inlet and a fluid outlet. The first motor drives the first impeller to rotate, and liquid enters the first flow channel from the fluid inlet, passes through the first impeller, and exits from the fluid outlet. The liquid exiting from the fluid outlet generates a forward thrust on the pool robot to drive the pool robot to move forward.

[0103] In some embodiments, the pool robot further includes an surfacing and diving mechanism for enabling the pool robot to switch between underwater and surface conditions. For example, the surfacing and diving mechanism is located within a first body and is used to drive the pool robot from underwater to the surface and to allow it to float on the water. The surfacing and diving mechanism can also be used to drive the pool robot from the surface to underwater.

[0104] In some embodiments, the buoyancy and submersion mechanism includes at least one first float cavity, at least one first adjustment member, and at least one air inlet. The first float cavity is used to contain at least gas; one end of the air inlet is connected to the outside, and the other end of the air inlet is connected to the first float cavity or the first adjustment member; the first adjustment member is used to adjust the volume of gas in the first float cavity. The pool robot climbs the pool wall, exposing the air inlet above the water surface or in the air. Alternatively, the pool robot is equipped with a second propeller, which drives the pool robot directly from the bottom of the pool to the water surface, exposing the air inlet above the water surface or in the air. Alternatively, the pool robot is equipped with an airbag and at least one second float cavity. The airbag contains gas, and under the action of the first adjustment member (air pump or water pump) or other pump, the gas in the airbag is drawn into the second float cavity to drive the pool robot directly from the bottom of the pool to the water surface, exposing the air inlet above the water surface or in the air.

[0105] For example, the airbag can be an electrical control box within the first main body, with a first adjusting component and the control board of the pool robot also located within the control box. A pump draws gas from the control box into the second floating cavity, driving the pool robot to float directly from the pool bottom to the surface, exposing the air intake above the water or into the air. Alternatively, the airbag can be independently located within the first main body, separate from the control box, to supply gas to the second floating cavity. The airbag can be flexible or rigid. For example, in some embodiments, compressed gas can be contained within the airbag. When it is necessary to inflate the second floating cavity, the compressed gas is released to inflate the second floating cavity.

[0106] With the air intake protruding above the water surface or in the air, under the action of the first adjusting component, external gas enters the float cavity through the air intake to increase the volume of gas within the first float cavity. If the pool robot exposes the air intake above the water surface by climbing the pool wall, the increased volume of gas in the first float cavity allows the pool robot to switch from climbing the pool wall to floating on the water surface. If the pool robot directly rises from the bottom of the pool to the surface using a second propeller or airbag and a second float cavity, exposing the air intake above the water surface, the increased volume of gas in the first float cavity allows the pool robot to remain floating on the water surface. When the pool robot needs to descend from the water surface to the bottom of the pool, the gas in the first float cavity is first discharged through the air intake to reduce the volume of gas in the first float cavity, thus enabling the pool robot to descend from the water surface to the bottom of the pool. If the surfacing and diving mechanism also includes the aforementioned second float cavity, in addition to discharging the gas from the first float cavity, the gas in the second float cavity also needs to be discharged or discharged into the airbag to enable the pool robot to descend from the water surface to the bottom of the pool.

[0107] Referring to the above embodiments, for example, a first float cavity and / or a second float cavity are provided within the first main body. Gas enters the first float cavity and / or the second float cavity through the air inlet, increasing the volume of gas and decreasing the volume of liquid within the first main body. This reduces the weight of the pool robot, causing it to float or rise to the surface of the water. Alternatively, gas may be discharged from the first float cavity and / or the second float cavity through the air inlet, reducing the volume of gas and increasing the volume of liquid within the first main body. This increases the weight of the pool robot, causing it to dive to the bottom of the pool.

[0108] In some embodiments, as shown in FIG35, the first filter cartridge is disposed within a first receiving cavity of the first body; the pool robot further includes a pick-and-place port 1017 and a first cover 1018, wherein at least a portion of the pick-and-place port is disposed on the top of the first body and communicates with the first receiving cavity, and the first cover is movably disposed at the pick-and-place port to switch between opening and closing the pick-and-place port. The pick-and-place port is used for a user to place the first filter cartridge into the first receiving cavity and to remove the first filter cartridge from the first receiving cavity.

[0109] In some embodiments, as shown in FIG35, the pool robot further includes at least one image acquisition unit 1203 for acquiring images of objects within the pool or objects on the shore. For example, the image acquisition unit is a camera. There may be one, two, or more image acquisition units. For example, the image acquisition units are located at a first end and / or a second end to acquire images at least in front of and / or behind the pool robot. When the pool robot moves within the pool, the image acquisition units can acquire images of objects within the pool and / or images of the surrounding environment. The images of objects within the pool may be at least one of the following: pool walls, pool bottom, water surface, and images of liquids, debris, obstacles, base stations, etc., within the pool.

[0110] In some embodiments, as shown in FIG35, the pool robot further includes at least one first sensor 1206; as shown in FIG37, at least one second sensor 8008 is provided on the base station, and underwater communication is established below the water surface through the first and second sensors, as well as the relative position between the pool robot and the base station is determined. For example, both the first and second sensors can be underwater acoustic sensors. Alternatively, the first and second sensors can also be optical sensors.

[0111] For example, in some embodiments, the first sensor is disposed on the side of the first body. For example, the first sensor is disposed on the front side wall, rear side wall, left side wall, or right side wall of the first body.

[0112] For example, in some embodiments, the first sensor is located on top of the first body. When the pool robot moves on the bottom of the pool, the base station is located above the pool robot. Having the first sensor on top of the first body, compared to having it on the side, avoids obstruction of communication between the first and second sensors by the first body, ensuring normal communication between the two sensors and accurately determining the relative position between the pool robot and the base station.

[0113] In a further embodiment, the first sensor is located on the top of the first body and close to the rear side wall of the first body to prevent the first sensor from being above the water (i.e., above the water surface) when the pool robot moves along the pool wall, which would prevent the first sensor and the second sensor from communicating and affect the pool robot's ability to return to the base station.

[0114] To obtain the relative position of the pool robot and the base station, the total number of first and second sensors is typically at least three. At least one of the first and second sensors is two.

[0115] For example, there may be two first sensors and one second sensor, with the two first sensors symmetrically arranged on the first main body, forming a triangle with the second sensor. Alternatively, there may be one first sensor and two second sensors, symmetrically arranged on the base station, forming a triangle with the first sensor and the two second sensors. Or, the total number of first and second sensors may be 4, 5, 6, etc. Of course, in some embodiments, there may be only one first sensor, and correspondingly, only one second sensor.

[0116] In some embodiments, as shown in FIG35, the pool robot further includes a handle 251, which is disposed on the first body. The handle allows the user to lift the pool robot; on the other hand, it also allows the pick-and-place mechanism 8000 on the base station to act on the handle, enabling the pick-and-place mechanism to lift and put down the pool robot.

[0117] For example, the handle is integrally formed on the first body, or the handle is detachably provided on the first body. In some embodiments, the first body is provided with a fourth clearance opening 252, which facilitates a user to insert their hand into the fourth clearance opening 252 and grasp the handle to lift the pool robot. And / or, it facilitates the insertion and removal of a carrier mechanism on the base station (mentioned below) to insert into the fourth clearance opening and grasp the handle to lift and lower the pool robot.

[0118] For example, in some embodiments, the handle is located on the front or rear of the first body.

[0119] In some embodiments, at least a portion of the first filter box is disposed within the first body 1001. As shown in FIG33B, the first filter box includes a first frame 1053, a third opening 10531, a first bottom cover 1054, and a first filter screen 1055. The first filter screen is at least disposed on the side of the first frame. At least a portion of the third opening is disposed on the bottom of the first frame, and the first bottom cover is movably disposed on the first frame for opening and closing the third opening. When the pool robot stops on the base station body, the first bottom cover opens the third opening, and the third opening communicates with the third inlet 21101 of the second filter box 21102, allowing the dust-laden water in the first filter box to flow into the second filter box.

[0120] Furthermore, in some embodiments, a fourth inlet 1016 is provided on the first main body, which communicates with the first filter box, allowing the first nozzle to extend into and exit the pool robot through the fourth inlet. The fourth inlet can be located on the side, top, or bottom of the pool robot. The pool robot also includes a baffle plate movably disposed at the fourth inlet for opening and closing the fourth inlet.

[0121] In some embodiments, the pool robot further includes a second baffle 10511d, which is movably disposed at the second water inlet to open or close the second water inlet.

[0122] In some embodiments, the second inlet serves as the fourth inlet, and the corresponding second baffle serves as a shield. Alternatively, in other embodiments, the aforementioned loading / unloading port can serve as the fourth inlet, and the corresponding first shielding cover 1018 serves as a shield.

[0123] Alternatively, in some embodiments, a fourth inlet is located at the bottom of the first body. A first nozzle extends into the first body from the bottom and sprays liquid onto the first filter cartridge.

[0124] Alternatively, in other embodiments, a fourth inlet is located on the first bottom cover of the first filter box, which is exposed to the external environment, and a first nozzle extends into the first filter box from the fourth inlet of the first bottom cover to spray liquid onto the first filter box.

[0125] In some embodiments, the base station includes a base station body 20001, a second filter cartridge 21102, a first sealing cartridge 2190, an electronic control board 21911, and at least one actuator. The second filter cartridge is at least partially disposed within the base station body and is used to receive waste discharged from the first filter cartridge 1051 of the pool robot. The first sealing cartridge is disposed on the base station body and has a first sealing cavity. The electronic control board is disposed within the first sealing cavity and includes at least one first control unit. At least one actuator is connected to the first control unit. The actuator includes at least a second cleaning assembly, which includes at least a first nozzle 2173 for spraying liquid onto the first filter cartridge to clean it. The first control unit is used to control the first nozzle to spray liquid.

[0126] In some embodiments, as shown in FIG27, the second filter box 21102 includes a second frame 211021, a third inlet 21101, and a second filter screen 211022. The third inlet 21101 is disposed on the second frame. For example, at least a portion of the third inlet is disposed on the top of the second frame; when the pool robot rests on the base station body, at least a portion of the third inlet is located directly above at least a portion of the third inlet, so that debris in the first filter box falls from top to bottom into the second filter box. At least a portion of the second filter screen may be disposed on the side and / or bottom of the second frame.

[0127] Furthermore, in some embodiments, the actuator may also include a charging component, an unlocking mechanism, a lever mechanism, a first closing mechanism, etc. The first control unit is also used to control the actuator to perform charging, unlocking, and the first closing mechanism, etc.

[0128] Furthermore, in some embodiments, the base station 2000 further includes at least one detection component. The at least one detection component is connected to the first control unit. The detection component is used to detect the operating parameters of the actuator and obtain a detection signal. The detection component sends the detection signal, the first control unit receives the detection signal, processes it, and generates a control command. The first control unit controls the actuator to operate based on the control command. The detection component includes a sensing component, a switching component, etc.

[0129] In some embodiments, the first control unit includes at least one of a processor and a memory. The processor is used to execute program instructions stored in the memory to implement the steps of the control method for the cleaning system. Specifically, the processor is used to drive any actuator to implement the steps of the control method for the cleaning system. The processor may also be referred to as a CPU (Central Processing Unit). The processor may be an integrated circuit chip with signal processing capabilities. The processor may 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 may be a microprocessor or any conventional processor. Furthermore, the processor may be implemented using integrated circuit chips.

[0130] In some embodiments, the memory stores program instructions that, when executed, implement the methods provided by any embodiment of the control method of the cleaning system of this disclosure and any non-conflicting combination thereof. These program instructions may be stored in the memory as a program file in the form of a software product, causing a processor to execute all or part of the steps of the methods of various embodiments of this disclosure.

[0131] In some embodiments, as shown in Figures 2 to 4, a first sealing box 2190 is provided inside the base station. The first sealing box 2190 has a first sealing cavity, which is used to accommodate the electronic control board. This prevents liquids inside the base station body or external liquids from entering the first sealing cavity and contacting the electronic control board, thus protecting the electronic control board. The electronic control board includes at least one first control unit, which is electrically connected to the actuator and / or detection component. The first control unit receives and processes the detection signals sent by the detection component and controls the operation of the second cleaning component, charging component, drying component, and other actuators.

[0132] In some embodiments, as shown in Figures 4 to 6, a wiring port assembly 21904 is provided on the first sealing box 2190. Conductive connecting wires outside the first sealing box can pass through this wiring port assembly 21904 and be electrically connected to the electronic control board inside the first sealing box, preventing liquid from outside the first sealing box from seeping into the first sealing box. Furthermore, a third sealing ring 219045 is provided between the first sealing box 2190 and the wiring port assembly 21904 to prevent liquid from seeping in through the contact gap between the wiring port assembly 21904 and the first sealing box 2190.

[0133] In some embodiments, as shown in Figures 5 and 6, the connector assembly 21904 sequentially includes a mounting member 219041, a rubber plug 219044, and a nut 219042. The mounting member 219041 provides overall structural support and a positioning base for its components. A connector 2190411 is provided on the mounting member 219041. The connector has a first portion 2190411a and a second portion 2190411b, with the first portion closer to the first sealing box 2190 than the second portion. At least a portion of the rubber plug 219044 is located within the second portion of the connector. A conductive wire passes through the connector and is covered by the rubber plug 219044. The rubber plug 219044 conforms to the outer wall of the conductive wire to prevent liquid outside the first sealing box from seeping into the first sealing box through the gap between the conductive wire and the connector. Nut 219042 is tightened to mounting part 219041 by connecting thread 2190412 to form a clamping force, so that rubber plug 219044 fits tightly against the inner wall of the terminal and the outer wall of the conductive connection wire to form a seal.

[0134] Furthermore, the connector assembly 21904 also includes a clamping ring 219043, located between the rubber plug 219044 and the nut 219042. The clamping ring 219043 transmits pressure to the rubber plug 219044 when the nut 219042 is tightened, causing it to deform and ensuring that the rubber plug 219044 tightly fits the inner wall of the connector and the outer wall of the conductive wire. In addition, in some embodiments, the first part of the connector is filled with adhesive to further seal the conductive wire with the first part. That is, the rubber plug forms the first seal, and the adhesive filling in the first part forms the second seal, ensuring that liquid outside the first filter box seeps into the first sealed box through the gap between the conductive connector and the connector. The aforementioned connector assembly 21904 effectively prevents moisture from outside the first sealed box from entering the first sealed cavity and affecting the operation of the first control unit.

[0135] In some embodiments, as shown in FIG7, the mounting part 219041 of the connector assembly 21904 can be integrally provided with the first sealing box 2190. Alternatively, the mounting part 219041 and the first sealing box can be separately provided.

[0136] In some embodiments, as shown in Figures 4, 7, and 8, the first sealing box 2190 includes a first sealing cover 21901 and a first box body 21902. The first sealing cover is disposed on the opening of the first box body to form a sealed cavity. For example, a first sealing ring 21903 is also disposed between the first sealing cover 21901 and the first box body 21902, so that the first sealing cover is sealed on the opening of the first box body to form a sealed cavity.

[0137] For example, the opening of the first housing has an outwardly extending outer edge, and the first sealing cover is fixedly connected to this outer edge. For example, the first sealing cover and the outer edge are connected by a fastener threaded connection or a snap-fit ​​connection. For example, the fastener is a screw; or a bolt and a nut. In some embodiments, when the aforementioned first sealing ring is provided, the first sealing ring is disposed between the outer edge and the first sealing cover. For example, a groove is provided on the outer edge, and a portion of the first sealing ring is embedded in the groove. When the first sealing cover is placed on the outer edge, the first sealing ring 21903 deforms under the pressure of the first sealing cover, so that the first sealing cover and the outer edge fit tightly together, forming a sealing connection, preventing external liquid from seeping into the first sealing cavity from the gap between the first sealing cover and the outer edge.

[0138] In some other embodiments, the electronic control board is disposed on the first sealing cover and located in the inner cavity of the first sealing box; or, in some embodiments, as shown in FIG8, a support fixing part 219021 is provided inside the first box body 21902, and the support fixing part is used to install the electronic control board.

[0139] In some embodiments, as shown in Figures 3, 18, and 28, the base station body 20001 includes a fourth receiving cavity 200011, which is isolated from the third receiving cavity 2054. The third receiving cavity 2054 is used to collect waste and residual liquid from the first filter box of the pool robot; the fourth receiving cavity 200011 is used to install the first sealing box 2190. Because the third and fourth receiving cavities are isolated, liquid and waste in the third receiving cavity cannot enter the fourth receiving cavity, thereby preventing the first sealing box from contacting the liquid and protecting the first sealing box.

[0140] For example, the base station body can also be located in the second dust chamber 2150, the inner cavity of the second dust chamber serves as the third receiving cavity, and the fourth receiving cavity is located outside the second dust chamber, thereby achieving the isolation between the third receiving cavity and the fourth receiving cavity.

[0141] In some embodiments, the fourth receiving cavity 200011 is further provided with a lifting structure. The lifting structure may include at least one of a first support frame, a first support platform, or a first mounting bracket. A first sealing box is disposed on the lifting structure, which maintains a distance between the bottom of the first sealing box 2190 and the bottom of the fourth receiving cavity, preventing liquid entering the fourth receiving cavity from contacting the first sealing box, thereby protecting the first sealing box.

[0142] For example, when the base station is placed outdoors, some liquid in the environment may enter the fourth containment cavity during rainy days. Due to the raised structure, even if liquid from the ground enters the fourth containment cavity, it is not easy for it to come into contact with the first sealing box, thus protecting the first sealing box and further preventing liquid from seeping into the first sealing box and affecting the electronic control board.

[0143] Furthermore, in some embodiments, since the first sealing box is located on the raised structure, the conductive connection line connected to the first sealing box runs on the raised structure, creating a height difference between the conductive connection line and the bottom of the fourth receiving cavity. This also makes it less likely for the liquid in the fourth receiving cavity to come into contact with the conductive connection line, thus protecting the conductive connection line.

[0144] In some embodiments, as shown in Figures 3, 18, and 28, the third receiving cavity 2054 and the fourth receiving cavity 200011 are arranged side-by-side, adjacent or non-adjacent, in the horizontal direction. For example, the third receiving cavity 2054 and the fourth receiving cavity 200011 are arranged adjacently left-right or front-back in the horizontal direction. Alternatively, in other embodiments, the third receiving cavity 2054 and the fourth receiving cavity 200011 are stacked, adjacent or non-adjacent, in the vertical direction. For example, the fourth receiving cavity 200011 is located below the third receiving cavity 2054 and arranged adjacently. Alternatively, the fourth receiving cavity 200011 is located above the third receiving cavity 2054 and arranged adjacently. Wherein, when the third receiving cavity 2054 and the fourth receiving cavity 200011 are arranged side-by-side or parallel in the horizontal direction within the base station body, the third receiving cavity 2054 is positioned closer to the first nozzle than the fourth receiving cavity 200011.

[0145] In some embodiments, as shown in Figures 13, 16 to 18, the base station body 20001 includes a second dust chamber 2150, the inner cavity of which serves as a third receiving cavity 2054. A fourth receiving cavity 200011 is located outside the second dust chamber 2150.

[0146] For example, in some embodiments, the lifting structure includes at least one first support platform. For example, the first support platform is disposed on the outer wall of the second dust chamber 2150 for mounting the first sealing box 2190. Alternatively, the lifting structure further includes at least one fourth connecting portion 2000253. For example, the fourth connecting portion 2000253 is disposed on the outer wall of the second dust chamber. The first support platform supports the first sealing box, and the fourth connecting portion is fixedly connected to the first sealing box.

[0147] For example, the first support platform 2000252 and the fourth connecting part 2000253 are disposed within the fourth receiving cavity 200011. A first sealing box is mounted on the first support platform 2000252 and the fourth connecting part, creating a height difference between the first sealing box and the bottom of the fourth receiving cavity 200011.

[0148] For example, in some embodiments, the fourth connection portion 2000253 is connected to the first sealing box by threads, snaps or other detachable fastening structures, so as to fix the first sealing box in the fourth receiving cavity of the base station body.

[0149] In some embodiments, as shown in Figures 2, 3, and 12, the base station body 20001 includes at least one mounting plate 200013, which is disposed within the inner cavity of the base station body 20001. In the height direction of the base station body 20001, the mounting plate 200013 divides the inner cavity of the base station body 20001 into at least a sixth receiving cavity 2020 and a third receiving cavity 2054, with at least a portion of the sixth receiving cavity located above the third receiving cavity. The third receiving cavity 2054 is used to collect waste and wastewater from the first filter box of the pool robot. The sixth receiving cavity 2020 is used to house at least a portion of at least one actuator.

[0150] In some embodiments, the base station body further includes a first mounting bracket 2000131 and a third connecting portion 2000132, which are disposed within the fourth receiving cavity 200011 and fixed to the mounting plate. The first mounting bracket 2000131 is used to hook the first sealing box 2190, creating a certain distance between it and the bottom of the fourth receiving cavity 200011. The third connecting portion 2000132 is used to fix the first sealing box 2190. The third connecting portion 2000132 is detachably connected to the first sealing box 2190 via threads, snap-fit, or positioning pins.

[0151] In some embodiments, the first sealing box 2190 can be disposed vertically or horizontally within the fourth receiving cavity. In some embodiments, as shown in Figures 2 and 24, the first sealing box 2190 is placed vertically within the fourth receiving cavity 200011 to fully utilize the vertical space of the fourth receiving cavity, reduce the lateral area occupied, and increase the volume of the adjacent third receiving cavity 2054. This allows for the placement of a larger volume of the second filter box, enabling it to hold more waste and reducing the frequency of cleaning the second filter box by the user. Simultaneously, it results in a compact structure and small size for the base station, facilitating user transport. Alternatively, in other embodiments, as shown in Figures 17 and 18, the first sealing box 2190 is disposed horizontally within the fourth receiving cavity 200011, and the control board and motor within the first sealing box are also arranged horizontally, facilitating maintenance of the control board and motor within the first sealing box.

[0152] In some embodiments, the base station 2000 further includes a power supply element. The power supply element can be connected to an electronic control board within the first sealed box 2190 via a conductive connection wire. The electronic control board is electrically connected to an actuator and a detection component. For example, the actuator can be at least one of a charging component, a lever mechanism, a door closing mechanism, a second cleaning component, etc., within the base station. The detection component can be a lever positioning detection, a first nozzle positioning detection, a pusher positioning detection, etc.

[0153] In some embodiments, the power supply element may be disposed within the fourth receiving cavity 200011 or the sixth receiving cavity 2020. For example, in some embodiments, the power supply element may be a power adapter 2192 or a second battery pack.

[0154] In some embodiments, the power supply element is a second battery pack, which is disposed within the first sealed cavity; alternatively, the second battery pack has a waterproof layer on its exterior and is disposed within the base station body but outside the first sealed cavity. The second battery pack is connected to the electronic control board 21911. The first control unit can control the second battery pack to supply power to the charging components on the base station, so that the charging components can charge the pool robot. The placement of the second battery pack allows the base station to be located away from the user's home power source (such as the output of high-voltage AC power from the power grid) during use. When the second battery pack is out of power or its charge level is lower than a preset level, the user's home power source will then charge the second battery pack. This eliminates the need for continuous power supply to the base station, allowing it to be placed in any location, indoors or outdoors.

[0155] In other embodiments, as shown in Figures 3 and 9, the power supply element is a power adapter 2192, which is exposed outside the base station body; or, the power adapter is located inside the base station body. When the power adapter is located inside the base station body, it can be located in the fourth receiving cavity 200011 or the sixth receiving cavity 2020.

[0156] For example, when the power adapter is located within the sixth receiving cavity 2020, it can be distributed within the sixth receiving cavity either close to or far from the first nozzle 2173. Alternatively, the power adapter can be located near the side of the sixth receiving cavity to shorten the length of the power supply cable from the outside, reducing the amount of wiring used and lowering costs. In this embodiment, the power adapter is similar to a relay station; it does not have the function of storing electrical energy, but only the function of transmitting electrical energy. Specifically, the power adapter 2192 can convert high-voltage AC power from the power grid into low-voltage DC power required by the base station, thereby providing a matching voltage supply to the base station.

[0157] In some embodiments, as shown in Figures 14 and 15, the power adapter 2192 includes at least an adapter plate 21925, a second sealing cover 21921, and a second housing 21922. The second sealing cover is sealed over the opening of the second housing to form a second sealed cavity. The adapter plate is disposed within the second sealed cavity.

[0158] For example, in some embodiments, a second sealing ring 21926 is provided between the opening of the second sealing cover 21921 and the opening of the second housing 21922 to ensure the sealing of the connection between the opening of the first sealing cover and the opening of the second housing.

[0159] In some embodiments, the power adapter 2192 further includes a heat sink, which is disposed at least on one side surface of the adapter plate 21925 and can effectively dissipate heat on the adapter plate to prevent overheating during long-term operation. For example, the heat sink can be directly or indirectly attached to the heat-generating area of ​​the adapter plate 21925 or to the entire adapter plate 21925.

[0160] In some embodiments, the power adapter 2192 further includes a second support frame 21927, which is used to support and install the adapter board 21925, so that the adapter board, the second housing, and the second sealing cover remain relatively stationary, and the performance of the adapter board will not be affected even if the base station shakes.

[0161] In some implementations, one end of the power adapter 2192 is provided with an AC interface 21923 for connecting to an external power source; the other end is provided with a DC interface 21924 for connecting to the electronic control board 21911. In some embodiments, the AC interface 21923 is disposed facing the side of the base station body, so that the user can access the external power source from the side of the base station body.

[0162] In some embodiments, as shown in Figures 2, 9 to 11, 16 to 23, and 25 to 32, the power adapter 2192 acts as a relay station, electrically connected to an external power source, and extends into the first sealed box 2190 via a conductive connecting wire to connect to the electronic control board 21911 to supply power to the various actuators and detection components. The electronic control board 21911 includes at least one first control unit, which is electrically connected to each actuator and / or detection component.

[0163] In some embodiments, the second cleaning assembly further includes a liquid inlet component 21731 and at least one first valve 2179, the first valve being disposed on the liquid inlet component. The first valve is used to cut off or allow the flow of cleaning water to the first nozzle 2173. One end of the liquid inlet component is in fluid communication with the cleaning water source, and the other end is connected to the first nozzle. The first valve is connected to a first control unit, which controls the opening or closing of the first valve to control the first nozzle to spray liquid or stop spraying liquid.

[0164] In some embodiments, the first valve is a one-way valve. For example, the one-way valve is at least one of a solenoid valve, a baffle valve, a ball valve, a butterfly valve, etc. For example, in some embodiments, the one-way valve is located on the liquid inlet component and is also installed on the side of the base station body 20001, with the base station body providing support for the one-way valve. Alternatively, as shown in FIG10, the second cleaning assembly further includes a support base 2171, on which the one-way valve is located.

[0165] Further, in some embodiments, as shown in FIG11, the liquid inlet component includes a first liquid inlet component 217311 and a second liquid inlet component 217312. One end of the first liquid inlet component is movably disposed on one end of the second liquid inlet component, the other end of the first liquid inlet component is connected to the first nozzle, and the other end of the second liquid inlet component is in fluid communication with the clean water source. The second cleaning assembly also includes a first driving assembly, which includes at least a seventh motor 2174. The seventh motor is used to drive the first liquid inlet component to move relative to the second liquid inlet component, so as to drive the first nozzle to switch between a first position (i.e., an extended position) and a second position (i.e., a retracted position).

[0166] The first control unit is connected to the seventh motor and is also used to control the operation of the seventh motor so that the first nozzle can switch between a first position and a second position. In the first position, the first nozzle extends into the pool robot and sprays liquid onto the first filter box; in the second position, the first nozzle retracts from the pool robot. In some embodiments, as shown in FIG10, the second cleaning assembly further includes a support base 2171, on which the seventh motor is mounted.

[0167] For example, in the first position, the first nozzle extends not only into the first body but also into the first filter box, spraying liquid onto the first filter box. Alternatively, in the first position, the first nozzle extends into the first body, spraying liquid from outside the first filter box into the first filter box. Alternatively, in the first position, the first nozzle does not extend into the pool robot, but sprays liquid from outside the first body into the first filter box.

[0168] In some embodiments, the base station further includes at least one seventh position detection component 7012 for detecting whether the first nozzle has rotated to a first position or a second position. In a specific example, there are at least two seventh position detection components, which are spaced apart. One seventh position detection component is used to detect whether the first nozzle has rotated to the first position, and the other seventh position detection component is used to detect whether the second nozzle has rotated to the second position.

[0169] For example, each seventh position detection component includes a sensor and a sensor mating component, wherein one of the sensor 70121 and the sensor mating component 70122 is disposed on the base station body, and the other rotates with the first nozzle. For example, one of the sensor and the sensor mating component is disposed on a support base and is stationary relative to the base station body; the other is disposed on the first liquid inlet component and remains stationary relative to the first nozzle.

[0170] In some embodiments, one of the sensing element and the sensing mating element is a Hall sensor, and the other is a magnetic element. For example, the magnetic element is a magnet. In this embodiment, a magnet is used as an example. For instance, the Hall sensor used to detect the first position is a first Hall sensor, and the magnet is a first magnet; when the first Hall sensor detects the first magnet, it indicates that the first nozzle has reached the first position. At this time, the electronic control board controls the seventh motor to stop running, keeping the first nozzle in the first position. As another example, the Hall sensor used to detect the second position is a second Hall sensor, and the magnet is a second magnet; when the second Hall sensor detects the second magnet, it indicates that the first nozzle has reached the second position. At this time, the electronic control board can control the seventh motor to stop running, keeping the first nozzle in the second position.

[0171] Alternatively, in other embodiments, one of the sensing element and the sensing mating element is a micro switch, and the other is a trigger element. For example, the trigger element is fixed relative to the first nozzle. For example, the trigger element is disposed on the first liquid inlet component. The micro switch is fixed relative to the base station body. For example, the micro switch is disposed on the aforementioned support base. During the rotation of the trigger element with the first nozzle, when the trigger element collides with the micro switch, it indicates that the first nozzle is in a first position or a second position.

[0172] In some embodiments, the pool robot further includes a locking mechanism for locking the first bottom cover onto the first frame, thereby keeping the first bottom cover closed and preventing debris from falling out of the third opening of the first filter box.

[0173] In some embodiments, as shown in FIG31, the locking mechanism includes a first limiting hole 10801, a first locking member 10802, and a fourth elastic member 10803. The first limiting hole 10801 is disposed on the first frame, and the first locking member is telescopically or slidably disposed on the first bottom cover. The first locking member has a first limiting end 108021 and a first mounting end 108022. The fourth elastic member is a compression spring, one end of which is disposed on the first mounting end of the first locking member, and the other end is disposed on the first bottom cover. The compression spring applies a biasing force to the first locking member in the direction of the first limiting hole, causing the first limiting end of the first locking member to tend to extend out of the first bottom cover and into the first limiting hole.

[0174] When the first limiting end extends into the first limiting hole, the first locking member locks the first bottom cover onto the first frame, keeping the first bottom cover closed of the third opening. When the first locking member retracts or slides to exit the first limiting hole, it releases the lock on the first bottom cover, allowing the first bottom cover to move relative to the first frame to switch between opening and closing the third opening. Alternatively, in another embodiment, the positions of the first limiting hole and the first locking member are reversed, with the first limiting hole located on the first bottom cover and the first locking member located on the first frame.

[0175] In some embodiments, a first bottom cover is rotatably or slidably disposed on a first frame, and the first bottom cover switches between opening and closing a third opening by rotating or sliding.

[0176] In some embodiments, as shown in Figures 9, 17, and 18, the base station further includes an unlocking mechanism 7003, which includes at least a first unlocking member 70037 and a first motor 70035. The first motor is used to drive the first unlocking member to perform an upward or retracting movement, thereby driving the locking mechanism 1080 inside the pool robot to move, thereby releasing the locking mechanism from locking the first bottom cover, allowing the first bottom cover to move relative to the first frame. The first bottom cover switches between opening and closing the third opening. For example, the first bottom cover opens the third opening, allowing waste in the first filter box to be discharged from the third opening and transferred to the second filter box of the base station.

[0177] For example, a first motor drives a first unlocking member to extend, causing the first unlocking member to retract or slide, thereby disengaging the first locking member from the first limiting hole and releasing its locking effect on the first bottom cover. Alternatively, the first unlocking member pushes the first locking member to retract, causing the first limiting end of the first locking member to exit the first limiting hole. Or, the first locking member is retractably or slidably mounted on the first bottom cover in a generally vertical or horizontal direction. The first unlocking member, through an upward movement, pushes the first locking member to retract, causing it to exit the first limiting hole. That is, the first locking member switches from an extended position to a retracted position.

[0178] In some embodiments, a first motor is connected to a first control unit, which further controls the operation of the first motor to drive the first unlocking member to move upward. In some embodiments, the first unlocking member is movably disposed on the resting surface of the base station body. For example, a sliding hole is provided on the resting surface of the base station body, and the first unlocking member is movably disposed within the sliding hole. In some embodiments, the first unlocking member is located outside one side of the fourth opening. In other embodiments, if there are two unlocking mechanisms, the two first unlocking members of the two unlocking mechanisms are distributed opposite each other on both sides outside the fourth opening and close to the fourth opening.

[0179] In some embodiments, the base station further includes at least one sliding seat 70038, which protrudes from the base station's resting surface, and a first unlocking member is vertically and elliptically mounted on the sliding seat. For example, the sliding seat is distributed adjacent to or near the fourth opening. The first unlocking member applies an unlocking force to the locking mechanism by extending upward from the sliding seat, thereby driving the locking mechanism to move.

[0180] In some embodiments, the first locking member is retractably or slidably disposed on the first bottom cover or the first frame in a generally horizontal direction. As shown in Figures 31 and 32, the unlocking mechanism further includes a second unlocking member 70033 and a fifth elastic member 70034. The second unlocking member is at least partially disposed inside the pool robot. As shown in Figure 34, the pool robot further includes a third clearance opening 1001j, which is disposed on the bottom of the first body to expose the force-bearing end of the second unlocking member to the outside. A first motor drives the first unlocking member to move upward, and the first unlocking member drives the second unlocking member to rotate forward by pushing the force-bearing end of the second unlocking member, causing the pushing end of the second unlocking member to rotate into the first limiting hole, thereby pushing the first locking member to retract, and then the first locking member to exit the first limiting hole. The biasing force generated by the fifth elastic member tends to keep the pushing end of the second unlocking member outside the first limiting hole.

[0181] After the locking mechanism is unlocked, the first unlocking member descends under the drive of the first motor; or, the first unlocking member descends under gravity without the drive of the first motor; or, the first unlocking member descends under the combined action of the drive of the first motor and the gravity of the first unlocking member; this causes the first unlocking member to release the force on the force-bearing end of the second unlocking member, and under the action of the fifth elastic member, the second unlocking member rotates in the opposite direction, causing the second unlocking member to exit the first limiting hole, and the pushing end of the second unlocking member to return to the outside of the first limiting hole.

[0182] In some embodiments, one end of the fifth elastic element abuts against at least a portion of the second unlocking element, and the other end abuts against the outer wall of the first dust chamber 1052. In this embodiment, the fifth elastic element can be a torsion spring or a compression spring; alternatively, it can also be a tension spring.

[0183] In some embodiments, the end face of the first limiting end of the first locking member is a first inclined surface, and correspondingly, the first frame is provided with a second inclined surface that can abut against the first inclined surface. The first locking member has an extended position and a retracted position; in the extended position, the first locking member extends into the first limiting hole; in the retracted position, the first locking member exits the first limiting hole.

[0184] When the unlocking mechanism drives the first locking member to switch from the extended position to the retracted position, the first locking member disengages from the first limiting hole. After the first bottom cover moves to open the third opening, the first locking member resets under the action of the fourth elastic member, returning from the retracted position to the extended position. If the first bottom cover needs to close the third opening, during the movement of the first bottom cover towards the third opening, it abuts against the first inclined surface via the second inclined surface, pushing the first locking member from the extended position to the retracted position until it is directly facing the first limiting hole. Then, under the action of the fourth elastic member, the first locking member switches from the retracted position to the extended position and extends into the first limiting hole, thus locking the first bottom cover onto the third opening.

[0185] For example, in some embodiments, as shown in FIG33B, a lug 10523 extends downward from the bottom of the first frame, a first limiting hole is provided on the lug, and a second inclined surface is provided on the bottom surface of the lug. When the first bottom cover closes the third opening, the lug is located outside the first bottom cover.

[0186] In some embodiments, the number of unlocking mechanisms corresponds to the number of locking mechanisms. For example, if there is one unlocking mechanism, there is correspondingly one locking mechanism. Alternatively, if there are two unlocking mechanisms, there are correspondingly two locking mechanisms, with the two unlocking mechanisms symmetrically arranged on the base station body.

[0187] In some embodiments, as shown in FIG2, the base station further includes a lever mechanism 7006, which is at least partially disposed within the third receiving cavity. The lever mechanism reciprocates to agitate debris within the second filter box. The first control unit is also configured to control the reciprocating movement of the lever mechanism. This movement includes swinging, sliding, etc.

[0188] Furthermore, in some embodiments, as shown in FIG20, the lever mechanism includes at least one third motor 70064 and at least one lever 70062; the third motor is used to drive the lever to reciprocate to move or flatten the garbage in the second filter box, preventing the garbage from accumulating in the second filter box below the fourth opening; if the garbage accumulates in the second filter box and is located below the fourth opening, it will affect the smooth flow of garbage in the first filter box from the fourth opening into the second filter box. The third motor is connected to the first control unit, which is also used to control the operation of the third motor.

[0189] In some embodiments, the first motor independently drives the first unlocking element to move, and the third motor independently drives the lever to move. In other embodiments, the first motor and the third motor are combined into one motor, that is, the first unlocking element is driven to move by one motor, which also drives the lever to reciprocate.

[0190] For example, in some embodiments, when the first motor and the third motor are combined into one motor, the lever reciprocates at least between a fourth position (i.e., the unlocked position) and a fifth position (i.e., the initial position). When the lever is in the fourth position, the third motor also drives the first unlocking member to move upward, thereby driving the locking mechanism inside the pool robot to move, and thus releasing the locking mechanism from locking the first bottom cover, allowing the first bottom cover to move relative to the first frame, switching between opening and closing the third opening. In this embodiment, the third motor can not only drive the lever to reciprocate within the second filter box, but also drive the first unlocking member to move to release the locking mechanism from locking the first bottom cover. After the first bottom cover is unlocked, the first bottom cover can rotate by its own weight, or by the weight of the first bottom cover and the waste and liquid inside the first filter box, to open the third opening. The fifth position of the lever refers to the upper or lower limit of the lever's movement.

[0191] After the first bottom cover opens the third opening of the first filter box, the first control unit controls the third motor to drive the lever to move between the fourth and fifth positions, but not to the fourth position, to avoid repeatedly driving the first unlocking member to move upward and damaging the first unlocking member. At the same time, since the first bottom cover is in the state of opening the third opening at this time, the locking mechanism has released the lock on the first bottom cover. The first unlocking member moves upward and does not play the role of releasing the locking mechanism from locking the first bottom cover.

[0192] For example, a sixth position is included between the fifth and fourth positions, and the lever reciprocates between the fifth and sixth positions. In some embodiments, during the reciprocating movement of the lever to remove trash, the lever may not reach the fifth and fourth positions, but may move between these two positions. For example, a sixth and a seventh position are included between the fifth and fourth positions, and the lever reciprocates between the sixth and seventh positions.

[0193] In some embodiments, when the first bottom cover closes the third opening and it is not necessary for the first bottom cover to open the third opening, the first control unit can control the third motor drive lever to move between the fifth position and the fourth position, but not to the fourth position, that is, the first unlocking member does not need to move, to drive the locking mechanism to move so that the locking mechanism releases the lock on the first bottom cover.

[0194] In some embodiments, the base station further includes at least one ninth position detection component 7021 for detecting whether the movement of the lever is abnormal. After the ninth position detection component detects abnormal movement of the lever, the first control unit controls the first nozzle to stop spraying liquid. This occurs when the first nozzle is rotatably mounted on the base station body and has a retracted position and an extended position. Upon detecting abnormal movement of the lever by the ninth position detection component, the first control unit controls the first nozzle to stop spraying liquid and return it from its current position to the retracted position.

[0195] In some embodiments, the retracted position refers to the first nozzle retracting from the first body and returning to its initial position within the base station body. The extended position refers to the position where the first nozzle extends into the first body and sprays liquid into the first filter cartridge.

[0196] In some embodiments, the ninth position detection component includes a Hall sensor and a magnetic element. For example, the magnetic element is a magnet. The magnetic element is located on a lever, and the Hall sensor is located on the base station body. If, during the reciprocating movement of the lever, the lever needs to swing to the fifth position in each reciprocating cycle; if the Hall sensor detects the magnetic element within the duration of each reciprocating cycle, it indicates that the lever has moved to the fifth position; if the Hall sensor does not detect the magnetic element, it indicates that the lever has not moved to the fifth position, and the movement of the lever is abnormal; the first control unit, based on the abnormal signal of the lever movement, controls the first nozzle to stop spraying liquid. Further, it controls the first nozzle to switch from its current position to a retracted position.

[0197] In some embodiments, the base station further includes an eighth position detection component 7013 for detecting whether the first bottom cover 1054 of the first filter box 1051 has opened the third opening, that is, detecting whether the first bottom cover has closed the third opening.

[0198] For example, the eighth positioning detection component 7013 includes a Hall sensor and a magnetic element. The magnetic element is, for example, a magnet. The magnet is located on the first bottom cover, and the Hall sensor can be located on the base station body. For example, the Hall sensor is vertically placed inside the sixth receiving cavity and located outside the fourth opening. When the Hall sensor detects the magnet, it indicates that the first bottom cover is open at the third opening; otherwise, it indicates that the first bottom cover is closed at the third opening. Simultaneously, when the Hall sensor detects the magnet, it also indicates that the first filter box is installed in place within the first body. In some embodiments, the eighth positioning detection component can also be the aforementioned positioning switch. The positioning switch includes a microswitch and a trigger. In some embodiments, the positions of the Hall sensor and the magnetic element can be interchanged. For example, the magnetic element is located on the base station body, and the Hall sensor is located on the first bottom cover.

[0199] Furthermore, in some embodiments, a Hall sensor is also provided within the first body. When the first bottom cover closes the third opening, the Hall sensor within the first body detects the magnetic element on the first bottom cover, indicating that the first bottom cover has closed the third opening; it also indicates that the first filter box is installed in place within the first body. If the Hall sensor on the base station does not detect the magnet and the Hall sensor within the first body also does not detect the magnet, it can indicate that the first filter box is not installed in place within the first body, and the base station and / or the pool robot can issue an abnormal prompt that the first filter box is not installed in place. That is, using the same magnetic element on the first bottom cover, the opening and closing of the third opening of the first bottom cover and the installation of the first filter box into the first body can be detected. Alternatively, the magnetic elements on the first bottom cover can be separate, with multiple magnetic elements used for detecting the opening and closing of the third opening of the first bottom cover and the placement of the first filter box within the first body, respectively. Similarly, the positions of the magnetic elements and the Hall sensor can be interchanged. The magnetic elements and the Hall sensor can also be replaced with a position switch.

[0200] Accordingly, in some embodiments, the base station is equipped with an eighth positioning detection component, and the pool robot is equipped with a first filter box detection component. When the eighth positioning detection component detects the first bottom cover, it indicates that the first bottom cover has opened the third opening and the first filter box is installed in place within the first main body. When the first filter box detection component detects the first bottom cover, it indicates that the first bottom cover has closed the third opening and the first filter box is installed in place within the first main body. When neither the eighth positioning detection component nor the first filter box detection component detects the first bottom cover, it indicates that the first filter box is not installed in place within the first main body. The first filter box detection component may be a Hall sensor or a positioning switch located within the first main body.

[0201] In some embodiments, as shown in Figures 2 and 21, the base station further includes a first closing mechanism 7004, which includes at least a sixth motor 70042 and at least one pushing component. The sixth motor is used to drive the pushing component to switch between a retracted state and an extended state. In the extended state, the pushing component is used to push the first bottom cover of the first filter cartridge toward the third opening, causing the first bottom cover to close the third opening. The sixth motor is connected to a first control unit, which is also used to control the operation of the sixth motor to switch the pushing component from the retracted state to the extended state, push the first bottom cover toward the third opening to close the third opening; and after the first bottom cover closes the third opening, to switch the pushing component from the extended state to the retracted state.

[0202] In some embodiments, during the process of cleaning the first filter cartridge by spraying liquid from the first nozzle, the push assembly is in a retracted state to avoid the first bottom cover. After cleaning is completed, the push assembly switches from the retracted state to the extended state to push the first bottom cover to rotate toward the third opening to close the third opening. After the first bottom cover closes the third opening, the push assembly switches from the extended state back to the retracted state. In some embodiments, the push assembly includes at least one push rod 70041.

[0203] In some embodiments, the base station further includes a tenth positioning detection component 7022 for detecting whether the pushing component has moved into position, that is, detecting whether the first bottom cover has closed the third opening. For example, the tenth positioning detection component includes at least one positioning switch. In some embodiments, as shown in FIG21, the positioning switch includes a micro switch 70221 and a trigger 70222, wherein one of the micro switch and the trigger is disposed on the pushing component, and the other is disposed on the base station body. For example, the trigger is disposed on the pushing component assembly, and the pushing component drives the trigger to move synchronously. When the trigger abuts against the micro switch, the circuit in the micro switch is turned on, indicating that the pushing component has moved to the extended state, and the first bottom cover closes the third opening. Otherwise, it indicates that the first bottom cover has not closed the third opening. For example, the trigger is a protrusion, protruding from one side of the pushing component. In other embodiments, the positioning switch may also be replaced by a Hall sensor and a magnet.

[0204] In some embodiments, the base station further includes a fifth positioning detection component 7015 for detecting whether the second filter cartridge 21102 is properly installed in the third receiving cavity, preventing the first nozzle from performing a cleaning task on the first filter cartridge if the second filter cartridge is not properly installed. For example, the fifth positioning detection component includes a Hall sensor and a magnetic element. For example, the magnetic element is a magnet; one of the Hall sensor and the magnet is located on the second filter cartridge, and the other is located in the third receiving cavity of the base station body. For example, the magnet is located on the side of the second filter cartridge, and the Hall sensor is correspondingly located on the side wall of the third receiving cavity. Alternatively, the magnet is located on the bottom of the second filter cartridge, and the Hall sensor is correspondingly located on the bottom of the third receiving cavity. When the Hall sensor detects the magnet, it indicates that the second filter cartridge is properly installed in the third receiving cavity, and the first nozzle can begin cleaning the first filter cartridge; otherwise, it indicates that the second filter cartridge is not properly installed, and the first nozzle cannot begin cleaning the first filter cartridge. Alternatively, the magnet is located in the third receiving cavity, and the Hall sensor is located on the second filter cartridge. Similarly, the Hall sensor and the magnet can also be replaced by a microswitch and a trigger. One of the micro switch and the trigger is located on the second filter box, and the other is located on the third receiving cavity.

[0205] In some embodiments, the base station further includes at least one of a first positioning detection component 7010 and a second positioning detection component 7011, for detecting whether the pool robot is stopped at a preset parking position on the base station's parking surface. For example, the preset parking position includes at least one of a cleaning position and a charging position.

[0206] In one embodiment, the cleaning position and the charging position are approximately the same location; that is, when the pool robot is in the cleaning position, the first nozzle can spray liquid onto the first filter box to clean it; the charging component on the base station can charge the pool robot. Therefore, the base station includes a first positioning detection component, and a second positioning detection component may not be necessary. For example, when the pool robot is in the cleaning position, the first control unit can control the first nozzle 2173 to spray liquid to clean the first filter box; the first control unit can also control the charging component to charge the pool robot.

[0207] In some embodiments, the first control unit may first control the first nozzle to clean the first filter box, and then control the charging component to charge the pool robot after the first filter box is cleaned. Alternatively, the first control unit may first control the charging component to charge the pool robot, and then control the first nozzle to clean the first filter box after the pool robot is fully charged. Alternatively, the first control unit may control the first nozzle to clean the first filter box, and during the cleaning process, the first control unit may control the charging component to charge the pool robot simultaneously. Alternatively, the first control unit may control the charging component to charge the pool robot for a preset time or to charge it to a preset level, then control the first nozzle to clean the first filter box, and then control the charging component to charge the pool robot again.

[0208] In some embodiments, the cleaning position and the charging position on the base station's resting surface are different positions. The base station also includes the aforementioned first positioning detection component and second positioning detection component, wherein the first positioning detection component is used to detect whether the pool robot is stopped at the cleaning position; and the second positioning detection component is used to detect whether the pool robot is stopped at the charging position.

[0209] When the first positioning detection component detects that the pool robot has stopped in the cleaning position, the first control unit controls the first nozzle to clean the first filter cartridge. When the second positioning detection component detects that the pool robot has stopped in the charging position, the first control unit controls the charging component to charge the pool robot.

[0210] In this embodiment, the structures of the first positioning detection component and the second positioning detection component may be the same or different. For example, the structures of the first positioning detection component and the second positioning detection component may be the same. For instance, the first positioning detection component / second positioning detection component includes a Hall sensor and a magnetic component, one of which is located on the base station body, and the other is located on the pool robot.

[0211] For example, the Hall sensor of the first position detection component is located on the base station body and within or near the clean position. Alternatively, the Hall sensor of the second position detection component is located on the base station body and within or near the charging position.

[0212] Alternatively, the first positioning detection component includes a positioning switch. For example, the positioning switch includes a microswitch and a trigger, one of which is located on the base station body, and the other on the pool robot. For example, the microswitch of the first positioning detection component is located on the base station body and within or near the cleaning position. Alternatively, the microswitch of the second positioning detection component is located on the base station body and within or near the charging position.

[0213] Alternatively, in some embodiments, the first and second positioning detection components have different structures. For example, the first positioning detection component includes a Hall sensor and a magnetic element, while the second positioning detection component includes a positioning switch. Since the cleaning and charging positions are separate, and to facilitate user movement of the base station, the base station is relatively small, resulting in a limited area of ​​its resting surface. Although the cleaning and charging positions are not the same location, they are close to each other on the resting surface (e.g., they overlap). The first and second positioning detection components employ different structures, and their feedback detection signals differ, thus enabling more accurate detection of whether the pool robot is in the cleaning or charging position.

[0214] In some embodiments, the base station further includes a charging component disposed on the base station body for charging the pool robot. For example, when the charging component 2090 includes a charging element 2091, the charging element 2091 includes a positive charging element 20911 and a negative charging element 20912, which are electrically connected. In some embodiments, at least one second positioning detection component may be disposed near both the positive and negative charging elements.

[0215] Corresponding to the charging components on the base station, the pool robot also includes a charging receiver 1020, which comprises a positive receiver and a negative receiver electrically connected to each other. The charging receiver is located on the bottom of the first main body. The charging component and the charging receiver are brought into contact to charge the pool robot, for example, the positive receiver abuts against the negative charging component, and the negative receiver abuts against the positive charging component. Alternatively, the charging component and the charging receiver can be wirelessly charged.

[0216] When the pool robot docks on the base station and the charging receiver comes into contact with the charging component, the first control unit also controls the power supply element to supply power to the charging component, so that the charging component charges the pool robot. Alternatively, the base station may also include a voltage regulator that connects the charging element and the charging component.

[0217] When the pool robot docks on the base station body, and the charging receiver comes into contact with or approaches the charging component (wireless charging), and during the cleaning process of the first nozzle on the first filter box, the first control unit is also used to control the voltage regulator to reduce the power supply voltage of the power supply element to the charging component, so that the charging component is insufficient to charge the pool robot.

[0218] Alternatively, when the pool robot leaves the base station, the charging receiver separates from the charging component. The first control unit is also used to control the voltage regulator to reduce the supply voltage of the power supply element to the charging component, so that the charging component is insufficient to charge the pool robot. The voltage regulator is located on the electronic control board and can be a linear regulator, a switching regulator, or an integrated power management chip, etc.

[0219] The power supply voltage may include a first voltage and a second voltage. The first voltage is the voltage between the positive and negative charging components when the pool robot is not docked on the base station body; the first voltage can be 0V or greater than 0V. The second voltage is the voltage between the positive and negative charging components when the charging assembly is charging the pool robot; the first voltage is less than the second voltage. When the first voltage is 0V, if the first positioning detection component / second positioning detection component detects that the pool robot is docked at the charging position on the base station body, the first control unit controls the power supply element to provide the second voltage to the charging assembly to charge the pool robot.

[0220] The pool robot has an internal resistor connected to a charging receiver, and a first voltage greater than 0V. When the pool robot docks on the base station, the charging receiver comes into contact with the charging unit, forming a circuit. The aforementioned resistor causes a change in the value of the first voltage. The first control unit can determine the contact between the charging receiver and the charging unit based on this change, and then control the power supply element to provide a second voltage to the charging assembly. And / or, when the first voltage is greater than 0V, when the first positioning detection component / second positioning detection component detects that the pool robot has docked at the charging position, it controls the power supply element to provide the second voltage to the charging assembly.

[0221] Furthermore, in some embodiments, as shown in FIG22, the charging assembly further includes a first base 2096, which is movably disposed on the base station body. For example, the base station has a mounting plate 200013, the first base is disposed on the mounting plate, and the charging component is fixed on the first base. Further, in some embodiments, the bottom of the first base is provided with at least one first support column 2092, and a first elastic member 2093 is sleeved on the first support column, the first elastic member being disposed between the mounting plate and the first base. When the pool robot docks on the base station body, the charging receiver abuts against the charging component. Under the gravity of the pool robot, the first elastic member is compressed, and the first elastic member applies an elastic force towards the charging receiver, ensuring that the charging component and the charging receiver can fit tightly together, thus ensuring the charging effect of the charging component on the charging receiver.

[0222] In some embodiments, as shown in FIG19, the base station further includes a drying assembly 2800, which includes at least one fan for drying at least one type of waste in the charging assembly and the second filter box. The fan is connected to a first control unit, which is also used to control the operation of the fan. When the charging receiver at the bottom of the pool robot docks with the charging assembly, the drying assembly can also dry both the charging assembly and the charging receiver simultaneously. In some embodiments, the drying assembly provides ambient temperature air to dry the charging assembly, or provides hot air to dry the charging assembly. For example, the drying assembly also includes at least one heating element. The air provided by the fan is heated by the heating element after passing through it, forming hot air, which is used to dry the charging assembly, thus accelerating the drying speed of the charging assembly. In addition, the air provided by the drying assembly can be used to dry the waste in the second filter box, preventing the waste in the second filter box from becoming moldy and smelly in a humid environment.

[0223] Furthermore, in some embodiments, the drying assembly further includes at least one air duct having at least one air outlet, through which a fan blows air onto at least one of the waste items in the charging assembly and the second filter box for drying. For example, the air duct has at least two air outlets, with at least one outlet facing the charging assembly and at least one outlet facing the second filter box. Alternatively, there are two air ducts, with one air duct outlet facing the charging assembly for drying the charging assembly, and the other air duct outlet facing the second filter box for drying the waste items in the second filter box.

[0224] For example, in some embodiments, since the positive electrode charging component is more prone to electrochemical corrosion (i.e., electrolysis) than the negative electrode charging component, at least one air outlet of the air duct faces the positive electrode charging component, and the fan blows air onto the positive electrode charging component through the air outlet to dry the positive electrode charging component and ensure that the positive electrode charging component is in a dry state; to avoid residual liquid on the positive electrode charging component and electrolysis of the positive electrode charging component.

[0225] In some embodiments, as shown in FIG25, the base station body includes a third receiving cavity and at least one first drain outlet 2120. A second filter box is disposed in the third receiving cavity, and at least one first drain outlet is disposed on the third receiving cavity. The base station also includes at least one second water pump 2121 for driving the liquid inside the third receiving cavity to be discharged from the base station body through the first drain outlet. In this embodiment, by setting the second water pump, the liquid inside the third receiving cavity is discharged from the base station more quickly under the action of the second water pump, so as to ensure the normal filtration of the second filter box; at the same time, it also avoids the accumulation of a large amount of liquid in the third receiving cavity, which would cause the liquid to flow out from the gaps in the third receiving cavity and drip onto the ground where the base station is located, affecting the user experience.

[0226] In some embodiments, the second water pump is connected to the first control unit, which is also used to control the operation of the second water pump.

[0227] In some embodiments, as shown in FIG25, the base station further includes a water receiving chamber 2122, which is at least partially disposed below the third receiving cavity and below the first drain outlet. The sixth inlet of the water receiving chamber communicates with the first drain outlet, and the water receiving chamber is used to receive liquid discharged from the third receiving cavity, i.e., liquid filtered by the second filter box.

[0228] For example, in some embodiments, the cross-sectional area of ​​the sixth inlet is greater than or equal to the cross-sectional area of ​​the first drain outlet, so that the liquid in the third containment cavity can be quickly drained into the water receiving tank first, and then discharged from the water receiving tank out of the base station body, thus avoiding water accumulation in the third containment cavity.

[0229] In some embodiments, when the base station includes the aforementioned second water pump, the second water pump drives the liquid in the water receiving tank to be quickly discharged from the base station body, shortening the residence time of the liquid in the water receiving tank. For example, in some embodiments, at least a portion of the second water pump is located inside the water receiving tank. For example, as shown in FIG26C, the water receiving tank 2122 includes a first tank body 2122A and a second tank body 2122B, wherein the inner cavity of the first tank body communicates with the inner cavity of the second tank body, a sixth inlet is located on the first tank body, and the second water pump is located in the inner cavity of the second tank body. The second tank body has a main drain outlet, and the liquid is discharged from the base station body from the main drain outlet after passing through the second water pump.

[0230] In some embodiments, as shown in FIG26, the third receiving cavity further includes a guide step 20541, which is disposed at the first drain outlet 2021. The guide step is lower than the first drain outlet and guides the liquid flow in the third receiving cavity to the water receiving tank. For example, the guide step surrounds the first drain outlet and is disposed at the bottom of the first drain outlet.

[0231] In some embodiments, the guide step 20541 is also used to install a water receiving chamber. For example, the sixth inlet of the water receiving chamber has an outwardly extending first outer edge 21221; the first outer edge is fixedly connected to the guide step, thereby installing the water receiving chamber on the guide step and achieving connection with the third receiving cavity. For example, the first outer edge is located at the sixth inlet of the first chamber body.

[0232] For example, as shown in Figure 26B, the guide step 20541 has a first step surface 205411 and a second step surface 205412, the first step surface being higher than the second step surface; the first outer edge of the water receiving tank is fixedly connected to the second step surface. For example, by screws, bolts, or bolts; or by snap-fit ​​connection.

[0233] In some embodiments, as shown in FIG26, the base station further includes a filter cover 2123, which is disposed at the first drain outlet. The filter cover covers the first drain outlet, enabling further filtration of the liquid after filtration by the second filter box, preventing debris from entering the water receiving tank and subsequently the second water pump, thus affecting the normal operation of the second water pump. For example, debris entering the second water pump could cause it to jam.

[0234] In some embodiments, the filter cover overlaps the first drain outlet to cover it. Alternatively, in another embodiment, the filter cover overlaps a guide step, with the top of the filter cover lower than or flush with the upper surface of the guide step. The guide step can position and / or limit the filter element. For example, in some embodiments, the filter cover overlaps the surface of the first step, with the filter cover positioned above the water receiving tank.

[0235] In some embodiments, the filter cover includes a support 2123A and a filter screen 2123B; the support has a first opening 2123A1, and the filter screen is disposed on the first opening; the support overlaps the first stepped surface. For example, in some embodiments, the first opening is located at the lowest part of the support, so that liquid in the third receiving cavity can quickly collect at the first opening and be filtered by the filter screen. Alternatively, in some embodiments, the support includes a straight section and an inclined section, wherein the inclined section and the straight section are connected; the straight section overlaps the first stepped surface, the first opening is disposed on the inclined section, and the inclined section slopes downward from the straight section to the first opening, so that liquid in the inclined section can quickly flow to the first opening.

[0236] In some embodiments, as shown in Figures 26D and 26B, at least one limiting post 21233 is provided on the bottom of the filter cover, and a second limiting hole 2054122 is provided on the step surface. The transition cover overlaps on the step or covers the first drain outlet. In the height direction of the base station, the limiting post is inserted into the second limiting hole. The second limiting hole limits the limiting post in the horizontal direction, so that the transition cover cannot move in the horizontal direction, thereby giving the limiting post a limited state; and the limiting post also has a non-limited state where it retracts from the second limiting hole.

[0237] For example, when the second filter box is removed from the base station, the transition cover can move upward in the height direction of the base station, thereby causing the limiting post to exit from the second limiting hole, separating the transition cover from the first drain outlet or guide step, and the transition cover can be removed from the base station body through the fourth opening. Conversely, the transition cover is inserted into the third receiving cavity through the fourth opening, and in the height direction of the base station, the limiting post of the transition cover is inserted into the second limiting hole, so that the filter cover covers the first drain outlet or step surface.

[0238] When the limiting post switches from the limiting state to the non-limiting state, the limiting post moves a height L1 in the height direction of the base station. The second filter box is placed into the third receiving cavity. When the filter cover is in the limiting state, the distance between the filter cover and the bottom of the second filter box in the height direction of the base station is L2, where L1 is greater than L2. Therefore, when the second filter box is located in the third receiving cavity, even if the base station body is inverted or tilted on the ground, with the base station's resting surface facing the ground or the fourth opening facing the ground, the limiting post cannot exit from the second limiting hole. This ensures that the transition cover still has a limiting relationship with the step surface, preventing the transition cover from separating from the first drain outlet. For example, the guide step includes a first step surface and a second step surface, and the second limiting hole is located on the second step surface. Alternatively, the second step surface has mounting holes 2054121. Fasteners located in the mounting holes fix the first outer edge of the water receiving tank to the second step surface, where the mounting holes and the second limiting holes are staggered.

[0239] Alternatively, the height of the guide post is greater than the distance between the upper surface of the filter cover and the bottom surface of the second filter box, so that the vertical travel of the guide post can be greater than the shortest distance between the filter cover and the second filter box, ensuring that the filter element will not fall off from the first drain outlet.

[0240] In other embodiments, as shown in FIG26D, the filter cover is further provided with a first limiting member 21231A, which protrudes from the bottom of the transition cover and abuts against the second step surface. Alternatively, in other embodiments, the filter bag cover is further provided with a second limiting member 21231B, which is located in the inner hole of the guide step, thereby limiting the transition cover in the horizontal direction.

[0241] In some embodiments, the filter cover is detachably installed at the first drain outlet and can be removed from the fourth opening. In some embodiments, the filter cover is also provided with a protrusion 21232 located on the upper surface of the filter cover. This protrusion supports the second filter box, preventing it from deforming due to excessive weight of debris inside, and provides a gripping point for easy removal and placement of the filter cover. Furthermore, the protrusion creates a height difference between the bottom of the second filter box and the third receiving cavity, facilitating the rapid drainage of filtered liquid into the water receiving tank and making it easier to remove and place the second filter box from the base station body. Without this height difference, liquid in the third receiving cavity would flow back into the second filter box, affecting its filtration effect. In other embodiments, at least one protrusion 21232 is also provided on the bottom of the third receiving cavity to support the bottom of the second filter box.

[0242] In some embodiments, the base station further includes a button assembly 7020, which is connected to the first control unit. When a user presses the button assembly, the first control unit receives and processes the signal to generate a control command. Based on the control command, the first control unit controls the actuator to perform actions such as starting / stopping self-cleaning, pairing the base station with the pool robot, configuring the base station for network connection, and enabling the child lock. The button assembly 7020 is located on either side of the top of the base station body.

[0243] In some embodiments, the base station further includes a lighting mechanism 7019, which is connected to a first control unit. The first control unit is also used to control the lighting mechanism to display lights of different colors or different brightness levels, providing users with operation and status indication feedback. For example, when the device is running, cleaning is complete, charging is in place, or a malfunction occurs, the lighting mechanism can promptly emit light signals so that users can be aware of the device status in real time. The lighting mechanism 7019 is disposed on any side of the top of the base station body. In some embodiments, the button assembly and the lighting mechanism are disposed on the same side of the top of the base station body.

[0244] In some embodiments, the base station further includes a first communication module 7023, which is connected to a first control unit. The pool robot includes a second control unit and a second communication module, which is connected to the second control unit. When a communication connection is established between the first communication module and the second communication module, the first control unit controls at least the first nozzle to spray liquid.

[0245] Furthermore, in some embodiments, when the first communication module establishes a communication connection with the second communication module, and at least one of the first and second communication modules establishes a communication connection with the third communication module of the electronic device, after the electronic device issues a cleaning command to the first filter box through the third communication module, the first control unit at least controls the first nozzle to spray liquid. For example, the electronic device is a mobile phone, tablet computer, computer, smartwatch, or wristband. That is, the user can send execution commands and stop execution commands to the base station and / or the pool robot on the electronic device. Execution commands include, but are not limited to, selecting a cleaning mode. For example, the cleaning mode can be at least one of the following: surface cleaning mode, bottom cleaning mode, wall cleaning mode, waterline cleaning mode, zoned cleaning mode, obstacle avoidance cleaning mode, obstacle crossing cleaning mode, etc. Among them, zoned cleaning mode refers to the user selecting an area in the pool that needs to be cleaned on the electronic device, which can be a partial area or the entire area. For example, a partial area can be the area where the trash is located; or an area arbitrarily circled on the electronic device. Alternatively, the execution commands may also include at least one of the following: the base station's first nozzle cleaning mode for the first filter box, the base station's charging mode for the pool robot, etc.

[0246] Furthermore, when the first communication module and the second communication module have not established a communication connection, the third communication module of the electronic device can establish a communication connection with the first communication module. After the electronic device issues a cleaning command for the first filter box through the third communication module, the first control unit controls the first nozzle to spray liquid.

[0247] The first communication module is located within the fourth receiving cavity. The first communication module is a device that supports information exchange in air and / or underwater. For example, the first communication module can be a communication device that uses signal types such as Bluetooth, infrared, WIFI, or wired.

[0248] In some embodiments, the base station further includes a speaker 7018 or loudspeaker, which is connected to a first control unit. The first control unit is also used to control the speaker to perform voice broadcasts or voice prompts. For example, when the device is running, cleaning is complete, charging is in place, or a malfunction occurs, the speaker can emit sound signals in a timely manner, allowing users to clearly understand the device status even in environments far from the base station, thus enabling interaction between the base station and the user. In some embodiments, the speaker is located within the fourth receiving cavity 200011.

[0249] In some embodiments, as shown in FIG38A, the base station body is located on the shore 9003 of the pool. As shown in FIG36B, the base station also includes a support mechanism 8000, used to remove the pool robot from the pool and place it on the resting surface of the base station; and to lift the pool robot resting on the resting surface and place it into the pool, so as to realize the automatic retrieval and placement of the pool robot by the base station, so that the pool robot can automatically go ashore and automatically enter the water, without the user having to manually lift the pool robot out of the pool and carry it to the base station, or manually put the pool robot into the pool.

[0250] In some embodiments, the carrier mechanism includes a drive assembly, a carrier member, and a pick-and-place assembly, wherein the pick-and-place assembly is mounted on the carrier member. The drive assembly is used to drive the carrier member to move, so that the carrier member has at least a first state and a second state, and switches between the first state and the second state.

[0251] In the first state, at least a portion of the carrier and at least a portion of the pick-and-place component extend into the pool, and the pick-and-place component can establish a connection with the pool robot. This allows the carrier to move the pick-and-place component, which in turn moves the pool robot to remove it from the pool.

[0252] When the drive component drives the carrier to move from the first state to the second state, the carrier moves the pool robot, the pool robot leaves the pool and moves towards the base station body until the pool robot is placed on the resting surface. The carrier mechanism completes the process of automatically taking the pool robot out of the pool and automatically placing it on the base station body. At this time, the carrier is in the second state.

[0253] In the second state, at least a portion of the carrier and at least a portion of the pick-and-place assembly are located above the base station body. In the second state, the pick-and-place assembly can remain connected to the pool robot, or it can be disconnected from the pool robot.

[0254] Conversely, when the drive component moves the carrier from the second state to the first state, the pick-and-place component and the pool robot are currently establishing a connection. If the pick-and-place component and the pool robot are currently disconnected, the pick-and-place component needs to establish a connection with the pool robot first. Then, the drive component drives the carrier to move, and the carrier moves the pick-and-place component and the pool robot from the base station body towards the pool. Once the pool robot reaches the pool, the pick-and-place component disconnects from the pool robot, allowing the pool robot to leave the pick-and-place component and move within the pool. In other words, the pool robot leaves the base station and enters the pool, realizing the function of the base station automatically placing the pool robot into the pool. When the pick-and-place component disconnects from the pool robot, the carrier can be in the first state; or, the carrier can be in any state between the first and second states.

[0255] In some embodiments, when the pool robot is disconnected from the pick-and-place component, the carrier can continue to move toward the first state until the carrier reaches the first state, so that the pick-and-place component can re-establish a connection with the pool robot when the pool robot returns to the base station next time.

[0256] In some embodiments, the drive component drives the carrier to rotate. The carrier switches between a first state and a second state by rotating.

[0257] For example, in some embodiments, a first end of the carrier is connected to a drive assembly, and a pick-and-place assembly is located on a second end of the carrier.

[0258] In some embodiments, as shown in Figures 36A and 36B, the carrier includes a first arm 8001, a second arm 8002, and at least one first connecting arm 8003; the first connecting arm connects the first arm and the second arm.

[0259] For example, the first arm and the second arm are distributed approximately parallel to each other. One end of the first connecting arm is connected to the first arm, and the other end is connected to the second arm, with most or all of the first connecting arm located between the first arm and the second arm. A drive assembly is used to drive the first arm to rotate, which in turn drives the first connecting arm and the second arm to rotate, thereby switching the carrier between a first state and a second state.

[0260] In some embodiments, a first connecting arm is disposed on the second end of the carrier. For example, the first connecting arm is disposed on the second end of the first arm and the second end of the second arm, and the pick-and-place assembly is disposed on the first connecting arm.

[0261] In some embodiments, as shown in Figures 36A and 36B, the carrier further includes at least one second connecting arm 8004. For example, the second connecting arm is disposed on the first arm and the second arm, and located between the first arm and the second arm. For example, the first connecting arm and the second connecting arm are disposed side by side on the first arm and the second arm. Since the drive assembly drives the first arm to rotate, by providing the second connecting arm, the force applied to the first arm by the drive assembly can be transmitted to the second arm in a timely manner, enabling the first arm and the second arm to move smoothly and avoiding unstable movement of the first arm and the second arm, which would affect the movement of the carrier in driving the pool robot. The number of second connecting arms can also be three or four, or more, and the specific number is not limited.

[0262] For example, the first end of the first arm is connected to the drive assembly; the first end of the second arm is rotatably mounted on the base station body; one end of the first connecting arm is connected to the second end of the first arm, and the other end of the first connecting arm is connected to the second end of the second arm, then the pick-and-place assembly is mounted on the first connecting arm. Alternatively, the first connecting arm is closer to the second end of the first arm and the second end of the second arm than the second connecting arm. Alternatively, the second connecting arm is located between the first connecting arm and the first end of the carrier.

[0263] In some embodiments, since the base station body is located on the edge of a swimming pool, the rotation of the support component is protected from the influence of the pool wall or the edge of the pool. As shown in Figure 36B, the first arm and the second arm have the same structure; for simplicity, the structure of the first arm is used as an example. The first arm includes a first sub-arm 80011 and a second sub-arm 80012, wherein the first sub-arm and the second sub-arm are connected and form an included angle. This included angle creates a bending area 80013 at the connection between the first sub-arm and the second sub-arm, which together form a recessed avoidance area. When the support component rotates, the avoidance area can avoid the edge of the pool or the pool wall, so that the rotation of the support component is not interfered with by the edge of the pool or the pool wall. For example, this included angle can be an obtuse angle, 90 degrees, or an acute angle, as long as the avoidance function is satisfied.

[0264] In some embodiments, at least one second connecting arm is disposed in the bending area of ​​the first arm and the bending area of ​​the second arm.

[0265] In some embodiments, the drive assembly includes at least an eighth motor 8005, which is mounted on the base station body. A first arm and a second arm are respectively distributed on two sides of the base station body. For example, the first arm is located on the outside of the first side, and the second arm is located on the outside of the second side, with the first and second sides facing each other. Alternatively, the eighth motor may be mounted on the first side, driving the first arm to rotate.

[0266] The eighth motor determines the rotation of the first arm and / or the second arm relative to the base station body. The rotation centers of the first arm and / or the second arm, and / or the eighth motor, are offset from the third receiving cavity. The eighth motor is offset from the fourth baffle to avoid interference with the opening of the fourth baffle and the placement and removal of the second filter box. In some embodiments, when the base station is placed on the shore, the eighth motor is positioned close to the pool. The rotation centers of the first arm and / or the second arm are positioned close to the pool; and in the height direction, the rotation centers of the first arm and / or the second arm are positioned away from the bottom of the base station body and close to the resting surface of the base station body, in order to minimize the size of the base station body and / or the supporting mechanism.

[0267] In some embodiments, the pick-and-place assembly is disposed on the first arm or the second arm.

[0268] In other embodiments, the pick-and-place assembly is located on the first connecting arm. For example, the pick-and-place assembly is located in the middle of the first connecting arm, so that the first and second arms are subjected to balanced forces during the process of the carrier picking up and placing the pool robot, keeping the base station body stationary on the shore; if the forces on the first and second arms are uneven, it is easy to cause the base station body to shake or a heavier counterweight mechanism needs to be installed on the base station for balance.

[0269] In a modified embodiment, the carrier may further include the aforementioned first arm 8001, but exclude the aforementioned second arm, first connecting arm, and second connecting arm. The first end of the first arm serves as the first end of the carrier, and the second end of the first arm serves as the second end of the carrier.

[0270] In some embodiments, the pick-and-place assembly includes at least one pick-and-place member 8006, which has a third state and a fourth state. In the third state, the pick-and-place member establishes a connection with the pool robot, and when the carrier moves the pick-and-place member, the pick-and-place member moves the pool robot. For example, the connection established between the pick-and-place member and the pool robot can be at least one of the following methods: magnetic attraction, plug-in, gripping, etc.

[0271] For example, in some embodiments, the pick-and-place device is a suction cup, and the pool robot is equipped with a magnet or iron block. The pool robot is connected to the pick-and-place device by magnetic attraction of the magnet or iron block through the suction cup.

[0272] Alternatively, in some embodiments, as shown in FIG36A, the pick-and-place component is a hook, which hooks onto the pool robot, thereby establishing a connection between the pick-and-place component and the pool robot.

[0273] Alternatively, the pick-and-place device can be a gripper or claw, which holds the pool robot to establish a connection between the pick-and-place device and the pool robot.

[0274] Alternatively, the device could be equipped with a snap-on mechanism, with the pool robot having a slot. The snap-on mechanism and slot work together to establish a connection between the device and the pool robot. Alternatively, the positions of the snap-on mechanism and slot could be reversed, with the device having a slot and the snap-on mechanism attached to the pool robot.

[0275] In some embodiments, a connection is established between the pick-and-place component and the handle of the pool robot, with the pick-and-place component acting on the handle to pick up and place the pool robot. For example, when the pick-and-place component is a suction cup, a magnet or iron block is provided on the handle; or when the pick-and-place component is a hook, the hook extends into a fourth clearance opening to grip or hook the handle, thus establishing a connection between the pick-and-place component and the handle. Alternatively, the pick-and-place component is a gripper or claw, which grips the handle, thus establishing a connection between the pick-and-place component and the handle. Alternatively, one of the latch and the slot is the pick-and-place component, and the other is provided on the handle.

[0276] In some embodiments, the pick-and-place component can also be connected to a part of the first body of the pool robot other than the handle. That is, the pool robot has a mating part, which connects with the pick-and-place component, or the pick-and-place component is separated from the mating part. The mating part can be the aforementioned handle, or other structures provided on the first body.

[0277] In the fourth state, the pick-and-place component is disconnected from the pool robot, and the carrier component moves the pick-and-place component, but the pick-and-place component does not move the pool robot. For example, if the pick-and-place component is at least one of a hook, gripper, or claw, the pick-and-place component releases the handle of the pool robot. Alternatively, if the pick-and-place component is a suction cup, the suction cup moves away from the magnet or iron block of the pool robot, releasing the magnetic attraction between the suction cup and the magnet or iron block.

[0278] In some embodiments, the pick-and-place assembly further includes a ninth motor (not shown in the figure), which drives the pick-and-place member to move, thereby switching the pick-and-place member between a third state and a fourth state. For example, the ninth motor drives the pick-and-place member to rotate or slide. For example, the pick-and-place assembly is disposed on a first connecting arm, and the pick-and-place assembly further includes a mounting base fixed to the first connecting arm. The ninth motor is disposed on the first connecting arm and is drivenly connected to the pick-and-place member.

[0279] For example, when the pick-up / placement device is a hook, the ninth motor drives the hook to rotate in the forward direction, so that the hook extends into the fourth clearance opening and hooks the handle, and the pick-up / placement device is in the third state; conversely, when the ninth motor drives the hook to rotate in the reverse direction, the hook retracts from the fourth clearance opening to release the handle, so that the hook and handle are separated, and the pick-up / placement device is in the fourth state. Here, one of the forward and reverse directions is clockwise and the other is counterclockwise.

[0280] For example, in some embodiments, the driving component drives the carrier of the aforementioned structure to slide. For instance, the driving component drives the carrier to perform lifting and lowering movements, causing the carrier to switch between a first state and a second state.

[0281] In any of the foregoing embodiments, the driving component drives the carrier to move, so that during the switching between the first state and the second state, the movement of the carrier and the pick-and-place component will not interfere with the first nozzle on the base station body. That is, the arrangement of the carrier mechanism will not affect the cleaning of the first filter box of the pool robot by the first nozzle on the base station, the opening or closing of the first bottom cover of the first filter box, and the operation of the lever mechanism, etc.

[0282] In some embodiments, as shown in FIG36A, the base station further includes at least one auxiliary wheel 8007, which is disposed on the base station body. When the drive component drives the carrier to move, causing the pick-and-place component to move the pool robot from the pool to the resting surface, and / or causing the pick-and-place component to move the pool robot from the resting surface to the pool, the walking mechanism of the pool robot will abut against the auxiliary wheel. The auxiliary wheel provides auxiliary support to the pool robot, assisting the pool robot to return to the resting surface of the base station body.

[0283] For example, if there are two traveling mechanisms, there are also two auxiliary wheels, with one auxiliary wheel corresponding to each traveling mechanism. Alternatively, there can be one auxiliary wheel, with both traveling mechanisms abutting against it.

[0284] In some embodiments, the auxiliary wheel is rotatably mounted on the base station body via a bracket, so that when the walking mechanism comes into contact with the auxiliary wheel, rolling friction is generated between the auxiliary wheel and the walking mechanism, reducing the frictional force between them. The auxiliary wheel is a passive wheel; no motor is provided to drive the rotation of the auxiliary wheel. The rotation of the auxiliary wheel is driven by the frictional force generated by the walking mechanism abutting against the auxiliary wheel.

[0285] When the pool robot is stationary on the resting surface, the auxiliary wheels are at least partially located below the walking mechanism of the pool robot to reduce the probability of the robot getting stuck on the auxiliary wheels during the process of picking up and placing parts and moving the pool robot from the resting surface into the pool, thereby improving the smoothness of the pool robot's movement.

[0286] Alternatively, when the pool robot is resting on the resting surface, the auxiliary wheels are not located below the robot's walking mechanism. If the auxiliary wheels are positioned closer to the pool side relative to the walking mechanism, the walking mechanism is prone to getting stuck on the support of the auxiliary wheels when the pick-and-place device moves the robot from the resting surface into the pool. Correspondingly, during the process of the pick-and-place device moving the robot from the resting surface into the pool, the robot's walking mechanism can rotate in a designated direction. This designated direction is the direction in which the walking mechanism moves the robot away from the resting surface and into the pool. Using the walking mechanism to drive the robot's movement reduces the probability of the robot getting stuck and improves the smoothness of its movement.

[0287] In some implementations, as shown in Figure 37, the aforementioned second sensor 8008 is located at the second end of the carrier. When the base station body is on land, the second end of the carrier is below the water surface, and the second sensor is also below the water surface. When the pool robot is below the water surface, the first sensor and the second sensor establish communication. For example, the second sensor 8008 can be located at the second end of the second arm; or at the second end of the first arm; or it can also be located on the first connecting arm, or on the pick-and-place assembly. For example, it can be located on the pick-and-place assembly.

[0288] The base station may also be equipped with auxiliary components, which may have at least a fifth state in which at least a portion of the auxiliary components is located in the pool.

[0289] The aforementioned second sensor 8008 can be mounted on the auxiliary component. When the auxiliary component is in its fifth state, the second sensor is located below the water surface. When the pool robot is below the water surface, the auxiliary component remains in its fifth state, allowing the pool robot to communicate underwater with the base station using the first sensor and the second sensor mounted on the auxiliary component. The second sensor can be connected to the base station's electronic control board via a connecting cable. The auxiliary component has a first channel through which the connecting cable can pass.

[0290] When a reagent dispensing component is installed on the base station, the auxiliary component may also have a second channel through which the reagent can be delivered to the swimming pool. When a water quality detection component is installed on the base station, the auxiliary component may also have a third channel through which liquid is drawn from the swimming pool and transferred to the water quality detection component on the base station for water quality detection.

[0291] The auxiliary components may also have a fourth channel and a fifth channel. The base station can use the fourth channel to draw liquid from the pool as the water source for the first nozzle. The base station can also purify the liquid after cleaning the first filter box. The purified liquid flows into the pool through the fifth channel.

[0292] The auxiliary component can also have a sixth state, in which it is stored on the side of the base station. During the packaging and transport of the base station, the auxiliary component can be in the sixth state for ease of packaging and transport. After the base station is installed on the shore, the auxiliary component can also be switched to the sixth state for storage when not needed, preventing it from interfering with the pool robot's movement along the pool wall or on the water surface.

[0293] If the auxiliary component can be a plate-like structure, then it is called an auxiliary plate. The auxiliary plate form facilitates the installation of multiple channels. Furthermore, when the auxiliary plate is housed in the side of the base station body, it facilitates a close fit with the base station body, and when the auxiliary plate extends into a swimming pool, it facilitates a close fit with the pool wall. Of course, the auxiliary component can also be a columnar or other structure.

[0294] The auxiliary component can rotate around a pivot mounted on the base station body to switch between a fifth and a sixth state. After the base station is installed on the shore, the pivot can be mounted on the bottom of the base station body's casing near the pool, with both ends extending towards a first and a second side, respectively. Alternatively, the auxiliary component can also switch between the fifth and sixth states by sliding along the base station body. The state switching of the auxiliary component can be manually operated by the user or driven by a motor. When driven by a motor, a motor from other components in the base station (such as the motor of the support mechanism) can be reused, or a separate motor can be used.

[0295] In the fifth state, the portion of the auxiliary component located inside the pool is parallel or nearly parallel to the pool wall. Furthermore, in this state, the portion of the auxiliary component can be attached to the pool wall to avoid interfering with the movement of the pool robot caused by the pick-and-place component, and to reduce the probability of interference with the movement of the pool robot along the pool wall or on the water surface. In the sixth state, the auxiliary component can be attached to the outer shell of the base station body, or it can be housed inside the base station body.

[0296] Any one of the first to fifth channels mentioned above can be provided on the first arm and / or the second arm so that the connecting line passes through or the liquid flows through.

[0297] The second sensor 8008 can also be fixed on the pool wall and located below the water surface. The second sensor can be connected to the base station's electronic control board via a connecting cable.

[0298] When there is one second sensor, the second sensor has a first vertical distance from the plane containing the first side of the base station body, and a second vertical distance from the plane containing the second side of the base station body. The first and second vertical distances are equal or approximately equal. When there are two second sensors, one second sensor has a third vertical distance from the plane containing the first side of the base station body, and the other second sensor has a fourth vertical distance from the plane containing the second side of the base station body. The third and fourth vertical distances are equal or approximately equal. The relatively centered placement of the second sensors ensures that when the pool robot moves to the pool wall, it is in a more centered position relative to the sides of the base station, improving the accuracy of the pool robot's docking with the support mechanism on the pool wall.

[0299] When the aforementioned auxiliary components are installed on the base station and the second sensor is mounted on the auxiliary components, or when the second sensor is fixed to the pool wall, after the pick-and-place component is disconnected from the pool robot, the carrier component can switch to a position outside the pool, such as switching to the second state, to avoid interfering with the movement of the pool robot within the pool. When the pool robot needs to return to the base station's resting surface, the carrier component switches back to the first state to facilitate the establishment of a connection between the pick-and-place component and the pool robot, and the carrier component then drives the pool robot to move to the base station's resting surface.

[0300] When the aforementioned auxiliary component is installed on the base station and the second sensor is installed on the auxiliary component, or when the second sensor is fixed to the pool wall, after the pick-up and drop-off component is disengaged from the pool robot, at least a portion of the carrier component can also be located in the pool, such as when the carrier component remains in the first state.

[0301] If the second sensor is mounted on the carrier, the carrier will not switch to the second state after the pick-up and drop-off device is disconnected from the pool robot. The carrier will remain in the state where the second sensor is below the water surface. If the carrier can remain in the first state, the pool robot can communicate underwater with the base station using the first and second sensors when it is in the water.

[0302] In some embodiments, when the auxiliary component is in the fifth state, it has a first end near the base station body and a second end away from the base station body along the height direction. A second sensor is disposed at the second end of the auxiliary component, and the second sensor is located below the water surface. When the auxiliary component is in the fifth state, the second end of the auxiliary component can be located in the water or above the water surface. For the auxiliary component in the fifth state and the carrier component in the first state, the second end of the carrier component is closer to the pool bottom than the second end of the auxiliary component, and / or the pick-and-place component is closer to the pool bottom than the second end of the auxiliary component, to avoid the carrier component obstructing the movement of the pool robot, making it difficult for the pick-and-place component to establish a connection with the pool robot.

[0303] In some embodiments, the positioning mark is located at the second end of the carrier. For example, the positioning mark can be at least one of a QR code, a reflective strip, etc. When the base station body is on land, the second end of the carrier is below the water surface, and the positioning mark is also below the water surface. When the pool robot is below the water surface, both the positioning mark and the image acquisition unit 1203 are located in the water, so as to accurately identify the positioning mark in the same medium. For example, the positioning mark is located at the second end of the second arm; or at the second end of the first arm, or it can also be located on the first connecting arm; or it can be located on the pick-and-place assembly. For example, it can be located on the pick-and-place assembly. Alternatively, the positioning mark can be located on an auxiliary component, such as at the second end of the auxiliary component.

[0304] The positioning marker is positioned facing the pool bottom so that the front camera of the pool robot can recognize it when it moves upwards along the pool wall. When the positioning marker can be a QR code, reflective strip, or similar material, it should be perpendicular to the pool wall to minimize image distortion in the robot's camera image and improve the accuracy of docking with items.

[0305] In some embodiments, the cleaning system further includes a docking detection element for detecting whether the pool robot has moved to a designated docking position. For example, the docking detection element includes a Hall sensor and a magnet, one of which is located on the pool robot and the other on a base station. One of the docking detection elements may also be located on a pick-and-place component.

[0306] In some embodiments, a counterweight mechanism can be installed on the base station to increase the weight of the base station body and prevent the base station body from swaying when the supporting mechanism moves the pool robot. The counterweight mechanism can be located on the side of the base station body away from the pool. The counterweight mechanism can be integrated into the base station body or can be detached from the base station body. The counterweight mechanism can be a box, into which water and / or sediment can be added as needed to support the load.

[0307] In some embodiments, a second battery pack is provided on the base station. As shown in the above embodiments, the second battery pack of the base station is electrically connected to the high-voltage AC power of the power grid, thereby charging the second battery pack using the high-voltage AC power of the power grid. Alternatively, a solar panel can be provided on the base station to charge the second battery pack, thus avoiding the need for external power lines. The second battery pack can be located on the side of the base station body away from the pool, indirectly serving as a configuration mechanism to prevent the base station body from shaking when the supporting mechanism moves the pool robot.

[0308] Taking the example of a swimming pool robot moving from the pool bottom 9001 to the pool wall 9002 and docking with a base station on the pool wall. As shown in Figure 38A, the relative position of the swimming pool robot and the base station is determined based on the first and second sensors, causing the swimming pool robot to move from the pool bottom towards the location of the base station, moving to the area below the base station. As shown in Figure 38B, the swimming pool robot climbs from the pool bottom to the pool wall and moves along the pool wall towards the base station. During the movement, the image acquisition device acquires images of the positioning markers and determines the relative position of the base station and the swimming pool robot based on the images of the positioning markers, so as to adjust the movement direction of the swimming pool robot and whether it has moved to the docking position. As shown in Figure 38C, after determining that the swimming pool robot has moved to the docking position based on the detection signal of the docking detection device, the first control unit controls the pick-and-place device to switch from the fourth state to the third state. As shown in Figure 38D, the pick-and-place device switches to the third state, and the pick-and-place device establishes a connection with the swimming pool robot. As shown in Figure 38E, the first control unit controls the drive assembly to drive the carrier component to move, switching from a first state to a second state. The walking mechanism abuts against the auxiliary wheels, which assist the pool robot in moving towards the resting surface. Once it reaches the second state as shown in Figure 38F, the pool robot stops on the resting surface, and the pick-and-place component is in a third state. As shown in Figure 38G, the pick-and-place component switches from the third state to the fourth state. Alternatively, the pick-and-place component may remain in the third state without switching from the third to the fourth state.

[0309] When the pool robot needs to be placed in the pool, the pick-and-place device is in the third state, establishing a connection with the pool robot. The first control unit controls the drive assembly to move the carrier from the second state to the first state, thus moving the pool robot from its resting position into the pool. Once the pool robot enters the pool, the first control unit controls the pick-and-place device to switch from the third state to the fourth state, and the pool robot detaches from the pick-and-place device. When the pool robot detaches from the pick-and-place device, the carrier can be in the first state, or any state between the first and second states. If the carrier has not switched to the first state when the pool robot detaches from the pick-and-place device, the first control unit can control the drive assembly to continue moving the carrier in the first state until the carrier switches to the first state. Alternatively, after the pool robot detaches from the pick-and-place device, the first control unit can also control the drive assembly to switch the carrier to the second state. Alternatively, after the pool robot detaches from the pick-and-place device, the first control unit can also control the drive assembly to maintain or switch the carrier to any state between the first and second states.

[0310] Based on the aforementioned cleaning system, after triggering a return trip task to the base station, the pool robot can move towards the base station to perform operations such as docking, charging, and cleaning the first filter box. For example, when the pool robot's battery level is lower than a specified value, the first filter box reaches the cleaning condition, or the cleaning task is completed, the built-in program in the pool robot's second control unit can autonomously trigger a return trip task to the base station; or, after receiving a return trip instruction from the base station or a smart terminal, the pool robot's second control unit can trigger a return trip task to the base station.

[0311] After triggering the return trip mission to the base station, the pool robot can travel to the base station and dock with its support structure on the water surface. Alternatively, it can travel to the base station and dock with its support structure on the pool wall. Or, it can travel to the base station and dock with its support structure at the bottom of the pool. Or, it can travel to the base station and dock with its support structure while suspended in the water.

[0312] The following description uses the example of a pool robot docking with a base station on the pool wall.

[0313] After triggering the return trip mission to the base station, if the pool robot is on the water surface, it can first be controlled to dive to the bottom of the pool, move along the bottom of the pool towards the location of the base station, move to the area below the base station, climb from the bottom of the pool to the pool wall, and move along the pool wall towards the base station to achieve docking with the base station.

[0314] After triggering the return trip task to the base station, if the pool robot is located on the pool wall, it can move directly along the pool wall towards the base station to dock with it; or, the pool robot can sink to the bottom of the pool or move to the bottom of the pool, move along the bottom of the pool towards the base station, move to the area below the base station, climb from the bottom of the pool to the pool wall, and move along the pool wall towards the base station to dock with it.

[0315] After triggering the return trip mission to the base station, if the pool robot is located at the bottom of the pool, it can move along the bottom of the pool towards the base station, move to the area below the base station, climb up the pool wall from the bottom of the pool, and move along the pool wall towards the base station to achieve docking with the base station.

[0316] The pool robot moves to the area below the base station and then climbs the pool wall from the bottom to dock with it. This reduces the need for the robot to adjust its direction on the pool wall. The pool wall's surface shape, obstacles, and material are complex, and the first filter box usually contains a lot of debris when the robot returns. Adjusting the robot's direction while moving along the pool wall places high demands on the robot's power system and sensor accuracy, increasing the risk of falls. Therefore, reducing the robot's direction adjustment on the pool wall improves the success rate of its return trip. Furthermore, as shown in some embodiments below, to achieve accurate docking between the pool robot and the base station, the base station can be precisely located on the pool wall using an image acquisition device. The robot moves to the area below the base station and then climbs the pool wall from the bottom, ensuring that the base station's positioning marker is within the image acquisition range of the robot's device, avoiding the robot having to move along the pool wall to find the positioning marker.

[0317] In some embodiments, a first relative position between the base station and the pool robot can be determined using a first sensor on the pool robot and a second sensor on the base station. The second control unit can then control the movement direction of the pool robot on the bottom of the pool based on this first relative position, so that it moves towards the location of the base station and accurately moves to the area below the base station.

[0318] Alternatively, a third sensor can be installed on the pool wall near the base station or suspended in the water. This third sensor can communicate underwater with the first sensor and determine the relative position of the pool robot and the third sensor. Using the first and third sensors on the pool robot, a first relative position between the base station and the pool robot can be determined. Based on this first relative position, the pool robot adjusts its movement direction on the pool bottom to move towards the base station. After moving to the area below the base station, the pool robot climbs the pool wall from the bottom to dock with the base station.

[0319] After the pool robot moves to the area below the base station, it climbs up the pool wall from the bottom to dock with the base station.

[0320] The pool robot can move to a designated docking position on the pool wall to facilitate the placement and retrieval of components and establish a relationship with the robot, thus docking with the base station. For example, a first and second sensor are used to determine the first relative position between the pool robot and the base station to determine whether the robot has moved to the docking position. Alternatively, a positioning marker is provided at the docking position, and an image acquisition device is used to identify the positioning marker to determine whether the robot has moved to the docking position. In some embodiments, the cleaning system is equipped with a docking detection component. This component may include a Hall sensor on the pool robot and a magnet on the base station; the pool robot uses the Hall sensor to detect whether it has moved to the docking position.

[0321] For example, a first sensor and a second sensor can be used to determine the first relative position between the pool robot and the base station. A second control unit then uses this first relative position to dock the pool robot with the base station on the pool wall. The first relative position includes the lateral position between the pool robot and the base station. As the pool robot moves upwards along the pool wall, it can adjust its direction of movement based on this first relative position to ensure precise lateral docking with the base station. Alternatively, the first relative position may also include the vertical position between the pool robot and the base station. The pool robot determines its speed based on this vertical relative position to accurately control when to stop moving, ensuring precise vertical docking with the base station.

[0322] In some embodiments, the pool robot is equipped with an image acquisition device, and the base station is equipped with a positioning marker. When the pool robot moves along the pool wall towards the base station, it can use the image acquisition device to acquire the positioning marker on the base station (the positioning marker can be a QR code). The positioning marker acquired by the image acquisition device can be used to determine a second relative position between the pool robot and the base station. Based on the second relative position, the pool robot moves along the pool wall towards the base station to ensure accurate docking with the base station.

[0323] The second relative position includes the relative position of the pool robot and the base station in the left-right direction. When the pool robot moves upward along the pool wall, it can adjust its direction of movement based on this second relative position to ensure precise docking with the base station in the left-right direction. And / or, the second relative position also includes the relative position of the pool robot and the base station in the vertical direction. The pool robot determines its movement speed based on its relative position in the vertical direction to accurately control when to stop moving, ensuring precise docking with the base station in the vertical direction.

[0324] Alternatively, positioning markers can be placed on the pool wall or suspended in the water. The pool robot uses an image acquisition device to collect the positioning markers and then determines its relative position with the positioning markers. Based on the relative position, it moves to the docking position. After determining that it has moved to the docking position, the pool robot stops moving.

[0325] As shown in the above embodiments, the carrier on the base station has a first state and a second state, and the pick-and-place device has a third state and a fourth state.

[0326] As shown in the above embodiments, after the pool robot is placed on the resting surface of the base station, the carrier can remain in the second state; or, after the pool robot is placed on the resting surface of the base station, the carrier can switch to a state other than the second state, such as the first state. After the pool robot is placed in the pool, the carrier can remain in the first state; or, after the pool robot is placed in the pool, the carrier can switch to a state other than the first state, such as the second state.

[0327] In some embodiments, the second sensor and the positioning marker are located on the carrier, and when the carrier is in the first state, the second sensor and the positioning marker are below the water surface; after the pool robot is placed in the pool, the carrier remains in the first state. When the pool robot is below the water surface, after triggering the return trip task to the base station, the first and second sensors can be used to determine the relative position between the pool robot and the base station in a timely manner, thereby controlling the pool robot to move towards the base station to perform the return trip task.

[0328] Once the pool robot is placed in the pool, the support components and / or auxiliary components located within the pool may interfere with the robot's movement on the pool walls or the water surface. When moving on the pool walls, the pool robot can avoid obstacles by using the support components and / or auxiliary components based on the first relative position determined by the first and second sensors; and / or, the pool robot can determine the position of the support components and / or auxiliary components based on images captured by the image acquisition device, and avoid obstacles accordingly. When moving on the water surface, the pool robot can determine the position of the support components and / or auxiliary components based on images captured by the image acquisition device, and avoid obstacles accordingly.

[0329] After the pool robot is placed in the pool, the carrier remains in the first state. This not only interferes with the pool robot's movement on the pool wall or water surface but also prevents the area where the carrier is located from being cleaned. In some embodiments, when the pool robot is performing surface cleaning, or at least when it is cleaning the area of ​​the water surface where the carrier is located, or at least when it is cleaning along the edge of the water surface, the carrier is located outside the pool, as in the second state; and / or, when the pool robot is performing pool wall cleaning, or at least when it is cleaning the area of ​​the pool wall occupied by the carrier, the carrier is located outside the pool, as in the second state.

[0330] After the pool robot completes surface cleaning, or after it completes surface cleaning of the area where the carrier is located, or after it completes cleaning along the edge of the water, the carrier switches back into the pool, as if switching from the second state to the first state. Similarly, after the pool robot completes pool wall cleaning, or after it completes cleaning the area of ​​the pool wall occupied by the carrier, the carrier switches back into the pool, as if switching from the second state to the first state. Alternatively, the carrier may switch outside the pool for a specified period before switching back in, as if switching to the second state for a specified period before switching back to the first state.

[0331] When the base station's carrier is in the first state, the target pool wall area is obtained by extending from the pool wall area occupied by the carrier to the bottom of the pool. The flatness, curvature, inclination, pool wall material, and obstacle distribution of the target pool wall area meet the preset requirements so that the pool robot can move smoothly along the pool wall to the base station. During the movement, the image acquisition device can be effectively used to accurately locate the position of the base station, thereby ensuring the success rate of docking between the pool robot and the base station.

[0332] In some embodiments, the positioning marker is located on the carrier. When the pool robot moves along the pool wall toward the base station, it uses an image acquisition device to acquire an image of the positioning marker. If the positioning marker is not partially within the acquisition range of the image acquisition device in the direction perpendicular to the pool wall, or if the positioning marker is not at the center of the field of view of the image acquisition device in the direction perpendicular to the pool wall, the carrier can be controlled to swing so that the positioning marker is within the acquisition range of the image acquisition device in the direction perpendicular to the pool wall, or if the positioning marker is at the center of the field of view of the image acquisition device in the direction perpendicular to the pool wall, so as to ensure that the pick-up and drop device can accurately dock with the pool robot and establish a relationship with the pool robot.

[0333] After the pool robot has moved to its docking position, the pick-and-place component can switch from the fourth state to the third state to establish a relationship with the pool robot. After the pick-and-place component establishes a relationship with the pool robot, the carrier component can switch from the first state to the second state to move the pool robot from the pool to the resting surface.

[0334] After the pool robot moves to the resting surface, the item pick-up and drop-off function can remain in the third state or switch from the third state to the fourth state. The pool robot can also remain stationary on the resting surface. For example, after moving to the resting surface, the pool robot and the base station may be in a charging and / or cleaning position, allowing the base station to perform charging and / or cleaning operations on the pool robot. Alternatively, the pool robot can also move on the resting surface to accurately move to the charging and / or cleaning position, allowing the base station to perform charging and / or cleaning operations on the pool robot.

[0335] When it is necessary to place the pool robot into the pool, the pick-and-place component can be in the third state to establish a relationship with the pool robot. After the pick-and-place component establishes a relationship with the pool robot, the carrier component can switch from the second state to the first state to move the pool robot from the resting surface into the pool. After the carrier component switches to the first state, the pick-and-place component switches from the third state to the fourth state to detach from the pool robot.

[0336] In some embodiments, the carrier may not switch to the first state. After the pool robot enters the water but before switching to the first state, the pick-and-place component switches from the third state to the fourth state to detach from the pool robot. After the pick-and-place component detaches from the pool robot, the carrier then switches to the first state. After the pick-and-place component detaches from the pool robot, the carrier may also switch to the second state, or any state between the first and second states.

[0337] The base stations provided in the embodiments of this specification can be at least partially installed on the edge 9002 of a swimming pool and / or on a platform within the pool. For example, the bottom of the base station body can be installed on the ground of the edge 9002; or, the bottom of the base station body can be installed below the ground of the edge 9002, such as by providing a receiving cavity on the edge 9002, with the bottom surface of the receiving cavity located below the ground, the base station body placed in the receiving cavity, and the bottom surface of the receiving cavity supporting the base station body. It should be noted that although the embodiments in this specification use the example of the base station body being installed on the edge 9002 of a swimming pool, they are also applicable to base stations installed on a platform within the swimming pool.

[0338] For example, if a support mechanism is provided on the base station, the support mechanism can move the pool robot, causing it to move from outside the base station's resting surface to the resting surface, and / or move from the resting surface to outside the resting surface. As shown in the above embodiments, when the base station body is located on the shore, the support mechanism can move the pool robot from inside the pool to the resting surface, and / or move the pool robot from the resting surface into the pool. When the base station body is located on a platform inside the pool, the support mechanism moves the pool robot from the water in the pool to the base station's resting surface to perform charging and / or cleaning of the first filter box, and / or moves the pool robot from the base station's resting surface into the water in the pool to perform pool cleaning. Other details regarding the base station body being located on a platform inside the pool can be found in the embodiment where the base station body is located on the shore, and will not be repeated here.

[0339] Referring to the above embodiments, the base station body has a cleaning position. After the pool robot is placed on the resting surface of the base station body, the pool robot can be in the cleaning position to clean the first filter box of the pool robot using the first nozzle. The base station body also has a charging position. After the pool robot is placed on the resting surface of the base station body, the pool robot can be in the charging position to charge the pool robot using the charging component of the base station. The cleaning position and the charging position can be the same position or different positions. When the charging position and the cleaning position are different positions, the pool robot can move automatically or passively (e.g., the user moves the pool robot or the carrier mechanism drives the pool robot to move) to switch between the charging position and the cleaning position. After the pool robot is placed on the resting surface of the base station body, the pool robot is in a position other than the cleaning position and the charging position. When the pool robot needs to be charged and / or the first filter box needs to be cleaned, the pool robot can move automatically or passively to the cleaning position and / or the charging position. The pool robot can be placed on the resting surface of the base station body by a user or a carrier component.

[0340] In some embodiments, the 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. The 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.

[0341] The base station has a designated cleaning position. When the pool robot is in the cleaning position, the first nozzle can be controlled to spray liquid onto the first filter box to clean it. For example, a user can place the pool robot in the cleaning position, a support mechanism can place the pool robot in the cleaning position, or the pool robot can move to the cleaning position on its own.

[0342] After receiving a cleaning command, the base station controls the first nozzle to spray liquid onto the first filter box. For example, the base station can be equipped with a self-cleaning button, which a user can trigger. Upon triggering the button, the base station receives a command to clean the first filter box and can also send this command to the pool robot. Alternatively, a self-cleaning button can be set on the pool robot itself. When triggered by a user, the pool robot receives the command to clean the first filter box and can also send this command to the base station. Alternatively, the user can trigger the self-cleaning button on another smart terminal, which then sends a command to the base station and / or the pool robot to clean the first filter box. Alternatively, the smart terminal can have an option to automatically clean the first filter box. When this option is selected, if the pool robot is placed in or moved to a cleaning position, the pool robot and / or the base station can automatically initiate the cleaning of the first filter box. When this option is not selected, the user needs to perform the aforementioned button triggering operation to initiate the cleaning of the first filter box by the pool robot and / or the base station.

[0343] 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.

[0344] When cleaning the first filter box within the first main body, the fourth inlet can serve as an entry point for the cleaning liquid to enter the first main body. For example, when cleaning the first filter box, 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 box within the first main body through the first nozzle, thereby allowing the liquid to enter the first main body through the fourth inlet. Alternatively, when cleaning the first filter box, the first nozzle can also be located outside the first main body, and the liquid sprayed by the first nozzle can enter the first main body through the fourth inlet.

[0345] 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.

[0346] In some embodiments, the pool robot is also equipped with a baffle configured to open or close a fourth inlet. Before cleaning the first filter box, the fourth inlet can be kept closed by the baffle to prevent debris from falling out. The fourth inlet can be opened before the first nozzle sprays liquid. Then, the movement of at least one of the first nozzle and the pool robot can be controlled to allow the first nozzle to extend into the first body through the fourth inlet; or the movement of at least one of the first nozzle and the pool robot can be controlled to position the first nozzle outside the first body, with the liquid sprayed by the first nozzle entering the first body through the fourth inlet. When the first nozzle is controlled to spray liquid to clean the first filter box, and the first bottom cover moves to open the third opening, debris in the first filter box enters the second filter box through the third opening and the third inlet.

[0347] For example, the fourth inlet can be opened manually by the user; alternatively, a motor can be installed on the pool robot to drive the baffle to open; or, the first nozzle can move into the first body, and the fourth inlet can be opened by the contact force between the first nozzle and the baffle. 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.

[0348] 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 the first nozzle and at least one of the pool robot can be controlled so that the first nozzle passes through the second water inlet and extends into the first body; 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 garbage in the first filter box enters the second filter box through the third opening and the third inlet.

[0349] Taking the fourth inlet as the pick-up and drop-off port and the baffle as the first cover as an example, the movement of the first cover can be controlled to open the pick-up and drop-off port of the pool robot; the movement of the first nozzle and at least one of the pool robot can be controlled so that the first nozzle passes through the pick-up and drop-off port and extends into the first body; 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 garbage in the first filter box enters the second filter box through the third opening and the third inlet.

[0350] 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.

[0351] 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.

[0352] 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.

[0353] 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.

[0354] 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.

[0355] 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.

[0356] 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 its own weight to open the third opening, making the overall structure for controlling the opening of the third opening simpler. For example, before cleaning the first filter box, the first bottom cover can be locked to the first frame by a locking mechanism to keep the third opening closed; when cleaning the first filter box is required, the first bottom cover can be unlocked from the first frame by an unlocking mechanism. After unlocking, the first bottom cover can move downward under its own weight to open the third opening, allowing waste to be discharged from the third opening.

[0357] 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.

[0358] 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.

[0359] 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, with the first bottom cover obscuring the third opening. The base station and / or the pool robot may also include an unlocking mechanism for releasing the locking mechanism from locking the first bottom cover. By setting an unlocking mechanism, the locking mechanism can be released from locking the first bottom cover when needed, thereby controlling the timing of the first bottom cover's movement, preventing the first bottom cover from moving prematurely or delayed, and improving the accuracy of opening the third opening (e.g., opening the third opening after the first nozzle sprays liquid into the first filter box for a first preset duration). For example, the first nozzle can be controlled to spray liquid into the first filter box for a first preset duration first, and then the unlocking mechanism can be controlled to move, thereby releasing the locking mechanism from locking the first bottom cover. Under the weight of the first bottom cover and the weight of the debris and liquid inside the first filter box, the first bottom cover is driven to move, thereby opening the third opening.

[0360] Because the debris mainly consists of 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 necessitates a very strong jet of liquid from the first nozzle to ensure comprehensive coverage of the first filter box's interior, thereby flushing away the debris and allowing it to flow out through the third opening. This increases the complexity of the cleaning structure design and raises power consumption. Furthermore, when a gap exists between the first and second filter boxes, lighter debris such as leaves and fine sand may fall into and adhere to this gap as it enters the second filter box, resulting in incomplete cleaning and potentially affecting the closure of the first bottom cover. 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. Simultaneously, the liquid stored in the first filter box and the liquid flow caused by the first nozzle spraying liquid cause the debris inside the first filter box to 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 into the second filter box, ensuring cleaning effectiveness and minimizing the impact of debris on closing the first bottom cover. The first nozzle is only controlled to start spraying liquid after confirming that the third opening of the first bottom cover is closed, to ensure cleaning effectiveness. The detection of whether the third opening of the first bottom cover is closed can be referred to in the following embodiment, which will not be elaborated here.

[0361] 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.

[0362] 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 waste 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 waste 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. The first preset duration can be an empirical value or an automatically generated estimate based on the amount of waste in the first filter box; this embodiment does not impose any limitations on this.

[0363] 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 can be controlled to spray liquid to prevent debris and liquid from overflowing from other outlets of the pool robot. The first nozzle is controlled to spray liquid to clean the first filter box only after the third opening is open.

[0364] 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.

[0365] 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.

[0366] 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.

[0367] The base station can perform at least one cleaning operation on the first filter cartridge. The cleaning configuration (see the embodiments below for details) for each cleaning operation can be the same or different. For example, in any two cleaning operations, the order in which the third opening opens is the same as or different from the order in which the first nozzle sprays liquid, the duration for which the third opening remains open is the same as or different, the duration for which the first nozzle sprays liquid is the same as or different, and so on. Throughout the cleaning process of the first filter cartridge, the first nozzle can spray liquid continuously or intermittently, and the third opening can remain continuously open or closed for a preset time.

[0368] 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.

[0369] 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.

[0370] 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.

[0371] 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.

[0372] 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.

[0373] 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.

[0374] In some embodiments, 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. Specifically, stopping at least one of the main water pump, propulsion mechanism, and walking mechanism during the cleaning of the first filter box reduces the power consumption of the pool robot. 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. This reduction in operating power specifically refers to lowering the operating power of at least one of the main water pump, propulsion mechanism, and walking mechanism compared to before controlling the first nozzle to spray liquid. For example, the operating power of the drive mechanism corresponding to the main water pump, propulsion mechanism, and walking mechanism can be reduced. This reduces the power consumption of the pool robot during the cleaning of the first filter box.

[0375] In some embodiments, the base station further includes a lever mechanism; 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. Controlling the lever mechanism in the base station body to swing 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.

[0376] 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.

[0377] 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.

[0378] 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.

[0379] 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.

[0380] 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.

[0381] 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.

[0382] 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.

[0383] 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.

[0384] 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.

[0385] In some embodiments, the base station has a cleaning position and a charging position; when the pool robot stops at the cleaning position, the first nozzle is controlled to spray liquid to clean the first filter box; when the pool robot stops at the charging position, the charging component on the base station is controlled to charge the pool robot. The charging position and the cleaning position can be the same location, or they can be different locations.

[0386] In some embodiments, the base station also provides 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.

[0387] 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 or be charged via the charging component while docked. The pool robot may be placed at the charging location, cleaning location, or docking location, or it may move to the charging location, cleaning location, or docking location on its own; there are no limitations on this.

[0388] When the charging and cleaning positions are the same, the first filter box can be cleaned and the pool robot charged simultaneously. Alternatively, the first filter box can be cleaned first, followed by charging, or the pool robot can be charged first, followed by cleaning. When the charging and cleaning positions are different, the pool robot can switch between the two positions based on cleaning and charging commands.

[0389] 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.

[0390] 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.

[0391] 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.

[0392] 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.

[0393] 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.

[0394] 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.

[0395] In some embodiments, when the cleaning position and the charging position are the same, the charging component is controlled to charge the pool robot while the first filter box is being cleaned through the first nozzle. 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 charging the pool robot first and then cleaning the first filter box, both overall time is saved and the user experience is effectively improved.

[0396] In some embodiments, when the cleaning position and the charging position are the same, the first nozzle is controlled to clean the first filter box only after the charging component has charged the pool robot. When the cleaning position and the charging position are the same, the charging component can be controlled to charge the pool robot at that position first, and the first filter box can be cleaned only after charging is complete or after a period of charging. This avoids the pool robot being unable to perform operations such as opening the baffle due to low or depleted power, which would affect the cleaning of the first filter box.

[0397] 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.

[0398] 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.

[0399] During the process of 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. After cleaning is completed, charging of the pool robot will resume. After the first nozzle has finished cleaning the first filter box, if the pool robot's battery level is less than a second preset threshold, the charging component can be controlled to charge the pool robot a second time. The second preset threshold is the amount of power required for the pool robot to perform pool cleaning operations, ensuring that the pool robot has sufficient power when performing pool cleaning.

[0400] 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.

[0401] 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.

[0402] 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.

[0403] 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 required power level for cleaning or fully charging it. Refer to the above embodiment 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.

[0404] 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.

[0405] 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.

[0406] 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.

[0407] 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.

[0408] 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.

[0409] 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.

[0410] 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 extend 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 extend 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 extend into the first body.

[0411] In some embodiments, the first nozzle is stationary relative to the base station. When the pool robot stops at a non-clean position of the base station, the baffle is controlled to move to open the fourth inlet; the pool robot is then controlled to walk from the non-clean position to the clean position so that the first nozzle passes through the fourth inlet and extends into the first filter box.

[0412] 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.

[0413] 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.

[0414] In some embodiments, the pool robot further includes a floating and submerging 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 submerging mechanism, controlling the first adjusting component of the floating and submerging mechanism to open for a preset time to drain the liquid from 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). By draining water from the float cavity, the weight of the pool robot is reduced, thereby reducing the burden on the user in retrieving the pool robot and reducing power consumption caused by the weight of the pool robot. Furthermore, when the pool robot performs a surface task next time, there is no need to pre-drain the water, improving the efficiency of surface task execution.

[0415] 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 is 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 is on the surface of the pool and is in the draining state before returning to the base station, there may be residual water in the float cavity, requiring draining. If the pool robot is 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, requiring draining. When the pool robot is draining the float cavity outside the pool, it can notify the user through voice, text, images, or other means to indicate that it is currently in the draining stage, preventing the user from misjudging that the pool robot is malfunctioning.

[0416] When the pool robot stops at the cleaning position, and the floating cavity of the buoyancy mechanism is a flexible cavity containing gas, the first adjusting component of the buoyancy mechanism is activated for a preset time to expel the gas from the cavity. This venting can be performed either by the first adjusting component inside the pool robot (e.g., an air pump, water pump) or by a mechanism on the base station body (e.g., an exhaust structure on the base station body). By expelling the gas from the floating cavity, the risk of the floating cavity colliding with or being punctured by other structures within the main body during a collision is avoided.

[0417] In some embodiments, after the first nozzle retracts from the first body, a baffle is controlled 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 protrudes at least partially from the first body, the baffle is controlled to move to the position blocking the fourth inlet to avoid damage to the baffle.

[0418] 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.

[0419] 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.

[0420] 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.

[0421] A first bottom cover is rotatably mounted on the first frame of the first filter box. Under the weight of its own weight and the weight of the waste 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. At least a portion of the rotated 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 it may extend into both the fourth opening and the third inlet. After the third opening is partially or fully opened, the waste inside the first filter box falls into the second filter box through the third opening, the fourth opening, and the third inlet.

[0422] 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.

[0423] The pool robot rests on the base station body. A first nozzle, a first filter box, a second filter box, and a drainage assembly are sequentially fluidly connected to form a cleaning water path for cleaning the first filter box. The drainage assembly includes at least one second driving component, located on the cleaning water path and downstream of the second filter box, used to drive the filtered liquid from the second filter box out of the base station body. For example, the second driving component is a second water pump. Because the water flow from the first nozzle is relatively large during cleaning, if the liquid does not drain 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 installing a drainage assembly in the cleaning water path, the liquid can be drained quickly from the second filter box. By placing the second driving 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.

[0424] 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).

[0425] 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.

[0426] 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 that the drainage assembly is malfunctioning.

[0427] 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.

[0428] 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.

[0429] 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.

[0430] 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.

[0431] 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.

[0432] Automatic detection tasks may also include: detecting whether the liquid sprayed by the first nozzle is abnormal, whether the drainage component is malfunctioning, etc.

[0433] 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.

[0434] 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.

[0435] 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.

[0436] 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.

[0437] 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.

[0438] Through the above structural design, the base station 2000 of this application achieves a highly integrated control system and a multi-point intelligent detection mechanism. When the base station 2000 is powered on, the external power supply is converted into stable low-voltage DC power via the power adapter 2192. The low-voltage DC power is then transmitted to the control board 21911 through conductive connecting lines. The control board 21911 distributes the power to different interfaces. Simultaneously, the first control unit of the control board 21911 receives and processes real-time signals from the detection components, generating control commands. Based on these control commands, the first control unit controls the actuators to perform tasks such as cleaning, charging, closing, drying, and unlocking. The specific execution process includes at least one of the following steps:

[0439] 1. Status detection of base stations and / or swimming pool robots

[0440] (1) Communication status detection: such as detecting the communication status between the pool robot and the base station. If the communication is abnormal, the base station, the pool robot, or the smart terminal can issue an abnormal prompt such as communication interruption or the base station and the pool robot not being paired.

[0441] (2) Base station status detection: such as detecting whether the second filter box is installed correctly. If the second filter box is not installed correctly, the base station, pool robot, or smart terminal can issue an abnormal prompt that the second filter box is not installed.

[0442] (3) Pool robot status detection: This includes detecting whether the pool robot is in the preset parking position and whether the first filter box is installed. If the pool robot is not in the preset parking position, the base station, the pool robot, or the smart terminal can issue an error message so that the user can adjust the position of the pool robot in time. For details on detecting whether the first filter box is installed, please refer to step 7.

[0443] If the status detection of the base station and / or the pool robot malfunctions, the first control unit can control the actuator to terminate the cleaning task and issue a notification to the user. If the status detection of the base station and the pool robot is normal, the first control unit will then control the actuator to continue the cleaning task.

[0444] It should be noted that the abnormal prompts in the embodiments of this specification can be issued by at least one of the following: smart terminal, pool robot, and base station. The prompting method can be interface display, voice prompt, light effect prompt, etc.

[0445] 2. The pool robot checks if it has enough power.

[0446] The pool robot is placed in the cleaning position. The user presses a button, or the pool robot and / or the base station initiate a cleaning command for the first filter box. Upon receiving the command, the first control unit controls the first communication module to send the command to the pool robot. After receiving the cleaning command for the first filter box, the pool robot first checks its battery level. If the battery level is sufficient for the base station to clean the pool robot, the pool robot can send a cleaning command to the first communication module. If the battery level is insufficient, the pool robot can send a charging command to the first communication module. Upon receiving the charging command, the first communication module sends the charging command to the first control unit. Upon receiving the charging command, the first control unit controls the charging component to charge the pool robot. Once the battery level is at least sufficient to clean the first filter box, the pool robot sends a stop charging command to the first communication module. Upon receiving the command, the first control unit controls the charging component to stop charging the pool robot. After stopping charging, the pool robot sends a cleaning command to the first communication module. Alternatively, provided the battery level is sufficient to clean the first filter cartridge, the pool robot can issue a prompt to initiate cleaning of the first filter cartridge. This could be done via voice prompt, by sending a notification to a smart terminal, or by sending a notification to the first communication module so that the first control unit can control the speaker to issue a voice prompt, etc. Upon receiving the prompt, the user triggers the command to clean the first filter cartridge.

[0447] 3. The pool robot opens the second water inlet.

[0448] Before the pool robot sends a cleaning command to the first communication module, if the second water inlet is closed, the pool robot, assuming sufficient power, can first control the movement of the second baffle to open the second water inlet. After the second water inlet is open, the pool robot then sends the cleaning command to the first communication module. This operation avoids interference between the first nozzle and the second baffle when the first nozzle rotates into the first body.

[0449] 4. The first control unit controls the first nozzle to switch to the first position.

[0450] After receiving a cleaning command via the first communication module, the first control unit can control the first nozzle to rotate, switching it from the second position to the first position. Simultaneously, the seventh position detection component detects whether the first nozzle has rotated to the correct position. If the first nozzle fails to rotate to the first position within a preset time, an error message is issued.

[0451] 5. The first control unit controls the first nozzle to spray liquid.

[0452] After receiving a signal that the first nozzle has rotated to the correct position, the first control unit can control the first valve to open, allowing the first nozzle to spray liquid and clean the first filter box. If the third opening needs to remain closed when the first nozzle begins spraying liquid, and if the third opening is not closed, the first control unit can first control the pushing component to move, thereby moving the first bottom cover and closing the third opening.

[0453] 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.

[0454] 6. The first control unit controls the lever assembly to move to the fourth position.

[0455] If the third opening remains closed when the first nozzle begins spraying liquid, the first control unit can control the lever assembly 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. For example, the first preset time can be 30 seconds.

[0456] 7. The first control unit determines whether the first bottom cover has opened the third opening.

[0457] The eighth positioning detection component detects whether the first bottom cover has opened the third opening and sends a detection signal to the first control unit. Upon receiving the detection signal, the first control unit processes the signal to determine whether the first bottom cover has opened the third opening. In some embodiments, the pool robot is further provided with a sixth positioning detection component for detecting whether the first bottom cover has closed the third opening. The sixth positioning detection component includes, but is not limited to, a Hall sensor and a magnet. With this structure, the first control unit can determine whether the first bottom cover has opened the third opening based on the above two detection results, improving the accuracy of the determination. And / or the first control unit can also determine whether the first filter box is installed based on the above two detection results.

[0458] If the third opening is not opened, the first control unit can control the lighting mechanism and / or the horn to issue an abnormality warning, or send a warning message to the smart terminal via the first communication module to remind the user of the cleaning abnormality. The first control unit can also control each mechanism to stop working, or control each mechanism to return to the position before cleaning the first filter box. The first control unit can also control the lever assembly to return to the fifth position, and then turn from the fifth position to the fourth position, so that the first bottom cover moves and opens the third opening.

[0459] 8. The first control unit controls the lever assembly to reciprocate between the fourth and fifth positions; or, the first control unit controls the lever assembly to reciprocate without reaching the fourth position. During the movement, if the lever assembly does not reach the fifth position, the ninth position detection component sends a detection signal to the first control unit. The first control unit receives and processes the detection signal, generating a control command. Based on the control command, the first control unit can control the lighting mechanism and / or the horn to issue an abnormal warning. Position detection can be set at at least one position between the fourth and fifth positions. If the lever is not detected within a specified time, an abnormal warning can also be issued, and cleaning can be stopped. Alternatively, it can also control each component to stop working, or control each component to return to its position before cleaning the first filter box.

[0460] 9. After the reciprocating motion of the lever assembly reaches the third preset duration, the first control unit controls the lever assembly to stop at the fifth position; or, if the lever assembly does not reach the fourth position during its reciprocating motion, the first control unit can control the lever assembly to continue moving after the reciprocating motion of the lever assembly reaches the third preset duration.

[0461] 10. The first control unit controls the first nozzle to stop spraying liquid; or, the first control unit controls the first nozzle to continue spraying liquid.

[0462] 11. The first control unit controls the pushing component to move to the extended state, pushing the first bottom cover to close the third opening. If the tenth positioning detection component detects that the pushing component has moved to the correct position, i.e., the first bottom cover has closed the third opening, the first control unit generates a command to start the second cleaning action and controls each actuator to work based on this command. If the tenth positioning detection component detects that the pushing component has not moved to the correct position, the first control unit can control the actuator to issue an abnormality prompt to the user; or, the first control unit can also try to control the pushing component to move again. If the first bottom cover still fails to move after several attempts, the first control unit can control the actuator to issue an abnormality prompt to the user. The first control unit can also control each mechanism to stop working or control each mechanism to return to the position before cleaning the first filter box. In some embodiments, the first control unit can also receive the detection signal from the sixth positioning detection component on the pool robot or the detection result processed by the first control unit on the pool robot through the first communication module to comprehensively determine whether the first bottom cover has closed the third opening, thereby improving the accuracy of the judgment.

[0463] 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 action can begin directly.

[0464] 12. After the first bottom cover closes the third opening, the first control unit can control the pushing component to remain in the extended state, so that the pushing component continues to push against the first bottom cover; or, it can control the pushing component to retract to the retracted state. If the pushing component remains in the extended state, the first control unit needs to control the pushing component to retract to the retracted state before the next cleaning action begins.

[0465] 13. 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.

[0466] 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.

[0467] 14. The first control unit controls the push assembly to retract to the retracted state. If the tenth position detection component detects that the push assembly has failed to retract to the retracted state, the first control unit may control the lighting mechanism and / or the horn to issue an abnormal warning.

[0468] 15. The first control unit controls the first nozzle to switch to the second position. After the seventh position detection component detects that the first nozzle has switched to the second position, the first control unit can send a cleaning completion signal to the pool robot and / or smart terminal through the first communication module. At least one of the base station, pool robot, and smart terminal can issue a cleaning completion prompt. If the seventh position detection component detects that the first nozzle has failed to return to the second position, the cleaning operation on the first filter box is also terminated. After a fifth preset time period following the first nozzle returning to the second position, if the base station also includes a second water pump, the first control unit must also control the second water pump to stop working.

[0469] 16. The pool robot controls the movement of the second baffle to close the second water inlet.

[0470] 17. After the first nozzle switches to the second position, the first control unit controls the charging component to continue charging the pool robot.

[0471] 18. After the pool robot is fully charged, it sends a stop charging signal to the first communication module. Upon receiving the signal, the first control unit controls the charging component to stop charging the pool robot.

[0472] It should be noted that the order in which the above steps are performed is not limited, and there may be overlap in the timing.

[0473] The first control unit dynamically adjusts the output commands by logically judging the combined state of various detection signals, ensuring that actions such as cleaning, charging, closing, and unlocking are performed in the correct sequence and do not interfere with each other, forming a complete automatic control closed loop. During operation, users can clearly understand the status of the base station through the speaker and light mechanism, enhancing the interactive experience.

[0474] During the cleaning process of the first filter box, the status of the base station and / or the pool robot, as well as the position of the first nozzle, can be continuously detected.

[0475] Each time the base station is powered on, it can 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 the user with a prompt. After the component status check is triggered, the first control unit 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; and / or control the push assembly to switch from the retracted state to the extended state and back to the retracted state; and use the position detection component, 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. The base station does not clean the first filter box before completing the component status check. If an abnormality is detected in the component status check, the first control unit can control the lighting mechanism and / or the speaker on the base station to issue a corresponding abnormality prompt; or control the first communication module to send an abnormality signal to the smart terminal and / or the pool robot, and the smart terminal and / or the pool robot will then issue an abnormality prompt. The base station will only clean the first filter box if no abnormalities are detected in the component status.

[0476] In some embodiments, the control board further includes at least one interface through which the control unit is electrically connected to the corresponding actuators and / or detection components. The number of interfaces can be appropriately reduced as needed to simplify circuit connections and create a more streamlined circuit layout. For example, the drying component can be removed, and its corresponding interface can be eliminated; the connection design of the button assembly and the lighting mechanism can be adjusted to connect them to the same interface. Of course, the number of interfaces can also be appropriately increased as needed. For example, if the base station also includes a first water pump, the control board also has an interface electrically connected to the first water pump, and the first control unit controls the first water pump to pump water from the pool or river to the first nozzle, causing the first nozzle to spray water. Furthermore, the number of first control units on the control board can be adjusted as needed, for example, to one, two, three, etc.

[0477] In some embodiments, as shown in Figures 3, 18, and 28, at least a portion of the sixth receiving cavity 2020 of the base station body 20001 is located above the third receiving cavity 2054 and the fourth receiving cavity 200011, and the sixth receiving cavity is isolated from the third and fourth receiving cavities. The sixth receiving cavity surrounds the fourth opening 2055. The sixth receiving cavity 2020 contains at least a portion of at least one of the following: a charging assembly 2090, a drying assembly 2800, an unlocking mechanism 7003, a lever mechanism 7006, a first closing mechanism 7004, and a second cleaning assembly 2170. Each mechanism is centrally controlled and performs distributed signal acquisition through a first control unit.

[0478] In some embodiments, the first closing mechanism 7004 includes a sixth motor and a pushing assembly. The sixth motor is located on a mounting plate of the sixth receiving cavity and is used to drive the pushing assembly to perform telescopic movements. At least a portion of the pushing assembly is disposed within the sixth receiving cavity 2020. Specifically, at least a portion of the pushing assembly extends out of the sixth receiving cavity, being in an extended state, to push the first bottom cover to move; or at least a portion of the pushing assembly retracts into the sixth receiving cavity, resetting to a retracted state. Further, the pushing assembly is located near, around, or on the periphery of the fourth opening to shorten the distance between the pushing assembly and the fourth opening, facilitating timely rotation of the first bottom cover toward the third opening when the pushing assembly extends. For example, at least a portion of the pushing assembly is located within the sixth receiving cavity and on one side of the fourth opening.

[0479] In some embodiments, at least a portion of the charging assembly 2090 and at least a portion of the drying assembly 2800 are disposed together within the sixth receiving cavity 2020 and arranged adjacent to each other. The fan of the drying assembly can directly act on the adjacent battery charging area to quickly dry the moisture on and around the battery surface, ensuring that the battery is in a dry and safe state before entering the charging process.

[0480] In some embodiments, the unlocking mechanism includes a first motor 70035 and a first unlocking component, with the first motor 70035 located within the sixth receiving cavity 2020. There are at least two first motors 70035 and first unlocking components; one first motor 70035 and one first unlocking component are positioned on one side of the fourth opening 2055, and the other first motor 70035 and another first unlocking component are positioned on the other side of the fourth opening 2055, symmetrically arranged on both sides of the fourth opening 2055, precisely corresponding to the locking positions on both sides of the first filter box 1051. When the first control unit issues an unlocking command, the first motor 70035 drives the first unlocking component 70037 to move synchronously, releasing the lock on the first bottom cover 1054, allowing waste to be discharged smoothly. The symmetrical arrangement on both sides of the fourth opening 2055 achieves balanced unlocking force, preventing the bottom cover from tilting and jamming, and improving the smoothness of opening and closing.

[0481] In some embodiments, the lever mechanism includes a third motor 70064 and a lever 70062. The third motor is located within the sixth receiving cavity 2020, and at least a portion of the lever is located within the second filter box. The lever mechanism is used to agitate the waste accumulated in the second filter box to spread or flatten the accumulated waste, evenly dispersing the waste within the inner cavity of the second filter box, improving the space utilization within the second filter box, preventing waste from accumulating below the fourth opening, and ensuring that the waste in the first filter box falls smoothly into the second filter box.

[0482] In some embodiments, as shown in FIG20, the lever mechanism 7006 and the unlocking mechanism 7003 share a motor. The motor (i.e., the first motor or the third motor) drives the first unlocking member 70037 and the lever 70062 to move respectively through a multi-directional transmission structure, realizing the sequential actions of unlocking and garbage evacuation at different working stages of the motor. One end of the lever 70062 extends into the interior of the second filter box 21102, and can move the accumulated garbage before and after the first bottom cover 1054 is opened or closed, so that the garbage is evenly distributed. This design avoids configuring separate motors for the lever mechanism and the unlocking mechanism, reducing the number of components, wiring and control interfaces, and making the overall layout more compact.

[0483] With the aforementioned sixth accommodating cavity 2020, the base station achieves spatial centralization and environmental isolation of core functional components, keeping electrical modules away from liquids and impurities, significantly improving the overall operational reliability, and reducing electrical faults and maintenance costs caused by moisture or contamination. The centralized design of multiple modules improves the utilization rate of internal space, allowing the base station to accommodate multiple functions without increasing its size, while simplifying assembly processes, reducing production costs, and simplifying maintenance.

[0484] In some embodiments, as shown in Figures 3 and 24, the third receiving cavity 2054 is formed by the mounting plate 200013 and the second dust chamber 2150, and is used to house the second filter box and contain wastewater and impurities generated during the cleaning process. The fourth receiving cavity 200011 is formed by the mounting plate 200013, the second dust chamber 2150, and the first side plate 200027. The first side plate 200027 is curved to fit the overall outline of the base station shell and is fastened by means of plug-in connection, so that the fourth receiving cavity 200011 can be both airtight and strong. The sixth receiving cavity 2020 is formed by the mounting plate 200013 and the second upper cover 20001a. The second upper cover is detachable to facilitate the later inspection and maintenance of the components in the sixth receiving cavity. The overall layout is a layered structure, with the upper functional compartment isolated from the lower waste and liquid compartments to prevent electrical components from getting damp, ensure that the modules do not interfere with each other, and enhance the safety and reliability of the base station.

[0485] In some embodiments, as shown in FIG24, the base station 2000 further includes a second side plate 200028 and a third side plate 200029. The first side plate 200027, the second side plate 200028, and the third side plate 200029 are respectively snap-fitted to the second dust chamber 2150 and / or the mounting plate 200013, achieving rapid assembly and high-strength positioning through structured plug-in connection. The first side plate 200027 and the third side plate 200029 adopt curved contours to fit against the second dust chamber 2150 and / or the mounting plate 200013, and are detachably connected using the same or similar snap-fit ​​structure, resulting in a smooth overall appearance and tight sealing. The first side plate 200027 defines the boundary of the fourth receiving cavity 200011. It engages with the mounting plate 200013 and / or the second dust chamber 2150 via a locking mechanism and a first connecting hole 2000254 on the first support platform 2000252, thereby achieving a fixed connection between the first side plate 200027, the mounting plate 200013, and the second dust chamber 2150, forming the fourth receiving cavity 200011. The second side plate 200028 serves both protective and structural reinforcement functions. It is connected to the second dust chamber 2150 and / or the mounting plate 200013 via a locking mechanism. The third side plate 200029, together with the second dust chamber and / or the mounting plate, encloses a cavity that accommodates at least part of the wiring and water supply channels. It is connected to the second dust chamber 2150 and / or the mounting plate 200013 via a locking mechanism, achieving functional isolation within the base station and preventing exposed pipes and wires. The multi-side plate snap-fit ​​connection structure can simplify the production process, reduce assembly errors, and improve modular maintenance efficiency while maintaining tightness.

[0486] In some embodiments, as shown in FIG19, the base station 2000 further includes a fifth receiving cavity 2010. The fifth receiving cavity 2010 is disposed beside the third receiving cavity 2054 and the fourth receiving cavity 200011, arranged horizontally side-by-side to form an independent storage space for storing spare filter bags or other consumables. When the third receiving cavity 2054 and the fifth receiving cavity 2010 are arranged facing the same side, they can be opened and closed integrally via the fourth baffle 200021. At least a portion of the sixth receiving cavity 2020 is located above the fifth receiving cavity 2010, achieving three-dimensional space utilization. The fifth receiving cavity allows users to store filter bags within the base station without additional storage space, facilitating maintenance and operation and improving user experience.

[0487] The base station disclosed in this application can be used on land, for example, by placing it on the edge of a swimming pool or on the ground. In this case, the base station is in the air environment, and the pool robot can automatically get out of the pool and walk onto the base station. For example, the base station also includes a support member, one end of which is attached to the base station body, and the other end extending below the surface of the pool water, allowing the pool robot to walk from the pool to the support member and then back to the base station body. Alternatively, the support mechanism described in the previous embodiments can be used to remove the pool robot from the pool and place it on a resting surface, and to lift the pool robot from the resting surface and place it back into the pool. Alternatively, the pool robot can be manually carried onto the base station body by a user.

[0488] When the base station is used on shore or on the ground, the first filter box is in the air, and the first nozzle sprays water at least to the side and / or bottom of the first filter box to rinse the side and / or bottom of the first filter box, not only flushing the garbage inside the first filter box out of the first filter box, but also washing away the garbage attached to the side and / or bottom of the first filter box.

[0489] When the base station is placed on the shore or on the ground, the water source for cleaning the first filter box can be municipal water from the user's home. For example, water from a tap. Since municipal water is pumped to the user's tap, the base station may or may not need to have a first water pump. Alternatively, the water source for cleaning the first filter box can be other types of water, such as pool water or river water. In this embodiment, the base station needs to include at least one first water pump, which draws the pool water or river water to the first nozzle, causing the first nozzle to spray water.

[0490] The liquid filtered by the second filter can be discharged into the user's sewer or outdoor lawn; alternatively, it can be discharged into a swimming pool for reuse. Furthermore, the base station also includes a second water pump, which is used to pump the liquid filtered by the second filter out of the base station to accelerate the discharge of the liquid from the base station.

[0491] The base station disclosed in this application can also be placed in a swimming pool or in a placement area connected to the swimming pool. For example, the base station can be placed on a raised platform in the swimming pool. For example, the raised platform can be a sun deck or steps in the swimming pool, wherein the sun deck and steps can be separated in the swimming pool, or the sun deck can be a step surface of the steps. Alternatively, a recessed placement area can be provided on the edge of the swimming pool, and the placement area can be connected to the swimming pool through an opening in the pool wall, and the base station can be installed in this placement area. Alternatively, the base station can be installed on the pool wall; or the base station can be installed on the bottom of the pool, or the base station can also be placed in other locations in the swimming pool. When the base station is installed in the swimming pool or in a placement area, a pool robot can automatically walk back to the base station body from the pool; or the pool robot can be manually carried to the base station body by the user.

[0492] The base station also includes a drainage channel for discharging the liquid filtered by the second filter box outside the base station; one end of the drainage channel connects to the third receiving cavity, and the other end serves as the final drain outlet. In scenarios where the base station is placed in a swimming pool or placement area, when the pool robot is stationary on the base station body, if the final drain outlet is at least partially or completely below the first liquid level in the pool, the base station also includes at least one second water pump for pumping the liquid filtered by the second filter box out of the base station. If the final drain outlet is above the first liquid level in the pool, the base station may or may not have a second water pump.

[0493] If the base station is placed in a swimming pool or designated area, when the pool robot is stationary on the base station, if the first liquid level in the pool is lower than or roughly level with the fourth opening of the base station, the first filter box is located above the fourth opening and is therefore in the air. Alternatively, if the first liquid level in the pool is lower than the bottom of the first filter box, the first filter box is also in the air. The first nozzle sprays liquid onto the first filter box to clean it. The cleaning effect of the first nozzle on the first filter box is roughly the same as if the base station were on land or ground. In other words, the first nozzle sprays water onto the first filter box located in the air to clean the debris inside and adhering to the inner wall of the first filter box.

[0494] The main body of the pool robot is provided with at least one first water outlet, and at least part of the first water outlet is located on the top of the main body. When the pool robot cleans the liquid in the pool, the liquid filtered by the first filter box is discharged out of the pool robot through the first water outlet.

[0495] In scenarios where the base station is placed in a swimming pool or within a designated area, when the pool robot is stationary on the base station, if the first liquid level in the pool is between the bottom of the first filter box and the first outlet, at least a portion of the side of the first filter box is positioned below the first liquid level, creating a second liquid level within the first filter box. This second liquid level can be higher, lower, or equal to the first liquid level. For example, when the pool robot is stationary on the base station and the first nozzle and second water pump are not yet running, the first liquid level in the pool is between the bottom of the first filter box and the first outlet; or, when at least one of the first nozzle and second water pump is running, the first liquid level in the pool is between the bottom of the first filter box and the first outlet.

[0496] For example, for ease of description, the side portion of the first filter box located below the second liquid surface is referred to as the first side portion, and the side portion of the first filter box located above the second liquid surface is referred to as the second side portion. Since the first side portion is located below the second liquid surface and the second side portion is located above the second liquid surface, that is, the second side portion is in the air environment, when the first nozzle sprays water onto the first side portion and the second side portion, the first impact force of the water sprayed onto the first side portion is greatly reduced, while the second impact force of the water sprayed onto the second side portion is not reduced. The first impact force is less than the second impact force. Therefore, the water sprayed by the first nozzle can clean the garbage attached to the second side portion, but cannot clean the garbage attached to the first side portion.

[0497] Therefore, in order to clean the debris attached to the first side of the first filter box, in this embodiment, the liquid in the first filter box is continuously drawn into the second filter box by operating the aforementioned second water pump (e.g., turning it on or increasing the operating parameters). The liquid is then filtered by the second filter box, making the outflow of water from the first filter box greater than the flow rate of liquid sprayed from the first nozzle into the first filter box (i.e., the inflow of water into the first filter box); or the drainage volume of the second water pump per unit time is greater than the spray volume of the first nozzle per unit time, causing the second liquid level in the first filter box to drop. This keeps the side of the first filter box continuously exposed above the second liquid level, i.e., in the air environment, thereby reducing the proportion of the first side on the side of the first filter box. This allows the water flow sprayed by the first nozzle to clean the second side above the second liquid level.

[0498] For example, in some embodiments, by operating the second water pump, the second liquid level in the first filter box is lowered to or below the third opening of the first filter box. This means that most of the sides of the first filter box are above the second liquid level, allowing the water jet from the first nozzle to clean most of the sides of the first filter box. For instance, if the second water pump is off before adjusting the second liquid level, and adjustment is needed, the first control unit controls the second water pump to start. Alternatively, if the second water pump is running before adjusting the second liquid level, and adjustment is needed, the first control unit controls the second water pump to increase its operating parameters. Furthermore, the base station also includes a sensor to detect the second liquid level, so that the first control unit can control the second water pump to start or adjust its operating parameters based on the sensor's detection signal.

[0499] Alternatively, in some embodiments, the operation of the second water pump adjusts the height of the second liquid level in the first filter box to a preset height; once the second liquid level reaches the preset height, it is kept at the preset height to facilitate the first nozzle spraying liquid to clean the side of the first filter box.

[0500] For example, a first filter screen 1055 is provided on the side of the first filter box to form a first filter surface. Debris easily adheres to the first filter screen, so when the first nozzle cleans the side of the first filter box, it primarily cleans the first filter screen. The height of the second liquid level is adjusted by operating the second water pump to ensure that the first filter screen is positioned above the second liquid level, i.e., in the air environment. Alternatively, in some embodiments, a first filter screen may or may not be provided at the bottom of the first filter box. If a first filter screen is provided at the bottom of the first filter box, the second liquid level is adjusted by operating the second water pump to ensure that the first filter screen at the bottom of the first filter box is also positioned above the second liquid level, facilitating the cleaning of debris adhering to the first filter screen when the first nozzle sprays liquid onto the bottom of the first filter box.

[0501] In other words, if most or all of the first filter screen is below the second liquid surface, the liquid in the first filter box needs to be sucked away by the operation of the second water pump, so that most of the first filter screen is above the second liquid surface, that is, the first filter screen is in the air environment, which makes it easier for the first nozzle to spray liquid onto the first filter screen to wash away the garbage attached to the first filter screen.

[0502] Furthermore, if the base station is placed in a swimming pool or designated area, when the pool robot is stationary on the base station, if the first liquid level in the pool is higher than the first outlet, when the second water pump operates to adjust the height of the second liquid level, the liquid in the pool will flow back through the first outlet into the first filter box. This increases the amount of water entering the first filter box, requiring the water pump to operate at higher parameters to lower the second liquid level so that most of the first filter screen is above the second liquid level. Therefore, in actual use, it is best to keep the first liquid level below the first outlet; however, it can also be above the first outlet. Alternatively, if the base station is placed in a swimming pool or designated area, the second liquid level in the first filter box can be adjusted without operating the second water pump; the first nozzle can also spray water onto the sides and bottom of the first filter box to clean it, although the cleaning effect is relatively weaker, it can still clean most of the debris inside the first filter box.

[0503] In some embodiments, if the base station is placed in a swimming pool or a designated area, the pool robot is charged wirelessly by the base station.

[0504] In some embodiments, if the base station is placed in a swimming pool or a designated area, the water source for cleaning the first filter box can be liquid from the swimming pool. In this case, the base station also includes the aforementioned first water pump to pump the liquid from the pool to the first nozzle. Alternatively, the water source for cleaning the first filter box can be municipal water from the user's home, such as tap water. In this embodiment, the liquid filtered by the second filter box can be discharged back into the swimming pool for reuse; alternatively, it can be pumped into the user's sewer or onto the user's outdoor lawn by the operation of the second water pump.

[0505] Furthermore, regardless of whether the base station is used on land or on the ground, or placed in a swimming pool or designated area, the base station also includes a pressurization component to ensure that the water jet from the first nozzle is high-pressure. The pressurization component can be located in the waterway between the clean water source and the first nozzle. For example, the pressurization component includes, but is not limited to, a booster pump, a water hammer pump, a pressure tank, a mechanical pressurization device, an elevated water tank, etc., or the water pressure of the jet from the first nozzle can be increased by reducing the size of the nozzle on the first nozzle.

[0506] The embodiments of this application have been described above with reference to the accompanying drawings. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. This application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A base station, characterized by comprising: include: Base station body; The second filter box is at least partially disposed within the base station body; The second filter box is used to receive waste discharged from the first filter box of the pool robot; A first sealing box is disposed on the base station body and has a first sealing cavity; An electronic control board is disposed within the first sealed cavity; the electronic control board includes at least one first control unit; At least one actuator is connected to the first control unit; The actuator includes at least a second cleaning component, which includes at least a first nozzle; the first nozzle is used to spray liquid onto the first filter box to clean the first filter box. The first control unit is used at least to control the first nozzle to spray liquid.

2. The base station of claim 1, wherein The second cleaning component also includes Liquid inlet component; At least one first valve is provided on the liquid inlet component; the first valve is used to cut off or allow the flow of clean water to the first nozzle. One end of the liquid inlet component is in fluid communication with a clean water source, and the other end is connected to the first nozzle; The first valve is connected to the first control unit. The first control unit controls the opening or closing of the first valve to control the first nozzle to spray liquid or stop spraying liquid.

3. The base station of claim 2, wherein The liquid inlet component includes First liquid inlet component; Second liquid inlet component; One end of the first liquid inlet component is movably disposed on one end of the second liquid inlet component, and the other end of the first liquid inlet component is connected to the first nozzle; the other end of the second liquid inlet component is in fluid communication with the clean water source. The second cleaning component also includes A first drive assembly, the first drive assembly including at least a seventh motor, the seventh motor being used to drive the first liquid inlet component to move relative to the second liquid inlet component, so as to drive the first nozzle to switch between a first position and a second position; In a first position, the first nozzle extends into the pool robot and sprays liquid onto the first filter box; In the second position, the first nozzle is removed from the pool robot; The first control unit is connected to the seventh motor, and the first control unit is also used to control the operation of the seventh motor so that the first nozzle can switch between the first position and the second position.

4. The base station of any one of claims 1-3, wherein, The actuator also includes A charging component, located on the base station body, is used to charge the swimming pool robot; the charging component is connected to the power supply element.

5. The base station of claim 4, wherein, When the pool robot docks on the base station body and the charging receiver of the pool robot comes into contact with the charging component, the first control unit is also used to control the power supply component to supply power to the charging component so that the charging component charges the pool robot.

6. The base station of claim 4, wherein, When the pool robot docks on the base station body, and the charging receiver of the pool robot comes into contact with the charging component, and during the cleaning process of the first nozzle on the first filter box, the first control unit is also used to control the power supply component to reduce the power supply voltage to the charging component, so that the charging component is insufficient to charge the pool robot.

7. The base station of claim 4, wherein, When the pool robot leaves the base station body, the charging receiver of the pool robot separates from the charging component. The first control unit is also used to control the power supply component to reduce the power supply voltage to the charging component, so that the charging component is insufficient to charge the pool robot.

8. The base station of claim 4, wherein, The power supply element is a second battery pack, the second battery being disposed in the first sealed cavity; or, the second battery pack is provided with a waterproof layer on the outside, the second battery pack being disposed in the base station body, but located outside the first sealed cavity.

9. The base station of claim 4, wherein, The power supply component is the user's home power supply; The base station also includes At least one adapter, which is electrically connected to the switch and is capable of being connected to the power source.

10. The base station of claim 9, wherein, The adapter is exposed outside the base station body; or, the adapter is located inside the base station body.

11. The base station of claim 4, wherein, The base station also includes A drying assembly, the drying assembly including at least one fan, the fan being used to dry at least one of the waste in the charging assembly and the second filter box; the fan being connected to the first control unit; The second control unit is also used to control the operation of the fan.

12. The base station of any one of claims 1-11, wherein, The base station body includes Third cavity; At least one fourth opening connects the third receiving cavity to the outside. The second filter box is disposed within the third receiving cavity; When the pool robot stops on the base station body, the fourth opening is used to allow the trash in the first filter box to fall into the second filter box; A lever mechanism is at least partially disposed within the third receiving cavity; the lever mechanism moves reciprocally to agitate the debris within the second filter box. The first control unit is also used to control the reciprocating movement of the lever mechanism.

13. The base station of claim 12, wherein, The lever mechanism includes At least one third motor; At least one lever; the third motor is used to drive the lever to reciprocate. The third motor is connected to the first control unit, and the first control unit is also used to control the operation of the third motor.

14. The base station of claim 13, characterized by The base station also includes At least one detection component is used to detect whether the movement of the lever is abnormal; After the detection component detects abnormal movement of the lever, the first control unit controls the first nozzle to stop spraying liquid.

15. The base station of claim 13 or 14, characterized by The lever reciprocates between at least the fourth and fifth positions; The base station also includes an unlocking mechanism, which includes at least [missing information]. First unlocking component; When the lever is in the fourth position, the third motor is also used to drive the first unlocking member to move upward, thereby driving the locking mechanism inside the pool robot to move, thereby releasing the locking mechanism from locking the first bottom cover of the first filter box, so that the first bottom cover can open the third opening of the first filter box.

16. The base station of any one of claims 1-5, wherein, The base station also includes A first shut-off mechanism; the first shut-off mechanism includes at least: Sixth motor; At least one actuating component; the sixth motor is at least used to drive the actuating component to switch between a retracted state and an extended state; In the extended state, the pushing component is used to push the first bottom cover of the first filter box toward the third opening of the first filter box, so that the first bottom cover closes the third opening; The sixth motor is connected to the first control unit, and the first control unit is also used to control the operation of the sixth motor.

17. The base station of any one of claims 1-16, wherein, The base station body includes Third cavity; The second filter box is disposed within the third receiving cavity; At least one first drain outlet is provided on the third receiving cavity; The base station includes At least one second water pump is used to drive the liquid inside the third receiving cavity to be discharged from the first drain outlet outside the base station body; The second water pump is connected to the first control unit, and the first control unit is also used to control the operation of the second water pump.

18. A cleaning system characterized by, Including pool robots and base stations; The pool robot includes Second control unit; A second communication module; the second communication module is connected to the second control unit; The base station is any one of claims 1-17; the base station further includes... A first communication module; the first communication module is connected to the first control unit; When the first communication module and the second communication module establish a communication connection, the first control unit controls at least the first nozzle to spray liquid.

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