WO2024169737A1 - 一种清洁设备 - Google Patents

一种清洁设备 Download PDF

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Publication number
WO2024169737A1
WO2024169737A1 PCT/CN2024/076040 CN2024076040W WO2024169737A1 WO 2024169737 A1 WO2024169737 A1 WO 2024169737A1 CN 2024076040 W CN2024076040 W CN 2024076040W WO 2024169737 A1 WO2024169737 A1 WO 2024169737A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning device
cleaning
liquid
component
dust box
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2024/076040
Other languages
English (en)
French (fr)
Inventor
王生乐
张石磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xingmai Innovation Technology (Suzhou) Co Ltd
Original Assignee
Xingmai Innovation Technology (Suzhou) Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202320232759.7U external-priority patent/CN219316535U/zh
Priority claimed from PCT/CN2023/091116 external-priority patent/WO2024221324A1/zh
Priority claimed from CN202311159683.0A external-priority patent/CN116999943A/zh
Priority claimed from CN202311540590.2A external-priority patent/CN117323733A/zh
Priority claimed from CN202410070430.4A external-priority patent/CN120331533A/zh
Priority to EP24756111.1A priority Critical patent/EP4667683A4/en
Priority to AU2024223538A priority patent/AU2024223538B2/en
Application filed by Xingmai Innovation Technology (Suzhou) Co Ltd filed Critical Xingmai Innovation Technology (Suzhou) Co Ltd
Priority to EP24795874.7A priority patent/EP4636201A4/en
Priority to PCT/CN2024/087590 priority patent/WO2024222493A1/zh
Priority to CN202480007953.2A priority patent/CN120530250A/zh
Priority to AU2024262807A priority patent/AU2024262807A1/en
Publication of WO2024169737A1 publication Critical patent/WO2024169737A1/zh
Priority to US18/946,861 priority patent/US12371918B2/en
Priority to PCT/CN2024/137628 priority patent/WO2025119382A1/zh
Priority to AU2024393300A priority patent/AU2024393300A1/en
Priority to US19/031,423 priority patent/US20250146315A1/en
Priority to US19/203,165 priority patent/US12473742B2/en
Priority to US19/240,758 priority patent/US12516538B2/en
Priority to US19/298,195 priority patent/US20250376866A1/en
Anticipated expiration legal-status Critical
Priority to US19/324,115 priority patent/US20260009253A1/en
Priority to US19/370,711 priority patent/US20260049496A1/en
Priority to US19/409,082 priority patent/US20260234953A1/en
Ceased legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00—Swimming or splash baths or pools
    • E04H4/12—Devices or arrangements for circulating water, i.e. devices for removal of polluted water, cleaning baths or for water treatment
    • E04H4/1209—Treatment of water for swimming pools
    • E04H4/1263—Floating skimmers
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B13/00—Brushes with driven brush bodies or carriers
    • A46B13/001—Cylindrical or annular brush bodies
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B13/00—Brushes with driven brush bodies or carriers
    • A46B13/02—Brushes with driven brush bodies or carriers power-driven carriers
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B5/00—Brush bodies; Handles integral with brushware
    • A46B5/0004—Additional brush head
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D29/00—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor
    • B01D29/50—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor with multiple filtering elements, characterised by their mutual disposition
    • B01D29/56—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor with multiple filtering elements, characterised by their mutual disposition in series connection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D29/00—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor
    • B01D29/96—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor in which the filtering elements are moved between filtering operations; Particular measures for removing or replacing the filtering elements; Transport systems for filters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D35/00—Filtering devices having features not specifically covered by groups B01D24/00 - B01D33/00, or for applications not specifically covered by groups B01D24/00 - B01D33/00; Auxiliary devices for filtration; Filter housing constructions
    • B01D35/02—Filters adapted for location in special places, e.g. pipe-lines, pumps, stop-cocks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D35/00—Filtering devices having features not specifically covered by groups B01D24/00 - B01D33/00, or for applications not specifically covered by groups B01D24/00 - B01D33/00; Auxiliary devices for filtration; Filter housing constructions
    • B01D35/30—Filter housing constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F1/00—Treatment of water, waste water, or sewage
    • C02F1/001—Processes for the treatment of water whereby the filtration technique is of importance
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F1/00—Treatment of water, waste water, or sewage
    • C02F1/008—Control or steering systems not provided for elsewhere in subclass C02F
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00—Swimming or splash baths or pools
    • E04H4/14—Parts, details or accessories not otherwise provided for
    • E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00—Swimming or splash baths or pools
    • E04H4/14—Parts, details or accessories not otherwise provided for
    • E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
    • E04H4/1654—Self-propelled cleaners
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/46—Control of position or course in three dimensions [3D]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/46—Control of position or course in three dimensions [3D]
    • G05D1/467—Control of position or course in three dimensions [3D] for movement inside a confined volume, e.g. indoor flying
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/48—Control of altitude or depth
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B2200/00—Brushes characterized by their functions, uses or applications
    • A46B2200/30—Brushes for cleaning or polishing
    • A46B2200/3073—Brush for cleaning specific unusual places not otherwise covered, e.g. gutters, golf clubs, tops of tin cans, corners
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B2200/00—Brushes characterized by their functions, uses or applications
    • A46B2200/40—Other application
    • A46B2200/405—Brush used for purposes that are not conventional brushing, e.g. holder or support
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F2103/00—Nature of the water, waste water, sewage or sludge to be treated
    • C02F2103/42—Nature of the water, waste water, sewage or sludge to be treated from bathing facilities, e.g. swimming pools
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F2301/00—General aspects of water treatment
    • C02F2301/06—Pressure conditions
    • C02F2301/063—Underpressure, vacuum
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/25—Aquatic environments
    • G05D2107/29—Swimming pools
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/30—Water vehicles
    • G05D2109/38—Water vehicles operating under the water surface, e.g. submarines

Definitions

  • the present disclosure relates to the technical field of liquid working equipment, and in particular to a cleaning equipment.
  • the cleaning and maintenance of swimming pools are essential to keep the water clean and the pool hygienic.
  • the pool cleaning robots on the market can be divided into three categories.
  • the first category of cleaning robots can only clean the bottom of the water
  • the second category of cleaning robots can clean both the bottom and the vertical walls, but must be below the water surface
  • the third category of cleaning robots always float on the water surface and can only clean the water surface.
  • the three types of pool cleaning robots have their own characteristics, but they all lack effective position adjustment in a liquid environment and cannot adjust the depth according to actual needs to fully clean the bottom, walls and water surface of the pool, which limits their application scope and work efficiency.
  • the present disclosure provides a cleaning device, including a cleaning device body, which includes: a liquid inlet portion, including at least a first water inlet; a liquid outlet portion, including at least a first water outlet; a filtering mechanism, including at least a first inlet and an outlet, the first inlet is fluidically connected to the first water inlet, and the outlet is fluidically connected to the first water outlet; a driving mechanism, used to generate a suction force to form a first water flow channel among the liquid inlet portion, the filtering mechanism, and the liquid outlet portion; the cleaning device body also includes: a mode switching component, used to realize the switching of the cleaning device between a first motion state and a third motion state, the cleaning device can perform underwater cleaning work in the first motion state, and the cleaning device can perform surface cleaning work in the third motion state.
  • a mode switching component used to realize the switching of the cleaning device between a first motion state and a third motion state, the cleaning device can perform underwater cleaning work in the first motion state, and the cleaning device can perform surface cleaning work in the
  • the mode switching component is further used to adjust the force received by the cleaning device body in the vertical direction.
  • the force received by the cleaning device body in the vertical direction includes the buoyancy experienced by the cleaning device body in the vertical direction
  • the mode switching component includes: a buoyancy adjustment component for adjusting the buoyancy experienced by the cleaning device body in the vertical direction.
  • the cleaning device also includes: a first sensor for sensing the position of the cleaning device body; a processor for: obtaining the position of the cleaning device body when the cleaning device body needs to switch from below the liquid surface to above the liquid surface; and controlling the buoyancy adjustment member to increase the volume of the gas in the float chamber when the position of the cleaning device body meets preset conditions.
  • the cleaning equipment also includes: a second sensor for detecting whether the air inlet position of the float chamber is located in the air; a processor for: when the cleaning equipment body needs to switch from below the liquid surface to above the liquid surface, obtaining the detection result of whether the air inlet position is located in the air; when the detection result indicates that the air inlet position is located in the air, controlling the buoyancy adjustment component to increase the volume of the gas in the float chamber.
  • the cleaning device further comprises: a processor, which is used to control the buoyancy adjusting member to reduce the volume of the gas in the float chamber when the cleaning device body needs to switch from above the liquid surface to below the liquid surface.
  • the force received by the cleaning device body in the vertical direction includes a first driving force received by the cleaning device body in the vertical direction
  • the mode switching component includes: a propulsion component for adjusting the first driving force received by the cleaning device in the vertical direction.
  • the propulsion component includes: a first propeller, used to push the liquid to move along a first preset direction.
  • a first propeller used to push the liquid to move along a first preset direction.
  • the cleaning device body is subjected to a first driving force in the vertical direction, wherein the magnitude of the first driving force is positively correlated with the speed of the liquid moving along the first preset direction.
  • the first propeller includes: a first propulsion impeller, used to drive the liquid to move along a first preset direction by rotating. When the liquid moves along the first preset direction, the cleaning device is subjected to a first driving force in the vertical direction; a first propulsion motor, used to provide power for the first propulsion impeller.
  • the cleaning device also includes: a second propeller, used to push the liquid to move along a second preset direction.
  • a second propeller used to push the liquid to move along a second preset direction.
  • the cleaning device body is subjected to a second driving force in the horizontal direction, wherein the magnitude of the second driving force is positively correlated with the speed of the liquid moving along the second preset direction.
  • At least one second propeller is respectively arranged on the left side and the right side in the horizontal direction of the cleaning device.
  • the driving mechanism includes: a main water pump, which is used to drive the cleaning device to suck liquid from the liquid inlet part and discharge it from the water outlet part.
  • the cleaning equipment body is used to move in a target area filled with liquid, the target area includes a target bottom wall and a target side wall, the liquid outlet includes a main water pump outlet, and the main water pump outlet is a first water outlet; when the cleaning equipment body is located on the target side wall, the main water pump outlet is facing the target area, and is parallel to the horizontal direction or inclined downward in the vertical direction.
  • the main water pump is also used to: discharge liquid from the main water pump outlet, thereby obtaining a third driving force to drive the cleaning equipment body to close to the target side wall.
  • the cleaning equipment is used to move in a target area filled with liquid
  • the target area includes a target bottom wall and a target side wall
  • the water inlet part includes a main water pump inlet
  • the main water pump inlet is a first water inlet
  • the main water pump inlet is arranged at the bottom of the cleaning equipment body.
  • the main water pump is also used to: suck liquid from the main water pump inlet, so as to obtain a fourth driving force to drive the cleaning equipment to stick close to the target side wall.
  • the cleaning equipment body is used to move in a target area filled with liquid
  • the target area includes a target bottom wall and a target side wall
  • the cleaning equipment includes a walking mechanism
  • the walking mechanism also includes: a track, which is used to drive the cleaning equipment body to move and realize the conversion of the moving area of the cleaning equipment body from the target bottom wall to the target side wall.
  • the cleaning equipment includes a walking mechanism
  • the walking mechanism includes a transmission assembly
  • the transmission assembly includes: a walking drive member, the output end of the walking drive member is suitable for being connected to the wheel driving connection of the cleaning equipment so that the walking drive member can drive the wheel to rotate; a first follower member, the first follower member is connected to the wheel driving, the output end of the first follower member is suitable for being connected to the first cleaning member of the cleaning equipment, the wheel drives the first follower to rotate, so that the first follower drives the first cleaning member to rotate; a second follower member, the second follower member is connected to the wheel driving, the output end of the second follower member is suitable for being connected to the second cleaning member of the cleaning equipment, the wheel drives the second follower to rotate, so that the second follower drives the second cleaning member to rotate.
  • the wheels include a first wheel, a second wheel and a crawler track.
  • the first wheel and the second wheel are connected via crawler track transmission, and the output end of the travel drive component is connected to the first wheel drive.
  • It also includes a first gear, the output end of the travel drive component is connected to the first gear, and the first gear is meshed with the first wheel.
  • the second driven member includes a second gear, a first turntable, a third gear and a second turntable, the second gear is connected to the first turntable, the third gear is connected to the second turntable, the first turntable and the second turntable are connected through a conveyor belt transmission, and the second gear is meshed with the second wheel.
  • the second gear is coaxially arranged with the first rotating disk
  • the third gear is coaxially arranged with the second rotating disk
  • the second driven member further includes a fourth gear, the fourth gear is meshed with the third gear, and the fourth gear is connected to the second cleaning member.
  • the second driven member further includes a fifth gear, the fifth gear is arranged between the third gear and the fourth gear, and the fifth gear is meshed with both the third gear and the fourth gear.
  • the first driven member includes a sixth gear and a seventh gear
  • the sixth gear is meshed with the second gear
  • the sixth gear is meshed with the seventh gear
  • the seventh gear is connected to the first cleaning member.
  • the first driven member further includes an eighth gear, the eighth gear is arranged between the sixth gear and the seventh gear, and the eighth gear is meshed with both the sixth gear and the seventh gear.
  • the first cleaning part is an underwater cleaning roller brush; the second cleaning part is a water surface roller brush.
  • the cleaning device includes: a cleaning component, which is arranged on the main body of the cleaning device; a motion driving component, which is arranged on the main body of the cleaning device, and the motion driving component is connected to the cleaning component, and is used to drive the cleaning component to perform telescopic movement relative to the main body of the cleaning device, and the telescopic movement includes at least one of the following: an extension movement in a direction away from the main body of the cleaning device, and a contraction movement in a direction close to the main body of the cleaning device.
  • the cleaning component when the cleaning component is in a retracted state, all of the cleaning component is located within the main body of the cleaning device, or at least a part of the cleaning component is located within the main body of the cleaning device, and the retracted state is a state formed by the motion drive component driving the cleaning component to perform a retracted motion, or is a state in which the motion drive component does not drive the cleaning component to perform an extended motion; and/or, when the cleaning component is in an extended state, at least a part of the cleaning component is located outside the main body of the cleaning device, and the extended state is a state formed by the motion drive component driving the cleaning component to perform an extended motion, or is a state in which the motion drive component does not drive the cleaning component to perform a retracted motion.
  • the motion drive assembly includes: a connecting portion, through which the cleaning component is connected to the cleaning device body; and a first drive assembly, which is connected to the connecting portion and is used to drive the cleaning component to perform telescopic movement relative to the cleaning device body.
  • the connecting part is a telescopic structure
  • the first driving assembly includes a first power source
  • the first power source is used to drive the connecting part to be telescopic, so as to drive the cleaning component to perform telescopic movement
  • the first driving assembly includes a first transmission mechanism and a first power source, the input end of the first transmission mechanism is connected to the first power source, the output end of the first transmission mechanism is connected to the cleaning component, and the first power source is used to provide power for the first transmission mechanism, so that the first transmission mechanism drives the cleaning component to perform telescopic movement relative to the cleaning device body and the connecting part
  • the first end of the connecting part is connected to the cleaning component
  • the first driving assembly includes a first transmission mechanism and a first power source, the input end of the first transmission mechanism is connected to the first power source, the output end of the first transmission mechanism is connected to the second end of the connecting part or a component located between the second end and the cleaning device body, and the first power source It is used to provide power for the first transmission mechanism so that
  • the first transmission mechanism controls the component connected thereto to rotate or translate, so that the cleaning component performs telescopic movement relative to the cleaning device body.
  • the motion drive assembly includes at least one set of second drive assemblies, and the at least one set of second drive assemblies is used to drive the cleaning component to perform rotational motion relative to the cleaning device body.
  • the first end of the connecting part is connected to the cleaning component; wherein, at least one group of second drive components includes a first group of second drive components, the first group of second drive components are respectively connected to the second end of the cleaning device body and the connecting part, and are used to drive the connecting part to rotate around the first direction axis, thereby driving the cleaning component to rotate around the first direction axis; and/or, at least one group of second drive components includes a second group of second drive components, the first end of the connecting part is connected to the cleaning component through the second group of second drive components, and the second group of second drive components are used to drive the connecting part to rotate around the second direction axis, thereby driving the cleaning component to rotate around the second direction axis.
  • cleaning device body is provided with a liquid inlet, and at least one cleaning component is used to expand the cleaning range of the liquid inlet.
  • the liquid inlet is arranged on the front wall or the bottom of the cleaning device body and/or, along the opening direction of the liquid inlet, at least one cleaning component is located in front of the liquid inlet.
  • the cleaning component is a side brush; and/or, the cleaning component is movably connected to the cleaning device body or the motion drive component; and/or, there are multiple cleaning components, among which the multiple cleaning components are arranged on at least one of the left side wall, right side wall and bottom of the cleaning device body; and/or, the cleaning component includes a rotating brush and a rotating shaft, the rotating brush is arranged around the rotating shaft, the rotating shaft is rotatably connected to the cleaning device body through the motion drive component, and the rotating brush has at least one cleaning surface, which is used to contact and stir the water flow.
  • the trigger data acquisition unit is used to collect trigger data about the preset movement of the cleaning component
  • the in-place sensor is used to collect reference data on whether the preset movement of the cleaning component is in place.
  • the cleaning component has a starting position and a telescopic position;
  • the cleaning device also includes a reset component, the reset component is arranged on the main body of the cleaning device, the reset component is connected to the cleaning component, the reset component is used to provide a reset force for keeping the cleaning component in the starting position, and the cleaning component can reach the telescopic position when the motion drive component drives the cleaning component to perform a telescopic movement; wherein, when the cleaning component is in the starting position, the cleaning component is in a retracted state, and when the cleaning component is in the telescopic position, the cleaning component is in an extended state; or, when the cleaning component is in the starting position, the cleaning component is in an extended state, and when the cleaning component is in the telescopic position, the cleaning component is in a retracted state.
  • the filtering mechanism comprises: a dust box, the dust box comprises a dust box water inlet, the dust box water inlet is connected with the liquid inlet, and the dust box water inlet is used to clean the liquid entering the dust box.
  • the dust box water inlet part includes: a water surface dust box opening, which is arranged on the side of the dust box and includes the floating position of the cleaning device when floating on the water surface, and is used for garbage or impurities on the water surface of the target area to enter the dust box entrance.
  • the dust box includes: a dust box rolling brush assembly, which is arranged in the water surface dust box opening and is used to roll garbage or impurities on the swimming pool surface into the dust box when cleaning the water surface.
  • the dust box opening includes: an underwater dust box opening, which is arranged below the floating position of the cleaning device on the water surface and is used for garbage or impurities in the swimming pool water to enter the dust box.
  • the dust box also includes: a water surface dust box opening cover, which is arranged on the water surface dust box opening, and is a movable component for adjusting the opening and closing state of the water surface dust box opening; an underwater dust box opening cover, which is arranged on the underwater dust box opening, and is a movable component for adjusting the opening and closing state of the underwater dust box opening.
  • a garbage guide component which is used to drive the garbage in the swimming pool liquid surface into the water surface dust box opening.
  • the garbage guide component is located outside the water surface dust box opening and is hollow inside.
  • the port size of the first port away from the water surface dust box opening is larger than the size of the water surface dust box opening, and the port size of the second port connected to the water surface dust box opening is not smaller than the size of the water surface dust box opening.
  • the filtering mechanism includes a filtering assembly
  • the filtering assembly includes: a dust box, the dust box forms a first cavity, and the dust box includes a first movement state and a second movement state; a first filter layer, which is arranged on the side wall of the dust box, and the first filter layer is connected to the first cavity; a guide port, which is arranged on the dust box and/or the first filter layer, and the guide port is connected to the first cavity; a covering member, wherein in the first movement state, the covering member covers the guide port; in the second movement state, the covering member opens the guide port.
  • the covering member is pivotally connected to the dust box;
  • the cleaning device also includes an adjusting member installed on the covering member, the adjusting member is far away from the pivotal connection between the covering member and the dust box; the adjusting member assists the covering member to close or open the guide port.
  • the covering member includes a first side end and a second side end arranged opposite to each other; the first side end is located at the uppermost end of the covering member, and the second side end is located at the lowermost end of the covering member; the first side end is pivotally connected to the dust box, and the second side end pivots around the first side end to open or close the guide port, and when the cleaning device as a whole is located underwater, the gravity of the adjusting member is greater than the buoyancy; or, the second side end is pivotally connected to the dust box, and the first side end pivots around the second side end to open or close the guide port, and when the cleaning device as a whole is located underwater, the buoyancy of the adjusting member is greater than the gravity.
  • the first side end is pivotally connected to the dust box, and the ratio of the distance from the center of the adjusting member to the first side end to the distance from the center of the adjusting member to the second side end is less than 1.
  • the first side end is pivotally connected to the dust box, and the adjusting member is convexly arranged on the inner side of the cover member facing the first cavity.
  • an acute angle is formed between the line connecting the center of gravity of the adjusting member and the pivot center of the covering member and the direction of gravity.
  • the second side end is pivotally connected to the dust box
  • the cleaning device also includes a moving part
  • the covering part also includes a accommodating channel, the accommodating channel is arranged between the first side end and the second side end, and the center line of the accommodating channel intersects with the plane where the first side end or the second side end is located; the moving part is accommodated in the accommodating channel and can move along the accommodating channel.
  • center line of the accommodating channel intersects perpendicularly with the plane where the first side end or the second side end is located.
  • the covering member includes an inner side surface facing the first cavity
  • the accommodating channel extends from the second side end toward the direction close to the inner side surface and toward the first side end.
  • a mounting bracket is provided on the side wall of the dust box, and the mounting bracket covers the air guide port; a portion of the mounting bracket covering the air guide port is provided with a plurality of grille holes, the grille holes are connected to the air guide port, and the cover is movably mounted on the mounting bracket.
  • a side surface of the mounting bracket facing the first cavity is recessed with a accommodating cavity, and a side wall of the accommodating cavity is provided with a pivot mounting groove;
  • the covering member is movably accommodated in the accommodating cavity, the covering member is convexly provided with a pivot portion, and a stop limit protrusion is provided below the pivot portion;
  • the pivot portion is pivotally installed in the pivot mounting groove, and the stop limit protrusion rotates with the covering member until it stops on the side wall.
  • an overlapping portion is further extended from the edge of the covering member, and the overlapping portion abuts against the inner side surface of the mounting bracket when the covering member is accommodated in the accommodating cavity.
  • the cleaning device comprises a driving assembly, which is connected to the covering member and is used to drive the covering member to close or open the guide port.
  • the cover is movably connected to the cleaning device.
  • the dust box forms a dust box water inlet, which is connected to the first cavity;
  • the cleaning device includes a main water pump, which is arranged outside the cleaning device and is connected to the first cavity of the dust box.
  • the main water pump includes a main water pump impeller cover, and the area of the guide port of the cleaning equipment is larger than the water inlet cross-sectional area of the main water pump impeller cover.
  • the cleaning device includes a dust bin, the dust bin forms a second cavity, the dust box is arranged in the second cavity, the main water pump is arranged outside the dust bin, and a water inlet is formed between the dust box and the dust bin; when the cleaning device is in a first motion state, the main water pump is used to guide water to flow into the main water pump from the water inlet, the first cavity, the first filter layer and the second cavity in sequence, wherein the first motion state is the state of the dust box when the cleaning device moves in a direction perpendicular to gravity; when the cleaning device is in a second motion state, the main water pump is used to guide at least part of the water to flow into the main water pump from the water inlet, the first cavity, the diversion port and the second cavity in sequence.
  • the cover is pivotally connected to the dust bin.
  • the cleaning device further comprises a flap, the dust bin is formed with an opening, the flap cover is provided with an opening, and the covering member is movably connected to the flap for covering or opening the air guide port of the dust box.
  • the cover is provided with a second filter layer, and when the cleaning device is in the first motion state, the second filter layer is connected with the first cavity and the second cavity respectively.
  • the present disclosure further provides a liquid cleaning control method, which is applied to the cleaning device described above and is executed by a control component, including: obtaining a target task of cleaning a target swimming pool, wherein the target task includes water surface cleaning and/or underwater cleaning; determining adjustment parameters of a walking mechanism based on the target task and a current position of the cleaning device; and controlling the walking mechanism to drive the cleaning device to move and perform cleaning based on the adjustment parameters to complete the target task.
  • the present disclosure further provides a control method for a cleaning device, wherein, applied to the cleaning device described above, the control method includes: detecting that the cleaning device satisfies a telescopic trigger condition; controlling a cleaning component of the cleaning device to perform a telescopic movement, the telescopic movement including at least one of the following: an extending movement in a direction away from a robot body of the cleaning device, and a contracting movement in a direction close to the robot body.
  • the telescopic triggering conditions include at least one of the following: the distance between the cleaning device and the target object is within a preset distance range, the cleaning device is in a trapped state, the cleaning device receives a preset instruction, and the cleaning device is in a preset working mode, wherein the target object includes at least one of a wall and an obstacle in a preset working mode.
  • detecting that the cleaning device satisfies the telescopic trigger condition includes at least one of the following: in response to the telescopic trigger condition including that the distance between the cleaning device and the target object is within a preset distance range, based on the first sensor data collected by the first trigger sensor of the cleaning device, determining that the distance between the cleaning device and the target object is within the preset distance range; in response to the telescopic trigger condition including that the cleaning device is in a trapped state, performing any one or more of the following steps: based on the second sensor data collected by the second trigger sensor of the cleaning device, determining that there is a preset deviation between the actual rotation angle of the cleaning device and the preset rotation angle; detecting that the cleaning device has not run the target distance after moving for a first time; detecting that the relative position difference between the cleaning device and the reference point before and after the second time is within a preset difference range; the current of the driving motor of the cleaning device increases and the current increase situation conforms to the trapped current change situation, wherein the reference
  • the default state of the cleaning component of the cleaning device is a retracted state
  • the extension trigger condition includes that the distance between the cleaning device and the target object is within a preset distance range
  • controlling the cleaning component of the cleaning device to perform extension movement includes: controlling the cleaning component of the cleaning device to perform an extension movement in a direction away from the robot body of the cleaning device.
  • the default state of the cleaning component of the cleaning device is an extended state
  • the extension trigger condition includes at least one of the cleaning device being in a trapped state, receiving a preset instruction, and the cleaning device being in a preset working mode
  • controlling the cleaning component of the cleaning device to perform an extension and retraction movement includes: controlling the cleaning component of the cleaning device to perform a retraction movement in a direction close to the robot body of the cleaning device.
  • controlling the cleaning component of the cleaning equipment to perform telescopic movement includes: in the process of controlling the cleaning component to perform telescopic movement, using an in-place sensor to detect whether the telescopic movement is in place; in response to detecting that the telescopic movement is in place, determining to control the cleaning component to stop the telescopic movement.
  • the method further includes any one or more of the following steps: detecting that the cleaning device currently meets the rotation trigger condition, and controlling the cleaning component of the cleaning device to rotate relative to the robot body; detecting that the cleaning device is in the target working state, and controlling the cleaning component of the cleaning device to rotate or reciprocate to make the cleaning component work.
  • FIG1 is a schematic cross-sectional view at a first angle of a first embodiment of a cleaning device disclosed herein;
  • FIG2 is an enlarged schematic diagram of A shown in FIG1 ;
  • FIG3 is a schematic cross-sectional view at a second angle of the first embodiment of the cleaning device disclosed herein;
  • FIG4 is an exemplary module diagram of a second embodiment of the cleaning device of the present disclosure.
  • FIG5 is a schematic structural diagram of a second embodiment of the cleaning device disclosed herein;
  • FIG6 is a partial schematic diagram of a second embodiment of the cleaning device disclosed herein;
  • FIG. 7 is a schematic diagram of the second embodiment of the cleaning device of the present disclosure moving on the side wall of the target area;
  • FIG8 is a schematic diagram of a second embodiment of the cleaning device of the present disclosure floating on a liquid surface
  • FIG9 is a schematic structural diagram of a second embodiment of the cleaning device disclosed herein.
  • FIG. 10 is a schematic diagram of the cleaning device of the third embodiment of the present disclosure moving on the bottom wall of the target area;
  • FIG. 11 is a schematic diagram of the cleaning device of the third embodiment of the present disclosure moving on the bottom wall and the side wall of the target area;
  • FIG12 is a schematic diagram of a third embodiment of the cleaning device of the present disclosure moving on a side wall of a target area;
  • FIG13 is a first cross-sectional schematic diagram of a third embodiment of the cleaning device disclosed herein;
  • FIG14 is a second cross-sectional schematic diagram of the third embodiment of the cleaning device disclosed herein;
  • FIG15 is a schematic structural diagram of a fourth embodiment of the cleaning device disclosed herein;
  • FIG16 is a cross-sectional schematic diagram of a fourth embodiment of the cleaning device disclosed herein;
  • FIG17 is a first schematic diagram of a filtering mechanism of a cleaning device disclosed herein;
  • FIG18 is a second schematic diagram of the filtering mechanism of the cleaning device disclosed herein;
  • FIG19 is a third schematic diagram of the filtering mechanism of the cleaning device disclosed herein;
  • FIG20 is a schematic diagram of the structure of a filter assembly in the cleaning device of the present disclosure.
  • FIG21 is an enlarged schematic diagram of H in FIG9 ;
  • FIG22 is a cross-sectional schematic diagram of a filter assembly of a cleaning device according to the present disclosure.
  • FIG23 is a first structural schematic diagram of a first sub-filter layer and a second sub-filter layer in the cleaning device of the present disclosure
  • FIG24 is a second structural schematic diagram of the first sub-filter layer and the second sub-filter layer in the cleaning device of the present disclosure
  • FIG25 is a third structural schematic diagram of the first sub-filter layer and the second sub-filter layer in the cleaning device of the present disclosure.
  • FIG26 is a schematic diagram of a first structure of the cleaning device disclosed herein;
  • FIG27 is a second structural schematic diagram of the cleaning device disclosed herein.
  • FIG28 is an exemplary flow chart of a liquid cleaning control method of the present disclosure.
  • FIG29 is a schematic structural diagram of a fifth embodiment of the cleaning device disclosed herein.
  • FIG30 is an exploded schematic diagram of a fifth embodiment of the cleaning device disclosed herein;
  • FIG31 is a cross-sectional schematic diagram of a sixth embodiment of the cleaning device disclosed herein;
  • FIG32 is a schematic diagram of the structure of B in FIG31;
  • FIG. 33 is a schematic structural diagram of a connecting portion in a sixth embodiment of a cleaning device disclosed herein;
  • FIG. 34 is a schematic structural diagram of a connecting portion in a seventh embodiment of a cleaning device disclosed herein;
  • FIG35 is a schematic structural diagram of a first transmission mechanism in a sixth embodiment of a cleaning device disclosed herein;
  • FIG36 is a schematic structural diagram of a seventh embodiment of the cleaning device disclosed herein;
  • FIG37 is a flow chart of an embodiment of a control method for a cleaning device disclosed herein;
  • FIG38 is a schematic diagram of a framework of an electronic device according to an embodiment of the present disclosure.
  • FIG39 is a schematic diagram of a framework of an embodiment of a computer-readable storage medium of the present disclosure.
  • FIG. 40 is a cross-sectional schematic diagram of a first motion state of a filter assembly in an eighth embodiment of a cleaning device according to the present disclosure
  • Fig. 41 is an enlarged schematic diagram of C in Fig. 40;
  • FIG. 42 is a cross-sectional schematic diagram of a second motion state of a filter assembly in an eighth embodiment of a cleaning device of the present disclosure.
  • Fig. 43 is an enlarged schematic diagram of D in Fig. 42;
  • FIG. 44 is a cross-sectional schematic diagram of a first motion state of a filter assembly in a ninth embodiment of a cleaning device of the present disclosure.
  • Fig. 45 is an enlarged schematic diagram of E in Fig. 33;
  • 46 is a cross-sectional schematic diagram of a second motion state of a filter assembly in a ninth embodiment of a cleaning device of the present disclosure.
  • Fig. 47 is an enlarged schematic diagram of F in Fig. 46;
  • FIG48 is a partial schematic diagram of a first motion state of a filter assembly in an eighth embodiment of a cleaning device according to the present disclosure.
  • FIG49 is a partial schematic diagram of a second motion state of the filter assembly in the eighth embodiment of the cleaning device of the present disclosure.
  • FIG50 is a partial schematic diagram of a second motion state of the filter assembly in the eighth embodiment of the cleaning device of the present disclosure.
  • 51 is a schematic diagram of the structure of the mounting bracket in the filter assembly in the ninth embodiment of the cleaning device disclosed herein;
  • FIG52 is a partial schematic diagram of an eighth embodiment of the underwater cleaning device disclosed herein;
  • FIG53 is a partial explosion diagram of the eighth embodiment of the underwater cleaning device disclosed herein;
  • FIG. 54 is a partial cross-sectional schematic diagram of an eighth embodiment of the underwater cleaning device disclosed herein.
  • Figure 1 is a first angle cross-sectional schematic diagram of the first embodiment of the cleaning device disclosed herein;
  • Figure 2 is an enlarged schematic diagram of A shown in Figure 1;
  • Figure 3 is a second angle cross-sectional schematic diagram of the first embodiment of the cleaning device disclosed herein.
  • the present disclosure provides a cleaning device 10.
  • the cleaning device 10 is used to clean stains and suspended matter in a target area 40.
  • the target area 40 may be a pool, a swimming pool and other areas.
  • the cleaning device 10 may be a pool cleaning robot, a swimming pool cleaning robot, an underwater cleaning device and the like, which are not limited here.
  • the cleaning device 10 disclosed in the present disclosure can flexibly switch positions between above and below the liquid surface 30, so that the cleaning device 10 can fully clean the target area 40, improve the work efficiency and application scope of liquid cleaning in the target area 40, and reduce the cleaning cost of the target area 40.
  • the cleaning device body 101 can be used to move in a target area 40 filled with liquid, and can switch positions above and below the liquid surface 30.
  • the target area 40 can be an area filled with liquid where the cleaning device body 101 moves.
  • the target area 40 may include a swimming pool.
  • the cleaning device body 101 can move in the water of a swimming pool and switch positions on the surface of the swimming pool and in the water.
  • the target area 40 can also be other areas.
  • the target area 40 can also include oil wells, sewers, etc.
  • the target area 40 can include a target bottom wall 401 and a target side wall 402.
  • the cleaning device body 101 can also move in the target area 40.
  • the cleaning device body 101 moves on the target bottom wall 401 and the target side wall 402.
  • the cleaning device body 101 can move on the target bottom wall 401 and the target side wall 402 of the swimming pool. More information about the cleaning device body 101 moving on the target bottom wall 401 and the target side wall 402 of the target area 40 can be found below.
  • the cleaning device 10 includes a cleaning device body 101, a driving mechanism, a filtering mechanism, a liquid inlet 103 and a liquid outlet 104.
  • the driving mechanism is arranged on the cleaning device body 101.
  • the driving mechanism is used to form a certain suction force, thereby guiding the flow direction of the liquid.
  • the filtering mechanism is arranged on the cleaning device body 101, and is used to collect stains and suspended matter in the target area 40 and filter liquid, etc.
  • the liquid inlet 103 is used for liquid to enter the cleaning device body 101.
  • the liquid inlet 103 at least includes a first water inlet 1031.
  • the first water inlet 1031 is arranged on the cleaning device body 101. That is, the liquid enters the cleaning device body 101 through the first water inlet 1031.
  • the liquid outlet 104 is used to discharge the water in the cleaning device body 101.
  • the liquid outlet 104 at least includes a first water outlet.
  • the first water outlet is arranged on the cleaning device body 101. That is, the liquid is discharged from the cleaning device body 101 through the first water outlet.
  • the filtering mechanism includes at least one first inlet and one outlet.
  • the first inlet is fluidically connected to the first water inlet 1031.
  • the outlet is fluidically connected to the first water outlet.
  • the first water inlet 1031, the filtering mechanism, the driving mechanism and the first water outlet are sequentially connected to form a first water flow path.
  • the liquid enters the cleaning device body 101 from the first water inlet 1031, flows to the first inlet, the filtering mechanism, the outlet and the driving mechanism, and then is discharged from the first water outlet.
  • the liquid can also flow in the reverse direction, that is, the liquid flows from the first water outlet, the driving mechanism, the filtering mechanism and the first water inlet 1031, etc., which is not limited here.
  • Figure 4 is an exemplary module diagram of the second embodiment of the cleaning device of the present disclosure
  • Figure 5 is a structural schematic diagram of the second embodiment of the cleaning device of the present disclosure.
  • the cleaning device body 101 includes a mode switching member 510.
  • the mode switching member 510 can be used to achieve the position switching of the cleaning device 10 above and below the liquid level 30.
  • the mode switching member 510 can move in the vertical direction of the target area 40, so as to achieve the position switching of the cleaning device 10 above and below the liquid level 30.
  • the cleaning device 10 is below the liquid level 30, the cleaning device 10 is completely immersed below the liquid level 30.
  • the cleaning device 10 is above the liquid level 30, at least part of the cleaning device 10 is above the liquid level 30.
  • the cleaning device 10 travels on the liquid surface 30, or the cleaning device 10 is at least partially exposed to the liquid surface 30, or the cleaning device 10 is located below the liquid surface 30 as a whole and close to the liquid surface 30, it is defined as the third motion state, wherein being close to the liquid surface 30 can be understood as the distance of the cleaning device 10 from the liquid surface 30 is less than a threshold, and it can perform water surface cleaning work, etc.
  • the plane where the traveling propulsion mechanism 100 of the cleaning device 10 such as the track 111 or the wheel 112 , contacts the surface to be cleaned may be defined as the overall direction of the cleaning device 10 .
  • the cleaning device 10 can switch between the positions above and below the liquid surface 30, so as to switch the cleaning device 10 between the first motion state and the third motion state.
  • the cleaning device can perform underwater cleaning tasks in the first motion state.
  • the cleaning device can perform surface cleaning tasks in the third motion state, and the cleaning device 10 can be adjusted to perform at least two working conditions of underwater cleaning and surface cleaning, thereby meeting different usage requirements.
  • the cleaning device 10 also includes a second motion state.
  • the cleaning device can perform pool wall or waterline cleaning tasks in the second motion state.
  • the switching of the cleaning device 10 between the first motion state and the third motion state includes or does not include the second motion state. That is, the cleaning device may include the first motion state and the third motion state. Alternatively, the cleaning device may include the first motion state, the second motion state, and the third motion state.
  • the second motion state can be selected according to actual needs and is not limited here.
  • the liquid inlet 103 includes a first water inlet 1031.
  • the first water inlet 1031 is located at the front position of the lower part of the cleaning device body 101.
  • the first water inlet 1031 is used for underwater cleaning and surface cleaning at the same time.
  • the first water inlet 1031 is located below the liquid level 30, and can suck in garbage below the liquid level 30.
  • the cleaning device 10 performs surface cleaning
  • the first water inlet 1031 is at least partially exposed above the liquid level 30, and can suck in garbage floating on the liquid level 30. That is, the cleaning device body 101 can achieve underwater cleaning and surface cleaning through a first water inlet 1031 and adjust the posture of the cleaning device 10 in the target area 40, thereby improving the cleaning efficiency.
  • the liquid flows through the first water inlet 1031, the first inlet, the filtering mechanism, the outlet, the driving mechanism and the liquid outlet in sequence.
  • the posture of the cleaning device 10 is in a normal state.
  • the front portion of the cleaning device 10 is lifted upward to expose the liquid surface 30 , thereby causing the first water inlet 1031 to be at least partially exposed above the liquid surface 30 .
  • the liquid inlet 103 includes a first water inlet 1031.
  • the first water inlet 1031 is located at the bottom of the cleaning device body 101.
  • the first water inlet 1031 is used for underwater cleaning and surface cleaning.
  • the first water inlet 1031 is located below the liquid level 30 and faces the surface to be cleaned.
  • the cleaning device 10 performs surface cleaning, the first water inlet 1031 is located below the liquid level 30 but close to the liquid level 30 and faces the liquid level 30. That is, the cleaning device body 101 can achieve underwater cleaning and surface cleaning through a first water inlet 1031 and adjust the posture of the cleaning device 10 in the target area 40, thereby improving the cleaning efficiency.
  • the liquid flows through the first water inlet 1031, the first inlet, the filtering mechanism, the outlet, the driving mechanism and the liquid outlet in sequence.
  • the posture of the cleaning device 10 is in a normal state.
  • the cleaning device 10 can be turned over, that is, the bottom of the cleaning device 10 faces upward.
  • the filter mechanism can be in a closed state, reducing the risk of garbage and the like leaking from the filter mechanism.
  • the liquid inlet 103 includes a first water inlet 1031 and a second water inlet 1032.
  • the first water inlet 1031 is arranged at the bottom of the cleaning device body 101.
  • the first water inlet 1031 is close to the bottom or wall of the pool to suck the water flow into the inside of the cleaning device 10.
  • the liquid inlet 103 includes a second water inlet 1032. That is, the liquid enters the cleaning device body 101 through the second water inlet 1032.
  • the second water inlet 1032 is arranged on the front side of the cleaning device body 101.
  • the second water inlet 1032 When the cleaning device 10 performs water surface cleaning work, the second water inlet 1032 is at least partially exposed above the liquid surface 30, and garbage floating on the liquid surface 30 can be sucked in.
  • the second water inlet 1032 enables the cleaning device 10 to perform water surface cleaning work.
  • the first water inlet 1031 and the second water inlet 1032 can also work together to improve the cleaning efficiency of the cleaning device 10.
  • the liquid inlet 103 includes a first water inlet 1031 and a second water inlet 1032.
  • the first water inlet 1031 is arranged at the bottom of the cleaning device body 101.
  • the second water inlet 1032 is arranged at the top or side of the cleaning device body 101.
  • the first water inlet 1031 is used to clean the bottom or wall of the pool.
  • the second water inlet 1032 is used to clean the water surface.
  • the cleaning device 10 When the second water inlet 1032 is arranged at the top of the cleaning device body 101, the cleaning device 10 floats to the vicinity of the liquid surface 30 and the posture of the cleaning device 10 is the same as when walking on the bottom of the pool, the second water inlet 1032 is opened, and under the action of a driving mechanism, such as a main water pump, the second water inlet 1032 is located near below the liquid surface, and the garbage on the liquid surface enters the cleaning device 10 through the second water inlet 1032.
  • the cleaning device 10 can adjust its posture so that the second water inlet 1032 faces the liquid surface 30 and is located below the liquid surface 30 during the process of floating to near the liquid surface 30 .
  • the liquid inlet 103 includes a first water inlet 1031 and a second water inlet 1032.
  • the first water inlet 1031 can also be arranged at the rear position of the lower part of the cleaning device body 101 or at the side of the cleaning device body 101.
  • the setting position of the liquid inlet 103 is related to the position of the filtering mechanism. When the filtering mechanism is arranged at the front position of the cleaning device 10, the liquid inlet 103 is arranged at the front of the cleaning device 10. When the filtering mechanism is arranged at the rear position of the cleaning device 10, the liquid inlet 103 is arranged at the rear of the cleaning device 10.
  • the filter mechanism includes a filter assembly 710.
  • the filter assembly has a filtering effect.
  • the filter assembly 710 includes a first inlet.
  • the first water inlet 1031 and the second water inlet 1032 are both in fluid communication with the first inlet of the filter assembly 710.
  • Under the action of the drive mechanism at least part of the liquid is sequentially connected to the first water inlet 1031, the first inlet, the filter assembly 710, the drive mechanism, and the liquid outlet 104.
  • At least part of the liquid is sequentially connected to the second water inlet 1032, the first inlet, the filter assembly 710, the drive mechanism, and the liquid outlet 104.
  • the first water inlet 1031 and the second water inlet 1032 are respectively connected to the first inlet to increase the cleaning efficiency of the cleaning device 10.
  • the second water inlet 1032 and the first inlet can be connected through a pipeline or the like.
  • the filter mechanism may have one, two, three or more filter components 710, wherein the number of filter components 710 may be determined according to actual needs. When there are two, three or more filter components 710, adjacent filter components 710 may be connected in series or in parallel, etc., which may be set according to different usage requirements of the cleaning device 10 and is not limited here.
  • the filter mechanism includes a filter assembly 710.
  • the filter assembly 710 includes a first inlet and a second inlet.
  • the first water inlet 1031 is in fluid communication with the first inlet of the filter assembly 710.
  • the second inlet and the first inlet are located on different surfaces of the filter mechanism. That is, at least part of the liquid flows through the first water inlet 1031, the first inlet, the filter assembly 710, the drive mechanism, and the liquid outlet 104 in sequence.
  • the second water inlet 1032 is in communication with the second inlet of the filter assembly 710. That is, at least part of the liquid flows through the second water inlet 1032, the second inlet, the filter assembly 710, the drive mechanism, and the liquid outlet 104 in sequence.
  • the first water inlet 1031 is in fluid communication with the first inlet
  • the second water inlet 1032 is in fluid communication with the second inlet, increasing the liquid flow path, meeting the cleaning requirements of at least two working conditions of underwater cleaning and surface cleaning, and thus meeting different usage requirements.
  • the filter mechanism includes two filter components 710.
  • the two filter components 710 are a first filter component 770 and a second filter component 780.
  • the first filter component 770 is provided with a first inlet.
  • the second filter component 780 is provided with a second inlet.
  • the first water inlet 1031 is in fluid communication with the first inlet of the first filter component 770. That is, at least part of the liquid is in fluid communication with the first water inlet 1031, the first inlet, the first filter component 770, the drive mechanism and the liquid outlet 104 in sequence.
  • the second water inlet 1032 is in fluid communication with the second inlet of the second filter component 780.
  • the liquid is in fluid communication with the second water inlet 1032, the second inlet, the second filter component 780, the drive mechanism and the liquid outlet 104 in sequence.
  • different liquid flow paths are realized by two filter components 710 to improve the cleaning efficiency of the cleaning device 10.
  • Figure 17 is a first schematic diagram of the filter mechanism of the cleaning device disclosed in the present invention
  • Figure 18 is a second schematic diagram of the filter mechanism of the cleaning device disclosed in the present invention
  • Figure 19 is a third schematic diagram of the filter mechanism of the cleaning device disclosed in the present invention.
  • the liquid inlet 103 includes a first water inlet 1031 and a second water inlet 1032.
  • the filter mechanism includes a first filter assembly 770 and a second filter assembly 780.
  • the second filter assembly 780 is sleeved in the first filter assembly 770.
  • the first water inlet 1031 is connected to the first inlet 7123 of the first filter assembly 770.
  • the first water inlet 1031 is used for liquid to enter the first filter assembly 770 through the first inlet 7123.
  • the second water inlet 1032 is connected to the second inlet 7133 of the second filter assembly 780.
  • the second water inlet 1032 is used for liquid to enter the second filter assembly 780 through the second inlet 7133.
  • the first water inlet 1031 is connected to the first inlet 7123 of the first filter assembly 770
  • the second water inlet 1032 is connected to the second inlet 7133 of the second filter assembly 780, so that the cleaning device 10 can perform underwater cleaning and surface cleaning, expanding the use scenarios of the cleaning device 10 and improving the user experience.
  • the structures of the first filter assembly 770 and the second filter assembly 780 are roughly the same or different, which is not limited here.
  • the cleaning device 10 When the cleaning device 10 performs underwater cleaning work, in order to avoid the second water inlet 1032, the second filter assembly 780 and the main water pump 210 from shunting the liquid and ensure the suction effect at the first water inlet 1031 and the first inlet 7123, the second water inlet 1032 or the second inlet 7133 can be closed. In the actual process, when the power of the main water pump 210 is large enough, the second water inlet 1032 or the second inlet 7133 can also be kept open.
  • the cleaning device 10 performs surface work, in order to avoid the first water inlet 1031, the first filter assembly 770 and the main water pump 210 from shunting the liquid and ensure the suction effect at the second water inlet 1032 and the second inlet 7133, the first water inlet 1031 or the first inlet 7123 can be closed. In the actual process, when the power of the main water pump 210 is large enough, the first water inlet 1031 or the first inlet 7123 can also be kept open.
  • the cleaning device body 101 includes a first dust bin, a second dust bin and a liquid inlet 103.
  • the first dust bin and the second dust bin are arranged in parallel, that is, the first dust bin and the second dust bin are arranged independently.
  • the liquid inlet 103 is used for liquid to enter the cleaning device body 101.
  • the liquid inlet 103 includes a first water inlet 1031 and a second water inlet 1032.
  • the filtering mechanism includes a first filter assembly 770 and a second filter assembly 780.
  • the first filter assembly 770 is arranged in the first dust bin.
  • the second filter assembly 780 is arranged in the second dust bin.
  • the first water inlet 1031 is connected to the first inlet 7123 of the first filter assembly 770.
  • the first water inlet 1031 is used for liquid to enter the first filter assembly 770 through the first inlet 7123.
  • the second water inlet 1032 is connected to the second inlet 7133 of the second filter assembly 780.
  • the second inlet is used for liquid to enter the second filter assembly 780 through the second inlet 7133.
  • the main water pump 210 is connected to the first dust bin and the second dust bin, respectively.
  • the liquid flows through the first water inlet 1031, the first inlet 7123, the first filter assembly 770 and the main water pump 210 in sequence.
  • the cleaning device 10 performs surface cleaning, under the action of the main water pump 210, the liquid flows through the second water inlet 1032, the second inlet 7133, the second filter assembly 780 and the main water pump 210 in sequence.
  • the closed structure can be set in a place that needs to be closed, such as the junction of the first dust bin and the second dust bin, etc., which is not limited here.
  • the number of the main water pump 210 can be one or two.
  • the main water pump 210 includes one, the first filter assembly 770 and the second filter assembly 780 share one main water pump 210.
  • the main water pump 210 includes two.
  • One main water pump 210 is in communication with the first filter assembly 770 .
  • Another main water pump 210 is in communication with the second filter assembly 780 .
  • the first dust bin and the second dust bin are isolated from each other.
  • the main water pump 210 acts on the first dust bin.
  • a dust bin opening 10232 is provided at the second dust bin.
  • the dust bin opening 10232 can be fluidically connected to the first inlet 7123 of the first filter assembly 770 provided in the first dust bin through a dust bin pipe 10233, so that the water flow during water surface cleaning flows through the second filter assembly 780 and the first filter assembly 770 in sequence, achieving a better water surface cleaning effect.
  • the cleaning device body 101 includes a first dust bin, a second dust bin and a liquid inlet 103.
  • the first dust bin and the second dust bin are arranged in parallel, that is, the first dust bin and the second dust bin are arranged independently.
  • the liquid inlet 103 is used for liquid to enter the cleaning device body 101.
  • the liquid inlet 103 includes a first water inlet 1031 and a second water inlet 1032.
  • the filtering mechanism includes a first filter component 770, a second filter component 780 and a valve component 790.
  • the first filter component 770 is arranged in the first dust bin.
  • the second filter component 780 is arranged in the second dust bin.
  • the valve component 790 can be connected to the first dust bin and the second dust bin in an openable and closable manner. When the valve component 790 is opened, the first dust bin and the second dust bin are connected. When the valve component 790 is closed, the first dust bin and the second dust bin are disconnected.
  • the valve member 790 is closed.
  • the liquid flows through the first water inlet 1031, the first inlet 7123 of the first filter assembly 770, the first filter assembly 770, the first dust bin and the main water pump 210 in sequence and is discharged from the cleaning device 10, so that the cleaning device 10 can achieve the underwater cleaning function.
  • the valve member 790 is opened.
  • the liquid flows through the second water inlet 1032, the second inlet 7133 of the second filter assembly 780, the second filter assembly 780, the space between the second filter assembly 780 and the second dust bin, the valve member 790, the first filter assembly 770 and the main water pump 210 in sequence and is discharged from the cleaning device 10, so that the cleaning device 10 can achieve the surface cleaning function.
  • the two waterways are in an independently controlled state without affecting each other; at the same time, during the water surface cleaning work, the cleaning device 10 increases the water path through the second filter component 780 and the first filter component 770, thereby improving the cleaning efficiency of the cleaning device 10 during water surface cleaning.
  • valve component 790 The specific structure of the above-mentioned valve component 790 is not limited, and it only needs to be able to open and close. Of course, in other embodiments, the filter mechanism may not include the valve component 790.
  • the first filter component 770 and the second filter component 780 are directly connected through a pipeline or the like.
  • a cover plate or other structure is provided at the second inlet of the second filter component 780, and the cover plate or other structure can close the second inlet in an open and close manner.
  • the first filter assembly 770 and the second filter assembly 780 can be extended along the moving direction of the cleaning device 10, that is, the first filter assembly 770 and the second filter assembly 780 are arranged front and back.
  • the first filter assembly 770 and the second filter assembly 780 are arranged perpendicular to the moving direction of the cleaning device 10, that is, the first filter assembly 770 and the second filter assembly are arranged left and right.
  • the first filter assembly 770 and the second filter assembly 780 are arranged up and down.
  • the first filter assembly 770 and the second filter assembly 780 can also be arranged in parallel in other ways. The setting is not limited here.
  • Figure 20 is a schematic diagram of the structure of the filter assembly in the cleaning device of the present disclosure
  • Figure 21 is an enlarged schematic diagram of H in Figure 20
  • Figure 22 is a cross-sectional schematic diagram of the filter assembly of the cleaning device of the present disclosure.
  • the dust box 711 in the filtering mechanism plays a vital role in filtering. Among them, the more meshes of the first filter layer set on the side wall of the dust box 711, the better the filtering effect of the dust box 711. However, when the meshes of the first filter layer increase, the dust box 711 will be more easily blocked and the first filter layer will be more difficult to clean.
  • the present disclosure sets a double-layer or multi-layer dust box 711 structure, for example, two layers, and the corresponding filters in the two-layer dust box 711 are staggered, which not only improves the filtering effect of the filter mechanism, but also can be equivalent to reducing the meshes of the corresponding filters through the double-layer dust box, thereby facilitating the cleaning of the filter layer.
  • Figure 23 is a first structural schematic diagram of the first sub-filter layer and the second sub-filter layer in the cleaning device of the present disclosure
  • Figure 24 is a second structural schematic diagram of the first sub-filter layer and the second sub-filter layer in the cleaning device of the present disclosure
  • Figure 25 is a third structural schematic diagram of the first sub-filter layer and the second sub-filter layer in the cleaning device of the present disclosure.
  • the dust box 711 includes a first sub-dust box 712 and a second sub-dust box 713.
  • the side wall of the first sub-dust box 712 is provided with a first sub-filter layer 7121.
  • the first sub-filter layer 7121 plays a filtering role.
  • the first sub-filter layer 7121 includes a certain number of first filter mesh holes 7122.
  • the side wall of the second sub-dust box 713 is provided with a second sub-filter layer 7131.
  • the second sub-filter layer 7131 includes a certain number of second filter mesh holes 7132.
  • the material of the first sub-filter layer 7121 and the material of the second sub-filter layer 7131 can be the same or different, which is not limited here.
  • the second sub-dust box 713 is sleeved in the first sub-dust box 712.
  • the first filter holes 7122 of the first sub-filter layer 7121 and the second filter holes 7132 of the second sub-filter layer 7131 are at least partially staggered.
  • the present invention stacks the first sub-dust box 712 and the second sub-dust box 713, and at the same time, the first filter hole 7122 and the second filter hole 7132 are at least partially staggered.
  • the two staggered sub-filter layers with lower mesh numbers form a filtering effect with higher mesh numbers.
  • the present invention achieves a filtering effect with high mesh numbers with two filter layers under the same filtering effect; the dust box 711 is disassembled into the first sub-dust box 712 and the second sub-dust box 713, and it is easier to clean the two first sub-dust boxes 712 and the second sub-dust boxes 713 with low mesh numbers.
  • the first filter holes 7122 and the second filter holes 7132 are displaced by movement or rotation, so that the first filter holes 7122 and the second filter holes 7132 are at least partially displaced.
  • the movement dislocation can be displaced in a straight line direction, such as left-right dislocation, up-down dislocation, etc.
  • the number of the first filter holes 7122 and the number of the second filter holes 7132 can be the same or different.
  • the first filter mesh holes 7122 and the second filter mesh holes 7132 are rotationally misaligned, so that the first filter mesh holes 7122 and the second filter mesh holes 7132 are at least partially misaligned.
  • Rotational misalignment includes the first sub-filter layer 7121 rotating, or the second sub-filter layer 7131 rotating, or both the first sub-filter layer 7121 and the second sub-filter layer 7131 rotating, so that the first filter mesh holes 7122 and the second filter mesh holes 7132 are at least partially misaligned.
  • the number of the first filter mesh holes 7122 and the number of the second filter mesh holes 7132 may be the same or different.
  • the first filter holes 7122 and the second filter holes 7132 are of different sizes, for example, the size of the first filter holes 7122 is larger or smaller than the size of the second filter holes 7132, and the first filter holes 7122 and the second filter holes 7132 can also be at least partially misaligned. Among them, the number of the first filter holes 7122 and the number of the second filter holes 7132 are different. Of course, there are other ways to misalign the first filter holes 7122 and the second filter holes 7132, which are not limited here.
  • the first sub-filter layer 7121 in the first dust box 712 and the second sub-filter layer 7131 in the second dust box 713 fit together or form a small distance.
  • the distance is less than or equal to the size of the filter mesh hole.
  • the filter mesh hole can be the first filter mesh hole 7122 or the second filter mesh hole 7132.
  • the filter mesh hole size can be a diameter, length, width, etc., which is not limited here.
  • the filter assembly 710 when the filter mechanism includes a filter assembly 710, the filter assembly 710 may include a single layer, double layer or multiple layers of dust box 711.
  • the filter mechanism when the filter mechanism includes a first filter assembly 770 and a second filter assembly 780, the first filter assembly 770 may include a single layer, double layer or multiple layers of dust box 711.
  • the second filter assembly 780 may include a single layer, double layer or multiple layers of dust box 711.
  • the filter mechanism includes both the first filter assembly 770 and the second filter assembly 780, and the first filter assembly 770 and the second filter assembly 780 are arranged in parallel, the filter mesh size of the first filter assembly 770 is smaller than the filter mesh size of the second filter assembly 780, so that the first filter assembly 770 is more suitable for cleaning underwater garbage, etc., and the second filter assembly 780 is more suitable for cleaning surface garbage, etc.
  • the filter mesh size of the first filter assembly 770 is smaller than the filter mesh size of the second filter assembly 780, so that the first filter assembly 770 is more suitable for cleaning underwater garbage, etc., and the second filter assembly 780 is more suitable for cleaning surface garbage, etc.
  • the filter assembly 710 may include a single layer, double layer or multiple layers of dust box 711.
  • the filter mechanism includes a first filter assembly 770 and a second filter assembly 780
  • the first filter assembly 770 may include a single layer, double layer or multiple layers of dust box 711.
  • the second filter assembly 780 may include a single layer, double layer or multiple layers of dust box 711.
  • the filter mechanism includes both the first filter assembly 770 and the second filter assembly 780, and the first filter assembly 770 and the second filter assembly 780 are arranged in parallel
  • the filter mesh hole size of the first filter assembly 770 is smaller than the filter mesh hole size of the second filter assembly 780, so that the first filter assembly 770 is more suitable for cleaning underwater garbage, etc., and the second filter assembly 780 is more suitable for cleaning surface garbage, etc.
  • the cleaning efficiency of the filter mechanism is improved.
  • the mode switching member 510 can adjust the force received by the cleaning device 10 in the vertical direction so that the cleaning device 10 moves in the vertical direction, thereby realizing the position switching of the cleaning device 10 above the liquid surface 30 and below the liquid surface 30.
  • the vertical direction can be the vertical direction of the target area 40.
  • the vertical direction of the swimming pool that is, the direction of gravity.
  • the horizontal direction can be the target area 40.
  • the horizontal direction of the area 40 For example, the horizontal direction of a swimming pool, that is, the direction perpendicular to the gravity direction.
  • the cleaning device 10 can switch between the position above the liquid surface 30 and the position below the liquid surface 30, so that the position above the liquid surface 30 and the position below the liquid surface 30 can be adjusted according to different liquid environments and needs, and corresponding operations can be performed more flexibly at different positions in the liquid.
  • the force received by the cleaning device 10 in the vertical direction may include the buoyancy of the cleaning device 10 in the vertical direction.
  • the mode switching member 510 may include a buoyancy adjustment component 511.
  • the buoyancy adjustment component 511 can be used to adjust the buoyancy of the cleaning device 10 in the vertical direction.
  • the buoyancy adjustment component 511 may include a buoyancy chamber 5111 and a buoyancy adjustment member.
  • the buoyancy chamber 5111 may be used to accommodate liquid and/or gas.
  • the buoyancy chamber 5111 may also include but is not limited to an inflatable buoyancy chamber, a liquid container buoyancy chamber, a partitioned buoyancy chamber, etc.
  • the volume of the buoyancy chamber 5111 may be pre-set.
  • the buoyancy chamber 5111 may be made of a flexible material and/or a rigid material.
  • the aforementioned flexible material may include but is not limited to polyvinyl alcohol resin, polyethylene terephthalate, rubber, etc.
  • Rigid materials may include but are not limited to glass, ceramics, phenolic plastics, polyurethane plastics, epoxy plastics, unsaturated polyester plastics, etc.
  • the buoyancy chamber 5111 may be a double-layer structure buoyancy chamber 5111 comprising an inner layer and an outer layer.
  • the inner layer may be made of a flexible material for carrying gas and/or liquid
  • the outer layer is a rigid protective shell that can provide protection and stability for the inner layer.
  • the float chamber 5111 can be disposed at any position of the cleaning device 10.
  • the float chamber 5111 can be disposed at the front end and/or the rear end and/or the middle position of the cleaning device 10.
  • the cleaning device 10 may include a float chamber 5111.
  • the float chamber 5111 may be disposed at the center of the cleaning device 10 to keep the cleaning device 10 stable when the volume of liquid and/or gas in the float chamber 5111 changes.
  • the cleaning device 10 may include a plurality of float chambers 5111. As shown in FIG. 6, the cleaning device 10 may have two float chambers 5111, and the two float chambers 5111 may be symmetrically arranged in the cleaning device 10. It can be understood that the symmetrical arrangement of the two float chambers 5111 helps to provide stability to the cleaning device 10 when providing buoyancy, and avoids the phenomenon that the cleaning device 10 is tilted and deflected under the liquid surface 30 or on the liquid surface 30 due to uneven buoyancy.
  • the size and setting position of the float chamber 5111 can be adjusted according to the weight and setting position of each component in the cleaning device 10 to ensure that the cleaning device 10 can be in its pre-set state when the volume of liquid and/or gas contained therein is different.
  • the buoyancy adjusting member can be used to adjust the volume of the gas in the float chamber 5111.
  • the cleaning device 10 can adjust the volume of the gas in the float chamber 5111 through the buoyancy adjusting member to change the size of the buoyancy to which the cleaning device 10 is subjected in the vertical direction.
  • the buoyancy adjusting member can inject air into the float chamber 5111 through the air inlet 5113, thereby increasing the volume of the gas in the float chamber 5111 and increasing the size of the buoyancy to which the cleaning device 10 is subjected in the vertical direction. It can be understood that the upward buoyancy to which the cleaning device 10 as a whole is subjected in the vertical direction is positively correlated with the volume of the gas in the float chamber 5111.
  • the gas in the above-mentioned float chamber 5111 can be obtained in a variety of ways.
  • the first gas source is that the gas is directly obtained from the outside.
  • the cleaning device 10 moves along the target side wall 402 of the target area 40 to the position of the liquid surface 30 to obtain external gas.
  • the external gas enters the float chamber 5111 through the air inlet 5113, thereby changing the volume of the gas in the float chamber 5111.
  • the second gas source is that the gas is obtained from the outside at intervals. That is, the cleaning device 10 is provided with an extension pipe (not shown). The extension pipe is connected to the air inlet 5113. The end of the extension pipe away from the air inlet 5113 extends out of the water surface, directly exhausts and increases gas, changes the volume of the gas in the float chamber 5111, and thus avoids the cleaning device 10 climbing the wall from the target area 40 to the liquid surface 30 before changing the volume of the gas in the float chamber 5111.
  • the third gas source is to set a gas-making component (not shown) in the cleaning device 10.
  • the gas-making component can form a certain amount of gas, and change the volume of the gas in the float chamber 5111 through the gas, thereby avoiding the cleaning device 10 from climbing the wall from the target area 40 to the liquid surface 30 to change the volume of the gas in the float chamber 5111, etc., to improve convenience.
  • the above-mentioned gas-making component can generate gas by itself in the form of chemical reaction, electrolysis, boiling water, etc., thereby increasing the volume of gas in the float chamber 5111 or reducing the volume of liquid in the float chamber 5111.
  • the gas in the above-mentioned floating chamber 5111 can also be compressed by a compression cylinder (not shown) to reduce the volume of the gas in the floating chamber 5111, thereby achieving the diving of the cleaning device 10.
  • the buoyancy adjustment component 511 may not include the air inlet 5113, and the gas volume can be changed inside the buoyancy adjustment component 511, such as increasing the gas volume in the floating chamber 5111 by the gas-making component, and reducing the gas volume in the floating chamber 5111 by the compression cylinder.
  • other implementation methods for increasing or reducing the gas volume can also be used, which are not limited here.
  • the buoyancy adjusting member can also be used to adjust the volume of the liquid in the float chamber 5111.
  • the cleaning device 10 can adjust the volume of the liquid in the float chamber 5111 through the buoyancy adjusting member to adjust the volume of the liquid in the float chamber 5111, thereby changing the buoyancy it experiences in the liquid.
  • the buoyancy adjusting member can extract the liquid in the float chamber 5111 to increase the buoyancy experienced by the cleaning device 10 in the vertical direction. It can be understood that the upward buoyancy experienced by the cleaning device 10 as a whole in the vertical direction is negatively correlated with the volume of the liquid in the float chamber 5111.
  • the liquid in the float chamber 5111 can be discharged through the air inlet 5113 or other inlets and outlets.
  • the air inlet 5113 may be connected to the gas or not.
  • a gas inlet 5113 may be provided.
  • a one-way valve is provided. The one-way valve can prevent the external water of the cleaning device body 101 from entering the float chamber 5111 through the air inlet 5113.
  • the air inlet 5113 can also be connected to gas.
  • the air inlet 5113 can be connected to the gas on the liquid surface 30.
  • the air inlet 5113 can be connected to a gas tank or a gas generating device.
  • the gas tank is filled with gas.
  • the gas generating device can automatically form gas.
  • the above-mentioned gas enters the float chamber through the air inlet 5113, which can change the pressure in the float chamber 5111 so that the pressure of the float chamber 5111 is in a stable state, which facilitates the discharge of liquid from the float chamber 5111.
  • the buoyancy adjusting member can be various structures that can adjust the gas and/or liquid in the float chamber 5111. As shown in Figure 6, the buoyancy adjusting member may include a float chamber pump 5112.
  • the float chamber pump 5112 can drive the float chamber 5111 to discharge the liquid therein.
  • the float chamber pump 5112 may include but is not limited to a pneumatic pump, a hydraulic pump or an electric pump. When the float pump 5112 is in working state, it can adjust the liquid and/or gas in the float chamber 5111.
  • the buoyancy adjustment member can also be other structures.
  • the buoyancy adjustment member can also be a piston assembly arranged inside the float chamber 5111, and the volume of the gas and/or liquid in the float chamber 5111 is adjusted by moving the piston assembly inside the float chamber 5111.
  • the buoyancy adjustment component 511 may also include an air inlet 5113.
  • the aforementioned air inlet 5113 is used to supply gas to enter the float chamber 5111.
  • the aforementioned air inlet 5113 can also be used to supply gas to leave the float chamber 5111, or to supply liquid to enter or leave the float chamber 5111.
  • the buoyancy adjustment component 511 may also include other inlets and outlets to facilitate the departure of gas or the entry or exit of liquid.
  • the air inlet 5113 can be directly arranged on the float chamber 5111, or it can be independent of the float chamber 5111.
  • the air inlet 5113 can be arranged on the housing of the cleaning device 10 to facilitate communication with the outside (such as external liquid or external air) to exchange gas and/or liquid. As shown in Figure 5, the air inlet 5113 can be arranged above the front section tail of the cleaning device 10, so that the air inlet 5113 can be faster in the process of the cleaning device 10 floating and communicate with the external air on the liquid surface 30.
  • the buoyancy adjustment assembly 511 may further include a connecting pipe 5114.
  • the connecting pipe 5114 is used to transport gas or liquid.
  • the connecting pipe 5114 may connect one or more of the float chamber 5111, the buoyancy adjustment member, and the air inlet 5113.
  • the buoyancy adjustment assembly 511 may include two float chambers 5111, a float chamber pump 5112, an air inlet 5113, and a connecting pipe 5114.
  • the float chamber 5111 may be connected to the float chamber pump 5112 via the connecting pipe 5114, and the float chamber pump 5112 may be connected to the air inlet 5113 via the connecting pipe 5114.
  • the float chamber pump 5112 When the float chamber pump 5112 is in a non-working state, it has the same function as a one-way valve, and can prevent external liquid and/or liquid from entering the float chamber 5111 through the air inlet 5113.
  • a one-way valve is provided at the connecting pipe 5114 to prevent external liquid and/or liquid from entering the float chamber 5111 through the air inlet 5113 .
  • the cleaning device 10 can move to a position close to the liquid level 30, and determine when to control the float chamber pump 5112 to inject gas into the float chamber 5111.
  • the cleaning device 10 needs to switch from below the liquid level 30 to above the liquid level 30, please refer to Figure 17 and its related description.
  • the cleaning device 10 can move to a position close to the liquid level 30 on the target side wall 402 of the target area 40, and determine when to control the buoyancy adjustment member to increase the volume of the gas in the float chamber 5111.
  • the cleaning device 10 when the cleaning device 10 needs to switch from below the liquid surface 30 to above the liquid surface 30, the cleaning device 10 can also move to a position close to the liquid surface 30 based on the first driving force generated by the first propeller 131, and determine when it is necessary to control the buoyancy adjustment member to increase the volume of the gas in the float chamber 5111. For more information about the first propeller 131 and the first driving force, see below.
  • the cleaning device 10 may include a first sensor (not shown).
  • the first sensor can be used to determine the position of the cleaning device 10 in real time.
  • the aforementioned position may include the vertical position (or depth) of the cleaning device 10 in the liquid.
  • the first sensor can be set at the center position of the cleaning device 10, and the aforementioned position can be the depth of the center position of the cleaning device 10 in the liquid.
  • the first sensor may include but is not limited to a pressure sensor, an ultrasonic sensor or an optical sensor, etc.
  • the cleaning device 10 can also be controlled to travel at a preset depth, such as cleaning in water at a preset depth, or traveling toward a charging device set at the pool wall at a preset depth, etc.
  • the cleaning device 10 may further include a processor 52 (not shown).
  • the processor 52 may be a microcontroller, an embedded processor 52 or an application specific integrated circuit (ASIC), etc.
  • the processor 52 may obtain various data information of the cleaning device 10, and analyze and process it to control various components in the cleaning device 10.
  • the processor 52 may obtain the position of the cleaning device 10 in real time from the first sensor, and when the position of the cleaning device 10 meets the preset conditions, the processor 52 may control the buoyancy adjustment member to increase the volume of the gas in the floating chamber 5111.
  • the preset conditions may include that the position of the cleaning device 10 is higher than the preset height.
  • the processor 52 may determine whether the position of the cleaning device 10 meets the preset conditions, thereby determining whether the air inlet 5113 in the cleaning device 10 is above the liquid level 30.
  • the processor 52 can determine that the air inlet 5113 on the cleaning device 10 is above the liquid surface 30, and the processor 52 can control the float chamber pump 5112 to discharge the liquid in the float chamber 5111, and the air can enter the float chamber 5111 from the air inlet 5113, thereby increasing the volume of the gas in the float chamber 5111 and increasing the buoyancy of the cleaning device 10.
  • the buoyancy of the cleaning device 10 in the vertical direction is greater than its gravity, the cleaning device 10 shown in FIG7 can be switched to the cleaning device 10 shown in FIG8.
  • the cleaning device 10 may further include a second sensor (not shown).
  • the second sensor may be used to detect in real time whether the air inlet 5113 of the float chamber 5111 is located in the air.
  • the second sensor may be an ultrasonic sensor.
  • the second sensor may be disposed at the air inlet 5113 of the float chamber 5111.
  • the second sensor may also be disposed at other positions of the cleaning device 10, and through position conversion, a detection result of whether the air inlet 5113 is located in the air is obtained.
  • the processor 52 can obtain a detection result of whether the position of the air inlet 5113 of the float chamber 5111 is located in the air.
  • the buoyancy adjustment member is controlled to increase the volume of the gas in the float chamber 5111, so as to achieve the switching of the cleaning device 10 from below the liquid level 30 to above the liquid level 30.
  • the processor 52 can control the buoyancy adjustment member to reduce the volume of the gas in the float chamber 5111.
  • the float chamber pump 5111 can discharge gas from the float chamber 5111 via the connecting pipe 5114, thereby reducing the volume of the gas in the float chamber 5111 to reduce the buoyancy, so that the cleaning device 10 switches from above the liquid level 30 to below the liquid level 30.
  • the buoyancy adjustment component 511 By setting the buoyancy adjustment component 511, the buoyancy size of the cleaning device 10 in the vertical direction can be adjusted, so as to realize the flexible switching of the cleaning device 10 above and below the liquid level 30, and improve the working efficiency and reliability of the cleaning device 10 in the liquid environment.
  • the cleaning device 10 can automatically determine the environment in which the air inlet 5113 is located, thereby improving the use efficiency of the cleaning device 10.
  • the switching of the cleaning device 10 above the liquid surface and below the liquid surface includes running from the first motion state to the third motion state, and running from the third motion state to the first motion state. It is understandable that during the switching process between the first motion state and the third motion state, the cleaning device 10 can use the mode switching member 510, the first sensor, and the second sensor, etc., which are provided therein.
  • the float chamber pump 5112 is started to adjust the amount of gas in the float chamber 5111.
  • the mode switching of the cleaning device 10 can be switched from the first motion state to the third motion state until the air inlet 5113 is exposed to the water surface, and then the posture of the cleaning device 10 is adjusted to the third motion state, thereby completing the switch from below the liquid surface to above the liquid surface.
  • the cleaning device 10 After the cleaning device 10 completes the water surface cleaning or completes the dust box 711 cleaning on the water surface or completes the charging on the water surface, it is necessary to switch from the third motion state to the first motion state to continue the pool bottom cleaning.
  • the float chamber pump 5112 can be started in the third motion state or the amount of gas in the float chamber 5111 can be adjusted to reduce its buoyancy.
  • the cleaning device 10 switches from the third motion state to the first motion state under the action of gravity.
  • the posture sensor provided on the cleaning device 10 can be combined with the controller to control the posture stability of the cleaning device 10 during the state switching process.
  • the float chamber 5111 can be a hard closed space, and water is injected or drained into the float chamber 5111 through the buoyancy adjusting member.
  • the buoyancy adjusting member injects water into the float chamber 5111, the gas in the float chamber 5111 is discharged, thereby facilitating the diving of the cleaning device 10.
  • the buoyancy adjusting member drains water into the float chamber 5111, the liquid in the float chamber 5111 is discharged, thereby reducing the overall gravity of the cleaning device 10 and facilitating the floating of the cleaning device 10.
  • the switching can be achieved by means of the drainage operation of the float chamber 5111 and other upward power, and the cleaning device 10 does not need to pass through the second motion state.
  • the switching can be achieved by means of the water injection operation of the float chamber 5111 and other downward power.
  • the amount of gas in the float chamber 5111 is adjusted to the gas threshold so that the cleaning device 10 is balanced in the vertical direction.
  • the cleaning device 10 cleans the pool wall, it is not affected by the vertical direction so that the cleaning device 10 can fit the pool wall and can better clean the pool wall.
  • the float chamber 5111 has a first amount of gas.
  • the float chamber 5111 has a second amount of gas.
  • the gas threshold is between the second gas amount and the first gas amount.
  • the amount of liquid in the float chamber 5111 is adjusted to the liquid threshold so that the cleaning device 10 is balanced in the vertical direction.
  • the cleaning device 10 cleans the pool wall, it is not affected by the vertical direction so that the cleaning device 10 can fit the pool wall and clean the pool wall.
  • the float chamber 5111 has a first amount of liquid.
  • the float chamber 5111 has a second amount of liquid.
  • the liquid threshold is between the second amount of liquid and the second amount of liquid.
  • the mode switching member 510 may further include a propulsion assembly.
  • the propulsion assembly may be used to adjust the first driving force received by the cleaning device 10 in the vertical direction.
  • the propulsion assembly may be various structures that can provide the first driving force.
  • the propulsion assembly may be a propeller, and the aforementioned propeller may be vertically arranged on the cleaning device 10. By rotating the aforementioned propeller, the cleaning device 10 may obtain the first driving force in the vertical direction.
  • the first driving force in the vertical direction may be upward or downward, and under the action of the first driving force, the cleaning device 10 may move upward or downward in the vertical direction, or may be suspended at a certain position in the liquid.
  • the propulsion assembly may include a first propeller 131.
  • the first propeller 131 can be used to propel the liquid to move along a first preset direction.
  • the first preset direction can be the direction in which the first propeller 131 discharges the liquid.
  • the cleaning device 10 may be subjected to a reaction force opposite to the first preset direction, and the aforementioned reaction force may include a first driving force.
  • the first preset direction at least includes an inclination in the vertical direction to ensure that the aforementioned reaction force obtained has a component force in the vertical direction, that is, the first driving force, so the angle between the first preset direction and the vertical direction can be [0°, 90°).
  • the magnitude of the first driving force may be positively correlated with the speed of the liquid moving along the first preset direction. The greater the speed of the liquid moving along the first preset direction, the greater the reaction force in the opposite direction to the first preset direction on the cleaning device 10, and the greater the first driving force in the vertical direction.
  • the magnitude of the first driving force may also be negatively correlated with the angle between the first preset direction and the vertical direction.
  • the speed of the liquid moving along the first preset direction is the same, the larger the angle between the first preset direction and the vertical direction, the smaller the first driving force of the cleaning device 10 in the vertical direction.
  • the angle between the first preset direction and the vertical direction is 0 degrees, the aforementioned reaction force received by the cleaning device 10 can be completely converted into the first driving force in the vertical direction.
  • the cleaning device 10 may include one or more first propellers 131.
  • the first propeller 131 may be arranged at various positions in the cleaning device 10. As shown in Figures 9 and 13, the first propeller 131 may be arranged vertically at the center of the cleaning device 10 to ensure the balance of the cleaning device 10 during movement.
  • the first propeller 131 may include a first propulsion impeller 1311 and a first propulsion motor 1312.
  • the first propulsion impeller 1311 may drive the liquid to move along the first preset direction by rotation, and when the liquid moves along the first preset direction, the cleaning device 10 is subjected to the first driving force in the vertical direction.
  • the first propulsion motor 1312 may provide power for the aforementioned first propulsion impeller 1311.
  • the first propeller 131 in the cleaning device 10 may include two first propulsion openings 1313.
  • a first propulsion opening 1313 of the first propeller 131 may be located at the top of the cleaning device 10, and another first propulsion opening 1313 of the first propeller 131 may be located at the bottom of the cleaning device 10.
  • the first propulsion impeller 1311 can be driven by the first propulsion motor 1312 to suck liquid from one of the two first propulsion openings 1313 and discharge it from the other first propulsion opening 1313, so that the cleaning device 10 obtains a first driving force in the vertical direction.
  • the cleaning device 10 can also adjust the first preset direction by adjusting the rotation direction of the first propulsion impeller 1311 (e.g., forward rotation, reverse rotation), thereby adjusting the direction of the first driving force, so as to achieve the position switching of the cleaning device 10 above and below the liquid surface 30.
  • the cleaning device 10 can quickly and conveniently achieve the position switching of the cleaning device 10 above and below the liquid surface 30.
  • the cleaning device 10 can also move in the horizontal direction of the target area 40.
  • the cleaning device 10 can also include a second propeller 132.
  • the second propeller 132 can push the liquid to move along the second preset direction to generate a second driving force in the horizontal direction.
  • the cleaning device 10 can achieve movement in the horizontal direction under the action of the second driving force.
  • the second preset direction can be the direction in which the second propeller 132 discharges the liquid.
  • the second preset direction at least includes an inclination in the horizontal direction to ensure that the aforementioned reaction force obtained has a component force in the horizontal direction, that is, the second driving force, so the angle between the second preset direction and the horizontal direction can be [0°, -90°).
  • the magnitude of the second driving force can be positively correlated with the speed of the liquid moving along the second preset direction.
  • the greater the speed of the liquid moving along the second preset direction the greater the reaction force opposite to the second preset direction that the cleaning device 10 is subjected to, and the greater its second driving force in the horizontal direction.
  • the magnitude of the second driving force can also be negatively correlated with the angle between the second preset direction and the horizontal direction.
  • the speed of the liquid moving along the second preset direction is the same, the greater the angle between the second preset direction and the horizontal direction, the smaller the second driving force of the cleaning device 10 in the horizontal direction.
  • the angle between the second preset direction and the horizontal direction is 0°, the aforementioned reaction force subjected to the cleaning device 10 can completely switch the second driving force subjected to the cleaning device 10 in the horizontal direction.
  • the second propeller 132 may also include a second propulsion impeller (not shown) and a second propulsion motor (not shown).
  • a second propulsion impeller (not shown)
  • a second propulsion motor (not shown).
  • the first preset direction is roughly perpendicular to the direction in which the cleaning device 10 as a whole is located, that is, perpendicular to the plane direction in which the cleaning device 10 contacts the surface to be cleaned
  • the second preset direction is roughly parallel to the direction in which the cleaning device 10 as a whole is located, that is, parallel to the plane direction in which the cleaning device 10 contacts the surface to be cleaned, and consistent with the direction of travel of the cleaning device 10.
  • the cleaning device 10 may include one or more second propellers 132.
  • the second propeller 132 may be arranged at the bottom of the cleaning device 10.
  • the second propeller 132 may be horizontally arranged at the center of the bottom of the cleaning device 10 to ensure the balance of the cleaning device 10.
  • the second propeller 132 when the second propeller 132 is disposed on the side of the cleaning device 10 , the second propeller 132 may be disposed at a position completely below the floating position of the cleaning device 10 on the liquid surface 30 .
  • At least one second propeller 132 may be provided on the left and right sides of the cleaning device 10, respectively. As shown in FIG9 , a second propeller 132 may be provided on the left and right sides of the cleaning device 10.
  • the cleaning device 10 may adjust the power of the first propulsion motor 1312 of the second propeller 132 on the left and right sides, respectively, to adjust the motion speed of the second propeller 132 on the left and right sides to push the liquid to move in the second preset direction, thereby realizing the turning of the cleaning device 10.
  • the cleaning device 10 may turn toward the right side.
  • the position switching of the cleaning device 10 in the horizontal direction may be realized, for example, going straight or turning in the horizontal direction, thereby expanding the function of the cleaning device 10 to make it suitable for more usage scenarios.
  • the walking propulsion mechanism 100 includes a first wheel 1121 and a second wheel 1122.
  • the first wheel 1121 includes two.
  • the second wheel 1122 includes two.
  • the two first wheels 1121 are arranged at the front end of the bottom of the cleaning device body 101.
  • the two second wheels 1122 are arranged at the rear end of the bottom of the cleaning device body 101.
  • the outer side of the first wheel 1121 is provided with a driving pattern 11211.
  • the driving pattern 11211 is detachably or fixedly connected to the outer side of the first wheel 1121.
  • the driving pattern 11211 is at least partially located below the liquid level 30, which is used to adjust the second driving force received by the cleaning device 10 in the horizontal direction. That is, when the cleaning device 10 moves on the liquid surface 30, the driving pattern 11211 is at least partially exposed on the liquid surface 30, and the driving pattern 11211 is at least partially located below the liquid surface 30.
  • the rotation of the first wheel 1121 drives the driving pattern 11211 to rotate, and the driving pattern 11211 located below the liquid surface 30 generates a certain force with the liquid, which is used to adjust the second driving force received by the cleaning device 10 in the horizontal direction, so that the cleaning device 10 moves forward in the second direction.
  • the driving pattern 11211 is completely immersed in the liquid, and the forward force of the cleaning device 10 in the second direction and the backward force of the cleaning device 10 in the second direction cancel each other out, so that the cleaning device 10 walking on the target bottom wall 401 is not affected.
  • a second driving force in a second direction can be provided to the cleaning device 10, thereby pushing the cleaning device 10 to move forward and backward along the second direction. Since the driving pattern 11211 has the same function as the second propeller 132, to some extent, the driving pattern 11211 can replace the second propeller 132, thereby reducing the number of parts and costs, and also reducing weight.
  • the number of driving patterns 11211 may be, but is not limited to, three, four, five, six or more.
  • first wheels 1121 are arranged at the front end of the bottom of the cleaning device body 101.
  • Two second wheels 1122 are arranged at the rear end of the bottom of the cleaning device body 101.
  • the first wheel 1121 and the second wheel 1122 can drive the cleaning device 10 to move in the horizontal direction.
  • the operation of the first wheel 1121 and the second wheel 1122 can drive the cleaning device 10 to move on the target bottom wall 401, the target side wall 402 and the target side wall 402 from the target bottom wall 401.
  • the walking propulsion mechanism 100 includes a crawler 111.
  • the first wheel 1121 and the second wheel 1122 are connected by the crawler 111.
  • the operation of the crawler 111 can drive the cleaning device 10 to move.
  • the crawler 111 can drive the cleaning device 10 to move in the horizontal direction.
  • the operation of the crawler 111 can drive the cleaning device 10 to move on the target bottom wall 401.
  • the crawler 111 can also drive the cleaning device 10 to move in the vertical direction.
  • the operation of the crawler 111 can also drive the cleaning device 10 to move on the target side wall 402. Among them, more about how the cleaning device 10 can be close to the target side wall 402 of the target area 40 is referred to below.
  • the crawler 111 can also realize the conversion of the travel area of the cleaning device 10 from the target bottom wall 401 to the target side wall 402.
  • the crawler 111 moves to the junction of the target bottom wall 401 and the target side wall 402
  • a part of the crawler 111 moves on the target side wall 402
  • a part of the crawler 111 moves on the target bottom wall 401.
  • the part of the crawler 111 on the target side wall 402 can drive the cleaning device 10 to move upward until the travel area of the cleaning device 10 is converted from the target bottom wall 401 to the target side wall 402.
  • the cleaning device 10 can move on the target side wall 402 driven by the crawler 111, and the cleaning device 10 can also move on the target side wall 402 under the action of the second driving force provided by the second propeller 132 after the steering, and the cleaning device 10 can also move on the target side wall 402 under the action of the third driving force provided by the main water pump 210. More about the main water pump 210 and the third driving force provided by it can be found below.
  • the cleaning equipment 10 may also include the main water pump 210.
  • the main water pump 210 can be used to drive the cleaning equipment 10 to suck the liquid from the liquid inlet 103 and discharge it from the liquid outlet 104.
  • the liquid inlet 103 may include one or more entrances for liquid to enter the cleaning equipment 10, such as the first water inlet 1031, the second water inlet 1032, etc.
  • the liquid inlet 103 includes the main water pump water inlet 213. As shown in Figures 9, 13, 14 and 15, the main water pump water inlet 213 in the cleaning equipment 10 can be used as the entrance for liquid to enter the cleaning equipment 10, wherein the main water pump water inlet 213 can be the first water inlet 1031 or the second water inlet 1032.
  • the liquid outlet 104 may include an outlet for liquid in one or more cleaning devices 10 to leave the cleaning device 10 and enter the target area 40.
  • the liquid outlet 104 includes a main water pump outlet 214.
  • the main water pump outlet 214 may be a first outlet. As shown in Figures 9, 13, 14, and 15, the main water pump outlet 214 in the cleaning device 10 may serve as an outlet for liquid in the cleaning device 10 to leave the cleaning device 10 and enter the target area 40.
  • the main water pump 210 may also include a first propulsion impeller 1311 and a first propulsion motor 1312.
  • the main water pump impeller 212 may rotate under the drive of the main water pump motor 211, so as to suck the liquid in the target area 40 from the liquid inlet 103, and discharge the liquid in the cleaning device 10 to the target area 40 through the liquid outlet 104.
  • the cleaning device 10 can switch the functions of the main water pump water inlet 213 and the main water pump water outlet 214 by adjusting the rotation direction of the main water pump impeller 212 in the main water pump 210.
  • the main water pump water inlet 213 can be used for liquid discharge
  • the main water pump water outlet 214 can be used for liquid entry.
  • the liquid outlet 104 (e.g., the main water pump outlet 214) may at least face the target area 40 and be parallel to the horizontal direction or tilted downward in the vertical direction, thereby ensuring that the main water pump 210
  • the cleaning device 10 can obtain a third driving force to drive the cleaning device 10 to be closely attached to the target side wall 402.
  • the third driving force can be the reaction force obtained by the cleaning device 10 when the main water pump 210 discharges liquid from the main water pump outlet 214.
  • the main water pump outlet 214 is toward the target area 40 and parallel to the horizontal direction, the third driving force obtained by the cleaning device 10 is vertically toward the target side wall 402, so that the cleaning device 10 can be closely attached to the target side wall 402.
  • the main water pump outlet 214 can be oriented toward the target area 40 and tilted downward in the vertical direction.
  • the third driving force obtained by the cleaning device 10 has a component force toward the target side wall 402 in the horizontal direction, which can make the cleaning device 10 close to the target side wall 402; on the other hand, the aforementioned third driving force can also have an upward component force in the vertical direction, so that the cleaning device 10 can also move upward along the target side wall 402.
  • the third driving force obtained by the main water pump 210 through the aforementioned main water pump outlet 214 can also have a component force in the horizontal direction, so that the cleaning device 10 can also move on the target bottom wall 401.
  • the main water pump water inlet 213 may be disposed at the bottom of the cleaning device 10.
  • the main water pump 210 may suck liquid from the main water pump water inlet 213, thereby obtaining a fourth driving force to drive the cleaning device 10 to cling to the target side wall 402.
  • the fourth driving force may be the suction force generated by the main water pump 210 sucking water from the main water pump water inlet 213, and the aforementioned suction force may drive the cleaning device 10 to cling to the target side wall 402.
  • the main water pump 210 in the cleaning device 10 can drive the cleaning device 10 to be close to the target side wall 402, and the track 111, the second propeller 132 and at least one of the main water pump 210 in the cleaning device 10 can provide an upward driving force in the vertical direction to drive the cleaning device 10 to move upward on the target side wall 402, and the track 111 and at least one of the second propeller 132 in the cleaning device 10 can also provide a downward driving force in the vertical direction to drive the cleaning device 10 to move downward on the target side wall 402.
  • the cleaning device 10 can be closely attached to the target side wall 402, thereby limiting the position of the cleaning device 10, facilitating the cleaning device 10 to move on the target side wall 402, and completing the position conversion of the cleaning device 10 from below the liquid surface 30 to above the liquid surface 30.
  • the cleaning device 10 includes a main water pump inlet 213 and a main water pump outlet 214.
  • the main water pump inlet 213 and the main water pump outlet 214 are rotatably arranged on the cleaning device body 101, so that the flow direction of the liquid at the main water pump inlet 213 and the main water pump outlet 214 rotates, thereby changing the flow direction of the liquid in real time, so that the cleaning device 10 obtains propulsion in different directions.
  • the cleaning device 10 includes one or two groups of first power water inlet (not shown) and first power water outlet (not shown).
  • the number of the first power water inlet and the first power water outlet can be one or two groups, and the number can be determined according to the setting of the first propeller 131 and the second propeller 132.
  • the cleaning device 10 includes the first propeller 131 or the second propeller 132
  • the cleaning device 10 includes one group of first power water inlet and the first power water outlet.
  • the first power water inlet and the first power water outlet include two groups.
  • a group of first power water inlet and first power water outlet are arranged on the cleaning device 10.
  • the first propeller 131 is connected to the first power water inlet and the first power water outlet.
  • liquid is sucked from one of the first power water inlet and the first power water outlet, and discharged from the other of the first power water inlet and the first power water outlet, so that the cleaning device 10 obtains a first driving force in the vertical direction.
  • a group of first power water inlet and the first power water outlet are extended in the vertical direction.
  • the first propeller 131 is the first propeller 131
  • the first power water inlet is the above-mentioned first propulsion opening 1313.
  • the second power water outlet is the above-mentioned other first propulsion opening 1313.
  • first power water inlet and first power water outlet is provided on the cleaning device 10.
  • the second propeller 132 is connected to the first power water inlet and the first power water outlet.
  • liquid is sucked from one of the other first power water inlet and the other first power water outlet, and discharged from the other of the other first power water inlet and the other first power water outlet, so that the cleaning device 10 obtains a second driving force in the horizontal direction.
  • another set of first power water inlet and first power water outlet are extended in the horizontal direction.
  • the cleaning device 10 may include but is not limited to the first propeller 131, the first drum fan, and the first water pump.
  • the cleaning device 10 may include but is not limited to the second propeller 132, the second drum fan, and the second water pump.
  • the propeller, the drum fan, and the water pump are connected to the first power water inlet and the first power water outlet.
  • the cleaning device 10 includes one or two sets of second power water inlet (not shown) and second power water outlet (not shown).
  • the second power water inlet and the second power water outlet are rotatably arranged on the cleaning device 10. That is, the arrangement of the second power water inlet and the second power water outlet is different from the arrangement of the first power water outlet described above. That is, the angles of the second power water inlet and the second power water outlet can be adjusted, which can change the direction of liquid flow.
  • a set of first propellers 131 are connected to the second power water inlet and the second power water outlet.
  • the propulsion force includes a first driving force in the vertical direction.
  • the second propeller 132 is connected to the second power water inlet and the second power water outlet.
  • the second propeller 132 When the second propeller 132 is working, liquid is sucked from one of the other second power water inlet and the other second power water outlet, and discharged from the other of the other second power water inlet and the other second power water outlet. Since the second power water inlet and the second power water outlet are rotatably arranged on the cleaning device 10, the cleaning device 10 obtains propulsion forces in different directions. Among them, the propulsion force includes a second driving force in the horizontal direction.
  • the second power water inlet can cooperate with a power motor and a power transmission mechanism to realize the rotation of the second power water inlet relative to the cleaning device 10.
  • the second power water outlet can cooperate with another power motor and another power transmission mechanism to realize the rotation of the second power water outlet relative to the cleaning device 10.
  • the first power water inlet and the first power water outlet are arranged on the cleaning equipment 10, and the propulsion force in different directions is provided by adjusting the direction of the water spray pipe (not shown).
  • the first propeller 131 includes a water pump
  • the water pump is connected to the water spray pipe with the first power water outlet.
  • the water spray pipe can have different angles.
  • propulsion force in different directions can be provided.
  • the propulsion force may include a first driving force in the vertical direction.
  • the propulsion force may include a second driving force in the horizontal direction.
  • a first guide structure (not shown) is provided on the path of the first power water inlet, the first propeller 131, and the first power water outlet, and the liquid flow direction is changed by the first guide structure, thereby providing propulsion forces in different directions.
  • a second guide structure (not shown) is provided on the path of the first power water inlet, the second propeller 132, and the first power water outlet, and the liquid flow direction is changed by the second guide structure, thereby providing propulsion forces in different directions.
  • the specific structures of the first guide structure and the second guide structure are not limited, and they can change the liquid flow direction, and are not limited here.
  • Fig. 15 is a schematic diagram of the structure of the fourth embodiment of the cleaning device of the present disclosure.
  • the cleaning device 10 may include a control member (not shown).
  • the control member in the cleaning device 10 controls the cleaning device 10 to switch positions on the surface and underwater of the swimming pool to achieve surface cleaning or underwater cleaning.
  • the filtering mechanism includes a dust box 711.
  • the dust box 711 can be used for surface cleaning and underwater cleaning of the swimming pool. As shown in Figures 15 and 16, the dust box 711 can include a dust box water inlet 716.
  • the dust box water inlet 716 is connected to the liquid inlet 103.
  • the dust box water inlet 716 is an inlet for garbage or other impurities in the swimming pool to enter the cleaning device 10.
  • the dust box water inlet 716 may include a water surface dust box opening 7161.
  • the water surface dust box opening 7161 may be used as an entrance for garbage or impurities on the surface of the swimming pool to enter the dust box 711.
  • the water surface dust box opening 7161 may be disposed on the side (e.g., front side) or the top or bottom of the cleaning device 10, and includes a floating position of the cleaning device 10 when floating on the water surface, so that garbage or other impurities on the surface of the swimming pool may enter the dust box 711 along with the liquid through the water surface dust box opening 7161.
  • the floating position of the cleaning device 10 when floating on the water surface may be located at the midline position or 1/3 position of the water surface dust box opening 7161, and the cleaning device 10 is in a normal posture.
  • the floating position of the cleaning device 10 when floating on the water surface can be the position where the water surface dust box opening 7161 at the top, bottom or side is close to the water surface, and the cleaning device 10 is in an inverted posture.
  • the dust box water inlet 716 may further include an underwater dust box port 7162.
  • the underwater dust box port 7162 may be used as an entrance for garbage or impurities in the swimming pool water to enter the dust box 711.
  • the underwater dust box port 7162 may be provided below the floating position of the cleaning device 10 on the water surface.
  • the underwater dust box port 7162 may be provided at the bottom of the cleaning device 10.
  • the underwater dust box port 7162 may also be provided on the side below the floating position of the cleaning device 10 on the water surface.
  • the dust box 711 may further include a dust box roller brush assembly 717.
  • the dust box 711 may include one or more dust box roller brush assemblies 717.
  • the dust box roller brush assembly 717 may be used to roll garbage or impurities on the water surface into the dust box 711 when cleaning the swimming pool surface, thereby improving the water surface cleaning efficiency.
  • the dust box roller brush assembly 717 may be disposed in the water surface dust box opening 7161. As shown in FIG. 14, the dust box roller brush assembly 717 may be disposed inside the water surface dust box opening 7161.
  • the dust box roller brush assembly 717 can also be set outside the water surface dust box opening 7161 or on the water surface dust box opening 7161.
  • the dust box 711 further includes a water surface adjustment member (not shown) and an underwater adjustment member (not shown).
  • the water surface adjustment member is used to adjust the opening and closing state of the water surface dust box opening 7161.
  • the underwater adjustment member is used to adjust the opening and closing state of the underwater dust box opening 7162.
  • the control member can open or close the corresponding water surface dust box opening 7161 and/or underwater dust box opening 7162 by adjusting the water surface adjustment member and/or the underwater adjustment member.
  • the water surface adjustment member and the underwater adjustment member are both in the open state, that is, the water surface adjustment member opens the water surface dust box opening 7161, and the underwater adjustment member opens the water surface dust box opening 7162.
  • the water surface adjustment member is in a closed state, and the underwater adjustment member is in an open state, that is, the water surface adjustment member closes the surface dust box opening 7161, and the underwater adjustment member opens the underwater dust box opening 7162.
  • the suction force of the cleaning device 10 in the underwater dust box opening 7162 can be increased, avoiding the diversion of the surface dust box opening 7161, thereby improving the cleaning efficiency of the cleaning device 10 underwater.
  • both the water surface adjustment member and the underwater adjustment member can be in an open state, that is, the water surface adjustment member opens the water surface dust box port 7161, and the underwater adjustment member opens the water dust box port 7162.
  • the water surface adjustment member is in an open state
  • the underwater adjustment member is in a closed state, that is, the water surface adjustment member opens the water surface dust box port 7161, and the underwater adjustment member closes the water dust box port 7162.
  • the suction force of the cleaning device 10 at the water surface dust box port 7161 can be improved, and the water dust box port 7162 can be avoided from being diverted, thereby improving the cleaning efficiency of the cleaning device 10 underwater.
  • the opening and closing state of the water surface dust box opening 7161 can be adjusted by a water surface adjustment member; and/or, the opening and closing state of the underwater dust box opening 7162 can be adjusted by an underwater adjustment member.
  • the dust box 711 may further include a surface dust box opening cover plate 718 and an underwater dust box opening cover plate 719.
  • the surface adjustment member may include the surface dust box opening cover plate 718.
  • the underwater adjustment member may include an underwater dust box opening cover plate 719.
  • the surface dust box opening cover plate 718 is used to adjust the opening and closing state of the surface dust box opening 7161.
  • the surface dust box opening 7161 is in an open state, liquid on the surface of the swimming pool can enter the dust box 711 through the surface dust box opening 7161.
  • the surface dust box opening 7161 is in a closed state, liquid on the surface of the swimming pool cannot enter the dust box 711 through the surface dust box opening 7161.
  • the surface dust box opening cover plate 718 is disposed on the surface dust box opening 7161. As shown in FIG. 16 , the surface dust box opening cover plate 718 may be disposed in the surface dust box opening 7161. The water surface dust box opening cover 718 may also be disposed on the inner side of the water surface dust box opening 7161 , or on the outer side of the water surface dust box opening 7161 .
  • the underwater dust box opening cover 719 is used to adjust the opening and closing state of the underwater dust box opening 7162.
  • the underwater dust box opening cover 719 is arranged on the underwater dust box opening 7162.
  • the underwater dust box opening cover 719 is arranged in the underwater dust box opening 7162, inside the underwater dust box opening 7162, or outside the underwater dust box opening 7162.
  • the surface dust box opening cover plate 718 and the underwater dust box opening cover plate 719 may be movable parts.
  • the control member may open or close the corresponding dust box water inlet portion 716 by adjusting the surface dust box opening cover plate 718 and/or the underwater dust box opening cover plate 719.
  • the surface dust box opening cover plate 718 may be a rotatable part, and the control member may convert the surface dust box opening 7161 from a closed state to an open state by rotating the surface dust box opening cover plate 718.
  • the control member when the cleaning device 10 needs to perform underwater cleaning, can keep the surface dust box opening 7161 closed through the surface dust box opening cover 718, and keep the underwater dust box opening 7162 open through the underwater dust box opening cover 719, so as to prevent the surface dust box opening 7161 from diverting the liquid and ensure the suction force of the underwater dust box opening 7162, thereby improving the cleaning efficiency of the cleaning device 10 in water.
  • the surface dust box opening 7161 can also be in an open state.
  • the control member can keep the underwater dust box opening 7162 in a closed state through the underwater dust box opening cover 719, and keep the surface dust box opening 7161 in an open state through the surface dust box opening cover 718, so as to prevent the underwater dust box opening 7162 from diverting the liquid and ensure the suction force of the surface dust box opening 7161, thereby improving the cleaning efficiency of the cleaning device 10 on the water surface.
  • the underwater dust box opening 7162 can also be in an open state.
  • the water surface regulating member may also be a water surface regulating valve.
  • the underwater regulating member may also be a water regulating valve.
  • the opening of the water surface regulating valve and the water regulating valve may be determined by the working parameters of the main water pump 210, such as the working power of the main water pump 210.
  • the water surface regulating valve and the water regulating valve may be opened only after they meet a certain pressure threshold.
  • the working power of the main water pump 210 is greater than the pressure threshold of the water surface regulating valve, the water surface regulating valve opens the water surface dust box port 7161.
  • the working power of the main water pump 210 is less than the pressure threshold of the water surface regulating valve, the water surface regulating valve closes the water surface dust box port 7161.
  • the underwater regulating valve When the working power of the main water pump 210 is greater than the pressure threshold of the underwater regulating valve, the underwater regulating valve opens the water surface and water dust box port 7162. When the working power of the main water pump 210 is less than the pressure threshold of the underwater regulating valve, the underwater regulating valve closes the water dust box port 7162.
  • the above-mentioned water surface regulating valve and the water regulating valve may be, but are not limited to, duckbill valves, etc., and are not limited here.
  • the dust box 711 may further include other structures.
  • the dust box 711 may further include a filter layer.
  • the filter layer may be used to filter the liquid entering the dust box 711.
  • the control component can be used to control the cleaning device 10 to clean the swimming pool surface or underwater.
  • the control component can obtain a target task for cleaning a target swimming pool, wherein the target task includes surface cleaning and underwater cleaning; based on the target task and the current position of the cleaning device 10, determine the adjustment parameters of the cleaning device 10; based on the adjustment parameters, control the cleaning device 10 to drive the cleaning device 10 to move to the target position to complete the target task.
  • a cleaning device 10 By providing a cleaning device 10 with a cleaning device 10, multiple locations of the swimming pool, such as the bottom of the swimming pool, the inside of the water, and the surface of the water, can be cleaned in all directions, thereby ensuring the comprehensiveness of the swimming pool cleaning.
  • the cleaning device 10 may further include a garbage guide member 106.
  • the garbage guide member 106 may drive the garbage in the swimming pool liquid surface 30 into the water surface dust box opening 7161.
  • the garbage guide member 106 may be located outside the water surface dust box opening 7161, and may be hollow inside.
  • the port size of the first port 1061 away from the water surface dust box opening 7161 is larger than the size of the water surface dust box opening 7161, and the port size of the second port 1062 connected to the water surface dust box opening 7161 is not smaller than the size of the water surface dust box opening 7161.
  • the member 106 may include but is not limited to a hollow truncated cone, a trapezoidal body, or other structures.
  • the port size of the first port 1061 may be set in proportion to the water surface dust box opening 7161.
  • the size ratio of the first port 1061 to the water surface dust box opening 7161 may not exceed 10:1, so as to prevent too much garbage or impurities from entering the water surface dust box opening 7161 at the same time, thereby causing clogging of the water surface dust box opening 7161.
  • garbage guide member 106 garbage on a wider water surface can be accumulated together and enter the water surface dust box opening 7161, so as to avoid reducing the efficiency of water surface cleaning of the cleaning device 10 due to the water surface dust box opening 7161 being too small.
  • the cleaning device 10 may also include an underwater roller brush 411.
  • the underwater roller brush 411 can be used to clean the target bottom wall 401 and the target side wall 402 of the swimming pool.
  • the cleaning device 10 may include one or more underwater roller brushes 411.
  • the underwater roller brush 411 may be arranged at the bottom and/or the side of the cleaning device 10.
  • an underwater roller brush 411 may be respectively arranged at the front and rear ends of the bottom of the cleaning device 10.
  • the underwater roller brush 411 can clean the bottom of the swimming pool (e.g., clean impurities or algae); when the cleaning device 10 moves on the wall of the swimming pool, the underwater roller brush 411 can also clean the wall of the swimming pool.
  • FIG28 is an exemplary flow chart of the liquid cleaning control method of the present disclosure.
  • Process 1000 can be applied to the cleaning device 10 and executed by the control component. As shown in FIG28, process 1000 can include the following steps:
  • Step 1010 obtaining a target task of cleaning a target swimming pool.
  • the target swimming pool may be a swimming pool that needs to be cleaned.
  • the target task may be a cleaning task that needs to be performed on the target swimming pool.
  • the target task may include surface cleaning and/or underwater cleaning, wherein surface cleaning may refer to cleaning the surface of the target swimming pool, and underwater cleaning may refer to cleaning the underwater of the target swimming pool (e.g., in the water body, on the pool wall, etc.).
  • the target task may also include a specific cleaning unit 4311.
  • underwater cleaning may also include, but is not limited to, water body cleaning, pool bottom cleaning, and cleaning of each pool wall.
  • the control member can obtain the target task in a variety of ways.
  • the control member can obtain the target task input by the user.
  • the control member can be set to perform the target task regularly, such as performing surface cleaning once every 3 days and performing underwater cleaning once every 2 days.
  • the cleaning device 10 can also include a detection member, and the aforementioned detection member can perform water quality detection on the target swimming pool to obtain water quality data of the target swimming pool.
  • the control member can obtain the aforementioned water quality data and determine the target task based on the water quality data.
  • the water quality data can be data reflecting the water quality of the target swimming pool.
  • the water quality data includes but is not limited to the surface picture, the water picture, and each pool wall picture of the target swimming pool.
  • the control member can input the water quality data into the task determination model, and the output of the task determination model can include the target task.
  • the task determination model can analyze the water quality data of the target swimming pool, determine the cleanliness of each area (such as the water surface, the water, each pool wall, etc.) (such as clarity, algae distribution, impurity situation, etc.), so as to determine the corresponding target task.
  • the task determination model can be a convolutional neural network model, a graph neural network or any other machine learning model that can realize this function.
  • the task determination model can be trained based on multiple sets of labeled training samples, where the training samples can include sample water quality data of a sample swimming pool, and the labels can include sample tasks.
  • the sample tasks can be obtained by manually annotating the sample water quality data.
  • Step 1020 determining adjustment parameters of the cleaning device 10 based on the target task and the current position of the cleaning device 10 .
  • the control component can obtain the current position of the cleaning device 10.
  • the adjustment parameters may include route information for moving from the current position to the position in the target pool where the target task is to be performed and route information required to complete the target task.
  • the control component can determine the starting position where the target task needs to be performed in the target swimming pool based on the target task, and then determine the route information of the cleaning equipment 10 moving from the current position to the position where the target task needs to be performed in the target swimming pool based on the aforementioned starting position and the current position, and then determine the route information required to complete the target task based on the target task of the target swimming pool, thereby determining the adjustment parameters of the cleaning equipment 10.
  • Step 1030 based on the adjustment parameters, controlling the cleaning device 10 to drive the cleaning device 10 to move and perform cleaning to complete the target task.
  • the control component can control the cleaning device 10 to move from the current position to the starting position where the target task needs to be performed based on the route information of the adjustment parameters from the current position to the position where the target task needs to be performed in the target swimming pool, and then based on the route information required to complete the target task in the adjustment parameters, turn on the dust box 711 and the underwater roller brush 411 in the cleaning device 10 to clean, so as to complete the target task.
  • the cleaning device 10 can stay at the end position, return to the starting position before moving, or return to the preset default position.
  • the cleaning device 10 can be controlled so that it can clean all parts of the swimming pool, thereby improving the cleaning efficiency of the swimming pool and ensuring the comprehensiveness of the swimming pool cleaning.
  • process 1000 is only for illustration and description, and does not limit the scope of application of the present disclosure.
  • various modifications and changes can be made to process 1000 under the guidance of the present disclosure. However, these modifications and changes are still within the scope of the present disclosure.
  • Some embodiments of the present disclosure further provide a computer-readable storage medium 60 , which can store computer instructions.
  • the computer instructions are executed by the processor 52 , the liquid cleaning control method as described above is implemented.
  • the cleaning device 10 includes a travel propulsion mechanism 100 and a cleaning system.
  • the travel propulsion mechanism 100 includes a transmission
  • the transmission assembly 120 includes a travel drive member 121, a first follower 123 and a second follower 124.
  • the cleaning system includes a first cleaning member 410 and a second cleaning member 420.
  • the first cleaning member 410 is used to roll garbage below the liquid level 30 into the filter system.
  • the second cleaning member 420 is used to roll garbage above the liquid level 30 into the filter system.
  • the travel drive member 121 is arranged inside the cleaning device body 101.
  • the output end of the travel drive member 121 is suitable for driving and connecting with the wheel 112 so that the travel drive member 121 can drive the wheel 112 to rotate.
  • the first follower 123 is arranged on the cleaning device body 101.
  • the first follower 123 is drivingly connected to the wheel 112.
  • the output end of the first follower 123 is suitable for connecting with the first cleaning member 410.
  • the wheel 112 drives the first follower 123 to rotate, so that the first follower 123 drives the first cleaning member 410 to rotate.
  • the second follower 124 is arranged on the cleaning device body 101.
  • the second follower 124 is drivingly connected to the wheel 112.
  • the output end of the second follower 124 is suitable for connecting to the second cleaning member 420.
  • the wheel 112 drives the second follower 124 to rotate, so that the second follower 124 drives the second cleaning member 420 to rotate.
  • the first cleaning member 410 in this embodiment is an underwater roller brush member 411
  • the second cleaning member 420 is a surface roller brush member 421.
  • the travel drive member 121 drives the wheel 112 to rotate, so that the wheel 112 moves forward or backward.
  • the wheel 112 rotates, it can drive the first follower 123 and the second follower 124 to rotate, so that the first cleaning member 410 and the second cleaning member 420 are driven to rotate respectively through the first follower 123 and the second follower 124, so as to realize the operation of different cleaning members, so that the cleaning function of the cleaning device 10 is diversified.
  • the first cleaning member 410 is an underwater roller brush member 411.
  • the transmission assembly 120 can drive the rotation of the underwater roller brush member 411 and the water surface roller brush member 421 by driving the wheel 112 to rotate, so that the cleaning function of the cleaning device 10 is diversified.
  • the underwater roller brush member 411 and the water surface roller brush member 421 rotate in the same direction.
  • the wheel 112 includes a first wheel 1121, a second wheel 1122 and a track 111. The first wheel 1121 and the second wheel 1122 are connected by transmission through the track 111. The output end of the travel drive member 121 is connected to the first wheel 1121.
  • the first wheel 1121 and the second wheel 1122 in this embodiment are respectively set to two. And the two first wheels 1121 are arranged at the front end of the cleaning device body 101. The two second wheels 1122 are arranged at the rear end of the cleaning device body 101.
  • the travel drive member 121 in this embodiment includes a travel drive motor.
  • the transmission assembly 120 also includes a first gear 122, and the output end of the travel drive motor is connected to the first gear 122.
  • the first gear 122 is meshed with the first wheel 1121, so that the first gear 122 can drive the first wheel 1121 to rotate.
  • the travel drive member 121 can also be set as other components that can provide kinetic energy, which is not limited in this embodiment.
  • the second driven member 124 includes a second gear 1241, a third gear 1242, a fourth gear 1244, a fifth gear 1245, and a first turntable and a second turntable.
  • the second gear 1241 is connected to the first turntable.
  • the third gear 1242 is connected to the second turntable.
  • the first turntable and the second turntable are connected by a crawler 111 transmission.
  • the second gear 1241 is meshed with the second wheel 1122.
  • the fourth gear 1244 is meshed with the third gear 1242.
  • the fourth gear 1244 is connected to the second cleaning member 420.
  • the fifth gear 1245 is arranged between the third gear 1242 and the fourth gear 1244. And the fifth gear 1245 is meshed with both the third gear 1242 and the fourth gear 1244.
  • the travel drive member 121 drives the first gear 122 to rotate. Since the first gear 122 is meshed with the first wheel 1121, the first gear 122 can drive the first wheel 1121 to rotate. Under the connection of the crawler 111, the first wheel 1121 can drive the second wheel 1122 to rotate through the crawler 111; the second wheel 1122 drives the second gear 1241 to rotate; the second gear 1241 drives the first turntable to rotate, so that the first turntable drives the second turntable to rotate through the crawler 111; the second turntable drives the third gear 1242 to rotate; the third gear 1242 drives the fifth gear 1245 to rotate; the fifth gear 1245 drives the fourth gear 1244 to rotate; finally, the fourth gear 1244 can drive the second cleaning member 420 to rotate.
  • the second cleaning member 420 is a water surface roller brush member 421, garbage on the water surface can be cleaned and stored.
  • the second cleaning member 420 is connected to the fourth gear 1244 via a connecting shaft, and in this embodiment, the second follower member 124 is only arranged on one side of the cleaning device body 101, which is beneficial to simplify the structure of the cleaning device 10, save costs, and reduce weight.
  • the fourth gear 1244 and the second cleaning member 420 are removed from the second follower 124 as a whole, which facilitates the disassembly and cleaning of the second cleaning member 420.
  • the fourth gear 1244 can be set on the dust box 711.
  • the fourth gear 1244 can be set on the dust box cover.
  • the second gear 1241 is coaxially arranged with the first rotating disk
  • the third gear 1242 is coaxially arranged with the second rotating disk
  • the second rotating disk is arranged directly above the first rotating disk, so that the size of the crawler 111 can be shortened as much as possible, saving costs, and at the same time, it is conducive to improving the reliability and stability of the second follower 124.
  • the first driven member 123 includes a sixth gear 1231, a seventh gear 1232, and an eighth gear 1233.
  • the sixth gear 1231 is meshed with the seventh gear 1232.
  • the sixth gear 1231 is meshed with the second wheel 1122.
  • the seventh gear 1232 is connected to the first cleaning member 410.
  • the eighth gear 1233 is disposed between the sixth gear 1231 and the seventh gear 1232.
  • the eighth gear 1233 is meshed with both the sixth gear 1231 and the seventh gear 1232.
  • the travel drive member 121 drives the first gear 122 to rotate. Since the first gear 122 is meshed with the first wheel 1121, the first gear 122 can drive the first wheel 1121 to rotate. Under the connection of the crawler 111, the first wheel 1121 can drive the second wheel 1122 to rotate through the crawler 111; the second wheel 1122 drives the sixth gear 1231 to rotate; the sixth gear 1231 drives the eighth gear 1233 to rotate; the eighth gear 1233 drives the seventh gear 1232 to rotate, so that the seventh gear 1232 can drive the first cleaning member 410 to rotate.
  • the first cleaning member 410 is an underwater roller brush member 411
  • the surface of the pool can be cleaned. Among them, the surface of the pool can be the bottom surface of the pool or the wall surface of the pool.
  • the first cleaning member 410 is connected to the seventh gear 1232 via a connecting shaft, and the seventh gear 1232 can be detachably connected to the cleaning device body 101 via bolts, which is conducive to the later replacement of the first cleaning member 410.
  • the first cleaning member 410 is detachable while ensuring the normal operation of the first cleaning member 410, thereby avoiding the problem of the first cleaning member 410 being directly fixedly connected to the second wheel 1122 and not being detachable in the conventional technology, thereby improving the flexibility and applicability of the cleaning device 10 in this embodiment and saving costs.
  • the cleaning device 10 in this embodiment includes two transmission assemblies 120, two first wheels 1121 and two second wheels 1122.
  • Each transmission assembly 120 includes at least one first follower 123, at least one travel drive member 121, and at least one second follower 124.
  • each transmission assembly 120 includes a second follower 124, so that the cleaning device 10 includes two first followers 123.
  • the two first followers 123 are respectively arranged on both sides of the cleaning device body 101, and the two first followers 123 are respectively located at positions corresponding to the two second wheels 1122.
  • the cleaning device 10 includes two first cleaning members 410, that is, the two seventh gears 1232 independently drive a first cleaning member 410, thereby improving the cleaning efficiency.
  • the first cleaning member 410 can be a floor cleaning roller brush, so that the cleaning device 10 can clean the surface of the pool.
  • the pool surface can be the bottom surface of the pool, and can also be the wall surface of the pool.
  • each transmission assembly 120 includes a travel drive member 121, so that the cleaning device 10 includes two travel drives 121.
  • the two travel drives 121 are respectively driven to connect a first wheel 1121, so that it is convenient for the cleaning device 10 to realize the turning action.
  • the first wheel 1121 can be the front wheel of the cleaning device 10
  • the second wheel 1122 can be the rear wheel of the cleaning device 10.
  • one of the travel drives 121 stops working, slows down or works in reverse, and the other travel drive member 121 accelerates and drives the other first wheel 1121 to rotate, thereby realizing the turning action of the cleaning device 10.
  • two travel drives 121 are used to drive the two first wheels 1121 to rotate respectively, which can provide more power for the cleaning device 10 and improve work efficiency.
  • the cleaning device 10 includes two transmission assemblies 120, two first wheels 1121 and two second wheels 1122, and each transmission assembly 120 includes two first followers 123, so that the cleaning device 10 has four first followers 123, and the four first followers 123 are respectively driven and connected to the two first wheels 1121 and the two second wheels 1122, so that the four first followers 123 drive the four first cleaning members 410, thereby improving the cleaning efficiency of the cleaning device 10.
  • the cleaning device 10 includes four transmission assemblies 120, two first wheels 1121 and two second wheels 1122, and each transmission assembly 120 includes a first follower 123 and a travel drive member 121.
  • the four travel drive members 121 respectively drive the two first wheels 1121 and the two second wheels 1122.
  • the four first followers 123 are respectively connected to the two first wheels 1121 and the two second wheels 1122, so that the four first followers 123 drive the four first cleaning members 410, thereby improving the cleaning efficiency of the cleaning device 10.
  • the cleaning device 10 includes a cleaning device body 101, a cleaning component 430 and a motion drive assembly.
  • the cleaning component 430 is arranged on the cleaning device body 101.
  • the motion drive assembly (not shown) is arranged on the cleaning device body 101.
  • the motion drive assembly is connected to the cleaning component 430 and is used to drive the cleaning component 430 to perform telescopic movement relative to the cleaning device body 101.
  • the telescopic movement includes at least one of the following: an extension movement in a direction away from the cleaning device body 101, and a contraction movement in a direction close to the cleaning device body 101.
  • the cleaning component 430 In the first position, the cleaning component 430 is in a contraction limit position; in the second position, the cleaning component 430 is in an extension limit position; it is understood that the cleaning component 430 can stop at the first position, the second position, and any position between the first and second positions to adapt to different application requirements.
  • the cleaning device body 101 can move along the bottom wall of the pool, the side wall of the pool, the water surface of the pool, or the liquid suspended in the pool.
  • the present disclosure is mainly applied to the field of robots.
  • the cleaning device 10 in the present disclosure can use the motion drive component to drive the cleaning component 430 to perform telescopic movement, so that the cleaning component 430 is more flexible, so as to comprehensively clean the surface of the pool or the water in the pool in different directions and at different distances, thereby reducing the movement of the cleaning device 10 to improve the cleaning efficiency.
  • the motion drive component can also drive the cleaning component 430 to perform rotational movement, and the rotational movement can be the cleaning component 430 rotating at any angle around the position connected to the cleaning device body 101 as a fulcrum, and the rotational movement can also realize the change of the cleaning component 430 between the extended state and the contracted state.
  • the cleaning component 430 may include a rotating brush 431 and a rotating shaft 432.
  • the rotating brush 431 is arranged around the rotating shaft 432.
  • the rotating shaft 432 is rotatably connected to the cleaning device body 101 through a motion driving component.
  • the rotating brush 431 has a rotating shaft 432.
  • the rotating brush 431 includes a plurality of cleaning parts 4311.
  • the cleaning part 4311 is arranged around the outer periphery of the rotating shaft 432.
  • the cleaning part 4311 is arranged to extend axially along the rotating shaft 432.
  • a cleaning surface 4311 is formed on one side of the cleaning part 4311.
  • the cleaning part 4311 is at least partially set to a flexible material, such as rubber, elastic cloth, bristles, etc.
  • the cleaning part 4311 is at least partially set to a rigid material, such as steel wire, etc., and the rigid material can improve the cleaning ability of the cleaning component 430.
  • a plurality of cleaning parts 4311 can be arranged alternately with multiple materials, for example, rubber and steel wire are arranged alternately.
  • the rotating brush 431 can be the same material as the rotating shaft 432, or a different material.
  • the cleaning component 430 when the cleaning component 430 is in a retracted state, the cleaning component 430 is completely located within the cleaning device body 101, or at least a portion of the cleaning component 430 is located within the cleaning device body 101.
  • the retracted state is a state formed when the motion drive assembly drives the cleaning component 430 to perform a retracted motion, or a state in which the motion drive assembly does not drive the cleaning component 430 to perform an extended motion.
  • the retracted state is a state in which the motion drive assembly drives the cleaning component 430 to perform a retracted motion toward the cleaning device body 101. At this time, the cleaning component 430 is gradually retracted into the cleaning device body 101.
  • the cleaning component 430 stops the retracted motion, wherein the first preset value may be 50%, 60%, 85%, 100%, etc.
  • the state in which the motion drive assembly does not drive the cleaning component 430 to perform an extended motion that is, the state in which the cleaning component 430 is in a retracted state, in which case, when the motion drive assembly drives the cleaning component 430 to move, only an extended motion is performed.
  • the cleaning component 430 when the cleaning component 430 is in an extended state, at least a portion of the cleaning component 430 is located outside the cleaning device body 101100.
  • the extended state is a state formed when the motion drive assembly drives the cleaning component 430 to perform an extended motion, or a state in which the motion drive assembly does not drive the cleaning component 430 to perform a contraction motion.
  • the extended state is a state in which the cleaning component 430 is driven by the motion drive assembly to perform an extended motion in a direction away from the cleaning device body 101. At this time, the cleaning component 430 gradually moves outside the cleaning device body 101.
  • the cleaning component 430 stops the extended motion, wherein the second preset value may be 50%, 60%, 85%, etc.
  • the state in which the motion drive assembly does not drive the cleaning component 430 to perform a contraction motion is the extended state in which the cleaning component 430 is only contracted when the motion drive assembly drives the cleaning component 430 to move.
  • the cleaning component 430 may be in an extended state or a contracted state.
  • the cleaning component 430 may be in a contracted state; when the cleaning component 430 performs an extension movement toward the direction away from the cleaning device body 101, the cleaning component 430 may be in an extended state.
  • Figure 33 is a schematic diagram of the structure of the connection part in the sixth embodiment of the cleaning device of the present disclosure.
  • the cleaning component 430 is driven to perform rotational motion and telescopic motion
  • the motion drive assembly may include: a connection part 440 and a first drive assembly (not shown in the figure).
  • the cleaning component 430 is connected to the cleaning device body 101 through the connection part 440.
  • the first drive assembly is connected to the connection part 440, and is used to drive the cleaning component 430 to perform telescopic motion relative to the cleaning device body 101.
  • connection part 440 may be a telescopic structure, as shown in Figure 34.
  • the connection part 440 includes a fixed part 441 and a telescopic part 442, the fixed part 441 is fixedly connected to the cleaning device body 101, one end of the telescopic part 442 is connected to the fixed part 441, and the other end is connected to the cleaning component 430, and the telescopic part 442 can perform telescopic movement relative to the fixed part 441.
  • the first drive assembly includes a first power source (not shown), the first power source is arranged at the connection between the fixed part 441 and the telescopic part 442, and the first power source is used to drive the connection part 440 to telescope, so as to drive the cleaning component 430 to telescope.
  • the first power source can be a power source such as a motor or a cylinder, which is not specifically limited here.
  • the cleaning component 430 is movably connected to a motion drive assembly
  • the first drive assembly includes a first transmission mechanism 450 and a first power source.
  • the input end of the first transmission mechanism 450 is connected to the first power source, and the output end of the first transmission mechanism 450 is connected to the cleaning component 430.
  • the first power source is used to provide power to the first transmission mechanism 450 so that the first transmission mechanism 450 drives the cleaning component 430 to perform telescopic movement relative to the cleaning device body 101 and the connecting part 440.
  • Figure 35 is a schematic diagram of the structure of the first transmission mechanism in the sixth embodiment of the cleaning device disclosed in the present invention.
  • the first transmission mechanism 450 and the first power source can be arranged at one end of the connection portion 440 connected to the cleaning component 430, for controlling the cleaning component 430 to perform telescopic movement.
  • the first transmission mechanism 450 may include a turbine transmission mechanism and a gear transmission mechanism.
  • the first transmission mechanism 450 includes a swing gear 451, a worm wheel 452, a worm 453 and a transmission gear 454, the worm 453 is fixedly connected to the output end of the first power source, the worm 453 is meshed with the worm wheel 452, the worm wheel 452 is fixedly connected with the transmission gear 454 through a coaxial shaft, and the transmission gear 454 is meshed with the swing gear 451, and the swing gear 451 is used as the output end of the first transmission mechanism 450 to drive the components connected to the output end of the first transmission mechanism 450 to perform telescopic movement.
  • the first transmission mechanism 450 may include a turbine transmission mechanism and a gear transmission mechanism, or other transmission mechanisms, which are not specifically limited here.
  • the component connected to the output end of the first transmission mechanism 450 is a cleaning component 430
  • the cleaning component 430 is eccentrically connected to the swing gear 451 through a rotating shaft.
  • the cleaning component 430 is extended in a direction away from the cleaning device body 101, so that the cleaning component 430 at least partially extends out of the cleaning device body 101; or, the cleaning component 430 is retracted in a direction close to the cleaning device body 101, so that at least part of the cleaning component 430 is retracted into the cleaning device body 101.
  • the first transmission mechanism 450 can be other transmission structures besides the above transmission structure, which is not specifically limited here.
  • the first end of the connecting portion 440 is connected to the cleaning component 430
  • the first driving assembly includes a first transmission mechanism 450 and a first power source
  • the input end of the first transmission mechanism 450 is connected to the first power source
  • the output end of the first transmission mechanism 450 is connected to the second end of the connecting portion 440 or a component located between the second end and the cleaning device body 101
  • the first power source is used to provide power to the first transmission mechanism 450, so that the first transmission mechanism 450 drives the connecting portion 440 and the cleaning component 430 to perform telescopic movement relative to the cleaning device body 101.
  • the first transmission mechanism 450 controls the components that can be connected thereto to rotate or translate, so that the cleaning component 430 performs telescopic movement relative to the cleaning device body 101.
  • the motion drive assembly includes at least one set of second drive assemblies, and the at least one set of second drive assemblies is used to drive the cleaning component 430 to rotate relative to the cleaning device body 101.
  • each group of second drive assemblies may include: a second transmission mechanism and a second power source.
  • the second power source is connected to the input end of the second transmission mechanism and is used to provide power to the second transmission mechanism so that the second transmission mechanism directly or indirectly drives the cleaning component 430 to perform rotational motion.
  • the second power source can be a power source such as a motor, a cylinder, etc., which is not specifically limited here.
  • the first end of the connecting portion 440 is connected to the cleaning component 430
  • at least one group of second driving components includes a first group of second driving components
  • the first end of the connecting portion 440 is connected to the cleaning component 430
  • the first group of second driving components are respectively connected to the cleaning device body 101 and the second end of the connecting portion 440, and are used to drive the connecting portion 440 to rotate around the first direction axis 461, thereby indirectly driving the cleaning component 430 to rotate around the first direction axis 461.
  • the first direction axis 461 can be a linear rotation axis 432, and the linear rotation axis 432 can be vertically arranged so that the connecting portion 440 rotates in the horizontal direction, as shown in Figure 31, or the linear rotation axis 432 can be horizontally arranged so that the connecting portion 440 rotates in the vertical direction; the first direction axis 461 can also be a spherical rotation axis 432, so that the connecting portion 440 can rotate in any angle direction, etc., and the first direction axis 461 is not specifically limited here.
  • At least one group of second drive components includes a second group of second drive components, see FIG. 33, the first end of the connecting portion 440 is connected to the cleaning component 430 through the second group of second drive components, and the second group of second drive components is used to drive the connecting portion 440 to rotate around the second direction axis 462, thereby directly driving the cleaning component 430 to rotate around the second direction axis 462.
  • the second direction axis 462 can be a linear rotation axis 432, a spherical rotation axis 432, etc., which is not specifically limited here.
  • the cleaning component 430 is movably connected to the cleaning device body 101, and at least one group of second drive components includes a first group of second drive components and a second group of second drive components.
  • the first end of the connecting part 440 is connected to the cleaning component 430, and the first group of second drive components are respectively connected to the cleaning device body 101 and the second end of the connecting part 440, and are used to drive the connecting part 440 to rotate around the first direction axis 461; one end of the second group of second drive components is connected to the cleaning component 430, and the other end is connected to the connecting part 440, and is used to drive the connecting part 440 to rotate around the second direction axis 462, so as to perform multi-stage rotation control on the cleaning component 430, thereby increasing the cleaning range that the cleaning component 430 can clean.
  • the first direction axis 461 is a linear rotation axis 432 and is vertically arranged
  • the second direction axis 462 is a linear rotation axis 432 and is horizontally arranged. Therefore, when using the cleaning component 430 for cleaning, the first group of second drive components can be used to drive the connecting portion 440 to rotate in the horizontal direction around the first direction axis 461. After reaching the preset position, the second group of second drive components can be used to drive the cleaning component 430 to rotate in the vertical direction around the second direction axis 462 to clean the object to be cleaned up and down.
  • the cleaning component 430 and the connecting portion 440 can be flexibly rotated and swung, making it easier for the cleaning device 10 to get out of trouble.
  • the second drive component and the first drive component can be the same component.
  • the connecting part 440 can be controlled to rotate in the vertical direction first, and then the cleaning component 430 can be controlled to rotate in the horizontal direction; or the connecting part 440 can be controlled to rotate in the horizontal direction first, and then the cleaning component 430 can be controlled to rotate in the vertical direction, etc.
  • the multi-stage rotation control scheme of the cleaning component 430 no specific limitation is made herein.
  • At least one group of second drive components one, two or more groups of second drive components may be provided, and the configuration may be made according to actual cleaning requirements, and no specific limitation is made herein.
  • a third driving component (not shown) can be set in the motion driving component.
  • the third driving component is connected to the cleaning component 430 and is used to drive the cleaning component 430 to rotate when the cleaning component 430 needs to work, so as to scrub and clean the surface of the pool or the object to be cleaned or the water in the pool.
  • one cleaning component 430, two cleaning components 430 or multiple cleaning components 430 may be provided on the cleaning device 10, and the settings may be made according to the specific cleaning situation, and regarding the setting position of the cleaning component 430, it may be provided only on the front wall 101a, the rear wall or the side wall of the cleaning device body 101, or may be provided on the two opposite side walls of the cleaning device body 101, etc., as shown in FIG. 31, which is not specifically limited here.
  • at least one cleaning component 430 may be used for getting out of trouble.
  • the cleaning device 10 when the cleaning device 10 is trapped by waterweeds at the bottom of the water, the waterweeds may be gotten rid of by the rotational movement and telescopic movement of the cleaning component 430, or the cleaning component 430 may be retracted into the range of the cleaning device 10, thereby reducing the width of the cleaning device 10 and making it easier for the cleaning device 10 to pass.
  • the plurality of cleaning components 430 are disposed on at least one of the left side wall 101 b , the right side wall 101 c , and the bottom of the cleaning device body 101 .
  • the cleaning device body 101 is also provided with a liquid inlet 103.
  • At least one cleaning component 430 is used to expand the cleaning range of the liquid inlet 103.
  • the cleaning component 430 can be a side brush.
  • the liquid inlet 103 is used to suck water flow and stains into the cleaning device body 101.
  • the side brush is set on the side wall or bottom of the cleaning device body 101. When the cleaning device 10 is along the edge of the pool, it can brush the surface of the pool.
  • the side brush is provided with cleaning materials, which can brush the objects to be cleaned by self-rotation or reciprocating motion. Stains can be garbage floating in the pool, scale or black stains accumulated in the pool, etc.
  • the cleaning range of the liquid inlet 103 refers to the range in which the liquid inlet 103 can affect the water flow and stains when the liquid inlet 103 is in the state of sucking water flow and stains.
  • the liquid inlet 103 may be arranged on the front wall 101a of the cleaning device body 101, and along the opening direction of the liquid inlet 103, at least one cleaning component 430 is located in front of the liquid inlet 103, such as being arranged on the left side wall 101b and/or the right side wall 101c of the cleaning device body 101 and the cleaning component 430 extends toward the front wall 101a.
  • the cleaning component 430 is inclined toward the liquid inlet 103, and the inclination angle may be 1 degree, 5 degrees, 8 degrees, 15 degrees, 25 degrees, 30 degrees, 33 degrees, 60 degrees, 75 degrees, 80 degrees, etc.
  • the rotation direction of the cleaning component 430 is to rotate toward the liquid inlet 103, so that the cleaning component 430 can stir the water flow and stains outside the cleaning range of the liquid inlet 103, and guide the water flow and stains to the liquid inlet 103.
  • a filtering structure and a receiving chamber 742 may be provided in the cleaning device body 101.
  • the filtering structure may separate the water flow and the stains, that is, it may filter the stains.
  • the receiving chamber 742 may accommodate the stains filtered out by the filtering structure.
  • the cleaning device body 101 may coordinate the receiving chamber 742, the filtering structure and the liquid inlet 103.
  • the filtering structure filters the water flow sucked in by the liquid inlet 103, so that the stains are separated from the water flow, and the stains are retained in the receiving chamber 742, and the clean water flow is discharged from the cleaning device body 101.
  • FIG. 36 is a schematic diagram of the structure of the seventh embodiment of the cleaning device of the present disclosure.
  • the cleaning component 430 when the liquid inlet 103 is arranged on the front wall 101a of the cleaning device body 101, the cleaning component 430 can be arranged at the bottom of the cleaning device body 101.
  • the cleaning component 430 is arranged at the bottom of the cleaning device body 101 and can extend out of the bottom range of the cleaning device body 101, and the cleaning component 430 can be arranged to be inclined toward the center of the liquid inlet 103 or arranged to be parallel to the liquid inlet 103, so as to guide the water flow and stains below the liquid inlet 103 to the liquid inlet 103.
  • the cleaning component 430 when the cleaning component 430 extends out of the cleaning device body 101, it can also scrub the contacted target object.
  • At least one cleaning component 430 may be arranged on one side of the cleaning device body 101, for example, on the left side wall 101b or the right side wall 101c. At least one cleaning component 430 may also be arranged on the left side wall 101b and the right side wall 101c of the cleaning device body 101 at the same time.
  • the end of the connecting portion 440 away from the cleaning device body 101 extends toward the bottom of the cleaning device body 101, so that the cleaning component 430 located on the end of the connecting portion 440 away from the cleaning device body 101 is close to the bottom of the cleaning device body 101, and the cleaning component 430 is inclined toward the liquid inlet 103 located at the bottom of the cleaning device body 101, so that the water flow and stains outside the bottom range of the cleaning device body 101 are guided to the liquid inlet 103.
  • the liquid inlet 103 is disposed at the bottom of the cleaning device body 101 .
  • at least one cleaning component 430 may also be disposed at the bottom of the cleaning device body 101 , in front of the liquid inlet 103 .
  • the liquid inlet 103 is arranged at the bottom of the cleaning device body 101
  • at least one cleaning component 430 is arranged on the left side wall 101b and/or the right side wall 101c of the cleaning device body 101, and the end of the connecting portion 440 away from the cleaning device body 101 extends toward the bottom of the cleaning device body 101, so that the cleaning component 430 located on the end of the connecting portion 440 away from the cleaning device body 101 is close to the bottom of the cleaning device body 101, and the cleaning component 430 is inclined toward the liquid inlet 103 located at the bottom of the cleaning device body 101, so as to guide the water flow and stains outside the bottom range of the cleaning device body 101 to the liquid inlet 103.
  • the cleaning device 10 further includes at least one of a trigger data acquisition unit and a position sensor, wherein the trigger data acquisition unit is used to acquire trigger data regarding the preset movement of the cleaning component 430, and the position sensor is used to acquire reference data regarding whether the preset movement performed by the cleaning component 430 is in place.
  • the position sensor may be an acceleration detection sensor, a distance sensor, a position detection sensor, etc.
  • the cleaning device body 101 can float on the water surface.
  • the cleaning component 430 is at least partially located below the water surface.
  • the cleaning component 430 can be partially located below the water surface, or the cleaning component 430 can be completely located below the water surface.
  • the cleaning device body 101 floats on the water surface, half of the cleaning component 430 is located above the water surface, and the other half is located below the water surface.
  • the cleaning component 430 can easily clean the stains on the water surface.
  • the cleaning component 430 is tilted, the part of the cleaning component 430 located above the water surface will not stir the water flow when it rotates. The stains will not be continuously pushed forward by this stream of water and cannot reach the vicinity of the liquid inlet 103, and the cleaning effect of the cleaning device 10 is better.
  • the cleaning components 430 when the cleaning device body 101 floats on the water surface, the cleaning components 430 are all located below the water surface.
  • the cleaning components 430 are completely located underwater, the cleaning components 430 are not easy to splash water when rotating, and are not easy to wet the shore of the pool.
  • the liquid inlet 103 can also be at least partially located below the water surface.
  • half of the liquid inlet 103 is located above the water surface, and the other half is located below the water surface.
  • the liquid inlet 103 when the cleaning device body 101 floats on the water surface and the liquid inlet 103 is located on the front wall 101a of the cleaning device body 101, the liquid inlet 103 is completely below the water surface, or when the liquid inlet 103 is located at the bottom of the cleaning device body 101, the liquid inlet 103 is completely below the water surface.
  • the liquid inlet 103 is completely underwater and can be exposed to a larger flow of water, and the sewage suction efficiency is high.
  • the cleaning component 430 has a starting position and a telescopic position.
  • the cleaning device 10 also includes a reset component (not shown).
  • the reset component is arranged on the cleaning device body 101.
  • the reset component is connected to the cleaning component 430.
  • the reset component is used to provide a reset force for the cleaning component 430 to maintain the starting position.
  • the cleaning component 430 can reach the telescopic position when the power drive component drives the cleaning component 430 to perform a telescopic movement.
  • the cleaning component 430 when the cleaning component 430 is in the starting position, the cleaning component 430 is in a retracted state.
  • the cleaning component 430 When the cleaning component 430 is driven to the telescopic position, the cleaning component 430 is in an extended state.
  • the starting position of the cleaning component 430 is a retracted position, that is, the cleaning component 430 is in a normally retracted state.
  • the motion drive component drives the cleaning component 430 to move to the extended position
  • the cleaning component 430 changes from the normally retracted state to the extended state. If the subsequent motion drive component no longer provides power to the cleaning component 430 in the extended state, the reset component will provide a reset force to the cleaning component 430 so that the cleaning component 430 returns to the starting position.
  • the cleaning component 430 when the cleaning component 430 is in the starting position, the cleaning component 430 is in the extended state, and when the cleaning component 430 is driven to the telescopic position, the cleaning component 430 is in the retracted state.
  • the starting position of the cleaning component 430 is the extended position, that is, the cleaning component 430 is in the normally extended state, and when the motion drive component drives the cleaning component 430 to move to the extended position, the cleaning component 430 changes from the normally extended state to the retracted state. If the subsequent motion drive component no longer provides power to the cleaning component 430 in the retracted state, the reset component will provide the cleaning component 430 with a reset force so that the cleaning component 430 returns to the starting position.
  • FIG. 37 is a flow chart of an embodiment of a control method for a cleaning device disclosed herein, wherein the control method is used to control the cleaning device 10 mentioned above. Specifically, the following steps can be referred to:
  • Step S710 Detecting that the cleaning device 10 currently meets the extension and retraction triggering condition.
  • the scaling trigger condition includes at least one of the following:
  • the distance between the cleaning device 10 and the target object is within a preset distance range, wherein the target object includes at least one of a wall and an obstacle.
  • the trigger data acquisition unit includes a first trigger sensor, so it can be determined that the distance between the cleaning device 10 and the target object is within a preset distance range based on the first sensor data collected by the first trigger sensor of the cleaning device 10.
  • the distance sensor on the cleaning device 10 is used to detect the forward direction of the cleaning device 10 or the surrounding objects. If the target object is detected and the distance between the cleaning device 10 and the target object is within the preset distance range, the motion drive component in the cleaning device 10 can be used to control the cleaning component 430 to perform telescopic movement and rotational movement to clean the target object.
  • the cleaning device 10 is in a trapped state.
  • the cleaning component 430 can be controlled to perform telescopic movement to reduce the range of the cleaning device 10 so that the cleaning device 10 can pass easily.
  • the situations in which the cleaning device 10 is detected to be in a trapped state may include but are not limited to the following situations:
  • the second trigger sensor belongs to the trigger data collection unit.
  • the preset rotation angle may be obtained after the cleaning device 10 analyzes the received operation instructions
  • the second trigger sensor may be a gyroscope sensor, which can detect the actual rotation angle of the cleaning device 10 after receiving the operation instructions, and send the detected actual rotation angle to the central processor 52 unit of the cleaning device 10 for comparison with the preset rotation angle. If there is a deviation, and the deviation exceeds the preset deviation, the central processor 52 unit determines that the cleaning device 10 is currently trapped.
  • an acceleration sensor is provided in the cleaning device 10. After receiving the operation instruction to move forward the target distance within the first time, the cleaning device 10 detects the acceleration of the cleaning device 10 during the moving process through the acceleration sensor, and sends the detected acceleration to the central processing unit 52 of the cleaning device 10.
  • the central processing unit 52 can calculate the actual movement distance of the cleaning device 10 according to the acceleration and the first time. If the calculated actual movement distance is inconsistent with the target distance, it is determined that the cleaning device 10 is currently trapped.
  • the first time can be set to 3 seconds, 5 seconds, 10 seconds, 20 seconds, etc.
  • the third trigger sensor may be a TOF (Time of Flight) sensor, which may be disposed on the front wall 101a of the cleaning device 10.
  • the TOF sensor determines a point in front of the cleaning device 10 as a reference point, calculates a first relative position of the current cleaning device 10 relative to the reference point, calculates a second relative position of the cleaning device 10 relative to the reference point again after a second time, and compares the difference between the first relative position and the second relative position. If the difference is within a preset difference range, it means that the cleaning device 10 has not moved or the moving distance is very small, and the cleaning device 10 is judged to be trapped.
  • the second time can be set to 5 seconds, 10 seconds, 20 seconds, etc.
  • the current of the driving motor of the cleaning device 10 increases and the current increase is consistent with the change of the trapped current.
  • the current of the driving motor of the cleaning device 10 increases, which can further determine that the cleaning device 10 is trapped. Yes, in addition to the above situations, 2-1 and 2-4, 2-2 and 2-4 or other situations can also be combined to determine whether the cleaning device 10 is trapped.
  • the cleaning device 10 receives a preset instruction.
  • the cleaning component 430 is controlled by the preset instruction.
  • the preset instruction may be a remote instruction, and the remote instruction may be an instruction sent by a remote controller, or an instruction sent by an application such as a mobile phone or a tablet, etc., to control the cleaning component 430 of the cleaning device 10 to perform telescopic movement and/or rotational movement.
  • the preset instruction may be a remote instruction or an instruction automatically generated according to the current state of the cleaning device 10, etc., and no specific limitation is made here.
  • the cleaning device 10 is in a preset working mode, wherein the preset working mode includes at least one of an energy-saving mode, a return mode, and a charging mode, and the return mode is when the cleaning work has been completed and the cleaning device is in the process of returning. It is understood that the preset working mode may include an escape mode, etc. in addition to the above modes, which is not specifically limited here.
  • the cleaning component 430 when it is detected that the cleaning device 10 is in a preset working mode, the cleaning component 430 is controlled. For example, when the cleaning device 10 is in the energy-saving mode or the return mode and the cleaning component 430 is in the extended state, the cleaning component 430 needs to be controlled to retract in the direction close to the cleaning device body 101; when the cleaning device 10 is in the rest mode and the cleaning component 430 is in the retracted state, it is not necessary to control the cleaning component 430 to repeatedly retract in the direction close to the cleaning device body 101.
  • Step S720 controlling the cleaning component 430 of the cleaning device 10 to perform telescopic movement.
  • the telescopic movement includes at least one of an extending movement in a direction away from the cleaning device body 101 of the cleaning device 10 and a contracting movement in a direction close to the cleaning device body 101 .
  • the cleaning component 430 of the cleaning device 10 when the default state of the cleaning component 430 of the cleaning device 10 is the retracted state, if it is detected that the distance between the cleaning device 10 and the target object is within a preset distance range, the cleaning component 430 of the cleaning device 10 can be controlled to extend in a direction away from the cleaning device body 101 of the cleaning device 10 to clean the target object.
  • the default state of the cleaning component 430 of the cleaning device 10 is an extended state.
  • a preset instruction is received, or the cleaning device 10 is in at least one of a preset working mode, the cleaning component 430 of the cleaning device 10 can be controlled to perform a contraction movement in a direction close to the cleaning device body 101 of the cleaning device 10.
  • the in-position sensor is used to detect whether the telescopic movement is in position, and in response to detecting that the telescopic movement is in position, it is determined to control the cleaning component 430 to stop the telescopic movement.
  • the cleaning component 430 of the cleaning device 10 can be controlled to rotate relative to the cleaning device body 101. Or if it is detected that the cleaning device 10 is in the target working state, the cleaning component 430 of the cleaning device 10 is controlled to rotate so that the cleaning component 430 works.
  • the cleaning member 430 of the cleaning device 10 in the present disclosure can rotate, telescopically move, and swivel, and can move flexibly. During the cleaning process, the cleaning range of the cleaning device 10 can be increased, and the cleaning path of the cleaning device 10 can be reduced, thereby improving the cleaning efficiency. In addition, when the cleaning device 10 is stuck while cleaning the pool, it can also get out of trouble by the flexible movement of the cleaning member 430, and the range of the cleaning device 10 can be reduced to facilitate escape.
  • the cleaning component 430 may be disposed at a position associated with the liquid inlet portion 103 to expand the cleaning range of the liquid inlet portion 103 and also to improve the cleaning efficiency.
  • FIG. 38 is a schematic diagram of a framework of an embodiment of an electronic device of the present disclosure.
  • the electronic device 50 includes a memory 51 and a processor 52 coupled to each other, and the processor 52 is used to execute program instructions stored in the memory 51 to implement the steps in the control method embodiment of any of the cleaning devices 10 described above.
  • the electronic device 50 is a cleaning device 10.
  • the processor 52 is used to control itself and the memory 51 to implement the steps of the control method embodiment of any of the cleaning devices 10 described above.
  • the processor 52 may also be referred to as a CPU (Central Processing Unit).
  • the processor 52 may be an integrated circuit chip having the ability to process signals.
  • the processor 52 may also be a general-purpose processor 52, a digital signal processor 52 (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • the general-purpose processor 52 may be a microprocessor 52 or the processor 52 may also be any conventional processor 52, etc.
  • the processor 52 may be implemented by an integrated circuit chip.
  • Figure 39 is a schematic diagram of a computer readable storage medium of the present disclosure.
  • the computer readable storage medium 60 stores program instructions 901 that can be executed by the processor 52, and the program instructions 901 are used to implement the steps in any of the above-mentioned control method embodiments of the cleaning device 10.
  • the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments.
  • the specific implementation can refer to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.
  • Figure 40 is a cross-sectional schematic diagram of the first motion state of the filter assembly in the eighth embodiment of the cleaning device of the present disclosure
  • Figure 41 is an enlarged schematic diagram of C in Figure 40.
  • the cleaning device body 101 includes at least one dust bin.
  • the filter mechanism includes at least one filter assembly 710.
  • the filter assembly 710 includes at least one dust box 711, a first filter layer (not shown), at least one guide
  • the dust box 711 is formed with a first cavity 714.
  • the dust box 711 includes at least a first motion state and a second motion state.
  • the first filter layer is at least arranged on the side wall of the dust box 711.
  • the first filter layer is connected to the first cavity 714.
  • the guide port 715 is arranged on the dust box 711 and/or the first filter layer.
  • the guide port 715 can be arranged on the dust box 711; or, the guide port 715 can be arranged on the first filter layer.
  • the guide port 715 can be arranged on the dust box 711 and the first filter layer at the same time.
  • the cover 720 In the first motion state of the dust box 711, the cover 720 seals and covers the guide port 715. In the second motion state of the dust box 711, the cover 720 opens the guide port 715. It can be understood that opening the guide port 715 means that at least part of the water flow can flow out of the dust box 711 from the guide port 715.
  • the dust box water inlet 716 on the dust box 711 is used for water to enter the first cavity 714.
  • the first filter layer is used to play a filtering role. Water enters the first cavity 714 of the dust box 711 through the dust box water inlet 716, and impurities in the water are filtered through the first filter layer. The filtered water enters the dust bin 1023 of the filter assembly 710, and then flows into the main water pump 210 through the dust bin 1023.
  • the first motion state or the third motion state may be the state of the filter assembly 710 when the cleaning device 10 cleans the underwater bottom surface or the water surface.
  • the filter assembly 710 is in a normal placement state, and the cover 720 covers the diversion port 715 in a natural placement state.
  • the thrust of the water flow normally flowing through the filter assembly 710 is not enough to cause the cover 720 to open the diversion port 715.
  • the second motion state may be the state of the filter assembly 710 when the cleaning device 10 climbs a slope or a wall underwater or the first filter layer is blocked. At this time, the filter assembly 710 is in a tilted or inverted or running state with the cleaning device 10. Under the intervention of gravity and/or external force, such as water flow thrust, the cover 720 moves to open the diversion port 715.
  • the first motion state or the second motion state is different from the second motion state.
  • Figure 42 is a cross-sectional schematic diagram of the second motion state of the filter assembly in the eighth embodiment of the cleaning device disclosed herein;
  • Figure 43 is an enlarged schematic diagram of D in Figure 42.
  • Figure 44 is a cross-sectional schematic diagram of the first motion state of the filter assembly in the ninth embodiment of the cleaning device disclosed in the present invention
  • Figure 45 is an enlarged schematic diagram of E in Figure 46
  • Figure 46 is a cross-sectional schematic diagram of the second motion state of the filter assembly in the ninth embodiment of the cleaning device disclosed in the present invention
  • Figure 47 is an enlarged schematic diagram of F in Figure 46.
  • the cover 720 gradually opens the guide port 715.
  • At least part of the water in the first cavity 714 flows out directly through the guide port 715, increasing the water output of the dust box 711, so that the cleaning device 10 always meets the water intake demand of the main water pump 210 when climbing a wall or a slope or the first filter layer is blocked to a certain extent, thereby maintaining stable climbing a wall or a slope or operating performance, and can be applied to more occasions, such as underwater cleaning and water surface cleaning.
  • the filter assembly 710 when the filter assembly 710 is operating in the first motion state or the third motion state, and the dirt on the first filter layer is not blocked to a certain extent, the filter assembly 710 is in a normal operating state.
  • the cover 720 opens the guide port 715 by its own gravity or external power, thereby maintaining a stable wall climbing or hill climbing function.
  • the cover 720 opens the guide port 715 to increase the water intake demand of the main water pump 210, maintain stable operating performance, and then operate to a state such as climbing a slope or climbing a wall.
  • the cover 720 opens the guide port 715 by its own gravity or external power, thereby maintaining a stable wall climbing or hill climbing function.
  • the cover 720 covers the guide port 715, which can reduce the impact on the cleaning effect of the cleaning device 10.
  • the cover 720 opens the guide port 715, increases the water output of the first cavity 714, increases the water intake of the main water pump 210, and then increases the thrust of the cleaning device 10, thereby improving the wall climbing or slope climbing or running performance of the cleaning device 10, and improving the user experience.
  • the above-mentioned diversion port 715 may include a diversion sub-port (not shown).
  • the diversion port 715 may include more than two diversion sub-ports, such as two diversion sub-ports, three diversion sub-ports and multiple diversion sub-ports. The number of diversion sub-ports may be determined according to actual conditions.
  • the water output of the diversion port 715 formed by the combination of multiple diversion sub-ports needs to be as consistent as possible with the water output of the diversion port 715 formed by one diversion sub-port, so as to ensure that the water output of the diversion port 715 is consistent, thereby satisfying the cleaning equipment 10 when climbing a wall or climbing a slope or the first filter layer is blocked to a certain extent to always meet the water intake demand of the main water pump 210, thereby maintaining stable climbing a wall or climbing a slope or operating performance.
  • the number of the guide ports 715 can be one, two, three or four, etc., and the number is not limited.
  • the dust box 711 is hollowed out all around, and the first filter layer is located at the hollowed-out position.
  • the guide port 715 can be set at the hollowed-out part of the dust box 711 or at other positions of the dust box 711 except the hollowed-out part.
  • the guide port 715 is set on the first filter layer.
  • the guide port 715 is limited by the structure of the dust box 711 all around, which increases the stability of the cover 720 covering or opening the guide port 715.
  • the above-mentioned cover 720 can be driven by a driving component (not shown in the figure), and the driving component is connected to the cover 720, so that the cover 720 can cover and open the guide port 715.
  • the driving component may include a driving motor (not shown in the figure), which is connected to the cover 720 to control the movement of the cover 720.
  • a related structure is set on the cover 720, and the cover 720 and the related structure are used to realize self-drive, so that the cover 720 can cover and open the guide port 715.
  • the cover The cover member 720 may also cover and open the guide port 715 in other ways, which is not limited here.
  • the cover member 720 may be a cover plate, a flap, etc.
  • the cover member 720 can be installed on the dust box 711.
  • the cover member 720 can be installed on the dust box 711 by pivoting, telescoping, hinged, etc., and is used to cover or open the guide port 715, etc.
  • Figure 48 is a partial schematic diagram of the first motion state of the filter assembly 710 in the eighth embodiment of the cleaning device disclosed in the present invention
  • Figure 49 is a partial schematic diagram of the second motion state of the filter assembly 710 in the eighth embodiment of the cleaning device disclosed in the present invention.
  • the cover member 720 is pivotally connected to the dust box 711.
  • the filter assembly 710 also includes adjustment members 730a, 730b installed on the cover member 720.
  • the adjustment members 730a, 730b are away from the pivotal connection between the cover member 720 and the dust box 711.
  • the installation position of the adjustment members 730a, 730b is away from the pivotal connection between the cover member 720 and the dust box 711.
  • the adjustment members 730a, 730b assist the cover member 720 in covering or opening the guide port 715.
  • the pivot point of the cover member 720 rotating around the dust box 711 is located on the line of action of the sum of the gravity and buoyancy acting on the cover member 720 and the adjusting members 730a, 730b, that is, the rotational torque of the cover member 720 around the dust box 711 is zero. Therefore, the cover member 720 will not pivot and will always be in a vertical state, so that it can cover the guide port 715 well.
  • the filter assembly 710 In a second motion state, the filter assembly 710 is in a tilted or flipped upside down state, and the pivot point of the cover 720 rotating around the dust box 711 deviates from the line of action of the sum of gravity and buoyancy of the cover 720 and the adjustment members 730a, 730b, that is, the rotational torque of the cover 720 around the dust box 711 is no longer zero, so that the cover 720 has a rotational torque rotating around the dust box 711, so as to force the cover 720 to rotate and open the guide port 715.
  • the adjustment members 730a, 730b can be components of different densities, as long as they can assist the movement of the cover 720, and their specific structure is not limited.
  • the first filter layer of the filter assembly 710 is blocked and the filter assembly 710 is not obviously tilted or flipped upside down, and the suction action of the main water pump 210 will form a large pressure difference between the dust bin 1023 and the first cavity 714.
  • the cover 720 that is suitable for responding to the above pressure difference can open the guide port 715 to balance the above pressure difference.
  • the covering part 720 can autonomously change between the first motion state or the third motion state and the second motion state, which can reduce the use of drive components and save costs.
  • the cover 720 includes a first side end 720a and a second side end 720b that are arranged opposite to each other.
  • the first side end 720a is located at the uppermost end of the cover 720
  • the second side end 720b is located at the lowermost end of the cover 720.
  • the first side end 720a and the second side end 720b can both be configured to be pivotally connected to the dust box 711.
  • the overall force of the cover 720 will be different.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the first side end 720a is pivotally connected to the dust box 711, and the second side end 720b is pivotally connected around the first side end 720a to be away from or close to the dust box 711, so as to open or close the guide port 715.
  • the filter assembly 710 is located underwater, that is, the filter assembly 710 is located below the water surface, and the gravity of the adjusting member 730a is set to be greater than the buoyancy.
  • the first side end 720a is pivotally connected to the dust box 711, and the adjusting member 730a is away from the pivotal connection between the first side end 720a and the dust box 711. Since the gravity of the adjusting member 730a is greater than the buoyancy, the second side end 720b can pivot around the first side end 720a to be away from the dust box 711, so that the cover member 720 opens the guide port 715. Alternatively, the second side end 720b can pivot around the first side end 720a to abut against the dust box 711, so that the cover member 720 covers the guide port 715. The gravity of the adjusting member 730a is much greater than the buoyancy of the cover member 720 in water.
  • the cover member 720 changes its own center of gravity by relying on the adjusting member 730a, which is conducive to forming a certain pre-tightening force on the cover member 720 in the gravity direction, and the pre-tightening force can make the cover member 720 fit to the dust box 711.
  • the covering member 720 relies on its own gravity and the gravity of the adjusting member 730a to make the second side end 720b pivot around the first side end 720a to be away from the dust box 711.
  • the second side end 720b is pivoted around the first side end 720a to be away from or against the dust box 711, and the gravity of the adjusting member 730a is greater than the buoyancy, which not only increases the speed of the covering member 720 to cover or open the guide port 715, but also makes it easier for the covering member 720 to autonomously change between the first motion state and the second motion state, thereby reducing the use of driving components and saving costs.
  • the density of the above-mentioned adjusting member 730a is greater than 1kg/m 3.
  • the density of the adjusting member 730a can be 1.1kg/m 3 , 2kg/m 3 , 3kg/m 3 , 3.4kg/m 3 , 4.3kg/m 3 , etc., which is not limited here. That is, the density of the adjusting member 730a needs to be greater than the density of water.
  • the covering member 720 When the dust box 711 is in the first motion state or the third motion state, the covering member 720 relies on the gravity formed by the adjusting member 730a to extend the covering member 720 along the gravity direction, that is, the covering member 720 maintains a vertical state, and at this time, the covering member 720 can cover the guide port 715. In addition, when the dust box 711 is in the second motion state, the covering member 720 can open the guide port 715 by its own gravity and the gravity of the adjusting member 730a.
  • the node 730a may be a counterweight (not shown), etc.
  • the counterweight may be a metal block, an alloy block, a stone, etc., which is not limited here.
  • the ratio of the distance from the center of the adjusting member 730a to the first side end 720a to the distance from the center of the adjusting member 730a to the second side end 720b is less than 1.
  • the distance from the center of the adjusting member 730a to the first side end 720a may be S1.
  • the distance from the center of the adjusting member 730a to the second side end 720b is S2.
  • the ratio of S1 to S2 is less than 1.
  • the center of gravity position of the covering member 720 is adjusted, which is beneficial for providing a certain pre-tightening force to the covering member 720 when it is in the first motion state or the third motion state, thereby improving the tightness of the covering member 720 to the dust box 711.
  • the adjusting member 730a is convexly disposed on the inner side 725 of the cover member 720 facing the first cavity 714.
  • the line connecting the center of gravity of the adjusting member 730a and the pivot center of the cover member 720 forms an acute angle with the direction of gravity.
  • the adjusting member 730a can be detachably or fixedly connected to the cover member 720.
  • the detachable manner can be a snap-on, plug-in or bolt-on manner.
  • the line connecting the center of gravity of the adjusting member 730a and the pivot center of the covering member 720 forms an acute angle with the direction of gravity, that is, the center of gravity of the adjusting member 730a is set higher than the side of the covering member 720 facing the first cavity 714, thereby increasing the preload force of the covering member 720 in the first motion state or the third motion state, thereby increasing the speed at which the covering member 720 covers the guide port 715; at the same time, it is easier for the covering member 720 to pivot away from the guide port 715, thereby increasing the speed at which the covering member 720 opens the guide port 715.
  • the cover 720 is provided with an adjustment installation portion 721.
  • the adjustment installation portion 721 provides an installation position for the adjustment member 730a.
  • the adjustment member 730a can be arranged in the adjustment installation portion 721 by means of clamping, plugging or bolting.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • Figure 50 is a partial schematic diagram of the second motion state of the filter assembly in the eighth embodiment of the cleaning device disclosed herein;
  • Figure 51 is a structural schematic diagram of the mounting bracket in the filter assembly in the ninth embodiment of the cleaning device disclosed herein.
  • the second side end 720b is pivotally connected to the dust box 711.
  • the first side end 720a pivots around the second side end 720b to move away from or against the dust box 711 to facilitate opening or closing the guide port 715.
  • the filter assembly 710 is located underwater as a whole, that is, the filter assembly 710 is located below the water surface as a whole, and the buoyancy of the adjustment member 730b is set to be greater than gravity.
  • the second side end 720b is pivotally connected to the dust box 711
  • the adjusting member 730b is away from the pivotal connection between the second side end 720b and the dust box 711
  • the first side end 720a can pivot around the second side end 720b to be away from the dust box 711, so that the cover member 720 opens the guide port 715.
  • the first side end 720a can pivot around the second side end 720b to abut against the dust box 711, and because the buoyancy of the adjusting member 730b is greater than the gravity, the cover member 720 is covered to the guide port 715.
  • the buoyancy of the adjusting member 730b is much greater than the gravity of the cover member 720 in water.
  • the cover member 720 When the dust box 711 is in the first motion state or the third motion state, the cover member 720 relies on the buoyancy of the adjusting member 730b to extend the cover member 720 in the direction of gravity, and at this time, the cover member 720 can cover the guide port 715. When the dust box 711 is in the second movement state, the cover 720 relies on its own gravity to cause the second side end 720b to pivot around the first side end 720a to move away from the dust box 711.
  • the second side end 720b is pivoted around the first side end 720a to be away from or against the dust box 711, and the gravity of the adjusting member 730b is greater than the buoyancy, which not only increases the speed of the covering member 720 to cover or open the guide port 715, but also makes it easier for the covering member 720 to autonomously change between the first motion state and the second motion state, thereby reducing the use of driving components and saving costs.
  • the density of the adjusting member 730b is less than 1kg/m 3 .
  • the density of the adjusting member 730b may be 0.9kg/m 3 , 0.8kg/m 3 , 0.64kg/m 3 , 0.54kg/m 3 , 0.1kg/m 3 , etc., which are not limited here. That is, the density of the adjusting member 730b needs to be less than the density of water.
  • the adjusting member 730b can be a hollow structure, foam, plastic, or filled with other air bags, etc., which are not limited here.
  • the hollow structure can be a hollow box-shaped structure.
  • the adjusting member 730b is foam.
  • the filter assembly 710 further includes a moving member 731.
  • the cover member 720 further includes a receiving channel 722.
  • the receiving channel 722 is disposed between the first side end 720a and the second side end 720b.
  • the center line of the receiving channel 722 intersects with the plane where the first side end 720a or the second side end 720b is located.
  • the moving member 731 is accommodated in the receiving channel 722 and can move along the receiving channel 722.
  • the moving member 731 is accommodated in the accommodating channel 722 and can move along the accommodating channel 722.
  • the position change of the moving member 731 can change the center of gravity of the covering member 720, so that the covering member 720 can quickly cover or close the guide port 715, thereby improving the wall climbing or slope climbing or running performance of the cleaning device 10.
  • the moving member 731 can be a rolling member (not shown).
  • the rolling member rolls in the accommodating channel 722, which can reduce the friction between the rolling member and the accommodating channel 722, and thus can change the center of gravity of the covering member 720 more quickly.
  • the rolling member can be a ball.
  • the ball density can be greater than 1kg/m 3.
  • the size of the ball can be determined according to actual conditions and is not limited here.
  • the above-mentioned accommodating channel 722 is arranged between the first side end 720a and the second side end 720b, and the center line of the accommodating channel 722 intersects with the plane where the first side end 720a is located, that is, the accommodating channel 722 is arranged close to the first side end 720a.
  • the accommodating channel 722 is arranged between the first side end 720a and the second side end 720b, and the center line of the accommodating channel 722 intersects with the plane where the second side end 720b is located, that is, the accommodating channel 722 is arranged close to the second side end 720b.
  • the accommodating channel 722 can be arranged at any angle at the position of the first side end 720a or the second side end 720b.
  • the center line of the accommodating channel 722 intersects perpendicularly with the plane where the first side end 720a or the second side end 720b is located.
  • the center line of the accommodating channel 722 intersects perpendicularly with the plane where the first side end 720a is located.
  • the center of the accommodating channel 722 intersects perpendicularly with the plane where the second side end 720b is located.
  • the cover member 720 includes an inner side surface 725 facing the first cavity 714.
  • the accommodating channel 722 is formed by extending from the second side end 720b to the direction close to the inner side surface 725 and to the first side end 720a.
  • the accommodating channel 722 is formed by extending from the second side end 720b to the direction close to the inner side surface 725 and to the first side end 720a at the same time. That is, the accommodating channel 722 is arranged at an angle.
  • the moving member 731 moves from the second side end 720b to the first side end 720a along the accommodating channel 722 in the inclined arrangement due to gravity.
  • the center of gravity position of the cover member 720 moves forward, so that the center of gravity gravity of the cover member 720 is greater than the buoyancy of the cover member 720, thereby causing the cover member 720 to open the guide port 715.
  • the movement of the movable member 731 is facilitated, and the gravity of the center of gravity of the covering member 720 can be quickly changed, thereby enabling the covering member 720 to quickly open or close the guide port 715 .
  • the cover member 720 can be directly pivotally connected to the side wall of the dust box 711. However, for the stability and firmness of the installation, the cover member 720 can be indirectly pivotally connected to the side wall of the dust box 711 through other mounting members, such as the mounting bracket 740.
  • the mounting bracket 740 is disposed on the side wall of the dust box 711.
  • the mounting bracket 740 at least partially covers the air guide port 715.
  • the portion of the mounting bracket 740 covering the air guide port 715 is provided with a plurality of grille holes 741.
  • the grille holes 741 are in communication with the air guide port 715.
  • the cover member 720 is movably mounted on the mounting bracket 740.
  • the mounting bracket 740 can be detached or fixed on the side wall of the dust box 711. During the process of mounting the mounting bracket 740 to the side wall of the dust box 711, the mounting bracket 740 at least partially covers the guide port 715.
  • the portion of the mounting bracket 740 covering the guide port 715 is provided with a plurality of grille holes 741.
  • the plurality of grille holes 741 are connected to the guide port 715. At least part of the water in the first cavity 714 flows out through the guide port 715 and the grille holes 741 in sequence.
  • the grille holes 741 By providing the grille holes 741 on the mounting bracket 740, it is prevented that larger impurities (leaves, etc.) enter the main water pump 210 after the cover 720 is opened and damage the main water pump impeller 212, etc. in the main water pump 210.
  • the size and shape of the above-mentioned grille holes 741 are not limited, and can meet the actual use needs.
  • the grille holes 741 are square in shape.
  • the mounting bracket 740 can be detachably mounted on the side wall of the dust box 711.
  • the detachable manner may be a clamping, bolt fixing, plug-in, etc.
  • a plurality of mounting portions 744 are provided on the periphery of the mounting bracket 740.
  • the mounting portion 744 is provided with a mounting hole (not shown).
  • the fixing member is fixed to the side wall of the dust box 711 after passing through the mounting hole.
  • a plurality of mounting buckles 745 are provided on the periphery of the mounting bracket 740. The mounting buckle 745 is plugged from the air guide port 715 and clamped on the side wall of the air guide port 715.
  • the mounting bracket 740 cooperates with the above-mentioned mounting portion 744 and the mounting buckle 745 to improve the stability of the mounting bracket 740 installed on the side wall of the dust box 711, thereby improving the stability of the filter assembly 710.
  • the setting position and quantity of the above-mentioned mounting bracket 740 and the mounting buckle 745 can be determined according to actual conditions and are not limited here.
  • the cover 720 can be movably mounted on the mounting bracket 740.
  • the movable mode can be a rotation mode.
  • the cover 720 is rotatably connected to the mounting bracket 740.
  • a side surface of the mounting bracket 740 facing the first cavity 714 is recessed to provide a receiving cavity 742.
  • a side wall of the receiving cavity 742 is provided with a pivoting mounting groove 743.
  • the cover member 720 is movably accommodated in the receiving cavity 742.
  • a pivoting portion 723 is convexly provided on the cover member 720.
  • a stopper and limiting protrusion is provided below the pivoting portion 723.
  • the pivoting portion 723 is pivotally installed in the pivoting mounting groove 743. The stopper and limiting protrusion rotates with the cover member 720 until it stops on the side wall.
  • the accommodating cavity 742 is recessed on a side of the mounting bracket 740 facing the first cavity 714, and the accommodating cavity 742 can be used to accommodate the covering member 720.
  • the accommodating cavity 742 is connected to the pivot mounting groove 743.
  • the pivot portion 723 is fixedly or detachably mounted on the covering member 720.
  • the pivot portion 723 is pivotally mounted in the pivot mounting groove 743 to realize the rotation of the covering member 720.
  • a stop and limit protrusion is arranged below the pivot portion 723.
  • the pivot portion 723 and the stop and limit protrusion are detachably or fixedly connected.
  • the stop and limit protrusion can play a stop and limit role.
  • the stop and limit protrusion also rotates with the pivot portion 723.
  • the stop-limiting protrusion stops on the side wall of the accommodating cavity 742 , so that the covering member 720 stops rotating, thereby limiting the rotation angle of the covering member 720 .
  • the rotation angle of the cover member 720 is limited to avoid the cover member 720 from rotating too much and causing the cover member 720 to be adsorbed onto the side wall of the dust box 711, thus affecting the closing of the cover member 720.
  • the cover 720 can limit the angle between the cover 720 and the dust box 711 through the above-mentioned stop limit protrusion and other related structures.
  • the angle between the cover 720 and the dust box 711 is greater than or equal to 30° and less than or equal to 100°.
  • the angle between the cover 720 and the dust box 711 can be 30°, 43°, 54°, 65°, 76°, 87°, 90°, 98°, 100°, etc., which are not limited here.
  • the stop limit protrusion limits the cover.
  • the cover member 720 is vertically arranged with respect to the dust box 711, that is, the angle between the cover member 720 and the dust box 711 is 90 degrees.
  • structures such as the pivoting mounting groove 743, the pivoting portion 723 and the stop limit protrusion between the cover 720 and the mounting bracket 740 can also be arranged between the cover 720 and the dust box 711, which are not described one by one here.
  • a lap joint 724 is further extended from the edge of the cover member 720.
  • the lap joint 724 abuts against the inner side surface 725 of the mounting bracket 740 when the cover member 720 is accommodated in the accommodating cavity 742.
  • the lap joint 724 is fixedly or detachably connected to the cover member 720.
  • the lap joint 724 is located at the edge of the cover member 720.
  • the sealing performance of the cover 720 covering the guide port 715 is improved, and water is reduced from entering the dust box 711 through the gap between the cover 720 and the mounting bracket 740, thereby affecting the cleaning efficiency of the cleaning device 10.
  • Figure 52 is a partial schematic diagram of the eighth embodiment of the underwater cleaning device of the present disclosure
  • Figure 53 is a partial exploded schematic diagram of the eighth embodiment of the underwater cleaning device of the present disclosure.
  • the dust box 711 of the filter assembly 710 provided in the embodiment of the present disclosure is arranged in an approximately square shape.
  • the dust box 711 has at least two structures.
  • the first dust box 711 has an opening.
  • the dust box 711 includes a first side 7111a, a second side 7111b, a third side 7111c and a fourth side 7111d.
  • the first side 7111a, the second side 7111b, the third side 7111c and the fourth side 7111d are arranged around to form the above-mentioned opening.
  • the first side 7111a and the second side 7111b are arranged oppositely.
  • the third side 7111c and the fourth side 7111d are arranged oppositely.
  • the first side 7111a is close to the front of the movement of the cleaning device 10.
  • the guide port 715 can be arranged at at least one of the first side 7111a, the second side 7111b, the third side 7111c and the fourth side 7111d.
  • At least one of the first side 7111a, the second side 7111b, the third side 7111c and the fourth side 7111d can be provided with one, two or more guide ports 715, etc., which are not limited here. That is, the cover 720 can be pivotally connected to at least one of the first side 7111a, the second side 7111b, the third side 7111c and the fourth side 7111d. The cover 720 covers or opens the guide port 715 at the corresponding position.
  • the cover member 720 When the air guide port 715 is arranged on the first side 7111a, the cover member 720 is arranged on the first side 7111a 1a and pivots into the dust box 711.
  • a pivoting portion 723 is arranged on the cover member 720 on the second side 7111b and the third side 7111c.
  • the pivoting portion 723 is vertically arranged on the mounting bracket 740 or the side wall of the dust box 711.
  • the cover member 720 can pivot into the dust box 711 or pivot out of the dust box 711.
  • the cover member 720 can also be arranged in other ways, which are not limited here.
  • the cover member 720 When the air guide port 715 is arranged on the fourth side 7111d, the cover member 720 can be arranged on the fourth side 7111d and pivot out of the dust box 711.
  • the second type of dust box 711 has no opening.
  • the dust box 711 includes a first side 7111a, a second side 7111b, a third side 7111c, a fourth side 7111d, and a fifth side 7111e.
  • the fifth side 7111e is covered at the opening formed by the first side 7111a, the second side 7111b, the third side 7111c, and the fourth side 7111d.
  • the fifth side 7111e is fixedly or detachably connected to at least one of the first side 7111a, the second side 7111b, the third side 7111c, and the fourth side 7111d.
  • the first side 7111a, the second side 7111b, the third side 7111c, the fourth side 7111d, and the fifth side 7111e are used to keep the dust box 711 in a closed state.
  • the air guide 715 can be disposed at at least one of the first side 7111a, the second side 7111b, the third side 7111c, the fourth side 7111d, and the fifth side 7111e. That is, the cover 720 can be pivotally connected to at least one of the first side 7111a, the second side 7111b, the third side 7111c, the fourth side 7111d, and the fifth side 7111e.
  • the cover 720 covers or opens the air guide 715 at the corresponding position.
  • the cover member 720 can be arranged on the fifth side 7111e.
  • the cover member 720 can be arranged at a position of the cleaning device 10 close to the fifth side 7111e. That is, the cover member 720 can be pivoted and rotated into the dust box 711 or pivoted and rotated out of the dust box 711. Therefore, the setting position of the cover member 720 is not only related to the structure of the dust box 711, but also to the setting of the air guide port 715, and also to the structure of the cleaning device 10 itself.
  • the structure of the cover member 720 can be selected and fine-tuned according to actual conditions to meet the needs of the cover member 720 to cover or open the air guide port 715, thereby improving the thrust of the cleaning device 10, thereby improving the wall climbing or slope climbing or running performance of the cleaning device 10, and improving the user experience.
  • the guide port 715 may be provided with a first covering member 720 and an adjusting member 730a with a density greater than 1 kg/m 3.
  • the guide port 715 may be provided with a second covering member 720, an adjusting member 730b with a density less than 1 kg/m 3 and a moving member 731.
  • the first type of cover member 720 and the adjusting member 730a with a density greater than 1kg/m 3 can be provided at both flow guide ports 715.
  • the second type of cover member 720, the adjusting member 730b with a density less than 1kg/m 3 and the moving member 731 can be provided at both flow guide ports 715.
  • the first type of cover member 720 and the adjusting member 730a with a density greater than 1kg/m 3 can be provided at one flow guide port 715.
  • the second type of cover member 720, the adjusting member 730b with a density less than 1kg/m 3 and the moving member 731 can be provided at the other flow guide port 715.
  • the type of the cover member 720 at the guide port 715, the type of the adjustment member 730b, etc. can be determined according to actual conditions and will not be described in detail here.
  • the shape of the above-mentioned guide port 715 can be a regular shape or an irregular shape.
  • a regular shape can be a regular polygon, a circle, etc.
  • An irregular shape can be formed by an arc shape and a combination of folds.
  • the shape of the cover 720 can be the same as or different from the shape of the guide port 715.
  • the cover 720 is different from the shape of the guide port 715, when the dust box 711 is in the first motion state or the third motion state, the cover 720 The part 720 only needs to cover the guide port 715, and its specific shape is not limited.
  • the cover 720 of the filter assembly 710 provided in the embodiment of the present disclosure is also provided with a second filter layer.
  • the second filter layer plays a role in filtering impurities, so as to avoid affecting the normal working state of the cleaning device 10 due to the setting of the cover 720.
  • the second filter layer can be set at a position away from the setting positions of the adjustment members 730a and 730b, and its specific setting position and form are not limited here.
  • the above-mentioned cover member 720 can be movably connected to the cleaning device 10.
  • the cover member 720 can be installed on other structures of the cleaning device 10 other than the dust box 711 by pivoting, telescoping, hinged, etc., and is used to cover or open the guide port 715, etc. If the cover member 720 is pivotally connected to the cleaning device 10, the structure of the cover member 720 is the same as the structure of the cover member 720 pivotally connected to the dust box 711, and will not be described one by one here. That is, there are multiple options for the setting position of the cover member 720, and its specific setting position can be determined according to actual conditions.
  • the cleaning device 10 includes a filter assembly 710.
  • the filter assembly 710 is the filter assembly 710 described in the above embodiment, which will not be repeated here.
  • the cleaning device 10 can not only reduce the impact on the cleaning effect of the cleaning device 10; but also increase the water intake of the main water pump 210, thereby increasing the thrust of the cleaning device 10, thereby improving the wall climbing or slope climbing or operating performance of the cleaning device 10, and improving the user experience.
  • the dust box 711 is formed with a dust box water inlet 716.
  • the dust box water inlet 716 is communicated with the first cavity 714. That is, water enters the first cavity 714 from the dust box water inlet 716.
  • the cleaning device 10 also includes a main water pump 210.
  • the main water pump 210 is arranged outside the dust box 711.
  • the main water pump 210 is communicated with the first cavity 714 of the dust box 711.
  • the main water pump 210 provides a driving force for the water flow and can guide the direction of the water flow.
  • the cover member 720 covers the guide port 715.
  • the main water pump 210 is used to guide water to flow into the main water pump 210 from the dust box water inlet 716, the first cavity 714, and the first filter layer in sequence. That is, the main water pump 210 is used to guide the water in the pool from the dust box water inlet 716 into the first cavity 714.
  • the water in the first cavity 714 flows into the main water pump 210 through the first filter layer on the dust box 711.
  • the cover 720 opens the guide port 715.
  • the main water pump 210 is used to guide at least part of the water to flow into the main water pump 210 from the dust box water inlet 716, the first cavity 714 and the guide port 715 in sequence. That is, the main water pump 210 is used to guide the water in the pool from the dust box water inlet 716 into the first cavity 714. At least part of the water in the first cavity 714 directly flows into the main water pump 210 through the guide port 715. Some water can also flow into the main water pump 210 through the first filter layer.
  • the main water pump 210 not only provides driving force for water flow and limits the direction of water flow, but also enables the main water pump 210 to always meet the water intake demand, thereby maintaining the stable wall climbing or slope climbing or operating performance of the cleaning equipment 10.
  • the cleaning device 10 includes a dust bin 1023.
  • the dust bin 1023 is formed with a second cavity 10231.
  • the filter assembly 710 is disposed in the second cavity 10231.
  • the second cavity 10231 is connected to the first cavity 714 of the dust box 711 in the filter assembly 710.
  • the second cavity 10231 can be connected to the first cavity 714 through the first filter layer and the guide port 715.
  • the main water pump 210 is disposed outside the dust bin 1023.
  • the dust box water inlet 716 is formed between the dust box 711 and the dust bin 1023.
  • the dust box water inlet 716 is connected to the first cavity 714. That is, water enters the first cavity 714 from the dust box water inlet 716.
  • the location and manner of setting the dust box water inlet 716 are not limited, as long as water can directly enter the first cavity 714 through the dust box water inlet 716.
  • the main water pump 210 is used to guide the water in the pool to enter the first cavity 714 through the dust box water inlet 716, and then flow into the second cavity 10231 after being filtered by the first filter layer, and then the water flows into the main water pump 210 through the second cavity 10231.
  • the cover 720 covers the guide port 715.
  • the main water pump 210 is used to guide water to flow into the main water pump 210 from the dust box water inlet 716, the first cavity 714, the first filter layer and the second cavity 10231 in sequence. That is, the main water pump 210 is used to guide the water in the pool from the dust box water inlet 716 into the first cavity 714.
  • the water in the first cavity 714 flows into the second cavity 10231 through the first filter layer on the dust box 711, and then the water flows into the main water pump 210 through the second cavity 10231.
  • the first motion state or the third motion state is the state of the dust box 711 when the cleaning device 10 moves in a direction perpendicular to the gravity; or the cleaning device 10 is within a certain tilt angle, and the self-gravity or external force of the cover 720 is not enough to open the guide port 715.
  • the cover 720 opens the guide port 715.
  • the main water pump 210 is used to guide at least part of the water to flow into the main water pump 210 from the dust box water inlet 716, the first cavity 714, the guide port 715 and the second cavity 10231 in sequence. That is, the main water pump 210 is used to guide the water in the pool from the dust box water inlet 716 into the first cavity 714. At least part of the water in the first cavity 714 flows directly into the second cavity 10231 through the guide port 715. Some water can also flow into the second cavity 10231 through the first filter layer, and then the water flows into the main water pump 210 through the second cavity 10231.
  • the dust bin 1023 By setting the dust bin 1023 in the cleaning device 10, water can be concentrated in the second cavity 10231, so as to flow into the main water pump 210, thereby increasing the demand for the water intake of the main water pump 210, and further improving the wall climbing or slope climbing or operating performance of the cleaning device 10.
  • the dust bin 1023 is provided with a water outlet (not shown).
  • the water outlet is connected to the main water pump 210.
  • the water outlet can be set on a side wall of the dust bin 1023 close to the main water pump 210. Alternatively, the water outlet can also be set at other positions of the dust bin 1023, which is not limited here.
  • the cover 720 is pivotally connected to the dust bin 1023.
  • the cover 720 pivotally connected to the dust bin 1023 has the same structure as the cover 720 pivotally connected to the dust box 711, and will not be described in detail here.
  • the cover 720 can reduce the resistance of the water flow to the water flow, so that the water can flow out of the dust box 711 more smoothly.
  • the cover 720 can be arranged on the side wall of the dust bin 1023 to cover or open the guide port 715.
  • the cover 720 When the cover 720 opens the guide port 715, when the cleaning device 10 changes from the second state to the first state, the cover 720 can automatically reset due to its own structure, so that the cover 720 covers the guide port 715.
  • a reset component can be provided between the cover 720 and the dust box 711, or between the cover 720 and the dust bin 1023. Rapid reset is achieved through the reset component.
  • the reset component can be a torsion spring, a spring, a tension spring, etc., which is not limited here.
  • the cleaning device 10 further includes a flip cover (not shown).
  • the dust bin 1023 is formed with an opening (not shown).
  • the flip cover is arranged on the opening to close the dust bin 1023.
  • the flip cover is arranged on the top of the dust bin 1023.
  • the air guide port 715 is arranged on the top of the dust box 711.
  • the dust box 711 is in a partially hollowed state and is provided with the air guide port 715.
  • the cover 720 is movably connected to the flip cover, and is used to cover or open the air guide port 715 of the dust box 711. That is, in addition to being arranged on the dust bin 1023, the cover 720 can also be arranged on the flip cover.
  • the cover 720 when the top of the dust box 711 includes the fifth side 7111e, the cover 720 can be movably mounted on the top cover shell (not shown) of the cleaning device 10.
  • the top cover shell is the outermost shell of the cleaning device 10.
  • the filter assembly 710 can be taken out of the cleaning device 10 to be cleaned or replaced.
  • the cover 720 covers or opens the guide port 715 on the fifth side 7111e.
  • the fifth side surface 7111e is formed with a guide port 715.
  • the cover member 720 can be movably mounted on the fifth side surface 7111e to cover or open the guide port 715 on the fifth side surface 7111e.
  • the cover 720 is also provided with a second filter layer (not shown).
  • the second filter layer is connected to the first cavity 714 and the second cavity 10231 respectively.
  • the second filter layer plays a filtering role.
  • the cover 720 covers the guide port 715.
  • the water in the pool can enter the first cavity 714 through the dust box water inlet 716.
  • the water in the first cavity 714 flows into the second cavity 10231 through the first filter layer on the dust box 711 and the second filter layer on the cover 720, and then the water flows into the main water pump 210 through the second cavity 10231. Therefore, by arranging the second filter layer on the cover 720, the cleaning efficiency of the cleaning device 10 can be improved.
  • the structure of the second filter layer can be the same as or different from the structure of the first filter layer, which is not limited here.
  • the main water pump 210 includes a main water pump impeller cover 215.
  • the area of the guide port 715 of the filter assembly 710 is larger than the water inlet cross-sectional area of the main water pump impeller cover 215.
  • the area of the guide port 715 is larger than the water inlet cross-sectional area of the main water pump impeller cover 215, increasing the water outlet area of the filter assembly 710, so that the water outlet of the filter assembly 710 is larger than the water inlet of the main water pump 210, ensuring that the wall climbing or slope climbing or the first filter layer is blocked and the water inlet requirement of the main water pump 210 is always met, thereby maintaining stable wall climbing or slope climbing or operation performance.
  • the main water pump 210 further includes a main water pump impeller 212 and a main water pump motor 211.
  • the output end of the main water pump motor 211 is connected to the main water pump impeller 212.
  • the main water pump motor 211 drives the main water pump impeller 212 to rotate in the main water pump impeller cover 215.
  • the main water pump motor 211 in the main water pump 210 drives the main water pump impeller 212 to rotate, and water flows into the main water pump impeller 212, which speeds up the water output of the filter assembly 710, thereby improving the cleaning efficiency of the cleaning device 10 for sewage in the pool.
  • the size of the filter screen of the first filter layer of the filter assembly when the cleaning device 10 is in water surface cleaning can be larger than the size of the filter screen of the first filter layer of the filter assembly when the cleaning device 10 is in underwater cleaning.
  • the dust box 711 can be provided with two or more layers of the first filter layer.
  • the cover 720 covers or opens the guide port 715 on the filter assembly 710. When the cleaning device 10 performs underwater cleaning, the cover 720 covers the guide port 715.
  • the multiple first filter layers are stacked and filtered to improve the underwater cleaning filtration efficiency.
  • the cover 720 When the cleaning device 10 performs water surface cleaning, the cover 720 at least partially opens the guide port 715, and the guide port 715 reduces the number of first filter layers, which is convenient for filtering larger garbage on the liquid surface 30, and reduces the clogging of multiple first filter layers by larger garbage.
  • the structure, setting method and setting position of the cover 720 are as described above, and will not be repeated here.
  • the cleaning device 10 can realize cleaning in various scenarios in the pool, including pool bottom cleaning, pool wall cleaning, water surface cleaning, waterline cleaning, and water quality treatment at a set depth in the pool.
  • the dust-carrying water flow is sucked in through the first water inlet 1031 at the bottom of the cleaning device 10, and enters the filter mechanism from the water dust box port 7162 of the filter mechanism for filtration, and then is discharged from the body through the liquid outlet 104.
  • at least one first cleaning member 410 located at the bottom of the cleaning device 10 sweeps the pool bottom or pool wall.
  • at least one first cleaning member 410 of the cleaning device 10 sweeps the water line of the pool wall, and the stains attached to the water line are brushed off from the water line and fall into the pool bottom or partially sucked into the filter mechanism in the cleaning device 10 through the first water inlet 1031.
  • a nozzle may be provided on the cleaning device 10. The nozzle blows the garbage on the water line or corners of the pool wall away from the above position and blows it to the cleaning range of the surface dust box opening 7161, thereby improving the cleaning efficiency.
  • the filter mechanism is a filter structure, it may be blocked by garbage, floating algae, etc. in the water during operation, resulting in blocked water flow, thereby affecting the amount of water discharged from the cleaning device 10.
  • the cleaning device 10 When the cleaning device 10 is running on the bottom or wall of the pool, the discharged water provides the cleaning device 10 with a wall-attaching reverse thrust.
  • the cleaning device 10 when the cleaning device 10 is running on the pool wall, if the reverse thrust is insufficient, the cleaning device 10 will easily roll over. Therefore, a second water flow channel can be provided on the filter mechanism to cope with the blockage of the filter structure in the filter mechanism, and the cleaning device 10 can still Runs stably against the wall.
  • the cleaning of the above specific areas can be achieved by setting at least one rotating brush 431 on the cleaning device 10.
  • the rotating brush 431 can be set to a retractable form, for example, when necessary, the rotating brush 431 is controlled to extend for cleaning, and when the cleaning process is completed, the rotating brush 431 is controlled to retract into the cleaning device 10.

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Abstract

本公开提供了一种清洁设备，清洁设备包括清洁设备主体、驱动机构、过滤机构、进液部、出液部以及模式切换构件，驱动机构设置于清洁设备主体；过滤机构设置于清洁设备主体；进液部至少包括第一进水口，第一进水口设置于清洁设备主体；出液部至少包括第一出水口，第一出水口设置于清洁设备主体，第一进水口、过滤机构、驱动机构以及第一出水口依次连通形成第一水路；模式切换构件用于实现清洁设备在液面上下的位置切换，当清洁设备处于液面以下时，清洁设备全部浸没在液面以下；当清洁设备处于液面以上时，清洁设备的至少部分处于液面以上。清洁设备能够调节水下清洁以及水面清洁至少两种工况，进而满足不同使用需求。

Description

一种清洁设备
本申请要求于2023年04月27日提交国际专利局、申请号为PCT/CN2023/091116，发明名称为“一种用于液体中的行走装置以及泳池清洁机器人”的国际专利申请的优先权，其全部内容通过引用结合在本申请中；
本申请要求于2023年02月16日提交中国专利局、申请号为2023202327597，实用新型名称为“传动装置及水池清洁机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中；
本申请要求于2023年09月08日提交中国专利局、申请号为202311159683.0、发明名称为“过滤组件及水下清洁设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中；
本申请要求于2023年11月17日提交中国专利局、申请号为2023115405902，发明名称为“过滤组件及水下清洁设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中；
本申请要求于2024年01月17日提交中国专利局、申请号为2024100704304，发明名称为“一种水池机器人及其控制方法、存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
【技术领域】
本公开涉及液体工作设备技术领域，特别是涉及一种清洁设备。
【背景技术】
泳池的清洁和维护对于保持水质清洁和池内卫生至关重要。市面上的泳池清洁机器人可以分为三类，第一类清洁机器人只能清洁水底，第二类清洁机器人既能清洁底面也能清洁竖直的墙壁面，但须在水面以下，第三类清洁机器人一直漂在水面上，只能清洁水面。三类泳池清洁机器人各具特点，但都缺乏在液体环境中进行有效的位置调节，无法根据实际需要调节深度，以对泳池底部、墙壁面和水面的全方位清洁，限制了其应用范围和工作效率。
因此，需要一种清洁设备，能够在液面上以及液面下之间灵活地进行位置切换，提高在水中进行水体清洁的工作效率和应用范围，降低清洁成本。
【发明内容】
本公开提供一种清洁设备，包括清洁设备主体，清洁设备主体包括：进液部，至少包括第一进水口；出液部，至少包括第一出水口；过滤机构，至少包括一第一入口和一出口，第一入口与第一进水口流体连通，出口与第一出水口流体连通；驱动机构，用于产生抽吸力以在进液部、过滤机构、出液部形成第一水流通道；清洁设备主体还包括：模式切换构件，用于实现清洁设备在第一运动状态和第三运动状态之间的切换，清洁设备在第一运动状态时可以执行水下清洁工作，清洁设备在第三运动状态时可以执行水面清洁工作。
其中，模式切换构件进一步用于调节清洁设备主体在竖直方向上接收到的作用力。
其中，清洁设备主体在竖直方向上接收到的作用力包括清洁设备主体在竖直方向上所受的浮力，模式切换构件包括：浮力调节组件，用于调节清洁设备主体在竖直方向上所受的浮力大小。
其中，清洁设备还包括：第一传感器，用于感知清洁设备主体的位置；处理器，用于：当清洁设备主体需要从液面下切换到液面上时，获取清洁设备主体的位置；当清洁设备主体的位置满足预设条件时，控制浮力调节件以增大浮腔内气体的体积。
其中，清洁设备还包括：第二传感器，用于检测浮腔的进气口位置是否位于空气中：处理器，用于：当清洁设备主体需要从液面下切换到液面上时，获取进气口位置是否位于空气中的检测结果；当检测结果表征进气口位置位于空气中时，控制浮力调节件以增大浮腔内气体的体积。
其中，清洁设备还包括：处理器，用于：当清洁设备主体需要从液面上切换到液面下时，控制浮力调节件减小浮腔内气体的体积。
其中，清洁设备主体在竖直方向上接收到的作用力包括清洁设备主体在竖直方向上所受的第一驱动力，模式切换构件包括：推进组件，用于调节清洁设备在竖直方向上所受到的第一驱动力。
其中，推进组件包括：第一推进器，用于推动液体沿第一预设方向运动，当液体沿第一预设方向运动时，清洁设备主体在竖直方向上所受到第一驱动力，其中，第一驱动力的大小与液体沿第一预设方向运动的速度正相关。
其中，第一推进器包括：第一推进叶轮，用于通过转动带动液体沿第一预设方向运动，当液体沿第一预设方向运动时，清洁设备在竖直方向上所受到第一驱动力；第一推进电机，用于为第一推进叶轮提供动力。
其中，清洁设备还包括：第二推进器，用于推动液体沿第二预设方向运动，当液体沿第二预设方向运动时，清洁设备主体在水平方向上所受到第二驱动力，其中，第二驱动力的大小与液体沿第二预设方向运动的速度正相关。
其中，清洁设备水平方向上的左侧和右侧分别设置有至少一个第二推进器。
其中，驱动机构包括：主水泵，用于驱使清洁设备将液体从进液部吸入，并从出水部排出。
其中，清洁设备主体用于在装有液体的目标区域中移动，目标区域包括目标底壁以及目标侧壁，出液部包括主水泵出水口，主水泵出水口为第一出水口；当清洁设备主体位于目标侧壁上时，主水泵出水口朝向目标区域内，并与水平方向平行或在竖直方向上存在向下的倾斜，当清洁设备主体需要在目标侧壁上运动时，主水泵还用于：从主水泵出水口排出液体，从而获得第三驱动力以驱使清洁设备主体紧贴目标侧壁。
其中，清洁设备用于在装有液体的目标区域中移动，目标区域包括目标底壁以及目标侧壁，进水部包括主水泵进水口，主水泵进水口为第一进水口，主水泵进水口设置于清洁设备主体的底部，当清洁设备主体需要在目标侧壁上运动时，主水泵还用于：从主水泵进水口吸入液体，从而获得第四驱动力以驱使清洁设备紧贴目标侧壁。
其中，清洁设备主体用于在装有液体的目标区域中移动，目标区域包括目标底壁以及目标侧壁，清洁设备包括行走机构，行走机构还包括：履带，用于带动清洁设备主体运动以及实现清洁设备主体的行进区域从目标底壁转换至目标侧壁。
其中，清洁设备包括行走机构，行走机构包括传动组件，传动组件包括：行走驱动件，行走驱动件的输出端适于与清洁设备的车轮驱动连接，以使行走驱动件能够驱动车轮转动；第一从动件，第一从动件与车轮驱动连接，第一从动件的输出端适于与清洁设备的第一清洁件连接，车轮带动第一从动件转动，以使第一从动件带动第一清洁件转动；第二从动件，第二从动件与车轮驱动连接，第二从动件的输出端适于与清洁设备的第二清洁件连接，车轮带动第二从动件转动，以使第二从动件带动第二清洁件转动。
其中，车轮包括第一轮、第二轮和履带，第一轮和第二轮通过履带传动连接，行走驱动件的输出端与第一轮驱动连接。
其中，还包括第一齿轮，行走驱动件的输出端与第一齿轮连接，第一齿轮与第一轮啮合。
其中，第二从动件包括第二齿轮、第一转盘、第三齿轮和第二转盘，第二齿轮与第一转盘连接，第三齿轮与第二转盘连接，第一转盘与第二转盘之间通过传送带传动连接，且第二齿轮与第二轮啮合。
其中，第二齿轮与第一转盘同轴设置，第三齿轮与第二转盘同轴设置。
其中，第二从动件还包括第四齿轮，第四齿轮与第三齿轮啮合，且第四齿轮与第二清洁件连接。
其中，第二从动件还包括第五齿轮，第五齿轮设置在第三齿轮和第四齿轮之间，且第五齿轮与第三齿轮和第四齿轮均啮合。
其中，第一从动件包括第六齿轮和第七齿轮，第六齿轮与第二轮啮合，且第六齿轮和第七齿轮啮合，第七齿轮与第一清洁件连接。
其中，第一从动件还包括第八齿轮，第八齿轮设置在第六齿轮和第七齿轮之间，且第八齿轮与第六齿轮和第七齿轮均啮合。
其中，第一清洁件为水下清洁滚刷；第二清洁件为水面滚刷件。
其中，清洁设备包括：清洁部件，设置于清洁设备主体上；运动驱动组件，设置于清洁设备主体上，运动驱动组件与清洁部件连接，用于驱动清洁部件相对清洁设备主体进行伸缩运动，伸缩运动包括以下至少一者：朝远离清洁设备主体的方向的伸展运动、以及朝靠近清洁设备主体的方向的收缩运动。
其中，清洁部件处于收缩状态的情况下，清洁部件全部位于清洁设备主体范围之内，或者清洁部件至少一部分位于清洁设备主体范围之内，收缩状态是运动驱动组件驱动清洁部件进行收缩运动形成的状态，或者为运动驱动组件未驱动清洁部件进行伸展运动的情况下所处的状态；和/或，清洁部件处于伸展状态的情况下，清洁部件的至少一部分位于清洁设备主体范围之外，伸展状态是运动驱动组件驱动清洁部件进行伸展运动形成的状态，或者为运动驱动组件未驱动清洁部件进行收缩运动的情况下所处的状态。
其中，运动驱动组件包括：连接部，清洁部件通过连接部与清洁设备主体连接；第一驱动组件，第一驱动组件与连接部连接，用于驱动清洁部件相对清洁设备主体进行伸缩运动。
其中，连接部为伸缩结构，第一驱动组件包括第一动力源，第一动力源用于驱动连接部进行伸缩，以带动清洁部件进行伸缩运动；或者，第一驱动组件包括第一传动机构和第一动力源，第一传动机构的输入端连接第一动力源，第一传动机构的输出端连接清洁部件，第一动力源用于为第一传动机构提供动力，以使第一传动机构带动清洁部件相对清洁设备主体和连接部进行伸缩运动；或者，连接部的第一端连接清洁部件，第一驱动组件包括第一传动机构和第一动力源，第一传动机构的输入端连接第一动力源，第一传动机构的输出端与连接部的第二端或者位于第二端与清洁设备主体之间的部件连接，第一动力源 用于为第一传动机构提供动力，以使第一传动机构带动连接部和清洁部件相对于清洁设备主体进行伸缩运动。
其中，第一传动机构控制与其连接的部件进行旋转或者平移，以使清洁部件相对于清洁设备主体进行伸缩运动。
其中，运动驱动组件包括至少一组第二驱动组件，至少一组第二驱动组件用于驱动清洁部件相对清洁设备主体进行旋转运动。
其中，连接部的第一端连接清洁部件；其中，至少一组第二驱动组件包括第一组第二驱动组件，第一组第二驱动组件分别连接于清洁设备主体和连接部的第二端，用于驱动连接部进行绕第一方向轴的旋转运动，进而带动清洁部件绕第一方向轴进行旋转运动；和/或，至少一组第二驱动组件包括第二组第二驱动组件，连接部的第一端通过第二组第二驱动组件连接清洁部件，第二组第二驱动组件用于驱动连接部进行绕第二方向轴的旋转运动，进而带动述清洁部件绕第二方向轴进行旋转运动。
其中，清洁部件为若干个，其中，清洁设备主体设有进液部，至少一个清洁部件用于扩大进液部的清洁范围。
其中，进液部设于清洁设备主体的前壁或底部和/或，沿进液部的开口方向，至少一个清洁部件位于进液部的前方。
其中，清洁部件为边刷；和/或，清洁部件活动连接于清洁设备主体或运动驱动组件；和/或，清洁部件为若干个，其中，若干清洁部件设于清洁设备主体的左侧壁、右侧壁和底部中的至少一者；和/或，清洁部件包括旋转刷和转轴，旋转刷环绕转轴设置，转轴通过运动驱动组件转动连接于清洁设备主体，旋转刷具有至少一个清洁面，清洁面用于接触并搅动水流。
其中，还包括触发数据采集单元和到位传感器中的至少一者，触发数据采集单元用于采集关于清洁部件进行预设运动的触发数据，到位传感器用于采集清洁部件所进行的预设运动是否到位的参考数据。
其中，清洁部件具有起始位置和伸缩位置；清洁设备还包括复位组件，复位组件设置于清洁设备主体上，复位组件与清洁部件连接，复位组件用于为清洁部件保持在起始位置提供复位力，清洁部件能够在运动驱动组件驱动清洁部件进行伸缩运动的情况下到达伸缩位置；其中，清洁部件处于起始位置的情况下，清洁部件处于收缩状态，清洁部件处于伸缩位置的情况下，清洁部件处于伸展状态；或者，清洁部件处于起始位置的情况下，清洁部件处于伸展状态，清洁部件处于伸缩位置的情况下，清洁部件处于收缩状态。
其中，过滤机构包括：尘盒，尘盒包括尘盒进水部，尘盒进水部与进液部连通，尘盒进水部用于对进入尘盒的液体进行清洁。
其中，尘盒进水部包括：水面尘盒口，设置在尘盒的侧边，且包含清洁设备在水面漂浮时的漂浮位置，用于目标区域水面的垃圾或杂质进入尘盒的入口。
其中，尘盒包括：尘盒滚刷组件，设置在水面尘盒口中，用于在进行水面清洁时，将泳池水面的垃圾或杂质卷入尘盒内。
其中，尘盒口包括：水中尘盒口，设置在清洁设备在水面的漂浮位置以下，用于泳池水中的垃圾或杂质进入尘盒的入口。
其中，尘盒还包括：水面尘盒口盖板，设置在水面尘盒口上，为可活动部件，用于调节水面尘盒口的开闭状态；水中尘盒口盖板，设置在水中尘盒口上，为可活动部件，用于调节水中尘盒口的开闭状态。
其中，还包括：垃圾导向构件，用于带动泳池液面中的垃圾进入水面尘盒口，垃圾导向构件位于水面尘盒口外侧，内部中空，其远离水面尘盒口的第一端口的端口尺寸大于水面尘盒口的尺寸，与水面尘盒口连接的第二端口的端口尺寸不小于水面尘盒口的尺寸。
其中，过滤机构包括过滤组件，过滤组件包括：尘盒，尘盒形成有第一腔体，尘盒包括第一运动状态和第二运动状态；第一过滤层，设置于尘盒的侧壁，第一过滤层与第一腔体连通；导流口，设置于尘盒和/或第一过滤层，导流口与第一腔体连通；盖合件，其中，在第一运动状态下，盖合件盖合导流口；在第二运动状态下，盖合件打开导流口。
其中，盖合件枢转的连接于尘盒；清洁设备还包括安装在盖合件的调节件，调节件远离盖合件与尘盒的枢转连接处；调节件辅助盖合件盖合或打开导流口。
其中，盖合件包括相对设置的第一侧端和第二侧端；第一侧端位于盖合件的最上端，第二侧端位于盖合件的最下端；第一侧端与尘盒枢转连接，第二侧端绕第一侧端枢转至打开或关闭导流口，在清洁设备整体位于水下，调节件的重力大于浮力；或者，第二侧端与尘盒枢转连接，第一侧端绕第二侧端枢转至打开或关闭导流口，在清洁设备整体位于水下，调节件的浮力大于重力。
其中，第一侧端与尘盒枢转连接，调节件的中心到第一侧端的距离与调节件的中心到第二侧端的距离之比小于1。
其中，第一侧端与尘盒枢转连接，调节件凸设在盖合件朝向第一腔体的内侧面，在尘盒处于第一运 动状态时，调节件的重心与盖合件的枢转中心的连线与重力方向之间呈锐角。
其中，第二侧端与尘盒枢转连接，清洁设备还包括移动件；盖合件还包括容置通道，容置通道设置在第一侧端和第二侧端之间，且容置通道的中心线与第一侧端或第二侧端所在的平面相交；移动件容置在容置通道内，且可沿着容置通道移动。
其中，容置通道的中心线与第一侧端或第二侧端所在的平面垂直相交。
其中，盖合件包括面向第一腔体的内侧面；
容置通道由第二侧端向靠近内侧面的方向，向第一侧端延伸而成。
其中，尘盒的侧壁上设有安装支架，安装支架覆盖导流口；安装支架覆盖导流口的部分设置有若干个格栅孔，格栅孔与导流口连通，盖合件活动安装于安装支架。
其中，安装支架面向第一腔体的一侧面凹陷设置有容置腔，容置腔的侧壁设有枢转安装槽；盖合件活动容置在容置腔内，盖合件凸设有枢转部，枢转部的下方设有止挡限位凸起；枢转部枢转安装在枢转安装槽内，且止挡限位凸起随盖合件转动至止挡在侧壁上。
其中，盖合件的边沿还延伸有搭接部，搭接部在盖合件容置于容置腔内时抵顶于安装支架的内侧面。
其中，清洁设备包括驱动组件，驱动组件与盖合件连接，用于驱动盖合件盖合或打开导流口。
其中，盖合件活动连接于清洁设备。
其中，尘盒形成尘盒进水部，尘盒进水部与第一腔体连通；清洁设备包括主水泵，主水泵设置于清洁设备外，主水泵与尘盒的第一腔体连通。
其中，主水泵包括主水泵叶轮罩，清洁设备的导流口的面积大于主水泵叶轮罩的进水的截面积。
其中，清洁设备包括尘仓，尘仓形成有第二腔体，尘盒设置于第二腔体内，主水泵设置于尘仓外，尘盒和尘仓之间形成有进水部；在清洁设备处于第一运动状态时，主水泵用于引导水依次从进水部、第一腔体、第一过滤层以及第二腔体流入主水泵，其中第一运动状态为尘盒在清洁设备沿着垂直于重力方向移动时所处的状态；在清洁设备处于第二运动状态时，主水泵用于引导至少部分水依次从进水部、第一腔体、导流口以及第二腔体流入主水泵。
其中，盖合件枢转连接于尘仓。
其中，清洁设备还包括翻盖，尘仓形成有开口，翻盖盖设开口，盖合件活动连接于翻盖，用于盖合或开启尘盒的导流口。
其中，盖合件设置有第二过滤层，在清洁设备处于第一运动状态时，第二过滤层分别与第一腔体以及第二腔体连通。
本公开又提供了一种液体清洁控制方法，应用于上述所述的清洁设备，由控制构件执行，包括：获取对目标泳池进行清洁的目标任务，其中，目标任务包括水面清洁和/或水下清洁；基于目标任务以及清洁设备的当前位置，确定行走机构的调节参数；基于调节参数，控制行走机构带动清洁设备移动并进行清洁以完成目标任务。
本公开另提供了一种清洁设备的控制方法，其中，应用于上述所述的清洁设备，控制方法包括：检测到清洁设备满足伸缩触发条件；控制清洁设备的清洁部件进行伸缩运动，伸缩运动包括以下至少一者：朝远离清洁设备的机器人主体的方向的伸展运动、以及朝靠近机器人主体的方向的收缩运动。
其中，伸缩触发条件包括以下至少一者：清洁设备与目标物之间的距离在预设距离范围内、清洁设备处于被困状态、清洁设备接收到预设指令、清洁设备处于预设工作模式，其中，目标物包括墙壁和障碍物中的至少一者预设工作模式。
其中，检测到清洁设备满足伸缩触发条件包括以下至少一者：响应于伸缩触发条件包括清洁设备与目标物之间的距离在预设距离范围内，基于清洁设备的第一触发传感器采集到的第一传感数据，确定清洁设备与目标物之间的距离在预设距离范围内；响应于伸缩触发条件包括清洁设备处于被困状态，执行以下任意一个或多个步骤：基于清洁设备的第二触发传感器采集到的第二传感数据，确定清洁设备的实际旋转角度与预设旋转角度存在预设偏差；检测到清洁设备运动第一时间后未运行目标距离；检测到清洁设备在第二时间前后分别与基准点之间的相对位置差异在预设差异范围内；清洁设备的驱动电机的电流增大且电流增大情况符合被困电流变化情况，其中，基准点是利用第三触发传感器确定的；响应于伸缩触发条件包括清洁设备接收到预设指令，检测到清洁设备接收到预设指令；响应于伸缩触发条件包括清洁设备处于预设工作模式，检测到清洁设备处于预设工作模式。
其中，清洁设备的清洁部件的默认状态为收缩状态，伸缩触发条件包括清洁设备与目标物之间的距离在预设距离范围内；控制清洁设备的清洁部件进行伸缩运动包括：控制清洁设备的清洁部件进行朝远离清洁设备的机器人主体的方向的伸展运动。
其中，清洁设备的清洁部件的默认状态为伸展状态，伸缩触发条件包括清洁设备处于被困状态、接收到预设指令、清洁设备处于预设工作模式中的至少一者；控制清洁设备的清洁部件进行伸缩运动包括：控制清洁设备的清洁部件进行朝靠近清洁设备的机器人主体的方向的收缩运动。
其中，控制清洁设备的清洁部件进行伸缩运动，包括：在控制清洁部件进行伸缩运动的过程中，利用到位传感器检测伸缩运动是否到位；响应于检测到伸缩运动到位，确定控制清洁部件停止伸缩运动。
其中，方法还包括以下任意一个或多个步骤：检测到清洁设备当前满足旋转触发条件，控制清洁设备的清洁部件相对机器人主体进行旋转运动；检测到清洁设备处于目标工作状态，控制清洁设备的清洁部件自转或往复运动，以使清洁部件工作。
【附图说明】
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。其中：
为了更清楚地说明本公开实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。其中：
图1是本公开清洁设备第一实施例的第一角度截面示意图；
图2是图1所示A的放大示意图；
图3是本公开清洁设备第一实施例的第二角度截面示意图；
图4是本公开清洁设备第二实施例的示例性模块图；
图5是本公开清洁设备第二实施例的结构示意图；
图6是本公开清洁设备第二实施例的一局部示意图；
图7是本公开清洁设备第二实施例在目标区域的侧壁上运动的示意图；
图8是本公开清洁设备第二实施例漂浮在液面上的示意图；
图9是本公开清洁设备第二实施例的结构示意图；
图10是本公开清洁设备第三实施例的在目标区域的底壁上运动的示意图；
图11是本公开清洁设备第三实施例的在目标区域的底壁以及侧壁上运动的示意图；
图12是本公开清洁设备第三实施例的在目标区域的侧壁上运动的示意图；
图13是本公开清洁设备第三实施例的第一剖面示意图；
图14是本公开清洁设备第三实施例的第二剖面示意图；
图15是本公开清洁设备第四实施例的结构示意图；
图16是本公开清洁设备第四实施例的剖面示意图；
图17是本公开清洁设备过滤机构的第一简图；
图18是本公开清洁设备过滤机构的第二简图；
图19是本公开清洁设备过滤机构的第三简图；
图20是本公开清洁设备中过滤组件的结构示意图；
图21是图9中H的放大示意图；
图22是本公开清洁设备过滤组件的截面示意图；
图23是本公开清洁设备中第一子过滤层和第二子过滤层的第一结构示意图；
图24是本公开清洁设备中第一子过滤层和第二子过滤层的第二结构示意图；
图25是本公开清洁设备中第一子过滤层和第二子过滤层的第三结构示意图；
图26是本公开清洁设备的第一结构示意图；
图27是本公开清洁设备的第二结构示意图；
图28是本公开液体清洁控制方法的示例性流程图；
图29是本公开清洁设备第五实施例的结构示意图；
图30是本公开清洁设备第五实施例的爆炸示意图；
图31是本公开清洁设备第六实施例的截面示意图；
图32是图31中B的结构示意图；
图33是本公开清洁设备第六实施例中连接部的结构示意图；
图34是本公开清洁设备第七实施例中连接部的结构示意图；
图35是本公开清洁设备第六实施例中第一传动机构的结构示意图；
图36是本公开清洁设备第七实施例的结构示意图；
图37是本公开清洁设备的控制方法一实施例的流程示意图；
图38是本公开电子设备一实施例的框架示意图；
图39是本公开计算机可读存储介质一实施例的框架示意图；
图40是本公开清洁设备第八实施例中过滤组件的第一运动状态的截面示意图；
图41是图40中C的放大示意图；
图42是本公开清洁设备第八实施例中过滤组件的第二运动状态的截面示意图；
图43是图42中D的放大示意图；
图44是本公开清洁设备第九实施例中过滤组件的第一运动状态的截面示意图；
图45是图33中E的放大示意图；
图46是本公开清洁设备第九实施例中过滤组件的第二运动状态的截面示意图；
图47是图46中F的放大示意图；
图48是本公开清洁设备第八实施例中过滤组件的第一运动状态的局部示意图；
图49是本公开清洁设备第八实施例中过滤组件的第二运动状态的局部示意图；
图50是本公开清洁设备第八实施例中过滤组件的第二运动状态的局部示意图；
图51是本公开清洁设备第九实施例中过滤组件中安装支架的结构示意图；
图52是本公开水下清洁设备第八实施例的局部示意图；
图53是本公开水下清洁设备第八实施例的局部爆炸示意图；
图54是本公开水下清洁设备第八实施例的局部截面示意图。
附图标号：10、清洁设备；101、清洁设备主体；101a、前壁；101b、左侧壁；101c、右侧壁；1023、尘仓；10232、尘仓开口；10233、尘仓管道；10231、第二腔体；103、进液部；1031、第一进水口；1032、第二进水口；104、出液部；106、垃圾导向构件；1061、第一端口；1062、第二端口；100、行走推进机构；111、履带；112、车轮；1121、第一轮；11211、驱动花纹；1122、第二轮；120、传动组件；121、行走驱动件；122、第一齿轮；123、第一从动件；1231、第六齿轮；1232、第七齿轮；1233、第八齿轮；124、第二从动件；1241、第二齿轮；1242、第三齿轮；1243、传送带；1244、第四齿轮；1245、第五齿轮；131、第一推进器；1311、第一推进叶轮；1312、第一推进电机；1313、第一推进开口；132、第二推进器；210、主水泵；211、主水泵电机；212、主水泵叶轮；213、主水泵进水口；214、主水泵出水口；215、主水泵叶轮罩；410、第一清洁件；411、水下滚刷件；420、第二清洁件；421、水面滚刷件；430、清洁部件；431、旋转刷；432、转轴；4311、清洁部；43111、清洁面；440、连接部；441、固定部；442、伸缩部；450、第一传动机构；451、摆动齿轮；452、蜗轮；453、蜗杆；454、传动齿轮；461、第一方向轴；462、第二方向轴；510、模式切换构件；511、浮力调节组件；5111、浮腔；5112、浮腔泵；5113、进气口；5114、连接管道；710、过滤组件；711、尘盒；7111a、第一侧面；7111b、第二侧面；7111c、第三侧面；7111d、第四侧面；7111e、第五侧面；714、第一腔体；715、导流口；716、尘盒进水部；7161、水面尘盒口；7162、水中尘盒口；717、尘盒滚刷组件；718、水面尘盒口盖板；719、水中尘盒口盖板；720、盖合件；720a、第一侧端；720b、第二侧端；721、调节安装部；722、容置通道；723、枢转部；724、搭接部；725、内侧面；730a,730b、调节件；731、移动件；740、安装支架；741、格栅孔；742、容置腔；743、枢转安装槽；744、安装部；745、安装卡扣；770、第一过滤组件；780、第二过滤组件；790、阀门件；30、液面；40、目标区域；401、目标底壁；402、目标侧壁；50、电子设备；51、存储器；52、处理器；60、计算机可读存储介质。
【具体实施方式】
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性的劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
请参阅图1、图2以及图3，图1是本公开清洁设备第一实施例的第一角度截面示意图；图2是图1所示A的放大示意图；图3是本公开清洁设备第一实施例的第二角度截面示意图。
市面上的清洁设备10都缺乏在液体环境中进行有效的位置调节，无法根据实际需要调节深度，以对泳池底部、墙壁面和水面的全方位清洁，限制了其应用范围和工作效率。本公开提供了一种清洁设备10。清洁设备10用于清理目标区域40的污渍和悬浮物等。目标区域40可以是水池、泳池等区域。清洁设备10可以是水池清洁机器人、泳池清洁机器人、水下清洁设备等，在此不作限定。本公开清洁设备10能够在液面30上以及液面30下之间灵活地进行位置切换，从而使得清洁设备10可以对目标区域40进行全方位的清洁，提高在目标区域40中进行液体清洁的工作效率和应用范围，降低了目标区域40的清洁成本。
清洁设备主体101可以用于在装有液体的目标区域40中移动，并可以进行液面30上下的位置切换。目标区域40可以为清洁设备主体101进行移动的装有液体的区域。目标区域40可以包括泳池。例如，清洁设备主体101可以在泳池的水体中移动，并在泳池水面上以及水中进行位置切换。在一些实施例中，目标区域40还可以为其他区域。例如，目标区域40还可以包括油井、下水道等。目标区域40可以包括目标底壁401以及目标侧壁402。在一些实施例中，清洁设备主体101还可以在目标区域40的目标 底壁401以及目标侧壁402上移动。例如，清洁设备主体101可以在泳池的目标底壁401以及目标侧壁402上移动。关于清洁设备主体101在目标区域40的目标底壁401以及目标侧壁402上移动的更多内容可以参见下文。
清洁设备10包括清洁设备主体101、驱动机构、过滤机构、进液部103以及出液部104。驱动机构设置于清洁设备主体101。驱动机构用于形成一定抽吸力，进而引导液体流动方向。过滤机构设置于清洁设备主体101，用于收集目标区域40的污渍和悬浮物并过滤液体等。进液部103用于液体进入清洁设备主体101内。进液部103至少包括第一进水口1031。第一进水口1031设置于清洁设备主体101。即液体通过第一进水口1031进入清洁设备主体101内。出液部104用于将清洁设备主体101内的水排出。其中出液部104至少包括第一出水口。第一出水口设置于清洁设备主体101。即液体通过第一出水口排出清洁设备主体101。过滤机构包括至少一第一入口和一出口。第一入口和第一进水口1031流体连通。出口与第一出水口流通连通。其中，第一进水口1031、过滤机构、驱动机构以及第一出水口依次连通形成第一水流通路。在驱动机构的引导下，液体从第一进水口1031进入清洁设备主体101内，并流向第一入口、过滤机构、出口以及驱动机构，而后从第一出水口排出。在实际过程中，液体也可以反向流动，即液体从第一出水口、驱动机构、过滤机构以及第一进水口1031流动等，在此不作限定。
请参阅图4以及图5，图4是本公开清洁设备第二实施例的示例性模块图；图5是本公开清洁设备第二实施例的结构示意图。结合图1至图3，清洁设备主体101包括模式切换构件510。模式切换构件510可以用于实现清洁设备10在液面30上和液面30下的位置切换。模式切换构件510可以在目标区域40的竖直方向上运动，从而实现清洁设备10在液面30上下的位置切换。当清洁设备10处于液面30以下时，清洁设备10全部浸没在液面30以下。当清洁设备10处于液面30以上时，清洁设备10的至少部分处于液面30以上。由此，通过将第一进水口1031设置于清洁设备主体101以及模式切换构件510等共同作用，能够调节清洁设备10进行水下清洁以及水面清洁至少两种工况，进而满足不同使用需求。
结合图7、图8、图10、图11以及图12，清洁设备10在目标底壁401上行走、或者清洁设备10整体方向与目标底壁401呈小于90°的角度且远离液面30时，将其定义为第一运动状态。如图10，其中远离液面30可以理解为清洁设备10进行池底清洁、在水中执行动作等。清洁设备10在目标侧壁402上行走或者清洁设备10整体方向大致平行于目标侧壁402时，将其定义为第二运动状态，如图7、图12。清洁设备10在液面30行进，或者清洁设备10至少部分露出液面30，或者清洁设备10整体位于液面30以下且靠近液面30时，将其定义为第三运动状态，其中靠近液面30可以理解为清洁设备10离液面30的距离小于一阈值，能够执行水面清洁工作等。以上以清洁设备10的行走推进机构100，例如履带111或车轮112与待清洁表面接触的平面可定义为清洁设备10整体方向。
由此，在模式切换构件510作用下，清洁设备10能够在液面30上下的位置切换，实现清洁设备10在第一运动状态和第三运动状态之间的切换。清洁设备在第一运动状态时可以执行水下清洁任务工作。清洁设备在第三运动状态时可以执行水面清洁任务工作，能够调节清洁设备10进行水下清洁以及水面清洁至少两种工况，进而满足不同使用需求。
在一些实施例中，清洁设备10还包括第二运动状态。清洁设备在第二运动状态时可以执行池壁或水线清洁任务工作。清洁设备10在第一运动状态和第三运动状态之间的切换包括或不包括第二运动状态。即清洁设备可以包括第一运动状态和第三运动状态。或者，清洁设备可以包括第一运动状态、第二运动状态以及第三运动状态。其中，第二运动状态可以根据实际需求选择，在此不作限定。
在一些实施例中，进液部103包括第一进水口1031。第一进水口1031位于清洁设备主体101下部靠前部位置处。第一进水口1031同时用于进行水下清洁和水面清洁。清洁设备10执行水下清洁工作时，第一进水口1031位于液面30以下，能够吸入液面30以下的垃圾等。清洁设备10执行水面清洁工作时，第一进水口1031至少部分露出液面30之上，能够吸入漂浮于液面30上的垃圾等。即清洁设备主体101通过一第一进水口1031以及调整清洁设备10在目标区域40中姿态，能够实现水下清洁工作以及水面清洁工作，提升清洁效率。其中，液体依次流经第一进水口1031、第一入口、过滤机构、出口、驱动机构以及出液部。在上述实施例中，清洁设备10执行水下清洁工作时，清洁设备10姿态处于正常状态。清洁设备10执行水面清洁工作时，清洁设备10前部向上抬起露出液面30，进而使得第一进水口1031至少部分露出于液面30之上。
在另一些实施例中，进液部103包括第一进水口1031。第一进水口1031位于清洁设备主体101底部。第一进水口1031同时用于水下清洁和水面清洁。清洁设备10执行水下清洁工作时，第一进水口1031位于液面30以下且朝向待清洁面表面。在清洁设备10执行水面清洁工作时，第一进水口1031位于液面30以下但临近液面30且朝向液面30。即清洁设备主体101通过一第一进水口1031以及调整清洁设备10在目标区域40中姿态，能够实现水下清洁工作以及水面清洁工作，提升清洁效率。其中，液体依次流经第一进水口1031、第一入口、过滤机构、出口、驱动机构以及出液部。在上述实施例中， 清洁设备10进行水下清洁时，清洁设备10姿态处于正常状态。清洁设备10进行水面清洁时，清洁设备10可翻转，即清洁设备10底部朝向朝上。当清洁设备10底部朝上过程中，过滤机构可处于封闭状态，降低垃圾等从过滤机构漏出风险。
在一些实施例中，进液部103包括第一进水口1031和第二进水口1032。第一进水口1031设置于清洁设备主体101底部。清洁设备10进行池底或池壁清洁时，第一进水口1031临近池底或池壁以将水流吸入清洁设备10内部。进液部103包括第二进水口1032。即液体通过第二进水口1032进入清洁设备主体101内。第二进水口1032设置于清洁设备主体101前部侧面。清洁设备10进行水面清洁工作时，第二进水口1032至少部分露出液面30之上，能够吸入漂浮于液面30上的垃圾等。通过第二进水口1032能够使清洁设备10实现水面清洁工作。另外，第一进水口1031和第二进水口1032还可以共同作用，提升清洁设备10清洁效率。
在一些实施例中，进液部103包括第一进水口1031和第二进水口1032。第一进水口1031设置于清洁设备主体101底部。第二进水口1032设置于清洁设备主体101的顶部或侧部。第一进水口1031用于进行池底或池壁清洁。第二进水口1032用于进行水面清洁。当第二进水口1032设于清洁设备主体101顶部时，清洁设备10上浮至液面30附近且清洁设备10姿态与池底行走时相同，第二进水口1032开启，在驱动机构，例如主水泵的作用下，第二进水口1032位于液面之下附近，液面上的垃圾通过第二进水口1032进入清洁设备10。当第二进水口1032设于清洁设备主体101侧部时，清洁设备10可在上浮至液面30附近的过程中，调整清洁设备10姿态至第二进水口1032朝向液面30并处于液面30之下附近。
在一些其他实施例中，进液部103包括第一进水口1031和第二进水口1032。第一进水口1031除了设置在清洁设备主体101下部靠前部位置处，第一进水口1031还可以设置在清洁设备主体101下部靠后部位置处或者清洁设备主体101侧面。需要说明的是，进液部103设置位置与过滤机构位置有关。当过滤机构设置在清洁设备10前部位置时，进液部103设置在清洁设备10前部。当过滤机构设置在清洁设备10后部位置时，进液部103设置在清洁设备10后部处。
在一些实施例中，过滤机构包括过滤组件710。过滤组件具有过滤作用。过滤组件710包括第一入口。其中，第一进水口1031和第二进水口1032均与过滤组件710的第一入口流体连通。在驱动机构的作用下，至少部分液体依次连通第一进水口1031、第一入口、过滤组件710内、驱动机构以及出液部104。至少部分液体依次连通第二进水口1032、第一入口、过滤组件710内、驱动机构以及出液部104。通过第一进水口1031和第二进水口1032分别与第一入口连通，增大清洁设备10清洁效率。其中，第二进水口1032和第一入口之间可以通过管道等连通。
过滤机构中过滤组件710可以有一个、两个、三个或者多个，其中过滤组件710数量可以根据实际需求而定。当过滤组件710为两个、三个或者多个时，相邻过滤组件710之间可以串联或者并联等，其可以根据清洁设备10不同使用需求进行设定，在此不作限定。
在一些实施例中，过滤机构包括一过滤组件710。过滤组件710包括第一入口和第二入口。第一进水口1031与过滤组件710的第一入口流通连通。其中，第二入口和第一入口位于过滤机构不同的面上。即至少部分液体依次流经第一进水口1031、第一入口、过滤组件710内、驱动机构以及出液部104。第二进水口1032与过滤组件710的第二入口连通。即至少部分液体依次流经第二进水口1032、第二入口、过滤组件710内、驱动机构以及出液部104。其中，第一进水口1031与第一入口流体连通，第二进水口1032与第二入口流体连通，增加液体流通路径，满足水下清洁以及水面清洁至少两种工况清洁需求，进而满足不同使用需求。
在一些实施例中，过滤机构包括两个过滤组件710。两个过滤组件710为第一过滤组件770和第二过滤组件780。第一过滤组件770设置有第一入口。第二过滤组件780设置有第二入口。第一进水口1031与第一过滤组件770的第一入口流体连通。即至少部分液体依次连通第一进水口1031、第一入口、第一过滤组件770内、驱动机构以及出液部104。第二进水口1032与第二过滤组件780的第二入口流体连通。即至少部分液体依次连通第二进水口1032、第二入口、第二过滤组件780内、驱动机构以及出液部104。其中，通过两个过滤组件710实现不同液体流通路径，提升清洁设备10清洁效率。
请参阅图17、图18以及图19，图17是本公开清洁设备过滤机构的第一简图；图18是本公开清洁设备过滤机构的第二简图；图19是本公开清洁设备过滤机构的第三简图。在一些实施例中，进液部103包括第一进水口1031和第二进水口1032。过滤机构包括第一过滤组件770和第二过滤组件780。第二过滤组件780套设于所述第一过滤组件770内。第一进水口1031和第一过滤组件770的第一入口7123连通。第一进水口1031用于液体通过第一入口7123进入第一过滤组件770内。第二进水口1032和第二过滤组件780的第二入口7133连通。第二进水口1032用于液体通过第二入口7133进入第二过滤组件780内。当清洁设备10进行水下清洁时，液体依次流经第一进水口1031、第一入口7123、第一过滤组件770以及主水泵210，实现清洁设备10水下清洁。清洁设备10进行水面清洁时，液体依次流经第 二进水口1032、第二入口7133、第二过滤组件780、第一过滤组件770以及主水泵210，实现清洁设备10水面清洁。其中，清洁设备10在进行水面清洁过程中，经过双层尘盒，提升清洁设备10在水面清洁的清洁效率。
通过两个过滤组件710串联，第一进水口1031与第一过滤组件770的第一入口7123连通，第二进水口1032与第二过滤组件780的第二入口7133连通，清洁设备10可以进行水下清洁以及水面清洁工作，扩展了清洁设备10的使用场景，提升用户使用体验。上述第一过滤组件770和第二过滤组件780的结构大致相同或者不同，在此不作限定。
当清洁设备10进行水下清洁工作时，为了避免第二进水口1032、第二过滤组件780以及主水泵210对液体进行分流，保证第一进水口1031以及第一入口7123位置处的抽吸效果，可以将第二进水口1032或第二入口7133位置关闭。在实际过程中的，当主水泵210功率足够大时，也可以不关闭第二进水口1032或第二入口7133等。同理，当清洁设备10进行水面工作时，为了避免第一进水口1031、第一过滤组件770以及主水泵210对液体进行分流，保证第二进水口1032以及第二入口7133位置处的抽吸效果，可以将第一进水口1031或第一入口7123位置关闭。在实际过程中，当主水泵210功率足够大时，也可以不关闭第一进水口1031或第一入口7123等。
在一些实施例中，清洁设备主体101包括第一尘仓、第二尘仓以及进液部103。第一尘仓和第二尘仓并列设置，即第一尘仓和第二尘仓独立设置。进液部103用于液体进入清洁设备主体101内。进液部103包括第一进水口1031和第二进水口1032。过滤机构包括第一过滤组件770和第二过滤组件780。第一过滤组件770设置于第一尘仓内。第二过滤组件780设置于第二尘仓内。第一进水口1031和第一过滤组件770的第一入口7123连通。第一进水口1031用于液体通过第一入口7123进入第一过滤组件770内。第二进水口1032和第二过滤组件780的第二入口7133连通。第二进口用于液体通过第二入口7133进入第二过滤组件780内。主水泵210分别连通第一尘仓和第二尘仓。
当清洁设备10进行水下清洁时，在主水泵210的作用下，液体依次流经第一进水口1031、第一入口7123、第一过滤组件770以及主水泵210。当清洁设备10进行水面清洁时，在主水泵210的作用下，液体依次流经第二进水口1032、第二入口7133、第二过滤组件780以及主水泵210。通过两个过滤组件710相互并联，实现两条水路处于独立控制状态，互不影响。通过在两条水路上设置对应封闭结构，实现独立水路流动。其中，封闭结构可以设置在需要封闭的地方，例如第一尘仓和第二尘仓的交界处等，在此不作限定。其中主水泵210的数量可以为一个或者两个。当主水泵210包括一个时，第一过滤组件770以及第二过滤组件780共用一个主水泵210。当主水泵210包括两个。一主水泵210与第一过滤组件770连通。另一主水泵210与第二过滤组件780连通。
在一些实施例中，如图19所示，第一尘仓和第二尘仓相互隔离。主水泵210作用于第一尘仓。在第二尘仓处设置一尘仓开口10232。该尘仓开口10232可通过一尘仓管道10233流体连通至第一尘仓中设置的第一过滤组件770的第一入口7123处，以实现水面清洁时的水流依次流经第二过滤组件780和第一过滤组件770，达到较好的水面清理效果。
在一些实施例中，清洁设备主体101包括第一尘仓、第二尘仓以及进液部103。第一尘仓和第二尘仓并列设置，即第一尘仓和第二尘仓独立设置。进液部103用于液体进入清洁设备主体101内。进液部103包括第一进水口1031和第二进水口1032。过滤机构包括第一过滤组件770、第二过滤组件780以及阀门件790。第一过滤组件770设置于第一尘仓内。第二过滤组件780设置于第二尘仓内。阀门件790可启闭式连通于第一尘仓和第二尘仓。当阀门件790开启时，第一尘仓和第二尘仓之间连通设置。当阀门件790关闭时，第一尘仓和第二尘仓之间断开设置。
具体而言，在清洁设备10进行水下清洁时，阀门件790关闭。液体依次流经第一进水口1031、第一过滤组件770的第一入口7123、第一过滤组件770、第一尘仓以及主水泵210并排出清洁设备10外，使清洁设备10实现水下清洁功能。在清洁设备10进行水面清洁时，阀门件790开启。液体依次流经第二进水口1032、第二过滤组件780的第二入口7133、第二过滤组件780、第二过滤组件780与第二尘仓之间的空间、阀门件790、第一过滤组件770以及主水泵210并排出清洁设备10外，使清洁设备10实现水面清洁功能。通过上述方式，实现两条水路处于独立控制状态，互不影响；同时，清洁设备10在进行水面清洁工作过程中，通过第二过滤组件780以及第一过滤组件770，增长水路路径，进而提升清洁设备10在水面清洁时的清洁效率。上述阀门件790具体结构不作限定，能够实现启闭即可。当然，在其他实施例中，过滤机构可以不包括阀门件790。第一过滤组件770和第二过滤组件780之间直接通过管道等连通。第二过滤组件780的第二入口处设置盖板等结构，盖板等结构可启闭式关闭第二入口。
上述第一过滤组件770和第二过滤组件780可以沿清洁设备10运动方向延伸设置，即第一过滤组件770和第二过滤组件780前后设置。或者，第一过滤组件770和第二过滤组件780之间沿垂直于清洁设备10运动方向设置，即第一过滤组件770和第二过程组件左右设置。或者，第一过滤组件770和第二过滤组件780之间上下设置。当然，第一过滤组件770和第二过滤组件780还可以是其他方式并列设 置，在此不作限定。
请参阅图20、图21以及图22，图20是本公开清洁设备中过滤组件的结构示意图；图21是图20中H的放大示意图；图22是本公开清洁设备过滤组件的截面示意图。因过滤机构中尘盒711对过滤起到至关重要的作用。其中，尘盒711侧壁设置的第一过滤层的滤网目数越多，尘盒711的过滤效果越好。然而，当第一过滤层的滤网目数增多时，会导致尘盒711更易堵塞以及第一过滤层较难清洗。因此，本公开通过设置双层或多层尘盒711结构，例如两层，两层尘盒711中对应的滤网错开设置，不仅提升了滤网机构过滤效果，同时通过双层尘盒能够等效为降低对应滤网目数，进而方便清洗过滤层。
请参阅图23、图24以及图25，图23是本公开清洁设备中第一子过滤层和第二子过滤层的第一结构示意图；图24是本公开清洁设备中第一子过滤层和第二子过滤层的第二结构示意图；图25是本公开清洁设备中第一子过滤层和第二子过滤层的第三结构示意图。结合图20、图21以及图22，在一些实施例中，尘盒711包括第一子尘盒712和第二子尘盒713。第一子尘盒712的侧壁设置有第一子过滤层7121。第一子过滤层7121起到过滤作用。第一子过滤层7121包括一定数量的第一滤网孔7122。第二子尘盒713的侧壁设置有第二子过滤层7131。第二子过滤层7131包括一定数量的第二滤网孔7132。第一子过滤层7121的材料和第二子过滤层7131的材料可以相同或者不同，在此不作限定。第二子尘盒713套设于第一子尘盒712内。第一子过滤层7121的第一滤网孔7122和第二子过滤层7131的第二滤网孔7132至少部分错位设置。
本公开通过第一子尘盒712和第二子尘盒713层叠，同时第一滤网孔7122和第二滤网孔7132至少部分错位设置，在第一子尘盒712和第二子尘盒713之间空隙较小时，错位设置的两层目数较低的子过滤层的形成了较高目数的过滤效果。相比于现有技术中只有一个尘盒711过滤而言，本公开在同样的过滤效果下，两层过滤层达到高滤网目数的过滤效果；将尘盒711拆卸成第一子尘盒712和第二子尘盒713，清洗两个低滤网目数的第一子尘盒712和第二子尘盒713更容易。
在一些实施例中，第一滤网孔7122和第二滤网孔7132移动错位或者旋转错位，实现第一滤网孔7122和第二滤网孔7132至少部分错位设置。移动错位可以沿直线方向错位设置，如左右方向错位、上下方向错位等。其中，第一滤网孔7122数量和第二滤网孔7132数量可以相同或者不同。
或者，在一些实施例中，第一滤网孔7122和第二滤网孔7132旋转错位，实现第一滤网孔7122和第二滤网孔7132至少部分错位设置。旋转错位包括第一子过滤层7121旋转、或者第二子过滤层7131旋转、或者第一子过滤层7121和第二子过滤层7131均旋转，从而使得第一滤网孔7122和第二滤网孔7132至少部分错位设置。其中，第一滤网孔7122数量和第二滤网孔7132数量可以相同或者不同。
和/或，在一些实施例中，第一滤网孔7122和第二滤网孔7132大小不同，例如第一滤网孔7122的尺寸大于或小于第二滤网孔7132的尺寸，也能实现第一滤网孔7122和第二滤网孔7132至少部分错位。其中，第一滤网孔7122数量和第二滤网孔7132数量不同。当然，第一滤网孔7122和第二滤网孔7132还有其他错位方式，在此不作限定。
上述第二子尘盒713套设于第一子尘盒712过程中，第一子尘盒712中的第一子过滤层7121和第二子尘盒713中的第二子过滤层7131之间贴合或者形成较小间距。该间距小于或等于滤网孔大小。其中，滤网孔可以是第一滤网孔7122或者第二滤网孔7132。滤网孔大小可以是直径或者长度或者宽度等，在此不作限定。
在一些实施例中，当过滤机构包括一过滤组件710时，过滤组件710可以包括一层、双层或者多层尘盒711。当过滤机构包括第一过滤组件770和第二过滤组件780时，第一过滤组件770可以包括一层、双层或者多层尘盒711。第二过滤组件780可以包括一层、双层或者多层尘盒711。过滤机构同时包括第一过滤组件770和第二过滤组件780，且第一过滤组件770和第二过滤组件780并列设置时，第一过滤组件770的滤网孔尺寸小于第二过滤组件780的滤网孔尺寸，使第一过滤组件770更适用于清理水下垃圾等，同时使第二过滤组件780更适用于清理水面垃圾等。通过将双层或多层尘盒711中滤网孔至少部分错开设置，提升过滤机构清理效率。
在一些实施例中，当过滤机构一过滤组件710时，过滤组件710可以包括一层、双层或者多层尘盒711。当过滤机构包括第一过滤组件770和第二过滤组件780时，第一过滤组件770可以包括一层、双层或者多层尘盒711。第二过滤组件780可以包括一层、双层或者多层尘盒711。过滤机构同时包括第一过滤组件770和第二过滤组件780，且第一过滤组件770和第二过滤组件780并列设置时，第一过滤组件770的滤网孔尺寸小于第二过滤组件780的滤网孔尺寸，使第一过滤组件770更适用于清理水下垃圾等，同时使第二过滤组件780更适用于清理水面垃圾等。通过将双层或多层尘盒711中滤网孔至少部分错开设置，提升过滤机构清理效率。
在一些实施例中，模式切换构件510可以调节清洁设备10在竖直方向上接收到的作用力，以使清洁设备10沿竖直方向运动，从而实现清洁设备10在液面30上以及液面30下的位置切换。其中，前述竖直方向可以为目标区域40的竖直方向。例如，泳池的竖直方向，即重力方向。水平方向可以为目标 区域40的水平方向。例如，泳池的水平方向，即与重力方向垂直的方向。通过设置模式切换构件510，清洁设备10可以实现在液面30上和液面30下的位置切换，从而可以根据不同液体环境以及需求调整其在液面30上和液面30下的位置，能够更加灵活地在液体中的不同位置执行相应操作。
在一些实施例中，清洁设备10在竖直方向上接收到的作用力可以包括清洁设备10在竖直方向上所受的浮力。当前述作用力包括清洁设备10在竖直方向上所受的浮力时，模式切换构件510可以包括浮力调节组件511。浮力调节组件511可以用于调节清洁设备10在竖直方向上所受的浮力大小。
在一些实施例中，浮力调节组件511可以包括浮腔5111和浮力调节件。浮腔5111可以用于容纳液体和/或气体。浮腔5111还可以包括但不限于可充气式浮腔、液体容器式浮腔、分隔式浮腔等。浮腔5111的体积可以预先设定。浮腔5111可以由柔性材料和/或刚性材料制成。前述柔性材料可以包括但不限于聚乙烯醇树脂、聚对苯二甲酸乙二醇酯、橡胶等。刚性材料可以包括但不限于玻璃、陶瓷、酚醛塑料、聚氨酯塑料、环氧塑料、不饱和聚酯塑料等。例如，浮腔5111可以是包含一个内层和一个外层的双层结构浮腔5111。内层可以由柔性材料制成，用于装载气体和/或液体，外层为刚性保护壳，可为内层提供保护和稳定性。
在一些实施例中，浮腔5111可以设置在清洁设备10任意位置处。如浮腔5111可以设置于清洁设备10的前端和/或后端和/或中间位置。
在一些实施例中，清洁设备10内可以包括一个浮腔5111。当清洁设备10内只有一个浮腔5111，该浮腔5111可以设置于清洁设备10的中心位置，以保持当该浮腔5111内液体和/或气体体积发生变化时，清洁设备10能够保持稳定。
请参阅图6，图6是本公开清洁设备第二实施例的一局部示意图。结合图4至图5，在一些实施例中，清洁设备10内可以包括多个浮腔5111。如图6所示，清洁设备10内可以具有两个浮腔5111，两个浮腔5111可以对称分别设置在清洁设备10。可以理解的是，两个浮腔5111对称设置有助于其对清洁设备10提供浮力时的稳定性，避免清洁设备10在液面30下或液面30上因受到的浮力不均匀发生倾倒偏转的现象。
值得说明的是，浮腔5111的大小以及设置位置可以根据清洁设备10中各个构件的重量以及设置位置进行调整，以保证其中包含有的液体和/或气体的体积不同时，均能够使清洁设备10处于其预先设定的状态。
浮力调节件可以用于调整浮腔5111内气体的体积。清洁设备10可以通过浮力调节件对浮腔5111内气体的体积进行调整，以改变清洁设备10在竖直方向上所受浮力的大小。例如，当由柔性材料制成的浮腔5111呈空瘪状态时，浮力调节件可以通过进气口5113向浮腔5111内注入空气，从而增大浮腔5111中气体的体积，增大清洁设备10在竖直方向上所受的浮力大小。可以理解的是，清洁设备10整体在竖直方向上受到向上的浮力与浮腔5111内气体的体积正相关。
上述浮腔5111中气体有多种方式来源。第一种气体来源是气体直接从外界获取。如清洁设备10沿目标区域40的目标侧壁402运动至液面30位置处，获取外界气体。如外界气体通过进气口5113进入浮腔5111内，从而改变浮腔5111中气体的体积。
第二种气体来源是气体间隔从外界获取。即清洁设备10设置有伸出管道(图未示出)。伸出管道与进气口5113连通。伸出管道远离进气口5113的一端伸出水面，直接进行排气和增气，改变浮腔5111中气体的体积，进而避免清洁设备10从目标区域40爬墙至液面30处才可改变浮腔5111中气体的体积等。
第三种气体来源是在清洁设备10中设置制气组件(图未示出)。制气组件能够形成一定气体，通过气体改变浮腔5111中气体的体积，从而避免清洁设备10从目标区域40爬墙至液面30处才能改变浮腔5111中气体的体积等，提升便利性。上述制气组件可以是化学反应、电解、烧水等方式自身产生气体，从而增加浮腔5111中气体体积或者减少浮腔5111中液体的体积。
上述浮腔5111中气体除了通过进气口5113排出外，还可以通过压缩气缸(图未示出)压缩气体，使得浮腔5111中气体体积变小，从而实现清洁设备10下潜。在实际过程中，浮力调节组件511可以不包括进气口5113，通过在浮力调节组件511内部改变气体体积，如制气组件增大浮腔5111内气体体积，通过压缩气缸减少浮腔5111内气体体积等。在其他实施例中，还可以通过其他实现增大气体体积或者减小气体体积实施方式，在此不作限定。
浮力调节件还可以用于调整浮腔5111内液体的体积。清洁设备10可以通过浮力调节件调节浮腔5111内液体的体积，以调节浮腔5111内液体的体积，从而改变其在液体中所受的浮力大小。例如，当由刚性材料制成的浮腔5111内包含有液体时，浮力调节件可以抽出浮腔5111内的液体，增大清洁设备10在竖直方向上所受的浮力大小。可以理解的是，清洁设备10整体在竖直方向上受到向上的浮力与浮腔5111内液体的体积负相关。其中，浮腔5111中液体可以通过进气口5113排出或者其他进出口排出。进气口5113可以连通气体，也可以不连通气体。当进气口5113不连通气体时，进气口5113处可以设 置有单向阀。单向阀能够阻止清洁设备主体101外界水通过进气口5113进入浮腔5111中。进气口5113也可以连通气体。如进气口5113可以连通液面30上的气体。或者，进气口5113可以连通气罐或者气体发生装置。气罐内填充有气体。气体发生装置可以自动形成有气体。上述气体通过进气口5113进入浮腔中，能够改变浮腔5111中压力，以使浮腔5111压强处于稳定状态，便于液体从浮腔5111中排出。浮力调节件可以为各种可以调节浮腔5111内气体和/或液体的结构。如图6所示，浮力调节件可以包括浮腔泵5112。浮腔泵5112可以驱使浮腔5111排出其中的液体。浮腔泵5112可以包括但不限于气动泵、液压泵或电动泵等。浮腔泵5112处于工作状态时，能够调整浮腔5111内液体和/或气体。浮腔泵5112处于非工作状态时，能够阻止清洁设备10外部的液体和/或液体进入浮腔5111内，以使浮腔5111不受外界液体和/或气体影响。浮力调节件还可以为其他结构。例如，浮力调节件还可以为设置在浮腔5111内部的活塞组件，通过活塞组件在浮腔5111内部的移动，从而调节浮腔5111内气体和/或液体的体积。
在一些实施例中，浮力调节组件511还可以包括进气口5113。前述进气口5113用于供气体进入浮腔5111。在一些实施例中，前述进气口5113还可以用于供气体离开浮腔5111，或者供液体进入或离开浮腔5111。在一些实施例中，浮力调节组件511还可以包括其他进出口，以便于供气体的离开或者供液体进入或离开。进气口5113可以直接设置在浮腔5111上，还可以独立于浮腔5111。进气口5113可以设置在清洁设备10的壳体上，以便于与外部(如，外部液体或外部空气)连通，从而进行气体和/或液体的交换。如图5所示，进气口5113可以设置在清洁设备10的前段尾部上方处，以便于进气口5113可以在清洁设备10上浮的过程中更快与液面30上的外部空气进行连通。
在一些实施例中，浮力调节组件511还可以包括连接管道5114。连接管道5114用于运输气体或液体。连接管道5114可以连接浮腔5111、浮力调节件以及进气口5113中的一种或多种。如图6所示，浮力调节组件511可以包括两个浮腔5111、浮腔泵5112、进气口5113以及连接管道5114。浮腔5111可以通过连接管道5114连接至浮腔泵5112上，浮腔泵5112可以通过连接管道5114与进气口5113连接。当浮腔泵5112处于非工作状态时，与单向阀作用相同，能够阻止外界液体和/或液体通过进气口5113进入浮腔5111中。在其他一些实施例中，当浮力调节件为离心泵等结构时，连接管道5114处设置单向阀，用于阻止外界液体和/或液体通过进气口5113进入浮腔5111中。
基于如图5、图6所示的清洁设备10，当清洁设备10需要由液面30下切换到液面30上时，清洁设备10可以运动至接近液面30的位置，并确定何时控制浮腔泵5112向浮腔5111内注入气体。关于清洁设备10何时需要由液面30下切换到液面30上可以参见图17及其相关描述。如图7所示，当清洁设备10需要由液面30下切换到液面30上时，清洁设备10可以紧贴在目标区域40的目标侧壁402上运动至接近液面30的位置，并确定何时需要控制浮力调节件以增大浮腔5111内气体的体积。关于清洁设备10紧贴在目标区域40的目标侧壁402上运动的更多内容可以参见下文。在一些实施例中，当清洁设备10需要由液面30下切换到液面30上时，清洁设备10还可以基于第一推进器131产生的第一驱动力运动至接近液面30的位置，并确定何时需要控制浮力调节件以增大浮腔5111内气体的体积。关于第一推进器131以及第一驱动力的更多内容可以参见下文。
在一些实施例中，清洁设备10可以包括第一传感器(图未示出)。第一传感器可以用于实时确定清洁设备10的位置。其中，前述位置可以包括清洁设备10在液体中的垂直位置(或称为深度)。例如，第一传感器可以设置在清洁设备10的中心位置，前述位置可以为清洁设备10的中心位置在液体中的深度。第一传感器可以包括但不限于压力传感器、超声波传感器或光学传感器等。通过第一传感器以及模式切换构件510，还可以控制清洁设备10在预设的深度行进，例如在预设深度进行水中清洁、或者在预设深度朝向池壁设置的充电装置行进等等。
在一些实施例中，清洁设备10还可以包括处理器52(图未示出)。处理器52可以是微控制器、嵌入式处理器52或专用集成电路(ASIC)等。处理器52可以获取清洁设备10的各项数据信息，并对其进行分析处理，以对清洁设备10中的各个部件进行控制。当清洁设备10需要由液面30下切换到液面30上时，处理器52可以从第一传感器处实时获取清洁设备10的位置，当清洁设备10的位置满足预设条件时，处理器52可以控制浮力调节件以增大浮腔5111内气体的体积。预设条件可以包括清洁设备10的位置高于预设高度。当目标区域40内液体的深度固定时，处理器52可以通过确定清洁设备10的位置是否满足预设条件，从而确定清洁设备10中进气口5113是否处于液面30上方。当图7所示的清洁设备10的位置满足预设条件时，处理器52可以确定清洁设备10上的进气口5113处于液面30上方，处理器52可以控制浮腔泵5112将浮腔5111内的液体排出，空气可以从进气口5113进入浮腔5111，从而可以增大浮腔5111内气体的体积，增大清洁设备10的浮力。当清洁设备10在竖直方向上的浮力大于其重力时，如图7所示的清洁设备10可以切换为如图8所示的清洁设备10。
在一些实施例中，清洁设备10还可以包括第二传感器(图未示出)。第二传感器可以用于实时检测浮腔5111的进气口5113位置是否位于空气中。例如，第二传感器可以为超声波传感器。第二传感器可以设置在浮腔5111的进气口5113位置。
在一些实施例中，第二传感器还可以设置在清洁设备10的其他位置，并通过位置转换，获取进气口5113位置是否位于空气中的检测结果。
在一些实施例中，当清洁设备10需要由液面30下切换到液面30上时，处理器52可以获取浮腔5111的进气口5113位置是否位于空气中的检测结果，当检测结果表征前述进气口5113位置位于空气中时，控制浮力调节件以增大浮腔5111内气体的体积，以实现清洁设备10由液面30下切换为液面30上。关于处理器52控制浮力调节件以增大浮腔5111内气体的体积，以实现清洁设备10由液面30下切换为液面30上的更多内容可以参见上文。
当清洁设备10需要从液面30上切换到液面30下时，处理器52可以控制浮力调节件减小浮腔5111内气体的体积。关于清洁设备10何时需要由液面30上切换到液面30下可以参见图17及其相关描述。如图5、图6所示，浮腔泵5111可以经由连接管道5114从浮腔5111排出气体，从而降低浮腔5111内气体的体积以减小浮力，以使得清洁设备10液面30上切换到液面30下。通过设置浮力调节组件511可以对清洁设备10在竖直方向上所受的浮力大小进行调节，从而实现清洁设备10在液面30上和液面30下的灵活切换，提高清洁设备10在液体环境中的工作效率和可靠性。通过设置第一传感器或第二传感器，可以使得清洁设备10可以自动判断进气口5113所处的环境，提高清洁设备10的使用效率。
在一些实施例中，清洁设备10在液面上和液面下的切换，包括从第一运动状态运行至第三运动状态，以及从第三运动状态运行至第一运动状态。可以理解的是，在第一运动状态和第三运动状态的切换过程中，清洁设备10可以借助其内设置的模式切换构件510、第一传感器以及第二传感器等。
对于浮腔5111采用气体调节浮力的情况，浮腔5111的进气口5113或排气口位于液面上时，浮腔泵5112启动调整浮腔5111内的气体量。此种情况下，清洁设备10的模式切换可以为从第一运动状态切换为第三运动状态直至进气口5113露出水面，然后调整清洁设备10的姿态至第三运动状态，从而完成从液面下到液面上的切换。在清洁设备10完成水面清洁或在水面完成尘盒711清理或在水面完成充电后，需从第三运动状态切换至第一运动状态继续进行池底清洁，此时可以在第三运动状态启动浮腔泵5112或调整浮腔5111内气体量，减小其浮力，清洁设备10在重力作用下从第三运动状态向第一运动状态切换，同时清洁设备10上设置的姿态传感器可以结合控制器控制清洁设备10在状态切换过程中的姿态稳定。
对于浮腔5111采用液体调节浮力的情况，浮腔5111可以为硬质密闭空间，通过浮力调节件向浮腔5111内注水或排水。当浮力调节件向浮腔5111内注水时，浮腔5111内的气体被排出，从而有助于清洁设备10的下潜。当浮力调节件向浮腔5111排水时，浮腔5111内的液体被排出，从而清洁设备10整体重力减小从而有助于清洁设备10上浮。清洁设备10从第一运动状态切换为第三运动状态时，可以借助于浮腔5111的排水操作以及其他向上的动力实现切换，此时清洁设备10无需经过第二运动状态。清洁设备10从第三运动状态切换为第一运动状态时，可以借助于浮腔5111的注水操作以及其他向下的动力实现切换。
当浮腔5111采用气体调节浮力时，通过调节浮腔5111内气体量为气体阈值，以使清洁设备10在竖直方向上受力平衡。当清洁设备10清理池壁时，不受竖直方向使得清洁设备10能贴合池壁，能够更好地对池壁进行清理工作。当清洁设备10处于第三运动状态时，浮腔5111内具有第一气体量。当清洁设备10处于第一运动状态时，浮腔5111内具有第二气体量。其中，气体阈值位于第二气体量和第一气体量之间。
同理，当浮腔5111采用液体调节浮力时，通过调节浮腔5111内液体量为液体阈值，以使清洁设备10在竖直方向上受力平衡。当清洁设备10清理池壁时，不受竖直方向使得清洁设备10能贴合池壁，对池壁进行清理工作。当清洁设备10处于第三运动状态时，浮腔5111内具有第一液体量。当清洁设备10处于第一运动状态时，浮腔5111内具有第二液体量。其中，液体阈值位于第二液体量和第二液体量之间。
在一些实施例中，模式切换构件510还可以包括推进组件。推进组件可以用于调节清洁设备10在竖直方向上所受到的第一驱动力。推进组件可以为各种可以提供第一驱动力的结构。例如，推进组件可以为螺旋桨，前述螺旋桨可以竖直设置在清洁设备10上，通过旋转前述螺旋桨，可以使得清洁设备10获得竖直方向的第一驱动力。竖直方向的第一驱动力可以向上或向下，在第一驱动力的作用下，清洁设备10可以在竖直方向上朝上或朝下运动，又或者悬浮在液体中的某一位置。
在一些实施例中，如图9所示，推进组件可以包括第一推进器131。其中，第一推进器131可以用于推动液体沿第一预设方向运动。第一预设方向可以为第一推进器131排出液体的方向。当第一推进器131推动液体沿第一预设方向运动时，清洁设备10可以受到与第一预设方向相反的反作用力，前述反作用力可以包括第一驱动力。应当理解的是，由于清洁设备10需要获得竖直方向的第一驱动力，因此，第一预设方向至少包括竖直方向上的倾斜，以保证获得的前述反作用力具有竖直方向的分力，即第一驱动力，故第一预设方向与竖直方向的夹角可以为[0°，90°)。
第一驱动力的大小可以与液体沿第一预设方向运动的速度正相关。液体沿第一预设方向运动的速度越大，清洁设备10所受到与第一预设方向相反的反作用力越大，其在竖直方向上的第一驱动力越大。
第一驱动力的大小还可以与第一预设方向与竖直方向的夹角负相关。当液体沿第一预设方向运动的速度相同时，第一预设方向与竖直方向的夹角越大，清洁设备10在竖直方向上的第一驱动力越小。如图13所示，当第一预设方向与竖直方向的夹角为0度时，清洁设备10受到的前述反作用力可以完全转换为竖直方向上的第一驱动力。
清洁设备10可以包括一个或多个第一推进器131。第一推进器131可以设置在清洁设备10中的各个位置。如图9、图13所示，第一推进器131可以竖直设置在清洁设备10的中心位置，以保证清洁设备10的运动时的平衡。第一推进器131可以包括第一推进叶轮1311以及第一推进电机1312。第一推进叶轮1311可以通过转动带动液体沿第一预设方向运动，当液体沿第一预设方向运动时，清洁设备10在竖直方向上所受到第一驱动力。第一推进电机1312可以为前述第一推进叶轮1311提供动力。如图13所示，清洁设备10中的第一推进器131可以包括两个第一推进开口1313。第一推进器131的一第一推进开口1313可以位于清洁设备10的顶部，第一推进器131的另一第一推进开口1313可以位于清洁设备10的底部。第一推进叶轮1311可以在第一推进电机1312的带动下，从两个第一推进开口1313中的其中一个吸入液体并从另一第一推进开口1313排出，从而使清洁设备10获得竖直方向的第一驱动力。当清洁设备10位于液体中时，清洁设备10还可以通过调整第一推进叶轮1311的旋转方向(如，正旋、反旋)以调整第一预设方向，从而调整第一驱动力的方向，从而实现清洁设备10在液面30上下的位置切换。通过设置第一推进器131，可以使得清洁设备10可以快速地快速、便捷地实现清洁设备10在液面30上下的位置切换。
在一些实施例中，清洁设备10还可以在目标区域40的水平方向上运动。如图5以及图9所示，清洁设备10还可以包括第二推进器132。第二推进器132可以推动液体沿第二预设方向运动，以产生水平方向上的第二驱动力。清洁设备10可以在第二驱动力的作用下实现水平方向上的运动。第二预设方向可以为第二推进器132排出液体的方向。与第一推进器131类似的，由于清洁设备10需要获得水平方向的第二驱动力，因此，第二预设方向至少包括水平方向上的倾斜，以保证获得的前述反作用力具有水平方向的分力，即第二驱动力，故第二预设方向与水平方向的夹角可以为[0°，-90°)。
与第一推进器131类似的，第二驱动力的大小可以与液体沿第二预设方向运动的速度正相关。液体沿第二预设方向运动的速度越大，清洁设备10所受到与第二预设方向相反的反作用力越大，其在水平方向上的第二驱动力越大。第二驱动力的大小还可以与第二预设方向与水平方向的夹角负相关。当液体沿第二预设方向运动的速度相同时，第二预设方向与水平方向的夹角越大，清洁设备10在水平方向上的第二驱动力越小。如图13所示，当第二预设方向与水平方向的夹角为0°时，清洁设备10受到的前述反作用力可以完全切换清洁设备10在水平方向上受到的第二驱动力。
与第一推进器131类似的，第二推进器132也可以包括第二推进叶轮(图未示出)以及第二推进电机(图未示出)。关于第二推进叶轮以及第二推进电机的更多内容可以参见上文。从以上描述，以清洁设备10整体所在的方向而言，第一预设方向为大致垂直于清洁设备10整体所在的方向，即垂直于清洁设备10与待清洁表面接触的平面方向；第二预设方向为大致平行于清洁设备10整体所在的方向，即平行于清洁设备10与待清洁表面接触的平面方向，且与清洁设备10的行进方向相一致。清洁设备10可以包括一个或多个第二推进器132。第二推进器132可以设置在清洁设备10的底部。例如，当清洁设备10中仅包含一个第二推进器132时，该第二推进器132可以水平设置在清洁设备10底部的中心位置，以保证清洁设备10的平衡。
在一些实施例中，第二推进器132还可以设置在清洁设备10的侧边。值得说明的是，当第二推进器132设置在清洁设备10的侧边时，其设置位置应当至少部分位于清洁设备10在液面30上的漂浮位置以下，以保证当清洁设备10漂浮在液面30上时，第二推进器132中第二推进叶轮转动可以推动液体沿第二预设方向运动，从而为清洁设备10提供水平方向上的第二驱动力。
在一些实施例中，当第二推进器132设置在清洁设备10的侧边时，其设置位置可以全部位于清洁设备10在液面30上的漂浮位置以下。
在一些实施例中，清洁设备10的左侧和右侧可以分别设置有至少一个第二推进器132。如图9所示，清洁设备10的左侧和右侧可以设置有一个第二推进器132。当清洁设备10在液体中进行运动时，清洁设备10可以分别调节左侧和右侧的第二推进器132的第一推进电机1312的功率，以调整左侧和右侧的第二推进器132的推动液体沿第二预设方向运动的运动速度，从而实现清洁设备10的转弯。例如，当左侧的第二推进器132推动液体沿第二预设方向运动的运动速度大于右侧的第二推进器132推动液体沿第二预设方向运动的运动速度时，在左侧的第二推进器132的作用下，清洁设备10可以朝向右侧拐弯。通过设置第二推进器132，可以实现清洁设备10在水平方向上的位置切换，例如，在水平方向上直行或转弯，从而可以拓展清洁设备10的功能，以使其适用于更多的使用场景。
请参阅图26和图27，图26是本公开清洁设备的第一结构示意图；图27是本公开清洁设备的第二结构示意图。在一些实施例中，行走推进机构100包括第一轮1121和第二轮1122。第一轮1121包括两个。第二轮1122包括两个。两个第一轮1121设置于清洁设备主体101底部前端。两个第二轮1122设置于清洁设备主体101底部后端。第一轮1121外侧面设置有驱动花纹11211。驱动花纹11211可拆卸或者固定连接于第一轮1121外侧面。清洁设备10在液面30行走时，驱动花纹11211至少部分位于液面30下，用于调节清洁设备10在水平方向上受到的第二驱动力。即清洁设备10在液面30行走时，驱动花纹11211至少部分露出在液面30上，驱动花纹11211至少部分位于液面30下。第一轮1121转动带动驱动花纹11211转动，位于液面30下的部分驱动花纹11211与液体产生一定作用力，用于调节清洁设备10在水平方向上受到的第二驱动力，实现清洁设备10沿第二方向向前运动。当清洁设备10在目标底壁401行走时，驱动花纹11211全部浸没在液体中，清洁设备10沿第二方向向前的作用力以及清洁设备10沿第二方向向后的作用力相互抵消，进而清洁设备10在目标底壁401行走不产生影响。
通过在第一轮1121设置驱动花纹11211，能够对清洁设备10提供第二方向的第二驱动力，进而能够推动清洁设备10沿第二方向前后运动。因驱动花纹11211的作用与第二推进器132的作用相同，在某种程度上，驱动花纹11211可以替换第二推进器132，从而降低零件数量以及降低成本，同时也能减轻重量等。
在一些实施例中，驱动花纹11211可以有多个，多个驱动花纹11211沿第一轮1121径向设置。驱动花纹11211数量可以但不限于三个、四个、五个、六个以上等。
在一些实施例中，两个第一轮1121设置于清洁设备主体101底部前端。两个第二轮1122设置于清洁设备主体101底部后端。第一轮1121和第二轮1122可以带动清洁设备10在水平方向上运动。当清洁设备10位于目标区域40的目标底壁401上时，第一轮1121和第二轮1122的运行可以带动清洁设备10在目标底壁401上、目标侧壁402上以及从目标底壁401转换至目标侧壁402上移动。在一些实施例中行走推进机构100包括履带111。第一轮1121和第二轮1122通过履带111连接。即第一轮1121和第二轮1122随履带111转动而转动。履带111的运行可以带动清洁设备10运动。履带111可以带动清洁设备10在水平方向上运动。如图10所示，当清洁设备10位于目标区域40的目标底壁401上时，履带111的运行可以带动清洁设备10在目标底壁401上移动。履带111还可以带动清洁设备10在竖直方向上运动。如图7、图12所示，当清洁设备10紧贴在目标区域40的目标侧壁402上时，履带111的运行还可以带动清洁设备10在目标侧壁402上运动。其中，关于清洁设备10如何实现紧贴在目标区域40的目标侧壁402上的更多内容参见下文。
在一些实施例中，履带111还可以实现清洁设备10的行进区域从目标底壁401转换至目标侧壁402。如图11所示，当履带111运动到目标底壁401与目标侧壁402的衔接处时，履带111的一部分在目标侧壁402上运动，一部分在目标底壁401上动。履带111在目标侧壁402的一部分可以带动清洁设备10向上运动直至清洁设备10的行进区域从目标底壁401转换至目标侧壁402。当清洁设备10的行进区域从目标底壁401转换至目标侧壁402后，清洁设备10可以在履带111带动下在目标侧壁402上运动，清洁设备10还可以在转向后的第二推进器132所提供的第二驱动力的作用下在目标侧壁402上运动，清洁设备10还可以基于主水泵210提供的第三驱动力的作用下在目标侧壁402上运动。关于主水泵210及其提供的第三驱动力的更多内容可以参见下文。通过设置履带111，可以便于清洁设备10在液体中的各个位置进行移动，并实现清洁设备10的行进区域从目标底壁401转换至目标侧壁402。在一些实施例中，清洁设备10还可以包括主水泵210。主水泵210可以用于驱使清洁设备10将液体从进液部103吸入，并从出液部104排出。进液部103可以包括一个或多个液体进入清洁设备10内的入口，如第一进水口1031、第二进水口1032等。进液部103包括主水泵进水口213。如图9、图13、图14以及图15所示，清洁设备10中的主水泵进水口213可以作为液体进入清洁设备10内的入口，其中主水泵进水口213可以是第一进水口1031或第二进水口1032。出液部104可以包括一个或多个清洁设备10内的液体离开清洁设备10进入目标区域40中的出口。出液部104包括主水泵出水口214。主水泵出水口214可以是第一出水口。如图9、图13、图14以及图15所示，清洁设备10中的主水泵出水口214可以作为清洁设备10内的液体离开清洁设备10进入目标区域40中的出口。
与第一推进器131类似的，主水泵210也可以包括第一推进叶轮1311与第一推进电机1312相似结构。主水泵叶轮212可以在主水泵电机211的带动下进行转动，从而将目标区域40中的液体从进液部103吸入，并通过出液部104将清洁设备10内的液体排出至目标区域40。
在一些实施例中，清洁设备10可以通过调整主水泵210中主水泵叶轮212的旋转方向，以调换主水泵进水口213与主水泵出水口214的功能。例如，当主水泵210中叶轮的反旋时，主水泵进水口213可以用于供液体排出，主水泵出水口214可以供液体进入。
在一些实施例中，当清洁设备10位于目标侧壁402上时，出液部104(如，主水泵出水口214)可以至少朝向目标区域40内，并与水平方向平行或在竖直方向上存在向下的倾斜，从而保障在主水泵210 运作时，从主水泵出水口214排出液体时，清洁设备10可以获得第三驱动力，以驱使清洁设备10可以紧贴在目标侧壁402上。第三驱动力可以为主水泵210从主水泵出水口214排出液体时清洁设备10获得的反作用力。当主水泵出水口214朝向目标区域40内，并与水平方向平行时，清洁设备10获得的第三驱动力垂直朝向目标侧壁402，从而可以使得清洁设备10紧贴在目标侧壁402上。
在一些实施例中，当清洁设备10需要在目标侧壁402上运动时，主水泵出水口214可以朝向目标区域40内，并在竖直方向上存在向下的倾斜时，清洁设备10获得的第三驱动力一方面在水平方向上存在朝向目标侧壁402的分力，可以使得清洁设备10紧贴在目标侧壁402上；另一方面，前述第三驱动力还可以在竖直方向上存在朝上的分力，从而还可以使得清洁设备10可以沿目标侧壁402向上运动。当清洁设备10位于目标底壁401上时，主水泵210通过前述主水泵出水口214排水获得的第三驱动力还可以存在水平方向上的分力，从而还可以使得清洁设备10可以在目标底壁401上运动。
在一些实施例中，主水泵进水口213可以设置于清洁设备10的底部。当清洁设备10需要在目标侧壁402上运动时，主水泵210可以从主水泵进水口213吸入液体，从而获得第四驱动力以驱使清洁设备10紧贴目标侧壁402。其中，第四驱动力可以为由主水泵210从主水泵进水口213吸水而产生的吸力，前述吸力可以驱使清洁设备10紧贴目标侧壁402。
在一些实施例中，当清洁设备10需要在目标侧壁402上运动时，清洁设备10中的主水泵210可以驱使清洁设备10紧贴在目标侧壁402上，清洁设备10中的履带111、第二推进器132以及主水泵210中的至少一种可以提供竖直方向向上的驱动力以驱使清洁设备10在目标侧壁402上向上运动，清洁设备10中的履带111以及第二推进器132中的至少一种还可以提供竖直方向上向下的驱动力以驱使清洁设备10在目标侧壁402上向下运动。
通过设置主水泵210，可以使得清洁设备10可以紧贴在目标侧壁402上，从而对清洁设备10进行限位，便于清洁设备10在目标侧壁402上进行移动，完成清洁设备10在液面30下至液面30上的位置转换。
在一些实施例中，清洁设备10包括主水泵进水口213以及主水泵出水口214。其中，主水泵进水口213以及主水泵出水口214可转动设置于清洁设备主体101，以使主水泵进水口213以及主水泵出水口214处液体流动方向转动，进而实时改变液体流动方向，使得清洁设备10获得不同方向的推进力。
在一些实施例中，清洁设备10包括一组或两组第一动力进水部(图未示出)和第一动力出水部(图未示出)。第一动力进水部和第一动力出水部数量可以为一组或者二组，其数量可以根据第一推进器131和第二推进器132设置而定。当清洁设备10包括第一推进器131或者第二推进器132时，清洁设备10包括一组第一动力进水部和第一动力出水部。当清洁设备10同时包括第一推进器131和第二推进器132时，第一动力进水部和第一动力出水部包括两组。
一组第一动力进水部和第一动力出水部设置于清洁设备10。第一推进器131连通第一动力进水部和第一动力出水部。第一推进器131工作时，从一第一动力进水部和一第一动力出水部两者中的一者吸入液体，并从一第一动力进水部和一第一动力出水部两者中另一者排出，从而使清洁设备10获得竖直方向的第一驱动力。其中，一组第一动力进水部和第一动力出水部沿竖直方向延伸设置。具体地，当第一推进器131为第一推进器131时，第一动力进水部为上述一第一推进开口1313。第二动力出水部为上述另一第一推进开口1313。
和/或，另一组第一动力进水部和第一动力出水部设置于清洁设备10。第二推进器132连通第一动力进水部和第一动力出水部。第二推进器132工作时，从另一第一动力进水部和另一第一动力出水部两者中的一者吸入液体，并从另一第一动力进水部和另一第一动力出水部两者中另一者排出，从而使清洁设备10获得水平方向的第二驱动力。其中，另一组第一动力进水部和第一动力出水部沿水平方向延伸设置。
上述清洁设备10可以但不限于第一推进器131、第一滚筒风扇以及第一水泵等。清洁设备10可以但不限于第二推进器132、第二滚筒风扇以及第二水泵等。推进器、滚筒风扇以及水泵等连通第一动力进水部和第一动力出水部。通过改变推进器、滚筒风扇以及水泵等正反转，可以实现清洁设备10在竖直方向上下和水平方向前后方向运动，进而实现清洁设备10在液面30上下的位置切换以及液体中前后方向位置切换。
在一些实施例中，清洁设备10包括一组或两组第二动力进水部(图未示出)和第二动力出水部(图未示出)。第二动力进水部和第二动力出水部转动设置于清洁设备10。即第二动力进水部和第二动力出水部的设置方式与上述第一动力出水部设置方式不同。即第二动力进水部和第二动力出水部角度可以调整，能够改变液体流动方向。
一组第一推进器131连通第二动力进水部和第二动力出水部。第二推进器132工作时，从一第二动力进水部和一第二动力出水部两者中的一者吸入液体，并从一第二动力进水部和一第二动力出水部两者中另一者排出，因第二动力进水部和第二动力出水部转动设置于清洁设备10，使得清洁设备10获得不 同方向的推进力。其中，推进力包括竖直方向的第一驱动力。
和/或，第二推进器132连通第二动力进水部和第二动力出水部。第二推进器132工作时，从另一第二动力进水部和另一第二动力出水部两者中的一者吸入液体，并从另一第二动力进水部和另一第二动力出水部两者中另一者排出，因第二动力进水部和第二动力出水部转动设置于清洁设备10，使得清洁设备10获得不同方向的推进力。其中，推进力包括水平方向的第二驱动力。
上述第二动力进水部可以通过一动力电机以及一动力传动机构相互配合，实现第二动力进水部相对清洁设备10转动。第二动力出水部可以通过另一动力电机以及另一动力传动机构相互配合，实现第二动力出水部相对清洁设备10转动。
在一些其他实施例中，第一动力进水部和第一动力出水部设置于清洁设备10，通过调节喷水管道(图未示出)方向来提供不同方向的推进力。第一推进器131包括水泵时，水泵与第一动力出水部之间连通喷水管道。喷水管道可以有不同角度。当液体从喷水管道进入或者排出时，可以提供不同方向的推进力。当第一动力进水部、第一动力出水部和第一推进器131连通时，推进力可以包括竖直方向的第一驱动力。当第一动力进水部、第一动力出水部和第二推进器132连通时，推进力可以包括水平方向的第二驱动力。
当然，在其他实施例中，第一动力进水部、第一推进器131以及第一动力出水部路径上设置有第一导向结构(图未示出)，通过第一导向结构改变液体流动方向，从而提供不同方向的推进力。同理，第一动力进水部、第二推进器132以及第一动力出水部路径上设置第二导向结构(图未示出)，通过第二导向结构改变液体流动方向，从而提供不同方向的推进力。第一导向结构以及第二导向结构的具体结构不作限定，能够改变液体流动方向即可，在此不作限定。
需要注意的是，以上对于清洁设备10及其各个构件的描述，仅为描述方便，并不能把本公开限制在所举实施例范围之内。可以理解，对于本领域的技术人员来说，在了解该装置的原理后，可能在不背离这一原理的情况下，对各个构件进行任意组合，或者构成子部件与其他构件连接。
图15是本公开清洁设备第四实施例的结构示意图。清洁设备10可以包括控制构件(图未示出)。清洁设备10中的控制构件控制清洁设备10在泳池的水面以及水下进行位置切换，以实现水面清洁或水下清洁。
在一些实施例中，过滤机构包括尘盒711。尘盒711可以用于对泳池进行水面清洁以及水中清洁。如图15、图16所示，尘盒711可以包括尘盒进水部716。尘盒进水部716与进液部103连通。尘盒进水部716为用于泳池中的垃圾或其他杂质进入清洁设备10的入口。
在一些实施例中，尘盒进水部716可以包括水面尘盒口7161。水面尘盒口7161可以用于泳池水面的垃圾或杂质进入尘盒711的入口。水面尘盒口7161可以设置在清洁设备10的侧边(如，前侧)或顶部或底部，且包含清洁设备10在水面漂浮时的漂浮位置，以便泳池水面上的垃圾或其他杂质可以随着液体通过水面尘盒口7161进入尘盒711。例如，当水面尘盒口7161位于清洁设备10的侧面或底部时，清洁设备10在水面漂浮时的漂浮位置可以位于水面尘盒口7161的中线位置或1/3位置，此时清洁设备10处于正常姿态。当水面尘盒口7161位于清洁设备10的顶部或底部或侧面时，清洁设备10在水面漂浮时的漂浮位置可以是顶部或底部或侧面的水面尘盒口7161靠近水面的位置，此时清洁设备10处于倒置姿态。
在一些实施例中，尘盒进水部716还可以包括水中尘盒口7162。水中尘盒口7162可以用于泳池水中的垃圾或杂质进入尘盒711的入口。水中尘盒口7162可以设置在清洁设备10在水面的漂浮位置以下。例如，水中尘盒口7162可以设置在清洁设备10的底部。再例如，水中尘盒口7162还可以设置在清洁设备10在水面的漂浮位置以下的侧边上。通过设置水面尘盒口7161以及水中尘盒口7162，以使得清洁设备10可以进行水面清洁以及水中清洁，扩展了清洁设备10的使用场景，提升用户体验。
在一些实施例中，尘盒711还可以包括尘盒滚刷组件717。尘盒711可以包括一个或多个尘盒滚刷组件717。尘盒滚刷组件717可以用于在进行泳池水面清洁时，将水面的垃圾或杂质卷入尘盒711内，从而提高水面清洁效率。尘盒滚刷组件717可以设置在水面尘盒口7161中。如图14所示，尘盒滚刷组件717可以设置在水面尘盒口7161内侧。
在一些实施例中，尘盒滚刷组件717还可以设置水面尘盒口7161外侧或设置在水面尘盒口7161上。
在一些实施例中，尘盒711还包括水面调节件(图未示出)和水下调节件(图未示出)。水面调节件用于调节水面尘盒口7161的开闭状态。水下调节件用于调节水中尘盒口7162的开闭状态。控制构件可以通过调整水面调节件和/或水下调节件，可以使对应的水面尘盒口7161和/或水中尘盒口7162开启或闭合。
当清洁设备10执行水下清洁工作时，水面调节件和水下调节件均处于开启状态，即水面调节件开启水面尘盒口7161，水下调节件开启水中尘盒口7162。通过将水面尘盒口7161和水中尘盒口7162均 开启，液体更多，增大清洁效率。或者，水面调节件处于关闭状态，水下调节件处于开启状态，即水面调节件关闭水面尘盒口7161，水下调节件开启水中尘盒口7162。通过将水面尘盒口7161关闭，水中尘盒口7162开启，能够提升清洁设备10在水中尘盒口7162吸力，避免水面尘盒口7161分流，从而提升清洁设备10在水下清洁效率。
当清洁设备10执行水面清洁工作时，水面调节件和水下调节件均可以处于开启状态，即水面调节件开启水面尘盒口7161，水下调节件开启水中尘盒口7162。通过将水面尘盒口7161和水中尘盒口7162均开启，有利于清洁设备10在水面姿态的稳定性。或者，水面调节件处于开启状态，水下调节件处于关闭状态，即水面调节件开启水面尘盒口7161，水下调节件关闭水中尘盒口7162。通过将水面尘盒口7161开启，水中尘盒口7162关闭，能够提升清洁设备10在水面尘盒口7161吸力，避免水中尘盒口7162分流，从而提升清洁设备10在水下清洁效率。其中，清洁设备10处于正常姿态或者倒置姿态，均可以通过水面调节件调节水面尘盒口7161的开闭状态；和/或，可以通过水下调节件调节水中尘盒口7162开闭状态。
在一些具体实施例中，尘盒711还可以包括水面尘盒口盖板718以及水中尘盒口盖板719。其中，水面调节件可以包括上述水面尘盒口盖板718。水下调节件可以包括水中尘盒口盖板719。水面尘盒口盖板718用于调节水面尘盒口7161的开闭状态。当水面尘盒口7161为开启状态时，泳池水面上液体可以通过水面尘盒口7161进入尘盒711。当水面尘盒口7161为闭合状态时，泳池水面上液体无法通过水面尘盒口7161进入尘盒711。水面尘盒口盖板718设置在水面尘盒口7161上。如图16所示，水面尘盒口盖板718可以设置在水面尘盒口7161中。水面尘盒口盖板718还可以设置在水面尘盒口7161内侧，或设置在水面尘盒口7161外侧。
与水面尘盒口盖板718类似的，水中尘盒口盖板719用于调节水中尘盒口7162的开闭状态。水中尘盒口盖板719设置在水中尘盒口7162上。水中尘盒口盖板719设置在水中尘盒口7162中、水中尘盒口7162内侧或水中尘盒口7162外侧。
水面尘盒口盖板718以及水中尘盒口盖板719可以为可活动部件。控制构件可以通过调整水面尘盒口盖板718和/或水中尘盒口盖板719，可以使对应的尘盒进水部716开启或闭合。例如，水面尘盒口盖板718可以为可旋转部件，控制构件通过水面尘盒口盖板718的旋转可以使水面尘盒口7161由闭合状态转换为开启状态。
在一些实施例中，当清洁设备10需要进行水下清洁时，控制构件可以通过水面尘盒口盖板718使水面尘盒口7161保持闭合状态，通过水中尘盒口盖板719使水中尘盒口7162保持开启状态，避免水面尘盒口7161对液体进行分流，保证水中尘盒口7162的吸力，从而可以提高清洁设备10在水中的清洁效率。在其他实施例中，水面尘盒口7161也可以处于开启状态。
同理，当清洁设备10需要进行水面清洁时，控制构件可以通过水中尘盒口盖板719使水中尘盒口7162保持闭合状态，通过水面尘盒口盖板718使水面尘盒口7161保持开启状态，避免水中尘盒口7162对液体进行分流，保证水面尘盒口7161的的吸力，从而可以提高清洁设备10在水面的清洁效率。在其他实施例中，水中尘盒口7162也可以处于开启状态。
在一些实施例中，水面调节件还可以为水面调节阀。水下调节件还可以为水中调节阀。水面调节阀以及水中调节阀的开启可以通过主水泵210工作参数来确定，如主水泵210工作功率。水面调节阀和水中调节阀满足一定压力阈值后，才能被开启。当主水泵210工作功率大于水面调节阀的压力阈值时，水面调节阀打开水面尘盒口7161。当主水泵210工作功率小于水面调节阀的压力阈值时，水面调节阀关闭水面尘盒口7161。当主水泵210工作功率大于水下调节阀的压力阈值时，水下调节阀打开水面水中尘盒口7162。当主水泵210工作功率小于水下调节阀的压力阈值时，水下调节阀关闭水中尘盒口7162。上述水面调节阀以及水中调节阀可以但不限于鸭嘴阀等，在此不作限定。
在一些实施例中，尘盒711还可以包括其他结构。例如，尘盒711还可以包括过滤层。前述过滤层可以用于对进入尘盒711的液体进行过滤。
控制构件可以用于控制清洁设备10进行泳池水面清洁或水下清洁。在一些实施例中，控制构件可以获取对目标泳池进行清洁的目标任务，其中，目标任务包括水面清洁以及水下清洁；基于目标任务以及清洁设备10的当前位置，确定清洁设备10的调节参数；基于调节参数，控制清洁设备10带动清洁设备10移动至目标位置以完成目标任务。关于上述实施例的更多内容可以参见图28及其相关描述。
通过设置带有清洁设备10的清洁设备10可以全方位地对泳池的池底、池底、水中以及水面等多个位置进行清洁，保证泳池清洁的全面性。
在一些实施例中，清洁设备10还可以包括垃圾导向构件106。垃圾导向构件106可以带动泳池液面30中的垃圾进入水面尘盒口7161。如图15以及图16所示，垃圾导向构件106可以位于水面尘盒口7161外侧，内部中空，其远离水面尘盒口7161的第一端口1061的端口尺寸大于水面尘盒口7161的尺寸，与水面尘盒口7161连接的第二端口1062的端口尺寸不小于水面尘盒口7161的尺寸。垃圾导向构 件106可以包括但不限于内部中空的截锥体、梯形体等结构。
在一些实施例中，第一端口1061的端口尺寸与水面尘盒口7161可以呈比例设置。例如，第一端口1061与水面尘盒口7161的尺寸比例设置可以不超过10:1，以避免过多垃圾或杂质同时进入水面尘盒口7161，从而导致水面尘盒口7161堵塞。通过设置垃圾导向构件106，可以将较宽水面上的垃圾聚积到一起，并进入水面尘盒口7161，避免因水面尘盒口7161过小降低清洁设备10水面清洁的效率。
如图15、16所示，清洁设备10还可以包括水下滚刷件411。水下滚刷件411可以用于泳池的目标底壁401以及目标侧壁402进行清洁。清洁设备10可以包括一个或多个水下滚刷件411。水下滚刷件411可以设置在清洁设备10的底部和/或侧边。如图15所示，清洁设备10的底部的前后两端可以分别设置有一个水下滚刷件411。当清洁设备10在泳池的池底移动时，水下滚刷件411可以对泳池的池底进行清洁(如，清扫杂质或藻类)；当清洁设备10在泳池的池壁上移动时，水下滚刷件411还可以对泳池的池壁进行清洁。
需要注意的是，以上对于清洁设备10及其各个构件的描述，仅为描述方便，并不能把本公开限制在所举实施例范围之内。可以理解，对于本领域的技术人员来说，在了解该装置的原理后，可能在不背离这一原理的情况下，对各个构件进行任意组合，或者构成子部件与其他构件连接。
图28是本公开液体清洁控制方法的示例性流程图。流程1000可以应用于清洁设备10，由控制构件执行。如图28所示，流程1000可以包括以下步骤：
步骤1010，获取对目标泳池进行清洁的目标任务。
目标泳池可以为需要进行清洁的泳池。目标任务可以为需要对目标泳池执行的清洁任务。目标任务可以包括水面清洁和/或水下清洁，其中，水面清洁可以指对目标泳池的水面进行清洁，水下清洁可以指对目标泳池的水下(如，水体中、池壁等)进行清洁。在一些实施例中，目标任务还可以包括具体的清洁部4311位。例如，水下清洁还可以包括但不限于水体清洁、池底清洁、各个池壁清洁等。
控制构件可以通过多种方式获取目标任务。例如，控制构件可以获取用户输入的目标任务。又例如，控制构件可以被设置为定期执行目标任务，如，3天执行一次水面清洁，2天执行一次水下清洁。再例如，清洁设备10还可以包括检测构件，前述检测构件可以对目标泳池进行水质检测，获得目标泳池的水质数据。控制构件可以获取前述水质数据，并基于水质数据确定目标任务。水质数据可以为反应目标泳池的水质情况的数据。水质数据包括但不限于目标泳池的水面图片、水中图片、各个池壁图片等。控制构件可以将水质数据输入任务确定模型，任务确定模式的输出可以包括目标任务。任务确定模型可以对目标泳池的水质数据进行分析，确定各个区域(如水面、水中、各个池壁等)的清洁情况(如，澄清度、藻类分布情况、杂质情况等)，从而确定对应的目标任务。任务确定模型可以为卷积神经网络模型，图神经网络或其他任意可实现该功能的机器学习模型。任务确定模型可以基于多组带标签的训练样本进行训练获取，其中，训练样本可以包括样本泳池的样本水质数据，标签可以包括样本任务。其中，样本任务可以通过人工对样本水质数据进行标注获取。
步骤1020，基于目标任务以及清洁设备10的当前位置，确定清洁设备10的调节参数。
控制构件可以获取清洁设备10的当前位置，关于获取清洁设备10当前位置的更多内容可以参见上文第一传感器的相关内容。
调节参数可以包括从当前位置移动到目标泳池中需执行目标任务的位置的路线信息以及完成目标任务所需的路线信息。
控制构件可以基于目标任务，确定目标泳池中需执行目标任务的起始位置，再基于前述起始位置与当前位置，确定清洁设备10从当前位置移动到目标泳池中需执行目标任务的位置的路线信息，再基于目标泳池的目标任务，确定完成目标任务所需的路线信息，从而确定清洁设备10的调节参数。
步骤1030，基于调节参数，控制清洁设备10带动清洁设备10移动并进行清洁以完成目标任务。
控制构件可以基于调节参数中从当前位置移动到目标泳池中需执行目标任务的位置的路线信息，控制清洁设备10带动清洁设备10从当前位置移动到需执行目标任务的起始位置，再基于调节参数中完成目标任务所需的路线信息，并开启清洁设备10中的尘盒711以及水下滚刷件411进行清洁，以完成目标任务。清洁设备10完成目标任务后可以停留结束位置、回到移动前的起始位置或预设的默认位置。
通过前述液体清洁控制方法，可以实现对清洁设备10进行控制，以使其对泳池各处进行清洁，提高泳池清洁效率的同时，保证泳池清洁的全面性。
应当注意的是，上述有关流程1000的描述仅仅是为了示例和说明，而不限定本公开的适用范围。对于本领域技术人员来说，在本公开的指导下可以对流程1000进行各种修正和改变。然而，这些修正和改变仍在本公开的范围之内。
本公开的一些实施例还提供一种计算机可读存储介质60，所述存储介质可以存储计算机指令，当所述计算机指令被处理器52执行时实现如前文所述的液体清洁控制方法。
在一些实施例中，清洁设备10包括行走推进机构100以及清洁系统。行走推进机构100包括传动 组件120。传动组件120包括行走驱动件121、第一从动件123和第二从动件124。清洁系统包括第一清洁件410和第二清洁件420。第一清洁件410用于液面30以下垃圾等卷入过滤系统内。第二清洁件420用于将液面30以上垃圾等卷入过滤系统内。其中，行走驱动件121设置在清洁设备主体101的内部。行走驱动件121的输出端适于与车轮112驱动连接，以使行走驱动件121能够驱动车轮112转动。第一从动件123设置在清洁设备主体101上。第一从动件123与车轮112驱动连接。第一从动件123的输出端适于与第一清洁件410连接。车轮112带动第一从动件123转动，以使第一从动件123带动第一清洁件410转动。第二从动件124设置在清洁设备主体101上。第二从动件124与车轮112驱动连接。第二从动件124的输出端适于与第二清洁件420连接。车轮112带动第二从动件124转动，以使第二从动件124带动第二清洁件420转动。示例性地，本实施例中的第一清洁件410为水下滚刷件411，第二清洁件420为水面滚刷件421。
通过行走驱动件121、第一从动件123和第二从动件124的设置，使得只需要一个行走驱动件121即可实现对车轮112、第一清洁件410、第二清洁件420的驱动，驱动结构简单，制造成本低。通过行走驱动件121驱动车轮112转动，使得车轮112前进或后退。车轮112在转动时能够带动第一从动件123和第二从动件124转动，从而通过第一从动件123和第二从动件124分别带动第一清洁件410和第二清洁件420转动，实现不同清洁件的工作，使得清洁设备10的清洁功能多样化。示例性地，在第一清洁件410为水下滚刷件411。第二清洁件420为水面滚刷件421的情况下，该传动组件120通过驱动车轮112转动，能够带动水下滚刷件411和水面滚刷件421的转动，使得清洁设备10的清洁功能多样化。可选的，水下滚刷件411和水面滚刷件421同向转动。在一些实施例中，车轮112包括第一轮1121、第二轮1122和履带111。第一轮1121和第二轮1122通过履带111传动连接。行走驱动件121的输出端与第一轮1121驱动连接。具体地，本实施例中的第一轮1121和第二轮1122分别设置为两个。且两个第一轮1121设置在清洁设备主体101的前端。两个第二轮1122设置在清洁设备主体101的后端。
示例性地，本实施例中的行走驱动件121包括行走驱动电机。传动组件120还包括第一齿轮122，行走驱动电机的输出端与第一齿轮122连接。第一齿轮122与第一轮1121啮合，以使第一齿轮122能够带动第一轮1121转动。此外，行走驱动件121还可以设置为其他能够提供动能的部件，本实施例对此不作限定。
请参阅图29和图30，图29是本公开清洁设备第五实施例的结构示意图；图30是本公开清洁设备第五实施例的爆炸示意图。在一些实施例中，第二从动件124包括第二齿轮1241、第三齿轮1242、第四齿轮1244、第五齿轮1245、以及第一转盘和第二转盘。第二齿轮1241与第一转盘连接。第三齿轮1242与第二转盘连接。第一转盘与第二转盘之间通过履带111传动连接。且第二齿轮1241与第二轮1122啮合。第四齿轮1244与第三齿轮1242啮合。且第四齿轮1244连接有第二清洁件420。第五齿轮1245设置在第三齿轮1242和第四齿轮1244之间。且第五齿轮1245与第三齿轮1242和第四齿轮1244均啮合。
具体而言，在工作时，行走驱动件121启动后，行走驱动件121带动第一齿轮122进行转动。由于第一齿轮122与第一轮1121啮合，进而使得第一齿轮122能够带动第一轮1121转动。在履带111的连接下，第一轮1121能够通过履带111带动第二轮1122进行转动；第二轮1122带动第二齿轮1241进行转动；第二齿轮1241带动第一转盘转动，从而使得第一转盘通过履带111带动第二转盘进行转动；第二转盘带动第三齿轮1242进行转动；第三齿轮1242带动第五齿轮1245进行转动；第五齿轮1245带动第四齿轮1244进行转动；最后使得第四齿轮1244能够带动第二清洁件420实现转动。在第二清洁件420为水面滚刷件421的情况下，可以将水面上垃圾进行清理收纳。
在一些可选的实施方式中，第二清洁件420通过连接轴与第四齿轮1244进行连接，且本实施例中第二从动件124只设置在清洁设备主体101的一侧，进而有利于简化清洁设备10的结构，节约成本，同时减轻重量。
在一些可选的实施例中，第四齿轮1244和第二清洁件420作为一个整体从第二从动件124拆除，方便第二清洁件420拆卸清洁。第四齿轮1244可以设置于尘盒711。或者，第四齿轮1244可以设置于尘盒盖板。当拆卸尘盒711过程中，第二清洁件420以及第四齿轮1244也随尘盒711拆除，可以同时清理尘盒711以及第二清洁件420，进而方便第二清洁件420拆卸清洁。进一步地，在本实施例中，第二齿轮1241与第一转盘同轴设置，第三齿轮1242与第二转盘同轴设置，且第二转盘设置在第一转盘的正上方，这样能够尽可能地缩短履带111的尺寸，节约成本，同时有利于提高第二从动件124的可靠性和稳定性。
继续参阅图29和图30，在一些实施例中，第一从动件123包括第六齿轮1231、第七齿轮1232、第八齿轮1233。其中，第六齿轮1231和第七齿轮1232啮合。第六齿轮1231与第二轮1122啮合。且第七齿轮1232与第一清洁件410连接。第八齿轮1233设置在第六齿轮1231和第七齿轮1232之间。且第八齿轮1233与第六齿轮1231和第七齿轮1232均啮合。
具体而言，在工作时，行走驱动件121启动后，行走驱动件121带动第一齿轮122进行转动。由于第一齿轮122与第一轮1121啮合，进而使得第一齿轮122能够带动第一轮1121转动。在履带111的连接下，第一轮1121能够通过履带111带动第二轮1122进行转动；第二轮1122带动第六齿轮1231进行转动；第六齿轮1231带动第八齿轮1233进行转动；第八齿轮1233带动第七齿轮1232进行转动，从而使得第七齿轮1232能够带动第一清洁件410实现转动。在第一清洁件410为水下滚刷件411的情况下，可以实现对水池表面进行清理。其中，水池表面可以是水池的底面，还可以是水池的壁面。
进一步地，请继续参考图30，第一清洁件410通过连接轴与第七齿轮1232进行连接，且第七齿轮1232可通过螺栓可拆卸地连接在清洁设备主体101上，这样有利于后期对第一清洁件410的更换。通过第六齿轮1231、第七齿轮1232、第八齿轮1233的设置，在保证第一清洁件410正常运转的前提下，还实现了第一清洁件410的可拆卸，从而避免了传统技术中第一清洁件410与第二轮1122直接固定连接且不可拆卸的问题，提高了本实施例中的清洁设备10的灵活适用性，节约成本。
本实施例清洁设备10能够通过一个行走驱动件121驱动不同清洁件，清洁功能多样化，结构简单，制造成本低，重量轻，便于用户携带搬运，提高工作效率。具体地，第一清洁件410可以为水下滚刷件411，第二清洁件420可以为水面滚刷件421，清洁设备10的传动组件120通过驱动车轮112转动，能够带动水下滚刷件411和水面滚刷件421的转动，使得清洁设备10的清洁功能多样化。
更进一步地，本实施例中的清洁设备10包括两个传动组件120、两个第一轮1121和两个第二轮1122。每个传动组件120包括至少一个第一从动件123、至少一个行走驱动件121、和至少一个第二从动件124。
在一具体实施方式中，每个传动组件120包括一个第二从动件124，从而清洁设备10包括两个第一从动件123。两个第一从动件123分别设置在清洁设备主体101的两侧，且两个第一从动件123分别位于两个第二轮1122所对应的位置。在本实施例中，清洁设备10包括两个第一清洁件410，也就是说，两个第七齿轮1232分别独立驱动一个第一清洁件410，从而提高了清洁效率。第一清洁件410可以是地面清洁滚刷，从而清洁设备10可以实现对水池表面进行清理。其中，水池表面可以是水池的底面，还可以是水池的壁面。
在一具体实施方式中，每个传动组件120包括一个行走驱动件121，从而清洁设备10包括两个行走驱动件121。两个行走驱动件121分别驱动连接一个第一轮1121，这样便于清洁设备10实现转弯动作。其中，第一轮1121可以是清洁设备10的前轮，第二轮1122可以是清洁设备10的后轮。示例性地，当清洁设备10需要转弯时，其中一个行走驱动件121使其中一个第一轮1121停止工作、减速工作或者反向工作，另一个行走驱动件121加速驱动另一个第一轮1121进行转动，从而实现清洁设备10的转向动作。在本实施例中，采用两个行走驱动件121分别带动两个第一轮1121转动，能够为清洁设备10提供更多的动力，提高工作效率。
在另一实施例中，清洁设备10包括两个传动组件120、两个第一轮1121和两个第二轮1122，并且每个传动组件120包括两个第一从动件123，从而清洁设备10具有四个第一从动件123，该四个第一从动件123分别与两个第一轮1121和两个第二轮1122驱动连接，实现四个第一从动件123对四个第一清洁件410的驱动，提高清洁设备10的清洁效率。
在又一实施例中，清洁设备10包括四个传动组件120、两个第一轮1121和两个第二轮1122，并且每个传动组件120包括一个第一从动件123、一个行走驱动件121。四个行走驱动件121分别驱动两个第一轮1121和两个第二轮1122。四个第一从动件123分别与两个第一轮1121和两个第二轮1122驱动连接，实现四个第一从动件123对四个第一清洁件410的驱动，提高清洁设备10的清洁效率。
请参阅图31，图31是本公开清洁设备第六实施例的截面示意图。清洁设备10包括清洁设备主体101、清洁部件430以及运动驱动组件。清洁部件430设置于清洁设备主体101上。运动驱动组件(图未示)设置于清洁设备主体101上。运动驱动组件与清洁部件430连接，用于驱动清洁部件430相对清洁设备主体101进行伸缩运动。伸缩运动包括以下至少一者：朝远离清洁设备主体101的方向的伸展运动、以及朝靠近清洁设备主体101的方向的收缩运动。在第一位置，清洁部件430处于收缩极限位置；在第二位置，清洁部件430处于伸展极限位置；可以理解的是，清洁部件430可以在第一位置、第二位置、以及第一和第二位置之间的任意位置停止，以适应不同的应用需求。在清洁过程中，清洁设备主体101可以沿水池的底壁、水池的侧壁、水池的水面或悬浮在水池的液体中等运动。
本公开主要应用于机器人领域，本公开中的清洁设备10可利用运动驱动组件驱动清洁部件430进行伸缩运动，使得清洁部件430更具备灵活性，以对不同方向、不同距离的水池表面或水池中的水进行全面的清洁，从而可减少清洁设备10的移动，以提升清洁效率。此外，运动驱动组件还可驱动清洁部件430进行旋转运动，旋转运动可为清洁部件430围绕与清洁设备主体101连接的位置为支点进行任意角度的旋转，旋转运动也能够实现清洁部件430在伸展状态和收缩状态的变化。
请参阅图32，图32是图31中B的结构示意图。清洁部件430可包括旋转刷431和转轴432，旋转刷431环绕转轴432设置，转轴432通过运动驱动组件转动连接于清洁设备主体101，旋转刷431具 有至少一个清洁面43111，清洁面43111可倾斜设置，清洁面43111用于接触并搅动水流。具体地，旋转刷431包括若干清洁部4311。清洁部4311环绕设置于转轴432外周。清洁部4311沿转轴432轴向延伸设置。清洁部4311一侧形成清洁面43111。清洁部4311至少部分设置为柔性材质，如橡胶、弹性布料、刷毛等。和/或，清洁部4311至少部分设置为刚性材质，如钢丝等，刚性材质可提高清洁部件430的清洁能力。此外，若干清洁部4311可为多种材质交替设置，例如，橡胶与钢丝交替设置。旋转刷431可与转轴432为相同材质，或不同材质。
在一些实施例中，清洁部件430处于收缩状态的情况下，清洁部件430全部位于清洁设备主体101范围之内，或者清洁部件430至少一部分位于清洁设备主体101范围之内，收缩状态是运动驱动组件驱动清洁部件430进行收缩运动形成的状态，或者为运动驱动组件未驱动清洁部件430进行伸展运动的情况下所处的状态。例如，收缩状态为利用运动驱动组件驱动清洁部件430朝靠近清洁设备主体101的方向进行收缩运动时的状态，此时，清洁部件430逐渐收回至清洁设备主体101内，当清洁部件430位于清洁设备主体101范围内的部分达到第一预设值时，清洁部件430停止收缩运动，其中，第一预设值可以为50％、60％、85％、100％等。又例如，运动驱动组件未驱动清洁部件430进行伸展运动的情况下所处的状态，即清洁部件430所处状态为收缩状态，在该情况下，在运动驱动组件驱动清洁部件430运动时只进行伸展运动。
在另一些实施例中，清洁部件430处于伸展状态的情况下，清洁部件430的至少一部分位于清洁设备主体101100范围之外，伸展状态是运动驱动组件驱动清洁部件430进行伸展运动形成的状态，或者为运动驱动组件未驱动清洁部件430进行收缩运动的情况下所处的状态。例如，伸展状态为利用运动驱动组件驱动清洁部件430朝远离清洁设备主体101的方向进行伸展运动时的状态，此时，清洁部件430逐渐向清洁设备主体101外运动，当清洁部件430位于清洁设备主体101范围内的部分达到第二预设值时，清洁部件430停止伸展运动，其中，第二预设值可以为50％、60％、85％等。又例如，运动驱动组件未驱动清洁部件430进行收缩运动的情况下所处的状态，即清洁部件430所处状态为伸展状态，在该情况下，在运动驱动组件驱动清洁部件430运动时只进行收缩运动。
在另一些实施例中，清洁部件430可处于伸展状态或收缩状态，当清洁部件430朝靠近清洁设备主体101的方向进行收缩运动时，清洁部件430可处于收缩状态；当清洁部件430朝远离清洁设备主体101的方向进行伸展运动时，清洁部件430可处于伸展状态。
请参阅图33，图33是本公开清洁设备第六实施例中连接部的结构示意图。在一些实施例中，驱动清洁部件430进行旋转运动和伸缩运动，运动驱动组件可包括：连接部440和第一驱动组件(图未示意)。清洁部件430通过连接部440与清洁设备主体101连接。第一驱动组件与连接部440连接，用于驱动清洁部件430相对清洁设备主体101进行伸缩运动。
请参阅图34，图34是本公开清洁设备第七实施例中连接部的结构示意图。在一些实施例中，连接部440可为伸缩结构，可参阅图34。连接部440包括固定部441和伸缩部442，固定部441与清洁设备主体101固定连接，伸缩部442一端与固定部441连接，另一端与清洁部件430连接，伸缩部442相对于固定部441可进行伸缩运动。第一驱动组件包括第一动力源(图未示)，第一动力源设置在固定部441和伸缩部442连接处，第一动力源用于驱动连接部440进行伸缩，以带动清洁部件430进行伸缩运动。可以理解的是，第一动力源可以为电机或气缸等动力源，在此不作具体的限定。
在另一些实施例中，清洁部件430活动连接于运动驱动组件，第一驱动组件包括第一传动机构450和第一动力源，第一传动机构450的输入端连接第一动力源，第一传动机构450的输出端连接清洁部件430，第一动力源用于为第一传动机构450提供动力，以使第一传动机构450带动清洁部件430相对清洁设备主体101和连接部440进行伸缩运动。
请参阅图35，图35是本公开清洁设备第六实施例中第一传动机构的结构示意图。具体地，第一传动机构450和第一动力源可设置在连接部440连接清洁部件430的一端，用于控制清洁部件430进行伸缩运动。其中，第一传动机构450可包括涡轮传动机构和齿轮传动机构，例如，请参阅图35，第一传动机构450包括摆动齿轮451、蜗轮452、蜗杆453和传动齿轮454，蜗杆453与第一动力源的输出端固定连接，蜗杆453与蜗轮452啮合，蜗轮452与传动齿轮454通过同心轴固定连接，传动齿轮454与摆动齿轮451啮合，摆动齿轮451作为第一传动机构450的输出端，用于带动与第一传动机构450的输出端连接的部件进行伸缩运动。可以理解的是，第一传动机构450处可包括涡轮传动机构和齿轮传动机构外，也可为其他的传动机构，在此不作具体的限定。例如，与第一传动机构450的输出端连接的部件为清洁部件430，清洁部件430通过一转动轴与摆动齿轮451偏心连接，通过摆动齿轮451与该转动轴的偏心摆动，将清洁部件430朝远离清洁设备主体101的方向进行伸展运动，使得清洁部件430至少部分伸出清洁设备主体101范围；或者，将清洁部件430朝靠近清洁设备主体101的方向进行收缩运动，至少将清洁部件430的部分收回清洁设备主体101范围内。可以理解的是，第一传动机构450除可为上述传动结构外，也可为其他的传动结构，在此不作具体的限定。
在另一些实施例中，连接部440的第一端连接清洁部件430，第一驱动组件包括第一传动机构450和第一动力源，第一传动机构450的输入端连接第一动力源，第一传动机构450的输出端与连接部440的第二端或者位于第二端与清洁设备主体101之间的部件连接，第一动力源用于为第一传动机构450提供动力，以使第一传动机构450带动连接部440和清洁部件430相对于清洁设备主体101进行伸缩运动。其中，第一传动机构450控制可与其连接的部件进行旋转或者平移，以使清洁部件430相对于清洁设备主体101进行伸缩运动。
在一些实施例中，运动驱动组件包括至少一组第二驱动组件，至少一组第二驱动组件用于驱动清洁部件430相对清洁设备主体101进行旋转运动。
可利用第一驱动组件和第二驱动组件同时控制连接部440进行旋转运动和伸缩运动，此时，位于第二端与清洁设备主体101之间的部件可以为第二驱动组件。在一具体实施例中，每组第二驱动组件可包括：第二传动机构和第二动力源。第二动力源，连接于第二传动机构的输入端，用于为第二传动机构提供动力，以使第二传动机构直接或间接带动清洁部件430进行旋转运动。可以理解的是，第二动力源可以为电机、气缸等动力源，在此不作具体的限定。
在另一具体实施例中，连接部440的第一端连接清洁部件430，至少一组第二驱动组件包括第一组第二驱动组件，连接部440的第一端连接清洁部件430，第一组第二驱动组件分别连接于清洁设备主体101和连接部440的第二端，用于驱动连接部440进行绕第一方向轴461的旋转运动，进而间接带动清洁部件430绕第一方向轴461进行旋转运动。其中，第一方向轴461可为直线旋转轴432，该直线旋转轴432可竖直设置，以使得连接部440在水平方向上进行旋转运动，如图31所示，或者，该直线旋转轴432可水平设置，以使得连接部440在竖直方向上进行旋转运动；第一方向轴461也可为球形旋转轴432，以使得连接部440可在任意角度方向上进行旋转运动等，关于第一方向轴461在此不作具体的限定。
在另一具体实施例中，至少一组第二驱动组件包括第二组第二驱动组件，请参阅图33，连接部440的第一端通过第二组第二驱动组件连接清洁部件430，第二组第二驱动组件用于驱动连接部440进行绕第二方向轴462的旋转运动，进而直接带动清洁部件430绕第二方向轴462进行旋转运动。可以理解的是，第二方向轴462可为直线旋转轴432、球形旋转轴432等，在此不作具体的限定。
在另一具体实施例中，清洁部件430活动连接于清洁设备主体101，至少一组第二驱动组件包括第一组第二驱动组件和第二组第二驱动组件，可结合参阅图31和图33，连接部440的第一端连接清洁部件430，第一组第二驱动组件分别连接于清洁设备主体101和连接部440的第二端，用于驱动连接部440进行绕第一方向轴461的旋转运动；第二组第二驱动组件一端连接清洁部件430，另一端与连接部440连接，用于驱动连接部440进行绕第二方向轴462的旋转运动，以对清洁部件430进行多阶旋转控制，从而提升清洁部件430所能清洁的范围。
例如，第一方向轴461为直线旋转轴432且竖直设置，第二方向轴462为直线旋转轴432且水平设置。因此，在利用清洁部件430进行清洁时，可先利用第一组第二驱动组件驱动连接部440围绕第一方向轴461在水平方向上进行旋转运动，到达预设位置后，再利用第二组第二驱动组件驱动清洁部件430围绕第二方向轴462在竖直方向上进行旋转运动，以对待清洁物体进行上下清洁。此外，在清洁设备10进行清洁时若被困，也可通过清洁部件430和连接部440灵活的旋转和摆动，使得清洁设备10更容易摆脱困境。此外，第二驱动组件和第一驱动组件可以为同一组件。
可以理解的是，同时利用一组第二驱动组件和第二组第二驱动组件对清洁部件430进行旋转运动控制，可先控制连接部440在竖直方向上进行旋转运动、后控制清洁部件430在水平方向上进行旋转运动或者可先控制连接部440在水平方向上进行旋转运动、后控制清洁部件430在竖直方向上进行旋转运动等，关于清洁部件430的多阶旋转控制方案，在此不做具体的限定。
此外，关于至少一组第二驱动组件，其可设置一组、两组或多组第二驱动组件，可根据实际的清洁要求进行设置，在此不作具体的限定。
此外，为便于清洁部件430清扫水池表面或是待清洁物体或水池中的水，可在运动驱动组件设置第三驱动组件(图未示)，第三驱动组件连接于清洁部件430，用于在需要清洁部件430工作的情况下，驱动清洁部件430进行自转，以对水池表面或是待清洁物体或水池中的水进行刷洗、清洁。
在一些实施例中，清洁部件430为若干个，其中，至少一个清洁部件430用于执行清洁工作。例如，在清洁设备10上可设置一个清洁部件430、两个清洁部件430或多个清洁部件430，可视具体清洁情况进行设置，并且关于清洁部件430的设置位置，可仅设置在清洁设备主体101的前壁101a、后壁或侧壁上，也可设置在清洁设备主体101相对的两个侧壁上等，如图31所示，在此不作具体的限定。又例如，至少一个清洁部件430可用于脱困工作。例如，在清洁设备10在水底被水草困住时，可通过清洁部件430的旋转运动和伸缩运动摆脱水草，或是将清洁部件430收回清洁设备10的范围内，减少清洁设备10的宽度，使得清洁设备10便于通过。
其中，清洁部件430为若干个，其中，若干清洁部件430设于清洁设备主体101的左侧壁101b、右侧壁101c和底部中的至少一者。
请继续参阅图31，清洁设备主体101还设有进液部103，至少一个清洁部件430用于扩大进液部103的清洁范围，清洁部件430可为边刷，进液部103用于将水流和污渍等吸入清洁设备主体101，其中，边刷为设置在清洁设备主体101的侧壁或是底部，当清洁设备10在水池中沿边时可对水池表面进行刷洗，边刷上设置有清洁材料，通过自转或往复运动以对待清洁物提进行刷洗。污渍可以是水池中漂浮的垃圾、水池中积累的水垢或黑渍等，进液部103的清洁范围是指当进液部103处于吸入水流和污渍的状态时，进液部103可以对水流和污渍产生影响的范围。如图31所示，进液部103可设置在清洁设备主体101的前壁101a上，沿进液部103的开口方向，至少一个清洁部件430位于进液部103的前方，如设置在清洁设备主体101的左侧壁101b和/或右侧壁101c上且清洁部件430向前壁101a延伸。并且清洁部件430向进液部103倾斜，倾斜角度可以为1度、5度、8度、15度、25度、30度、33度、60度、75度、80度等。清洁部件430的自转方向为向进液部103方向旋转，使得清洁部件430可以搅动进液部103清洁范围以外的水流和污渍，并将水流和污渍导向至进液部103。
进一步地，在清洁设备主体101中还可以设置有过滤结构和容置腔742等。过滤结构可将水流和污渍分离，即起到过滤污渍的作用。容置腔742可以容纳过滤结构过滤出的污渍。清洁设备主体101可将容置腔742、过滤结构与进液部103配合设置。过滤结构将进液部103吸入的水流进行过滤，使污渍与水流分离，污渍被留置在容置腔742内，清洁的水流排出清洁设备主体101。
请参阅图36，图36是本公开清洁设备第七实施例的结构示意图。在一些实施例中，进液部103设置在清洁设备主体101的前壁101a上时，清洁部件430可设置在清洁设备主体101的底部，可参阅图36，清洁部件430设置在清洁设备主体101的底部且能够伸出清洁设备主体101底部范围，并且清洁部件430可设置为向进液部103的中心倾斜或是设置为与进液部103平行，以将进液部103下方的水流和污渍导向至进液部103。此外，当清洁部件430伸出清洁设备主体101之外时，还能够对接触的目标物进行刷洗。
此外，进液部103设置在清洁设备主体101的前壁101a上时，至少一个清洁部件430可设置在清洁设备主体101的一侧，例如，左侧壁101b或右侧壁101c上。至少一个清洁部件430也可同时设置在清洁设备主体101的左侧壁101b和右侧壁101c上。此情况下，连接部440远离清洁设备主体101的一端向清洁设备主体101的底部延伸，以使得位于连接部440远离清洁设备主体101的一端上的清洁部件430靠近清洁设备主体101的底部，并且清洁部件430向位于清洁设备主体101底部的进液部103倾斜，以将清洁设备主体101底部范围外的水流和污渍导向至进液部103。
在另一些实施例中，进液部103设于清洁设备主体101的底部，为扩大进液部103的清洁范围，至少一个清洁部件430也可设置在清洁设备主体101的底部，位于进液部103的前方。
此外，进液部103设于清洁设备主体101的底部时，至少一个清洁部件430设置在清洁设备主体101的左侧壁101b和/或右侧壁101c上，连接部440远离清洁设备主体101的一端向清洁设备主体101的底部延伸，以使得位于连接部440远离清洁设备主体101的一端上的清洁部件430靠近清洁设备主体101的底部，并且清洁部件430向位于清洁设备主体101底部的进液部103倾斜，以将清洁设备主体101底部范围外的水流和污渍导向至进液部103。
在一些实施例中，清洁设备10还包括触发数据采集单元和到位传感器中的至少一者，触发数据采集单元用于采集关于清洁部件430进行预设运动的触发数据，到位传感器用于采集清洁部件430所进行的预设运动是否到位的参考数据。例如，到位传感器可以为加速度检测传感器、距离传感器、位置检测传感器等。
在一些实施例中，清洁设备主体101可漂浮于水面。当清洁设备主体101漂浮于水面，清洁部件430至少部分位于水面以下。例如清洁部件430可以部分位于水面以下，或者清洁部件430可以全部位于水面以下。
在一具体实施例中，当清洁设备主体101漂浮于水面，清洁部件430一半位于水面以上，另一半位于水面以下。通过上述设置，清洁部件430可以方便地清洁水面的污渍。另外，当清洁部件430倾斜设置时，清洁部件430位于水面以上的部分在转动时不会搅动水流。污渍不会被这一股水流不断向前推动导致无法抵达进液部103附近，清洁设备10清洁效果更好。
在另一具体实施例中，当清洁设备主体101漂浮于水面，清洁部件430全部位于水面以下。通过上述设置，由于清洁部件430完全位于水下，清洁部件430在转动时不易溅起水花，不易打湿水池的岸边。
另外，当清洁设备主体101漂浮于水面，进液部103位于清洁设备主体101前壁101a上时，进液部103也可以至少部分位于水面以下。如一具体实施例中，进液部103一半位于水面以上，另一半位于水面以下。由此，位于水面附近的污渍可以直接进入进液部103内，污渍不必克服浮力运动至进液部103，清洁效率高。
在另一具体实施例中，当清洁设备主体101漂浮于水面，进液部103位于清洁设备主体101前壁101a上时，进液部103全部位于水面以下，或者进液部103位于清洁设备主体101底部时，进液部103全部位于水面以下。由此，进液部103全部位于水下，可以接触更大流量的水流，吸污效率高。
在一些实施例中，清洁部件430具有起始位置和伸缩位置，清洁设备10还包括复位组件(图未示)，复位组件设置于清洁设备主体101上，复位组件与清洁部件430连接，复位组件用于为清洁部件430保持在起始位置提供复位力，清洁部件430能够在动力驱动组件驱动清洁部件430进行伸缩运动的情况下到达伸缩位置。
在一具体实施例中，清洁部件430处于起始位置的情况下，此时清洁部件430处于收缩状态，若将清洁部件430驱动至伸缩位置的情况下，清洁部件430处于伸展状态。例如，清洁部件430的起始位置为收缩位置，即清洁部件430处于常收缩状态，当运动驱动组件驱动清洁部件430向伸展位置移动时，清洁部件430则由常收缩状态转变为伸展状态，若后续运动驱动组件不再提供清洁部件430在伸展状态下的动力时，复位组件将提供清洁部件430复位力，以使得清洁部件430重新回到起始位置。
在另一具体实施例中，清洁部件430处于起始位置的情况下，清洁部件430处于伸展状态，若将清洁部件430驱动至伸缩位置的情况下，清洁部件430处于收缩状态。例如，清洁部件430的起始位置为伸展位置，即清洁部件430处于常伸展状态，当运动驱动组件驱动清洁部件430向伸展位置移动时，清洁部件430则由常伸展状态转变为收缩状态，若后续运动驱动组件不再提供清洁部件430在收缩状态下的动力时，复位组件将提供清洁部件430复位力，以使得清洁部件430重新回到起始位置。
请参阅图37，图37是本公开清洁设备的控制方法一实施例的流程示意图，其中，该控制方用于控制上述所提及的清洁设备10。具体而言，可参阅如下步骤：
步骤S710：检测到清洁设备10当前满足伸缩触发条件。
在一些实施例中，伸缩触发条件包括以下至少一者：
1)清洁设备10与目标物之间的距离在预设距离范围内，其中，目标物包括墙壁和障碍物中的至少一者。
具体地，触发数据采集单元包括第一触发传感器，因此可基于清洁设备10的第一触发传感器采集到的第一传感数据，确定清洁设备10与目标物之间的距离在预设距离范围内。例如，利用清洁设备10上的距离传感器对清洁设备10的前进方向或是周围物体进行检测，若检测到目标物，且清洁设备10与目标物之间的距离在预设距离范围内，则可利用清洁设备10中的运动驱动组件控制清洁部件430进行伸缩运动和旋转运动，以对目标物进行清洁。
2)清洁设备10处于被困状态。当检测到清洁设备10处于被困状态时，可通过控制清洁部件430进行伸缩运动，缩小清洁设备10的范围，使得清洁设备10便于通行。其中，检测到清洁设备10处于被困状态的情况可包括但不限于如下几种情况：
2-1.基于清洁设备10的第二触发传感器采集到的第二传感数据，确定清洁设备10的实际旋转角度与预设旋转角度存在预设偏差。其中，第二触发传感器属于触发数据采集单元。
在一些实施例中，预设旋转角度可为清洁设备10对接收到的操作指令分析后得到的，第二触发传感器可以为陀螺仪传感器，通过陀螺仪传感器可以检测到清洁设备10在接收到的操作指令后的实际旋转角度，并将检测到的实际旋转角度发送至清洁设备10中央处理器52单元，与预设旋转角度进行比较，若存在偏差，且偏差超出预设偏差，则中央处理器52单元判断清洁设备10当前已被困。
2-2.检测到清洁设备10运动第一时间后未运行目标距离。
在一些实施例中，清洁设备10内设置有加速度传感器，清洁设备10在接收到操作指令需在第一时间内前进目标距离后，通过加速度传感器检测清洁设备10在行进过程中的加速度，并将检测到的加速度发送至清洁设备10中央处理器52单元，中央处理器52单元根据加速度以及第一时间可计算出清洁设备10的实际运动距离，若计算得到的实际运动距离与目标距离不一致，则判断清洁设备10当前已被困。其中，第一时间可设置为3秒、5秒、10秒、20秒等。
2-3.检测到清洁设备10在第二时间前后分别与基准点之间的相对位置差异在预设差异范围内，其中，基准点是利用第三触发传感器确定的。
在一些实施例中，第三触发传感器可为TOF(Time of Flight，飞行时间)传感器，TOF传感器可设置在清洁设备10的前壁101a上，通过TOF传感器确定清洁设备10前方一点为基准点，计算当前清洁设备10相对基准点的第一相对位置，在第二时间后再次计算清洁设备10相对基准点的第二相对位置，比较第一相对位置和第二相对位置的差异，若差异在预设差异范围内，则说明清洁设备10内没有移动过或移动距离很小，将判断清洁设备10被困。其中，第二时间可以设置为5秒、10秒、20秒等。
2-4.清洁设备10的驱动电机的电流增大且电流增大情况符合被困电流变化情况。
在一些实施例中，在检测到清洁设备10在第二时间前后分别与基准点之间的相对位置差异在预设差异范围内的同时，清洁设备10的驱动电机的电流增大，可进一步确定清洁设备10被困。可以理解的 是，除上述情况外，也可以结合2-1与2-4、2-2与2-4或其他的情况，以确定清洁设备10是否被困。
3)清洁设备10接收到预设指令。在一些实施例中，检测到清洁设备10接收到预设指令，通过预设指令对清洁部件430进行控制。其中，预设指令可以为远程指令，远程指令可以为遥控器发送的指令，或是通过手机、平板等应用程序发送的指令等，以控制清洁设备10的清洁部件430进行伸缩运动和/或旋转运动。可以理解的是，关于预设指令除可为远程指令外，也可以为根据清洁设备10当前所处状态自动生成的指令等，在此不作具体的限定。
4)清洁设备10处于预设工作模式，其中，预设工作模式包括节能模式、返回模式和充电模式中的至少一种，返回模式为清洁工作已完成，在返回的过程中。可以理解的是，预设工作模式除上述模式外，还可包括脱困模式等，在此不作具体的限定。
在一些实施例中，检测到清洁设备10处于预设工作模式，则对清洁部件430进行控制。例如，当清洁设备10处于节能模式或返回模式且清洁部件430处于伸展状态时，需控制清洁部件430朝靠近清洁设备主体101的方向进行收缩运动；当清洁设备10处于休息模式且清洁部件430处于收缩状态时，则不需要控制清洁部件430重复进行朝靠近清洁设备主体101的方向的收缩运动。
步骤S720：控制清洁设备10的清洁部件430进行伸缩运动。
伸缩运动包括以下至少一者：朝远离清洁设备10的清洁设备主体101的方向的伸展运动、以及朝靠近清洁设备主体101的方向的收缩运动。
在一些实施例中，清洁设备10的清洁部件430的默认状态为收缩状态时，检测到清洁设备10与目标物之间的距离在预设距离范围内，可控制清洁设备10的清洁部件430进行朝远离清洁设备10的清洁设备主体101的方向的伸展运动，以对目标物进行清洁。
在另一些实施例中，清洁设备10的清洁部件430的默认状态为伸展状态，当检测到清洁设备10处于被困状态、接收到预设指令、清洁设备10处于预设工作模式中的至少一者时，可控制清洁设备10的清洁部件430进行朝靠近清洁设备10的清洁设备主体101的方向的收缩运动。
进一步地，在控制清洁部件430进行伸缩运动的过程中，利用到位传感器检测伸缩运动是否到位，响应于检测到伸缩运动到位，确定控制清洁部件430停止伸缩运动。
此外，若检测到清洁设备10当前满足旋转触发条件，可控制清洁设备10的清洁部件430相对清洁设备主体101进行旋转运动。或者检测到清洁设备10处于目标工作状态，控制清洁设备10的清洁部件430自转，以使清洁部件430进行工作。
在本公开中的清洁设备10的清洁部件430可进行自转、伸缩运动和旋转运动，可灵活运动，在清洁的过程中可提升清洁设备10单次清洁的范围，减少清洁设备10的清洁路径，从而可提升清洁效率。并且清洁设备10对水池进行清洁被困住时，也通过清洁部件430的灵活运动摆脱困境、减小清洁设备10的范围便于脱困。
此外，清洁部件430设置位置可与进液部103相关联，用于扩大进液部103的清洁范围，同时也可提升清洁效率。
本领域技术人员可以理解，在具体实施方式的上述方法中，各步骤的撰写顺序并不意味着严格的执行顺序而对实施过程构成任何限定，各步骤的具体执行顺序应当以其功能和可能的内在逻辑确定。
请参阅图38，图38是本公开电子设备一实施例的框架示意图。电子设备50包括相互耦接的存储器51和处理器52，处理器52用于执行存储器51中存储的程序指令，以实现上述任一清洁设备10的控制方法实施例中的步骤。在本公开中，电子设备50为清洁设备10。
具体而言，处理器52用于控制其自身以及存储器51以实现上述任一清洁设备10的控制方法实施例的步骤。处理器52还可以称为CPU(Central Processing Unit，中央处理单元)。处理器52可能是一种集成电路芯片，具有信号的处理能力。处理器52还可以是通用处理器52、数字信号处理器52(Digital Signal Processor,DSP)、专用集成电路(Application Specific Integrated Circuit,ASIC)、现场可编程门阵列(Field-Programmable Gate Array,FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。通用处理器52可以是微处理器52或者该处理器52也可以是任何常规的处理器52等。另外，处理器52可以由集成电路芯片共同实现。
请参阅图39，图39是本公开计算机可读存储介质一实施例的框架示意图。计算机可读存储介质60存储有能够被处理器52运行的程序指令901，程序指令901用于实现上述任一清洁设备10的控制方法实施例中的步骤。
在一些实施例中，本公开实施例提供的装置具有的功能或包含的模块可以用于执行上文方法实施例描述的方法，其具体实现可以参照上文方法实施例的描述，为了简洁，这里不再赘。
请参阅图40以及图41，图40是本公开清洁设备第八实施例中过滤组件的第一运动状态的截面示意图；图41是图40中C的放大示意图。在一些实例中，清洁设备主体101包括至少一尘仓。过滤机构包括至少一过滤组件710。过滤组件710包括至少一尘盒711、第一过滤层(图未示出)、至少一导 流口715以及盖合件720。尘盒711形成有第一腔体714。尘盒711至少包括第一运动状态和第二运动状态。第一过滤层至少设置于尘盒711侧壁。第一过滤层与第一腔体714连通。导流口715设置于尘盒711和/或第一过滤层。如导流口715可以设置于尘盒711；或者，导流口715可以设置于第一过滤层。或者，导流口715可以同时设置于尘盒711和第一过滤层。在尘盒711的第一运动状态下，盖合件720密封盖合导流口715。在尘盒711的第二运动状态下，盖合件720打开导流口715。可以理解的是，打开导流口715表示至少有部分水流能够从导流口715流出尘盒711。
尘盒711上的尘盒进水部716用于水进入第一腔体714内。第一过滤层用于起到过滤作用。水通过尘盒进水部716进入尘盒711的第一腔体714内，并通过第一过滤层过滤水中杂质等。过滤后的水进入过滤组件710的尘仓1023中，而后通过尘仓1023流入主水泵210中。
上述第一运动状态或第三运动状态可以是清洁设备10清理水下底面或者水面时，过滤组件710的状态，此处，过滤组件710处于正常的放置状态，盖合件720在自然放置状态盖合于导流口715，正常流过过滤组件710的水流推力不足以使盖合件720打开导流口715。第二运动状态可以是清洁设备10在水下爬坡或爬墙或第一过滤层堵塞等时过滤组件710所处的状态，此时，过滤组件710随清洁设备10处于倾斜或倒置或运行状态，在重力和/或外力，例如水流推力，干预的作用下，盖合件720运动至打开导流口715。第一运动状态或第二运动状态均和第二运动状态不同。
请参阅图42以及图43，图42是本公开清洁设备第八实施例中过滤组件的第二运动状态的截面示意图；图43是图42中D的放大示意图。结合图40以及图41，当尘盒711处于第一运动状态或第三运动状态时，盖合件720盖合在导流口715，第一腔体714内的水通过尘盒711的第一过滤层流出，进而减小对清洁设备10的清洁效果影响，使清洁设备10实现正常清洁功能。
请参阅图44、图45、图46以及图47，图44是本公开清洁设备第九实施例中过滤组件的第一运动状态的截面示意图；图45是图46中E的放大示意图；图46是本公开清洁设备第九实施例中过滤组件的第二运动状态的截面示意图；图47是图46中F的放大示意图。结合图40至图43，当过滤组件710处于第二运动状态时，盖合件720逐渐打开导流口715。第一腔体714内的至少部分水直接通过导流口715流出，增大尘盒711的出水量，使清洁设备10在爬墙或爬坡或第一过滤层堵塞至一定程度时始终满足主水泵210的进水量的需求，从而维持稳定的爬墙或爬坡或运行性能，进而可以运用至更多场合，如水下清洁和水面清洁等。
举例而言，如过滤组件710在第一运动状态或第三运动状态工作时，第一过滤层上污渍未堵塞至一定程度时，过滤组件710处于正常运行状态。当清洁设备10在爬坡或爬坡时，盖合件720通过自身重力或者外界动力打开导流口715，从而维持稳定的爬墙或爬坡功能。
如过滤组件710在第一运动状态或第三运动状态工作时，第一过滤层上污渍堵塞至一定程度时，过滤组件710无法正常运行。此时通过盖合件720打开导流口715，能够增加主水泵210的进水量的需求，维持稳定的运行性能，而后可以运行至爬坡或者爬墙等状态。
如过滤组件710正在爬坡或爬坡时，第一过滤层上污渍堵塞，此时盖合件720通过自身重力或者外界动力打开导流口715，从而维持稳定的爬墙或爬坡功能。
由此，通过尘盒711中的第一腔体714、导流口715以及盖合件720相互配合，在尘盒711处于第一运动状态或第三运动状态时，盖合件720盖合在导流口715，能够减小对清洁设备10的清洁效果影响。在尘盒711处于第二运动状态时，盖合件720打开导流口715，增大第一腔体714出水量，提升主水泵210进水量，进而提升清洁设备10推力，从而提升清洁设备10爬墙或爬坡或运行性能，提高使用者使用体验。
上述导流口715可以包括一个导流子口(图未示出)。或者，导流口715可以包括两个以上的导流子口，如两个导流子口、三个导流子口以及多个导流子口等。导流子口的数量可以根据实际情况而定。当导流子口的数量包括多个时，多个导流子口组合形成的导流口715的出水量需要与一个导流子口形成的导流口715的出水量尽量保持一致，以保证导流口715的出水量一致，进而满足使清洁设备10在爬墙或爬坡或第一过滤层堵塞至一定程度始终满足主水泵210的进水量的需求，从而维持稳定的爬墙或爬坡或运行性能。
导流口715的数量可以为一个、两个、三个或者四个等，其数量不作限定。尘盒711四周呈镂空状，第一过滤层位于镂空位置处。导流口715可以设置于尘盒711的镂空处或者尘盒711除镂空处的其他位置。或者，导流口715设置于第一过滤层上。当导流口715设置于第一过滤层时，导流口715四周通过尘盒711的结构限定，增大盖合件720盖合或开启导流口715的稳定性。
在一些实施例中，上述盖合件720可以通过驱动组件(图未示出)驱动，驱动组件与盖合件720连接，实现盖合件720盖合以及打开导流口715。其中，驱动组件可以包括驱动电机(图未示出)，驱动电机与盖合件720连接，进而控制盖合件720运动。或者，盖合件720上设置相关结构，通过盖合件720以及相关结构来实现自身驱动，实现盖合件720盖合以及打开导流口715。在其他实施例中，盖合 件720还可以是其他方式盖合以及打开导流口715等，在此不作限定。其中，盖合件720可以是盖板、翻板等。
上述盖合件720可以安装在尘盒711上。其中，盖合件720可以通过枢转、伸缩、铰接等方式安装在尘盒711上，用于盖合或开启导流口715等。
请参阅图48以及图49，图48是本公开清洁设备第八实施例中过滤组件710的第一运动状态的局部示意图；图49是本公开清洁设备第八实施例中过滤组件710的第二运动状态的局部示意图。结合图40至图43，在一些实施例中，盖合件720枢转的连接于尘盒711。盖合件720枢转连接于尘盒711时，使盖合件720更省力地盖合和打开导流口715。过滤组件710还包括安装在盖合件720的调节件730a,730b。调节件730a,730b远离盖合件720与尘盒711的枢转连接处。调节件730a,730b安装位置远离盖合件720与尘盒711的枢转连接处。调节件730a,730b辅助盖合件720盖合或打开导流口715。
在第一运动状态或第三运动状态时，盖合件720绕尘盒711转动的枢转点位于盖合件720和调节件730a,730b所受重力和浮力之和的作用线上，也就是说是盖合件720绕尘盒711的转动力矩为零，因此，盖合件720不会发生枢转而一直处于竖直状态，从而可以很好的盖合导流口715。
而在一种第二运动状态时，过滤组件710处于倾斜或翻转倒置的状态，盖合件720绕尘盒711转动的枢转点偏离盖合件720和调节件730a,730b所受重力和浮力之和的作用线，也就是说是盖合件720绕尘盒711的转动力矩不再为零，从而对盖合件720有一个绕尘盒711转动的转动力矩，以迫使盖合件720转动而打开导流口715。其中，调节件730a,730b可以是不同密度的部件，能够辅助盖合件720运动即可，其具体结构不做限定。在另一种第二状态时，过滤组件710的第一过滤层发生堵塞且过滤组件710未发生明显倾斜或翻转倒置，主水泵210的抽吸作用会在尘仓1023和第一腔体714之间形成较大压差，适宜响应以上压差的盖合件720便能够打开导流口715以平衡以上压差。
通过上述调节件730a,730b以及调节件730a,730b在盖合件720上位置限定，不仅使盖合件720能够更快速地盖合至导流口715或者打开导流口715等，提升第一腔体714出水量，进而提升主水泵210进水量，从而提升清洁设备10爬墙或爬坡或运行性能，而且使盖合件720能够在第一运动状态或第三运动状态和第二运动状态之间自主变化，可以减少驱动组件使用，节约成本。
具体地，盖合件720包括相对设置的第一侧端720a和第二侧端720b。在过滤组件710处于第一运动状态和第二运动状态时，第一侧端720a位于盖合件720的最上端，第二侧端720b位于盖合件720的最下端。第一侧端720a和第二侧端720b均可以设置成枢转连接尘盒711。但是，由于第一侧端720a和第二侧端720b的位置不同，其与尘盒711枢转连接时，会导致盖合件720的整体受力不同。想要实现上述在第一运动状态或第三运动状态关闭导流口715和在第二运动状态打开导流口715的目的时，第一侧端720a或者第二侧端720b枢转连接尘盒711时，须对调节件730a,730b的设置进行调整，以便于辅助盖合件720用力。基于此，下文分别对该第一侧端720a还是第二侧端720b枢转连接尘盒711时的具体结果做具体的描述和分析：
实施例一：
在该实施例一中，第一侧端720a与尘盒711枢转连接，第二侧端720b绕第一侧端720a枢转至远离或抵靠尘盒711，以便于打开或关闭所述导流口715。此时，过滤组件710整体位于水下，即过滤组件710整体位于水表面以下位置处，调节件730a的重力设置成大于浮力。
具体地，第一侧端720a与尘盒711枢转连接，调节件730a远离第一侧端720a与尘盒711枢转连接处，因调节件730a重力大于浮力，第二侧端720b能够绕第一侧端720a枢转至远离尘盒711，使盖合件720打开导流口715。或者，第二侧端720b能够绕第一侧端720a枢转至抵靠尘盒711，使盖合件720盖合至导流口715。上述调节件730a的重力远大于盖合件720在水中浮力。当尘盒711处于第一运动状态或第三运动状态时，盖合件720依靠调节件730a改变其自身重心，有利于盖合件720在重力方向上形成有一定预紧力，该预紧力能够使盖合件720贴合至尘盒711。当尘盒711处于第二运动状态时，盖合件720依靠自身重力以及调节件730a重力，使得第二侧端720b绕第一侧端720a枢转至远离尘盒711。
由此，通过上述第一侧端720a与尘盒711枢转连接，第二侧端720b绕第一侧端720a枢转至远离或抵靠尘盒711，调节件730a的重力大于浮力，不仅提升盖合件720盖合或打开导流口715的速度，而且更便于盖合件720在第一运动状态和第二运动状态之间自主变化，减少驱动组件使用，节约成本。
可选的，在该实施例中，上述调节件730a的密度大于1kg/m3。调节件730a的密度可以为1.1kg/m3、2kg/m3、3kg/m3、3.4kg/m3、4.3kg/m3等，在此不做限定。即调节件730a的密度需要大于水的密度。当尘盒711处于第一运动状态或第三运动状态时，盖合件720依靠调节件730a形成的重力，使盖合件720沿重力方向延伸设置，即盖合件720保持竖直状态，此时盖合件720能够盖合导流口715。另外，当尘盒711处于第二运动状态时，盖合件720可以依靠自身重力以及调节件730a重力打开导流口715。
由此，通过对调节件730a的密度限定，便于调节盖合件720快速盖合或开启导流口715。上述调 节件730a可以是配重块(图未示出)等。其中，配重块可以是金属块、合金块、石头等，在此不作限定。
更为具体地，上述调节件730a的中心到第一侧端720a的距离与调节件730a的中心到第二侧端720b的距离之比小于1。调节件730a中心到第一侧端720a的距离可以为S1。调节件730a的中心到第二侧端720b之间的距离为S2。其中，S1与S2的比值小于1。通过限定调节件730a与第一侧端720a以及第二侧端720b之间位置关系，调整盖合件720重心位置，有利于盖合件720在第一运动状态或第三运动状态时提供一定预紧力，进而提升盖合件720贴合至尘盒711的紧密性。
在一些具体的应用场景中，调节件730a凸设在盖合件720朝向第一腔体714的内侧面725。当尘盒711处于第一运动状态或第三运动状态时，调节件730a的重心与盖合件720的枢转中心的连线与重力方向呈锐角。调节件730a可拆卸或者固定连接于盖合件720处。其中，可拆卸方式可以是卡接、插接或者螺栓固定方式等。调节件730a的重心与盖合件720的枢转中心的连线与重力方向呈锐角，即将调节件730a的重心高于盖合件720朝向第一腔体714的一侧面设置，增大盖合件720在第一运动状态或第三运动状态时预紧力，进而提升盖合件720盖合导流口715速度；同时，更易于盖合件720枢转至远离导流口715，进而提升盖合件720打开导流口715速度。
进一步地，盖合件720设置有调节安装部721。调节安装部721为调节件730a提供了安装位置。调节件730a可以卡接、插接或者螺栓固定方式设置在调节安装部721内。
实施例二：
请参阅图50以及图51，图50是本公开清洁设备第八实施例中过滤组件的第二运动状态的局部示意图；图51是本公开清洁设备第九实施例中过滤组件中安装支架的结构示意图。结合图44至图45，第二侧端720b与尘盒711枢转连接。第一侧端720a绕第二侧端720b枢转至远离或抵靠尘盒711，以便于打开或关闭所述导流口715。此时，过滤组件710整体位于水下，即过滤组件710整体位于水表面以下位置处，调节件730b的浮力设置成大于重力。
具体地，第二侧端720b与尘盒711枢转连接，调节件730b远离第二侧端720b与尘盒711枢转连接处，第一侧端720a能够绕第二侧端720b枢转至远离尘盒711，使盖合件720打开导流口715。或者，第一侧端720a能够绕第二侧端720b枢转至抵靠尘盒711，因调节件730b的浮力大于重力，使盖合件720盖合至导流口715。上述调节件730b的浮力远大于盖合件720在水中重力。当尘盒711处于第一运动状态或第三运动状态时，盖合件720依靠调节件730b的浮力，使盖合件720沿重力方向延伸设置，此时盖合件720能够盖合至导流口715。当尘盒711处于第二运动状态时，盖合件720依靠自身的重力，使得第二侧端720b绕第一侧端720a枢转至远离尘盒711。
由此，通过上述第一侧端720a与尘盒711枢转连接，第二侧端720b绕第一侧端720a枢转至远离或抵靠尘盒711，调节件730b的重力大于浮力，不仅提升盖合件720盖合或打开导流口715的速度，而且更便于盖合件720在第一运动状态和第二运动状态之间自主变化，减少驱动组件使用，节省成本。
可选的，在该实施例中，调节件730b的密度小于1kg/m3。调节件730b的密度可以为0.9kg/m3、0.8kg/m3、0.64kg/m3、0.54kg/m3、0.1kg/m3等，在此不作限定。即调节件730b的密度需要小于水的密度。当尘盒711处于第一运动状态或第三运动状态时，盖合件720依靠调节件730b的浮力处于竖直状态，盖合件720盖合导流口715。另外，当尘盒711处于第二运动状态时，盖合件720可以依靠自身重力打开导流口715。
由此，通过对调节件730b的密度限定，便于调节盖合件720快速盖合导流口715。上述调节件730b可以是空心结构、泡沫、塑料或者填充有其他的气囊等，在此不作限定。其中，空心结构可以为空心盒状结构。如本实施例中，调节件730b为泡沫。
更为具体地，在该实施例二中，过滤组件710还包括移动件731。盖合件720还包括容置通道722。容置通道722设置在第一侧端720a和第二侧端720b之间。且容置通道722的中心线与第一侧端720a或第二侧端720b所在的平面相交。移动件731容置在容置通道722内，且可沿着容置通道722移动。
尘盒711由第一运动状态向第二运动状态变化过程中、或者尘盒711由第二运动状态向第一运动状态变化过程中，移动件731容置在容置通道722内并能够沿着容置通道722内移动。通过上述移动件731的位置变化能够改变盖合件720重心位置，以使盖合件720能够快速盖合或关闭导流口715，提升清洁设备10爬墙或爬坡或运行性能。其中，移动件731可以是滚动件(图未示出)。滚动件在容置通道722内滚动，能够减少滚动件与容置通道722之间摩擦力，进而能够更快速改变盖合件720重心位置。滚动件可以是滚珠。滚珠密度可以大于1kg/m3。滚珠的大小可以根据实际情况而定，在此不作限定。
上述容置通道722设置在第一侧端720a和第二侧端720b之间，容置通道722的中心线与第一侧端720a所在的平面相交，即容置通道722靠近第一侧端720a设置。或者，容置通道722设置在第一侧端720a和第二侧端720b之间，容置通道722的中心线与第二侧端720b所在平面，即容置通道722靠近第二侧端720b设置。其中，容置通道722可以任意角度设置在第一侧端720a或第二侧端720b位置处。
在一些实施例中，容置通道722的中心线与第一侧端720a或第二侧端720b所在的平面垂直相交。容置通道722的中心线与第一侧端720a所在平面垂直相交。或者，容置通道722的中心与第二侧端720b所在平面垂直相交。当移动件731沿容置通道722移动过程中，能够沿第一侧端720a向第二侧端720b方向重心发生改变，使盖合件720重心具有一定规律性，简单且易于实施。
在一些实施例中，盖合件720包括面向第一腔体714的内侧面725。容置通道722由第二侧端720b向靠近内侧面725的方向，向第一侧端720a延伸而成。容置通道722由第二侧端720b向靠近内侧面725的方向，且同时向第一侧端720a延伸而成。即容置通道722呈倾斜设置。当尘盒711处于第二运动状态时，移动件731在倾斜设置的容置通道722内，因重力关系并沿容置通道722由第二侧端720b向第一侧端720a移动，此时盖合件720重心位置向前移动，使盖合件720的重心重力大于盖合件720的浮力，进而使盖合件720打开导流口715。
通过改变容置通道722倾斜方向，便于移动件731移动，能够快速改变盖合件720重心重力，进而实现盖合件720快速开启或盖合导流口715。
不管是上述实施例一还是实施例二，还是任何其它具体的实施例，盖合件720可以直接枢转的连接在尘盒711的侧壁上。但是为了安装的稳定和牢固性，盖合件720可以通过其它安装件，如安装支架740间接地枢转连接在尘盒711的侧壁上。
在一些实施例中，请参阅图40至图51，安装支架740设置在尘盒711的侧壁上。安装支架740至少部分覆盖导流口715。安装支架740覆盖导流口715的部分设置有若干个格栅孔741。格栅孔741与导流口715连通。盖合件720活动安装于安装支架740。
具体地，安装支架740可拆卸或者固定在尘盒711的侧壁上。安装支架740安装至尘盒711侧壁的过程中，安装支架740至少部分覆盖导流口715。安装支架740覆盖导流口715的部分设置有若干个格栅孔741。若干个格栅孔741与导流口715连通设置。第一腔体714的至少部分水依次通过导流口715以及格栅孔741后流出。通过在安装支架740上设置格栅孔741，防止盖合件720打开后有较大的杂质(树叶等)进入主水泵210处而损坏主水泵210中主水泵叶轮212等。上述格栅孔741的大小以及形状不作限定，满足实际使用需要即可。如本实施例中，格栅孔741形状呈方形。
进一步地，安装支架740可拆卸安装至尘盒711的侧壁上。可拆卸方式可以是卡接、螺栓固定以及插接等方式。如本实施例中，安装支架740外周设置有若干个安装部744。安装部744开设有安装孔(图未示出)。固定件穿设安装孔后固定至尘盒711侧壁上。另外，安装支架740外周设置有若干个安装卡扣745。安装卡扣745从导流口715插接并卡接于导流口715的侧壁上。安装支架740通过上述安装部744和安装卡扣745相互配合，提升安装支架740安装至尘盒711的侧壁的稳定性，进而提升过滤组件710的稳定性。上述安装支架740和安装卡扣745的设置位置以及数量，可以根据实际情况而定，在此不做限定。
另外，当尘盒711设置有安装支架740时，盖合件720可以活动安装于安装支架740上。活动方式可以是转动方式。盖合件720转动连接于安装支架740。
在一些更为具体的实施例中，安装支架740面向第一腔体714的一侧面凹陷设置有容置腔742。容置腔742的侧壁设有枢转安装槽743。盖合件720活动容置在容置腔742内。盖合件720凸设有枢转部723。枢转部723的下方设有止挡限位凸起。枢转部723枢转安装在枢转安装槽743内。且止挡限位凸起随盖合件720转动至止挡在侧壁上。
容置腔742凹陷设置在安装支架740朝向第一腔体714的一侧面，容置腔742能够用于容纳盖合件720。容置腔742与枢转安装槽743连通设置。枢转部723固定或者可拆卸安装于盖合件720。在盖合件720活动安装在容置腔742内时，枢转部723枢转安装在枢转安装槽743内，实现盖合件720转动。枢转部723的下方设置有止挡限位凸起。枢转部723与止挡限位凸起之间可拆卸或者固定连接。止挡限位凸起能够起到止挡限位作用。当枢转部723枢转过程中，止挡限位凸起也随枢转部723转动。当盖合件720转动至一定角度后，止挡限位凸起止挡在容置腔742的侧壁上，实现使盖合件720止转，进而限定盖合件720转动角度。
通过上述容置腔742、枢转安装槽743、枢转部723以及止挡限位凸起相互配合，限定盖合件720转动角度，避免盖合件720转动角度过大而导致盖合件720吸附至尘盒711的侧壁上，而影响盖合件720盖合等。
在尘盒711处于第二运动状态时，盖合件720通过上述止挡限位凸起等相关结构，能够限定盖合件720与尘盒711之间夹角。其中，盖合件720与尘盒711之间夹角为大于或等于30°，且小于或等于100°。盖合件720与尘盒711之间夹角可以为30°、43°、54°、65°、76°、87°、90°、98°、100°等，在此不作限定。通过上述盖合件720与尘盒711之间夹角范围限定，不仅便于第一腔体714至少部分水通过导流口715流出，提升尘盒711的出水量，而且也能减少盖合件720吸附至尘盒711侧壁上的风险。如本实施例中，尘盒711处于第一运动状态或第三运动状态时，止挡限位凸起限定盖合 件720与尘盒711垂直设置，即盖合件720与尘盒711之间夹角为90°。
可选地，在其他实施例中，当盖合件720枢转于尘盒711时，盖合件720和安装支架740之间枢转安装槽743、枢转部723以及止挡限位凸起等结构同样可以设置于盖合件720和尘盒711之间，在此不在一一赘述。
可选地，盖合件720的边缘还延伸有搭接部724。搭接部724在盖合件720容置于容置腔742内时抵顶于安装支架740的内侧面725。搭接部724与盖合件720固定或者可拆卸连接。搭接部724位于盖合件720的边沿位置处。当尘盒711处于第一运动状态或第三运动状态时，盖合件720的搭接部724在盖合件720容置于容置腔742内时，搭接部724能够抵顶于安装支架740的内侧面725。
通过上述方式，提升盖合件720盖合至导流口715的密封性能，减少水从盖合件720和安装支架740之间的缝隙进入尘盒711外，进而影响清洁设备10清洁效率。
请参阅图52和图53，图52是本公开水下清洁设备第八实施例的局部示意图；图53是本公开水下清洁设备第八实施例的局部爆炸示意图。结合图40至图47，在一些实际的应用场景中，本公开实施例提供的过滤组件710的尘盒711呈近似方形设置。尘盒711有至少两种结构。第一种尘盒711是具有一敞口。尘盒711包括第一侧面7111a、第二侧面7111b、第三侧面7111c以及第四侧面7111d。第一侧面7111a、第二侧面7111b、第三侧面7111c以及第四侧面7111d四周围设形成上述敞口。第一侧面7111a和第二侧面7111b相对设置。第三侧面7111c和第四侧面7111d相对设置。第一侧面7111a靠近清洁设备10运动前方。导流口715可以设置在第一侧面7111a、第二侧面7111b、第三侧面7111c以及第四侧面7111d四者中至少一者位置处。第一侧面7111a、第二侧面7111b、第三侧面7111c以及第四侧面7111d四者中至少一者可以设置有一个、两个或者两个以上导流口715等，在此不做限定。即盖合件720可以枢转连接于第一侧面7111a、第二侧面7111b、第三侧面7111c以及第四侧面7111d四者中至少一者。盖合件720盖合或者开启对应位置的导流口715。
当导流口715设置在第一侧面7111a时，盖合件720设置在第一侧面7111a 1a并向尘盒711内枢转。当导流口715设置在第二侧面7111b以及第三侧面7111c位置处时，第二侧面7111b以及第三侧面7111c上盖合件720上设置一个枢转部723。其中，枢转部723垂直设置在安装支架740或尘盒711侧壁上。盖合件720可以向尘盒711内枢转或者向尘盒711外枢转。当然，在其他实施例中，盖合件720还可以是其他设置方式，在此不作限定。当导流口715设置在第四侧面7111d时，盖合件720可以设置在第四侧面7111d并向尘盒711外周枢转。
第二种尘盒711无敞口。尘盒711包括第一侧面7111a、第二侧面7111b、第三侧面7111c、第四侧面7111d以及第五侧面7111e。第五侧面7111e盖设在第一侧面7111a、第二侧面7111b、第三侧面7111c以及第四侧面7111d围设形成的敞口处。第五侧面7111e与第一侧面7111a、第二侧面7111b、第三侧面7111c以及第四侧面7111d至少一个固定或者可拆卸连接。其中，第一侧面7111a、第二侧面7111b、第三侧面7111c、第四侧面7111d以及第五侧面7111e以使尘盒711处于封闭状态。导流口715可以设置在第一侧面7111a、第二侧面7111b、第三侧面7111c、第四侧面7111d以及第五侧面7111e五者中至少一者位置处。即盖合件720可以枢转连接于第一侧面7111a、第二侧面7111b、第三侧面7111c、第四侧面7111d以及第五侧面7111e五者中至少一者。盖合件720盖合或者开启对应位置的导流口715。
当导流口715位于第五侧面7111e时，盖合件720可以设置在第五侧面7111e上。或者，盖合件720可以设置在清洁设备10靠近第五侧面7111e位置处。即盖合件720可以向尘盒711内枢转转动或者向尘盒711外枢转转动。由此，盖合件720设置位置不仅与尘盒711结构有关，还与导流口715设置有关，同时还与清洁设备10自身结构有关。其中，盖合件720结构可以根据实际情况进行选择以及微调，以满足盖合件720盖合或开启导流口715，提升清洁设备10推力，从而提升清洁设备10爬墙或爬坡或运行性能，提高使用者使用体验。
当过滤组件710只设置一个导流口715时，导流口715处可以设置第一种盖合件720、密度大于1kg/m3的调节件730a。或者，导流口715处可以设置第二种盖合件720、密度小于1kg/m3的调节件730b以及移动件731。
当过滤组件710设置两个导流口715时，两个导流口715处可以均设置第一种盖合件720、密度大于1kg/m3的调节件730a。或者，两个导流口715处可以均设置第二种盖合件720、密度小于1kg/m3的调节件730b以及移动件731。或者，一个导流口715处设置第一种盖合件720、密度大于1kg/m3的调节件730a。另一导流口715处设置第二种盖合件720、密度小于1kg/m3的调节件730b以及移动件731。
当过滤组件710设置有三个或者三个以上导流口715时，导流口715处盖合件720的种类、调节件730b的种类等可以根据实际情况而定，在此不在一一赘述。
另外，上述导流口715的形状可以为规则形状或者异形等。规则形状可以是正多边形、圆形等。异形可以是弧形以及折现组合形成的。其中，盖合件720的形状可以与导流口715的形状相同或者不同。当盖合件720的形状与导流口715的形状不同，当尘盒711处于第一运动状态或第三运动状态时，盖合 件720能够覆盖导流口715即可，其具体形状不作限定。
可以理解的，本公开实施例提供的过滤组件710的盖合件720也设置有第二过滤层。当盖合件720未打开时，第二过滤层起到过滤杂质作用，避免因盖合件720设置而影响清洁设备10正常工作状态。其中，第二过滤层设置位置避开调节件730a,730b设置位置即可，其具体设置位置以及形式，在此不作限定。
上述盖合件720可以活动连接于清洁设备10上。如盖合件720可以通过枢转、伸缩、铰接等方式安装在清洁设备10除尘盒711外的其他结构上，用于盖合或开启导流口715等。如盖合件720枢转连接于清洁设备10上时，盖合件720的结构与上述盖合件720枢转连接于尘盒711上的结构相同，在此不再一一赘述。即盖合件720设置位置可以有多种选择，其具体设置位置可以根据实际情况而定。
请参阅图54，图54是本公开水下清洁设备第八实施例的局部截面示意图。结合图40至图47、图52以及图53，在一些实施例中，该清洁设备10包括过滤组件710。过滤组件710为上述实施例中所阐述的过滤组件710，在此不在一一赘述。清洁设备10通过使用上述过滤组件710，不仅能够减小对清洁设备10的清洁效果影响；而且也能提升主水泵210进水量，进而提升清洁设备10推力，从而提升清洁设备10爬墙或爬坡或运行性能，提高使用者使用体验。
在一实施例中，尘盒711形成有尘盒进水部716。尘盒进水部716与第一腔体714连通。即水从尘盒进水部716进入第一腔体714内。清洁设备10还包括主水泵210。主水泵210设置于尘盒711外。主水泵210与尘盒711的第一腔体714连通设置。主水泵210为水流动提供驱动力，能够引导水流方向。
当过滤组件710处于第一运动状态或第三运动状态时，盖合件720盖合导流口715。主水泵210用于引导水依次从尘盒进水部716、第一腔体714、第一过滤层流入主水泵210。即主水泵210用于引导水池内的水由尘盒进水部716进入第一腔体714内。第一腔体714的水通过尘盒711上第一过滤层流入主水泵210。
当过滤组件710处于第二运动状态时，盖合件720打开导流口715。主水泵210用于引导至少部分水依次从尘盒进水部716、第一腔体714以及导流口715流入主水泵210。即主水泵210用于引导水池内的水由尘盒进水部716进入第一腔体714内。第一腔体714的至少部分水直接通过导流口715流入主水泵210。也有部分水能够通过第一过滤层流入主水泵210中。
由此，主水泵210不仅为水流动提供驱动力，限定水流动方向，而且也能使主水泵210始终满足进水量的需求，从而维持清洁设备10稳定的爬墙或爬坡或运行性能。
在一实施例中，清洁设备10包括尘仓1023。尘仓1023形成有第二腔体10231。过滤组件710设置于第二腔体10231内。第二腔体10231与过滤组件710中尘盒711的第一腔体714连通设置。如第二腔体10231可以通过第一过滤层、导流口715与第一腔体714连通设置。主水泵210设置于尘仓1023外。尘盒711和尘仓1023之间形成有上述尘盒进水部716。尘盒进水部716与第一腔体714连通。即水从尘盒进水部716进入第一腔体714内。其中，尘盒进水部716设置位置以及设置方式不作限定，只有水能够通过尘盒进水部716直接进入第一腔体714内即可。
当清洁设备10放置在水池过程中，主水泵210用于引导水池内的水能够由尘盒进水部716进入第一腔体714内，然后经过第一过滤层过滤后流入第二腔体10231内，而后水通过第二腔体10231流入主水泵210。
当过滤组件710处于第一运动状态或第三运动状态时，盖合件720盖合导流口715。主水泵210用于引导水依次从尘盒进水部716、第一腔体714、第一过滤层以及第二腔体10231流入主水泵210。即主水泵210用于引导水池内的水由尘盒进水部716进入第一腔体714内。第一腔体714的水通过尘盒711上第一过滤层流入第二腔体10231内，而后水通过第二腔体10231流入主水泵210。其中，第一运动状态或第三运动状态为尘盒711在清洁设备10沿着垂直于重力方向移动时所处的状态；或者清洁设备10在一定的倾斜角度内，盖合件720自身重力或外力不足以打开导流口715。
当过滤组件710的尘盒711处于第二运动状态时，盖合件720打开导流口715。主水泵210用于引导至少部分水依次从尘盒进水部716、第一腔体714、导流口715以及第二腔体10231流入所述主水泵210。即主水泵210用于引导水池内的水由尘盒进水部716进入第一腔体714内。第一腔体714的至少部分水直接通过导流口715流入第二腔体10231内。也有部分水能够通过第一过滤层流入第二腔体10231内，而后水通过第二腔体10231流入主水泵210中。
通过在清洁设备10设置尘仓1023，使水能够集中于第二腔体10231内，从而集中流入主水泵210中，提升主水泵210的进水量的需求，进一步提升清洁设备10爬墙或爬坡或运行性能。上述尘仓1023设置有出水口(图未示出)。出水口与主水泵210连通。出水口可以设置在尘仓1023靠近主水泵210的一侧壁上。或者，出水口还可以设置在尘仓1023其他位置处，在此不作限定。
在一实施例中，盖合件720枢转连接于尘仓1023上。枢转连接于尘仓1023上的盖合件720与枢转连接于尘盒711上的盖合件720的结构相同，在此不再一一赘述。通过将盖合件720设置于尘仓1023 上，能够降低盖合件720对水流的阻力，以使水更顺畅地流出尘盒711外。如盖合件720可以设置在尘仓1023侧壁上，以盖合或开启导流口715。
当盖合件720开启导流口715过程中，当清洁设备10由第二状态向第一状态变化过程中，盖合件720因自身结构，能够自动复位，使盖合件720盖合导流口715。当然，盖合件720和尘盒711之间，或者盖合件720和尘仓1023之间可以设置有复位组件。通过复位组件实现快速复位。其中，复位组件可以是扭簧、弹簧、拉簧等，在此不作限定。
在一实施例中，清洁设备10还包括翻盖(图未示出)。尘仓1023形成有开口(图未示出)。翻盖盖设在开口上，以封闭尘仓1023。其中，翻盖设置在尘仓1023顶部。导流口715设置在尘盒711顶部。此时，尘盒711处于部分镂空状态且设置有导流口715。盖合件720活动连接于翻盖，用于盖合或开启尘盒711的导流口715。即盖合件720除了设置在尘仓1023外，还可以设置翻盖上。
在其他实施例中，当尘盒711顶部包括第五侧面7111e时，盖合件720可以活动安装在清洁设备10的顶盖外壳(图未示出)上。顶盖外壳为清洁设备10最外侧壳体。顶盖外壳打开时，可以从清洁设备10中取出过滤组件710，对过滤组件710进行清洗或更换。盖合件720盖合或开启第五侧面7111e上的导流口715。
在替代实施例中，尘盒711顶部包括第五侧面7111e时，第五侧面7111e形成有导流口715。盖合件720可以活动安装在第五侧面7111e上，用于盖合或开启第五侧面7111e上的导流口715。
在一实施例中，盖合件720还设置有第二过滤层(图未示出)。第二过滤层分别与第一腔体714以及第二腔体10231连通设置。第二过滤层起到过滤作用。当过滤组件710处于第一运动状态或第三运动状态时，盖合件720盖合导流口715。水池内的水能够由尘盒进水部716进入第一腔体714内。第一腔体714的水通过尘盒711上第一过滤层以及盖合件720上的第二过滤层流入第二腔体10231内，而后水通过第二腔体10231流入主水泵210。由此，通过在盖合件720设置第二过滤层，能够提升清洁设备10清洁效率。其中，第二过滤层的结构可以与第一过滤层的结构相同或者不相同，在此不作限定。
在一实施例中，主水泵210包括主水泵叶轮罩215。过滤组件710的导流口715的面积大于主水泵叶轮罩215的进水的截面积。导流口715的面积大于主水泵叶轮罩215的进水的截面积，增大过滤组件710出水面积，使过滤组件710中的出水量大于主水泵210的进水量，保证爬墙或爬坡或第一过滤层堵塞始终满足主水泵210的进水量要求，从而维持稳定的爬墙或爬坡或运行性能。
上述主水泵210还包括主水泵叶轮212以及主水泵电机211。主水泵电机211的输出端连接主水泵叶轮212。主水泵电机211驱动主水泵叶轮212在主水泵叶轮罩215内转动。其中，主水泵210中的主水泵电机211驱动主水泵叶轮212转动，水流入主水泵叶轮212内，加快过滤组件710中出水量，进而提高清洁设备10的对水池内污水的清洁效率。
因液面30上的垃圾尺寸大于液面30下的垃圾尺寸，清洁设备10处于水面清洁时的过滤组件的第一过滤层的滤网尺寸可以大于清洁设备10处于水下清洁时的过滤组件的第一过滤层的滤网尺寸。在一些实施例中，尘盒711可以设置有两层或多层第一过滤层。盖合件720盖合或打开过滤组件710上的导流口715。当清洁设备10进行水下清洁时，盖合件720盖合导流口715。多层第一过滤层之间层叠过滤，提升水下清洁过滤效率。在清洁设备10进行水面清洁时，盖合件720至少部分打开导流口715，导流口715减小第一过滤层层数，便于过滤液面30上较大的垃圾，减少较大垃圾堵塞多层第一过滤层等。其中，盖合件720的结构、设置方式以及设置位置如上述所述，在此不再赘述。
基于以上描述，清洁设备10可以实现水池中各种场景下的清洁，包括池底清洁、池壁清洁、水面清洁、水线清洁以及在水池中设定深度的水质处理等工作。
在池底和池壁清洁时，通过清洁设备10底部的第一进水口1031吸入携尘水流从过滤机构的水中尘盒口7162进入到过滤机构进行过滤，然后通过出液部104排出机体外。与此同时，位于清洁设备10底部的至少一个第一清洁件410扫刷池底或池壁。在水线清洁时，清洁设备10的至少一个第一清洁件410扫刷池壁水线，附着于水线处的污渍被从水线处刷落落入池底或部分通过第一进水口1031吸入清洁设备10内的过滤机构内。
在水面清洁时，通过清洁设备10上设置的一至少水面尘盒口7161(可以与水中尘盒口7162相同)将漂浮于水面的垃圾吸入清洁设备10的过滤机构内。同时，在水面上由于风的影响，垃圾会被吹到池壁或角落，而清洁设备10在清洁过程中，由于结构限制，很可能会漏清理池壁水线或角落的垃圾，此时可以在清洁设备10上设置喷嘴。喷嘴将池壁水线或角落的垃圾吹离以上位置，吹向水面尘盒口7161的清扫范围，提高清扫效率。
如果过滤机构为滤网结构，在工作过程中可能会被水体中的垃圾、浮藻等堵塞，导致水流不通畅，从而影响清洁设备10内排出的水量。清洁设备10在池底或池壁运行过程中，该排出水量为清洁设备10提供贴壁反推力，特别是清洁设备10在池壁运行时，如果反推力不足，清洁设备10会极易发生翻滚，因此可以在过滤机构上设置第二水流通道，以应对过滤机构中滤网结构的堵塞，清洁设备10仍能 稳定地贴墙运行。
在一些情况下，由于第一清洁件410受清洁设备10结构限制以及清洁设备10本身有效清洁范围的限制，有些特定区域很难清理，比如池底与池壁结合处的一定范围内、池壁与池壁结合处的一定范围内等，此时可以通过在清洁设备10上设置至少一个旋转刷431来实现以上特定区域的清洁。为了在清洁设备10正常运行过程中，旋转刷431的设置不会对运行过程造成影响，该旋转刷431可设置为可伸缩的形态，例如在需要时，控制旋转刷431伸出进行清洁，在该清洁过程完成时，控制旋转刷431缩回清洁设备10内。
以上所述仅为本申请的实施方式，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (20)

  1. 一种清洁设备，包括清洁设备主体，所述清洁设备主体包括：
    进液部，至少包括第一进水口；
    出液部，至少包括第一出水口；
    过滤机构，至少包括一第一入口和一出口，所述第一入口与所述第一进水口流体连通，所述出口与所述第一出水口流体连通；
    驱动机构，用于产生抽吸力以在所述进液部、所述过滤机构、所述出液部形成第一水流通道；
    其特征在于，所述清洁设备主体还包括：
    模式切换构件，用于实现所述清洁设备在第一运动状态和第三运动状态之间的切换，所述清洁设备在所述第一运动状态时可以执行水下清洁工作，所述清洁设备在所述第三运动状态时可以执行水面清洁工作。
  2. 根据权利要求1所述的清洁设备，其特征在于，所述清洁设备还包括第二运动状态，所述清洁设备在所述第二运动状态时可以执行池壁或水线清洁工作；所述清洁设备在所述第一运动状态和所述第三运动状态之间的切换包括或不包括所述第二运动状态。
  3. 根据权利要求1所述的清洁设备，其特征在于，所述第一进水口位于所述清洁设备主体下部靠前部位置处；所述清洁设备执行水下清洁工作时，所述第一进水口位于液面以下；所述清洁设备执行水面清洁工作时，所述第一进水口至少部分露出所述液面之上。
  4. 根据权利要求1所述的清洁设备，其特征在于，所述第一进水口位于所述清洁设备主体底部；所述清洁设备执行水下清洁工作时，所述第一进水口朝向待清洁表面；所述清洁设备执行水面清洁工作时，所述第一进水口朝向所述水面且位于水面之下。
  5. 根据权利要求1所述的清洁设备，其特征在于，所述第一进水口位于所述清洁设备主体底部，所述清洁设备执行水下清洁工作时，所述第一进水口朝向待清洁表面；所述清洁设备还包括一第二进水口，所述第二进水口设置于所述清洁设备主体前部侧面，所述清洁设备进行水面清洁工作时，所述第二进水口至少部分露出液面之上。
  6. 根据权利要求1所述的清洁设备，其特征在于，所述第一进水口位于所述清洁设备主体底部，所述清洁设备执行水下清洁工作时，所述第一进水口朝向待清洁表面；所述清洁设备还包括一第二进水口，所述第二进水口设置于所述清洁设备主体侧面或顶部，所述清洁设备进行水面清洁工作时，所述第二进水口朝向水面且位于液面之下。
  7. 根据权利要求5或6所述的清洁设备，其特征在于，所述过滤机构包括一第二入口，所述第二入口与所述第二进水口流体连通；所述第二入口与所述第一入口位于所述过滤机构不同的面上。
  8. 根据权利要求5或6所述的清洁设备，其特征在于，所述第二进水口也与所述第一入口流体连通。
  9. 根据权利要求5或6所述的清洁设备，其特征在于，所述过滤机构包括第一过滤组件和第二过滤组件；所述第一过滤组件设有第一入口，所述第二过滤组件设有第二入口；所述第一进水口与所述第一入口流体连通，所述第二进水口与所述第二入口流体连通。
  10. 根据权利要求1至9任一项所述的清洁设备，其特征在于，所述模式切换构件包括：
    浮腔，用于容纳液体和/或气体；
    浮力调节件，用于调整所述浮腔内液体或气体的体积。
  11. 根据权利要求1至10任一项所述的清洁设备，其特征在于，所述清洁设备还包括第一推进器，用于调整所述清洁设备在竖直方向上所受到的第一驱动力。
  12. 根据权利要求1至11任一项所述的清洁设备，其特征在于，所述清洁设备包括行走推进机构和第一清洁件；所述行走推进机构至少包括第一轮、第二轮和履带，所述第一轮和所述第二轮通过所述履带传动连接；所述第一轮由行走驱动件驱动，所述第二轮驱动所述第一清洁件旋转。
  13. 根据权利要求12所述的清洁设备，其特征在于，所述清洁设备还包括第二清洁件，所述第二清洁件由所述第二轮驱动旋转。
  14. 根据权利要求1至13任一项所述的清洁设备，其特征在于，所述清洁设备还包括：
    清洁部件，设置于所述清洁设备主体侧部；
    运动驱动组件，设置于所述清洁设备主体上，所述运动驱动组件与所述清洁部件连接，用于驱动所述清洁部件在第一位置和第二位置之间移动或切换。
  15. 根据权利要求14所述的清洁设备，其特征在于：在所述第一位置，所述清洁部件至少部分位于所述清洁设备主体范围之内；在所述第二位置，所述清洁设备至少部分位于所述清洁设备主体范围之外。
  16. 根据权利要求14或15所述的清洁设备，其特征在于，所述运动驱动组件包括第三驱动组件，所述第三驱动组件连接于所述清洁部件，用于驱动所述清洁部件自转或往复运动。
  17. 根据权利要求14或15或16所述的清洁设备，其特征在于，所述清洁设备还包括复位组件，所 述复位组件与所述清洁部件连接，用于为所述清洁部件保持在所述第一位置或所述第二位置提供复位力。
  18. 根据权利要求2至17任一项所述的清洁设备，其特征在于，所述过滤机构包括过滤组件，所述过滤组件包括：
    尘盒，所述尘盒形成有第一腔体；
    导流口，设置于所述尘盒上，所述导流口与所述第一腔体连通；
    盖合件，其中，在所述第一运动状态或第三运动状态下，所述盖合件盖合所述导流口；在第二运动状态下，所述盖合件打开所述导流口，所述进液部、所述过滤机构、所述导流口以及所述驱动机构形成第二水流通道。
  19. 根据权利要求18所述的清洁设备，其特征在于，所述尘盒包括第一过滤层，所述第一过滤层与所述第一腔体连通；所述导流口设置于所述第一过滤层。
  20. 根据权利要求18或19所述的清洁设备，其特征在于，所述导流口处设置有格栅孔，所述第一腔体的至少部分水依次通过所述导流口以及所述格栅孔后流出所述尘盒。
PCT/CN2024/076040 2023-02-06 2024-02-05 一种清洁设备 Ceased WO2024169737A1 (zh)

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EP24756111.1A EP4667683A4 (en) 2023-02-16 2024-02-05 CLEANING APPLIANCE
AU2024223538A AU2024223538B2 (en) 2023-02-16 2024-02-05 Cleaning device
CN202480007953.2A CN120530250A (zh) 2023-04-27 2024-04-12 行走装置、清洁设备和清洁设备控制方法
AU2024262807A AU2024262807A1 (en) 2023-04-27 2024-04-12 Moving apparatus, cleaning device, and cleaning device control method
PCT/CN2024/087590 WO2024222493A1 (zh) 2023-04-27 2024-04-12 行走装置、清洁设备和清洁设备控制方法
EP24795874.7A EP4636201A4 (en) 2023-04-27 2024-04-12 MOVEMENT DEVICE, CLEANING APPLIANCE AND METHOD FOR CONTROLLING THE CLEANING APPLIANCE
US18/946,861 US12371918B2 (en) 2023-04-27 2024-11-13 Moving apparatus, cleaning device, and cleaning device control method
AU2024393300A AU2024393300A1 (en) 2023-12-06 2024-12-06 Cleaning system, cleaning device, base station, and method for controlling cleaning system
PCT/CN2024/137628 WO2025119382A1 (zh) 2023-12-06 2024-12-06 清洁系统、清洁设备、基站和清洁系统控制方法
US19/031,423 US20250146315A1 (en) 2023-02-16 2025-01-18 Cleaning device
US19/203,165 US12473742B2 (en) 2023-02-16 2025-05-08 Cleaning device
US19/240,758 US12516538B2 (en) 2023-04-27 2025-06-17 Swimming pool robot and method for controlling swimming pool robot
US19/298,195 US20250376866A1 (en) 2023-02-16 2025-08-13 Cleaning Device
US19/324,115 US20260009253A1 (en) 2023-02-16 2025-09-10 Cleaning Device
US19/370,711 US20260049496A1 (en) 2023-04-27 2025-10-27 Swimming pool robot and controlling method thereof
US19/409,082 US20260234953A1 (en) 2023-02-06 2025-12-04 Swimming pool robot and method for controlling swimming pool robot

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CN202320232759.7U CN219316535U (zh) 2023-02-16 2023-02-16 传动装置及水池清洁机器人
CN202320232759.7 2023-02-16
CNPCT/CN2023/091116 2023-04-27
PCT/CN2023/091116 WO2024221324A1 (zh) 2023-04-27 2023-04-27 一种用于液体中的行走装置以及泳池清洁机器人
CN202311159683.0 2023-09-08
CN202311159683.0A CN116999943A (zh) 2023-09-08 2023-09-08 过滤组件及水下清洁设备
CN202311540590.2 2023-11-17
CN202311540590.2A CN117323733A (zh) 2023-09-08 2023-11-17 过滤组件及水下清洁设备
CN202410070430.4 2024-01-17
CN202410070430.4A CN120331533A (zh) 2024-01-17 2024-01-17 一种水池机器人及其控制方法、存储介质

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