CN-122018498-A - Butt joint method, controller and system of pool cleaning robot and base station

CN122018498ACN 122018498 ACN122018498 ACN 122018498ACN-122018498-A

Abstract

The application relates to the technical field of robots, in particular to a method, a controller and a system for docking a pool cleaning robot with a base station, and aims to solve the technical problem of how to realize more accurate docking of the pool cleaning robot with the base station. To this end, the application obtains information about the base station, and controls the drive unit of the pool cleaning robot based on the information such that the pool cleaning robot moves sideways in alignment with the base station. By the configuration mode, the application can realize the lateral movement process of the pool cleaning robot in the control of the driving unit of the pool cleaning robot based on the information related to the base station, thereby realizing more flexible, rapid, efficient and accurate alignment between the pool robot and the base station.

Inventors

LI XIAOTIAN
SONG JIANHONG
GUAN SHOUQIANG
LIU HAIMING

Assignees

天津望圆智能科技股份有限公司

Dates

Publication Date: 20260512
Application Date: 20251230
Priority Date: 20251027

Claims (10)

1. A docking method of a pool cleaning robot and a base station, characterized in that: acquiring information related to the base station; based on the information, a drive unit of the pool cleaning robot is controlled such that the pool cleaning robot moves laterally in alignment with the base station.
2. The method according to claim 1, wherein the pool cleaning robot comprises an information acquisition unit, the information comprising positional information of the base station and/or a relative positional relationship between the pool cleaning robot and the base station; The acquiring information related to the base station includes: Based on the information acquisition unit, position information of the base station and/or a relative positional relationship between the pool cleaning robot and the base station is obtained.
3. The method of claim 2, wherein the step of determining the position of the substrate comprises, The information acquisition unit comprises an ultrasonic sensor and/or a visual sensor and/or a laser sensor.
4. A method according to claim 2 or 3, characterized in that, The controlling a drive unit of the pool cleaning robot based on the information, comprising: when the relative distance between the pool cleaning robot and the base station is larger than a first preset distance, controlling the pool cleaning robot to move towards the base station according to the information; And controlling the driving unit to realize lateral movement of the pool cleaning robot based on the information when the relative distance between the pool cleaning robot and the base station is smaller than or equal to the first preset distance.
5. The method of claim 1, wherein the base station is located on a tank wall and the drive unit comprises at least two water pump assemblies.
6. The method of claim 5, wherein the force generated by the water pump assembly is not 0 in the horizontal direction.
7. The method of claim 5, wherein the water spray angle and/or the water spray force of the water pump assembly is adjustable.
8. The method of claim 1, wherein the base station is positioned on a wall of the pool, and wherein the pool cleaning robot includes a lateral water outlet.
9. A controller for a vehicle, which is configured to control a controller, characterized by comprising the following steps: At least one processor; And a memory communicatively coupled to the at least one processor; Wherein the memory has stored therein a computer program which, when executed by the at least one processor, implements a method of docking a pool cleaning robot with a base station as claimed in claims 1 to 8.
10. A pool cleaning system comprising a base station, a pool cleaning robot, and the controller of claim 9.

Description

Butt joint method, controller and system of pool cleaning robot and base station The present application claims priority from chinese patent application CN202511541824.4 filed on 10/27 of 2025, entitled "method, controller, and system for docking a pool cleaning robot to a base station", the entire contents of which are incorporated herein by reference. Technical Field The application relates to the technical field of robots, in particular to a docking method, a controller and a system of a pool cleaning robot and a base station. Background Existing pool cleaning robots, such as pool cleaning robots, are typically driven by a single water pump that is propelled by a water stream to move across the pool bottom or wall. However, the single water pump design can result in limited lateral movement of the pool cleaning robot during pool wall cleaning, especially when accurate positioning and cleaning of the piles (e.g., when docked with a base station) is required, and the pool cleaning robot is difficult to quickly adjust position and is inefficient. Accordingly, there is a need in the art for a new docking scheme of a pool cleaning robot with a base station to solve the above-mentioned problems. Disclosure of Invention The present application has been made to overcome the above drawbacks, and to solve or at least partially solve the technical problem of how to achieve a more accurate docking of a pool cleaning robot with a base station. In a first aspect, a method of docking a pool cleaning robot to a base station is provided, characterized by: acquiring information related to the base station; based on the information, a drive unit of the pool cleaning robot is controlled such that the pool cleaning robot moves laterally in alignment with the base station. In one technical scheme of the docking method of the pool cleaning robot and the base station, the pool cleaning robot comprises an information acquisition unit, wherein the information comprises the position information of the base station and/or the relative position relation between the pool cleaning robot and the base station; The acquiring information related to the base station includes: Based on the information acquisition unit, position information of the base station and/or a relative positional relationship between the pool cleaning robot and the base station is obtained. In one aspect of the above method for docking a pool cleaning robot with a base station, the information acquisition unit comprises an ultrasonic sensor and/or a visual sensor and/or a laser sensor. In one aspect of the above method for docking a pool cleaning robot to a base station, the controlling the driving unit of the pool cleaning robot based on the information includes: when the relative distance between the pool cleaning robot and the base station is larger than a first preset distance, controlling the pool cleaning robot to move towards the base station according to the information; And controlling the driving unit to realize lateral movement of the pool cleaning robot based on the information when the relative distance between the pool cleaning robot and the base station is smaller than or equal to the first preset distance. In one technical scheme of the docking method of the pool cleaning robot and the base station, the base station is arranged on the pool wall, and the driving unit comprises at least two water pump assemblies. In one aspect of the above method for docking a pool cleaning robot to a base station, the force generated by the water pump assembly is not 0 in the horizontal direction. In one technical scheme of the docking method of the pool cleaning robot and the base station, the water spraying angle and/or the water spraying force of the water pump assembly can be adjusted. In one technical scheme of the butt joint method of the pool cleaning robot and the base station, the base station is arranged on the pool wall, and the pool cleaning robot comprises a lateral water outlet. In a second aspect, a controller is provided, the controller comprising at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores a computer program that when executed by the at least one processor implements the method of any one of the aspects of the pool cleaning robot and base station methods described above. In a third aspect, a pool cleaning system is provided, comprising a base station, a pool cleaning robot and a controller according to the controller solution described above. The technical scheme provided by the application has at least one or more of the following beneficial effects: In the technical scheme of the butt joint method of the pool cleaning robot and the base station, the butt joint method acquires information related to the base station, and controls the driving unit of the pool cleaning robot based on the information, so that the pool cleaning robot moves laterally and is aligned with the base s