CN121296900A - Base station device and liquid conveying method of base station device - Google Patents

Abstract

The application provides a base station device and a liquid conveying method of the base station device. The base station apparatus includes a base station main body, a loading mechanism, and a weight mechanism. The base station body is arranged at the edge of the pool. The loading mechanism is movably connected to the base station body and is used for loading and conveying the cleaning robot into or out of the water tank. The weight mechanism comprises a weight chamber, a fluid channel and a driving piece, wherein the weight chamber is arranged on the base station main body and used for storing liquid to increase the weight of the base station main body, the fluid channel is communicated with the weight chamber, and the driving piece is used for driving the fluid channel to convey liquid to the weight chamber. By adopting the base station equipment, the base station main body has enough weight to resist the reaction force and the overturning moment generated by the swing arm structure to the base station main body, the stability of the carrying mechanism for driving the cleaning robot to leave or enter the water tank is improved, the service life of the base station equipment is prolonged, and the transportation cost, the production cost and the maintenance cost of the base station equipment are reduced.

Description

Base station device and liquid conveying method of base station device

Technical Field

The application relates to the technical field of pool cleaning, in particular to base station equipment and a liquid conveying method of the base station equipment.

Background

The existing base station equipment comprises a base station body and a carrying mechanism arranged on the base station body, wherein the carrying mechanism is used for assisting the cleaning robot to leave or enter a pool. Because the cleaning robot has a large weight, in the process that the cleaning robot leaves or enters the water tank, the pulling force of the carrying mechanism on the cleaning robot can be converted into the moment that the base station body overturns or slides towards the water tank, and the moment is applied. However, the counter moment applied to the base station body by the counterweight and the loading mechanism of the existing base station equipment is unbalanced, so that the base station body is caused to shift, overturn, even damage, and the like, and the use safety of the base station equipment is reduced.

Disclosure of Invention

The application provides base station equipment and a liquid conveying method of the base station equipment, which are used for solving the technical problems that the base station body is shifted, overturned and even damaged due to unbalanced reverse moment applied to the base station body by a counterweight and carrying mechanism of the existing base station equipment, and the use safety of the base station equipment is reduced.

In a first aspect, the present application provides a base station apparatus including a base station main body, a loading mechanism, and a weight mechanism. The base station body is arranged at the edge of the pool. The loading mechanism is movably connected to the base station main body and is used for loading and conveying the cleaning robot into or out of the water tank. The weight mechanism comprises a weight chamber, a fluid channel and a driving piece, wherein the weight chamber is arranged in the base station main body and is used for storing liquid to increase the weight of the base station main body, the fluid channel is communicated with the weight chamber, and the driving piece is used for driving the fluid channel to convey liquid to the weight chamber.

In a second aspect, the application provides a liquid conveying method of base station equipment, which comprises the steps of obtaining at least one state parameter of the base station equipment, and controlling a driving piece to drive a fluid channel to convey preset counterweight liquid to a counterweight cavity of the base station equipment when the at least one state parameter is judged to not meet the preset parameter.

The application provides a liquid conveying method of base station equipment, which comprises the following steps of receiving a working instruction, controlling a carrying mechanism to carry a cleaning robot according to the working instruction when judging that the weight parameter or the liquid level parameter of liquid in a counterweight cavity of the base station equipment meets a first preset requirement, swinging the carrying mechanism relative to a base station main body to drive the cleaning robot to leave or enter a water tank, and controlling a driving piece to drive a fluid channel to convey preset counterweight liquid to the counterweight cavity of the base station equipment when judging that the weight parameter or the liquid level parameter of the liquid meets the first preset requirement.

The embodiment of the application provides base station equipment and a liquid conveying method of the base station equipment, on one hand, on the basis of the arrangement of a counterweight mechanism on a base station main body, the counterweight mechanism comprises a counterweight chamber for storing liquid, and the weight of the base station main body is increased by conveying the liquid to the counterweight chamber, so that the base station main body has enough weight to resist the reaction force and the overturning moment generated by a swing arm structure on the base station main body, the stability of a carrying mechanism for driving a cleaning robot to leave or enter a pool is further improved, and the service life of the base station equipment is prolonged, on the other hand, on the basis of the liquid in the counterweight chamber as a counterweight for maintaining the stability of the base station main body, the liquid in the counterweight chamber can be discharged in the maintenance and transportation processes, and the liquid is stored before the carrying mechanism drives the cleaning robot to leave or enter the pool, so that the transportation cost, the production cost and the maintenance cost of the base station equipment are reduced.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are required in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only one possible implementation of the application, and that other drawings can be obtained from these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a usage scenario diagram of a base station apparatus provided by the embodiment of the present application in an extended state.

Fig. 2 is a schematic structural diagram of a base station apparatus in an extended state according to an embodiment of the present application.

Fig. 3 is a schematic structural diagram of a base station apparatus in a retracted state according to an embodiment of the present application.

Fig. 4 is a schematic structural diagram of a base station apparatus according to another embodiment of the present application, in which a loading mechanism is omitted.

Fig. 5 is a block diagram of a base station apparatus according to an embodiment of the present application.

Fig. 6 is a flow chart of steps of a liquid conveying method of a base station apparatus according to an embodiment of the present application.

Fig. 7 is a flowchart of steps in a liquid conveying method of a base station apparatus according to another embodiment of the present application.

The main element symbols comprise a water tank-1 a, a bank-11 a, a side wall-12 a, a bottom wall-13 a, a water storage cavity-101 a, a liquid level-102 a, a base station device-100, a base station main body-10, a function key-11, a carrying mechanism-20, a first swing arm-21, a second swing arm-22, a connecting rod-23, a hook-24, a counterweight mechanism-30, a counterweight chamber-31, a liquid inlet-311, a liquid outlet-312, a weight sensor-313, a liquid level sensor-314, a fluid channel-32, a liquid inlet channel-321, a liquid discharge channel-322, a first channel-3221, a second channel-3222, a cleaning channel-324, a first control valve-325, a second control valve-326, a reversing valve-327, a driving piece-33, a negative pressure driving source-331, a positive pressure driving source-332, a liquid parameter detecting piece-35, a first timer-351, a water quality detector-352, a flowmeter-36, a second timer-37, a counter-38, a feed mechanism-40, a feed valve-41, a feed mechanism-50, a feed channel-50, a human machine direction-200 and a cleaning mechanism.

The application will be further described in the following detailed description in conjunction with the above-described figures.

Detailed Description

The following embodiments of the present application are described below with reference to the drawings in the embodiments of the present application.

In describing embodiments of the present application, it should be noted that the term "coupled" should be interpreted broadly, unless explicitly stated or limited otherwise, and for example, the term "coupled" may be either detachably coupled or non-detachably coupled, or may be directly coupled or indirectly coupled via an intermediate medium. Wherein, the 'fixed connection' can be that the relative position relationship is unchanged after being connected with each other. A "rotational connection" may be one that is connected to each other and that is capable of relative rotation after connection. The term "integrally formed" refers to a component that is joined to another component during the formation of one of the components, without the need for re-working (e.g., bonding, welding, snap-fit, screw-connection) the two components together. References to directional terms in embodiments of the application, such as "top", "bottom", "inner", "outer", "side", etc., are merely with reference to the orientation of the drawings, and thus are used in order to better and more clearly illustrate and understand embodiments of the application, rather than to indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be interpreted as limiting the embodiments of the application.

Referring to fig. 1 and fig. 2 together, fig. 1 is a view of a usage scenario of a base station apparatus 100 in an extended state according to an embodiment of the present application, and fig. 2 is a schematic view of a structure of the base station apparatus 100 in an extended state according to an embodiment of the present application. The base station apparatus 100 includes a base station main body 10, a loading mechanism 20, and a weight mechanism 30. The base station body 10 is provided at the edge of the sump 1a. The loading mechanism 20 is movably connected to the base station body 10, and serves to load and transport the cleaning robot 200 into or out of the pool 1a. The weight mechanism 30 includes a weight chamber 31, a fluid passage 32, and a driver 33. The weight chamber 31 is provided to the base station body 10 and is used to store a liquid to increase the weight of the base station body 10. The fluid passage 32 communicates with the weight chamber 31. The driving member 33 is used to drive the fluid passage 32 to deliver liquid to the weight chamber 31.

The embodiment of the present application provides a base station apparatus 100, on one hand, based on providing a weight mechanism 30 on a base station main body 10, the weight mechanism 30 includes a weight chamber 31 for storing liquid to increase the weight of the base station main body 10 by delivering liquid to the weight chamber 31, so that the base station main body 10 has sufficient weight to resist the reaction force and overturning moment of a swing arm structure to the base station main body 10, thereby improving the stability of a loading mechanism 20 driving a cleaning robot 200 out of or into a pool 1a and improving the service life of the base station apparatus 100, and on the other hand, based on the liquid in the weight chamber 31 as a weight for maintaining the stability of the base station main body 10, so that the weight chamber 31 can discharge the liquid in the weight chamber 31 during maintenance and transportation, and store the liquid before the loading mechanism 20 drives the cleaning robot 200 out of or into the pool 1a, thereby reducing the transportation cost, production cost and maintenance cost of the base station apparatus 100.

The arrangement of the base station main body 10, the loading mechanism 20, and the weight mechanism 30 is only schematically described in fig. 1, and the connection positions, connection relationships, specific structures, and the like of the respective elements are not particularly limited. Fig. 1 is merely a structure of a base station apparatus 100 illustrated in an embodiment of the present application, and does not constitute a specific limitation of the base station apparatus 100. In another possible implementation of the present application, the base station apparatus 100 may include more mechanisms than those shown in fig. 1, or some mechanisms may be combined, or different mechanisms, e.g., the base station apparatus 100 may also include, but is not limited to, an identification mechanism, etc. The identification means is used to characterize the installation position of the base station apparatus 100 with respect to the water bath 1a, to guide the cleaning robot 200 back to the base station apparatus 100 for performing operations such as charging or maintenance.

Pool 1a includes a shore 11a, a side wall 12a, and a bottom wall 13a. The side wall 12a is connected to the peripheral edge of the bottom wall 13a, and encloses the bottom wall 13a to form a water storage cavity 101a. It should be noted that the term "shore 11a of the water tank 1a" refers to an edge zone of the body of water of the water tank 1a, i.e., land beside the water tank 1a. The pool 1a may be, but is not limited to, a swimming pool, ornamental pool, water reservoir 1a, etc. The cleaning robot 200 may be used for pool 1a cleaning such as, but not limited to, swimming pool cleaning, tank 1a cleaning, ornamental pool cleaning, and the like. The present application will be described in detail taking the cleaning robot 200 for cleaning a swimming pool as an example.

Illustratively, in the present embodiment, the base station body 10 is fixed to the bank 11a of the water pool 1a. In one possible implementation, the base station body 10 may be fixed to the rim top wall of the sump 1a by a locking structure such as a suction cup or a bolt, or the base station body 10 may be fixed to the rim top wall of the sump 1a by means of gluing, welding with a metal structure of the surface of the rim top wall of the sump 1a, or the like, and the fixing connection manner of the base station body 10 to the rim top wall of the sump 1a is not particularly limited in the embodiment of the present application. The edge of the base station body 10 facing the pool 1a is connected with the side wall 12a of the pool 1a and aligned, so that the base station body 10 and the pool 1a can be assembled in a contraposition. Of course, in one possible implementation, the base station body 10 is disposed toward the edge of the sump 1a at a distance from the side wall 12a of the sump 1a.

The cleaning robot 200 is removably carried on the base station apparatus 100. The base station apparatus 100 drives the cleaning robot 200 into or out of the pool 1a through the loading mechanism 20. Thereby, the base station apparatus 100 is realized to drive the cleaning robot 200 to automatically leave and enter water, the trouble of manual operation is omitted, the time and labor cost are saved, and the use safety of the cleaning robot 200 is improved.

The cleaning device may be a pool robot, a swimming pool robot, an underwater cleaning device, etc., and the embodiment of the application is not limited. The cleaning apparatus is used to perform cleaning, disinfection, rescue and other work tasks in the pool 1 a. Pool 1a may include, but is not limited to, a swimming pool, pool 1a, oil well, sewer, etc., and embodiments of the present application are described using pool 1a as a swimming pool. The cleaning device can be moved on the bottom wall 13a and the side wall 12a of the pool 1 a.

The ride mechanism 20 has an extended state and a retracted state. The base station apparatus 100 further includes a power mechanism. The power mechanism is provided on the loading mechanism 20 or the base station main body 10, and is used to drive the loading mechanism 20 to move relative to the base station main body 10 so as to switch the loading mechanism 20 between the extended state and the retracted state.

The "extended state" herein refers to a state in which the cleaning robot 200 is moved from the base station main body 10 into the swimming pool by the loading mechanism 20. The "retracted state" herein refers to a state in which the cleaning robot 200 is moved from within the swimming pool to the base station main body 10 by the loading mechanism 20. The base station main body 10 is for carrying the cleaning robot 200 when the carrying mechanism 20 is in the retracted state. Thus, the cleaning robot 200 is convenient for a user to place or take out the cleaning robot 200 from the base station main body 10 at the time of in-water cleaning or out-of-water maintenance work. Specifically, in the retracted state, the cleaning robot 200 is disposed to overlap with the base station main body 10 in the height direction Z, thereby improving the structural compactness of the base station apparatus 100, reducing the occupied space, and facilitating the user to take and put the cleaning robot 200. In the extended state, i.e., when the loading mechanism 20 rotates relative to the base station body 10 and penetrates into the water, the loading mechanism 20 is disposed in contact with the sidewall 12a of the sump 1a or spaced apart by a predetermined distance, thereby facilitating smooth movement of the cleaning robot 200 from the sidewall 12a of the sump 1a into the space defined by the loading mechanism 20, and improving stability and reliability of movement of the cleaning robot 200 relative to the loading mechanism 20.

Illustratively, in the present embodiment, the driving member 33 is configured as a water pump. The water pump may be, but is not limited to, an air pump, a centrifugal pump, a plunger pump, etc. Of course, in one possible implementation, the driver 33 may also be configured as a siphon structure, an electroosmotic flow structure, or the like. The driving member 33 may be configured as a negative pressure driving source 331. In one possible implementation, the drive 33 is configured as a positive pressure drive source 332, or the drive 33 includes a negative pressure drive source 331 and a positive pressure drive source 332. The positive pressure drive source 332 is used to deliver a drive liquid or drive gas to the weight chamber 31. The driving liquid is a preset weight liquid or a liquid different from the preset weight liquid. The negative pressure driving source 331 is used to convey a preset balance weight liquid to the balance weight chamber 31. Illustratively, in the present embodiment, the preset weight liquid may be the liquid in the sump 1 a. Of course, in one possible implementation, the preset weight liquid may also be a liquid outside the pool 1a, for example, the preset weight liquid may be fresh water, sea water, high-density brine, or a special weight liquid, which is not particularly limited in the embodiment of the present application.

In one implementation, the driver 33 is disposed only within the fluid intake channel 321. Thus, based on the provision of the driving member 33 in the liquid inlet passage 321, since the liquid inlet 311 and the liquid outlet 312 of the weight chamber 31 are open and the rest of the weight chamber 31 is closed, when the liquid inlet passage 321 supplements the weight chamber 31, the internal pressure of the weight chamber 31 increases, thereby enabling the liquid outlet passage 322 to actively drain until the internal air pressure of the weight chamber 31 reaches the target air pressure threshold. The target air pressure threshold may be an air pressure close to the atmospheric pressure, or an air pressure value customized by a user or set by the base station apparatus 100 by default. In another implementation manner, the driving member 33 may be disposed only in the liquid discharge channel 322 or the counterweight chamber 31, or the driving member 33 may be plural, and the driving members 33 are disposed in the liquid inlet channel 321 and the liquid discharge channel 322, respectively, which is not particularly limited in the embodiment of the application. The number, arrangement position and product type of the driving members 33 may be set according to actual conditions, and the embodiment of the present application is not particularly limited.

It should be noted that the preset weight liquid may be a liquid whose water quality parameter satisfies the preset water quality parameter, or the preset weight liquid may be a liquid customized by a user or defaulted by the control mechanism 60 of the base station apparatus 100, which is not specifically limited in the embodiment of the present application.

In one possible implementation, the weight mechanism 30 further includes a weight sensor 313 and a level sensor 314. The weight sensor 313 is provided inside or outside the weight chamber 31 and is used to acquire a weight parameter of the liquid in the weight chamber 31. The liquid sensor is disposed in the weight chamber 31 for acquiring a liquid level parameter of the liquid in the weight chamber 31. Therefore, the weight of the liquid input into the counterweight chamber 31 can meet the expected weight of the base station body 10 based on the detection of the weight parameter or the liquid level parameter, so that the base station body 10 has enough weight to resist the reaction force and the overturning moment of the swing arm structure to the base station body 10, the stability of the carrying mechanism 20 for driving the cleaning robot 200 to leave or enter the pool 1a is improved, and the service life of the base station device 100 is prolonged.

In the present embodiment, the weight chamber 31 is provided integrally with the base station body 10. Thereby, on the one hand, the weight chamber 31 is integrated with the base station body 10 into an integral structure, improving reliability and stability of connection of the base station body 10 and the weight chamber 31, and improving aesthetic appearance of the base station apparatus 100, and on the other hand, the housing portion of the base station body 10 can be used as a part of the weight chamber 31, optimizing space utilization, and realizing compact structure.

Of course, in one possible implementation, the weight chamber 31 is provided separately from the base station body 10 and fixedly connected thereto. The weight chamber 31 is provided inside or outside the base station body 10. Thus, on the one hand, the weight chamber 31 can be designed and manufactured as a single module, thereby realizing that the weight chamber 31 is matched with different types of the base station main body 10 and is placed inside or at the side of the main body of the base station main body 10 as required, thereby improving the compactness and flexibility of the overall structure of the base station apparatus 100, and on the other hand, the weight chamber 31 is arranged inside the base station main body 10. The weight chamber 31 provided at the outside of the base station body 10 may include, but is not limited to, the weight chamber 31 being provided at a rear side portion of the base station body 10 facing away from the pool 1a, or at a top portion of the base station body 10, or at a side portion of the base station body 10 at least one in a direction parallel to the swing axis of the loading mechanism 20, or the like.

As shown in fig. 2 and 3, the fluid passage 32 includes a liquid inlet passage 321. One end of the liquid inlet channel 321 is communicated with the counterweight chamber 31, and the other end of the liquid inlet channel 321 can extend into the liquid surface 102a of the water tank 1 a. Thereby, the driving member 33 can inject the liquid in the water tank 1a into the weight chamber 31 through the liquid inlet channel 321, and can discharge the liquid in the weight chamber 31 into the water tank 1a through the liquid inlet channel 321, on one hand, accurate adjustment and dynamic adjustment of the liquid in the weight chamber 31 are realized, so that the base station apparatus 100 can adapt to different use scenes such as transportation scenes, maintenance scenes, working scenes, and the like, on the other hand, compared with taking water from lower underground or far places, the length of the fluid channel 32 can be shortened by utilizing the liquid in the water tank 1a, the cost is saved, the energy consumption of the driving member 33 is reduced, the system structure of the base station apparatus 100 is simplified, and the manufacturing cost is reduced.

In some embodiments, the fluid channel 32 further includes a drain channel 322. The weight chamber 31 is connected between the liquid inlet channel 321 and the liquid outlet channel 322, and the driving member 33 is further configured to drive the liquid outlet channel 322 to discharge the liquid in the weight chamber 31 to the pool 1a or the outside of the pool 1a. Therefore, on the one hand, the liquid inlet channel 321, the counterweight chamber 31 and the liquid outlet channel 322 form a closed loop feedback system based on the fact that the counterweight chamber 31 is communicated between the liquid inlet channel 321 and the liquid outlet channel 322, so that the response speed, the control precision and the energy efficiency of the driving piece 33 for carrying out liquid storage operation or liquid outlet operation on the liquid in the counterweight chamber 31 are improved, the intelligent function of the base station equipment 100 is realized, on the other hand, the driving piece 33 has the liquid suction function and the liquid outlet function at the same time, and the liquid outlet channel 322 can discharge the liquid in the counterweight chamber 31 to a pool 1a or a designated collecting point, and therefore the problem of complex operation caused by the fact that the liquid in the counterweight chamber 31 is emptied through an external suction device and a suction pipeline is avoided, the maintenance flow is simplified, and the maintenance time and the cost are saved.

Referring to fig. 2 and fig. 3 together, fig. 3 is a schematic structural diagram of a base station apparatus 100 in a retracted state according to an embodiment of the present application. The fluid passage 32 is disposed within the load mechanism 20. Therefore, on one hand, based on the fact that the fluid channel 32 is integrated on the carrying mechanism 20, installation space is saved, the structural compactness and the aesthetic property of the base station device 100 are improved, the fluid channel 32 is surrounded and protected by the solid structure of the carrying mechanism 20, the rigidity and the reliability of a pipeline system are improved, and the life cycle of the fluid channel 32 is prolonged, on the other hand, in the state that the carrying mechanism 20 is in the extending state, the end part of the fluid channel 32, which is opposite to the counterweight cavity, can extend into the liquid surface 102a of the water tank 1a, so that liquid is stored in the counterweight cavity 31 to increase the weight of the base station body 10, and the counterweight cavity 31 and the water tank 1a are circulated, on the other hand, in the state that the carrying mechanism 20 is in the retracting state, the end part of the fluid channel 32, which is opposite to the counterweight cavity, is located outside the water tank 1a, so that the problem that the carrying mechanism 20 is immersed in water for a long time to cause failure is avoided, and the maintenance cost of the carrying mechanism 20 is reduced. The fluid passage 32 may be a channel provided in the interior of the loading mechanism 20, or a separate pipe may be buried in the interior of the loading mechanism 20. Specifically, the liquid inlet channel 321 and the liquid outlet channel 322 are disposed in the loading mechanism 20.

Illustratively, in the present embodiment, the ride mechanism 20 may be configured as an extraction mechanism. The extraction mechanism includes a first swing arm 21, a second swing arm 22, and a connecting arm 23. The first swing arm 21 and the second swing arm 22 are rotatably connected to the base station body 10, and the connecting arm 23 is connected between the first swing arm 21 and the second swing arm 22. The first swing arm 21 is provided with a liquid inlet passage 321. The second swing arm 22 is provided with a drain passage 322. The connection arm 23 is used to connect or release the cleaning robot 200. In one possible implementation, the ride mechanism 20 also includes a hook 24. A hook 24 is provided on the connection arm 23 and serves to hook or release the cleaning robot 200. Of course, in one possible implementation, the ride mechanism 20 may also be configured as a tray-type mechanism or a plate-type mechanism, or the ride mechanism 20 may also be configured as an elevator-type mechanism. The product type of the loading mechanism 20 may be set according to the actual situation, and the embodiment of the present application is not particularly limited.

Specifically, the liquid inlet passage 321 penetrates both ends of the first swing arm 21 in the extending direction of the first swing arm 21, and the liquid outlet passage 322 penetrates both ends of the first swing arm 21 in the extending direction of the second swing arm 22. Thus, in the extended state of the loading mechanism 20, the free ends of the first swing arm 21 and the second swing arm 22 facing away from the base station body 10 are positioned below the liquid surface 102a of the pool 1a, so that the liquid inlet channel 321 and the liquid outlet channel 322 are submerged in the liquid surface 102a of the pool 1 a. In the retracted state of the loading mechanism 20, the free ends of the first swing arm 21 and the second swing arm 22 facing away from the base station body 10 are located above the liquid surface 102a of the pool 1a, so that the liquid inlet channel 321 and the liquid outlet channel 322 are separated from the liquid surface 102a of the pool 1 a.

Referring to fig. 2 and fig. 4 together, fig. 4 is a schematic diagram illustrating a structure of a base station apparatus 100 according to another embodiment of the application, in which the loading mechanism 20 is omitted. In one possible implementation, the fluid channel 32 is independent of the loading mechanism 20 and is provided on the base station body 10. Thus, on the one hand, the flow path between the fluid channel 32 and the counterweight chamber 31 is shortened and the flow resistance is reduced, thereby improving the efficiency of clean water transportation and sewage extraction based on the fact that the fluid channel 32 is independent of the carrying mechanism 20 and is arranged on the base station main body 10, on the other hand, the fluid channel 32 is independent of the carrying mechanism 20 which can extend into the liquid surface 102a of the finger water tank 1a, thereby reducing the residual quantity of liquid in a pipeline arranged in the carrying mechanism 20, further inhibiting bacterial breeding and peculiar smell generation from the design source, on the other hand, the mechanical structure of the carrying mechanism 20 is simplified, and the problems of reduced structural strength and increased maintenance and cleaning difficulty caused by arranging the fluid pipeline on the carrying mechanism 20 are avoided.

As shown in fig. 4, in the present embodiment, the liquid inlet channel 321 and the liquid outlet channel 322 are provided on the base station main body 10 independently of the loading mechanism 20. Specifically, the liquid inlet channel 321 and the liquid outlet channel 322 are disposed on the outer side wall of the base station body 10 facing the water tank 1a and are located at the bottom of the base station body 10, so that the lengths of the liquid inlet channel 321 and the liquid outlet channel 322 are shortened, and the liquid exchange efficiency between the counterweight chamber 31 and the interior or the exterior of the water tank 1a is improved. Of course, in one possible implementation, the liquid inlet channel 321 and the liquid outlet channel 322 are respectively provided to the two side walls 12a of the base station body 10 in the direction parallel to the swing axis of the loading mechanism 20, or one of the liquid inlet channel 321 and the liquid outlet channel 322 is provided on the outer side wall of the base station body 10 facing the pool 1a, and the other of the liquid inlet channel 321 and the liquid outlet channel 322 is provided to one of the side walls 12a of the base station body 10 in the direction parallel to the swing axis of the loading mechanism 20. It should be noted that, the positions of the liquid inlet channel 321 and the liquid outlet channel 322 may be set according to practical situations, and the embodiment of the present application is not limited specifically.

As shown in fig. 4, the weight chamber 31 has a liquid inlet 311 communicating with the liquid inlet passage 321 and a liquid outlet 312 communicating with the liquid outlet passage 322, and the liquid inlet 311 and the liquid outlet 312 are disposed in alignment in the height direction Z of the base station apparatus 100 in a projection plane parallel to the height direction Z of the base station apparatus 100. Thus, based on the liquid inlet 311 and the liquid outlet 312 being provided at the same height of the base station main body 10, the risk of self-draining of liquid due to siphoning when the base station apparatus 100 is stopped is reduced.

Of course, in one possible implementation, in a projection plane parallel to the height direction Z of the base station apparatus 100, the liquid inlet 311 and the liquid outlet 312 are disposed offset in the height direction Z of the base station apparatus 100. Therefore, when the liquid in the counterweight chamber 31 needs to be emptied, the liquid can naturally flow down by gravity, the power of a water pump is not needed or reduced, the liquid in the counterweight chamber 31 is facilitated to be drained, and the residual of the original liquid is reduced. For example, in a front projection plane parallel to the height direction Z of the base station apparatus 100 and facing the pool 1a, the liquid inlet 311 is disposed diagonally to the liquid outlet 312.

Referring to fig. 2, fig. 3, and fig. 5 together, fig. 5 is a block diagram illustrating a base station apparatus 100 according to an embodiment of the present application. In one possible implementation, the weight mechanism 30 further includes a first control valve 325 and a second control valve 326, where the first control valve 325 is disposed in the liquid inlet channel 321 and/or the weight chamber 31 and is used to switch on or off the liquid inlet channel 321 and the weight chamber 31, and the second control valve 326 is disposed in the liquid outlet channel 322 and/or the weight chamber 31 and is used to switch on or off the liquid outlet channel 322 and the weight chamber 31. Therefore, under the condition that the counterweight chamber 31 does not need to input or discharge liquid, the liquid inlet channel 321 is closed by the first control valve 325, and the liquid outlet channel 322 is closed by the second control valve 326, so that the problem of liquid outflow in the counterweight chamber 31 and the problem that external ash microorganisms or other impurities enter the counterweight chamber 31 through the liquid inlet channel 321 or the liquid outlet channel 322 are avoided, and the maintenance and cleaning cost of the counterweight chamber 31 is reduced.

As shown in fig. 2 and 3, in one possible implementation, the drain channel 322 includes a first channel 3221 and a second channel 3222. Both the first channel 3221 and the second channel 3222 are communicably disposed with the weight chamber 31. The drain port 312 of the first channel 3221 is directed toward the inside of the sump 1a, and the drain port 312 of the second channel 3222 is directed toward the outside of the sump 1a. Therefore, on the basis of arranging the first channel 3221 and the second channel 3222 which are mutually independent and arranging the liquid outlet 312 of the first channel 3221 towards the inside of the water tank 1a and the liquid outlet 312 of the second channel 3222 towards the outside of the water tank 1a, on the one hand, the first channel 3221 can directly drain clean liquid in the counterweight chamber 31 back to the inside of the water tank 1a, so that the loss of the total water quantity of the water tank 1a is avoided, the energy is saved, the environment is protected, on the other hand, the second channel 3222 drains sewage which possibly contains pollutants (such as rust and greasy dirt) in the counterweight chamber 31 to the outside of the water tank 1a, so that the problem of pollution caused by directly draining the sewage in the counterweight chamber 31 to the water tank 1a is avoided, on the other hand, the first channel 3221 and the second channel 3222 are mutually independent, so that the cleaning difficulty is reduced, the cross pollution of the liquid is prevented, and the use flexibility is strong. Of course, in one possible implementation, the drain channel 322 may include only the first channel 3221. The liquid outlet 312 of the first channel 3221 is adjustably arranged relative to the installation position of the base station body, so that the liquid outlet 312 of the first channel 3221 is switched towards the inside or the outside of the pool 1a. In other possible implementations, the liquid discharge channel 322 may be omitted, that is, the liquid inlet channel 321 may serve as a liquid discharge or liquid inlet, or the liquid in the weight chamber 31 may be discharged through an external liquid suction structure, which is not particularly limited in the embodiment of the present application.

As shown in fig. 2 and 5, in one possible implementation, the weight mechanism 30 further includes a reversing valve 327. The direction valve 327 is disposed at the junction of the first channel 3221 and the second channel 3222, the direction valve 327 is used for communicating the weight chamber 31 and the first channel 3221, or the direction valve 327 is used for communicating the weight chamber 31 and the second channel 3222. Thereby, the counterweight chamber 31 is communicated with the first channel 3221 or the second channel 3222 through the single reversing valve 327, so that the first channel 3221 and the second channel 3222 share the same driving member 33, the cost is reduced, the structure of the counterweight mechanism 30 is simplified, and the integration level of the counterweight mechanism 30 is improved.

Of course, in one possible implementation, first channel 3221 and second channel 3222 may be disposed in a spaced apart relationship. For example, the weight mechanism 30 further includes a third control valve provided to the second channel 3222 and/or the weight chamber 31, and configured to turn on or off the second channel 3222 and the weight chamber 31. The second control valve 326 is disposed in the first channel 3221 and/or the weight chamber 31, and is used to switch on or off the first channel 3221 and the weight chamber 31.

In one possible implementation, the weight mechanism 30 further includes a fluid parameter detector 35. The liquid parameter detecting member 35 is provided on the base station body 10 and/or in the weight chamber 31, and is used to detect a first state parameter of the base station apparatus 100. The first state parameter includes at least one of a length of time to store water of the liquid within the weight chamber 31 and a water quality parameter. The driving member 33 is further configured to drive the fluid passage 32 to at least partially drain the liquid in the weight chamber 31 to the outside of the sump 1a when the first state parameter does not satisfy the first target state parameter. It will be appreciated that when the length of time for storing the liquid in the weight chamber 31 exceeds the target length of time for storing the liquid or the water quality parameter in the weight chamber 31 does not meet the target water quality parameter, contaminants (e.g., rust, oil, etc.) may be present in the liquid in the weight chamber 31. Thus, in the embodiment of the present application, the driving member 33 is further configured to drive the fluid channel 32 to drain at least a portion of the liquid in the weight chamber 31 to the outside of the water tank 1a when the first state parameter does not satisfy the first target state parameter, so as to avoid the problem of pollution caused by directly draining the sewage in the weight chamber 31 to the water tank 1 a. It should be noted that, the first target state parameter may be set according to factors such as priori data or simulation experiment data, and the embodiment of the present application is not limited specifically.

The liquid parameter detector 35 includes, but is not limited to, at least one of a first timer 351 and a water quality detector 352. The first timer 351 is disposed on the base station body 10 and is configured to obtain a water storage time period, where the water storage time period is a time period during which the driving member 33 is the last time to convey the liquid to the weight chamber 31 from the current time point. The water quality detector 352 is disposed in the weight chamber 31 and is used for acquiring water quality parameters.

It should be noted that the water quality parameter refers to a series of measurable indicators for quantitatively or qualitatively describing physical, chemical and biological characteristics of the water body. The water quality parameter is used to reflect the quality of the water body and includes, but is not limited to, at least one of turbidity, chromaticity, suspended matter, pH, temperature, dissolved oxygen, conductivity, bacterial content, and fungal content. The water quality detector 352 may be, but is not limited to, a pH electrode, a dissolved oxygen sensor, a turbidity sensor, a gas chromatograph, a colorimeter, a suspended matter/sludge concentration meter, a conductivity meter, a chemical oxygen demand analyzer, an ammonia nitrogen/total phosphorus/total nitrogen analyzer, etc.

In one possible implementation, the weight mechanism 30 further includes, but is not limited to, at least one of a flow meter 36, a second timer 37, and a counter 38. A flow meter 36 is provided in the weight chamber 31 and is used for driving the fluid passage 32 to deliver the circulating water amount of the liquid to the weight chamber 31 by the statistics driving member 33. The second timer 37 is provided on the base station body 10 and is used for counting the cycle time for the driving member 33 to drive the fluid passage 32 to deliver the liquid to the weight chamber 31. The counter 38 is used to count the number of times the fluid channel 32 is driven by the driver 33 to empty the liquid in the weight chamber 31. The driving member 33 is further configured to stop driving the fluid passage 32 to discharge the liquid in the weight chamber 31 to the outside of the sump 1a when the circulating water amount, the circulating time or the number of times of evacuation satisfies a preset condition, thereby reducing the power consumption of the driving member 33 and reducing the loss of the total water amount of the sump 1 a.

In one possible implementation, referring to fig. 2, fig. 4 and fig. 5 together, the base station apparatus 100 further includes a feeding mechanism 40. The feed mechanism 40 includes a feed valve 41 and a feed passage 42. The feed valve 41 is disposed on the feed passage 42, and is used to switch on or off the feed passage 42 and the balance weight chamber 31. The feed channel 42 is used to introduce a predetermined medium into the balance weight chamber 31. The preset medium includes at least one of a cleaning medium and a sterilizing medium. Thus, the feeding channel 42 and the counterweight chamber 31 can be communicated, so that the cleaning medium and/or the sterilizing medium can circulate along with the water circulation between the counterweight chamber 31 and the water tank 1a, the cleaning medium and/or the sterilizing medium can be uniformly dispersed to each position of the water tank 1a, the cleaning effect and/or the sterilizing effect of the water tank 1a can be improved, and the automatic operation of the base station device 100 for cleaning or sterilizing the water tank 1a can be realized.

Cleaning media are understood to mean substances or products for the physical removal of suspended particles, dirt, algae and organic pollutants in water and in the tank wall. The main purpose of the cleaning medium is to improve the clarity, look and feel and physical cleanliness of the water basin 1 a. The cleaning medium is used for cleaning the liquid in the water tank 1a mainly by physical means such as filtration, adsorption, sedimentation and the like. The cleaning medium includes, but is not limited to, at least one of a clarifying agent, a precipitating agent, an algaecide, a surface cleaner, and the like. The disinfectant medium is used for chemically killing or inhibiting pathogenic microorganisms such as bacteria, viruses, fungi, algae spores and the like in water. The main purpose of the disinfection medium is to prevent disease transmission and ensure water quality sanitation and safety. The disinfection medium is used for completing the disinfection of the liquid in the water tank 1a mainly by chemical means such as oxidation, destruction of cell walls/membranes, interference of enzyme systems, etc. The disinfecting medium includes, but is not limited to, at least one of trichloroisocyanuric acid, calcium hypochlorite, sodium dichloroisocyanuric acid, bromochlorohydantoin, sodium bromide, hydrogen peroxide, ozone and ultraviolet light, and silver/copper ionizers, etc.

In one possible implementation, the fluid channel 32 includes a cleaning channel 324, the cleaning channel 324 being communicably disposed with the weight chamber 31, the liquid discharge port 312 of the cleaning channel 324 opening in a direction toward the base station body 10. Therefore, the base station device 100 can clean the base station device 100 and/or the cleaning robot 200 carried on the base station main body 10 through the cleaning channel 324 to wash away algae, dirt, water stain sediment and the like carried back by the cleaning robot 200, on one hand, the automatic operation of the base station device 100 for cleaning the base station device 100 and/or the cleaning robot 200 is realized, the maintenance cost is reduced, and on the other hand, the clean cleaning robot 200 can improve the cleaning efficiency of the pool 1a, prolong the service lives of the base station device 100 and the cleaning robot 200, and improve the use experience of the base station device 100.

In the present embodiment, the liquid outlet 312 of the cleaning channel 324 is adjustably disposed with respect to the installation position of the base station main body 10, so that the cleaning range of the cleaning channel 324 to the base station apparatus 100 and/or the cleaning robot 200 is increased, and the flexibility of use of the cleaning channel 324 is improved. Of course, in one possible implementation, the liquid outlet 312 of the cleaning channel 324 may also be fixedly disposed with respect to the mounting position of the base station body 10.

In one possible implementation, the cleaning channel 324 and the drain channel 322 may be disposed independently of each other, or the drain channel 322 may be at least a portion of the cleaning channel 324, and embodiments of the present application are not particularly limited.

In one possible implementation manner, the base station apparatus 100 further includes a communication mechanism 50 and a control mechanism 60, where the communication mechanism 50 is disposed on the base station main body 10 and is used for being in communication connection with a third party apparatus, and the control mechanism 60 is connected with the communication mechanism 50 and is used for determining that the first state parameter of the base station apparatus 100 meets the first target state parameter, and responding to the cleaning instruction sent by the third party apparatus and received by the base station apparatus 100, and controlling the driving piece 33 to drive the cleaning channel 324 to clean the base station main body 10, where the first state parameter includes at least one of a water storage time length and a water quality parameter of the liquid in the counterweight chamber 31. Thereby, based on the cleaning instruction sent by the third party device, the driving part 33 is controlled to drive the cleaning channel 324 to clean the base station main body 10 and/or the cleaning robot 200 carried on the base station main body, so that the automatic operation of cleaning the base station device 100 and/or the cleaning robot 200 by the base station device 100 is realized, and the maintenance cost is reduced. The third party device may be a computer, a mobile phone, an electronic device in a working room, etc. The communication mechanism 50 may be, but is not limited to, wifi, bluetooth, 2G, 3G, 5G, etc.

In one possible implementation, the base station body 10 is further provided with a function key 11. The function key 11 is used to control rotation of the loading mechanism 20 relative to the base station main body 10 in response to an operation by a user to switch between a retracted state and an extended state. The function keys 11 may also control the weight mechanism 30 to enter a liquid delivery mode of operation in response to user operation. The function keys 11 may include, but are not limited to, a switch key, a status parameter setting key, etc.

It is understood that the control mechanism 60 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose control mechanisms 60, digital signal control mechanisms 60 (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The control mechanism 60 is a control center of the base station apparatus 100, and connects various parts of the entire base station apparatus 100 using various interfaces and lines.

In one possible implementation, the base station apparatus 100 further includes a storage mechanism 70. The storage mechanism 70 may be used to store computer programs and/or modules, and the control mechanism 60 implements various functions of the base station apparatus 100 by running or executing the computer programs and/or modules stored in the storage mechanism 70, and invoking data stored in the storage mechanism 70. The storage mechanism 70 may mainly include a program storage area that may store an operating system, application programs required for a plurality of functions (such as a sound playing function, an image playing function, etc.), etc., and a data storage area that may store data created according to the use of a cellular phone (such as audio data, a phonebook, etc.), etc. In addition, the storage mechanism 70 may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart memory card (SMART MEDIA CARD, SMC), secure Digital (SD) card, flash memory card (FLASH CARD), multiple disk storage devices, flash memory devices, or other volatile solid-state storage devices.

The embodiment of the application discloses a liquid conveying method of a base station device 100, which realizes that liquid is conveyed to a counterweight chamber 31 by a driving piece 33 to increase the weight of a base station main body 10, on one hand, the base station main body 10 has enough weight to resist the reaction force and overturning moment generated by a swing arm structure on the base station main body 10, so that the stability of a carrying mechanism 20 for driving a cleaning robot 200 to leave or enter a water tank 1a is improved, and the service life of the base station device 100 is prolonged, on the other hand, the liquid in the counterweight chamber 31 is used as a counterweight for maintaining the stability of the base station main body 10, and on the other hand, the liquid in the counterweight chamber 31 can be discharged in the counterweight chamber 31 in the maintenance and transportation processes, and the liquid is stored before the carrying mechanism 20 drives the cleaning robot 200 to leave or enter the water tank 1a, so that the transportation cost, the production cost and the maintenance cost of the base station device 100 are reduced. Each of which is described in detail below.

Referring to fig. 1, fig. 6 and fig. 7 together, fig. 6 is a flow chart illustrating steps of a liquid conveying method of a base station apparatus 100 according to an embodiment of the present application, and fig. 7 is a flow chart illustrating steps of a liquid conveying method of a base station apparatus 100 according to another embodiment of the present application. The control mechanism 60 is also used to perform all steps in the liquid conveying method of the base station apparatus 100 described below. For example, the control mechanism 60 is also used to perform steps S601 to S602 in fig. 6, or the control mechanism 60 is also used to perform steps S701 to S703 in fig. 7. Specifically, the storage mechanism 70 stores program codes. The control mechanism 60 is adapted to invoke the program code of the storage mechanism 70 to perform all the steps of the liquid delivery method described below.

As shown in fig. 6, the liquid transporting method is applied to the above-described base station apparatus 100. The liquid delivery method comprises the following steps.

Step S601, at least one status parameter of a base station device is acquired.

Step S602, when it is determined that the at least one status parameter does not meet the preset parameter, controlling the driving member to drive the fluid channel to convey the preset counterweight liquid to the counterweight chamber of the base station apparatus.

According to the liquid conveying method of the base station equipment, when the at least one state parameter does not meet the preset parameter, the driving piece is controlled to drive the fluid channel to convey the preset counterweight liquid to the counterweight chamber of the base station equipment, on one hand, the base station main body has enough weight to resist the reaction force and the overturning moment of the swing arm structure on the base station main body, so that the stability of the carrying mechanism for driving the cleaning robot to leave or enter a water tank is improved, the service life of the base station equipment is prolonged, and on the other hand, when the state parameter does not meet the preset parameter, the preset counterweight liquid is controlled to be input to the preset counterweight liquid, so that the related parameters of the original liquid in the counterweight chamber are adjusted, and the use experience of the base station equipment is improved.

In one possible implementation, the at least one state parameter includes a first state parameter. The first state parameter includes at least one of a length of time to store water for the liquid within the weight chamber and a water quality parameter. When the first state parameter is judged not to meet the first target state parameter, the driving piece is controlled to drive the fluid channel to convey the preset balance weight liquid to the balance weight cavity of the base station equipment, and the liquid in the balance weight cavity is at least partially discharged to the outside of a pool. Therefore, when the water storage time length and the water quality parameters of the original liquid in the counterweight cavity do not meet the first target state parameters, the water quality of the original liquid in the counterweight cavity is abnormal, so that the embodiment of the application can discharge the original liquid in the counterweight cavity at least partially to the outside of the water pool, on one hand, the unnecessary liquid is discharged to the outside of the water pool, the isolation of an internal system of the base station equipment from an external working environment is ensured, the cleanliness and stability of the internal system of the base station equipment are maintained, the phenomenon that the water pool is polluted due to overflow of the liquid in the counterweight cavity is avoided, and the odor released by the liquid in the counterweight cavity in the process of taking and placing the cleaning robot is avoided, thereby improving the use experience of the base station equipment, and on the other hand, the counterweight cavity inputs the preset counterweight liquid into the counterweight cavity in the front and back process of discharging the liquid in the counterweight cavity, thereby ensuring that the base station main body has enough weight to resist the reactive force and the overturning moment generated by the structure to the base station main body.

The first timer may acquire the water storage time length. The water storage time length is the time length of the driving piece for conveying liquid to the counterweight chamber for the last time from the current time point, so that the base station equipment can automatically count the water storage time length. When the water storage time length is longer than the preset water storage time length, the water quality of the liquid in the counterweight cavity is abnormal. For example, the preset water storage time period is, for example, three days, one week, half month, one month, or the like. The preset water storage time length may be stored in the storage mechanism in advance, or at least manually input by the user according to a priori, and the embodiment of the application is not particularly limited. The water quality detector is used for acquiring the water quality parameters.

In one possible implementation, the fluid channel includes a liquid inlet channel and a liquid outlet channel. The liquid inlet channel and the liquid outlet channel are both communicated with the counterweight chamber. The control of the driving piece to drive the fluid channel to convey the preset counterweight liquid to the counterweight chamber and at least partially discharge the liquid in the counterweight chamber to the outside of the water pool comprises the control of the driving piece to drive the liquid discharge channel to discharge the liquid in the counterweight chamber to the outside of the water pool and the control of the driving piece to drive the liquid inlet channel to convey the preset counterweight liquid to the counterweight chamber after the liquid in the counterweight chamber is discharged by a preset capacity, wherein the liquid inlet channel and the liquid discharge channel are mutually independent or share the channel. Therefore, the liquid in the counterweight cavity is sequentially discharged and then injected, so that the accurate and predictable liquid quantity of each injection is ensured, counterweight errors caused by mixing of new and old liquid are avoided, and the liquid discharge efficiency is improved. Illustratively, in this embodiment, the liquid inlet channel and the liquid outlet channel are disposed independently of each other, so as to avoid cross-contamination of the liquid inlet channel and the liquid outlet channel. Of course, in one possible implementation, the liquid inlet channel and the liquid outlet channel share a channel, that is, the liquid inlet and the liquid outlet of the counterweight chamber are performed through the same channel, so as to simplify the structure of the structural fluid channel.

The preset volume may be equal to or less than the volume of the balance weight chamber corresponding to the original liquid. For example, in this embodiment, the preset volume may be equal to the volume corresponding to the original liquid in the weight chamber, that is, the liquid in the weight chamber is completely discharged. It should be noted that the complete discharge of the liquid in the weight chamber means that the liquid in the weight chamber is completely discharged, but water drops adhering to the inner cavity wall of the weight chamber are not excluded. In a possible implementation manner, the discharging preset volume of the liquid in the counterweight chamber may further include that the liquid in the counterweight chamber is partially discharged, and embodiments of the application are not limited in particular.

In one possible implementation, the liquid conveying method further comprises the steps of obtaining the emptying times of the liquid in the counterweight cavity when the driving piece drives the liquid discharging channel, and controlling the driving piece to stop driving the liquid discharging channel to discharge the liquid in the counterweight cavity to the outside of the water pool when the emptying times meet the target times. Therefore, the control mechanism of the base station equipment can initially judge whether the counterweight chamber is cleaned in place or not based on the emptying times, so that the counterweight chamber is automatically cleaned by the base station equipment, the problem that the counterweight chamber is not cleaned in place due to waste or too little water drainage caused by manual misoperation or sensor faults (such as a liquid level sensor) is avoided, and on the other hand, the problem that the liquid parameter detection part works in real time to cause high energy consumption is avoided, and the life cycle of the liquid parameter detection part is reduced.

In one possible implementation, the controlling the driving member to drive the drain channel to drain the liquid in the weight chamber to the outside of the pool includes controlling the driving member to drive the liquid inlet channel to deliver driving fluid to the weight chamber to drain the liquid in the weight chamber to the outside of the pool through the drain channel. The driving fluid comprises driving liquid or driving gas, wherein the driving liquid is the preset weight liquid, or the driving liquid is different from the preset weight liquid. Therefore, under the drive of the driving gas or the driving liquid pressure, the liquid in the counterweight chamber is forced to be pushed out from the liquid discharge channel with lower position until the liquid is completely discharged outside the water pool, on one hand, the gas is clean, so that the cleaning capability and reliability of the driving gas to the counterweight chamber are improved, the problem that the external pool water flows backward or pollutes the internal liquid discharge channel and the counterweight chamber is avoided, on the other hand, the space of the whole counterweight chamber can be filled with positive pressure gas, the liquid in the counterweight chamber can be extruded out as much as possible, the liquid residue is reduced, the accurate control of the next counterweight is facilitated, the waste of the liquid for cleaning the counterweight chamber is prevented, and the cost is saved. The positive pressure driving source is used for conveying driving gas or driving liquid to the liquid inlet channel.

In another possible implementation, the controlling the driving member to drive the drain passage to drain the liquid in the weight chamber to the outside of the sump includes controlling the driving member to drive the drain passage to suck the liquid in the weight chamber to the outside of the sump by negative pressure. Therefore, on one hand, compared with positive-pressure blowing liquid discharge, negative-pressure suction is less prone to generate bubbles and avoids the risk of damaging a counterweight chamber or a sealing structure due to over-high pressure, on the other hand, negative-pressure suction liquid only discharges the liquid and does not introduce any new substances into the counterweight chamber, and on the other hand, a liquid inlet channel and a liquid discharge channel can share one set of driving piece (such as a water pump), so that the mechanical structure of base station equipment is simplified.

In one possible implementation manner, the controlling the driving element to drive the fluid channel to convey the preset weight liquid to the weight chamber and at least partially drain the liquid in the weight chamber to the outside of the water tank includes controlling the driving element to drive the liquid draining channel to drain the liquid in the weight chamber to the outside of the water tank and synchronously controlling the driving element to drive the liquid inlet channel to convey the preset weight liquid to the weight chamber, wherein the liquid inlet channel and the liquid draining channel are mutually independent. Therefore, the water inlet and the water outlet of the counterweight chamber are synchronous and independent, and the switching of the liquid conveying state of the base station equipment does not need to wait for one action to finish and then starts the other action, so that the control and management difficulty is reduced, the stability of the internal pressure of the counterweight chamber is improved, the burden on a driving piece and a sealing structure is avoided, the workload of the driving piece is reduced, and the life cycle of the counterweight mechanism is prolonged.

In one possible implementation manner, the liquid conveying method further comprises the steps of obtaining the circulating water quantity or the circulating time of the liquid which is driven by the driving piece to convey the liquid to the counterweight cavity through the liquid inlet channel, and controlling the driving piece to stop driving the liquid discharging channel to discharge the liquid in the counterweight cavity to the outside of the water pool when the circulating water quantity meets the target circulating water quantity or the circulating time meets the target circulating time. Therefore, the control mechanism of the base station equipment can judge whether the counterweight chamber is cleaned in place or not based on the circulating water quantity or the circulating time, thereby realizing the automatic cleaning of the counterweight chamber by the base station equipment, avoiding the problem of insufficient cleaning caused by waste or insufficient drainage due to manual misoperation or sensor faults (such as a liquid level sensor), on the other hand, avoiding the problem of large energy consumption caused by real-time working of the liquid parameter detection part, and reducing the life cycle of the liquid parameter detection part.

Of course, in another possible implementation manner, the liquid conveying method further comprises the steps of acquiring the water quality parameter of the liquid in the counterweight cavity in real time by adopting a liquid parameter detection part, and controlling the driving part to stop driving the liquid discharge channel to discharge the liquid in the counterweight cavity to the outside of the water tank when the water quality parameter of the liquid in the counterweight cavity meets the target water quality parameter. Therefore, based on the fact that the water quality parameter of the liquid in the counterweight cavity meets the target water quality parameter, the driving piece is controlled to stop driving the liquid discharging channel to discharge the liquid in the counterweight cavity to the outside of the water pool, qualitative control of liquid discharging operation of the liquid in the counterweight cavity is achieved, the base station equipment can intelligently judge when the water discharging process is completed, self-adaption and intelligent operation of the base station equipment are improved, and resource waste caused by transitional water discharging is avoided.

In one possible implementation, the at least one state parameter further comprises a second state parameter, the second state parameter comprises a weight parameter or a liquid level parameter of the liquid in the counterweight chamber, the liquid conveying method further comprises the steps of controlling the driving piece to stop driving the fluid channel to discharge the liquid in the counterweight chamber to the outside of the water pool when judging that the water quality parameter of the preset counterweight liquid in the counterweight chamber meets a preset water quality parameter and the second state parameter does not meet a second target state parameter, and controlling the driving piece to drive the fluid channel to convey the preset counterweight liquid to the counterweight chamber so that the second state parameter meets the second target state parameter. On the one hand, after the water quality of the liquid in the counterweight chamber is judged to meet the requirement, the weight of the liquid in the counterweight chamber is regulated to meet the counterweight requirement of the base station equipment, so that the pollution of a pool is prevented, the overall operation efficiency of inputting the liquid into the counterweight chamber is improved, on the other hand, after the water quality parameter of the preset counterweight liquid in the counterweight chamber is judged to meet the preset water quality parameter, the preset counterweight liquid meeting the second target state parameter is conveyed to the counterweight chamber so that the weight of the base station main body reaches the expected weight, the base station main body has enough weight to resist the reaction force and the overturning moment of the swing arm structure to the base station main body, the stability of the carrying mechanism for driving the cleaning robot to leave or enter the pool is improved, and the service life of the base station equipment is prolonged.

The first target state parameter may be pre-stored in the storage mechanism, or at least manually entered by the user according to a priori, and embodiments of the present application are not particularly limited. The weight sensor is used for acquiring weight parameters of the liquid in the counterweight chamber. The liquid sensor is used for acquiring liquid level parameters of liquid in the counterweight chamber.

In one possible implementation manner, the control of the driving element to drive the fluid channel to convey the preset weight liquid to the weight chamber so that the second state parameter meets the second target state parameter includes controlling the driving element to stop driving the fluid channel to convey the preset weight liquid to the weight chamber when the second state parameter meets the second target state parameter, so that the problem of resource waste caused by that the preset weight liquid adopts liquid independent of the interior of the water tank is avoided, energy consumption of base station equipment is reduced, and cost is saved.

In another possible implementation, the controlling the driver to drive the liquid inlet channel to deliver the preset weight liquid to the weight chamber so that the second state parameter meets the second target state parameter includes controlling the driver to drive the fluid channel to circulate the preset weight liquid between the weight chamber and a pool so that the second state parameter meets the second target state parameter. Therefore, on one hand, the liquid in the counterweight cavity is in a flowing state, so that impurities, biological films or solutes can be prevented from depositing and scaling at the bottom and dead corners of the cavity and the smoothness of the whole fluid channel is kept, and on the other hand, the low-temperature liquid in the counterweight cavity can take away the temperature generated by the operation of the internal elements of the base station equipment, so that the service life of the base station equipment is prolonged.

In one possible implementation, the liquid conveying method further comprises the steps of acquiring specification parameters and/or motion parameters of the cleaning robot, and determining the second target state parameters according to the specification parameters and/or the motion parameters. Therefore, on one hand, the base station equipment can adaptively adjust the capacity of the liquid in the counterweight cavity based on different cleaning robots, so that the accuracy of the counterweight mechanism for compensating the load change of the base station equipment is improved, the stability of the cleaning robots leaving or entering the water tank from the water tank is ensured, and the life cycle of the base station equipment is prolonged.

The control of the driving part to drive the fluid channel to circulate the preset counterweight liquid between the counterweight chamber and the water tank so that the second state parameter meets the second target state parameter comprises the steps of obtaining the specification parameter and/or the motion parameter of the cleaning robot, determining the second target state parameter according to the specification parameter and/or the motion parameter, analyzing the difference information of the second target state parameter of the second state parameter, and adjusting the input liquid flow of the liquid inlet channel and/or the output liquid flow of the liquid outlet channel according to the difference information so that the second state parameter meets the second target state parameter. Wherein the specification parameters include, but are not limited to, at least one of volume, weight and gravity center position, and the motion parameters include, but are not limited to, at least one of motion track, swing arm length, rotation angle and rotation angular velocity. Therefore, the second target state parameter is analyzed based on the specification parameters and/or the motion parameters of the cleaning robot, and the transfusion parameters of the counterweight chamber are regulated based on the difference between the second state parameter and the second target state parameter, on one hand, the base station equipment is realized to adaptively regulate the capacity of liquid in the counterweight chamber based on different cleaning robots, so that the accuracy of the counterweight mechanism for compensating the load change of the base station equipment is improved, the stability of the cleaning robot leaving or entering the water tank from the water tank is ensured, and the life cycle of the base station equipment is prolonged; on the other hand, the water inlet flow and the water outlet flow are proportionally controlled, and the accurate increase and decrease of the liquid mass in the counterweight chamber is realized, so that the waste of preset counterweight liquid is reduced, the bidirectional synchronous adjustment of the counterweight chamber is beneficial to maintaining the stability of the internal pressure of the counterweight chamber, the load of a driving part is reduced, and the energy consumption is saved.

In one possible implementation, the liquid delivery method further comprises obtaining a second target state parameter associated with the specification parameter and/or the motion parameter. Illustratively, in this embodiment, the obtaining the second target state parameter associated with the specification parameter and/or the motion parameter includes obtaining the second target state parameter associated with the current specification parameter and/or the motion parameter according to a predefined correspondence between the specification parameter and/or the motion parameter association and the second target state parameter. For example, the heavier the cleaning robot, the greater the capacity of the liquid in the counterweight chamber, thereby enabling the counterweight mechanism adaptation of the base station apparatus to counterweight the cleaning robot's weight.

In one possible implementation, the liquid draining channel comprises a first channel and a second channel, the liquid draining port of the first channel faces the interior of the water tank, the liquid draining port of the second channel faces the exterior of the water tank, and the control of the driving piece drives the liquid draining channel to drain the liquid in the counterweight cavity to the exterior of the water tank comprises control of a reversing valve to conduct the second channel and the counterweight cavity, and control of the driving piece drives the second channel to drain the liquid in the counterweight cavity to the exterior of the water tank. Therefore, on one hand, the second channel discharges the sewage with pollutants (such as rust and greasy dirt) in the counterweight cavity to the outside of the water tank, so that the problem of pollution caused by the fact that the sewage in the counterweight cavity is directly discharged into the water tank is avoided, on the other hand, the first channel and the second channel are mutually independent, so that the cleaning difficulty is reduced, the cross pollution of liquid is prevented, the use flexibility is high, and on the other hand, clean liquid in the counterweight cavity can be directly discharged back to the inside of the water tank through the first channel, so that the loss of the total water quantity of the water tank is avoided, and the energy conservation and the environment protection are realized.

In one possible implementation, the at least one state parameter comprises a second state parameter, the second state parameter comprises a weight parameter or a liquid level parameter of the liquid in the counterweight chamber, when the at least one state parameter is judged to not meet the preset parameter, the driving part is controlled to drive the fluid channel to convey the preset counterweight liquid to the counterweight chamber of the base station device, when the second state parameter is judged to not meet the second target state parameter, the driving part is controlled to drive the fluid channel to convey the preset counterweight liquid to the counterweight chamber of the base station device, or the driving part is controlled to drive the fluid channel to circulate the preset counterweight liquid between the counterweight chamber and a water pool. Therefore, when the second state parameter does not meet the second target state parameter, the driving piece is controlled to drive the fluid channel to convey the preset counterweight liquid to the counterweight chamber of the base station equipment so as to increase the weight of the base station main body, and the base station main body has enough weight to resist the reaction force and the overturning moment of the swing arm structure to the base station main body, so that the stability of the carrying mechanism for driving the cleaning robot to leave or enter the pool is improved, and the service life of the base station equipment is prolonged.

It will be appreciated that when the base station apparatus is first installed for use, the drive member is able to inject water directly into the weight chamber as the weight chamber does not store liquid. Under the use scene that cleaning robot need not to carry out and leave base station equipment or need not to return to base station equipment from the pond, base station equipment can be with the liquid evacuation in the counter weight cavity to can restrain bacterium breeding and peculiar smell production in the counter weight cavity, promoted user's use experience.

In one possible implementation manner, the liquid conveying method further comprises controlling the driving piece to stop driving the fluid channel to convey the preset counterweight liquid to the counterweight chamber when the water quality parameter of the preset counterweight liquid in the fluid channel is judged to not meet the preset water quality parameter, and/or controlling to output prompt information. Therefore, on one hand, before or during the injection of the liquid into the counterweight chamber, the system of the base station equipment detects the water quality of the preset counterweight liquid flowing into or in real time, and controls the driving piece to stop driving the fluid channel to convey the preset counterweight liquid to the counterweight chamber when the water quality does not reach the standard, so that the condition that the water tank is polluted due to the fact that the preset counterweight liquid with the water quality not reaching the standard is prevented, and on the other hand, prompt information is output when the condition that the water quality of the preset counterweight liquid does not reach the standard is detected, so that a user can intervene in time, and the counterweight efficiency of the base station equipment is improved. The prompt information may include, but is not limited to, at least one of sound information, vibration information, graphic information, light information. In some embodiments, the alert may also occur to the third party device through a communication mechanism.

In one possible implementation manner, the at least one state parameter comprises a first state parameter, the first state parameter comprises at least one of a water storage time length and a water quality parameter of the liquid in the counterweight cavity, the liquid conveying method further comprises the steps of responding to a feeding instruction received by the base station equipment when judging that the first state parameter meets a first target state parameter, controlling a feeding valve to conduct the counterweight cavity and a feeding channel for guiding a preset medium, and controlling the driving piece to drive the fluid channel to discharge the preset counterweight liquid and the preset medium into the liquid in the water tank. Wherein the predetermined medium includes at least one of a cleaning medium and a sterilizing medium. Therefore, the feeding channel and the counterweight chamber can be communicated, so that cleaning medium and/or sterilizing medium can be injected into water in the water tank along with preset counterweight liquid in the counterweight chamber, and automatic operation of cleaning or sterilizing operation of the base station equipment on the water tank is realized.

In one possible implementation manner, the control of the driving element to drive the fluid channel to discharge the preset counterweight liquid and the preset medium into the liquid in the water tank includes control of the driving element to drive the fluid channel to circulate the preset counterweight liquid and the preset medium between the counterweight chamber and the water tank, so that the cleaning medium and/or the disinfection medium circulates along with the water circulation between the counterweight chamber and the water tank, the cleaning medium and/or the disinfection medium is uniformly dispersed to each position in the water tank, and the cleaning effect and/or the disinfection effect of the water tank are improved.

In another possible implementation, the controlling the driving member to drive the fluid channel to drain the predetermined weight liquid and the predetermined medium into the pool of liquid includes controlling the driving member to drive the fluid channel to drain the predetermined medium and the predetermined weight liquid in the weight chamber.

Of course, in another possible implementation manner, the liquid conveying method further comprises controlling a feed valve to conduct the counterweight chamber and a feed channel for introducing a preset medium in response to a feed command received by the base station device, and controlling the driving member to drive the fluid channel to discharge the preset medium into the liquid in the water tank. In other words, the predetermined counterbalance liquid may be evacuated from the counterbalance chamber before the predetermined medium is introduced into the counterbalance chamber. It should be noted that, the input sequence and the output mode of the counterweight liquid and the preset medium may be set according to the actual situation, and the embodiment of the application is not limited specifically.

In one possible implementation manner, the at least one state parameter comprises a first state parameter, the first state parameter comprises at least one of a water storage time length and a water quality parameter of the liquid in the counterweight cavity, and the liquid conveying method further comprises the step of controlling the driving piece to drive the cleaning channel to clean the base station equipment and/or a cleaning robot carried on a base station main body of the base station equipment in response to a cleaning instruction sent by third party equipment and received by the base station equipment when the first state parameter is judged to meet a first target state parameter. Therefore, based on the cleaning instruction sent by the third party equipment, the driving piece is controlled to drive the cleaning channel to clean the base station main body and/or the cleaning robot borne on the base station main body, so that the automatic operation of the base station equipment for cleaning the base station equipment and/or the cleaning robot is realized, and the maintenance cost is reduced.

As shown in fig. 7, the liquid transporting method is applied to the above base station apparatus. The liquid delivery method comprises the following steps.

Step S701, receiving a working instruction.

Step S702, when it is determined that the weight parameter or the liquid level parameter of the liquid in the counterweight chamber of the base station apparatus meets the first preset requirement, the loading mechanism is controlled to load the cleaning robot according to the working instruction, and swings relative to the base station main body, so as to drive the cleaning robot to leave or enter the pool.

In step S703, when it is determined that the weight parameter of the liquid or the liquid level parameter does not meet the first preset requirement, the driving element is controlled to drive the fluid channel to convey the preset weight liquid to the weight chamber of the base station apparatus.

According to the liquid conveying method of the base station equipment, when the at least one state parameter does not meet the preset parameter, the driving piece is controlled to drive the fluid channel to convey the preset counterweight liquid to the counterweight chamber of the base station equipment, on one hand, the base station main body has enough weight to resist the reaction force and the overturning moment of the swing arm structure to the base station main body, so that the stability of the carrying mechanism for driving the cleaning robot to leave or enter a water tank is improved, the service life of the base station equipment is prolonged, and on the other hand, when the weight parameter or the liquid level parameter of the liquid in the counterweight chamber of the base station equipment is judged to not meet the first preset requirement, the preset counterweight liquid is controlled to be input to the preset counterweight liquid, so that the weight parameter of the original liquid in the counterweight chamber, the liquid level parameter and other parameters are adjusted, and therefore the weight of the base station equipment can be adjusted adaptively, and the use experience of the base station equipment is improved.

In one possible implementation, the control driver drives the fluid channel to convey the preset weight liquid to the weight chamber of the base station device, including controlling the driver to drive the fluid channel to convey the preset weight liquid to the weight chamber until a weight parameter or the liquid level parameter of the liquid in the weight chamber meets the first preset requirement, or controlling the driver to drive the fluid channel to circulate the preset weight liquid between the weight chamber and a pool. Therefore, on one hand, when the weight parameter or the liquid level parameter of the liquid in the counterweight cavity meets a first preset requirement, the driving piece is controlled to stop driving the fluid channel to convey the preset counterweight liquid to the counterweight cavity of the base station equipment, so that qualitative control on liquid feeding operation of the liquid in the counterweight cavity is realized, the base station equipment can intelligently judge when the liquid feeding process is finished, the self-adaption and intelligent operation of the base station equipment is improved, the condition that pollution is caused by the unqualified water quality of the liquid in the counterweight cavity overflows to a water pool is avoided, on the other hand, when water circulation is carried out to the cavity of the counterweight cavity, the driving piece is controlled to drive the fluid channel to circulate the preset counterweight liquid between the counterweight cavity and the water pool, so that the liquid in the counterweight cavity is in a flowing state, impurities, biological membranes or solutes can be prevented from depositing and scaling at the bottom of the counterweight cavity, the smoothness of the whole fluid channel is kept, the temperature generated by the operation of internal elements of the base station equipment can be taken away, and the service life of the base station equipment is prolonged.

The control of the driving piece to drive the fluid channel to circulate the preset counterweight liquid between the counterweight chamber and the water tank comprises the steps of obtaining specification parameters and/or motion parameters of a cleaning robot, determining a first preset requirement according to the specification parameters and/or the motion parameters, analyzing difference information between the weight parameters or the liquid level parameters and the first preset requirement, and adjusting the input liquid flow of the liquid inlet channel and/or the output liquid flow of the liquid outlet channel according to the difference information so that the weight parameters or the liquid level parameters meet the first preset requirement. Wherein the specification parameters include, but are not limited to, at least one of volume, weight and gravity center position, and the motion parameters include, but are not limited to, at least one of motion track, swing arm length, rotation angle and rotation angular velocity. Therefore, the first preset requirement is analyzed based on the specification parameters and/or the motion parameters of the cleaning robot, the transfusion parameters of the counterweight chamber are regulated based on the difference between the weight parameters or the liquid level parameters and the first preset requirement, on one hand, the base station equipment is realized to adaptively regulate the capacity of liquid in the counterweight chamber based on different cleaning robots, thereby improving the accuracy of the counterweight mechanism for compensating the load change of the base station equipment, ensuring the stability of the cleaning robot for leaving or entering the water tank from the water tank and prolonging the life cycle of the base station equipment, on the other hand, the water inlet flow and the water outlet flow are proportionally controlled, the accurate increase and decrease of the liquid quality in the counterweight chamber is realized, thereby reducing the waste of preset counterweight liquid, and the bidirectional synchronous regulation of the counterweight chamber is beneficial to maintaining the stability of the internal pressure of the counterweight chamber, reducing the load of a driving member and saving the energy consumption.

In a possible implementation, the liquid delivery method further comprises obtaining a first preset requirement associated with the specification parameter and/or the movement parameter. Illustratively, in this embodiment, the obtaining the first preset requirement associated with the specification parameter and/or the motion parameter includes obtaining the first preset requirement associated with the current specification parameter and/or the motion parameter according to a predefined correspondence between the specification parameter and/or the motion parameter association and the first preset requirement. For example, the heavier the cleaning robot, the greater the capacity of the liquid in the counterweight chamber, thereby enabling the counterweight mechanism adaptation of the base station apparatus to counterweight the cleaning robot's weight.

In one possible implementation manner, the fluid channel comprises a liquid inlet channel and a liquid outlet channel, the liquid inlet channel and the liquid outlet channel are both communicated with the balance weight cavity, before the driving piece is controlled to drive the fluid channel to circulate the preset balance weight liquid between the balance weight cavity and a water tank, the liquid conveying method further comprises the steps of obtaining at least one of the water storage time length and the water quality parameter of the liquid in the balance weight cavity, and controlling the driving piece to drive the liquid outlet channel to discharge the liquid in the balance weight cavity to the outside of the water tank when the water storage time length and/or the water quality parameter do not meet a second preset requirement, and controlling the driving piece to drive the liquid inlet channel to convey the preset balance weight liquid to the balance weight cavity after the liquid in the balance weight cavity is discharged by a preset capacity, wherein the liquid inlet channel and the liquid outlet channel are independently arranged or share the channel. Therefore, the liquid in the counterweight cavity is sequentially discharged and then injected, so that the accurate and predictable liquid quantity of each injection is ensured, counterweight errors caused by mixing of new and old liquid are avoided, and the liquid discharge efficiency is improved. Illustratively, in this embodiment, the liquid inlet channel and the liquid outlet channel are disposed independently of each other, so as to avoid cross-contamination of the liquid inlet channel and the liquid outlet channel. Of course, in one possible implementation, the liquid inlet channel and the liquid outlet channel share a channel, that is, the liquid inlet and the liquid outlet of the counterweight chamber are performed through the same channel, so as to simplify the structure of the structural fluid channel.

The preset volume may be equal to or less than the volume of the balance weight chamber corresponding to the original liquid. For example, in this embodiment, the preset volume may be equal to the volume corresponding to the original liquid in the weight chamber, that is, the liquid in the weight chamber is completely discharged. It should be noted that the complete discharge of the liquid in the weight chamber means that the liquid in the weight chamber is completely discharged, but water drops adhering to the inner cavity wall of the weight chamber are not excluded. In a possible implementation manner, the discharging preset volume of the liquid in the counterweight chamber may further include that the liquid in the counterweight chamber is partially discharged, and embodiments of the application are not limited in particular.

In one possible implementation, the liquid conveying method further comprises the steps of obtaining the emptying times of the liquid in the counterweight cavity when the driving piece drives the liquid discharging channel, and controlling the driving piece to stop driving the liquid discharging channel to discharge the liquid in the counterweight cavity to the outside of the water pool when the emptying times meet the target times. Therefore, the control mechanism of the base station equipment can initially judge whether the counterweight chamber is cleaned in place or not based on the emptying times, so that the counterweight chamber is automatically cleaned by the base station equipment, the problem that the counterweight chamber is not cleaned in place due to waste or too little water drainage caused by manual misoperation or sensor faults (such as a liquid level sensor) is avoided, and on the other hand, the problem that the liquid parameter detection part works in real time to cause high energy consumption is avoided, and the life cycle of the liquid parameter detection part is reduced.

In one possible implementation, the controlling the driving member to drive the drain channel to drain the liquid in the weight chamber to the outside of the pool includes controlling the driving member to drive the liquid inlet channel to deliver driving fluid to the weight chamber to drain the liquid in the weight chamber to the outside of the pool through the drain channel. The driving fluid comprises driving liquid or driving gas, wherein the driving liquid is the preset weight liquid, or the driving liquid is different from the preset weight liquid. Therefore, liquid in the counterweight chamber is forced to be pushed out from a liquid discharge channel with lower position under the driving of the driving gas pressure until the liquid is completely discharged outside the water pool, on one hand, the gas is clean, so that the cleaning capability and reliability of the driving gas to the counterweight chamber are improved, the problem that external pool water flows backward or pollutes an internal liquid discharge channel and the counterweight chamber is avoided, on the other hand, positive pressure gas can fill the space of the whole counterweight chamber, the liquid in the counterweight chamber can be extruded out as much as possible, the liquid residue is reduced, the accurate control of the next counterweight is facilitated, the waste of the liquid for cleaning the counterweight chamber is prevented, and the cost is saved. The positive pressure driving source is used for conveying gas to the liquid inlet channel.

It will be appreciated that when the driving fluid is driving liquid, the controlling the driving member to drive the liquid inlet channel to deliver driving fluid to the weight chamber to drain liquid in the weight chamber to the outside of the pool through the liquid discharge channel includes controlling the driving member to drive the liquid inlet channel to deliver driving liquid to the weight chamber so that the liquid discharge channel drains liquid in the weight chamber to the outside of the pool by positive pressure. For example, the driving member is disposed in the liquid inlet passage. Therefore, based on the fact that the driving piece is arranged in the liquid inlet channel, as the liquid inlet and the liquid outlet of the counterweight chamber are open, and the rest part of the counterweight chamber is airtight, when the liquid inlet channel supplements water for the counterweight chamber, the internal pressure of the counterweight chamber is increased, so that the liquid outlet channel can actively drain water until the internal air pressure of the counterweight chamber reaches a target air pressure threshold value. The target air pressure threshold value can be air pressure close to atmospheric pressure, or air pressure value which is user-defined or default set by the base station equipment.

In another possible implementation, the controlling the driving member to drive the drain passage to drain the liquid in the weight chamber to the outside of the sump includes controlling the driving member to drive the drain passage to suck the liquid in the weight chamber to the outside of the sump by negative pressure. Therefore, on one hand, compared with positive-pressure blowing liquid discharge, negative-pressure suction is less prone to generate bubbles and avoids the risk of damaging a counterweight chamber or a sealing structure due to over-high pressure, on the other hand, negative-pressure suction liquid only discharges the liquid and does not introduce any new substances into the counterweight chamber, and on the other hand, a liquid inlet channel and a liquid discharge channel can share one set of driving piece (such as a water pump), so that the mechanical structure of base station equipment is simplified.

In one possible implementation manner, the controlling the driving element to drive the fluid channel to convey the preset weight liquid to the weight chamber and at least partially drain the liquid in the weight chamber to the outside of the water tank includes controlling the driving element to drive the liquid draining channel to drain the liquid in the weight chamber to the outside of the water tank and synchronously controlling the driving element to drive the liquid inlet channel to convey the preset weight liquid to the weight chamber, wherein the liquid inlet channel and the liquid draining channel are mutually independent. Therefore, the water inlet and the water outlet of the counterweight chamber are synchronous and independent, and the switching of the liquid conveying state of the base station equipment does not need to wait for one action to finish and then starts the other action, so that the control and management difficulty is reduced, the stability of the internal pressure of the counterweight chamber is improved, the burden on a driving piece and a sealing structure is avoided, the workload of the driving piece is reduced, and the life cycle of the counterweight mechanism is prolonged.

In one possible implementation manner, the liquid conveying method further comprises the steps of obtaining the circulating water quantity or the circulating time of the liquid which is driven by the driving piece to convey the liquid to the counterweight cavity through the liquid inlet channel, and controlling the driving piece to stop driving the liquid discharging channel to discharge the liquid in the counterweight cavity to the outside of the water pool when the circulating water quantity meets the target circulating water quantity or the circulating time meets the target circulating time. Therefore, the control mechanism of the base station equipment can judge whether the counterweight chamber is cleaned in place or not based on the circulating water quantity or the circulating time, thereby realizing the automatic cleaning of the counterweight chamber by the base station equipment, avoiding the problem of insufficient cleaning caused by waste or insufficient drainage due to manual misoperation or sensor faults (such as a liquid level sensor), on the other hand, avoiding the problem of large energy consumption caused by real-time working of the liquid parameter detection part, and reducing the life cycle of the liquid parameter detection part.

Of course, in another possible implementation manner, the liquid conveying method further comprises the steps of acquiring the water quality parameter of the liquid in the counterweight cavity in real time by adopting a liquid parameter detection part, and controlling the driving part to stop driving the liquid discharge channel to discharge the liquid in the counterweight cavity to the outside of the water tank when the water quality parameter of the liquid in the counterweight cavity meets the target water quality parameter. Therefore, based on the fact that the water quality parameter of the liquid in the counterweight cavity meets the target water quality parameter, the driving piece is controlled to stop driving the liquid discharging channel to discharge the liquid in the counterweight cavity to the outside of the water pool, qualitative control of liquid discharging operation of the liquid in the counterweight cavity is achieved, the base station equipment can intelligently judge when the water discharging process is completed, self-adaption and intelligent operation of the base station equipment are improved, and resource waste caused by transitional water discharging is avoided.

In another possible implementation manner, the fluid channel comprises a liquid inlet channel and a liquid outlet channel, the liquid inlet channel and the liquid outlet channel are both communicated with the balance weight cavity, the driving piece is controlled to drive the fluid channel to circulate the preset balance weight liquid between the balance weight cavity and a water tank, the liquid conveying method further comprises the steps of obtaining at least one of the water storage time length and the water quality parameter of the liquid in the balance weight cavity, and controlling the driving piece to drive the liquid outlet channel to discharge the liquid in the balance weight cavity to the outside of the water tank when judging that the water storage time length and/or the water quality parameter do not meet a second preset requirement, and synchronously controlling the driving piece to drive the liquid inlet channel to convey the preset balance weight liquid to the balance weight cavity, wherein the liquid inlet channel and the liquid outlet channel are mutually independent. Therefore, the water inlet and the water outlet of the counterweight chamber are synchronous and independent, and the switching of the liquid conveying state of the base station equipment does not need to wait for one action to finish and then starts the other action, so that the control and management difficulty is reduced, the stability of the internal pressure of the counterweight chamber is improved, the burden on a driving piece and a sealing structure is avoided, the workload of the driving piece is reduced, and the life cycle of the counterweight mechanism is prolonged.

In one possible implementation manner, the liquid conveying method further comprises the steps of obtaining the circulating water quantity or the circulating time of the liquid which is driven by the driving piece to convey the liquid to the counterweight cavity through the liquid inlet channel, and controlling the driving piece to stop driving the liquid discharging channel to discharge the liquid in the counterweight cavity to the outside of the water pool when the circulating water quantity meets the target circulating water quantity or the circulating time meets the target circulating time. Therefore, the control mechanism of the base station equipment can judge whether the counterweight chamber is cleaned in place or not based on the circulating water quantity or the circulating time, thereby realizing the automatic cleaning of the counterweight chamber by the base station equipment, avoiding the problem of insufficient cleaning caused by waste or insufficient drainage due to manual misoperation or sensor faults (such as a liquid level sensor), on the other hand, avoiding the problem of large energy consumption caused by real-time working of the liquid parameter detection part, and reducing the life cycle of the liquid parameter detection part.

Of course, in another possible implementation manner, the liquid conveying method further comprises the steps of acquiring the water quality parameter of the liquid in the counterweight cavity in real time by adopting a liquid parameter detection part, and controlling the driving part to stop driving the liquid discharge channel to discharge the liquid in the counterweight cavity to the outside of the water tank when the water quality parameter of the liquid in the counterweight cavity meets the target water quality parameter. Therefore, based on the fact that the water quality parameter of the liquid in the counterweight cavity meets the target water quality parameter, the driving piece is controlled to stop driving the liquid discharging channel to discharge the liquid in the counterweight cavity to the outside of the water pool, qualitative control of liquid discharging operation of the liquid in the counterweight cavity is achieved, the base station equipment can intelligently judge when the water discharging process is completed, self-adaption and intelligent operation of the base station equipment are improved, and resource waste caused by transitional water discharging is avoided.

In one possible implementation, the liquid draining channel comprises a first channel and a second channel, the liquid draining port of the first channel faces the interior of the water tank, the liquid draining port of the second channel faces the exterior of the water tank, and the control of the driving piece drives the liquid draining channel to drain the liquid in the counterweight cavity to the exterior of the water tank comprises control of a reversing valve to conduct the second channel and the counterweight cavity, and control of the driving piece drives the second channel to drain the liquid in the counterweight cavity to the exterior of the water tank. Therefore, on one hand, the second channel discharges the sewage with pollutants (such as rust and greasy dirt) in the counterweight cavity to the outside of the water tank, so that the problem of pollution caused by the fact that the sewage in the counterweight cavity is directly discharged into the water tank is avoided, on the other hand, the first channel and the second channel are mutually independent, so that the cleaning difficulty is reduced, the cross pollution of liquid is prevented, the use flexibility is high, and on the other hand, clean liquid in the counterweight cavity can be directly discharged back to the inside of the water tank through the first channel, so that the loss of the total water quantity of the water tank is avoided, and the energy conservation and the environment protection are realized.

In one possible implementation manner, the liquid conveying method further comprises controlling the driving piece to stop driving the fluid channel to convey the preset counterweight liquid to the counterweight chamber when the water quality parameter of the preset counterweight liquid in the fluid channel is judged to not meet the preset water quality parameter, and/or controlling to output prompt information. Therefore, on one hand, before or during the injection of the liquid into the counterweight chamber, the system of the base station equipment detects the water quality of the preset counterweight liquid flowing into or in real time, and controls the driving piece to stop driving the fluid channel to convey the preset counterweight liquid to the counterweight chamber when the water quality does not reach the standard, so that the condition that the water tank is polluted due to the fact that the preset counterweight liquid with the water quality not reaching the standard is prevented, and on the other hand, prompt information is output when the condition that the water quality of the preset counterweight liquid does not reach the standard is detected, so that a user can intervene in time, and the counterweight efficiency of the base station equipment is improved. The prompt information may include, but is not limited to, at least one of sound information, vibration information, graphic information, light information. In some embodiments, the alert may also occur to the third party device through a communication mechanism.

In one possible implementation manner, the liquid conveying method further comprises the steps of responding to a feeding instruction received by the base station equipment when judging that the liquid in the counterweight cavity meets preset water quality parameters, controlling a feeding valve to conduct the counterweight cavity and a feeding channel for guiding a preset medium, and controlling the driving piece to drive the fluid channel to discharge the preset counterweight liquid and the preset medium into the liquid in the pool. Wherein the predetermined medium includes at least one of a cleaning medium and a sterilizing medium. Therefore, the feeding channel and the counterweight chamber can be communicated, so that cleaning medium and/or sterilizing medium can be injected into water in the water tank along with preset counterweight liquid in the counterweight chamber, and automatic operation of cleaning or sterilizing operation of the base station equipment on the water tank is realized.

In one possible implementation manner, the control of the driving element to drive the fluid channel to discharge the preset counterweight liquid and the preset medium into the liquid in the water tank includes control of the driving element to drive the fluid channel to circulate the preset counterweight liquid and the preset medium between the counterweight chamber and the water tank, so that the cleaning medium and/or the disinfection medium circulates along with the water circulation between the counterweight chamber and the water tank, the cleaning medium and/or the disinfection medium is uniformly dispersed to each position in the water tank, and the cleaning effect and/or the disinfection effect of the water tank are improved.

In another possible implementation, the controlling the driving member to drive the fluid channel to drain the predetermined weight liquid and the predetermined medium into the pool of liquid includes controlling the driving member to drive the fluid channel to drain the predetermined medium and the predetermined weight liquid in the weight chamber.

Of course, in another possible implementation manner, the liquid conveying method further comprises controlling a feed valve to conduct the counterweight chamber and a feed channel for introducing a preset medium in response to a feed command received by the base station device, and controlling the driving member to drive the fluid channel to discharge the preset medium into the liquid in the water tank. In other words, the predetermined counterbalance liquid may be evacuated from the counterbalance chamber before the predetermined medium is introduced into the counterbalance chamber. It should be noted that, the input sequence and the output mode of the counterweight liquid and the preset medium may be set according to the actual situation, and the embodiment of the application is not limited specifically.

In one possible implementation manner, the at least one state parameter comprises a first state parameter, the first state parameter comprises at least one of a water storage time length and a water quality parameter of the liquid in the counterweight cavity, and the liquid conveying method further comprises the step of controlling the driving piece to drive the cleaning channel to clean the base station equipment and/or the cleaning robot borne on the base station main body in response to a cleaning instruction sent by third party equipment received by the base station equipment when judging that the water quality parameter of the liquid in the counterweight cavity meets a preset water quality parameter. Therefore, based on the cleaning instruction sent by the third party equipment, the driving piece is controlled to drive the cleaning channel to clean the base station main body and/or the cleaning robot borne on the base station main body, so that the automatic operation of the base station equipment for cleaning the base station equipment and/or the cleaning robot is realized, and the maintenance cost is reduced.

It should be noted that, the same or similar flow steps in the liquid conveying method in fig. 7 and the liquid conveying method in fig. 6 may refer to the liquid conveying method in fig. 6, and will not be described herein.

The embodiment of the application also provides a computer storage medium, wherein the computer storage medium can store a program, and the program can include part or all of the steps of the liquid conveying method of any base station device in the method embodiment.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.

It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, such as the above-described division of units, merely a division of logic functions, and there may be additional manners of dividing in actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, or may be in electrical or other forms.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc., in particular may be a controller in the computer device) to perform all or part of the steps of the above-mentioned method of the various embodiments of the present application. The storage medium may include various media capable of storing program codes, such as a U disk, a removable hard disk, a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a random access Memory (Random Access Memory, RAM).

The foregoing is merely a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and it is intended to cover the same. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (35)

1. A base station apparatus, comprising:

the base station main body is arranged at the edge of the pool;

the carrying mechanism is movably connected to the base station main body and used for carrying and conveying the cleaning robot into or out of the water tank;

the weight balancing mechanism comprises a weight balancing chamber, a fluid channel and a driving piece, wherein the weight balancing chamber is arranged in the base station main body and used for storing liquid to increase the weight of the base station main body, the fluid channel is communicated with the weight balancing chamber, and the driving piece is used for driving the fluid channel to convey liquid to the weight balancing chamber.

2. The base station apparatus of claim 1, wherein the fluid channel comprises a fluid inlet channel having one end in communication with the weight chamber and another end extendable into the fluid level of the pool.

3. The base station apparatus of claim 2, wherein the fluid channel further comprises a drain channel, the weight chamber being in communication between the liquid inlet channel and the drain channel, the drive further configured to drive the drain channel to drain liquid in the weight chamber to the sink or to the exterior of the sink.

4. The base station apparatus according to claim 1, wherein the fluid passage is provided in the loading mechanism, or the fluid passage is independent of the loading mechanism and provided on the base station main body.

5. The base station apparatus according to claim 3, wherein the weight chamber has a liquid inlet communicating with the liquid inlet passage and a liquid outlet communicating with the liquid outlet passage, the liquid inlet and the liquid outlet being aligned in a height direction of the base station apparatus in a projection plane parallel to the height direction of the base station apparatus, or the liquid inlet and the liquid outlet being staggered in the height direction of the base station apparatus.

6. The base station apparatus according to claim 3, wherein the weight mechanism further comprises a first control valve and a second control valve, the first control valve is provided to the liquid inlet passage and/or the weight chamber and is used for switching on or off the liquid inlet passage and the weight chamber, and the second control valve is provided to the liquid outlet passage and/or the weight chamber and is used for switching on or off the liquid outlet passage and the weight chamber.

7. A base station apparatus according to claim 3, wherein the drain passage comprises a first passage and a second passage, both of which are communicably disposed with the weight chamber, the drain of the first passage being directed toward the interior of the pool and the drain of the second passage being directed toward the exterior of the pool.

8. The base station apparatus of claim 7, wherein the weight mechanism further comprises a reversing valve disposed at an intersection of the first channel and the second channel, the reversing valve configured to communicate the weight chamber with the first channel, or the reversing valve configured to communicate the weight chamber with the second channel.

9. The base station apparatus according to any one of claims 1 to 8, wherein the weight mechanism further comprises a liquid parameter detecting member provided on the base station main body and/or in the weight chamber and configured to detect a first state parameter of the base station apparatus, the first state parameter including at least one of a water storage time length and a water quality parameter of the liquid in the weight chamber, and the driving member is further configured to drive the fluid passage to discharge the liquid in the weight chamber at least partially to the outside of the water tank when the first state parameter does not satisfy a first target state parameter.

10. The base station apparatus according to claim 9, wherein the liquid parameter detecting member includes at least one of a first timer provided on the base station main body and adapted to acquire the water storage time length, wherein the water storage time length is a time length for which the driving member has last delivered liquid to the weight chamber from a current time point, and a water quality detector provided in the weight chamber and adapted to acquire the water quality parameter.

11. The base station apparatus according to claim 9, wherein the weight mechanism further comprises at least one of a flow meter, a second timer, and a counter, the flow meter being provided in the weight chamber and configured to count a circulation amount of the fluid channel driven by the driving member to deliver the liquid to the weight chamber, the second timer being provided on the base station main body and configured to count a circulation time of the fluid channel driven by the driving member to deliver the liquid to the weight chamber, the counter being configured to count a number of times the fluid channel is emptied by the driving member to the liquid in the weight chamber, the driving member being further configured to stop driving the fluid channel to discharge the liquid in the weight chamber to the outside of the pool when the circulation amount, the circulation time, or the number of times of the emptying satisfies a preset condition.

12. The base station apparatus of any one of claims 1-8, further comprising a feed mechanism including a feed valve and a feed channel, the feed valve being disposed on the feed channel and configured to turn on or off the feed channel and the counter weight chamber, the feed channel being configured to introduce a predetermined medium to the counter weight chamber, the predetermined medium including at least one of a cleaning medium and a sanitizing medium.

13. The base station apparatus according to any one of claims 1 to 8, wherein the fluid passage includes a cleaning passage provided in communication with the weight chamber, an opening direction of a drain port of the cleaning passage being directed toward the base station main body.

14. The base station device according to claim 13, further comprising a communication mechanism and a control mechanism, wherein the communication mechanism is disposed on the base station main body and is used for being in communication connection with a third party device, the control mechanism is connected with the communication mechanism and is used for judging that a first state parameter of the base station device meets a first target state parameter, and when responding to a cleaning instruction sent by the third party device and received by the base station device, the driving piece is controlled to drive the cleaning channel to clean the base station main body and/or a cleaning robot carried on the base station main body, wherein the first state parameter comprises at least one of a water storage time length and a water quality parameter of liquid in the counterweight chamber.

15. The base station apparatus of any of claims 1-8, wherein the weight chamber is integrally provided with the base station body.

16. The base station apparatus according to any one of claims 1 to 8, wherein the weight chamber is provided in a separate type with the base station main body and fixedly connected, and the weight chamber is provided inside or outside the base station main body.

17. A liquid delivery method of a base station apparatus, comprising the steps of:

Acquiring at least one state parameter of the base station equipment;

And when the at least one state parameter is judged to not meet the preset parameter, controlling the driving piece to drive the fluid channel to convey the preset counterweight liquid to the counterweight chamber of the base station equipment.

18. The method of claim 17, wherein the at least one status parameter comprises a first status parameter comprising at least one of a length of time to store water and a quality parameter of the liquid in the weight chamber, wherein the determining that the at least one status parameter does not satisfy the predetermined parameter, controlling the driver to drive the fluid channel to deliver the predetermined weight liquid to the weight chamber of the base station apparatus, comprises:

and when the first state parameter is judged to not meet the first target state parameter, controlling the driving piece to drive the fluid channel to convey the preset counterweight liquid to the counterweight cavity of the base station equipment, and discharging at least part of liquid in the counterweight cavity to the outside of the pool.

19. The method of claim 18, wherein the fluid passage includes a liquid inlet passage and a liquid outlet passage, the liquid inlet passage and the liquid outlet passage being disposed in communication with the weight chamber, wherein controlling the driver to drive the fluid passage to deliver the predetermined weight liquid to the weight chamber and to drain the liquid in the weight chamber at least partially to the outside of the pool comprises:

And after the liquid in the balance weight cavity is discharged to a preset capacity, controlling the driving piece to drive the liquid inlet channel to convey the preset balance weight liquid to the balance weight cavity, wherein the liquid inlet channel and the liquid outlet channel are mutually independent or share a channel.

20. The liquid delivery method according to claim 19, wherein the controlling the driving member to drive the liquid discharge passage to discharge the liquid in the weight chamber to the outside of the sump includes:

Controlling the driving piece to drive the liquid inlet channel to convey driving fluid to the balance weight cavity so as to discharge liquid in the balance weight cavity to the outside of the water pool through the liquid discharge channel, wherein the driving fluid comprises driving liquid or driving gas, the driving liquid is the preset balance weight liquid, or the driving liquid is liquid different from the preset balance weight liquid, or

And controlling the driving piece to drive the liquid discharge channel to suck the liquid in the counterweight cavity to the outside of the water pool through negative pressure.

21. The method of claim 18, wherein the fluid passage includes a liquid inlet passage and a liquid outlet passage, the liquid inlet passage and the liquid outlet passage being disposed in communication with the weight chamber, wherein controlling the driver to drive the fluid passage to deliver the predetermined weight liquid to the weight chamber and to drain the liquid in the weight chamber at least partially to the outside of the pool comprises:

the driving piece is controlled to drive the liquid discharge channel to discharge the liquid in the counterweight cavity to the outside of the water tank, and the driving piece is synchronously controlled to drive the liquid inlet channel to convey the preset counterweight liquid to the counterweight cavity, wherein the liquid inlet channel and the liquid discharge channel are mutually independent.

22. The liquid delivery method of claim 18, wherein the at least one status parameter further comprises a second status parameter comprising a weight parameter or a level parameter of the liquid within the weight chamber, the liquid delivery method further comprising:

When the water quality parameter of the preset counterweight liquid in the counterweight cavity is judged to meet the preset water quality parameter and the second state parameter is judged not to meet the second target state parameter, controlling the driving piece to stop driving the fluid channel to discharge the liquid in the counterweight cavity to the outside of the water pool, and controlling the driving piece to drive the fluid channel to convey the preset counterweight liquid to the counterweight cavity, so that the second state parameter meets the second target state parameter.

23. The liquid delivery method of claim 22, wherein the controlling the driver to drive the fluid channel to deliver the preset counterbalance liquid to the counterbalance chamber such that the second state parameter meets the second target state parameter comprises:

controlling the driving member to drive the fluid channel to convey the preset weight liquid into the weight chamber, and controlling the driving member to stop driving the fluid channel to convey the preset weight liquid into the weight chamber when the second state parameter is judged to meet the second target state parameter, or

And controlling the driving piece to drive the fluid channel to circulate the preset counterweight liquid between the counterweight chamber and the water tank, so that the second state parameter meets the second target state parameter.

24. The liquid delivery method according to claim 22, wherein the liquid delivery method further comprises:

Acquiring specification parameters and/or motion parameters of the cleaning robot, and

And determining the second target state parameter according to the specification parameter and/or the motion parameter.

25. The method of claim 23, wherein the fluid passage includes a liquid inlet passage and a liquid outlet passage, each of the liquid inlet passage and the liquid outlet passage being communicably disposed with the weight chamber, wherein controlling the driver to drive the fluid passage to circulate the predetermined weight liquid between the weight chamber and the pool so that the second state parameter satisfies the second target state parameter includes:

Acquiring specification parameters and/or motion parameters of the cleaning robot;

determining the second target state parameter according to the specification parameter and/or the motion parameter;

Analyzing the difference information of the second target state parameter of the second state parameter, and

And according to the difference information, adjusting the input liquid flow of the liquid inlet channel and/or the output liquid flow of the liquid outlet channel so that the second state parameter meets the second target state parameter.

26. The liquid delivery method according to claim 19 or 21, wherein the liquid discharge passage includes a first passage and a second passage, a liquid discharge port of the first passage is directed toward an inside of the sump, a liquid discharge port of the second passage is directed toward an outside of the sump, and the controlling the driving member to drive the liquid discharge passage to discharge the liquid in the weight chamber to the outside of the sump includes:

controlling a reversing valve to conduct the second channel and the counterweight chamber;

And controlling the driving piece to drive the second channel to discharge the liquid in the counterweight cavity to the outside of the water pool.

27. The liquid delivery method according to claim 19, wherein the liquid delivery method further comprises:

Acquiring the emptying times of the liquid in the counterweight cavity by the liquid discharge channel driven by the driving piece;

And when the emptying times meet the target times, controlling the driving piece to stop driving the liquid discharging channel to discharge the liquid in the counterweight cavity to the outside of the water pool.

28. The liquid delivery method according to claim 21, characterized in that the liquid delivery method further comprises:

And when the circulating water quantity meets the target circulating water quantity or the circulating time meets the target circulating time, controlling the driving piece to stop driving the liquid discharging channel to discharge the liquid in the counterweight cavity to the outside of the water pool.

29. The method of claim 17, wherein the at least one status parameter comprises a second status parameter, the second status parameter comprises a weight parameter or a level parameter of the liquid in the weight chamber, and wherein the controlling the driver to drive the fluid channel to deliver the predetermined weight liquid to the weight chamber of the base station apparatus when the at least one status parameter does not satisfy the predetermined parameter comprises:

And when the second state parameter does not meet the second target state parameter, controlling the driving piece to drive the fluid channel to convey the preset counterweight liquid to the counterweight chamber of the base station equipment, or controlling the driving piece to drive the fluid channel to circulate the preset counterweight liquid between the counterweight chamber and the water pool.

30. The liquid delivery method according to claim 18 or 29, characterized in that the liquid delivery method further comprises:

and controlling the driving piece to stop driving the fluid channel to convey the preset counterweight liquid to the counterweight chamber when the water quality parameter of the preset counterweight liquid in the fluid channel is judged to not meet the preset water quality parameter, and/or controlling to output prompt information.

31. The method of claim 17, wherein the at least one status parameter comprises a first status parameter comprising at least one of a length of time to store water and a quality parameter of the liquid within the weight chamber, the method further comprising:

When the first state parameter is judged to meet the first target state parameter, responding to a feeding instruction received by the base station equipment, controlling a feeding valve to conduct the counterweight chamber and a feeding channel for guiding a preset medium, and controlling the driving piece to drive the fluid channel to discharge the preset counterweight liquid and the preset medium into the liquid of the pool, wherein the preset medium comprises at least one of a cleaning medium and a disinfection medium.

32. The method of claim 17, wherein the fluid channel comprises a cleaning channel communicably disposed with the weight chamber, the at least one status parameter comprises a first status parameter comprising at least one of a length of time to store liquid within the weight chamber and a quality parameter, the method further comprising:

when the first state parameter is judged to meet the first target state parameter, the driving piece is controlled to drive the cleaning channel to clean the base station equipment and/or the cleaning robot carried on the base station main body of the base station equipment in response to the cleaning instruction sent by the third party equipment and received by the base station equipment.

33. A liquid delivery method of a base station apparatus, comprising the steps of:

receiving a working instruction;

When judging that the weight parameter or the liquid level parameter of the liquid in the counterweight cavity of the base station equipment meets a first preset requirement, controlling a loading mechanism to load the cleaning robot according to the working instruction, and swinging relative to the base station main body so as to drive the cleaning robot to leave or enter a water tank;

When the weight parameter or the liquid level parameter of the liquid is judged to meet the first preset requirement, the driving piece is controlled to drive the fluid channel to convey the preset counterweight liquid to the counterweight chamber of the base station equipment.

34. The liquid delivery method of claim 33, wherein the controlling the driver to drive the fluid channel to deliver a predetermined counterbalance liquid to the counterbalance chamber of the base station apparatus comprises:

Controlling the driving member to drive the fluid channel to convey the preset weight liquid to the weight chamber until the weight parameter or the liquid level parameter of the liquid in the weight chamber meets the first preset requirement, or

And controlling the driving piece to drive the fluid channel to circulate the preset counterweight liquid between the counterweight chamber and the water pool.

35. The method of claim 34, wherein the fluid path includes a liquid inlet path and a liquid outlet path, each of the liquid inlet path and the liquid outlet path being communicably disposed with the weight chamber, and wherein the controlling the driving member drives the fluid path to circulate the predetermined weight liquid between the weight chamber and the pool, the method further comprising:

Acquiring at least one of water storage time length and water quality parameters of liquid in the counterweight cavity;

When the water storage time length and/or the water quality parameter do not meet the second preset requirement, controlling the driving piece to drive the liquid discharge channel to discharge the liquid in the counterweight cavity to the outside of the water pool, and controlling the driving piece to drive the liquid inlet channel to convey the preset counterweight liquid to the counterweight cavity after the liquid in the counterweight cavity is discharged by a preset capacity, wherein the liquid inlet channel and the liquid discharge channel are mutually independently arranged or share the channel, or

When the water storage time length and/or the water quality parameter do not meet the second preset requirement, controlling the driving piece to drive the liquid discharge channel to discharge the liquid in the counterweight cavity to the outside of the water pool, and synchronously controlling the driving piece to drive the liquid inlet channel to convey the preset counterweight liquid to the counterweight cavity, wherein the liquid inlet channel and the liquid discharge channel are mutually independent.