Cleaning system, cleaning device, base station, and method for controlling cleaning system

Abstract

Disclosed in the present disclosure are a cleaning system, a cleaning device and a base station. The cleaning system comprises a cleaning device and a base station. The cleaning device comprises a main body, and a mode adjusting mechanism is used for adjusting the switching of the cleaning device between a first motion state and a third motion state; a traveling mechanism is suitable for driving the cleaning device to move on a surface to be cleaned when the cleaning device is in the first motion state or a second motion state; and a propelling mechanism drives the movement of the cleaning device when in the third motion state. The base station comprises a base station body and a bearing piece, wherein the base station body is partially arranged on a side wall of a water pool; and the bearing piece is located on the lower portion of the base station body, and when the cleaning device returns to the base station, the bearing piece is distributed in such a way that same protrudes out of the base station body. The first motion state comprises the state in which the cleaning device operates at the bottom of the pool, the second motion state comprises the state in which the cleaning device operates on a pool wall, and the third motion state comprises at least the state in which the cleaning device operates on the water surface; and the process of the cleaning device returning to the base station comprises at least the process of switching from the third motion state to the second motion state.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present disclosure claims priority to International Patent Application No. PCT / CN2023 / 136911, filed on December 6, 2023 and entitled "POOL ROBOT SYSTEM", which is incorporated herein by reference in its entirety.

[0002] The present disclosure claims priority to Chinese Patent Application No. 202323322296.2, filed on December 6, 2023 and entitled "POOL ROBOT SYSTEM", which is incorporated herein by reference in its entirety.

[0003] The present disclosure claims priority to Chinese Patent Application No. 202311666132.3, filed on December 6, 2023 and entitled "POOL ROBOT RETURNING METHOD, POOL ROBOT, AND STORAGE MEDIUM", which is incorporated herein by reference in its entirety.

[0004] The  present disclosure claims priority to Chinese   Patent  Application No. 202420594249.9, filed on March 26, 2024 and entitled "CARRYING ASSEMBLY AND POOL ROBOT SYSTEM", which is incorporated herein by reference in its entirety.

[0005] The  present disclosure claims priority to Chinese   Patent  Application No. 202410350025.8, filed on March 26, 2024 and entitled "POOL ROBOT CONTROL METHOD, POOL ROBOT, AND STORAGE MEDIUM", which is incorporated herein by reference in its entirety.

[0006] The present disclosure claims priority to Chinese Patent Application No. 202410349874.1, filed on March 26, 2024 and entitled "POOL ROBOT CONTROL METHOD AND POOL ROBOT", which is incorporated herein by reference in its entirety.

[0007] The present disclosure claims priority to Chinese Patent Application No. 202410350019.2, filed on March 26, 2024 and entitled "LIFTING ASSEMBLY, POOL ROBOT CONTROL METHOD, LIFTING ASSEMBLY CONTROL METHOD, AND RELATED APPARATUS", which is incorporated herein by reference in its entirety.

[0008] The present disclosure claims priority to Chinese Patent Application No. 202410349870.3, filed on March 26, 2024 and entitled "POOL ROBOT CONTROL METHOD, POOL ROBOT GUIDANCE METHOD, AND RELATED APPARATUS", which is incorporated herein by reference in its entirety.

[0009] The present disclosure claims priority to Chinese Patent Application No. 202410350047.4, filed on March 26, 2024 and entitled "POOL ROBOT CONTROL METHOD, POOL ROBOT, AND RELATED APPARATUS", which is incorporated herein by reference in its entirety.

[0010] The present disclosure claims priority to Chinese Patent Application No. 202410350031.3, filed on March 26, 2024 and entitled "POOL ROBOT CONTROL METHOD, POSITION DETERMINING METHOD, AND RELATED APPARATUS", which is incorporated herein by reference in its entirety.

[0011] The present disclosure claims priority to Chinese Patent Application No. 202410417536.7, filed on April 8, 2024 and entitled "CLEANING SYSTEM", which is incorporated herein by reference in its entirety.

[0012] The present disclosure claims priority to International Patent Application No. PCT / CN2024 / 076040, filed on February 5, 2024 and entitled "CLEANING DEVICE", which is incorporated herein by reference in its entirety.

[0013] The present disclosure claims priority to Chinese Patent Application No. 2024100704304, filed on January 17, 2024 and entitled "POOL ROBOT, POOL ROBOT CONTROL METHOD, AND STORAGE MEDIUM", which is incorporated herein by reference in its entirety.

[0014] The present disclosure claims priority to International Patent Application No. PCT / CN2024 / 076025, filed on February 5, 2024 and entitled "CLEANING DEVICE", which is incorporated herein by reference in its entirety.

[0015] The present disclosure claims priority to International Patent Application No. PCT / CN2024 / 076033, filed on February 5, 2024 and entitled "CLEANING DEVICE USED IN LIQUID AND CLEANING DEVICE", which is incorporated herein by reference in its entirety.

[0016] The present disclosure claims priority to International Patent Application No. PCT / CN2024 / 076021, filed on February 5, 2024 and entitled "CLEANING DEVICE AND CLEANING DEVICE SYSTEM", which is incorporated herein by reference in its entirety.

[0017] The present disclosure claims priority to Chinese Patent Application No. 2023234718518, filed on December 19, 2023 and entitled "POOL ROBOT", which is incorporated herein by reference in its entirety.

[0018] The present disclosure claims priority to Chinese Patent Application No. 2024100776904, filed on January 18, 2024 and entitled "SOLAR ENERGY SYSTEM", which is incorporated herein by reference in its entirety.

[0019] The present disclosure claims priority to International Patent Application No. PCT / CN2024 / 087590, filed on April 12, 2024 and entitled "MOVING APPARATUS, CLEANING DEVICE, AND CLEANING DEVICE CONTROL METHOD", which is incorporated herein by reference in its entirety.

[0020] The present disclosure claims priority to U.S. Patent Application No. US18 / 946861, filed on November 13, 2024 and entitled "MOVING APPARATUS, CLEANING DEVICE, AND CLEANING DEVICE CONTROL METHOD", which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0021] The present disclosure relates to the technical field of cleaning devices, and in particular, to a cleaning system, a cleaning device, a base station, and a cleaning device control method. BACKGROUND

[0022] A cleaning device used in water is characterized by low costs, high intelligence, and being easy to use, and is increasingly widely used in performing cleaning, disinfection, rescue, and other operation tasks in water. When an existing cleaning device stops performing a task due to task completion, a low battery power, or another reason, a user needs to retrieve the cleaning device from water to maintain the cleaning device and prevent the cleaning device on standby from drifting irregularly with water, without affecting use of a pool. However, a process of retrieving the cleaning device is complex and cumbersome and is inconvenient to perform. SUMMARY

[0023] According to a first aspect, the present disclosure provides a cleaning system including at least a cleaning device and a base station. The cleaning device is configured to clean liquid in a pool and an inner wall of the pool. The cleaning device includes a body; a mode adjustment assembly provided on the body and configured to at least adjust switching of the cleaning device between a first motion state and a third motion state; a movement assembly configured to: when the cleaning device is in the first motion state or a second motion state, at least drive the cleaning device to move on a to-be-cleaned surface; and a propulsion assembly configured to: when the cleaning device is in the third motion state, at least drive the cleaning device to move. The base station includes at least a base station body and a carrying component. The base station body is at least partially provided on a side wall of the pool. The carrying component is provided at a lower portion of the base station body. When the cleaning device returns to the base station, the carrying component protrudes from the base station body. The first motion state includes at least a state in which the cleaning device operates on a bottom of the pool. The second motion state includes at least a state in which the cleaning device operates on the side wall of the pool or operates along a direction parallel to the side wall of the pool. The third motion state includes at least a state in which the cleaning device operates on a water surface. A process in which the cleaning device returns to the base station includes at least a process of switching the cleaning device from the third motion state to the second motion state.

[0024] According to a second aspect, the present disclosure provides a cleaning device. The cleaning device includes: a cleaning device body; a mode adjustment assembly provided on the cleaning device body and configured to at least adjust switching of the cleaning device between a first motion state and a third motion state; a movement assembly configured to: when the cleaning device is in the first motion state or a second motion state, at least drive the cleaning device to move on a to-be-cleaned surface; a propulsion assembly configured to: when the cleaning device is in the third motion state, at least drive the cleaning device to move; a first filter assembly at least partially accommodated in the cleaning device body and configured to filter liquid entering the first filter assembly; and a second water inlet provided on a first end portion of the cleaning device, where the second water inlet is in fluid communication with the first filter assembly and is configured as a water inlet for the cleaning device to clean a water surface in the third motion state. The first motion state includes at least a state in which the cleaning device operates on a bottom of a pool. The second motion state includes at least a state in which the cleaning device operates on a side wall of the pool or operates along a direction parallel to the side wall of the pool. The third motion state includes at least a state in which the cleaning device operates on the water surface. A process in which the cleaning device moves in the third motion state includes at least a process in which the cleaning device moves along a waterline of the pool in a first motion mode and a process in which the cleaning device moves along the waterline of the pool in a second motion mode. When the cleaning device is in the first motion mode, a first side surface of the cleaning device is close to the waterline, the cleaning device moves in a first direction, and the second water inlet is opened, so that a motion region can be cleaned. When the cleaning device is in the second motion mode, the first side surface of the cleaning device is close to the waterline, the cleaning device moves in a second direction, and the second water inlet is closed.

[0025] According to a third aspect, the present disclosure provides a base station. The base station includes: a base station body; a fixing base configured to be fixedly connected to a poolside; a second filter assembly at least partially accommodated in the base station body; a carrying component connected to the base station body and configured to be docked with a cleaning device operating in the pool; a self-cleaning debris inlet provided on the carrying component or the base station body and in fluid communication with the second filter assembly through a pipe; and a power assembly configured to: when the cleaning device is docked with the base station, provide a suction force for liquid to sequentially flow through at least the cleaning device, the self-cleaning debris inlet, and the second filter assembly. The base station body is movably connected to the fixing base to adjust the carrying component to be at least partially located below a water surface of the pool.

[0026] According to a fourth aspect, the present disclosure provides a cleaning system. The cleaning system includes a cleaning device configured to operate in water of a pool. The cleaning device includes: a first docking assembly provided on a side portion or a bottom of the cleaning device; and a movement propulsion assembly including at least one of a movement assembly or a propulsion assembly, where the movement propulsion assembly is configured to drive the cleaning device to move on a to-be-cleaned surface or a water surface. The cleaning system further includes a carrying assembly at least partially provided on a side wall of the pool. The carrying assembly includes: a carrying component configured to carry the cleaning device; and a second docking assembly provided on the carrying component and configured to be releasably connected to the first docking assembly, so that the cleaning device is fixed to the carrying component or released from the carrying component. The carrying assembly has at least a first pose. When the carrying component is in the first pose, the cleaning device moves onto the carrying component, and the carrying component is at least partially located below a preset water level of the pool.

[0027] According to a fifth aspect, the present disclosure provides a cleaning device operating in a pool. The cleaning device includes: at least one first water inlet provided at a bottom of the cleaning device and at least one second water inlet provided on a side portion of the cleaning device; at least one first water outlet; at least one first filter assembly; a suction assembly configured to at least generate clean water sequentially flowing through the first water inlet or the second water inlet, the first filter assembly, and the first water outlet; an adjustment assembly, where the adjustment assembly is configured to cause the cleaning device to be switched between a first motion state and a second motion state, where the first motion state includes at least a state in which the cleaning device cleans a bottom of the pool, and the second motion state includes at least a state in which the cleaning device cleans a water surface of the pool; and a lateral propulsion assembly configured to at least generate a thrust component in a lateral direction of the cleaning device, so that the cleaning device is attached to a side wall of the pool when the cleaning device is in the second motion state and moves along the side wall.

[0028] According to a sixth aspect, the present disclosure provides a method for controlling a cleaning system. The cleaning system includes at least a cleaning device and a carrying assembly. The cleaning device operates in a pool. The carrying assembly is provided on a side wall or a poolside and allows the cleaning device to dock at. The method at least includes: performing, by the cleaning device, a return action in response to a return signal, where the return signal is at least one of the following: a signal indicating that a cleaning task is completed, a signal indicating that a battery level of the cleaning device is lower than a preset value, a signal indicating that an amount of debris collected by a filter box of the cleaning device is greater than a preset value, a signal indicating that the cleaning device needs to be self-cleaned, or a signal indicating that a quantity of reagents in the cleaning device is less than a preset value; moving, by the cleaning device, toward the carrying assembly, where the moving toward the carrying assembly includes at least one of the following: moving along an edge of a bottom of the pool or moving along an edge of a water surface of the pool; and docking, by the cleaning device. Before the cleaning device moves toward the carrying assembly, the method further includes determining a relative position relationship between the cleaning device and the carrying assembly. The determining a relative position relationship includes at least one of the following: the cleaning device detects the carrying assembly, the carrying assembly detects the cleaning device, or the cleaning device detects a positioning marker associated with the carrying assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] To illustrate the technical solutions in embodiments of the present disclosure more clearly, the following briefly introduces the accompanying drawings needed for describing the embodiments. It is clear that the accompanying drawings in the following descriptions are merely some embodiments of the present disclosure, and a person of ordinary skill in the art may further obtain other accompanying drawings from these accompanying drawings without creative efforts.

[0030] FIG. 1 is a first schematic structural diagram of a cleaning system according to an embodiment of the present disclosure;

[0031] FIG. 2 is a second schematic structural diagram of a cleaning system according to an embodiment of the present disclosure;

[0032] FIG. 3 is a first schematic structural diagram of a cleaning device according to an embodiment of the present disclosure;

[0033] FIG. 4 is an enlarged diagram of a portion A shown in FIG. 1;

[0034] FIG. 5 is a schematic structural diagram of a first embodiment of a first docking assembly according to the present disclosure;

[0035] FIG. 6 is a schematic structural diagram of a second embodiment of a first docking assembly according to the present disclosure;

[0036] FIG. 7 is a schematic structural diagram of a third embodiment of a first docking assembly according to the present disclosure;

[0037] FIG. 8 is a schematic structural diagram of a fourth embodiment of a first docking assembly according to the present disclosure;

[0038] FIG. 9 is a schematic structural diagram of a fifth embodiment of a first docking assembly according to the present disclosure;

[0039] FIG. 10 is a third schematic structural diagram of a cleaning system according to an embodiment of the present disclosure;

[0040] FIG. 11 is a schematic structural diagram of a first embodiment of a first docking assembly and a second docking assembly according to the present disclosure;

[0041] FIG. 12 is a schematic structural diagram of a sixth embodiment of a first docking assembly according to the present disclosure;

[0042] FIG. 13 is a schematic structural diagram of a second embodiment of a first docking assembly and a second docking assembly according to the present disclosure;

[0043] FIG. 14 is a first schematic structural diagram of a carrying assembly according to an embodiment of the present disclosure;

[0044] FIG. 15 is a second schematic structural diagram of a carrying assembly according to an embodiment of the present disclosure;

[0045] FIG. 16 is an exploded diagram of a carrying assembly according to an embodiment of the present disclosure;

[0046] FIG. 17 is a schematic diagram of a second pose of a carrying component of a carrying assembly according to an embodiment of the present disclosure;

[0047] FIG. 18 is a schematic structural diagram of a carrying assembly according to another embodiment of the present disclosure;

[0048] FIG. 19 is a schematic diagram of a third pose of a carrying component of a carrying assembly according to an embodiment of the present disclosure;

[0049] FIG. 20 is a schematic structural diagram of a carrying component of a carrying assembly according to another embodiment of the present disclosure;

[0050] FIG. 21 is a first schematic structural diagram of a carrying assembly according to an embodiment of the present disclosure;

[0051] FIG. 22 is a second schematic structural diagram of a carrying assembly according to an embodiment of the present disclosure;

[0052] FIG. 23 is a fourth schematic structural diagram of a cleaning system according to an embodiment of the present disclosure;

[0053] FIG. 24 is a fifth schematic structural diagram of a cleaning system according to an embodiment of the present disclosure;

[0054] FIG. 25 is a first sectional diagram of a cleaning device according to an embodiment of the present disclosure;

[0055] FIG. 26A is a schematic structural diagram of a first filter box according to the present disclosure;

[0056] FIG. 26B is another schematic structural diagram of a first filter box according to the present disclosure;

[0057] FIG. 27 is a sixth schematic structural diagram of a cleaning system according to an embodiment of the present disclosure;

[0058] FIG. 28 is a sectional diagram of a cleaning system according to an embodiment of the present disclosure;

[0059] FIG. 29 is a second sectional diagram of a cleaning device according to an embodiment of the present disclosure;

[0060] FIG. 30 is a seventh schematic structural diagram of a cleaning system according to an embodiment of the present disclosure;

[0061] FIG. 31 is a third sectional diagram of a cleaning device according to an embodiment of the present disclosure;

[0062] FIG. 32 is a first sectional diagram of a first filter assembly according to an embodiment of the present disclosure;

[0063] FIG. 33 is an enlarged diagram of a portion C shown in FIG. 31;

[0064] FIG. 34 is an exploded diagram of a first filter assembly according to an embodiment of the present disclosure;

[0065] FIG. 35 is a second schematic structural diagram of a cleaning device according to an embodiment of the present disclosure;

[0066] FIG. 36 is a third schematic structural diagram of a cleaning device according to an embodiment of the present disclosure;

[0067] FIG. 37 is a fourth schematic structural diagram of a cleaning device according to an embodiment of the present disclosure;

[0068] FIG. 38 is a fifth schematic structural diagram of a cleaning device according to an embodiment of the present disclosure;

[0069] FIG. 39 is a sixth schematic structural diagram of a cleaning device according to an embodiment of the present disclosure;

[0070] FIG. 40 is a schematic structural diagram of a vision detection component according to an embodiment of the present disclosure;

[0071] FIG. 41 is a fourth sectional diagram of a cleaning device according to an embodiment of the present disclosure;

[0072] FIG. 42 is a seventh schematic structural diagram of a cleaning device according to an embodiment of the present disclosure;

[0073] FIG. 43 is a third schematic structural diagram of a carrying assembly according to an embodiment of the present disclosure;

[0074] FIG. 44 is a schematic structural diagram of a carrying assembly according to still another embodiment of the present disclosure;

[0075] FIG. 45 is an eighth schematic structural diagram of a cleaning device according to an embodiment of the present disclosure;

[0076] FIG. 46 is a schematic structural diagram of a solar energy system according to an embodiment of the present disclosure;

[0077] FIG. 47 is a schematic structural diagram of an anti-stranding assembly according to an embodiment of the present disclosure;

[0078] FIG. 48 is a schematic flowchart of a cleaning device control method according to an embodiment of the present disclosure;

[0079] FIG. 49 is a schematic signal diagram showing that a carrying assembly transmits a guidance signal according to an embodiment of the present disclosure;

[0080] FIG. 50 is a schematic signal diagram of a cleaning system according to an embodiment of the present disclosure;

[0081] FIG. 51 is a schematic diagram of a frame of a cleaning system according to an embodiment of the present disclosure;

[0082] FIG. 52 is a schematic diagram of a frame of a computer-readable storage medium according to an embodiment of the present disclosure;

[0083] FIG. 53A is a side diagram of a cleaning device according to the present disclosure;

[0084] FIG. 53B shows that a cleaning device according to the present disclosure is in a first motion state;

[0085] FIG. 53C is a side diagram of a cleaning device according to the present disclosure;

[0086] FIG. 53D is a side diagram of a cleaning device according to the present disclosure;

[0087] FIG. 53E is a schematic structural diagram of a cleaning device according to the present disclosure;

[0088] FIG. 54A is a side diagram showing that a cleaning device according to the present disclosure is in a first motion state;

[0089] FIG. 54B is a side diagram showing that a front portion of a cleaning device according to the present disclosure abuts against a side wall in a process in which the cleaning device is switched from a first motion state to a second motion state and then from the second motion state to a third motion state;

[0090] FIG. 54C is a side diagram showing that a cleaning device according to the present disclosure rotates from a first motion state to a second motion state in a process in which the cleaning device is switched from the first motion state to the second motion state and then from the second motion state to a third motion state;

[0091] FIG. 54D is a side diagram showing that a cleaning device according to the present disclosure is in a second motion state in a process in which the cleaning device is switched from a first motion state to the second motion state and then from the second motion state to a third motion state;

[0092] FIG. 54E is a side diagram showing that a cleaning device according to the present disclosure moves to a waterline on a side wall in a process in which the cleaning device is switched from a first motion state to a second motion state and then from the second motion state to a third motion state;

[0093] FIG. 54F is a side diagram showing that a cleaning device according to the present disclosure rotates from a second motion state to a third motion state in a process in which the cleaning device is switched from a first motion state to the second motion state and then from the second motion state to the third motion state;

[0094] FIG. 54G is a side diagram showing that a cleaning device according to the present disclosure is switched to a third motion state in a process in which the cleaning device is switched from a first motion state to a second motion state and then from the second motion state to the third motion state;

[0095] FIG. 55A is a side diagram showing that a front portion of a cleaning device according to the present disclosure abuts against a side wall in a process in which the cleaning device is switched from a third motion state to a second motion state and then from the second motion state to a first motion state;

[0096] FIG. 55B is a side diagram showing that a cleaning device according to the present disclosure rotates from a third motion state to a second motion state in a process in which the cleaning device is switched from the third motion state to the second motion state and then from the second motion state to a first motion state;

[0097] FIG. 55C is a side diagram showing that a cleaning device according to the present disclosure is in a second motion state in a process in which the cleaning device is switched from a third motion state to the second motion state and then from the second motion state to a first motion state;

[0098] FIG. 55D is a side diagram showing that a rear portion of a cleaning device according to the present disclosure abuts against a bottom wall in a process in which the cleaning device is switched from a third motion state to a second motion state and then from the second motion state to a first motion state;

[0099] FIG. 55E is a side diagram showing that a cleaning device according to the present disclosure rotates from a second motion state to a first motion state in a process in which the cleaning device is switched from a third motion state to the second motion state and then from the second motion state to the first motion state;

[0100] FIG. 55F is a side diagram showing that a cleaning device according to the present disclosure is switched to a first motion state in a process in which the cleaning device is switched from a third motion state to a second motion state and then from the second motion state to the first motion state;

[0101] FIG. 56 is a side diagram showing that a cleaning device according to the present disclosure moves on an inclined side wall;

[0102] FIG. 57A is a side diagram showing that a cleaning device according to the present disclosure is in a third motion state in a process in which the cleaning device is directly switched from a third motion state to a first motion state;

[0103] FIG. 57B is a side diagram showing that a rear portion of a cleaning device according to the present disclosure rotates and sinks earlier than a front portion of the cleaning device in a process in which the cleaning device is directly switched from a third motion state to a first motion state;

[0104] FIG. 57C is a side diagram showing that a cleaning device according to the present disclosure entirely sinks underwater in a process in which the cleaning device is directly switched from a third motion state to a first motion state;

[0105] FIG. 57D is a side diagram showing that a cleaning device according to the present disclosure sinks underwater in a tilt state in a process in which the cleaning device is directly switched from a third motion state to a first motion state;

[0106] FIG. 57E is a side diagram showing that a rear portion of a cleaning device according to the present disclosure abuts against a bottom wall earlier than a front portion of the cleaning device in a process in which the cleaning device is directly switched from a third motion state to a first motion state;

[0107] FIG. 57F is a side diagram showing that a cleaning device according to the present disclosure is switched to a first motion state in a process in which the cleaning device is directly switched from a third motion state to a first motion state;

[0108] FIG. 58A is a side diagram showing that a cleaning device according to the present disclosure is located in water in a process in which the cleaning device moves from underwater to a side wall;

[0109] FIG. 58B is a side diagram showing that a rear portion of a cleaning device according to the present disclosure sinks and is in a tilt state earlier than a front portion of the cleaning device in a process in which the cleaning device moves from underwater to a side wall;

[0110] FIG. 58C is a side diagram showing that a front portion of a cleaning device according to the present disclosure abuts against a side wall in a process in which the cleaning device moves from underwater to the side wall;

[0111] FIG. 58D is a side diagram showing that a cleaning device according to the present disclosure moves upward on a side wall in a second motion state in a process in which the cleaning device moves from underwater to the side wall;

[0112] FIG. 59A is a side diagram showing that a cleaning device according to the present disclosure is in a substantially horizontal state in water;

[0113] FIG. 59B is a side diagram showing that a cleaning device according to the present disclosure is in a tilt state in water;

[0114] FIG. 60A is a side diagram showing that a cleaning device according to the present disclosure is in a substantially horizontal state;

[0115] FIG. 60B is another side diagram showing that a cleaning device according to the present disclosure is in a substantially horizontal state;

[0116] FIG. 61 is a schematic diagram of a cleaning path along which a cleaning device cleans a side wall according to the present disclosure;

[0117] FIG. 62 is a schematic diagram of a cleaning path along which a cleaning device cleans a bottom wall according to the present disclosure;

[0118] FIG. 63A is a schematic structural diagram of a cleaning device according to the present disclosure;

[0119] FIG. 63B is another schematic structural diagram of a cleaning device according to the present disclosure;

[0120] FIG. 64A is a schematic structural diagram of a cleaning device according to the present disclosure;

[0121] FIG. 64B is a schematic structural diagram of a cleaning device according to the present disclosure;

[0122] FIG. 64C is a schematic diagram of a cleaning device according to the present disclosure after some components are removed;

[0123] FIG. 64D is a schematic structural diagram of a lateral section of a cleaning device according to the present disclosure;

[0124] FIG. 64E is a schematic structural diagram of a longitudinal section of a cleaning device according to the present disclosure;

[0125] FIG. 65A is a schematic diagram of a state in a process in which a cleaning device is docked with a base station according to the present disclosure;

[0126] FIG. 65B is another schematic diagram of a state in a process in which a cleaning device is docked with a base station according to the present disclosure;

[0127] FIG. 66 is a schematic diagram of a state in which a cleaning device according to the present disclosure moves backward and performs cleaning along an edge of a water surface;

[0128] FIG. 67 is a schematic diagram of a state in which a cleaning device according to the present disclosure moves forward along an edge of a water surface to return to a base station;

[0129] FIG. 68A is a schematic structural diagram of a base station (also referred to as a carrying assembly) according to the present disclosure;

[0130] FIG. 68B is a schematic structural diagram of a transition base of a base station according to the present disclosure;

[0131] FIG. 68C is an exploded diagram of a carrying component, a transition base, a support component, and a second filter box of a base station according to the present disclosure;

[0132] FIG. 68D is a sectional diagram of a partial structure after a cleaning device is docked with a base station according to the present disclosure;

[0133] FIG. 69A is a schematic diagram showing that a cleaning device according to the present disclosure searches for a wall on a bottom wall of a pool;

[0134] FIG. 69B is a schematic diagram showing that a cleaning device according to the present disclosure moves upward on a fourth wall;

[0135] FIG. 69C is a schematic diagram of a state in which a cleaning device according to the present disclosure returns to a base station along an edge of a water surface;

[0136] FIG. 69D is a schematic diagram showing that a front portion of a cleaning device according to the present disclosure collides with a first side surface of a support component;

[0137] FIG. 69E is a schematic diagram of a state after a cleaning device is docked with a base station according to the present disclosure;

[0138] FIG. 69F is a schematic diagram after a cleaning device is docked with a base station according to the present disclosure;

[0139] FIG. 70a is a schematic diagram of a state of a first embodiment of a carrying assembly and a cleaning device according to the present disclosure;

[0140] FIG. 70b is a schematic diagram of a state of a second embodiment of a carrying assembly and a cleaning device according to the present disclosure;

[0141] FIG. 70c is a schematic diagram of a state of a third embodiment of a carrying assembly and a cleaning device according to the present disclosure;

[0142] FIG. 70d is a schematic diagram of a state of a fourth embodiment of a carrying assembly and a cleaning device according to the present disclosure;

[0143] FIG. 70e is a schematic diagram of a state of a fifth embodiment of a carrying assembly and a cleaning device according to the present disclosure;

[0144] FIG. 70f is a schematic diagram of a state of a sixth embodiment of a carrying assembly and a cleaning device according to the present disclosure;

[0145] FIG. 70g is a schematic diagram of a state of a seventh embodiment of a carrying assembly and a cleaning device according to the present disclosure; and

[0146] FIG. 71 is a top diagram of a carrying assembly according to an embodiment of the present disclosure.

[0147] Reference numerals: 1: cleaning system; 1000: cleaning device; 1001: cleaning device body; 10011: front portion; 10012: rear portion; 1010: first docking assembly; 1011: first connection assembly; 10111: lock assembly; 10112: position-limiting groove; 10112a: first groove wall; 10112b: second groove wall; 10112c: latch inlet; 10112a1: first guide inclined surface; 10112b1: second guide inclined surface; 10113: elastic lock; 1020: charging receiver; 1030: liquid inlet portion; 1031: first water inlet; 1032 second water inlet; 1040: liquid outlet portion; 1041: first water outlet; 10411: first liquid discharge sub-opening; 10412: second liquid discharge sub-opening; 1050: first filter assembly; 1051: filter box; 10511: filter box water inlet portion; 10511a: first inlet; 10511b: second inlet; 1051a: first filter surface; 1051b: second filter surface; 1051c: third filter surface; 1051d: fourth filter surface; 1051e: fifth filter surface; 10513: flow guide opening; 10514: cover assembly; 10515: adjustment component; 1060: suction assembly; 1061: main water pump; 1070: movement propulsion assembly; 1071: movement assembly; 117: track; 1072: propulsion assembly; 10721: first propeller; 10722: second propeller; 10722a: propeller drive component; 1080: circulation water inlet; 1090: underwater pipe; 1100: mode switching assembly; 1101: buoyancy cavity; 112: first adjustment component; 1103: air inlet portion; 11031: first input opening; 113A: first input sub-opening; 11031b: second input sub-opening; 1104: connection pipe; 1105: discharge opening; 1105a: first discharge subopening; 1105b: second discharge sub-opening; 1110: control system; 1120: detection component; 1121: first detection sub-component; 1122: second detection subcomponent; 1123: vision sensing assembly; 11231: camera unit; 11232: light supplement component; 11233: light shield component; 1130: auxiliary cleaning assembly; 1131: first auxiliary cleaning assembly; 11311: side brush; 1132: second auxiliary cleaning assembly; 11321: water spray component; 1140: anti-collision assembly; 1150: first reagent spread assembly; 1151: first reagent storage assembly; 11511: first reagent opening; 1152: spread drive assembly; 1153: reagent quantity detection assembly; 1154: control assembly; 1160: water quality test assembly; 1170: device communication component; 1171: first sub-component; 1172: second subcomponent; 1180: solar energy system; 1181: photovoltaic module; 1182: photovoltaic control assembly; 1190: anti-stranding assembly; 1191: anti-stranding housing; 1192: anti-stranding component; 1193: pressed elastic portion; 1194: manual portion; 1200: cleaning assembly; 1201: first cleaning component; 2000: carrying assembly; 2010: first accommodation space; 2020: second accommodation space; 2030: second docking assembly; 2031: second connection assembly; 20311: fixing portion; 20311a: fixing rod; 20311b: position-limiting rod; 20312: lock groove; 20313: opening; 2040: carrying component; 2041: first end; 2042: second end; 20421: guide component; 20421a: flap; 2043: carrying surface; 2044: first carrying component; 20441: first carrying surface; 2045: second carrying component; 20451: second carrying surface; 2050: support component; 2051: accommodation portion; 2052: accommodation groove; 2060: drive assembly; 2061: rotation shaft; 2062: drive component; 2080: water level adaptation assembly; 2081: float component; 2082: guide assembly; 2090: charging assembly; 2091: charging component; 2092: elastic component; 2100: self-cleaning debris inlet; 2110: second filter assembly; 2120: self-cleaning water discharge opening; 2130: pool control assembly; 2131: water circulation system; 21311: automatic underwater spread assembly; 21312: water drainage opening; 21313: reagent outlet; 2140: assembly communication component; 2141: third sub-component; 2142: fourth subcomponent; 2151: first signal transmitter; 2152: second signal transmitter; 2160: second reagent spread assembly; 2161: second reagent storage assembly; 3000: connection control assembly; 3010: first magnetic control assembly; 3011: first push-pull rod; 3012: first rotation shaft; 3013: first fixing arm; 3014: first switch; 3020: second magnetic control assembly; 4000: sensing assembly; 5000: first terminal device. DETAILED DESCRIPTION

[0148] The following clearly and completely describes the technical solutions in embodiments of the present disclosure with reference to the accompanying drawings in embodiments of the present disclosure. It is clear that the described embodiments are merely some but not all of embodiments of the present disclosure. All other embodiments obtained by a person of ordinary skill in the art based on embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.

[0149] An "embodiment" mentioned in this specification indicates that a particular feature, structure, or characteristic described with reference to this embodiment may be included in at least one embodiment of the present disclosure. The phrase shown in various positions in this specification may not necessarily refer to a same embodiment, and is not an independent or optional embodiment exclusive from another embodiment. It is explicitly and implicitly understood by a person skilled in the art that embodiments described in this specification may be combined with another embodiment.

[0150] The following describes the cleaning device 1000 provided in the present disclosure in detail with reference to embodiments.

[0151] Refer to FIG. 1 to FIG. 3. FIG. 1 is a first schematic structural diagram of a cleaning system according to an embodiment of the present disclosure. FIG. 2 is a second schematic structural diagram of a cleaning system according to an embodiment of the present disclosure. FIG. 3 is a first schematic structural diagram of a cleaning device according to an embodiment of the present disclosure. The present disclosure provides a cleaning system 1. The cleaning system 1 includes a cleaning device 1000 and a carrying assembly 2000 (or referred to as a base station). The cleaning device 1000 is configured to perform cleaning, disinfecting, rescuing, and other tasks in a target region. The target region may be a region in which the cleaning device 1000 moves and liquid is contained. The target region may be, but is not limited to, a swimming pool, a pool, an oil well, a sewer, or the like. An example in which the target region is a pool is used for description in the following.

[0152] The cleaning device 1000 can operate in water of the pool. The cleaning device 1000 may move on a water surface of the pool, in the water of the pool, and / or on a pool wall. The cleaning device 1000 may be provided with a movement assembly configured to drive the cleaning device 1000 to move on a to-be-cleaned surface or the water surface. The carrying assembly 2000 is configured to fix the cleaning device 1000 or carry the cleaning device 1000 to move to enter or leave the pool. The carrying assembly 2000 may be at least partially provided on an edge of the pool. For example, the carrying assembly 2000 may be at least partially provided on the pool wall. The carrying assembly 2000 may alternatively be provided on a poolside and extend into the pool. The carrying assembly 2000 may alternatively be provided at a position other than the edge of the pool, for example, in the middle of the pool or at the bottom of the pool. When the cleaning device 1000 is no longer in a state of performing a task because the cleaning device receives a return signal, the cleaning device 1000 may move to the carrying assembly 2000.

[0153] A first docking assembly 1010 is provided on a side portion or a bottom of the cleaning device 1000. The side portion of the cleaning device 1000 may include any one or more of a front side, a rear side, a left side, and a right side of the cleaning device 1000. The carrying assembly 2000 includes a carrying component 2040 and a second docking assembly 2030. The carrying component 2040 is provided with the second docking assembly 2030. The second docking assembly 2030 is releasably connected to the first docking assembly 1010, enabling the cleaning device 1000 to be fixed to or released from the carrying component 2040. The carrying component 2040 at least has a first pose. When the carrying component 2040 is in the first pose, the carrying component 2040 is at least partially located below a minimum preset water level of the pool. The cleaning device may move onto the carrying component 2040. In other words, when the cleaning device 1000 moves close to the carrying assembly 2000, the cleaning device 1000 may move onto the carrying component 2040 which is in the first pose. The first docking assembly 1010 is releasably connected to the second docking assembly 2030. When the first docking assembly 1010 is connected to the second docking assembly 2030, the cleaning device 1000 cannot move relative to the carrying assembly 2000, or the cleaning device 1000 can only move within a range defined by the first docking assembly 1010 and the second docking assembly 2030. When the first docking assembly 1010 is disconnected from the second docking assembly 2030, the cleaning device 1000 is not fixed to the carrying assembly 2000, and the cleaning device 1000 may move away from the carrying assembly 2000.

[0154] Use of the first docking assembly 1010 and use of the second docking assembly 2030 may be determined based on specific disposition of the carrying assembly 2000. For example, when the carrying assembly 2000 is configured to fix the cleaning device 1000, that is, the cleaning device 1000 docks at the carrying assembly 2000 after returning, the first docking assembly 1010 and the second docking assembly 2030 are configured to allow the cleaning device 1000 to be connected to the carrying assembly 2000 to form mooring and fixing. Alternatively, when the carrying assembly 2000 is configured to carry the cleaning device 1000 to move to enter or leave the pool, that is, the cleaning device 1000 returns and then leaves the pool with the help of the carrying assembly 2000, the first docking assembly 1010 or the second docking assembly 2030 may be configured to provide auxiliary fixing in a process in which the cleaning device 1000 enters or leaves the pool, to reduce a probability that the cleaning device 1000 slips off the carrying assembly 2000.

[0155] Based on the above disposition, when the cleaning device 1000 returns to the carrying assembly 2000, the cleaning device 1000 may directly fixedly dock at the carrying assembly 2000 for a long time with the help of the first docking assembly 1010 and the second docking assembly 2030 or leave the pool with the assistance of the first docking assembly 1010 and the second docking assembly 2030. The cleaning device 1000 does not float with a water flow. Therefore, the cleaning device 1000 does not have an impact on use of the pool and does not need to be manually lifted out of water in a timely manner, and can dock at the carrying assembly 2000 for a long time or automatically leave the water with the help of the carrying assembly 2000, leading to convenient use.

[0156] For example, a releasable connection between the second docking assembly 2030 and the first docking assembly 1010 includes at least one of the following: a magnetic connection, a mechanical locking connection, or a snap-fit connection. In addition, the second docking assembly 2030 may be connected to the first docking assembly 1010 through threaded connection and the like, provided that the releasable connection can be implemented. This is not limited herein.

[0157] In some embodiments, the cleaning device 1000 includes a control unit (not shown in the figure). The control unit is configured to at least control, based on a received return signal, the cleaning device to move to the carrying assembly along an edge and then be fixed to the carrying assembly 2000 to perform a target operation. The target operation is an operation task corresponding to the return signal. For example, when the return signal indicates that a cleaning task is completed, the target operation may be that the cleaning device 1000 docks at the carrying assembly 2000, or when the return signal indicates that a battery level of the cleaning device 1000 is lower than a preset value, the target operation may be charging the cleaning device 1000.

[0158] In some embodiments, moving along an edge includes at least one of the following: The cleaning device 1000 moves along an edge of the bottom or the pool wall, or the cleaning device 1000 moves along an edge of the water surface of the pool. Along an edge means that one side of the cleaning device 1000 is always close to or attached to the inner wall of the pool, and the cleaning device moves along the inner wall of the pool.

[0159] In some embodiments, the return signal includes at least one of the following: a signal indicating that the cleaning task is completed, a signal indicating that the battery level of the cleaning device 1000 is lower than a preset value, a signal indicating that an amount of debris collected by the cleaning device 1000 is greater than a preset value, a signal indicating that the cleaning device 1000 needs to be self-cleaned, a signal indicating that a quantity of reagents in the cleaning device 1000 is less than a preset value, or a signal indicating that a return instruction sent by a user is received. A type of the return signal is not limited to the above types and may be set adaptively based on a usage scenario of the cleaning device 1000. This is not limited herein.

[0160] Refer to FIG. 4. FIG. 4 is an enlarged diagram of a portion A shown in FIG. 1. In some embodiments, the cleaning device 1000 and / or the carrying assembly 2000 are / is provided with a connection control assembly 3000. The connection control assembly 3000 is configured to control the first docking assembly 1010 to be connected to or disconnected from the second docking assembly 2030.

[0161] A specific manner in which the connection control assembly 3000 controls the first docking assembly 1010 to be connected to or disconnected from the second docking assembly 2030 may be set based on a manner in which the first docking assembly 1010 is connected to the second docking assembly 2030. For example, when the first docking assembly 1010 is connected to the second docking assembly 2030 through a structural position limit, a manner in which the connection control assembly 3000 controls a state of connection between the first docking assembly 1010 and the second docking assembly 2030 may be that the first docking assembly 1010 is driven to move, enabling a position limit between the first docking assembly 1010 and the second docking assembly 2030 to be formed or released. For another example, when the first docking assembly 1010 is magnetically connected to the second docking assembly 2030, the manner in which the connection control assembly 3000 controls the state of connection between the first docking assembly 1010 and the second docking assembly 2030 may be controlling magnetism between the first docking assembly 1010 and the second docking assembly 2030, controlling the first docking assembly 1010 to move close to or away from the second docking assembly 2030, or controlling the second docking assembly 2030 to move close to or away from the first docking assembly. Alternatively, the manner in which the connection control assembly 3000 controls the state of connection between the first docking assembly 1010 and the second docking assembly 2030 may be directly controlling a driving force applied to the cleaning device 1000, so that the cleaning device 1000 overcomes a magnetic attraction force between the first docking assembly 1010 and the second docking assembly 2030 under the driving force, or directly controlling a driving force applied to the carrying assembly 2000, so that the carrying assembly 2000 overcomes the magnetic attraction force between the first docking assembly and the second docking assembly under the driving force.

[0162] The connection control assembly 3000 may be directly connected to the first docking assembly 1010 and / or the second docking assembly 2030 and control the first docking assembly 1010 and / or the second docking assembly 2030 by controlling an electrical signal or a current, directly driving the first docking assembly 1010 and / or the second docking assembly 2030, and the like. The connection control assembly 3000 may alternatively be communicatively connected to the first docking assembly 1010 and / or the second docking assembly 2030 and send a communication instruction to trigger the first docking assembly 1010 and / or the second docking assembly 2030 to perform a preset corresponding action, to control the state of connection between the first docking assembly 1010 and the second docking assembly 2030.

[0163] In some embodiments, the cleaning device 1000 and / or the carrying assembly 2000 are / is provided with a sensing assembly 4000. The sensing assembly 4000 is configured to detect a position relationship between the cleaning device 1000 and the carrying assembly 2000.

[0164] Specifically, the sensing assembly 4000 may be provided with a sensing component. The sensing assembly 4000 detects the position relationship between the cleaning device 1000 and the carrying assembly 2000 through the sensing component. For example, when the sensing component detects that the cleaning device 1000 is close to the carrying assembly 2000, the sensing assembly 4000 may send, to the carrying assembly 2000 and / or the cleaning device 1000, a signal indicating that the cleaning device 1000 is close to the carrying assembly 2000. For another example, when the sensing component detects that the first docking assembly 1010 and the second docking assembly 2030 are aligned, the sensing assembly 4000 may send, to the carrying assembly 2000 and / or the cleaning device 1000, a signal indicating that the first docking assembly 1010 and the second docking assembly 2030 have been aligned. The sensing assembly 4000 may communicate with the connection control assembly 3000. The connection control assembly 3000 may be configured to: after the signal, sent by the sensing assembly 4000, indicating that the first docking assembly 1010 and the second docking assembly 2030 have been aligned is received, control the first docking assembly 1010 to be connected to the second docking assembly 2030. The sensing component may be a Hall sensor, an infrared sensor, an ultrasonic sensor, a vision detection device, a microswitch, a laser sensor, and the like.

[0165] Refer to FIG. 5. FIG. 5 is a schematic structural diagram of a first embodiment of a first docking assembly according to the present disclosure. In some embodiments, with reference to FIG. 1 to FIG. 4, a specific implementation in which the first docking assembly 1010 is releasably connected to the second docking assembly 2030 may be that the first docking assembly 1010 includes a first connection assembly 1011. The second docking assembly 2030 includes a second connection assembly 2031. The first connection assembly 1011 may be magnetically attracted to the second connection assembly 2031. When the first connection assembly 1011 is magnetically attracted to the second connection assembly 2031, the first docking assembly 1010 is connected to the second docking assembly 2030. When the first connection assembly 1011 is magnetically disengaged from the second connection assembly 2031, the first docking assembly 1010 is disconnected from the second docking assembly 2030.

[0166] At least one of the first connection assembly 1011 or the second connection assembly 2031 may form a magnetic field, and the other may be attracted due to the magnetic field, enabling the first connection assembly 1011 and the second connection assembly 2031 to be connected to each other. For example, one of the first connection assembly 1011 and the second connection assembly 2031 may be a magnet, and the other may be a ferromagnetic metal connection assembly. The ferromagnetic metal connection assembly is attracted to the magnet and then is magnetically attached to the magnet. For example, one of the first connection assembly 1011 and the second connection assembly 2031 may be a magnet, and the other may be iron. In this case, the first connection assembly is magnetically attracted to the second connection assembly due to magnetic attraction of the magnet to the iron. For another example, each of the first connection assembly 1011 and the second connection assembly 2031 is a magnet. Magnetic poles of the first connection assembly 1011 and the second connection assembly 2031 are opposite, and the first connection assembly 1011 and the second connection assembly 2031 are magnetically attracted to each other.

[0167] In this embodiment, the cleaning device 1000 may be further provided with a connection control assembly 3000. The connection control assembly 3000 includes a first magnetic control assembly 3010 and / or a second magnetic control assembly 3020. When the first connection assembly 1011 can form a magnetic field, the first docking assembly 1010 is provided with a first magnetic control assembly 3010. The first magnetic control assembly 3010 is connected to the first connection assembly 1011. The first magnetic control assembly 3010 is configured to change the magnetic field of the first connection assembly 1011. When the second connection assembly 2031 can form a magnetic field, the second docking assembly 2030 is provided with a second magnetic control assembly 3020. The second magnetic control assembly 3020 is connected to the second connection assembly 2031. The second magnetic control assembly 3020 is configured to change the magnetic field of the second connection assembly 2031.

[0168] Specifically, that the first magnetic control assembly 3010 changes the magnetic field of the first connection assembly 1011 means that the first magnetic control assembly 3010 may change strength of the magnetic field of the first connection assembly 1011, a direction of the magnetic field of the first connection assembly 1011, or both the strength of the magnetic field and the direction of the magnetic field of the first connection assembly 1011. A driving force may be applied to the cleaning device 1000, and the cleaning device 1000 is driven under the driving force to move. The first magnetic control assembly 3010 changes the magnetic field of the first connection assembly 1011, enabling a magnetic attraction force between the first connection assembly 1011 and the second connection assembly 2031 to be greater than or less than the driving force, so that the cleaning device 1000 can be fixed to the carrying assembly 2000 or move away from the carrying assembly 2000. For example, the first magnetic control assembly 3010 may reduce the strength of the magnetic field of the first connection assembly 1011 until the magnetic attraction force between the first connection assembly 1011 and the second connection assembly 2031 is less than the driving force, so that the cleaning device 1000 can move away from the carrying assembly 2000. Alternatively, the first magnetic control assembly 3010 may change the direction of the magnetic field of the first connection assembly 1011, enabling the magnetic force between the first connection assembly 1011 and the second connection assembly 2031 to be changed from attraction to repulsion, so that the cleaning device 1000 is separated from the carrying assembly 2000. For details about a case where the second magnetic control assembly 3020 changes the magnetic field of the second connection assembly 2031, specifically refer to the above case where the first magnetic control assembly 3010 changes the magnetic field of the first connection assembly 1011. Details are not described herein again.

[0169] In this embodiment, the first docking assembly 1010 may be provided on one side or each of a plurality of sides of the cleaning device 1000. For example, the first docking assembly 1010 may be provided on each of a left side and a right side of the cleaning device 1000, the right side or the left side, or the bottom of the cleaning device 1000. A person skilled in the art may correspondingly dispose the first docking assembly 1010 at an appropriate position based on a return manner of the cleaning device 1000. An example in which the carrying assembly 2000 is provided on the pool wall, and the cleaning device 1000 returns along the pool wall is used. The first docking assembly 1010 is only provided on the right side of the cleaning device 1000, and the left side of the cleaning device 1000 may face the pool wall when the cleaning device 1000 performs a task. In this case, the first docking assembly 1010 cannot be magnetically attracted to the second docking assembly 2030, so that inappropriate attraction is not likely to occur. When the cleaning device 1000 needs to return to the carrying assembly 2000, the cleaning device 1000 only needs to change a posture, enabling the right side to face the pool wall, so that the first docking assembly 1010 can approach and be connected to the second docking assembly 2030.

[0170] In addition, that the cleaning device 1000 moves away from the carrying assembly 2000 is not limited to the above manner of changing the magnetic field of the first connection assembly 1011, changing the magnetic field of the second connection assembly 2031, or changing both the magnetic field of the first connection assembly 1011 and the magnetic field of the second connection assembly 2031. For example, in a specific embodiment, a driving force may be applied to the cleaning device 1000, and the cleaning device 1000 is driven under the driving force to move. A magnitude of the driving force may change. When the driving force increases to be greater than the magnetic attraction force between the first connection assembly 1011 and the second connection assembly 2031, the cleaning device 1000 moves away from the carrying assembly 2000 because the driving force directly overcomes the magnetic attraction force.

[0171] In some specific embodiments, a specific implementation in which the first magnetic control assembly 3010 changes the magnetic field of the first connection assembly 1011 may be that the first magnetic control assembly 3010 is electrically connected to the first connection assembly 1011, and when the first connection assembly 1011 is not powered on, the first connection assembly 1011 is magnetic. When the first connection assembly 1011 is powered on by using the first magnetic control assembly 3010, magnetism of the first connection assembly 1011 is eliminated or weakened. Similarly, a specific implementation in which the second magnetic control assembly 3020 changes the magnetic field of the second connection assembly 2031 may be that the second magnetic control assembly 3020 is electrically connected to the second connection assembly 2031, and when the second connection assembly 2031 is not powered on, the second connection assembly 2031 is magnetic. When the second connection assembly 2031 is powered on by using the second magnetic control assembly 3020, magnetism of the second connection assembly 2031 is eliminated or weakened.

[0172] When the first connection assembly 1011 is not powered on by using the first magnetic control assembly 3010 or the second connection assembly 2031 is not powered on by using the second magnetic control assembly 3020, the cleaning device 1000 only needs to approach the carrying assembly 2000 to be directly magnetically fixed to the carrying assembly 2000. When the cleaning device 1000 needs to move away from the carrying assembly 2000, the first connection assembly 1011 only needs to be temporarily powered on by using the first magnetic control assembly 3010, the second connection assembly 2031 is temporarily powered on by using the second magnetic control assembly 3020, or both the first connection assembly 1011 and the second connection assembly 2031 are powered on, so that the first docking assembly 1010 is magnetically disengaged from the second docking assembly 2030.

[0173] Based on the above disposition, compared with a case where the first connection assembly 1011 is powered on, the second connection assembly 2031 is powered on, or both the first connection assembly 1011 and the second connection assembly 2031 are powered on to have magnetism, or the first connection assembly 1011 is not powered on, the second connection assembly 2031 is not powered on, or both the first connection assembly 1011 and the second connection assembly 2031 are not powered on to lose magnetism, in this embodiment, a current only needs to be temporarily provided to the first connection assembly 1011 or the second connection assembly 2031, enabling the cleaning device 1000 to be separated from the carrying assembly 2000 without consuming electric energy for a long time to maintain the magnetism of the first connection assembly 1011 or the magnetism of the second connection assembly 2031. This consumes less energy and helps improve endurance performance of the cleaning system 1.

[0174] A specific implementation in which the magnetism of the first connection assembly 1011 is eliminated when power is supplied, and the first connection assembly 1011 has magnetism when power is not supplied may be that another magnetic field is generated through the current when power is supplied, and the another magnetic field interferes with the original magnetic field of the first connection assembly 1011, so that the magnetism of the first connection assembly 1011 is weakened.

[0175] Refer to FIG. 6 and FIG. 8. FIG. 6 is a schematic structural diagram of a second embodiment of a first docking assembly according to the present disclosure. FIG. 7 is a schematic structural diagram of a third embodiment of a first docking assembly according to the present disclosure. FIG. 8 is a schematic structural diagram of a fourth embodiment of a first docking assembly according to the present disclosure. In other specific embodiments, a specific implementation in which the first magnetic control assembly 3010 changes the magnetic field of the first connection assembly 1011 may be that the first magnetic control assembly 3010 is connected to the first connection assembly 1011, and the first magnetic control assembly 3010 may control the first connection assembly 1011 to move relative to the second docking assembly 2030, to change a position or an orientation of the first connection assembly 1011, so that the first connection assembly 1011 is magnetically attracted to or is magnetically disengaged from the second connection assembly 2031.

[0176] Specifically, when the first connection assembly 1011 moves away from the second connection assembly 2031, the magnetic attraction force between the first connection assembly 1011 and the second connection assembly 2031 decreases, and when the first connection assembly 1011 moves close to the second connection assembly 2031, the magnetic attraction force between the first connection assembly 1011 and the second connection assembly 2031 increases. When the orientation of the first connection assembly 1011 changes, the magnetic attraction force between the first connection assembly 1011 and the second connection assembly 2031 changes. For example, each of the first connection assembly 1011 and the second connection assembly 2031 is a magnet, and the orientation of the first connection assembly 1011 changes, enabling magnetic poles of the first connection assembly 1011 and the second connection assembly 2031 to change from being opposite to being the same, so that the magnetic force between the first connection assembly 1011 and the second connection assembly 2031 is changed from attraction to repulsion.

[0177] Specifically, the first magnetic control assembly 3010 may control the first connection assembly 1011 to linearly move relative to the second docking assembly 2030 or rotate relative to the second docking assembly 2030. For example, the first magnetic control assembly 3010 may include a first push-pull rod 3011. The first connection assembly 1011 is connected to the first push-pull rod 3011. The first push-pull rod 3011 may move telescopically relative to the second docking assembly 2030 to drive the first connection assembly 1011 to be close to or away from the second docking assembly 2030. The first push-pull rod 3011 may be a screw structure. The first push-pull rod 3011 is controlled to move telescopically, enabling the position of the first connection assembly 1011 to be changed, so that a state of magnetic attraction between the first connection assembly 1011 and the second docking assembly 2030 is changed. A structure of the first push-pull rod 3011 may be set based on an actual situation, provided that the first push-pull rod can move telescopically. This is not limited herein.

[0178] For another example, the first magnetic control assembly 3010 includes a first rotation shaft 3012. The first connection assembly 1011 is connected to the first rotation shaft 3012. The first magnetic control assembly 3010 may drive the first connection assembly 1011 to rotate around the first rotation shaft 3012, enabling the first connection assembly 1011 to be in a first posture or a second posture. When the first connection assembly 1011 is in the first posture, the first connection assembly 1011 is attracted to the second docking assembly 2030. When the first connection assembly 1011 is in the second posture, the first connection assembly 1011 is magnetically disengaged from the second docking assembly 2030. The first rotation shaft 3012 may be provided to change only the orientation of the first connection assembly 1011 without changing the position of the first connection assembly 1011. For example, two magnetic poles of the first connection assembly 1011 are distributed at two opposite ends. The first rotation shaft 3012 is connected between the two magnetic poles of the first connection assembly 1011. The first posture is a state in which a magnetic pole that is of the first connection assembly 1011 and that is magnetically attracted to the second connection assembly 2031 faces the second docking assembly 2030. The second posture is a state in which the magnetic pole of the first connection assembly 1011 deviates from the second docking assembly 2030. The first rotation shaft 3012 may alternatively be provided to both change the orientation of the first connection assembly 1011 and drive the first connection assembly 1011, enabling the position of the first connection assembly 1011 to be changed. For example, the first magnetic control assembly 3010 further includes a first fixing arm 3013. The first fixing arm 3013 has two opposite ends. The first connection assembly 1011 is provided at an end portion of the first fixing arm 3013. The first rotation shaft 3012 is connected between the two ends of the first fixing arm 3013. The first rotation shaft 3012 drives the first fixing arm 3013 to rotate. When the first fixing arm 3013 rotates, a position of one end of the first fixing arm 3013 is changed, where the end of the first fixing arm is provided with the first connection assembly 1011. The first connection assembly 1011 may be close to or away from the second docking assembly 2030.

[0179] A specific implementation in which the second magnetic control assembly 3020 changes the magnetic field of the second connection assembly 2031 may also be that the second magnetic control assembly 3020 controls the second connection assembly 2031 to move relative to the first docking assembly 1010. For details, refer to a case where the first magnetic control assembly 3010 controls the first connection assembly 1011 to move relative to the second docking assembly 2030. Details are not described herein again.

[0180] Based on the above disposition, the cleaning device 1000 only needs to control, by using the first magnetic control assembly 3010, a first magnetic component to move relative to the second docking assembly 2030, control, by using the second magnetic control assembly 3020, a second magnetic component to move relative to the first docking assembly 1010, or control, by using the first magnetic control assembly 3010, the first magnetic component to move relative to the second docking assembly and control, by using the second magnetic control assembly 3020, the second magnetic component to move relative to the first docking assembly 1010, so that the first magnetic component can be conveniently controlled to be magnetically attracted to or be magnetically disengaged from the second magnetic component, leading to a flexible design of the cleaning system 1 and convenient use.

[0181] Refer to FIG. 9. FIG. 9 is a schematic structural diagram of a fifth embodiment of a first docking assembly according to the present disclosure. In some specific embodiments, a specific implementation in which the first magnetic control assembly 3010 changes the magnetic field of the first connection assembly 1011 may be that the first connection assembly 1011 is a permanent magnetic chuck. The first connection assembly 1011 includes a first switch 3014. The first magnetic control assembly 3010 is connected to the first switch 3014. The first magnetic control assembly 3010 may drive the first switch 3014 to move to a first position or a second position. When the first switch 3014 is located at the first position, the first connection assembly 1011 is magnetic. When the first switch 3014 is located at the second position, the first connection assembly 1011 is non-magnetic.

[0182] Based on the above disposition, the first magnetic control assembly 3010 only needs to control the first switch 3014 to control the magnetic field of the first connection assembly 1011, leading to simple control and a simple structure.

[0183] Refer to FIG. 10 to FIG. 12. FIG. 10 is a third schematic structural diagram of a cleaning system according to an embodiment of the present disclosure. FIG. 11 is a schematic structural diagram of a first embodiment of a first docking assembly and a second docking assembly according to the present disclosure. FIG. 12 is a schematic structural diagram of a sixth embodiment of a first docking assembly according to the present disclosure. In some other embodiments, a specific implementation in which the first docking assembly 1010 is releasably connected to the second docking assembly 2030 may be that one of the first docking assembly 1010 and the second docking assembly 2030 is provided with a first connection assembly 1011, and the other is provided with a second connection assembly 2031. The first connection assembly 1011 is releasably locked to the second connection assembly 2031. When the first connection assembly 1011 is locked to the second connection assembly 2031, the first connection assembly 1011 and the second connection assembly 2031 form a structural position limit to each other, and the first docking assembly 1010 is connected to the second docking assembly 2030, so that the cleaning device 1000 cannot move relative to the carrying assembly 2000. When the first connection assembly 1011 is unlocked from the second connection assembly 2031, the first docking assembly 1010 is disconnected from the second docking assembly 2030, so that the cleaning device 1000 can move away from the carrying assembly 2000.

[0184] Based on the above disposition, the cleaning device 1000 and the carrying assembly 2000 are locked through a structural position limit formed by locking the first connection assembly 1011 and the second connection assembly 2031, leading to a fixed and reliable connection, so that the cleaning device can dock at the carrying assembly 2000 for a long time.

[0185] In some embodiments, the first connection assembly 1011 includes a movable lock assembly 10111. The second connection assembly 2031 includes a fixing portion 20311. The lock assembly 10111 moves to be locked to or unlocked from the fixing portion 20311. When the lock assembly 10111 is locked to the fixing portion 20311, the lock assembly 10111 is at least partially embedded to one side of the fixing portion 20311. The lock assembly 10111 may rotate, move linearly, or move in another manner, enabling the lock assembly 10111 to be locked to the fixing portion 20311.

[0186] A specific implementation structure configured to allow the lock assembly 10111 to be releasably locked to the fixing portion 20311 may be provided according to an actual situation. This is not limited herein. For example, one end of the lock assembly 10111 is provided with a lock hook. The lock assembly 10111 rotates and drives the lock hook to move, enabling the lock hook to be hooked to one side of the fixing portion 20311 to form a position limit. For another example, the lock assembly 10111 is in a form of a straight rod. The lock assembly 10111 may move telescopically relative to one side of the fixing portion 20311 along a straight line. When the lock assembly 10111 extends, the lock assembly 10111 and the side of the fixing portion 20311 form a position limit. The connection control assembly 3000 controls the lock assembly 10111 to move. The connection control assembly 3000 may include a lock drive component 2062. The lock drive component 2062 is connected to the lock assembly 10111. The lock drive component 2062 drives the lock assembly 10111 to move.

[0187] Based on the above disposition, after the cleaning device 1000 returns to the carrying assembly 2000, the lock assembly is locked to the side of the fixing portion 20311, so that the cleaning device 1000 can be fixed, leading to a simple structure. In addition, the lock assembly 10111 may be controlled by the connection control assembly 3000, and the first connection assembly 1011 and the second connection assembly 2031 can be automatically locked without manually operating the lock assembly 10111, leading to convenient use.

[0188] In some embodiments, the first connection assembly 1011 may further include a positionlimiting groove 10112. The position-limiting groove 10112 includes a first groove wall 10112a and a second groove wall 10112b opposite to each other. A latch inlet 10112c is defined between the first groove wall 10112a and the second groove wall 10112b. The latch inlet 10112c is provided at an end of the position-limiting groove 10112, where the end of the position-limiting groove faces the second connection assembly 2031. One end of the lock assembly 10111 is provided on the first groove wall 10112a, and another end of the lock assembly moves to be connected to the second groove wall 10112b, enabling the latch inlet 10112c to be closed, or the another end of the lock assembly moves away from the second groove wall 10112b, enabling the latch inlet 10112c to be opened. When the fixing portion 20311 is located in the position-limiting groove 10112, the lock assembly 10111 closes the latch inlet 10112c to form a position limit for the fixing portion 20311, and the fixing portion 20311 is locked in the position-limiting groove 10112.

[0189] A manner in which the fixing portion 20311 moves into the position-limiting groove 10112 may be determined based on an actual situation. For example, the position-limiting groove 10112 may be fixed, and the fixing portion 20311 moves close to or away from the positionlimiting groove 10112. Alternatively, the fixing portion 20311 may be fixed, and the positionlimiting groove 10112 moves close to or away from the fixing portion 20311.

[0190] Further, one end of the first groove wall 10112a faces the latch inlet 10112c, and the end may be provided with a first guide inclined surface 10112a1. One end of the second groove wall 10112b faces the latch inlet 10112c, and the end may be provided with a second guide inclined surface 10112b1. In a direction from the first groove wall 10112a to the second groove wall 10112b, a distance between the first guide inclined surface 10112a1 and a bottom wall of the positionlimiting groove 10112 gradually decreases, and a distance between the second guide inclined surface 10112b1 and the bottom wall of the position-limiting groove 10112 gradually increases. In other words, the first guide inclined surface 10112a1 and the second guide inclined surface 10112b1 form a substantially V-shaped opening. The first guide inclined surface 10112a1 and the second guide inclined surface 10112b1 may guide the fixing portion 20311 when the fixing portion 20311 moves toward the position-limiting groove 10112.

[0191] The bottom wall of the position-limiting groove 10112 refers to a groove wall of the position-limiting groove 10112 opposite to the latch inlet 10112c. An inclination angle of each of the first guide inclined surface 10112a1 and the second guide inclined surface 10112b1 may be determined based on an actual situation, for example, 5°, 10°, 15°, 30°, 45°, or 60°. This is not limited herein.

[0192] The fixing portion 20311 may further include a fixing rod 20311a and a position-limiting rod 20311b connected to each other, so that the fixing portion can be conveniently locked to the lock assembly 10111. The second connection assembly 2031 may include a fixing plate. The fixing plate is fixed to the cleaning device 1000 or the carrying assembly 2000. An extension direction of the position-limiting rod 20311b may be perpendicular to an extension direction of the fixing rod 20311a. One end of the fixing rod 20311a is fixed to the fixing plate, and the other end of the fixing rod is connected to the position-limiting rod 20311b. There may be two fixing rods 20311a, and the two fixing rods 20311a are respectively connected to two ends of the position-limiting rod 20311b. Based on the above disposition, stability of the position-limiting rod 20311b can be improved, and the lock assembly 10111 locked to the position-limiting rod 20311b cannot slip off from the two ends of the position-limiting rod 20311b. In this way, the first connection assembly 1011 and the second connection assembly 2031 can be well locked. In addition, the second connection assembly 2031 may alternatively not be provided with a fixing plate, and one end of the fixing rod 20311a may be directly fixed to the cleaning device 1000 or the carrying assembly 2000. One or more fixing rods 20311a may alternatively be provided based on an actual requirement.

[0193] Refer to FIG. 13. FIG. 13 is a schematic structural diagram of a second embodiment of a first docking assembly and a second docking assembly according to the present disclosure. In some other embodiments, the first connection assembly 1011 includes an elastic lock 10113. The second connection assembly 2031 includes a lock groove 20312. The elastic lock 10113 may be locked to the lock groove 20312, and a tensile force threshold is formed. When a driving force is applied to the cleaning device 1000, and the cleaning device needs to be disconnected from the carrying assembly 2000, a tensile force in a direction of pulling out the elastic lock from the lock groove 20312 is formed between the elastic lock 10113 and the lock groove 20312. When the tensile force is greater than the tensile force threshold, the elastic lock 10113 is unlocked from the lock groove 20312. When the tensile force is less than the tensile force threshold, the elastic lock 10113 remains locked to the lock groove 20312. In other words, when the cleaning device 1000 needs to move away from the carrying assembly 2000, a driving force greater than the tensile force threshold only needs to be formed, so that the cleaning device 1000 can be directly disconnected from the carrying assembly 2000.

[0194] Specifically, the lock groove 20312 is provided with an opening 20313. The lock groove 20312 is resilient and can be elastically deformed. In a direction from the first connection assembly 1011 to the second connection assembly 2031, an area of the opening 20313 of the lock groove 20312 is less than a cross-sectional area of a widest portion of the elastic lock 10113. The elastic lock 10113 can enter and move out of the lock groove 20312 when the lock groove 20312 is elastically deformed to enlarge the opening 20313. The widest portion of the elastic lock 10113 is a portion, of the elastic lock 10113, with a largest size in a direction perpendicular to the direction from the first connection assembly 1011 to the second connection assembly 2031. When the cleaning device 1000 approaches and is connected to the carrying assembly 2000, the elastic lock 10113 is aligned with the opening 20313 and squeezes the lock groove 20312, forcing the lock groove 20312 to be elastically deformed. The lock groove 20312 is elastically deformed until an area of the opening 20313 is enlarged to be greater than or equal to the cross-sectional area of the widest portion of the elastic lock 10113. When the area of the opening 20313 is greater than or equal to the cross-sectional area of the widest portion of the elastic lock 10113, the elastic lock 10113 enters the lock groove 20312 and then is locked to the lock groove. When a driving force is applied to the cleaning device in a direction in which the cleaning device 1000 moves away from the carrying assembly 2000, the cleaning device 1000 drives the elastic lock 10113 to move in a direction of pulling out the elastic lock from the lock groove 20312. The elastic lock 10113 squeezes the interior of the lock groove 20312, causing the lock groove 20312 to be elastically deformed until the area of the opening 20313 of the lock groove 20312 is enlarged to be greater than or equal to the cross-sectional area of the widest portion of the elastic lock 10113. When the area of the opening 20313 is greater than or equal to the cross-sectional area of the widest portion of the elastic lock 10113, the elastic lock 10113 is pulled out from the lock groove 20312 and then is unlocked from the lock groove.

[0195] Based on the above disposition, the lock groove 20312 is elastically deformed, enabling the elastic lock 10113 to be locked to or unlocked from the lock groove, without providing a complicated fixing structure, leading to simple structures of the first connection assembly 1011 and the second connection assembly 2031 and a stable connection between the cleaning device 1000 and the carrying assembly 2000.

[0196] In this embodiment, a magnitude of the driving force applied to the cleaning device 1000 may be controlled by the connection control assembly 3000. When the cleaning device 1000 needs to be disconnected from the carrying assembly 2000, the connection control assembly 3000 may directly control the cleaning device 1000 to output a driving force greater than the tensile force threshold. When the cleaning device 1000 is connected to the carrying assembly 2000, the connection control assembly 3000 may also control the cleaning device 1000 to temporarily increase the driving force, so that the elastic lock 10113 squeezes the lock groove 20312, enabling the lock groove to be elastically deformed. In this way, the cleaning device is connected to the carrying assembly 2000.

[0197] Further, the connection control assembly 3000 may further be provided with a sensing assembly 4000. The sensing assembly 4000 detects relative positions of the elastic lock 10113 and the lock groove 20312. The cleaning device 1000 may further include a control assembly 1154. The control assembly 1154 may control, based on a detection result of the sensing assembly 4000, the driving force applied to the cleaning device 1000. For example, when the cleaning device 1000 needs to be disconnected from the carrying assembly 2000, the control assembly 1154 may control the cleaning device 1000 to output a driving force greater than the tensile force threshold. In this case, if the sensing assembly 4000 detects that the elastic lock 10113 is not separated from the lock groove 20312, it indicates that the tensile force threshold may be changed due to material aging and the like, and the control assembly 1154 may further control, based on the detection result, the driving force to be increased until the sensing assembly 4000 detects that the elastic lock 10113 is separated from the lock groove 20312.

[0198] Structures of the first docking assembly 1010 and the second docking assembly 2030 are not limited to a configuration manner in the above embodiment. The structure of the second docking assembly 2030 may alternatively be configured identically or cooperatively with reference to descriptions of the embodiment of the first docking assembly 1010. Details are not described herein again.

[0199] Refer to FIG. 14 to FIG. 16. FIG. 14 is a first schematic structural diagram of a carrying assembly according to an embodiment of the present disclosure. FIG. 15 is a second schematic structural diagram of a carrying assembly according to an embodiment of the present disclosure. FIG. 16 is an exploded diagram of a carrying assembly according to an embodiment of the present disclosure. In some embodiments, the carrying assembly 2000 is configured to carry the cleaning device 1000 to move, enabling the cleaning device to enter or leave the pool. The carrying assembly 2000 includes a carrying component 2040. The carrying component 2040 includes a first end 2041 and a second end 2042 opposite to each other. A carrying surface 2043 is formed between the first end 2041 and the second end 2042. The carrying component 2040 at least has a first pose. When the carrying component 2040 is in the first pose, the second end 2042 is located below a minimum preset water level of the pool. In this case, the cleaning device 1000 may move from the pool to the carrying surface 2043 or move from the carrying surface 2043 to the pool.

[0200] The minimum preset water level is a theoretically lowest water surface required for using the carrying assembly 2000. A specific manner in which the carrying component 2040 carries the cleaning device 1000 to move, enabling the cleaning device to enter or leave the pool may be that the cleaning device 1000 moves actively along the carrying surface 2043, or the cleaning device 1000 is driven by the carrying surface 2043 to move.

[0201] Based on the above disposition, the cleaning device 1000 can enter or leave the pool through the carrying component 2040, and the cleaning device 1000 can be maintained on the poolside after returning to the carrying assembly 2000 without submerging in water for a long time. This helps improve a service life of the cleaning device 1000. In addition, the cleaning device 1000 does not need to be manually carried and placed or retrieved, but can independently leave the water through the carrying assembly 2000, leading to convenient use.

[0202] In some embodiments, the carrying assembly 2000 further includes a support component 2050. The support component 2050 is provided on the poolside. The support component 2050 is connected to the carrying component 2040 and supports the carrying component 2040. When the cleaning device 1000 leaves the pool through the carrying component 2040, the cleaning device 1000 may move to the support component 2050 and then dock at or move away from the support component 2050.

[0203] In some embodiments, when the carrying component 2040 is in the first pose, the first end 2041 of the carrying component 2040 is located at the edge of the pool. The second end 2042 obliquely extends from the edge of the pool into the pool. The cleaning device 1000 may directly move along the carrying surface 2043 from the second end 2042 to the first end 2041 to leave the pool or from the first end 2041 to the second end 2042 to enter the pool. When the carrying assembly 2000 is provided with the support component 2050, the first end 2041 may be fixedly connected to the support component 2050. The support component 2050 supports the first end 2041, enabling the carrying component 2040 to remain in the first pose.

[0204] Refer to FIG. 17 and FIG. 18. FIG. 17 is a schematic diagram of a second pose of a carrying component of a carrying component according to an embodiment of the present disclosure. FIG. 18 is a schematic structural diagram of a carrying assembly according to another embodiment of the present disclosure. In some other embodiments, the carrying component 2040 may actively move. When the carrying component 2040 is in the first pose, the first end 2041 of the carrying component 2040 may be located at the edge of the pool, and the second end 2042 may extend from the edge of the pool into the pool, or the first end 2041 may be located below the water surface, that is, the entire carrying component 2040 is located below the water surface. The carrying component 2040 further has a second pose. The carrying component 2040 can be switched at least from the first pose to the second pose. When the carrying component 2040 is in the second pose, the cleaning device 1000 can move out of the pool. In this case, the second end 2042 may be located above the minimum preset water level. The carrying component 2040 may rotate or may be raised, enabling the carrying component to be switched from the first pose to the second pose. A specific posture in which the carrying component 2040 is in the second pose may be set based on a movement manner of the carrying component 2040. For example, when the carrying component 2040 is in the second pose, the carrying component may be in a state in which the carrying component rotates until the carrying surface 2043 is parallel to the water surface. Alternatively, when the carrying component 2040 is in the second pose, the carrying component may be in a state in which the carrying component is linearly raised until the second end 2042 is located above the water surface. When the carrying component 2040 is switched from the first pose to the second pose, the carrying component 2040 drives the cleaning device 1000 to leave the pool.

[0205] In this embodiment, the second docking assembly 2030 may be provided on the carrying surface 2043 or at another position on the carrying assembly 2000. The second docking assembly 2030 is connected to the first docking assembly 1010, enabling the cleaning device 1000 to be fixed to the carrying surface 2043. When the cleaning device 1000 is connected to the carrying surface 2043 through the first docking assembly 1010 and the second docking assembly 2030, the cleaning device 1000 cannot move relative to the carrying surface 2043, and when the first docking assembly 1010 is disconnected from the second docking assembly 2030, the cleaning device 1000 can move relative to the carrying surface 2043. Therefore, in a process in which the carrying component 2040 moves and drives the cleaning device 1000 to enter or leave the pool, the cleaning device 1000 can be locked to the carrying surface 2043 and is less likely to slip off the carrying surface 2043, leading to stable use.

[0206] In some specific embodiments, the second end 2042 of the carrying component 2040 is provided with a guide component 20421. The guide component 20421 is configured to assist the cleaning device 1000 in moving from the pool to the carrying component 2040. The guide component 20421 may be configured based on an actual situation. For example, the guide component 20421 may be specifically two flaps 20421a provided on a left side and a right side of the carrying surface 2043 and provided starting from the second end 2042. The two flaps 20421a are obliquely provided in a direction from the first end 2041 to the second end 2042 to form an opening, and each flap is a guide inclined surface. The cleaning device 1000 is guided by the guide inclined surfaces to move toward the first end 2041.

[0207] For another example, the guide component 20421 may be specifically two flaps 20421a provided on a left side and a right side of the carrying surface 2043 and provided starting from the second end 2042. Several guide wheels are provided on a side of each of the two flaps 20421a to form the guide component 20421, where the side of each of the two flaps faces a center of the carrying surface 2043. The cleaning device 1000 is guided by the guide wheels to move toward the first end 2041. Further, a guide groove (not shown in the figure) matching the guide wheel may be further provided on a side wall of the cleaning device 1000. The guide groove may extend in a direction parallel to the carrying surface 2043. When the cleaning device 1000 moves from the pool to the carrying component 2040, the guide wheel may be embedded in a corresponding guide groove and roll in contact with a bottom wall or a side wall of the guide groove. The cleaning device 1000 is limited by the guide wheels and can only move in a direction parallel to the carrying surface 2043.

[0208] In some embodiments, the carrying assembly 2000 includes a drive assembly 2060. The drive assembly 2060 is connected to the carrying component 2040. The drive assembly 2060 may output power and drive the carrying component 2040 to move. A manner in which the drive assembly 2060 drives the carrying component 2040 may be set correspondingly based on a movement manner of the carrying component 2040. For example, when the carrying component 2040 rotates, the drive assembly 2060 may include a rotation shaft 2061 and a drive component 2062. The rotation shaft 2061 is connected to the carrying component 2040 and is driven by the drive component 2062 to rotate. The rotation shaft 2061 rotates to drive the carrying component 2040 to rotate. When the carrying component 2040 is linearly raised / lowered, the carrying assembly 2000 may include a lift assembly 2070. The lift assembly 2070 is connected to the carrying component 2040. The drive component 2062 is connected to the lift assembly 2070 and drives the lift assembly 2070 to be raised / lowered, to drive the carrying component 2040 to be raised / lowered.

[0209] In some specific embodiments, the carrying component 2040 rotates from the first pose to the second pose. The carrying component 2040 may rotate around the first end 2041, enabling the second end 2042 to be located above the water surface, so that the cleaning device 1000 is driven to leave the water. Then, the cleaning device 1000 may move away from the carrying surface 2043 from the first end 2041. The drive assembly 2060 may be connected to the first end 2041.

[0210] Refer to FIG. 19. FIG. 19 is a schematic diagram of a third pose of a carrying component of a carrying component according to an embodiment of the present disclosure. In some specific embodiments, the carrying component 2040 may further have a third pose. The carrying assembly 2000 includes a support component 2050. When the carrying component 2040 rotates to the third pose, the carrying surface 2043 faces the support component 2050. The carrying surface 2043 may be parallel to and spaced from the support component 2050. A first accommodation space 2010 is defined between the carrying surface 2043 and the support component 2050, and the first accommodation space 2010 is configured to accommodate the cleaning device 1000.

[0211] Based on the above disposition, when the cleaning device 1000 leaves the pool, the cleaning device 1000 may be located in the first accommodation space 2010. In this case, the carrying component 2040 is located above the cleaning device 1000 to shield the cleaning device 1000 from light irradiated to the cleaning device from the top and falling debris. In this way, the following case is less likely to occur: The cleaning device 1000 ages due to sunlight irradiation for a long time and the cleaning device is dirty due to accumulation of debris, so that the cleaning device can be well stored.

[0212] In other specific embodiments, the carrying component 2040 includes a first carrying component 2044 and a second carrying component 2045 connected to the first carrying component 2044. The first carrying component 2044 is provided with a first carrying surface 20441. The second carrying component 2045 is provided with a second carrying surface 20451. The first carrying surface 20441 is connected to the second carrying surface 20451 to form the carrying surface 2043. In other words, the first carrying component 2044 and the second carrying component 2045 are spliced to form the carrying component 2040. The carrying assembly 2000 includes a support component 2050. One end of the first carrying component 2044 is rotatably connected to the support component 2050, and another end of the first carrying component 2044 is rotatably connected to the second carrying component 2045. When the first carrying component 2044 rotates, the first carrying component 2044 drives the second carrying component 2045 to rotate. When the first carrying surface 20441 and the second carrying surface 20451 rotate to face the support component 2050, a second accommodation space 2020 is defined by the support component 2050, the first carrying surface 20441, and the second carrying surface 20451. The second accommodation space 2020 is configured to accommodate the cleaning device 1000.

[0213] Based on the above disposition, the cleaning device 1000 may be located in the second accommodation space 2020. In this case, the second carrying component 2045 is located above the cleaning device 1000, and the first carrying component 2044 is located on one side of the cleaning device 1000. The first carrying component and the second carrying component can shield the cleaning device 1000 from light irradiated to the cleaning device and falling debris. In this way, the following case is less likely to occur: The cleaning device 1000 ages due to sunlight irradiation for a long time and the cleaning device is dirty due to accumulation of debris, so that the cleaning device can be well stored.

[0214] In some specific embodiments, the carrying component 2040 rotates to a retracted posture after the cleaning device 1000 enters or leaves the pool. The retracted posture may be a posture in which the carrying component 2040 rotates to be close to the pool wall, or the carrying component 2040 rotates to be close to the support component 2050. A specific retracted posture may be preset based on an actual condition and experience.

[0215] Refer to FIG. 21 and FIG. 22. FIG. 21 is a first schematic structural diagram of a carrying assembly according to still another embodiment of the present disclosure. FIG. 21 is a first schematic structural diagram of a carrying assembly according to still another embodiment of the present disclosure. FIG. 22 is a second schematic structural diagram of a carrying assembly according to still another embodiment of the present disclosure. In some specific embodiments, the carrying component 2040 is raised from the first pose to the second pose. The carrying assembly 2000 further includes a support component 2050. The support component 2050 is provided with a lift assembly 2070 configured to drive the carrying component 2040 to move close to or away from the water surface. A direction in which the carrying component 2040 is raised / lowered may be perpendicular to the water surface or tilt relative to the water surface, provided that the carrying component can move close to or away from the water surface. When the carrying component 2040 is in the first pose, the second end 2042 is located below the water surface or located close to the waterline. The first end 2041 may be located below or located above the water surface or may be located close to the waterline. When the carrying component 2040 is raised from the first pose to the second pose, the second end 2042 is raised to be located above the water surface, that is, the carrying component 2040 is at least partially raised out of the water. The cleaning device 1000 may be connected to the carrying surface 2043 through the first docking assembly 1010 and the second docking assembly 2030 and may be raised / lowered with the carrying surface 2043, so that the cleaning device 1000 enters and / or leaves the water.

[0216] The lift assembly 2070 may be manually driven or driven by the drive assembly 2060 to be raised / lowered. The drive assembly 2060 may be a drive motor, an air cylinder, or another apparatus for providing power. The drive assembly 2060 may be directly connected to the lift assembly 2070 to drive the lift assembly 2070 to be raised / lowered, or the drive assembly 2060 may be connected to a transmission device, and the transmission device indirectly drives the lift assembly 2070 to be raised / lowered. The transmission device may be provided between the drive assembly 2060 and the lift assembly 2070, and the transmission device may be configured as, for example, a gear, a belt, a cable, or a spool.

[0217] In some specific embodiments, the lift assembly 2070 includes a guide component (not shown in the figure), and the carrying component 2040 is capable of moving in a direction defined by the guide component.

[0218] In some specific embodiments, the flap 20421a is provided on at least one of the left side or the right side of the carrying component 2040 and configured to allow the cleaning device 1000 to generate in-position information after being in contact with a position-limiting structure.

[0219] In some specific embodiments, the carrying component 2040 is provided with at least one in-position sensor (not shown in the figure). The in-position sensor is configured to send inposition prompt information to the cleaning device 1000 when detecting that the cleaning device 1000 reaches a preset position.

[0220] In some specific embodiments, the carrying component 2040 may rotate relative to the support component 2050 to change an angle between the carrying component 2040 and the support component 2050 or an angle between the carrying component 2040 and the water surface, enabling a slope of the carrying component 2040 relative to the support component 2050 to be reduced, so that the cleaning device 1000 on the carrying component 2040 can automatically move away from the carrying component 2040 after leaving the pool; or enabling a slope of the carrying component 2040 relative to the water surface to be reduced, so that the cleaning device 1000 on the carrying component 2040 can gently enter the pool.

[0221] In some other embodiments, the carrying assembly 2000 is configured to fix the cleaning device 1000 and allow the cleaning device 1000 to dock. The second docking assembly 2030 is provided on a side of the carrying assembly 2000, where the side of the carrying assembly faces the pool. When the cleaning device 1000 is close to the carrying assembly 2000, the first docking assembly 1010 of the cleaning device 1000 may be connected to the second docking assembly 2030, and then the cleaning device 1000 may be fixed to the carrying assembly 2000. Based on the above disposition, after the cleaning device 1000 returns to the carrying assembly 2000, the cleaning device may dock at the carrying assembly, the cleaning device may be changed, the cleaning device may be self-cleaned, and a reagent may be replaced and replenished. In addition, the cleaning device does not move with a water flow, without affecting use of the pool, and the cleaning device does not need to be retrieved out of the water, leading to convenient use.

[0222] In some embodiments, when the cleaning device 1000 moves on the water surface, at least one of the first docking assembly 1010 or the second docking assembly 2030 may adapt to a change in the water level of the pool, so that the first docking assembly can be connected to the second docking assembly. That the first docking assembly 1010 and the second docking assembly 2030 may adapt to the change in the water level of the pool means that the first docking assembly 1010 and / or the second docking assembly 2030 may be always at least partially located on or located close to the water surface of the pool when the water level of the pool is changed, and one of the first docking assembly 1010 and the second docking assembly 2030 may be connected to a portion of the other of the first docking assembly and the second docking assembly, where the portion is located on or located close to the water surface of the pool.

[0223] In some embodiments, that the first docking assembly 1010 adapts to the change in the water level of the pool may mean that a position of the entire cleaning device 1000 may vary with the water level, or the first docking assembly 1010 may move relative to the cleaning device 1000 to adapt to the change in the water level. That the second docking assembly 2030 adapts to the change in the water level of the pool may mean that a position of the entire carrying assembly 2000 may vary with the water level, or the second docking assembly 2030 may move relative to the carrying assembly 2000 to adapt to the change in the water level.

[0224] Based on the above disposition, the cleaning device 1000 is less likely to be unable to be connected to the second docking assembly 2030 due to the change in the water level, so that the cleaning system 1 can be used stably.

[0225] Further, in one embodiment, as shown in FIG. 4, the carrying assembly 2000 includes a water level adaptation assembly 2080. The water level adaptation assembly 2080 is configured to adjust, based on the water level of the pool, the second docking assembly 2030 to be located close to the waterline of the pool or adjust the position of the carrying component 2040, enabling the cleaning device 1000 to dock at the carrying assembly 2000 or enabling the carrying component to float freely based on the change in the water level of the pool.

[0226] In some embodiments, the water level adaptation assembly 2080 includes a float component 2081 and a guide assembly 2082. The guide assembly 2082 is configured to define a motion direction of the second docking assembly 2030 or the carrying component 2040, and the float component 2081 is configured to drive the second docking assembly 2030 or the carrying component 2040 to move based on the change in the water level of the pool. Specifically, the guide assembly 2082 is provided at the edge of the pool. The float component 2081 floats based on the change in the water level of the pool. The float component 2081 is slidably connected to the guide assembly 2082. The float component 2081 slides up and down on the guide assembly 2082 based on the change in the water level. The float component 2081 is provided with the second docking assembly 2030. In this way, the guide assembly 2082 can guide the float component 2081 and limit a position of the float component 2081, and the float component 2081 can stably rise and fall with the water level of the pool and is less likely to drift along the water surface due to the water flow, so that the cleaning device 1000 can be better aligned with the second docking assembly 2030.

[0227] In some other embodiments, the cleaning device 1000 is provided with a float component (not shown in the figure). The float component is provided with the first docking assembly 1010. The float component is coupled in the cleaning device 1000. The float component is provided with a movement component and a charging receiver 1020 or a communication component. When the cleaning device 1000 is close to the carrying assembly 2000, and the cleaning device 1000 only needs to be charged or perform a communication task, the float component may be released by the cleaning device 1000 to float to the water surface. The float component is driven by the movement component to move to the carrying assembly 2000, so that the first docking assembly 1010 can be connected to the second docking assembly 2030 on the carrying assembly 2000. Alternatively, the float component may be provided on the carrying assembly 2000. The float component is provided with the second docking assembly 2030. The float component may be coupled in the carrying assembly 2000. The float component is provided with a movement component and a charging assembly or a communication component. When the cleaning device 1000 moves close to the carrying assembly 2000, the float component may be released to float to the water surface and driven by the movement component to move close to the cleaning device 1000, so that the first docking assembly 1010 is docked with the second docking assembly 2030.

[0228] In some other embodiments, when the cleaning device 1000 moves underwater, the second docking assembly 2030 is at least partially located below the water surface. The first docking assembly 1010 may be connected to a portion of the second docking assembly 2030, where the portion is located below the water surface. Alternatively, there may be a plurality of second docking assemblies provided sequentially in a height direction of the pool wall, so that at least one of the plurality of second docking assemblies is located below the water surface, and the first docking assembly is connected to the second docking assembly located below the water surface.

[0229] Refer to FIG. 23. FIG. 23 is a fourth schematic structural diagram of a cleaning system according to an embodiment of the present disclosure. In some specific embodiments, as shown in FIG. 22, the second docking assembly 2030 extends from the water surface of the pool or the vicinity of the water surface to underwater. Each position on the second docking assembly 2030 may be connected to the first docking assembly 1010. Alternatively, a plurality of second docking assemblies 2030 are sequentially arranged along the height direction of the pool wall, and at different height positions (for example, a position above the water surface, a position on the water surface, and a position below the water surface), there is a second docking assembly 2030 capable of being connected to the first docking assembly 1010. In this way, regardless of whether the cleaning device 1000 is capable of moving on the water surface, moving below the water surface, or moving on the water surface and below the water surface, the cleaning device 1000 can be well connected to the second docking assembly 2030.

[0230] In some other specific embodiments, the second docking assembly 2030 can rise and fall along a direction perpendicular to the water surface. When the cleaning device 1000 moves underwater, the second docking assembly 2030 may sink from the water surface to a corresponding depth underwater and then be connected to the first docking assembly 1010. Alternatively, when the cleaning device 1000 moves on the water surface, the second docking assembly 2030 may float up from underwater to the water surface and then be connected to the first docking assembly 1010. The second docking assembly 2030 may rise and fall with the help of a buoyancy cavity, an electric slide rail, or the like. This is not limited herein.

[0231] In some embodiments, the carrying assembly 2000 may further implement some other functions, for example, spreading a reagent into the water. After the cleaning device 1000 returns to and is fixed to the carrying assembly 2000 or is carried by the carrying assembly 2000 to move out of the pool, the carrying assembly 2000 may be further configured to, but is not limited to, draw in debris in the cleaning device 1000, charge the cleaning device 1000, replenish or replace a reagent for the cleaning device 1000, and store the cleaning device 1000. Still refer to FIG. 14. The above process may be performed on the carrying component 2040 or on the support component 2050 when the carrying assembly 2000 is provided with the support component 2050.

[0232] In some specific embodiments, the carrying assembly 2000 is provided with the support component 2050. When the cleaning device 1000 moves onto and interacts with the support component 2050, the support component 2050 may be further configured to, but is not limited to, draw in debris in the cleaning device 1000, charge the cleaning device 1000, replenish or replace a reagent for the cleaning device 1000, and store the cleaning device 1000.

[0233] In some embodiments, the support component 2050 includes an accommodation portion 2051. The accommodation portion 2051 is provided with an accommodation groove 2052. The accommodation groove 2052 may be configured to accommodate the cleaning device 1000. The cleaning device 1000 is charged and / or self-cleaned in the accommodation groove 2052. For example, when the carrying assembly 2000 is provided with a photovoltaic system or a selfcleaning system, the photovoltaic system and the self-cleaning system may be provided in the accommodation groove 2052. Alternatively, the carrying assembly further includes an accommodation component. A front end of the support component is connected to the carrying component, and a rear end of the support component is connected to the accommodation component. The accommodation component extends in a vertical direction and intersects with or is perpendicular to the carrying component. The accommodation component is provided with an accommodation groove. An opening of the accommodation groove faces the support component. The cleaning device returns to the support component and then continues to move forward until the cleaning device is accommodated in the accommodation groove. The cleaning device is charged, is self-cleaned, discharges debris, and is replenished with a regent in the accommodation groove.

[0234] Refer to FIG. 24. FIG. 24 is a fifth schematic structural diagram of a cleaning system according to an embodiment of the present disclosure. In some embodiments, the carrying assembly 2000 is provided with a charging assembly 2090. The cleaning device 1000 is provided with a charging receiver 1020. The cleaning device 1000 may be replenished with electrical energy by the charging receiver 1020. The charging assembly 2090 is configured to transmit electrical energy to the charging receiver 1020 to charge the cleaning device 1000. A manner in which the charging assembly 2090 performs charging may be contact charging or wireless charging. When the charging assembly 2090 performs contact charging on the cleaning device 1000, the charging assembly 2090 and the charging receiver 1020 may be electrode plates. The charging assembly 2090 may be in direct contact with the charging receiver 1020 of the cleaning device 1000 to directly transmit electrical energy. When the charging assembly 2090 wirelessly charges the cleaning device 1000, the charging assembly 2090 and the charging receiver 1020 may be induction coils. The charging receiver 1020 may be provided on one side of the cleaning device 1000. When the cleaning device 1000 returns to the carrying assembly 2000, the side provided with the charging receiver 1020 may face the charging assembly 2090, so that the charging receiver 1020 is close to and aligned with the charging assembly 2090. The charging assembly 2090 transmits electrical energy to the charging receiver 1020 through wireless charging.

[0235] The charging assembly 2090 may be located on the carrying component 2040, on the support component 2050, or in any independent space of the carrying assembly 2000 other than the carrying component 2040 and the support component 2050.

[0236] When the charging assembly 2090 charges the cleaning device 1000, the cleaning device 1000 may be further fixed relative to the carrying assembly 2000 through a connection between the first docking assembly 1010 and the second docking assembly 2030, leading to a stable charging process. Docking of the charging assembly 2090 and the charging receiver 1020 may be synchronized with docking of the first docking assembly 1010 and the second docking assembly 2030. The charging assembly 2090 may not perform charging immediately after being docked with the charging receiver 1020, but may perform charging until a charging instruction sent by the cleaning device 1000 or the carrying assembly 2000 is received. The second docking assembly 2030 may surround the charging assembly 2090, and the first docking assembly 1010 may surround the charging receiver 1020. In this way, when the first docking assembly 1010 is connected to the second docking assembly 2030, the charging assembly 2090 can also be well aligned with the charging receiver 1020. Alternatively, after the first docking assembly 1010 is docked with the second docking assembly 2030, the charging assembly 2090 is docked with the charging receiver 1020. The first docking assembly 1010 is first docked with the second docking assembly 2030, so that relative positions of the cleaning device and the carrying assembly are first limited. Then, the charging assembly 2090 is docked with the charging receiver 1020 to ensure that when the charging assembly 2090 and charging receiver 1020 are docked in position, the charging instruction sent by the cleaning device or the carrying assembly is received, and then charging is performed.

[0237] When the carrying assembly 2000 performs contact charging on the cleaning device 1000, and the first docking assembly 1010 is docked with the second docking assembly 2030, the charging assembly 2090 and the charging receiver 1020 may be both located above the water surface to minimize interference with the charging process from water. Alternatively, when the charging receiver 1020 and the charging assembly 2090 are both located underwater after being docked, before the carrying assembly 2000 charges the cleaning device 1000, the carrying component 2040 is first controlled to drive the charging assembly 2090 and the charging receiver 1020 to move above the water surface. For example, before charging is performed, the cleaning device is located on the carrying component, and the carrying component is controlled to move to drive the cleaning device to move, enabling the charging assembly 290 and the charging receiver 1020 to move above the water surface, and then charging is performed; or before charging is performed, the cleaning device is not located on the carrying component, and both the carrying component and the cleaning device are controlled to move toward the water surface to drive the charging assembly and the charging receiver to move above the water surface, and then docking and charging are performed. In other words, the first docking assembly and the second docking assembly may be docked underwater and then move above the water surface, and then charging is performed. In another embodiment, the carrying assembly 2000 performs contact charging on the cleaning device 1000. When the charging receiver 1020 and the charging assembly 2090 are both located underwater after being docked, charging may also be performed underwater.

[0238] A position of the charging assembly 2090 may be determined in correspondence to a motion capability of the cleaning device 1000. For example, when the cleaning device 1000 is capable of moving on the water surface, the charging assembly 2090 may be provided at the waterline of the pool. A charging position of the charging assembly 2090 may be changed relative to the water surface. The cleaning device 1000 moves along the water surface, enabling the cleaning device to be easily aligned with the charging assembly 2090 located at the waterline. When the cleaning device 1000 is capable of moving underwater, the charging assembly 2090 may be provided underwater. The cleaning device 1000 may be directly charged underwater. When the cleaning device 1000 is capable of moving on the water surface and moving underwater, the charging assembly 2090 may be provided at the waterline or underwater or extend from the waterline to an underwater position, and the charging assembly may be docked with the charging receiver 1020 and then charge the charging receiver at any position between the waterline and the underwater position, or a plurality of charging assemblies 2090 may be arranged sequentially in the height direction of the pool wall, and the charging assemblies 2090 may charge the charging receiver at different positions in the height direction of the pool wall. In addition, the charging assembly 2090 may alternatively be provided on the poolside, and the cleaning device 1000 may be docked with and charged by the charging assembly 2090 on the poolside after leaving water.

[0239] Further, in some specific embodiments, the charging assembly 2090 includes a charging component 2091 and an elastic component 2092. The charging component 2091 is configured to transmit electrical energy to the charging receiver 1020. The elastic component 2092 is configured to cause the charging component 2091 to be in full and stable contact with the cleaning device 1000, thereby improving charging efficiency. The elastic component 2092 may apply an elastic force to the charging component 2091 in a direction from the charging component 2091 toward the cleaning device 1000 or apply an elastic force to the cleaning device 1000 in a direction from the cleaning device 1000 toward the charging component 2091. The elastic component 2092 drives the charging component 2091 toward the cleaning device 1000 or drives the cleaning device 1000 toward the charging component 2091. In other words, one of the charging component 2091 and the cleaning device 1000 is elastically driven to be close to the other of the charging component and the cleaning device, so that the charging component 2091 is closer to the charging receiver 1020, thereby reducing a distance between the charging component and the charging receiver and improving charging efficiency.

[0240] When the charging assembly 2090 performs contact charging on the cleaning device 1000, the charging component 2091 may be a metal contact component. The metal contact component may be pressed against the charging receiver 1020 of the cleaning device 1000 to directly conduct electricity and transmit electrical energy. When the charging assembly 2090 wirelessly charges the cleaning device 1000, the charging component 2091 is a wireless coil. The charging component 2091 may be provided inside or on a surface of the carrying assembly 2000. The charging receiver 1020 may alternatively be configured as a wireless coil. The charging receiver 1020 may be provided inside or on a surface of the cleaning device 1000. Magnetic components may be respectively provided at the charging component 2091 and the charging receiver 1020, so that one of the charging component 2091 and the cleaning device 1000 is magnetically driven to be close to the other of the charging component and the cleaning device. In this way, the charging component 2091 and the charging receiver 1020 are quickly and accurately attached to each other, thereby improving wireless charging efficiency. Each of the charging component 2091 and the charging receiver 1020 may be further provided with an anti-corrosion coating to reduce corrosion or rusting of components caused by a humid environment. For example, a first magnetic component is provided around or near the charging component, a second magnetic component is provided around or near the charging receiver, and a magnetic pole of one end of the first magnetic component is opposite to a magnetic pole of one end of the second magnetic component, where the two ends face or are close to each other, to implement magnetic attraction of the first magnetic component and the second magnetic component; or an iron is provided around or near one of the charging component and the charging receiver, and a magnet is provided around or near the other of the charging component and the charging receiver, so that the charging component 2091 and the charging receiver 1020 are quickly and accurately attached under magnetic attraction of the magnet to the iron.

[0241] Refer to FIG. 25. FIG. 25 is a first sectional diagram of a cleaning device according to an embodiment of the present disclosure. In some embodiments, the cleaning device 1000 includes a cleaning device body 1001. The cleaning device body 1001 is provided with at least one first filter assembly 1050, at least one suction assembly 1060, at least one liquid inlet portion 1030, at least one liquid outlet portion 1040, and a movement propulsion assembly 1070.

[0242] The liquid inlet portion 1030 is configured to allow liquid to enter the cleaning device body 1001. The liquid inlet portion 1030 may be provided at a bottom and / or a side portion of the cleaning device body 1001, enabling the cleaning device 1000 to perform at least one of the following tasks: bottom cleaning, wall cleaning, waterline cleaning, water surface cleaning, or the like. The liquid outlet portion 1040 is configured to allow liquid in the cleaning device body 1001 to be discharged. The cleaning device body 1001 may include a liquid outlet portion 1040 located at the top of the cleaning device 1000, a liquid outlet portion 1040 located on a rear side of the cleaning device body 1001, and / or a liquid outlet portion 1040 located on a side surface of the cleaning device body 1001. The movement propulsion assembly 1070 includes a movement assembly and a propulsion assembly. The movement propulsion assembly 1070 is configured to drive the cleaning device 1000 to move on the to-be-cleaned surface or the water surface. The movement assembly is configured to: when the cleaning device is in a first motion state or a second motion state, at least drive the cleaning device to move on the to-be-cleaned surface, and the propulsion assembly is configured to: when the cleaning device is in a third motion state, at least drive the cleaning device to move. The at least one first filter assembly 1050 is at least partially provided inside the cleaning device body 1001, and the first filter assembly 1050 is configured to filter debris-loaded water. The debris-loaded water refers to water carrying debris or suspended substances. The first filter assembly 1050 may separate debris and suspended substances in the debris-loaded water from water. The at least one suction assembly 1060 is provided inside the cleaning device body 1001. The suction assembly 1060 is configured to generate a suction force to guide a flow direction of liquid, so that the liquid enters the liquid inlet portion 1030, passes through the at least one first filter assembly 1050, and then is discharged through the liquid outlet portion 1040.

[0243] In some other embodiments, the cleaning device 1000 may alternatively not include the suction assembly 1060. For example, when the cleaning device 1000 operates on the water surface, the liquid inlet portion 1030 may be provided on a side portion of the cleaning device 1000. When the cleaning device 1000 moves in the pool, the liquid passively flows into the liquid inlet portion 1030 caused by relative movement between the side portion of the cleaning device and the liquid.

[0244] Refer to FIG. 27 to FIG. 29. FIG. 27 is a sixth schematic structural diagram of a cleaning system according to an embodiment of the present disclosure. FIG. 28 is a sectional diagram of a cleaning system according to an embodiment of the present disclosure. FIG. 29 is a second sectional diagram of a cleaning device according to an embodiment of the present disclosure. In some embodiments, the liquid inlet portion 1030 at least includes a first water inlet 1031. The first water inlet 1031 is provided on the cleaning device body 1001. In other words, the liquid enters the cleaning device body 1001 through the first water inlet 1031. The liquid outlet portion 1040 at least includes a first water outlet 1041. The first water outlet 1041 is provided on the cleaning device body 1001. In other words, the liquid is discharged from the cleaning device body 1001 through the first water outlet 1041. The first water outlet 1041 may be provided at the top or a side portion of the cleaning device body 1001. The first water inlet 1031, the first filter assembly 1050, the suction assembly 1060, and the first water outlet 1041 are sequentially in fluid communication to define a first water flow path. Under the guidance of the suction assembly 1060, liquid flowing in a first direction X is generated. The liquid enters the cleaning device body 1001 through the first water inlet 1031, flows toward the first filter assembly 1050 and the suction assembly 1060, and then is discharged through the first water outlet 1041. The debris-loaded water is purified by the first filter assembly 1050 in this process, so that the pool is cleaned.

[0245] The first filter assembly is at least partially accommodated in the cleaning device body and configured to filter liquid entering the first filter assembly. The second water inlet 1032 is provided on a first end portion of the cleaning device, is in fluid communication with the first filter assembly 1050, and is configured as a water inlet for the cleaning device to clean the water surface in the third motion state. The first motion state at least includes a state in which the cleaning device operates on the bottom of the pool. The second motion state at least includes a state in which the cleaning device operates on the pool wall or is parallel to the pool wall and operates. The third motion state at least includes a state in which the cleaning device operates on the water surface. In one embodiment, the first docking assembly is provided on the first end portion of the cleaning device and configured to be docked with the base station.

[0246] In some other embodiments, the cleaning device 1000 does not include the suction assembly 1060. The first water inlet 1031 is provided on a side portion of the cleaning device 1000. The first water outlet 1041 may be provided on a side opposite to the first water inlet 1031. When the cleaning device 1000 operates on the water surface, the cleaning device 1000 moves in the water through the movement propulsion assembly 1070. The first water inlet 1031 on the side portion of the cleaning device 1000 moves relative to the debris-loaded water, causing the debris-loaded water to passively flow into the first water inlet 1031, be pushed to the first filter assembly 1050, and then be discharged through the first water outlet 1041. The debris-loaded water is purified by the first filter assembly 1050 in this process, so that the pool is cleaned. If the first water inlet 1031 is provided on a front side wall of a front portion of the cleaning device body 1001, when the cleaning device moves forward on the water surface, the debris-loaded water passively flows into the first water inlet, is pushed to the first filter assembly 1050, and then is discharged through the first water outlet 1041. If the first water inlet 1031 is provided on a rear side wall of a rear portion of a cleaning device body 1001, when the cleaning device moves backward on the water surface, the debris-loaded water flow passively flows into the first water inlet, is pushed to the first filter assembly 1050, and then is discharged through the first water outlet 1041.

[0247] In one embodiment, as shown in FIG. 25, FIG. 29, or FIG. 64E, the cleaning device includes a suction assembly 1060, and the liquid inlet portion includes at least a first water inlet 1031 and a second water inlet 1032. The first water inlet 1031 is provided at the bottom of the cleaning device body 1001. The first water inlet 1031, the first filter assembly 1050, the suction assembly 1060, and the first water outlet 1041 are sequentially in fluid communication to define a first water flow path for cleaning the bottom of the pool or a side wall of the pool. The second water inlet 1032 is provided at a front portion or a rear portion of the cleaning device body. The second water inlet 1032, the first filter assembly 1050, the suction assembly 1060, and the first water outlet 1041 are sequentially in fluid communication to define a second water flow path for cleaning the water surface and the waterline. As shown in FIG. 25 and FIG. 29, the second water inlet 1032 is provided on a front side wall of the front portion of the cleaning device body. When the cleaning device cleans the water surface, the cleaning device moves forward to clean the water surface. As shown in FIG. 64E, the second water inlet 1032 is provided on a rear side wall of the rear portion of the cleaning device body. When the cleaning device cleans the water surface, the cleaning device moves backward to clean the water surface.

[0248] The first filter assembly includes a first filter box 1051. As shown in FIG. 64E, the first filter box is provided with a first inlet 10511a and a second inlet 10511b. The first inlet is in fluid communication with the first water inlet, so that liquid enters the first filter box through the first water inlet and then is filtered. The second inlet is in fluid communication with the second water inlet, so that liquid on the water surface enters the first filter box through the second water inlet and then is filtered.

[0249] The cleaning device body includes a first accommodation cavity 10013 and a second accommodation cavity 10014. The first filter box 1051 is provided in the first accommodation cavity. The second accommodation cavity includes a first cavity 10014a and a second cavity 10014b. The first cavity is separated from the second cavity. A second liquid discharge opening 10013a is provided on a side wall of the first accommodation cavity, enabling the first accommodation cavity to be in fluid communication with the first cavity. The first water outlet 1041 is provided on the cleaning device body and is in fluid communication with the first cavity. The suction assembly 1060 includes a main water pump 1061. An impeller of the main water pump is provided in the first cavity 10014a, and a main motor of the main water pump is provided in the second cavity 10014b, so that the water inlet, the first filter box, the second liquid discharge opening, the first cavity, and the first water outlet on the body are sequentially in fluid communication to define the first water flow path of the cleaning device.

[0250] A first flap 10511c is provided over the first water inlet and / or the first inlet. A second flap 10511d is provided over the second water inlet and / or the second inlet. When the cleaning device performs water surface cleaning, the first flap is in a closed state to prevent the liquid in the pool from entering the first filter box through the first water inlet, and the second flap is in an open state to allow the liquid to enter the first filter box through the second water inlet and the second inlet. When the cleaning device moves in the water or cleans a bottom wall or a side wall of the pool, the second flap is in a closed state to prevent the liquid from entering the first filter box through the second water inlet, and the first flap is in an open state to allow the liquid to enter the first filter box through the first water inlet and the first inlet. In other words, when the water surface is cleaned, the first flap is in the closed state, and the second flap is in the open state, and when the wall or the bottom of the pool is cleaned, the first flap is in the open state, and the second flap is in the closed state.

[0251] The cleaning device further includes an electronic control box 6000. The electronic control box 6000 includes a sealed cavity. The electronic control box is at least partially provided in the second cavity. The main motor of the main water pump 1061 is provided in the sealed cavity. An output shaft of the main motor extends into the first cavity and is connected to the main impeller 1061a. The electronic control box is configured to accommodate an electronic element of the cleaning device, for example, a battery pack, a drive motor configured to drive the movement assembly to move, and a control unit, so that the electronic element is isolated from the outside.

[0252] In one embodiment, a first partition plate is horizontally provided in the second accommodation cavity. The first partition plate divides the second accommodation cavity into the first cavity and the second cavity that are vertically arranged. The control box is at least partially provided on the first partition plate. For example, the control box includes a box body and an upper cover sealingly provided over a top opening of the box body. The upper cover is provided on the first partition plate, and the box body is provided in the second cavity.

[0253] As shown in FIG. 25, a third liquid discharge opening 10013b is further provided on a side wall of the first accommodation cavity. The third liquid discharge opening is in fluid communication with the second cavity 10014b. A first liquid discharge opening 105 is provided at the bottom of the cleaning device body. The third liquid discharge opening, the second cavity, and the first liquid discharge opening are sequentially in fluid communication to define a second water flow path for rapid water discharge. When the cleaning device is lifted out of the water surface, a third flap 10013c provided over the third liquid discharge opening is opened, and liquid in the first filter box and liquid in the first accommodation cavity are rapidly discharged from the cleaning device through the third liquid discharge opening, the second cavity, and the first liquid discharge opening. The third flap provided over the third liquid discharge opening is in an open state only when the cleaning device leaves the water surface. Otherwise, the third flap is always in a closed state.

[0254] In an implementation, the cleaning device body includes a filter box cavity. The filter box cavity has a first accommodation cavity. The first filter box is provided in the filter box cavity. The second liquid discharge opening and the third liquid discharge opening are both provided on a side wall of the filter box cavity, and the first water inlet and the second water inlet may be provided on the filter box cavity and in fluid communication with the outside, or the first water inlet and the second water inlet may be provided on a housing of the cleaning device body, and the filter box cavity is provided with communication openings, so that the first water inlet is in fluid communication with the first inlet through one communication opening, and the second water inlet is in fluid communication with the second inlet through another communicating opening. The filter box cavity may be mounted to the housing of the cleaning device body or molded to the housing of the cleaning device body as a part of the housing of the cleaning device body.

[0255] Refer to FIG. 31. FIG. 31 is a third sectional diagram of a cleaning device according to an embodiment of the present disclosure. In some embodiments, with reference to FIG. 24 and FIG. 25, the liquid inlet portion 1030 includes a first water inlet 1031 and a second water inlet 1032. The first water inlet 1031 and the second water inlet 1032 are provided on one or more of the top, a side portion, and the bottom of the cleaning device body 1001. When a component such as a roller brush is provided in the cleaning device body 1001, the second water inlet 1032 may alternatively be provided close to the component such as the roller brush. The first water inlet 1031 and the second water inlet 1032 may operate separately or cooperatively. When the second water inlet 1032 is provided at the top of the cleaning device body 1001, the cleaning device 1000 floats up to be close to the water surface, and a posture in which the cleaning device 1000 floats up to be close to the water surface is identical to the posture in which the cleaning device 1000 moves on the bottom of the pool. The second water inlet 1032 is opened, and the suction assembly 1060 causes the second water inlet 1032 to be at least partially located below and close to the water surface, so that debris on the water surface enters the cleaning device 1000 through the second water inlet 1032. When the second water inlet 1032 is provided on the side portion of the cleaning device body 1001, in a process in which the cleaning device 1000 floats up to be close to the water surface, the posture of the cleaning device 1000 is adjusted until the second water inlet 1032 faces the water surface and is located below and close to the water surface, the second water inlet 1032 is at least partially located below the water surface, or the second water inlet 1032 is at least partially located above the water surface.

[0256] It should be noted that a position of the liquid inlet portion 1030 is related to a position of the first filter assembly 1050. When the first filter assembly 1050 is provided on the front portion of the cleaning device 1000, the liquid inlet portion 1030 may be provided on the front portion of the cleaning device 1000. In one embodiment, the second water inlet is provided on the front side surface of the front portion of the cleaning device, and the first water inlet is provided on the bottom of the front portion of the cleaning device. When the first filter assembly 1050 is provided at the rear portion of the cleaning device 1000, the liquid inlet portion 1030 may be provided at the rear portion of the cleaning device 1000. In the above disposition, a filtration path of water is short. For example, when the cleaning device 1000 moves and performs cleaning along the water surface, the first filter assembly 1050 may face a front side of the cleaning device 1000. The first water inlet 1031 may be provided on the front side of the cleaning device 1000. Certainly, to ensure normal operation of the cleaning device 1000, the liquid inlet portion 1030 and the first filter assembly 1050 may alternatively be away from each other. For example, the first water inlet 1031 may be provided at the front portion, and the first filter assembly 1050 may be provided at the rear portion, or the first water inlet 1031 may be provided at the rear portion, and the first filter assembly 1050 may be provided at the front portion. In other words, the filtration path of water is long, but this helps adjust overall weight distribution of the cleaning device 1000.

[0257] In some embodiments, the first water inlet 1031 and the second water inlet 1032 are both in fluid communication with the first filter assembly 1050. The first water inlet 1031 and the second water inlet 1032 are both in fluid communication with the first filter assembly 1050 to improve cleaning efficiency of the cleaning device 1000. In one embodiment, the first water inlet 1031 is in fluid communication with the first filter assembly 1050 for cleaning the bottom of the pool or the pool wall, and the second water inlet 1032 is in fluid communication with the first filter assembly for cleaning the water surface.

[0258] In some embodiments, liquid is discharged through the first water outlet 1041 in a direction away from a central plane a of the cleaning device 1000. The cleaning device 1000 further includes a flow division plate. The flow division plate is located behind the first water outlet 1041. A liquid discharge direction of the first water outlet 1041 tilts backward relative to a normal motion direction of the cleaning device 1000, so that a downward reaction force and a forward reaction force are applied to the cleaning device 1000. The flow division plate is provided behind the first water outlet 1041, to block a backward fluid component. This reduces the forward reaction force applied to the cleaning device 1000 and therefore reduces a motion speed. In this way, the speed of the cleaning device 1000 is easily controlled.

[0259] In some embodiments, the first water outlet 1041 further includes a first liquid discharge sub-opening 10411 and a second liquid discharge sub-opening 10412. Liquid discharge directions of the first liquid discharge sub-opening 10411 and the second liquid discharge sub-opening 10412 may be the same or different. For example, the liquid discharge direction of the first liquid discharge sub-opening 10411 may be substantially upward, and the liquid discharge direction of the second liquid discharge sub-opening 10412 may tilt in a direction opposite to the normal motion direction of the cleaning device 1000; the liquid discharge directions of the first liquid discharge sub-opening 10411 and the second liquid discharge sub-opening 10412 are both substantially upward; or the first liquid discharge sub-opening 10411 and the second liquid discharge sub-opening 10412 may be arranged one behind the other. For example, the first liquid discharge sub-opening 10411 is located in front of the central plane a, and the second liquid discharge sub-opening 10412 is located behind the central plane. Certainly, the first liquid discharge sub-opening 10411 and the second liquid discharge sub-opening 10412 may alternatively be provided substantially side by side, that is, provided in the lateral direction of the cleaning device 1000 or located in front of or behind the central plane a, and the liquid discharge directions may be consistent, for example, may be substantially upward or both tilt at an angle relative to the central plane a.

[0260] The first liquid discharge sub-opening 10411 and the second liquid discharge subopening 10412 can be opened or closed based on a tilt angle of the cleaning device 1000 and / or a current state of the cleaning device 1000. For example, as shown in FIG. 31, the liquid discharge direction of the first liquid discharge sub-opening 10411 is substantially upward, the liquid discharge direction of the second liquid discharge sub-opening 10412 tilts in a direction opposite to the normal motion direction of the cleaning device 1000, the first liquid discharge sub-opening 10411 is located in front of the central plane a, and the second liquid discharge sub-opening 10412 is located behind the central plane. When the cleaning device 1000 cleans the water surface, the second liquid discharge sub-opening 10412 is opened to form a clean water flow channel and provide a part of a forward thrust, and the first liquid discharge sub-opening 10411 is closed to avoid generating downward pressure that causes the front portion of the cleaning device 1000 to be pressed into the water. In this way, normal operation of the first water inlet 1031 is not affected. When the cleaning device 1000 moves in water, the first liquid discharge sub-opening 10411 may be controlled to be opened, and the second liquid discharge sub-opening 10412 may be controlled to be closed. The first liquid discharge sub-opening 10411 provides sufficient downward pressure for operation of the cleaning device 1000, preventing the front portion of the cleaning device 1000 from being lifted, without affecting normal motion and a cleaning effect of the cleaning device 1000. A liquid spraying rate of each of the first liquid discharge sub-opening 10411 and the second liquid discharge sub-opening 10412 may be adjusted based on the tilt angle of the cleaning device 1000 and / or the current state of the cleaning device 1000. For example, when the cleaning device 1000 moves on the bottom wall of the pool, the liquid spraying rate of the first liquid discharge sub-opening 10411 is greater than that of the second liquid discharge sub-opening 10412, causing a spraying force at the first liquid discharge sub-opening 10411 to be greater than that at the second liquid discharge sub-opening 10412. When the cleaning device 1000 moves from a horizontal plane to a downhill slope, the cleaning device 1000 can be quickly attached to the downhill slope, so that the cleaning device 1000 can move more stably. When the cleaning device 1000 climbs a step, especially, moving from a vertical plane of the step to a horizontal plane, liquid sprayed out through the first liquid discharge sub-opening 10411 causes the cleaning device to quickly move from the vertical plane to the horizontal plane, preventing the cleaning device from stalling.

[0261] Refer to FIG. 32 to FIG. 34. FIG. 32 is a first sectional diagram of a first filter assembly according to an embodiment of the present disclosure. FIG. 33 is an enlarged diagram of a portion C shown in FIG. 31. FIG. 34 is an exploded diagram of a first filter assembly according to an embodiment of the present disclosure. In some embodiments, the first filter assembly 1050 includes a first filter box 1051. The first filter box 1051 may be configured for water surface cleaning and underwater cleaning of the pool. The first filter box 1051 may include a filter box water inlet portion 10511. The filter box water inlet portion 10511 is in fluid communication with the liquid inlet portion 1030. The filter box water inlet portion 10511 is configured as an inlet for debris or other impurities in the pool to enter the cleaning device 1000.

[0262] In some embodiments, the first filter assembly 1050 includes at least one first filter box 1051, a first filter layer 10512, at least one flow guide opening 10513, and a cover assembly 10514. The first filter layer 10512 is provided at least on a side wall of the first filter box 1051. The flow guide opening 10513 is provided on the first filter box 1051 and / or the first filter layer 10512. The cover assembly 10514 may be releasably provided over the flow guide opening 10513. As the cleaning device 1000 moves, the first filter box 1051 also includes at least a first filtration state and a second filtration state. When the first filter box 1051 is in the first filtration state, the cover assembly 10514 sealingly covers the flow guide opening 10513. When the first filter box 1051 is in the second filtration state, the cover assembly 10514 is opened to expose the flow guide opening 10513. It may be understood that exposing the flow guide opening 10513 indicates that at least a part of water can flow out of the first filter box 1051 through the flow guide opening 10513. When the cleaning device 1000 climbs a slope or a wall under the water surface or when the first filter layer 10512 is clogged, the first filter assembly 1050 is in the second filtration state. In this case, the first filter assembly 1050 tilts, is inverted, or operates with the cleaning device 1000, and the cover assembly 10514 moves under gravity and / or an external force, for example, a thrust generated by water, enabling the flow guide opening 10513 to be exposed.

[0263] Based on the above disposition, when the first filter assembly 1050 is in the second motion state, the cover assembly 10514 is gradually opened to expose the flow guide opening 10513. At least a part of water in the first filter box 1051 flows out directly through the flow guide opening 10513. This increases an amount of water flowing out of the first filter box 1051. In this way, when the cleaning device 1000 climbs the wall or the slope or when the first filter layer 10512 is clogged to a certain extent, a requirement for an amount of water flowing into the suction assembly 1060 can always be met, so that the cleaning device can stably climb the wall, stably climb the slope, or operate stably. Therefore, the cleaning device can be applied to more situations, for example, underwater cleaning and water surface cleaning. When the suction assembly is turned on, liquid is continuously discharged through the first water outlet. The liquid discharged through the first water outlet applies a reverse thrust to the cleaning device, so that the movement assembly of the cleaning device can be tightly attached to the bottom of the pool, a wall of the pool, or a slope. This ensures stable operation performance of the cleaning device.

[0264] In some embodiments, the filter assembly further includes an adjustment component 10515 mounted on the cover assembly 10514. The adjustment component 10515 is away from a pivot joint between the cover assembly 10514 and the first filter box 1051. The adjustment component 10515 is away from a pivot joint between the cover assembly 10514 and the first filter box 1051. The adjustment component 10515 assists the cover assembly 10514 in covering the flow guide opening 10513 or being opened to expose the flow guide opening 10513.

[0265] In some embodiments, the cleaning device 1000 further includes an in-position detection component for the first filter box (not shown in the figure). The in-position detection component for the first filter box is configured to detect whether the first filter box 1051 is mounted in position in the cleaning device body 1001. Only after the in-position detection component for the first filter box detects that the first filter box 1051 is mounted in position, the cleaning device 1000 can operate normally. This helps prevent ineffective cleaning or a poor cleaning effect due to misoperation, and better improves intelligence of the cleaning device 1000. For example, the cleaning device body is provided with a filter box cavity, and the first filter box is provided in the filter box cavity.

[0266] In some embodiments, as shown in FIG. 33 or FIG. 34, the first filter box 1051 includes a first filter surface 1051a, a second filter surface 1051b, a third filter surface 1051c, and a fourth filter surface 1051d, and optionally includes a fifth filter surface 1051e. The first filter surface 1051a, the second filter surface 1051b, the fourth filter surface 1051d, and the third filter surface 1051c are connected end to end to form a side filter portion of the first filter box 1051. The fifth filter surface 1051e forms a bottom filter portion of the first filter box 1051. In one embodiment, the flow guide opening 10513, the adjustment component 10515, and the cover assembly 10514 are provided on the first filter surface 1051a.

[0267] In one embodiment, each of the first filter surface 1051a, the second filter surface 1051b, the third filter surface 1051c, and the fourth filter surface 1051d includes an inner filter mesh and an outer filter mesh. There may be only one first filter box 1051, and the inner filter mesh and the outer filter mesh are stacked on the same filter box. Certainly, there may be two first filter boxes 1051, namely, an inner filter box 1051 and an outer filter box 1051. The outer filter box 1051 is sleeved outside the inner filter box 1051. The inner filter mesh is provided on the inner filter box 1051, and the outer filter mesh is provided on the outer filter box 1051. In one embodiment, the filter box water inlet portion is provided on the inner filter box, the inner filter mesh performs coarse filtration, and the outer filter mesh performs fine filtration. The liquid enters an inner cavity of the inner filter box through the first water inlet and the filter box water inlet portion for coarse filtration performed by the inner filter mesh, and then enters the outer filter box for fine filtration performed by the outer filter mesh. The filtered liquid passes through the suction assembly and is discharged through the first water outlet. Certainly, the filter box water inlet portion may be provided on the outer filter box, the outer filter mesh performs coarse filtration, and the inner filter mesh performs fine filtration. Certainly, each first filter layer 10512 may alternatively include two or more layers of filter meshes, for example, three, four, or five layers of filter meshes. However, this is not limited thereto. In addition, the filter box 1051 may alternatively include two or more layers of filter meshes.

[0268] In some embodiments, filtration levels of the second filter surface 1051b, the third filter surface 1051c, and the fourth filter surface 1051d are all greater than that of the first filter surface 1051a, that is, the first filter surface 1051a performs coarse filtration, and the second filter surface 1051b, the third filter surface 1051c, and the fourth filter surface 1051d perform fine filtration. For example, the second filter surface 1051b, the third filter surface 1051c, and the fourth filter surface 1051d have a same filtration level and can filter out debris of a same size, and compared with the second filter surface, the first filter surface can filter out smaller debris.

[0269] When the cleaning device moves on the bottom or the wall of the pool, the suction assembly is turned on. The first water outlet 1041 is provided at the top of the cleaning device body. Liquid continuously discharged through the first water outlet 1041 applies a reverse thrust (namely, a third thrust) to the cleaning device, so that the bottom of the cleaning device can be tightly attached to the bottom or the wall of the pool. In this way, it can be ensured that the cleaning device can normally move. In this embodiment, because the first filter surface performs coarse filtration, if at least one or all of the second filter surface, the third filter surface, and the fourth filter surface for fine filtration are clogged, the liquid entering the first filter box through the first water inlet can still flow through the first filter surface, and the liquid driven by the suction assembly can always be discharged through the first water outlet 1041 to apply the reverse thrust to the cleaning device, thereby ensuring that the cleaning device can normally move on the bottom or the wall of the pool. Further, the flow guide opening 10513, the adjustment component 10515, and the cover assembly 10514 are provided on the first filter surface 1051a. When at least one or all of the second filter surface, the third filter surface, and the fourth filter surface for fine filtration are clogged, and even the first filter surface is clogged, the cover assembly is opened to expose the flow guide opening, so that the liquid in the first filter box can flow out through the flow guide opening, thereby meeting a requirement of an amount of water entering the suction assembly. The liquid flowing out through the flow guide opening is driven by the suction assembly to flow out through the first water outlet, thereby ensuring that the liquid discharged through the first water outlet applies the reverse thrust to the cleaning device, so that the cleaning device can move closely along the bottom or the wall of the pool.

[0270] In another embodiment, the filtration levels of the first filter surface 1051a, the second filter surface 1051b, the third filter surface 1051c, and the fourth filter surface 1051d are all different. Alternatively, filtration levels of outer filter meshes of the first filter surface 1051a, the second filter surface 1051b, the third filter surface 1051c, and the fourth filter surface 1051d may be respectively greater than those of inner filter meshes of the first filter surface 1051a, the second filter surface 1051b, the third filter surface 1051c, and the fourth filter surface 1051d, so that the outer filter surfaces perform fine filtration, and the inner filter surfaces perform coarse filtration. Compared with the inner filter surface, the outer filter surface can filter out smaller debris.

[0271] In some embodiments, the first filter assembly 1050 or the cleaning device body 1001 includes an anti-regurgitation assembly (not shown in the figure). An example in which the anti regurgitation assembly is provided on the first filter assembly 1050 is used. The anti-regurgitation assembly is provided close to the filter box water inlet portion 10511. When the cleaning device 1000 performs at least one of moving backward, making a turn, or stopping operating, the antiregurgitation assembly is configured to prevent at least a part of the debris from being regurgitated to a to-be-cleaned region through the filter box water inlet portion 10511, to resolve a problem of the cleaning device 1000 that the debris may be regurgitated.

[0272] In some embodiments, the anti-regurgitation assembly includes an anti-regurgitation door and an anti-regurgitation drive component (not shown in the figure). The anti-regurgitation door may be rotatably provided on the first filter box 1051 and close to the filter box water inlet portion 10511. The anti-regurgitation drive component drives the anti-regurgitation door to rotate relative to the filter box water inlet portion 10511. When the cleaning device 1000 performs at least one of moving backward, making a turn, or stopping operating, the anti-regurgitation drive component drives the anti-regurgitation door to rotate to block at least a part of the filter box water inlet portion 10511, so that the debris in the filter box 1051 is less likely to be regurgitated (that is, the debris in the first filter box is less likely to flow into the pool through the filter box water inlet portion and the first water inlet). The anti-regurgitation door cooperates with the anti-regurgitation drive component, so that at least a part of the debris can be actively prevented from being regurgitated to the to-be-cleaned region.

[0273] In some other embodiments, as shown in FIG. 26A, the first filter assembly 1050 may alternatively include the first filter box 1051, and the first filter box is not provided with the flow guide opening. The filtration levels of the four filter surfaces may be the same or different, or filtration levels of some filter surfaces may be the same, and filtration levels of other filter surfaces may be different.

[0274] Alternatively, as shown in FIG. 26B, the first filter assembly 1050 includes an inner filter box 10511A and an outer filter box 10511B. At least a portion of the outer filter box is sleeved outside or surrounds at least a portion of a side wall of the inner filter box. The inner filter box is provided with a first inner inlet and a second inner inlet, and the outer filter box is provided with a first outer inlet and a second outer inlet. The first inner inlet, the first outer inlet, and the first water inlet are in fluid communication. The second inner inlet, the second outer inlet, and the second water inlet are in fluid communication. The inner filter box performs coarse filtration, and at least one filter surface of the outer filter box performs fine filtration; or the outer filter box has at least two filter surfaces, at least one filter surface performs fine filtration, and at least one filter surface performs coarse filtration, to implement secondary filtration while meeting the requirement of the amount of water entering the suction assembly 1060. The liquid first enters the inner filter box through the first inner inlet or the second inner inlet for coarse filtration and then passes through the outer filter box for fine filtration, and the finely filtered liquid is discharged through the main water pump and the first water outlet.

[0275] In some embodiments, with reference to FIG. 25, the suction assembly 1060 has a first operating mode and a second operating mode. When the suction assembly is in the first operating mode, the suction assembly 1060 provides water flow power for the cleaning device 1000 to perform cleaning. When the suction assembly is in the second operating mode, the suction assembly 1060 can provide water flow power for the cleaning device 1000 to be self-cleaned (described below). The suction assembly 1060 may further include a main water pump 1061. The main water pump 1061 may be configured to drive the cleaning device 1000 to draw in liquid through a water inlet and discharge liquid through a water outlet. There may be one or more water outlets configured as an outlet allowing liquid in the cleaning device 1000 to leave the cleaning device 1000 and then enter the pool.

[0276] In some embodiments, when the cleaning device 1000 is located on a target side wall, the first water outlet (for example, a water outlet of the main water pump 1061) may at least face the interior of the pool and be parallel to a horizontal direction or tilt downward in a vertical direction to ensure that when the main water pump 1061 operates, and the liquid is discharged through the water outlet of the main water pump 1061, a driving force can be applied to the cleaning device 1000 to drive the cleaning device 1000 to be tightly attached to the target side wall. The driving force may be a reaction force applied to the cleaning device 1000 by the liquid discharged through the water outlet of the main water pump 1061, namely, the third thrust. The bottom of the cleaning device can be tightly attached to the side wall of the pool under the third thrust. When the water outlet of the main water pump 1061 faces the interior of the pool and is parallel to the horizontal direction, the driving force applied to the cleaning device 1000 is perpendicularly directed toward the target side wall, so that the cleaning device 1000 can be tightly attached to the target side wall. As shown in FIG. 64E, the first water outlet is substantially parallel to the horizontal direction to form a water spray opening for water to be sprayed out directly upward, thereby increasing the third thrust applied to the cleaning device.

[0277] In some embodiments, when the cleaning device 1000 needs to move on the target side wall, the water outlet of the main water pump 1061 may face the interior of the pool. When the water outlet of the main water pump tilts downward in the vertical direction, the driving force applied to the cleaning device 1000 has a horizontal component force directed toward the target side wall, so that the cleaning device 1000 can be tightly attached to the target side wall. In addition, the driving force further has an upward component force in the vertical direction, so that the cleaning device 1000 can move upward along the target side wall. When the cleaning device 1000 is located on a target bottom wall, the driving force applied to the cleaning device by the main water pump 1061 by discharging liquid through the water outlet of the main water pump 1061 may further have a component force in the horizontal direction, so that the cleaning device 1000 can move on the target bottom wall.

[0278] FIG. 35, FIG. 36, and FIG. 64B each show an embodiment of the cleaning device. With reference to FIG. 35, FIG. 36, and FIG. 64B, the cleaning device further includes a movement propulsion assembly. In some embodiments, the movement propulsion assembly at least includes two movement assemblies 1071 and a propulsion assembly 1072. The movement assembly 1071 is provided at the bottom of the cleaning device body 1001. The movement assembly 1071 is configured to drive the cleaning device 1000 to move on the to-be-cleaned surface. For example, in one embodiment, the movement assembly 1071 may include a movement wheel, or as shown in FIG. 64C, the movement assembly 1071 includes a first movement wheel 1171, a second movement wheel 1172, and a track 117 wrapped around outer peripheries of the first movement wheel and the second movement wheel. An annular region 1173 is defined between an inner side wall of the track and the two movement wheels. In one embodiment, as shown in FIG. 64C, diameters of the first movement wheel and the second movement wheel are substantially the same. Alternatively, in another embodiment, the diameter of the first movement wheel 1171 is greater than that of the second movement wheel 1172, thereby forming a large movement wheel and a small movement wheel. In the forward direction of the cleaning device, the large movement wheel (namely, the first movement wheel 1171) is located in front of the small movement wheel (namely, the second movement wheel 1172). When the cleaning device moves from the bottom wall of the pool toward the side wall of the pool, because the larger movement wheel has larger traction, the large movement wheel located in front of the small movement wheel causes the cleaning device to move from the bottom wall of the pool to the side wall of the pool more easily, thereby facilitating switching of the cleaning device from the bottom of the pool to the wall of the pool. Similarly, this also facilitates switching of the cleaning device from the side wall of the pool to the bottom wall of the pool. In one embodiment, there are two movement assemblies, and the two movement assemblies are symmetrically provided at the bottom of the cleaning device body.

[0279] The propulsion assembly 1072 is at least configured to drive the cleaning device 1000 to move in water or on the water surface. The propulsion assembly 1072 may include at least one first propeller 116.

[0280] The first propeller 116 is configured to drive liquid to move in a first preset direction. When the liquid moves in the first preset direction, a first driving force is applied to the cleaning device in the horizontal direction. A magnitude of the first driving force is positively correlated with a speed and a flow rate at which the liquid moves in the first preset direction. The first propeller 116 is provided, so that a position of the cleaning device 100 can be switched in the horizontal direction. For example, the cleaning device moves straight or makes a turn in the horizontal direction, so that the cleaning device can move on the water surface to clean the water surface of the swimming pool.

[0281] In one embodiment, as shown in FIG. 35, there are two first propellers 116. The two first propellers 116 are symmetrically provided on two sides of the cleaning device. The second water inlet 1032 of the cleaning device is provided at the front portion of the cleaning device, and the second water inlet 1032 is configured for water surface cleaning. In this case, the two first propellers 116 are provided on two sides of the rear portion of the cleaning device. When the first propeller 116 is turned on, liquid in the pool enters the first propeller 116 and then is sprayed out backward through a propeller liquid outlet at a rear portion of the first propeller 116. The sprayed liquid applies a forward first thrust to the cleaning device. The first thrust drives the cleaning device to move forward, so that the cleaning device can move forward on the water surface. In a process in which the cleaning device moves forward, the suction assembly drives liquid on the water surface to sequentially flow through the second water inlet 1032, the second inlet of the first filter box 1050, the first filter box, and the suction assembly and be finally discharged from the cleaning device through the first water outlet 1041 provided on the cleaning device body, to define the first water flow path for the cleaning device to perform cleaning. In other words, the cleaning device moves forward to clean the water surface. In addition, a speed difference between the two first propellers causes the cleaning device to perform steering and move along an edge on the water surface. In the cleaning device shown in FIG. 35, the two first propellers 116 are provided on two sides of the cleaning device and above the tracks of the movement assemblies. In one embodiment, when the cleaning device is located on a horizontal plane, for a projection of the cleaning device on the horizontal plane, projections of the two first propellers on the horizontal plane fall within a first region defined between projections of outermost edges of the tracks of the two movement assemblies on the horizontal plane, so that in a lateral direction of the cleaning device, at least a part of each track at the lower portion of the cleaning device extends beyond an outermost edge of each first propeller.

[0282] As shown in FIG. 35, FIG. 36, and FIG. 64B, the movement assembly further includes an outer cover plate 1174. The outer cover plate is provided on the body and blocks the first movement wheel and the second movement wheel to prevent the movement wheels from being exposed, to protect the movement wheels. An area of the outer cover plate is substantially equal to an area of the annular region 1173, so that the outer cover plate can block the movement wheels without affecting normal operation of the track. In one embodiment, an outer wall of the outer cover plate 1174 is provided with at least one anti-collision assembly 1140. When the cleaning device moves along the waterline, because the anti-collision assembly protrudes from an outer side wall of the outer cover plate, the anti-collision assembly 1140 collides with a side wall of the pool before a side wall of the cleaning device to prevent the side wall of the cleaning device from directly colliding with the side wall of the pool, to protect and cushion the side wall of the cleaning device.

[0283] In another embodiment, as shown in FIG. 36, the first propellers 116 are not provided on the two sides of the rear portion of the cleaning device, but the two first propellers 116 are provided in the annular regions 1173 of the two movement assemblies respectively, so that the annular regions 1173 of the tracks are used without occupying space of an outer wall of the cleaning device body, leading to a more compact structure and miniaturization of the cleaning device. Because the first propeller 116 is provided in the annular region, at least one communication water flow path is defined on the outer cover plate to allow water to enter and be discharged from the first propeller 116, so that liquid is drawn into the first propeller from one end of the communication water flow path and is discharged from the other end of the communication water flow path to generate the first thrust. For example, the outer cover plate is provided with a plurality of grilles configured to define the communication water flow path, but the communication water flow path bypasses the first movement wheel and the second movement wheel.

[0284] In another embodiment, as shown in FIG. 64B, the two first propellers 116 are provided on two sides of the cleaning device body. In FIG. 64B, because the second water inlet 1032 is provided on the rear side surface of the rear portion of the cleaning device, the two first propellers 116 are provided on two sides of the front portion of the cleaning device body, so that the cleaning device can move on the water surface. In this way, when the cleaning device moves backward on the water surface, liquid is sprayed out forward through a propeller liquid outlet at a front portion of the first propeller 116 to apply a backward first thrust to the cleaning device, so that the cleaning device can move backward. In this way, liquid on the water surface sequentially flows through the second water inlet 1032, the second inlet of the first filter box 1050, the first filter box, and the suction assembly and is finally discharged from the cleaning device through the first water outlet 1041 provided on the cleaning device body, to define the first water flow path for the cleaning device to perform cleaning. In other words, the cleaning device moves backward to clean the water surface.

[0285] As shown in FIG. 64B and FIG. 64C, the propulsion assembly further includes a lateral propulsion assembly 115. The lateral propulsion assembly 115 may be provided at a side portion, the top, or the bottom of the cleaning device body 1001 and includes a fluid inlet and a fluid spray opening. Liquid enters the lateral propulsion assembly through the fluid inlet and is sprayed out through the fluid spray opening in a direction away from the side portion of the cleaning device body 1001. The sprayed water applies a second thrust to the cleaning device. The second thrust may at least provide a thrust component in the lateral direction of the cleaning device for the cleaning device 1000, so that when the cleaning device 1000 moves along the side wall of the pool in the third motion state, the cleaning device can be attached to the side wall of the pool, and when the cleaning device laterally moves along the waterline in the second motion state, the cleaning device can clean the waterline.

[0286] In one embodiment, the lateral propulsion assembly 115 is located below the electronic control box 6000 and in the second cavity, leading to a compact structure of the cleaning device. When the first water inlet is opened, the lateral propulsion assembly is turned on without affecting an amount of water entering the first water inlet. Certainly, the lateral propulsion assembly may alternatively be provided at another position on the cleaning device. The lateral propulsion assembly may be configured for the cleaning device to perform cleaning along an edge of the water surface or along an edge of the bottom wall of the pool.

[0287] For example, when the cleaning device body 1001 moves in the pool along a wall, the lateral propulsion assembly may be provided on a side of the cleaning device body 1001, where the side faces away from the wall of the pool. The lateral propulsion assembly may provide at least a thrust component directed toward the wall, so that the cleaning device 1000 can be better attached to the side wall of the pool and move. Specifically, if an edge of the pool is irregular, for example, having an irregular protrusion or recess, when the cleaning device 1000 moves along an edge in the third motion state, the first propeller 116 causes the cleaning device 1000 to be difficult to precisely control motion of the cleaning device by using a sensing assembly, causing the cleaning device to poorly move along the edge. In this case, the lateral propulsion assembly is provided on a side of the cleaning device 1000, where the side is away from the edge of the pool, to generate a thrust component directed toward the edge of the pool, so that the cleaning device 1000 can be better controlled to move based on an edge of the pool. The cleaning device 1000 is pushed toward the edge of the pool under the thrust component in real time. When the cleaning device 1000 cleans the waterline along the wall of the pool in the second motion state, the lateral direction of the cleaning device is substantially parallel to or at a certain angle with the waterline. A lateral thrust provided by the lateral propulsion assembly causes the cleaning device 1000 to skim across the waterline in a substantially lateral direction to clean the waterline.

[0288] At least one lateral propulsion assembly may be provided on one side portion or each of two side portions of the cleaning device 1000 based on a cleaning requirement. The lateral propulsion assembly may be, but is not limited to, a propeller and a water ejector. However, this is not limited thereto. Certainly, the lateral propulsion assembly may be provided at any position on the cleaning device body 1001, where a thrust is conveniently at the position. The lateral direction may be defined as a direction of a connection line of centers of a left side and a right side of the cleaning device 1000.

[0289] Specifically, when the cleaning device body 1001 moves along an edge in the third motion state, the second thrust provided by the lateral propulsion assembly causes the cleaning device body 1001 to move closely along the edge, so that the following case can be avoided: When a radian of the edge is large, an angle of a pool wall is large, or a part of the edge is missed, the cleaning device body 1001 cannot normally move along the edge and moves to a non-edge region due to inertia, leading to a problem of missed cleaning. Optionally, the lateral propulsion assembly may be provided on the left side and / or the right side of the cleaning device 1000 and close to the front side of the cleaning device. A water spraying direction of the lateral propulsion assembly 115 is at an angle with the side (namely, the side wall, of the cleaning device, on which the lateral propulsion assembly is located) and directed toward the target region, so that a direction of the second thrust applied by the lateral propulsion assembly to the cleaning device is opposite to the water spraying direction of the lateral propulsion assembly. The second thrust has a component in the lateral direction of the cleaning device 1000. The component is parallel to the central plane a, thereby ensuring that the front side of the cleaning device body 1001 is tightly attached to the edge in time. This further improves accuracy of the cleaning device in moving along the edge. Certainly, the lateral propulsion assembly may be provided at a middle portion or a rear portion of the left side or the right side of the cleaning device, so that the cleaning device body can also be tightly attached to or close to the edge of the side wall of the pool.

[0290] The cleaning device usually has a left edge-hugging mode and / or a right edge-hugging mode. The left edge-hugging mode means that the left side of the cleaning device is close to or tightly attached to an edge of the target region (for example, the pool). To generate a leftward second thrust, the lateral propulsion assembly may be provided on the right side of the cleaning device, and the fluid spray opening of the lateral propulsion assembly faces the right side of the cleaning device. Liquid sprayed out through the fluid spray opening applies the leftward second thrust to the cleaning device. The second thrust causes the cleaning device to move leftward, so that the left side of the cleaning device is tightly attached to or close to the edge of the target region.

[0291] Similarly, the right edge-hugging mode means that the right side of the cleaning device is close to or tightly attached to the edge of the target region. To generate a rightward thrust, the lateral propulsion assembly may be provided on the left side of the cleaning device, and the fluid spray opening of the lateral propulsion assembly faces the left side of the cleaning device. Liquid sprayed out through the fluid spray opening applies the rightward second thrust to the cleaning device. The second thrust causes the cleaning device to move rightward, so that the right side of the cleaning device is tightly attached to or close to the edge of the target region. In this way, the cleaning device can move along an edge or perform cleaning along an edge in the third motion state.

[0292] In one embodiment, as shown in FIG. 64D, the lateral propulsion assembly includes a lateral flow channel 115a laterally provided on the cleaning device body. Two ends of the lateral flow channel 115a run through two side walls of the cleaning device body that are arranged in the lateral direction, and are in fluid communication with the outside. Ports of the two ends of the lateral flow channel 115a respectively serve as a first opening 115d and a second opening 115e. One of the first opening 115d and the second opening 115e serves as the fluid inlet, and the other of the first opening 115d and the second opening 115e serves as the fluid spray opening. The lateral propulsion assembly further includes a lateral impeller 115c and a lateral motor 115b configured to drive the lateral impeller 115c to rotate. Both the lateral impeller 115c and the lateral motor 115b are provided in the lateral flow channel 115a. In FIG. 64D, the cleaning device is in the left edge-hugging mode. In this case, the first opening 115d serves as the fluid inlet, and the second opening 115e serves as the fluid spray opening. To generate a greater leftward second thrust on the right side of the cleaning device, the lateral impeller 115c and the lateral motor 115b may be optionally provided on a right side of the lateral flow channel 115a and close to the second opening, so that when the lateral motor rotates in a forward direction to drive the impeller to rotate, the second thrust applied by the liquid sprayed out through the fluid spray opening is maximized. Certainly, the lateral impeller and the lateral motor may be provided at a middle portion of the lateral flow channel 115a or provided close to the left side of the lateral flow channel 115a. This structure can also be used to implement the right edge-hugging mode of the cleaning device. For example, a rotation direction of the lateral motor 115b is changed, so that when the lateral motor 115b rotates in a reverse direction, the first opening serves as the fluid spray opening, and the second opening serves as the fluid inlet. In this way, liquid is sprayed out leftward through the first opening to apply a rightward second thrust to the cleaning device. In this way, the edge of the right side of the cleaning device moves along an edge of the pool.

[0293] Similarly, if the cleaning device is in the right edge-hugging mode, the lateral impeller and lateral motor may be provided on the left side of the lateral flow channel 115a to generate a greater rightward second thrust on the left side of the cleaning device.

[0294] In one embodiment, the lateral propulsion assembly 115 runs through two side surfaces of the cleaning device. One side surface is provided with the first opening 115d, and the other side surface is provided with the second opening 115e. In a height direction of the cleaning device, the first opening and / or the second opening are / is located within a range of the movement assembly. For example, as shown in FIG. 64C, the two ends of the lateral flow channel 115a are respectively located in annular regions 1173 of the two movement assemblies without occupying other regions on the cleaning device body, so that the cleaning device can move along an edge with a more compact structure and a smaller size. If the outer cover plate is provided, the outer cover plate is provided with an avoidance hole or an avoidance grille configured to allow the first opening and the second opening to be exposed, so that the two ends of the lateral flow channel are in communication with liquid in the pool.

[0295] When the cleaning device body 1001 moves on a wall of the pool, that is, the cleaning device is in the second motion state, for example, cleans the waterline, the lateral propulsion assembly causes the cleaning device body 1001 to laterally move leftward or rightward on the wall of the pool to laterally clean the waterline. The cleaning device may further move leftward or rightward while moving upward and downward. This improves motion flexibility of the cleaning device 1000.

[0296] In one embodiment, the cleaning device body 1001 is provided with a sensing assembly configured to detect or control the cleaning device 1000 to move along an edge in a preset manner, for example, at least one of a vision sensing assembly 1123, an ultrasonic sensing assembly, or an infrared sensing assembly provided on a side portion, the top, or the bottom of the cleaning device body 1001. The sensing assembly is electrically connected to a control system 1110 of the cleaning device 1000. When the sensing assembly detects that the cleaning device 1000 deviates from the edge of the pool in a moving process, the control system 1110 controls the fluid spray opening of the lateral propulsion assembly to increase or decrease a water spraying power, so that the cleaning device 1000 can move close to or away from the edge of the pool.

[0297] As shown in FIG. 64E, the first water inlet 1031 is provided at the bottom of the cleaning device body 1001. The first filter box is provided with a first inlet, and the first water inlet is directly in fluid communication with the first inlet, so that almost all liquid in the pool directly enters the first filter box through the first water inlet and the first inlet and then is filtered. When the cleaning device cleans the bottom wall or the side wall of the pool, the cleaning device moves forward to clean the bottom wall or the side wall of the pool. When the cleaning device cleans the water surface, because the second water inlet is provided at the rear portion of the cleaning device, the cleaning device moves backward on the water surface to clean the water surface. Therefore, when the cleaning device cleans the water surface in the third motion state and cleans the side wall of the pool along an edge, the cleaning device moves backward to perform cleaning along the edge. For example, the pool may be rectangular, oval, or in an irregular shape. An example in which the cleaning device is in the left edge-hugging mode, and the pool is rectangular is used. As shown in FIG. 66, when the cleaning device is in the third motion state, because the cleaning device moves backward to perform cleaning along an edge of the water surface, the cleaning device performs cleaning along the edge of the water surface in a counterclockwise direction (indicated by arrows in FIG. 66), so that four edge regions near the waterline can be cleaned. In other words, a process in which the cleaning device moves in the third motion state further includes a process of cleaning the water surface of the pool, and the process of cleaning the water surface of the pool includes at least a process of switching the cleaning device to a state in which another side surface of the cleaning device moves along the edge of the pool.

[0298] As shown in FIG. 67, if the cleaning device is in the third motion state, when the cleaning device is located on the water surface and needs to return to the base station, the cleaning device moves forward along a side wall of the pool until the front portion of the cleaning device collides with a side wall of the base station 2000, and a left side wall of the cleaning device collides with one side wall of the pool. During this process, the cleaning device returns to the base station along the edge of the water surface in a clockwise direction (indicated by arrows in FIG. 67). In other words, because the second water inlet is provided at the rear portion of the cleaning device body, the cleaning device moves backward to clean the water surface and moves forward to clean the bottom or the wall of the pool. In this case, a direction in which the cleaning device performs cleaning along the edge of the water surface and a direction in which the cleaning device returns to the base station along the edge of the water surface are substantially opposite. One direction is the clockwise direction, and the other direction is the counterclockwise direction.

[0299] In other words, a process in which the cleaning device moves in the third motion state includes at least a process in which the cleaning device moves along the waterline of the pool in a first motion mode and a process in which the cleaning device moves along the waterline of the pool in a second motion mode. When the cleaning device is in the first motion mode, a first side surface of the cleaning device is close to the waterline, the cleaning device moves in a first direction, and the second water inlet is opened, so that a motion region can be cleaned (that is, the cleaning device cleans the water surface). When the cleaning device is in the second motion mode, the first side surface of the cleaning device is close to the waterline, the cleaning device moves in a second direction, and the second water inlet is closed (that is, the cleaning device returns to the base station along the edge of the water surface). One of the first direction and the second direction is the clockwise direction, and the other is the counterclockwise direction.

[0300] In addition, as shown in FIG. 36, when the cleaning device body is provided with a first auxiliary cleaning assembly 1130, the first auxiliary cleaning assembly is located close to the second water inlet and at least partially extends beyond the cleaning device body. If the cleaning device is in the third motion state, when the cleaning device performs cleaning or returns to the base station along the edge of the water surface, the second auxiliary cleaning assembly can clean a wall near the waterline. For example, if the first auxiliary cleaning assembly 1130 is a side brush, the side brush brushes the wall of the pool near the waterline to implement a waterline cleaning function. In other words, the first auxiliary cleaning assembly is configured to: when the cleaning device is in the first motion mode or the second motion mode, clean the waterline of the pool.

[0301] Certainly, when the second water inlet is provided at the rear portion of the cleaning device body, the cleaning device may alternatively move backward along the edge of the water surface to return to the base station. In other words, the direction in which the cleaning device performs cleaning along the edge of the water surface and the direction in which the cleaning device returns to the base station along the edge of the water surface remain consistent. Alternatively, when the cleaning device returns to the base station along the edge of the water surface, the lateral motor rotates in the reverse direction, so that the cleaning device is switched from the left edge-hugging mode to the right edge-hugging mode. In this case, the cleaning device moves forward along the edge of the water surface to return to the base station and moves backward to perform cleaning along the edge of the water surface, and the two motion directions of the cleaning device are both counterclockwise.

[0302] If the second water inlet 1032 is provided at the front portion 10011 of the cleaning device body, the cleaning device moves forward to clean the bottom, the wall, or the water surface of the pool. In this case, when the cleaning device is in the third motion state, regardless of whether the cleaning device performs cleaning along the edge of the water surface or returns to the base station along the edge of the water surface, the cleaning device moves forward along an edge in a same direction. For example, when the cleaning device is in the left edge-hugging mode, the direction in which the cleaning device performs cleaning along the edge of the water surface and the direction in which the cleaning device returns to the base station along the edge of the water surface are both clockwise. Certainly, when the cleaning device returns to the base station along the edge of the water surface, a rotation direction of the lateral motor is changed, so that the cleaning device is switched from the left edge-hugging mode to the right edge-hugging mode. In this case, the direction in which the cleaning device performs cleaning along the edge of the water surface and the direction in which the cleaning device returns to the base station along the edge of the water surface are opposite, the direction in which the cleaning device performs cleaning along the edge of the water surface is clockwise, and the direction in which the cleaning device returns to the base station along the edge of the water surface is counterclockwise. Alternatively, edge-hugging mode is not changed, and the cleaning device may move backward along the edge of the water surface to return to the base station. In this case, the direction in which the cleaning device performs cleaning along the edge of the water surface and the direction in which the cleaning device returns to the base station along the edge of the water surface are opposite.

[0303] In one embodiment, as shown in FIG. 35, there are two second propellers 10722, and the two second propellers 10722 are provided on two sides of the cleaning device body. If the second water inlet 1032 for water surface cleaning is provided on a front side wall of the front portion of the cleaning device body, the two second propellers 10722 are provided on two sides of the rear portion of the cleaning device body correspondingly, and the cleaning device moves forward to clean the water surface. If the second water inlet 1032 for water surface cleaning is provided on a rear side wall of the rear portion of the cleaning device body, the two second propellers are provided on two sides of the front portion of the cleaning device body correspondingly. In one embodiment, there are two second propellers 10722. If the second water inlet 1032 for water surface cleaning is provided on a rear side wall of the rear portion of the cleaning device body, the two second propellers 10722 are provided on two sides of the front portion of the cleaning device body correspondingly, and the cleaning device moves backward to clean the water surface. The first water inlet 1031 for pool bottom wall cleaning or side wall cleaning is provided at the bottom of the cleaning device body, and the cleaning device moves forward to clean the bottom or the wall of the pool. In this case, the first water inlet may be provided on the bottom of the front portion or the rear portion of the cleaning device body.

[0304] In other embodiments, as shown in FIG. 36, the movement propulsion assembly 1070 may only include the propulsion assembly 1072. The propulsion assembly 1072 may include a first propeller 10722. There are two first propellers 10722, and the two first propellers 10722 are respectively provided on two opposite sides of the cleaning device body 1001. The first propeller 10722 may be provided on the cleaning device 1000 and close to the waterline. The first propeller 116 is provided with a propeller liquid outlet (not shown in the figure) and a propeller drive component 10722a. The propeller liquid outlet faces the rear portion of the cleaning device body 1001. The propeller drive component 116a is configured to drive liquid to be sprayed out through the propeller liquid outlet to drive the cleaning device 1000 to move along the water surface or move in water.

[0305] In one embodiment, a projection of a spraying opening of the propulsion assembly 1072 on the central plane a may not overlap with or may at least partially overlap with a projection of the movement assembly 1071 on the central plane a. For example, a projection of a spraying opening of the first propeller 116 on the central plane a falls within a range of the projection of the movement assembly 1071 on the central plane a.

[0306] Refer to FIG. 30. FIG. 30 is a seventh schematic structural diagram of a cleaning system according to an embodiment of the present disclosure. In some embodiments, the liquid may alternatively flow in a direction opposite to the first direction X, that is, a second direction Y is generated. Liquid flows sequentially through the first water outlet 1041, the first filter assembly 1050, and the first water inlet 1031, and during a reverse flow, the first filter assembly 1050 may be self-cleaned with the liquid. The carrying assembly 2000 at least includes a self-cleaning debris inlet 2100. The cleaning device 1000 at least includes a self-cleaning debris discharge opening in fluid communication with the first filter assembly 1050 and a self-cleaning water inlet in fluid communication with the first filter assembly 1050. When the cleaning device 1000 is fixed to or docks at the carrying assembly 2000, the self-cleaning debris inlet 2100 is docked with the selfcleaning debris discharge opening, and the self-cleaning water inlet is located below the water surface of the pool or is in fluid communication with an external water source. During a selfcleaning process of cleaning device 1000, existing components may serve as the self-cleaning debris discharge opening and the self-cleaning water inlet. For example, the self-cleaning debris discharge opening may be the first water inlet 1031 for the cleaning device 1000 to perform cleaning, and the self-cleaning water inlet may be the first water outlet 1041 for the cleaning device 1000 to perform cleaning. The self-cleaning water inlet and the self-cleaning debris discharge opening may alternatively be provided on the cleaning device 1000 independently of the first water inlet 1031 and the first water outlet 1041. An example in which the first water inlet 1031 serves as the self-cleaning debris discharge opening, and the first water outlet 1041 serves as the selfcleaning water inlet is used for description in the following.

[0307] In some embodiments, the cleaning system 1 further includes a power assembly 2170. The power assembly is configured to: during the self-cleaning process, form water flowing in the second direction Y. During the self-cleaning process of the cleaning device 1000, the first water outlet 1041 is in fluid communication with a water source to provide water flowing in the second direction Y. A path corresponding to the first direction X and a path corresponding to the second direction Y at least partially overlap. The power assembly guides water to pass at least through the first water outlet 1041 and the first filter assembly 1050. The interior and a side wall of the first filter assembly 1050 can be flushed with the water to clean off debris inside the first filter assembly 1050 and debris on the side wall of the first filter assembly. Then, the debris in the water flows into the carrying assembly 2000 through the first water inlet 1031 and the self-cleaning debris inlet 2100. Optionally, the debris is further discharged from the carrying assembly 2000 into a sewage pool. The debris may be stored in the carrying component 2040 of the carrying assembly 2000. When the carrying assembly 2000 is provided with the support component 2050, the debris may alternatively be stored in the support component 2050. The debris may alternatively be stored in independent space in the carrying assembly 2000 other than the carrying component 2040 and the support component 2050. For example, the support component is provided with a debris collection cavity or a debris collection bag. The debris is temporarily stored in the debris collection cavity or the debris collection bag, and after a time period, the user can remove the debris from the debris collection cavity or the debris collection bag. Alternatively, the carrying assembly further includes an accommodation component. One end of the support component is connected to the support component, and another end of the support component is connected to and intersects with or is perpendicular to the accommodation component. The accommodation component is provided with an accommodation groove facing the support component, allowing the cleaning device to directly move from the support component into the accommodation groove after leaving the water and remain in the accommodation groove. The debris collection cavity is provided at a portion of the accommodation component, where the portion of the accommodation component avoids the accommodation groove, or the debris collection bag is provided in the debris collection cavity, so that the debris is collected on the accommodation component after the cleaning device leaves the water.

[0308] Therefore, the user does not need to manually retrieve and clean the cleaning device 1000, the debris collected in the first filter assembly 1050 can be automatically and effectively removed, and an inner side wall of the first filter assembly 1050 can also be effectively cleaned. The carrying assembly 2000 only needs to be cleaned at intervals. This improves user experience.

[0309] The cleaning device 1000 may be provided with one, two, or more water outlets. For example, the cleaning device 1000 includes at least a first water outlet 1041 and a second water outlet, which are provided differently. During a cleaning process, the first water outlet 1041 is opened, and the second water outlet is closed. Water flowing in the first direction X passes sequentially through the first water inlet 1031, the first filter assembly 1050, and the first water outlet 1041, and then is discharged from the cleaning device 1000. During the self-cleaning process, the first water outlet 1041 is closed, and the second water outlet is opened. Water flowing in the second direction Y passes sequentially through the second water outlet, the first filter assembly 1050, and the self-cleaning debris inlet 2100.

[0310] Alternatively, the cleaning device 1000 is provided with more than two water outlets. During the cleaning process, the first water outlet 1041 is opened, the first water outlet 1041 serves as an outlet for water to flow out of the cleaning device 1000 in the cleaning process, and at least the second water outlet is closed. During the self-cleaning process, at least two water outlets are opened.

[0311] There may be one, two, three, or more first water inlets 1031. This is not limited. There may be one, two, three, or more self-cleaning debris inlets 2100. A quantity of first water inlets 1031 and a quantity of self-cleaning debris inlets 2100 may be the same or different.

[0312] It should be noted that the first water inlet 1031 may have different functions. When there is only one first water inlet 1031, the first water inlet 1031 is configured to allow water to be discharged during the self-cleaning process and allow water to enter during the pool cleaning process. When there are two first water inlets 1031, one first water inlet 1031 serves as a water inlet during the cleaning process, and the other first water inlet may serve as a self-cleaning water outlet during the self-cleaning process. In this embodiment, during the pool cleaning process, the first water inlet serving as the water inlet is opened, and the first water inlet serving as the selfcleaning water outlet during the self-cleaning process of the first filter assembly is closed. In contrast, during the self-cleaning process of the first filter assembly, the first water inlet serving as the water inlet during the pool cleaning process is closed, and the first water inlet serving as the self-cleaning water outlet is opened.

[0313] In some embodiments, during the self-cleaning process of the cleaning device 1000, the first water inlet 1031 is sealingly docked with the self-cleaning debris inlet 2100. A sealing soft rubber ring may be provided on the self-cleaning debris inlet 2100, at an end of the first water inlet 1031, or each of the self-cleaning debris inlet 2100 and the end of the first water inlet, so that the first water inlet 1031 can be sealingly docked with the self-cleaning debris inlet. The first water inlet 1031 is sealed with the self-cleaning debris inlet 2100, so that a risk of liquid leakage between the first water inlet 1031 and the self-cleaning debris inlet 2100 can be reduced, leading to a more stable water flow, thereby improving self-cleaning performance of the cleaning device 1000.

[0314] In a process in which the first water inlet 1031 is sealingly docked with the self-cleaning debris inlet 2100, the first water inlet 1031 and the self-cleaning debris inlet 2100 are at least partially located below the water surface. This can extend a water flow path, so that debris in the water can enter the base station (namely, the carrying assembly) more easily, thereby improving the self-cleaning performance of the cleaning device 1000.

[0315] In some embodiments, the carrying assembly 2000 further includes a second filter assembly 2110. The second filter assembly 2110 performs filtering and is configured to filter debris-loaded water entering the carrying assembly 2000. The second filter assembly 2110 is detachably mounted at least one of in the carrying assembly 2000, outside the carrying assembly 2000, or in a pool skimmer. The second filter assembly 2110 is in fluid communication with the self-cleaning debris inlet 2100 to receive debris-loaded water from the first filter assembly 1050. The power assembly is configured to guide water to enter the second filter assembly 2110 sequentially through the first water outlet 1041, the first filter assembly 1050, and the self-cleaning debris inlet 2100. The debris in the cleaning device 1000 enters the second filter assembly 2110 through the self-cleaning debris inlet 2100 and is filtered out by the second filter assembly 2110.

[0316] A filtration level of the second filter assembly 2110 may be greater than or equal to that of the first filter assembly 1050, that is, the first filter assembly performs coarse filtration, and the second filter assembly performs fine filtration. The first filter assembly filters out large debris, and the second filter assembly is capable of filtering out smaller debris compared with the first filter assembly, ensuring that debris flowing out of the first filter assembly 1050 can be completely intercepted by the second filter assembly 2110. Certainly, the filtration level of the second filter assembly 2110 may alternatively be lower than that of the first filter assembly 1050, so that large debris in the first filter assembly 1050 is intercepted, and smaller debris passes through the second filter assembly 2110 and is discharged into a preset sewage pool. The filtration level indicates an ability of a filter assembly to intercept debris, and a higher filtration level indicates that the filter assembly can intercept smaller debris. A structure of the second filter assembly 2110 may be determined based on an actual requirement. For example, the second filter assembly 2110 may include a second filter box and a filter mesh. The filter mesh is provided on the second filter box. Alternatively, the second filter assembly 2110 may include a filter bag. The filter bag is detachably provided in the carrying assembly 2000. In a process in which water flows from the inside of the second filter assembly toward the outside of the second filter assembly, debris in the water is filtered out by the second filter assembly, or in a process in which water flows from the outside of the second filter assembly toward the inside of the second filter assembly, debris in the water is filtered out by the second filter assembly.

[0317] In some embodiments, the carrying assembly 2000 is further provided with a selfcleaning water discharge opening 2120. The self-cleaning water discharge opening 2120 is in fluid communication with the exterior of the second filter assembly 2110 to allow water flowing through the second filter assembly 2110 during the self-cleaning process of the cleaning device 1000 to flow out of the carrying assembly 2000.

[0318] In some embodiments, as shown in FIG. 30, the cleaning device 1000 is provided with a circulation water inlet 1080. The first water outlet 1041 is closed. During the self-cleaning process of the cleaning device 1000, the circulation water inlet 1080 is docked with the self-cleaning water discharge opening 2120, and the first water inlet 1031 is docked with the self-cleaning debris inlet 2100. The power assembly guides water to internally circulate through the first filter assembly 1050, the first water inlet 1031, the self-cleaning debris inlet 2100, the second filter assembly 2110, the self-cleaning water discharge opening 2120, and the circulation water inlet 1080 in a closed manner. In this way, the debris-loaded water can be repeatedly filtered during internal circulation. This helps improve the self-cleaning performance of the cleaning device 1000.

[0319] A valve which can be opened and closed (not shown in the figure) may be provided at the circulation water inlet 1080. The valve may be opened based on an actual requirement.

[0320] In another embodiment, the cleaning device 1000 is provided with a circulation water inlet 1080. The first water outlet 1041 is opened. During the self-cleaning process of the cleaning device 1000, the circulation water inlet 1080 is docked with the self-cleaning water discharge opening 2120, and the first water inlet 1031 is docked with the self-cleaning debris inlet 2100. The power assembly guides water to internally circulate sequentially through the first filter assembly 1050, the first water inlet 1031, the self-cleaning debris inlet 2100, the second filter assembly 2110, the self-cleaning water discharge opening 2120, the circulation water inlet 1080, and the first filter assembly 1050 in a closed loop. In addition, the power assembly further guides water to enter the cleaning device 1000 through the first water outlet 1041 to replenish water used for self-cleaning, thereby ensuring a stable water flow during the self-cleaning process, and an inner wall of the first filter assembly 1050 is flushed with the water entering through the first water outlet 1041, so that debris adhering to the inner wall of the first filter assembly 1050 can be cleaned off. Based on the above disposition, a circulation rate of water in a water flow path can be increased. This helps improve the self-cleaning performance of the cleaning device 1000.

[0321] In addition, an underwater pipe 1090 may be provided between the circulation water inlet 1080 and the self-cleaning water discharge opening 2120. One end of the underwater pipe 1090 is in fluid communication with the circulation water inlet 1080, and the other end of the underwater pipe is in fluid communication with the self-cleaning water discharge opening 2120. When a first position at which the circulation water inlet 1080 is docked with the self-cleaning water discharge opening 2120 and a second position at which the first water inlet 1031 is docked with the selfcleaning debris inlet 2100 are located on different docking surfaces, the circulation water inlet 1080 may be in fluid communication with the self-cleaning water discharge opening 2120 through the underwater pipe 1090 to implement the above closed-loop water flow path. This improves the self-cleaning performance of the cleaning device 1000.

[0322] In some other embodiments, the self-cleaning water discharge opening 2120 is docked with the first water outlet 1041. The power assembly guides water to internally circulate sequentially through the first water outlet 1041, the first filter assembly 1050, the first water inlet 1031, the self-cleaning debris inlet 2100, the second filter assembly 2110, the self-cleaning water discharge opening 2120, and the first water outlet 1041 in a closed loop. This improves the selfcleaning performance of the cleaning device 1000.

[0323] In the above embodiment, the self-cleaning water discharge opening 2120 is in fluid communication with the exterior of the second filter assembly 2110. In another embodiment, the self-cleaning water discharge opening 2120 is in fluid communication with an inner side of the second filter assembly 2110. The inner side of the second filter assembly 2110 refers to a side on which debris is deposited after the debris-loaded water is filtered. The self-cleaning water discharge opening 2120 is inserted into the interior of the second filter assembly 2110 and may be in direct contact with the deposited debris in the second filter assembly 2110. The debris in the water from the cleaning device 1000 can be directly discharged from the carrying assembly 2000 through the self-cleaning water discharge opening 2120.

[0324] In the above embodiment, during the self-cleaning process of the cleaning device 1000, water enters through the first water outlet 1041. However, in this embodiment, during the selfcleaning process of the cleaning device 1000, the first water outlet 1041 is closed. The cleaning device 1000 is provided with a circulation water inlet 1080, and water enters through the circulation water inlet 1080.

[0325] In some embodiments, the second filter assembly 2110 may be provided in a debris discharge system or a debris discharge pipe outside the carrying assembly 2000. For example, the second filter assembly 2110 is provided in the pool skimmer. The self-cleaning water discharge opening 2120 is in fluid communication with the pool skimmer. The pool skimmer may be a part of the pool infrastructure or an independent component. In this embodiment, the power assembly may alternatively be provided on the pool skimmer. When the cleaning device 1000 needs to be self-cleaned, the cleaning device 1000 is docked with the pool skimmer. For another example, the second filter assembly 2110 is located in an external debris discharge pipe. The self-cleaning water discharge opening 2120 is in fluid communication with the external debris discharge pipe.

[0326] Based on the above disposition, the carrying assembly 2000 cooperates with the pool debris discharge system or the debris discharge pipe, so that debris can be cleaned off by using a related component of the pool debris discharge system or the debris discharge pipe. This helps reduce a quantity of times debris is cleaned off.

[0327] In some embodiments, the power assembly may be a self-cleaning suction assembly provided on the carrying assembly 2000, the suction assembly 1060 provided on the cleaning device 1000, an external suction assembly provided outside the carrying assembly 2000 and the cleaning device 1000, or the like. A position of the power assembly and a quantity of power assemblies may be determined based on an actual condition. For example, the power assembly may be provided at least one of inside the carrying assembly 2000, outside the carrying assembly 2000, in the cleaning device 1000, or in the pool skimmer.

[0328] When the suction assembly 1060 of the cleaning device 1000 serves as the power assembly, the suction assembly 1060 has a first operating mode and a second operating mode. During the cleaning process, the suction assembly 1060 of the cleaning device 1000 is in the first operating mode. For example, the suction assembly 1060 rotates in a forward direction, and the suction assembly 1060 is configured to form water flowing in the first direction X. During the selfcleaning process of the cleaning device 1000, the suction assembly 1060 is in the second operating mode. For example, the suction assembly 1060 rotates in a reverse direction, and the suction assembly 1060 is configured to form water flowing in the second direction Y. If the suction assembly 1060 of the cleaning device 1000 serves as the power assembly, a driving force is generated by a component of the cleaning device, thereby reducing costs. The entire cleaning system 1 can implement both the cleaning process and the self-cleaning process of the cleaning device 1000 by using a single suction assembly 1060.

[0329] In other embodiments, the carrying assembly 2000 includes a power assembly configured to at least generate water sequentially flowing through the self-cleaning water inlet, the selfcleaning debris discharge opening, and the self-cleaning debris inlet 2100. When the cleaning device 1000 does not include the suction assembly 1060, or the suction assembly 1060 is not turned on, after the cleaning device 1000 is docked with the carrying assembly 2000, the power assembly of the carrying assembly 2000 provides a driving force to form water flowing in the second direction Y, thereby implementing self-cleaning of the cleaning device 1000.

[0330] As shown in FIG. 64E, the cleaning device includes the first water inlet 1031 and the second water inlet 1032. When the cleaning device returns to the base station to self-clean the first filter box 1051, the first water outlet 1041 serves as the self-cleaning water inlet, and the second water inlet 1032 serves as the self-cleaning debris discharge opening.

[0331] As shown in FIG. 68A, the base station includes the carrying component 2040 and the base station body and is provided with the self-cleaning debris inlet 2100 corresponding to the second water inlet 1032. When the cleaning device docks at the base station, the second water inlet 1032 is slealingly docked with the self-cleaning debris inlet 2100. In one embodiment, the selfcleaning debris inlet 2100 is provided on the carrying component 2040. The base station is provided with the second filter assembly 2100, and the cleaning device is provided with the first filter assembly 1050. When the cleaning device docks at the base station, the first filter assembly 1050 is in fluid communication with the second filter assembly 2110. The base station further includes the power assembly 2170 provided on the cleaning device or the base station. The power assembly is configured to: when the cleaning device docks at the base station, generate a suction force for liquid to flow from the first filter assembly 1050 to the second filter assembly 2110. The power assembly is located downstream of the second filter assembly.

[0332] Specifically, the base station body includes a support component 2050. The base station body is at least partially provided on a side wall of the pool. The carrying component is provided at a lower portion of the base station body. When the cleaning device returns to the base station, the carrying component protrudes from the base station body. The base station further includes a self-cleaning assembly. The self-cleaning assembly includes the power assembly 2170 and the second filter assembly 2110. The first end of the carrying component 2040 is fixed to the support component 2050, and the second end of the carrying component extends outward substantially in the horizontal direction. A top surface of the carrying component 2040 has a carrying surface 2043. The self-cleaning debris inlet 2100 is provided on the second end of the carrying component, and the second docking assembly 2030 is provided on the first end or the carrying surface. As shown in FIG. 68B, the support component is provided with a third accommodation cavity 2054 and a self-cleaning water discharge opening 2120. The second filter assembly 2110 is provided in the third accommodation cavity 2054. The self-cleaning debris inlet 2100 is in fluid communication with the second filter assembly 2110, so that the liquid in the first filter box 1051 flows sequentially through the second water inlet or the first water inlet, the self-cleaning debris inlet 2100, the second filter assembly 2110, and the power assembly 2170, and then is discharged through the selfcleaning water discharge opening 2120, thereby defining a third water flow path for self-cleaning, and debris in the liquid remains in the second filter assembly 2110, so that the first filter box 1051 of the cleaning device is self-cleaned. In this embodiment, the cleaning device does not need to leave the water. The carrying component 2040 is located underwater, and the cleaning device is docked with the base station underwater, so that the cleaning device remains underwater. The carrying component may always remain fixed to the support component 2050, or the carrying component may be in an operating posture before the cleaning device returns to the base station, and after the cleaning device leaves the base station, the carrying component 2040 is in a retracted posture. When the carrying component 2040 is in the retracted posture, the carrying component 2040 remains substantially parallel to a side wall (referred to as a first side surface 2050a for ease of description) of the support component 2050, and when the carrying component 2040 is in the operating posture, the carrying component 2040 remains substantially perpendicular to the first side surface 2050a of the support component 2050. Alternatively, when the carrying component is in a retracted state, the carrying component is retracted into the support component 2050, and when the carrying component is in an operating state, the carrying component extends out of the support component. In other words, regardless of whether the carrying component has two states, when the cleaning device returns to the base station, the carrying component protrudes from the base station body to carry the robot.

[0333] In one embodiment, as shown in FIG. 28, when the first water inlet of the cleaning device serves as the self-cleaning debris discharge opening, the bottom of the cleaning device is docked with the carrying component of the base station. In this case, both the first water inlet and the first docking assembly are provided on the bottom of the cleaning device. After the cleaning device is docked with the base station, the bottom of the cleaning device docks at the carrying surface. As shown in FIG. 29, if the second water inlet of the cleaning device serves as the self-cleaning debris discharge opening, when the second water inlet is provided on a front side surface of the front portion of the cleaning device, the front portion of the cleaning device is docked with the carrying component of the base station, and correspondingly, the first docking assembly is provided on the front portion of the cleaning device. As shown in FIG. 64E, when the second water inlet is provided on a rear side surface of the rear portion of the cleaning device, the rear portion of the cleaning device is docked with the carrying component of the base station, and correspondingly, the first docking assembly is provided on the rear portion of the cleaning device.

[0334] As shown in FIG. 68B and FIG. 68D, the carrying component is provided with a first flow channel 2190, enabling the self-cleaning debris inlet to be in fluid communication with the interior of the second filter assembly. As shown in FIG. 68C, to enable the self-cleaning debris inlet on the carrying component to be sealingly docked with the second water inlet, an extension portion 2194 protruding upward is provided on an end portion of the first flow channel, and a port of the extension portion serves as the self-cleaning debris inlet 2100. When the cleaning device is docked with the base station, the extension portion 2191 extends to the second water inlet and is sealingly in fluid communication with the second water inlet, and the second water inlet is sealingly in fluid communication with the second inlet of the first filter box, so that the liquid in the first filter box enters the first flow channel 2190 through the second inlet, the second water inlet, and the self-cleaning debris inlet 2100 under suction of the power assembly 2170.

[0335] As shown in FIG. 68C, the second filter assembly 2110 is provided with at least one third inlet 21101 in fluid communication with the interior of the second filter assembly. The third inlet 21101 is in fluid communication with the first flow channel 2190. The third accommodation cavity 2054 is provided with at least one fourth outlet 2054c. As shown in FIG. 68B, the support component is further provided with a second flow channel 2191. The power assembly 2170 is at least partially provided in the second flow channel. A first end of the second flow channel is in fluid communication with the fourth outlet, and a second end of the second flow channel serves as the self-cleaning water discharge opening 2120. The power assembly causes the liquid in the first filter box to flow through the second water inlet, the self-cleaning debris inlet, the first flow channel, the second filter assembly, and the second flow channel, the debris remains in the second filter assembly, and the liquid is discharged through the self-cleaning water discharge opening.

[0336] As shown in FIG. 68B and FIG. 68D, the base station is further provided with at least one transition flow channel 2192. One end of the transition flow channel is in fluid communication with the fourth outlet 2054c, and the other end of the transition flow channel is in fluid communication with the second flow channel 2192, so that the filtered liquid is discharged from the base station through the transition flow channel and the second flow channel. In one embodiment, when flowing from the transition flow channel to the second flow channel, the liquid needs to make a turn before the liquid enters the second flow channel, so that the transition flow channel and the second flow channel occupy less space of the support component 2059 in a height direction, and there is more space of the support component in the height direction to accommodate the second filter box. A flow direction of the liquid in the second flow channel is opposite to that in the transition flow channel, and the flow direction of the liquid is similar to an S-shaped direction, leading to a compact structure of the base station. In one embodiment, both the second flow channel and the filter flow channel are located below the second filter assembly. In other words, the liquid in the first filter box sequentially flows through the second water inlet, the selfcleaning debris inlet, the first flow channel, the second filter assembly, the transition flow channel, the second flow channel, and the self-cleaning water discharge opening, thereby defining the third water flow path for self-cleaning.

[0337] Further, as shown in FIG. 68B and FIG. 68C, the base station further includes a transition base 2193. The transition base is provided between the carrying component 2040 and the support component 2050. The transition base is provided with a first communication opening 2193a configured to allow the first flow channel to be in fluid communication with the interior of the second filter assembly. At least one transition flow channel 2192 and at least one second flow channel 2191 are provided on the transition base in a staggered manner. The filter flow channel 2192 extends from the fourth outlet 2054c to the carrying component, and the second flow channel 2191 extends from the carrying component to the support component. The second flow channel is located below the second filter assembly 2110 and runs through the support component to be in fluid communication with the outside. In other words, a start end of the transition flow channel is in fluid communication with the fourth outlet 2054c, a tail end of the transition flow channel is in fluid communication with a start end of the second flow channel, and a tail end of the second flow channel is in fluid communication with the outside. To form greater suction, the power assembly 2170 is provided near the start end of the second flow channel. For example, the power assembly includes a self-cleaning water pump, and an impeller of the self-cleaning water pump is provided near the start end of the second flow channel, so that a suction force can be generated when the impeller rotates. In one embodiment, there are two transition flow channels and one second flow channel. The two transition flow channels are symmetrically provided on two sides of the second flow channel to expand the second flow channel, so that the liquid filtered by the second filter assembly can be quickly discharged. Certainly, in another embodiment, the transition flow channel may not be provided, only the second flow channel may be provided, and the fourth outlet 2054c is directly in fluid communication with the second flow channel.

[0338] As shown in FIG. 68A, the base station further includes: a fixing base 2180 configured to be fixedly connected to a poolside; a second filter assembly 2110 at least partially accommodated in the base station body; a carrying component 2040 connected to the base station body and configured to be docked with the cleaning device operating in the pool; a self-cleaning debris inlet provided on the carrying component 2040 or the base station body and in fluid communication with the second filter assembly 2110 through a pipe; and a power assembly 2170 configured to: when the cleaning device is docked with the base station, provide a suction force for liquid to sequentially flow through at least the cleaning device, the self-cleaning debris inlet, and the second filter assembly 2110. The base station body is movably connected to the fixing base to adjust the carrying component to be at least partially located below the water surface of the pool.

[0339] For example, the base station body includes the support component, or the base station body serves as the support component. The support component is provided on the fixing base, and the fixing base is configured to fix the base station as a whole to the poolside or the pool wall, so that the carrying component is located underwater. In one embodiment, the support component is movably provided on the fixing base in a vertical direction to change a height of the support component on the fixing base to adapt to pools of different depths.

[0340] For example, the fixing base includes a mounting portion and a fixing portion 21802 connected to the mounting portion 1801. The fixing portion 21802 extends in a height direction of the support component. A plurality of mounting holes are provided on the fixing portion at different heights. Mate components are provided on the support component. The mate components are mounted in the mounting holes at different heights to change a height of the base station on the fixing base to adapt to pools of different depths. A position of the mate component and a position of the mounting hole may be exchanged. In one embodiment, the mounting portion extends horizontally and may be mounted on the poolside. The fixing portion extends vertically, enabling the fixing portion to abut against or be close to the pool wall in the pool. The support component is mounted on the fixing portion.

[0341] In one embodiment, a distance between a lowest point of the carrying component and the water surface of the pool is greater than an overall length of the cleaning device, so that when the base station is mounted on the poolside, the carrying component can remain underwater, enabling the base station to be docked with the cleaning device underwater.

[0342] The second filter assembly 2110 includes a second filter box 21102, and the second filter box is provided with at least one filter surface. A filtration level of the filter surface of the second filter box may be the same as or different than that of the filter surface of the first filter box. The filtration level of the filter surface of the second filter box is higher than the filtration level of the filter surface of the first filter box, and the second filter box can filter out debris of a smaller size, so that the second filter box can perform fine filtration, to ensure that all debris discharged from the first filter box can be collected into the second filter box. Because the liquid is discharged into the pool through the self-cleaning water discharge opening, the second filter box performs fine filtration, to prevent the filtered-out debris from flowing into the pool with the liquid through the self-cleaning water discharge opening. In this way, a cleaning effect is not affected.

[0343] As shown in FIG. 68D, one of the first docking assembly and the second docking assembly is an insertion groove, and the other is an insertion component. For example, the insertion groove is provided at the rear portion of the cleaning device, and the insertion component is provided on the first end of the carrying component. The rear portion of the cleaning device moves toward the carrying component, enabling the insertion component to be inserted into the insertion groove, thereby implementing docking.

[0344] The base station is provided with a first wireless charging unit configured to charge a second wireless charging unit of the cleaning device when the cleaning device is docked with the base station.

[0345] When the base station in this embodiment is used in a pool, if the pool is rectangular, side walls of the pool include a first wall, a second wall, a third wall, and a fourth wall connected end to end. When the fixing base of the base station is mounted on the pool, the carrying component is usually located at a corner between two adjacent walls.

[0346] When the cleaning system 1 does not include the second filter assembly 2110, the debris in the carrying assembly 2000 may be discharged directly through the power assembly into the external debris discharge pipe (not shown in the figure) or the pool skimmer.

[0347] In some embodiments, when the first water inlet 1031 serves as the water inlet for the cleaning device 1000 to clean the pool, a first flap which can be opened and closed is provided over the first water inlet 1031. When the cleaning device 1000 performs cleaning, the first flap is opened in a first direction to guide water flowing in the first direction to flow into the first filter assembly 1050. When the cleaning device 1000 is self-cleaned, the first flap is opened in a second direction to guide water flowing in the second direction to flow out of the first water inlet 1031. The first direction is opposite to the second direction. The first flap may be opened in the first direction or the second direction by using the suction assembly 1060, by using a mechanical structure, or in an electrical control manner, to expose the first water inlet 1031.

[0348] When the first water inlet 1031 is provided at the bottom of the cleaning device 1000, the mechanical structure may be a counterweight block (not shown in the figure). The counterweight block is movably provided on the first flap. When the cleaning device 1000 performs cleaning, the counterweight block is configured to cause the first cover plate to be opened in the first direction. When the cleaning device 1000 is self-cleaned, the counterweight block is configured to cause the first cover plate to be opened in the second direction. The electrical control manner may be that a cover plate drive component 2062 (not shown in the figure) is connected to the first cover plate, and when a cleaning instruction or a self-cleaning instruction is received, the cover plate drive component 2062 directly drives the first cover plate to be opened in the first direction or the second direction.

[0349] When the first water inlet 1031 is different from the water inlet for the cleaning device 1000 to clean the pool, the first flap which can be opened and closed may be provided over the water inlet for water to enter. A second cover plate (not shown in the figure) which can be opened and closed is connected to the first water inlet 1031. When the cleaning device 1000 performs cleaning, the first cover plate is opened, and the second cover plate is closed. When the cleaning device 1000 is self-cleaned, the first cover plate may be opened or closed, and the second cover plate is opened.

[0350] In some embodiments, the cleaning system 1 includes an in-position detection assembly (not shown in the figure) for the second filter assembly 2110. The in-position detection assembly for the second filter assembly 2110 is configured to detect whether the second filter assembly 2110 is in position. When the second filter assembly 2110 is not in position, the in-position detection assembly transmits this signal to the cleaning system 1, and then the power assembly is controlled to stop operating. When the second filter assembly 2110 is in position, the in-position detection assembly transmits this signal to the cleaning system 1, and then the power assembly is controlled to operate, so that the cleaning device 1000 can be self-cleaned.

[0351] In some embodiments, the cleaning device 1000 is provided with an in-position detection assembly (not shown in the figure) for the first filter assembly 1050. When it is detected that the first filter assembly 1050 is not in position or is not mounted in position, the suction assembly 1060 of the cleaning device 1000 is controlled not to initiate the cleaning process.

[0352] In some embodiments, the carrying assembly 2000 is provided with a connection rod (not shown in the figure). The connection rod includes a docking end and a pressed end opposite to each other. The self-cleaning debris inlet 2100 is provided on the docking end. When the cleaning device 1000 has not returned to the carrying assembly 2000, the docking end is located in the carrying assembly 2000. In other words, the self-cleaning debris inlet 2100 is located in the carrying assembly 2000 and is not exposed to the outside. The pressed end protrudes from a surface of the carrying assembly 2000. When the cleaning device 1000 returns to the carrying assembly 2000, the cleaning device 1000 presses the pressed end in a direction from the cleaning device 1000 to the carrying assembly 2000, causing the pressed end to move toward the carrying assembly 2000, so that the connection rod is lifted, and the docking end moves toward the cleaning device 1000. In this way, the self-cleaning debris inlet 2100 can be docked with the first water inlet 1031.

[0353] In some embodiments, as shown in FIG. 25, the cleaning device includes a cleaning assembly 1200. The cleaning assembly 1200 includes a first cleaning component 1201. The first cleaning component 1201 is configured to draw debris under the water surface and / or debris on the water surface into the first filter assembly 1050 or clean a to-be-cleaned surface. For example, there are a plurality of first cleaning components. One first cleaning component is configured to clean debris on the water surface and may be provided at or near the second water inlet 1032, and at least one first cleaning component is configured to clean off underwater debris and may be provided in front of or at the first water inlet 1031, or at least two first cleaning components are configured to clean off underwater debris, at least one first cleaning component is located in front of the first water inlet, and at least one first cleaning component is located behind the first water inlet. In one embodiment, when the first cleaning component is configured to clean off underwater debris, the movement assembly 1071 may include a transmission component (not shown in the figure). The transmission component is connected to the first cleaning component 1201. When the movement assembly 1071 moves, the movement assembly 1071 drives, through the transmission component, the first cleaning component 1201 to rotate. The first cleaning component 1201 may be a roller brush, a bristle brush, or the like, and the transmission component may be a transmission shaft, a gear, or the like. In another embodiment, when the first cleaning component 1201 is configured to clean off underwater debris, the cleaning device further includes a drive assembly and a transmission assembly. The first cleaning component is connected to the movement assembly through the transmission assembly. The drive assembly drives the first cleaning component 1201 to rotate to drive, through the transmission assembly, the movement assembly to move, so that the cleaning device can move. For example, the first cleaning component includes a roller and a cleaning body provided outside the roller. The interior of the roller is a hollow cavity. The drive assembly is provided in the hollow cavity. The drive assembly drives the roller to rotate, and the roller drives, through the transmission assembly, the movement assembly to move, so that the cleaning device can move. In another embodiment, the roller may or may not have a hollow cavity, and the drive assembly is provided on the cleaning device body. The drive assembly drives the roller to rotate, and the roller drives the movement assembly to move. Alternatively, there are two drive assemblies. One drive assembly is configured to drive the movement assembly, and the other drive assembly is configured to drive the first cleaning component to move. There is a power transmission relationship between the two drive assemblies.

[0354] Alternatively, in another embodiment, when the first cleaning component 1201 is configured to clean off underwater debris, the cleaning device further includes a drive assembly and a transmission assembly. The first cleaning component is connected to the movement assembly through the transmission assembly. The drive assembly drives the movement assembly to move to drive, through the transmission assembly, the first cleaning component 1201 to rotate, so that the first cleaning component is driven to rotate while the cleaning device moves. In this way, a cleaning function is implemented.

[0355] With reference to FIG. 37 and FIG. 53A, the present disclosure provides a cleaning device used in liquid. The cleaning device may be a pool cleaning robot, a swimming pool cleaning robot, an underwater cleaning device, or the like. This is not limited herein. FIG. 53A is a first side diagram of a cleaning device 1000 used in liquid according to the present disclosure. The cleaning device can move in a target region 300 that contains liquid and may be switched between a position on the water surface 200 and a position under the water surface 200. The target region 300 may be a region in which the cleaning device 1000 moves and the liquid is contained. For example, the target region 300 may be a pool, a swimming pool, an oil well, or a sewer. This is not limited herein. It should be noted that as shown in FIG. 53A, the cleaning device 1000 used in liquid can not only move in the target region 300 containing liquid but also move on a bottom wall 310 and a side wall 320 of the target region 300.

[0356] The cleaning device 1000 used in liquid includes a mode switching assembly 1100. The mode switching assembly 1100 is configured to implement pose switching of the cleaning device 1000 between the second motion state and the third motion state. It should be noted that as shown in FIG. 53B or FIG. 54A, a second side diagram of the cleaning device 1000 used in liquid is provided. The first motion state is defined as a state in which the cleaning device 1000 moves on the bottom wall 310, or an angle between an overall direction of the cleaning device 1000 and the bottom wall 310 is less than 90°, and the cleaning device is away from the water surface. That the cleaning device is away from the water surface may be understood as that the cleaning device 1000 cleans the bottom of the pool, performs an action in the water, and the like. As shown in FIG. 53 or FIG. 54D, a third side diagram of the cleaning device 1000 used in liquid is provided. The second motion state is defined as a state in which the cleaning device 1000 moves on the side wall 320, or the overall direction of the cleaning device 1000 is substantially parallel to the side wall 320. As shown in FIG. 53C, FIG. 54G, FIG. 60A, or FIG. 60B, a fourth side diagram of the cleaning device 1000 used in liquid is provided. The third motion state is defined as a state in which the cleaning device 1000 moves on the water surface, the cleaning device 1000 is at least partially exposed above the water surface, or the cleaning device 1000 is entirely located below the water surface and is close to the water surface. That the cleaning device is close to the water surface may be understood as that a distance between the cleaning device 1000 and the water surface is less than a threshold, provided that the cleaning device can clean the water surface. The overall direction 106 of the cleaning device 1000 may be defined as a direction of a plane of the movement assembly of the cleaning device, for example, the track 117 or the wheel, and the plane is in contact with the to-be-cleaned surface, namely, as shown in FIG. 53C, a plane on which the tracks of the two movement assemblies of the cleaning device 1000 or the bottom of the wheel is located. Alternatively, if the movement assembly includes a first wheel, a second wheel, and a track, and the track is wrapped around peripheries of the first wheel and the second wheel, the overall direction of the cleaning device 1000 may be an extension direction of a connection line between rotation centers of the first wheel and the second wheel. The first motion state may include a state of cleaning the bottom wall 310, treating liquid in the pool, and the like. The second motion state may include a state of cleaning the side wall 320, cleaning the waterline, and the like. The third motion state may include a state of moving on the water surface, cleaning the water surface, and the like. Cleaning the water surface may be understood as that debris floating on the water surface enters the cleaning device 1000 through a suction inlet of the cleaning device 1000. In one embodiment, diameters of the first wheel and the second wheel are substantially equal. In another embodiment, the diameter of the first wheel is greater than that of the second wheel, and in a forward direction of the cleaning device, the first wheel is located in front of the second wheel, so that the first wheel has larger traction, thereby facilitating implementation of a wall climbing function of the cleaning device.

[0357] The mode switching assembly 1100 is configured to allow the cleaning device 1000 to be switched between a pose on the water surface 200 and a pose under the water surface 200, enabling the cleaning device 1000 to be flexibly switched between the pose on the water surface 200 and the pose under the water surface 200. Specifically, the mode switching assembly 1100 causes the cleaning device 1000 to be switched between the pose on the water surface 200 and the pose under the water surface 200, enabling the cleaning device to be located on the water surface 200, so that the cleaning device 1000 is switched to the third motion state. In this way, the cleaning device 1000 can clean a water surface of a liquid environment. The mode switching assembly 1100 causes the cleaning device 1000 to be switched between the pose on the water surface 200 and the pose under the water surface 200, enabling the cleaning device to be switched to the second motion state. In this way, the cleaning device 1000 can clean a wall of the pool or a waterline. In this way, the cleaning device 1000 can comprehensively clean the liquid environment. This improves cleaning efficiency in the liquid environment, expands an application range, and reduces cleaning costs.

[0358] The cleaning device 1000 may have different configurations. For example, when the cleaning device cleans the water surface, and a suction inlet is provided on a side surface of the front portion of the machine or the cleaning device 1000, as shown in FIG. 60A, the third motion state is a state in which the cleaning device 1000 is substantially horizontal, or the front portion slightly tilts upward, and the rear portion slightly tilts downward (which may be defined as a first tilt state, as shown in FIG. 60B). In this case, the suction inlet is at least partially located below the water surface. When the suction inlet is provided at the bottom of the machine or the cleaning device 1000, the suction inlet may be a suction inlet used for pool bottom cleaning. In other words, the suction inlet includes a first suction inlet (namely, the first water inlet 1031 in the following description) and a second suction inlet (namely, the second water inlet 1032 in the following description). The first suction inlet is configured for pool bottom cleaning, and the second suction inlet is configured for water surface cleaning. The third motion state is a state in which the side surface of the front portion of the cleaning device 1000 is significantly exposed above the water surface, the suction inlet is at least partially exposed above the water surface or close to the water surface, and to maintain balance of the machine, the rear portion of the machine is located below the water surface (which may be defined as a second tilt state). A tilt degree of the machine in the second tilt state is significantly greater than that of the machine in the first tilt state. When the suction inlet is provided at a joint or a transition between the front portion and the bottom of the machine, the third motion state is a state in which the joint or the transition of the cleaning device 1000 is at least partially exposed above the water surface to ensure that the suction inlet is at least partially exposed above the water surface or close to the water surface. In this case, the rear portion of the machine is located lower than the front portion of the machine, and the rear portion of the machine can submerge in water, or a small part of a side surface of the rear portion is exposed above the water surface.

[0359] A process in which the cleaning device 1000 is switched from the second motion state to the third motion state is a process in which the cleaning device 1000 rotates around a first virtual shaft substantially in a first direction. The first virtual shaft is located in the front portion of the cleaning device 1000. In other words, a rotation distance of the front portion of the machine is less than that of the rear portion. For example, as shown in FIG. 54F and FIG. 16G, when the cleaning device 1000 needs to be switched from the second motion state to the third motion state, the cleaning device 1000 rotates from a state in which the overall direction of the cleaning device 1000 is substantially parallel to a side wall to a state in which the overall direction of the cleaning device 1000 is parallel to the water surface. For example, as shown in FIG. 54F, the front portion of the cleaning device 1000 rotates counterclockwise toward the wall of the pool, and the rear portion rotates counterclockwise away from the pool wall and rises toward the water surface. The rotation distance of the front portion is less than that of the rear portion until the cleaning device 1000 is switched to the third motion state. In this case, the top of the machine faces upward, and the bottom faces downward. In a process in which the cleaning device 1000 is switched from the third motion state to the second motion state, the cleaning device 1000 moves until the front portion abuts against the pool wall, and when the front portion abuts against the pool wall, the cleaning device rotates around a second virtual shaft substantially in a second direction. The second virtual shaft is also located in the front portion of the cleaning device 1000. The rotation distance of the rear portion of the cleaning device is greater than that of the front portion. For example, as shown in FIG. 55A and FIG. 55B, when the cleaning device 1000 needs to be switched from the third motion state to the second motion state, the front portion of the cleaning device 1000 first abuts against the pool wall, and then the cleaning device 1000 rotates from a state in which the overall direction of the cleaning device 1000 is parallel to the water surface to a state in which the overall direction of the cleaning device is substantially parallel to the side wall. For example, as shown in FIG. 55B, the front portion of the cleaning device 1000 rotates clockwise away from the pool wall, and the rear portion rotates clockwise toward the pool wall and sinks until the cleaning device is switched to the second motion state. The rotation distance of the rear portion is greater than that of the front portion. In this case, the front portion of the cleaning device 1000 faces upward, and the rear portion faces downward. The first direction is opposite to the second direction. One of the first direction and the second direction is the clockwise direction, and the other is the counterclockwise direction.

[0360] In one embodiment, the mode switching assembly 1100 is further configured to adjust a force applied to the cleaning device 1000 in the vertical direction. Specifically, when the cleaning device 1000 is in the second motion state, the mode switching assembly 1100 can adjust the force applied to the cleaning device 1000 in the vertical direction, enabling the cleaning device 1000 to be switched from the second motion state to the third motion state, and when the cleaning device 1000 is in the third motion state, the mode switching assembly 1100 can adjust the force applied to the cleaning device 1000 in the vertical direction, enabling the cleaning device 1000 to be switched from the third motion state to the second motion state or directly from the third motion state to the first motion state. In other words, the mode switching assembly 1100 is configured to adjust the force applied to the cleaning device 1000 in the vertical direction, so that the cleaning device 1000 can be switched between the pose on the water surface 200 and the pose under the water surface 200.

[0361] It should be noted that as shown in FIG. 53A, the vertical direction may be a vertical direction of the target region 300, for example, a vertical direction of the pool, namely, a direction of gravity. The horizontal direction may be a horizontal direction of the target region 300, for example, a horizontal direction of the pool, namely, a direction perpendicular to the direction of gravity.

[0362] In one embodiment, the force applied to the cleaning device 1000 in the vertical direction may include a buoyancy force applied to the cleaning device 1000 in the vertical direction. The mode switching assembly 1100 is further configured to adjust the buoyancy force applied to the cleaning device 1000 in the vertical direction. The buoyancy force applied to the cleaning device 1000 in the vertical direction changes, and the gravity of the cleaning device 1000 remains essentially unchanged. Therefore, the cleaning device 1000 can be switched between the second motion state and the third motion state or between the first motion state and the third motion state, so that the cleaning device 1000 can be switched between the pose on the water surface 200 and the pose under the water surface 200. Specifically, when the cleaning device 1000 is in the second motion state, the mode switching assembly 1100 increases the buoyancy force applied to the cleaning device 1000 in the vertical direction. As the cleaning device 1000 moves, the cleaning device 1000 can be switched from the second motion state to the third motion state, so that the cleaning device 1000 can be switched from the pose under the water surface 200 to the pose on the water surface 200. When the cleaning device 1000 is in the third motion state, the mode switching assembly 1100 reduces the buoyancy force applied to the cleaning device 1000 in the vertical direction. As the cleaning device 1000 moves, the cleaning device 1000 can be switched from the third motion state to the second motion state or the first motion state, so that the cleaning device 1000 can be switched from the pose on the water surface 200 to the pose under the water surface 200.

[0363] It should be noted that for a mode switching assembly provided with, for example, a rigid cavity, a volume of water in the rigid cavity increases or decreases to increase or decrease gravity of the mode switching assembly, thereby increasing or decreasing the buoyancy force applied to the cleaning device 1000 in the vertical direction. In other words, for the cleaning device 1000 provided with the mode switching assembly provided with, for example, a rigid cavity, the gravity of the cleaning device 1000 is adjusted. In essence, the buoyancy force applied to the cleaning device 1000 in the vertical direction is adjusted, so that the cleaning device 1000 can be switched between the pose on the water surface 200 and the pose under the water surface 200.

[0364] FIG. 37 is a first front diagram of the cleaning device 1000 used in a liquid. In one embodiment, the mode switching assembly 1100 includes a buoyancy cavity 111, a first adjustment component 112, and at least one first input opening 113. The buoyancy cavity 111 is configured to accommodate gas and / or liquid. The first adjustment component 112 is configured to adjust a volume of gas and / or liquid in the buoyancy cavity 111. The at least one first input opening 113 is in fluid communication with the buoyancy cavity 111 to allow external gas or liquid to enter the buoyancy cavity 111. After the first input opening 113 of the cleaning device 1000 is exposed above the water surface, the first adjustment component 112 is turned on to input gas into the buoyancy cavity 111 through the first input opening 113. As shown in FIG. 54F, the rear portion of the cleaning device 1000 moves toward the water surface, so that the cleaning device 1000 is switched from the second motion state to the third motion state. A change in the volume of the gas or the liquid in the buoyancy cavity 111 causes a change in a magnitude of the buoyancy force applied to the cleaning device 1000 in the vertical direction, enabling the cleaning device 1000 to be switched from the second motion state to the third motion state, so that the cleaning device 1000 can be switched between the pose on the water surface 200 and the pose under the water surface 200. It should be noted that as shown in FIG. 53B and FIG. 53C or FIG. 54A and FIG. 54F, a pose of the cleaning device 1000 in the third motion state is substantially identical to that of the cleaning device in the first motion state, and as shown in FIG. 60A and FIG. 60B, the cleaning device 1000 is in a substantially horizontal state.

[0365] Specifically, as shown in FIG. 53A or FIG. 54D, when the cleaning device 1000 moves upward on the side wall 320 or moves upward in a direction substantially parallel to the side wall 320, the cleaning device 1000 is in the second motion state. As shown in FIG. 53D or FIG. 54E, a fifth side diagram of the cleaning device 1000 used in liquid is provided. The cleaning device 1000 continues to climb upward along the side wall 320 or in the direction substantially parallel to the side wall 320 until the front portion of the cleaning device 1000 reaches the waterline 201, and the first input opening 113 is exposed above the water surface. Then, the first adjustment component 112 inputs gas into the buoyancy cavity 111 through the first input opening 113, enabling the volume of the gas in the buoyancy cavity 111 to increase, thereby increasing the buoyancy force applied to the cleaning device 1000. Because the front portion of the cleaning device 1000 is at least partially exposed above the water surface, the rear portion of the cleaning device 1000 rises. As shown in FIG. 53C or FIG. 54F, the cleaning device 1000 moves from a vertical state to a substantially horizontal state until the rear portion of the cleaning device 1000 is at least partially located on the water surface. As shown in FIG. 53C or FIG. 54G, the cleaning device 1000 is in the third motion state and capable of cleaning the water surface. In this way, pose switching of the cleaning device 1000 from the second motion state to the third motion state is implemented.

[0366] As shown in FIG. 37, the first input opening 113 may be provided at the front portion of the cleaning device 1000. To increase the buoyancy force applied to the cleaning device 1000, the gas needs to be input into the buoyancy cavity 111 through the first input opening 113 only when the first input opening 113 is exposed above the water surface. Therefore, the first input opening 113 is provided at the front portion of the cleaning device 1000, so that the first input opening 113 can first emerge from the water surface when the cleaning device is in the second motion state. In this way, when the cleaning device 1000 needs to perform pose switching, the gas can be input into the buoyancy cavity 111 of the cleaning device more quickly, so that pose switching of the cleaning device 1000 from the second motion state to the third motion state can be implemented.

[0367] In one embodiment, the first input opening 113 may be provided on the buoyancy cavity 111 or independent of the buoyancy cavity 111. In other embodiments, the first input opening 113 may be provided on a housing of the cleaning device 1000 to be in fluid communication with the outside (such as external liquid or external gas) for gas and / or liquid exchanging. In one embodiment, the first input opening 113 is provided in the front portion of the cleaning device 1000. At least one or more communication openings are provided on the front side wall of the front portion of the cleaning device 1000. The cleaning device 1000 is in fluid communication with the outside through the communication opening, so that the external gas enters the cleaning device 1000 through the communication opening and then is input into the buoyancy cavity through the first input opening, or the gas in the buoyancy cavity is discharged from the cleaning device 1000 through the first input opening and the communication opening.

[0368] In one embodiment, as shown in FIG. 53B or FIG. 54A, the cleaning device 1000 further has a first motion state. When the cleaning device is in the first motion state, the cleaning device can perform underwater cleaning. The cleaning device 1000 can be switched from the first motion state to the second motion state and then from the second motion state to the third motion state, or the cleaning device 1000 can be switched from the third motion state to the second motion state and then from the second motion state to the first motion state, that is, pose switching of the cleaning device 1000 between the first motion state, the second motion state, and the third motion state can be implemented.

[0369] Specifically, as shown in FIG. 3, when the cleaning device 1000 moves on the bottom wall 310, or an angle between the overall direction of the cleaning device 1000 and the bottom wall 310 is less than 90°, and the cleaning device moves away from the water surface 200, the cleaning device 1000 is in the first motion state. As shown in FIG. 53A, after completing underwater cleaning, the cleaning device 1000 is located at the side wall 320 and moves upward along the side wall 320, or as shown in FIG. 54C, the cleaning device 1000 moves upward in a direction substantially parallel to the side wall 320. In this case, the cleaning device 1000 is in the second motion state. In this way, pose switching of the cleaning device from the first motion state to the second motion state is implemented. Then, as shown in FIG. 53D, the cleaning device 1000 moves along the side wall 320 to the waterline, and the first input opening 113 is exposed above the water surface. As shown in FIG. 5, the first adjustment component 112 inputs gas into the buoyancy cavity 111 through the first input opening 113, enabling the volume of the gas in the buoyancy cavity 111 to increase, so that the buoyancy force applied to the cleaning device 1000 increases. Because the front portion of the cleaning device 1000 has already at least partially emerged from the water surface, the rear portion of the cleaning device 1000 rises, and the cleaning device 1000 begins to be switched from a vertical state to a substantially horizontal state until the rear portion of the cleaning device 1000 is at least partially located on the water surface or has moved for a certain distance toward the water surface relative to a case where the cleaning device is in the second motion state. When the cleaning device 1000 is in the third motion state, the cleaning device 1000 can clean the water surface. In this way, pose switching of the cleaning device 1000 from the second motion state to the third motion state is implemented.

[0370] After finishing cleaning the water surface, the cleaning device 1000 may move to any position at the waterline. In this case, the front portion of the cleaning device 1000 substantially abuts against the waterline on the pool wall, and the rear portion is away from the waterline. Then, the first adjustment component 112 causes the gas to be discharged from the buoyancy cavity 111 through the first input opening 113, enabling the volume of the gas in the buoyancy cavity 111 to decrease, so that the buoyancy force applied to the cleaning device 1000 decreases, causing the cleaning device to begin to sink. In this case, the main water pump and / or the movement assembly may be in operation, and the cleaning device 1000 begins to be switched from the horizontal state to the vertical state. In this way, pose switching of the cleaning device from the third motion state to the second motion state is implemented. It should be noted that in a process in which the first adjustment component 112 adjusts the volume of the gas in the buoyancy cavity 111 through the first input opening 113, usually, gas in one buoyancy cavity 111 away from the first input opening 113 is discharged before gas in one buoyancy cavity 111 close to the first input opening 113, that is, one buoyancy cavity 111, of the cleaning device 1000, away from the first input opening 113 sinks first until the cleaning device 1000 is switched to the second motion state, and when the cleaning device is switched to the second motion state, a portion, of the cleaning device, on which the first input opening 113 is located sinks, thereby facilitating better adjustment of the volume of the gas in the buoyancy cavity 111. Then, the cleaning device 1000 may move downward along the side wall 320 or in the direction substantially parallel to the side wall 320 until the cleaning device abuts against the bottom wall 310. Finally, the cleaning device moves to the bottom wall 310. In this way, the cleaning device 1000 is switched from the second motion state to the first motion state. Alternatively, the cleaning device 1000 may discharge the gas in the buoyancy cavity 111 through the first input opening 113 at any position on the water surface by using the first adjustment component 112, enabling the volume of the gas in the buoyancy cavity 111 to decrease, so that the buoyancy force applied to the cleaning device 1000 decreases, causing the cleaning device 1000 to begin to sink until the cleaning device reaches a preset depth or sinks directly to the bottom wall 310. In this way, pose switching of the cleaning device from the third motion state to the first motion state is implemented. During this process, the portion, of the cleaning device, on which the first input opening 113 is located still finally submerges below the water surface as much as possible.

[0371] In other embodiments, the buoyancy cavity 111 is flexible. A volume of the buoyancy cavity 111 varies with a volume of the gas. The first adjustment component 112 is a pump (for example, a pneumatic pump, a hydraulic pump, or an electric pump). The pump can drive gas to be input into / discharged from the buoyancy cavity 111, enabling the volume of the gas in the buoyancy cavity 111 to increase / decrease, so that the volume of the buoyancy cavity 111 increases / decreases. In this way, the volume of the gas in the buoyancy cavity 111 is adjusted. If the cleaning device 1000 is in the second motion state, when the pump drives the gas to be input through the first input opening 113, the volume of the gas in the buoyancy cavity 111 in a deflated state increases, and the volume of the buoyancy cavity 111 increases with the volume of the gas, enabling the buoyancy force applied to the cleaning device 1000 to increase, so that the cleaning device 1000 can be switched from the second motion state to the third motion state. In this way, the cleaning device 1000 can be switched from the pose under the water surface 200 to the pose on the water surface 200. If the cleaning device 1000 is in the third motion state, when the pump drives the gas to be discharged through the first input opening 113, the volume of the gas in the buoyancy cavity 111 decreases, and the volume of the buoyancy cavity 111 decreases with the volume of the gas, enabling the buoyancy force applied to the cleaning device 1000 to decrease, so that the cleaning device 1000 can be switched from the third motion state to the second motion state or directly switched from the third motion state to the first motion state.

[0372] It should be noted that a gas source for the pump may be a gas tank provided on the cleaning device 1000 or external air. When the gas source for the pump is a gas tank, the gas may be input into the buoyancy cavity 111 of the cleaning device 1000 through the first input opening 113 on the water surface or under the water surface, so that the cleaning device 1000 can be directly switched from the first motion state to the third motion state or be switched from the first motion state to the second motion state and then from the second motion state to the third motion state. When the gas source for the pump is external air, the gas can be input into the buoyancy cavity 111 through the first input opening 113 only after the first input opening 113 is exposed above the water surface. In addition, the buoyancy cavity 111 whose volume varies with the volume of the gas is made of a flexible material. The flexible material may include, but is not limited to, polyvinyl alcohol resin, polyethylene glycol terephthalate, rubber, and the like.

[0373] In one embodiment, as shown in FIG. 37, the mode switching assembly 1100 further includes a first connection pipe 1104. In other words, the mode switching assembly 1100 includes the buoyancy cavity 111, the first adjustment component 112, at least one first input opening 113, and the first connection pipe 1104. The first connection pipe 1104 is configured to transport gas or liquid, and the first connection pipe 1104 may be connected to one or more of the buoyancy cavity 111, the first adjustment component 112, and the first input opening 113. As shown in FIG. 37, the cleaning device 1000 includes at least two buoyancy cavities 111, the first adjustment component 112, the first input opening 113, and first connection pipes 1104. The buoyancy cavity 111 may be connected to the first adjustment component 112 through one first connection pipe 1104, and the first adjustment component 112 may be connected to the first input opening 113 through one first connection pipe 1104.

[0374] In one embodiment, the buoyancy cavity 111 is rigid, and the cleaning device 1000 further includes a discharge opening. The first adjustment component 112 is a pump. When the cleaning device 1000 is in the third motion state, the pump drives the gas in the buoyancy cavity 111 to be discharged through the first input opening 113, and pressure in the buoyancy cavity is reduced to form negative pressure. The negative pressure drives liquid to be input into the buoyancy cavity 111 through the discharge opening. Therefore, when the gas is discharged, and the liquid is input, a weight of the buoyancy cavity 111 increases, and the buoyancy force applied to the cleaning device 1000 decreases, enabling the cleaning device 1000 to be switched from the third motion state to the second motion state or the first motion state, so that the cleaning device 1000 can be switched from the pose on the water surface 200 to the pose under the water surface 200. If the cleaning device 1000 is in the second motion state, the pump drives gas to be input through the first input opening 113 and also drives liquid in the buoyancy cavity 111 to be discharged through the discharge opening. Therefore, when the gas is input, and the liquid is discharged, the weight of the buoyancy cavity 111 decreases, and the buoyancy force applied to the cleaning device 1000 increases, enabling the cleaning device 1000 to be switched from the second motion state to the third motion state, so that the cleaning device 1000 can be switched from the pose under the water surface 200 to the pose on the water surface 200.

[0375] Specifically, as shown in FIG. 54A, when the cleaning device 1000 moves on the bottom wall 310, or an angle between the overall direction of the cleaning device 1000 and the bottom wall 310 is less than 90°, and the cleaning device moves away from the water surface 200, the cleaning device 1000 is in the first motion state. In this case, the top of the cleaning device 1000 faces upward, the bottom of the cleaning device faces downward or toward the bottom wall of the pool, and the cleaning device can clean the bottom wall of the pool. No matter whether when the cleaning device 1000 moves on the bottom wall or when the cleaning device cleans the bottom wall, the main water pump is turned on to generate a third thrust, so that the cleaning device 1000 can be tightly attached to the bottom wall. After completing underwater cleaning, as shown in FIG. 54B, the cleaning device 1000 moves toward the side wall until the front portion of the cleaning device 1000 abuts against the side wall. As shown in FIG. 54C, the cleaning device 1000 rotates and moves onto the side wall until the overall direction of the cleaning device 1000 is substantially parallel to the side wall. In this case, the cleaning device 1000 is in the second motion state. During the rotation process, when the front portion of the cleaning device 1000 abuts against the side wall, if the front portion of the cleaning device 1000 can smoothly rotate upward onto the side wall within a preset time, the main water pump remains on without being turned off, and if the front portion of the cleaning device 1000 cannot smoothly rotate upward onto the side wall within the preset time, for example, a sensor detects that a posture of the cleaning device 1000 remains unchanged within the preset time, it indicates that the cleaning device 1000 is trapped on the bottom wall or at a joint between the bottom wall and the side wall, that is, the third thrust generated by the main water pump causes the cleaning device 1000 to be tightly attached to the bottom wall, the front portion of the cleaning device 1000 cannot be lifted and rotate upward, and the cleaning device 1000 is in a trapped state. In this case, the main water pump is controlled to be temporarily turned off to withdraw the third thrust, generated by the main water pump, causing the cleaning device 1000 to be tightly attached to the bottom wall, to ensure that the front portion of the cleaning device 1000 can smoothly rotate upward onto the side wall. When the angle between the overall direction of the cleaning device 1000 and the bottom wall reaches a first preset angle, the main water pump is controlled to be turned on to generate the third thrust, to ensure that the cleaning device 1000 can rotate from the bottom wall to the side wall and be tightly attached to the side wall. In this way, the cleaning device is switched to the second motion state. Alternatively, when the front portion of the cleaning device 1000 abuts against the side wall, the posture of the cleaning device 1000 is not detected, and the main water pump is directly controlled to be temporarily turned off, so that the front portion of the cleaning device 1000 can smoothly rotate upward onto the side wall. When the angle between the overall direction of the cleaning device and the bottom wall reaches the first preset angle, the main water pump is controlled to be turned on to generate the third thrust, so that the cleaning device 1000 can be tightly attached to the side wall. In this way, the cleaning device is switched to the second motion state. As shown in FIG. 54D, pose switching of the cleaning device 1000 from the first motion state to the second motion state is implemented. When the cleaning device 1000 is in the second motion state, the front portion of the cleaning device 1000 faces upward, the rear portion of the cleaning device faces downward, and in the height direction of the side wall of the pool, the rear portion 10012 of the cleaning device 1000 may be close to or away from the bottom wall of the pool. When the cleaning device is in the second motion state, the cleaning device 1000 can clean the side wall. When the cleaning device 1000 moves on the side wall, the main water pump is turned on. When the cleaning device cleans the side wall, the main water pump is turned on. As shown in FIG. 54E, after cleaning the side wall, the cleaning device 1000 moves upward along the side wall to the waterline until the front portion of the cleaning device 1000 emerges from the water surface, causing the first input opening 113 provided on the front portion of the cleaning device 1000 to be at least partially exposed above the water surface.

[0376] No matter whether when the cleaning device 1000 is in the first motion state or when the cleaning device is in the second motion state, the buoyancy cavity may be almost filled with liquid or mostly liquid with a small amount of gas, which helps keep the cleaning device 1000 below the water surface. The first input opening 113 is provided on the front portion 10011 of the cleaning device 1000. One buoyancy cavity 111 close to the first input opening is provided in the front portion 10011 of the cleaning device 1000, and one buoyancy cavity 111 away from the first input opening is provided in the rear portion 10012 of the cleaning device 1000. When the cleaning device 1000 moves on the side wall, liquid is continuously drawn in through the first suction inlet for pool bottom cleaning, and liquid is continuously discharged through a main water outlet 1181 of the main water pump. The liquid discharged through the main water outlet 1181 applies the third thrust to the cleaning device 1000 to drive the cleaning device to be tightly attached to the side wall.

[0377] As shown in FIG. 54E, the cleaning device 1000 remains in contact with the side wall. When the first input opening 113 is at least partially exposed above the water surface, the first adjustment component 112 is turned on. When the first adjustment component 112 is a pump, a motor of the pump rotates in a forward direction. The pump drives external gas to be input into the buoyancy cavity through the first input opening, so that the volume of the gas in the buoyancy cavity increases, and liquid in the buoyancy cavity is discharged through the discharge opening, where the liquid in the buoyancy cavity is away from the first input opening. Usually, liquid in one buoyancy cavity 111 close to the first input opening 113 is discharged before liquid in one buoyancy cavity 111 away from the first input opening, and the buoyancy cavity 111 close to the first input opening 113 is filled with gas before the buoyancy cavity 111 away from the first input opening, so that the buoyancy force of the buoyancy cavity 111 close to the first input opening 113 increases, that is, the buoyancy force applied to the front portion of the cleaning device 1000 close to the first input opening increases. The buoyancy force causes the cleaning device 1000 to begin to rotate. However, the third thrust generated by the main water pump causes a point or a position at which the front portion of the cleaning device 1000 abuts against the side wall to continuously change during rotation of the cleaning device 1000. In this way, the front portion of the cleaning device 1000 rotates toward the side wall, and the rear portion of the cleaning device rotates away from the side wall and rises toward the water surface.

[0378] As shown in FIG. 54F, if the side wall is a vertical plane, the cleaning device 1000 rotates from a state in which the overall direction of the cleaning device 1000 is perpendicular to the water surface to a state in which the overall direction of the cleaning device 1000 is parallel to the water surface; from a state in which the overall direction of the cleaning device 1000 is substantially parallel to the side wall to a state in which the overall direction of the cleaning device 1000 is parallel to the water surface; or from a state in which the cleaning device 1000 is in contact with the side wall to a state in which the cleaning device 1000 is in the substantially horizontal state. For example, as shown in FIG. 54F, the front portion of the cleaning device 1000 rotates counterclockwise toward the side wall, and the rear portion rotates counterclockwise away from the side wall and rises toward the water surface. In this case, the rear portion of the cleaning device 1000 rises until the rear portion of the cleaning device 1000 is at least partially located on the water surface, or the rear portion has moved for a certain distance toward the water surface relative to a case where the cleaning device is in the second motion state. In this case, as shown in FIG. 54G, the cleaning device 1000 is in the third motion state. In this way, pose switching of the cleaning device 1000 from the second motion state to the third motion state is implemented. When the cleaning device is in the third motion state, the top of the cleaning device 1000 faces upward or faces away from the bottom wall of the pool, and the bottom of the cleaning device 1000 faces downward or faces toward the bottom wall of the pool. As shown in FIG. 60A and FIG. 60B, the cleaning device 1000 is in the substantially horizontal state. In an actual usage scenario, due to various factors, the front portion of the cleaning device 1000 slightly tilts upward, and the rear portion of the cleaning device slightly tilts downward, that is, the angle between the overall direction of the cleaning device 1000 and the water surface is less than or equal to 30°, which is considered as that the cleaning device 1000 is in the substantially horizontal state. As shown in FIG. 54A and FIG. 54G or FIG. 60B, a pose of the cleaning device 1000 in the first motion state is substantially identical to that of the cleaning device in the third motion state, and the cleaning device 1000 is in the substantially horizontal state. After the cleaning device 1000 is switched from the second motion state to the third motion state, the cleaning device may stop near the waterline without cleaning the water surface, so that the user can lift the cleaning device 1000 out of the water surface near the waterline, enabling the cleaning device 1000 to leave the water; or the cleaning device may stop near the waterline and wait for another instruction of the user, for example, an instruction indicating that the cleaning device needs to clean the water surface, an instruction indicating that the cleaning device needs to be switched to the second motion state, or an instruction indicating that the cleaning device needs to be switched to the first motion state.

[0379] When the cleaning device 1000 cleans the water surface, the main water pump is turned on. After finishing cleaning the water surface, the cleaning device 1000 may move to any position at the waterline. In this case, the front portion of the cleaning device 1000 substantially abuts against the waterline at the pool wall, and the rear portion of the cleaning device is away from the waterline. When the cleaning device 1000 is in the third state, the buoyancy cavity may be almost filled with gas or mostly gas, which helps the cleaning device 1000 remain in the third motion state. As shown in FIG. 55A, the first adjustment component 112 is configured to adjust the volume of the gas in the buoyancy cavity. For example, when the first adjustment component 112 is a pump, the pump rotates in a reverse direction. The pump drives the gas in the buoyancy cavity to be discharged through the first input opening and liquid to be drawn in the buoyancy cavity through the discharge opening of the buoyancy cavity. Usually, gas in one buoyancy cavity 111 away from the first input opening 113 is discharged before gas in one buoyancy cavity 111 close to the first input opening, so that the volume of the gas in the buoyancy cavity decreases, and the buoyancy cavity 111 away from the first input opening is filled with liquid before the buoyancy cavity 111 close to the first input opening. In this way, gravity of the buoyancy cavity 111 away from the first input opening increases, that is, gravity of the rear portion of the cleaning device 1000 increases before that of the front portion. The gravity of the rear portion of the cleaning device increases, causing the cleaning device 1000 to begin to rotate. However, because the main water pump is turned on to generate the third thrust, when the cleaning device 1000 rotates, a point or a position at which the front portion of the cleaning device 1000 abuts against the side wall continuously changes. The rear portion of the cleaning device 1000 rotates and sinks first until the cleaning device 1000 is switched to the second motion state. When the cleaning device is switched to the second motion state, a portion, of the cleaning device, on which the first input opening 113 is located sinks.

[0380] For example, as shown in FIG. 55B, the side wall is a vertical plane, and the cleaning device 1000 rotates from a state in which the overall direction of the cleaning device 1000 is parallel to the water surface to a state in which the overall direction of the cleaning device 1000 is perpendicular to the water surface; from a state in which the overall direction of the cleaning device 1000 is parallel to the water surface to a state in which the overall direction of the cleaning device 1000 is substantially parallel to the side wall; or from the substantially horizontal state of the cleaning device 1000 to a state in which the overall direction of the cleaning device 1000 is in contact with the side wall. For example, as shown in FIG. 55B, the rear portion of the cleaning device 1000 rotates clockwise toward the side wall, the front portion rotates clockwise away from the side wall, and the rear portion sinks before the front portion until the cleaning device 1000 is switched to the second motion state. The overall direction of the cleaning device 1000 is substantially perpendicular to the water surface or substantially parallel to the side wall, or the overall direction of the cleaning device 1000 is in contact with the side wall. As shown in FIG. 55C, the cleaning device is switched from the third motion state to the second motion state. As shown in FIG. 55D, the front portion of the cleaning device 1000 subsequently sinks. The cleaning device 1000 may move downward along the side wall 320 or in the direction substantially parallel to the side wall 320 until the rear portion of the cleaning device 1000 abuts against the bottom wall of the pool. During this moving process, the front portion of the cleaning device 1000 faces upward, the rear portion faces downward, and the cleaning device 1000 moves backward on the side wall. Then, as shown in FIG. 55E, the cleaning device 1000 rotates from a state in which the overall direction of the cleaning device 1000 is perpendicular to the water surface to a state in which the entire cleaning device 1000 is parallel to the water surface or from a state in which the overall direction of the cleaning device 1000 is substantially parallel to the side wall to a state in which the overall direction is parallel to the water surface, so that the cleaning device is in the substantially horizontal state. During the rotation process, when the rear portion of the cleaning device 1000 abuts against the bottom wall, if the rear portion of the cleaning device 1000 can smoothly rotate downward onto the bottom wall within a preset time, the main water pump remains on without being turned off, and if the rear portion of the cleaning device 1000 cannot smoothly rotate downward onto the bottom wall within the preset time, for example, a sensor detects that a posture of the cleaning device 1000 remains unchanged within the preset time, it indicates that the cleaning device 1000 is trapped on the side wall or at a joint between the bottom wall and the side wall, that is, the third thrust generated by the main water pump causes the cleaning device 1000 to be tightly attached to the side wall, the rear portion of the cleaning device 1000 cannot be lifted and rotate downward, and the cleaning device 1000 is in a trapped state. In this case, the main water pump is controlled to be temporarily turned off to withdraw the third thrust, generated by the main water pump, causing the cleaning device 1000 to be tightly attached to the side wall, to ensure that the rear portion of the cleaning device 1000 can smoothly rotate downward onto the bottom wall. When an angle between the overall direction of the cleaning device 1000 and the side wall reaches a second preset angle, the main water pump is controlled to be turned on to generate the third thrust, to ensure that the cleaning device 1000 can rotate from the side wall to the bottom wall and be tightly attached to the bottom wall. In this way, the cleaning device is switched to the first motion state. Alternatively, when the rear portion of the cleaning device 1000 abuts against the bottom wall, the posture of the cleaning device 1000 is not detected, and the main water pump is directly controlled to be temporarily turned off, so that the rear portion of the cleaning device 1000 can smoothly rotate downward onto the bottom wall. When the angle between the overall direction of the cleaning device and the side wall reaches the second preset angle, the main water pump is controlled to be turned on to generate the third thrust, so that the cleaning device 1000 can be tightly attached to the bottom wall. In this way, the cleaning device is switched to the first motion state. As shown in FIG. 55F, the cleaning device 1000 has been switched from the second motion state to the first motion state.

[0381] However, in an actual usage scenario, many pool walls are not vertical planes. If a side wall is a curved surface, an arc surface, or an inclined surface, when the cleaning device 1000 is located on the side wall, the overall direction of the cleaning device 1000 and the water surface form an angle a. As shown in FIG. 18, when the side wall is an inclined surface, the overall direction of the cleaning device 1000 and the water surface form an angle a. Similarly, when the cleaning device 1000 moves on an arc surface or a curved surface, the overall direction of the cleaning device 1000 and the water surface also form an angle a. In the above embodiment, in a process in which the cleaning device 1000 is switched from the second motion state to the third motion state, that is, in a process in which the cleaning device 1000 rotates from the side wall toward the water surface, the angle between the overall direction of the cleaning device 1000 and the water surface gradually decreases until the angle is approximately 0°, the overall direction of the cleaning device 1000 is parallel to the water surface, or the cleaning device 1000 is in the substantially horizontal state, so that the cleaning device 1000 is switched from the second motion state to the third motion state. In contrast, in a process in which the cleaning device 1000 is switched from the third motion state to the second motion state, that is, in a process in which the cleaning device 1000 rotates from the water surface toward the side wall, the angle between the overall direction of the cleaning device 1000 and the water surface gradually increases until the overall direction of the cleaning device 1000 is in contact with the side wall, so that the cleaning device 1000 is switched from the third motion state to the second motion state. It should be noted that when the pump rotates in the forward direction, the gas is input into the buoyancy cavity, and the liquid is discharged from the buoyancy cavity, and when the pump rotates in the reverse direction, the gas is discharged from the buoyancy cavity, and the liquid is input into the buoyancy cavity. One of the forward direction and the reverse direction is a clockwise direction, and the other is a counterclockwise direction. In one embodiment, the cleaning device 1000 further includes a detection assembly configured to detect whether the bottom wall of the pool, the side wall, or the joint between the bottom wall and the side wall is flat or curved, so that a cleaning path for the cleaning device 1000 to clean the bottom wall or the side wall can be conveniently planned.

[0382] In addition, it should be noted that in the above embodiment, in a process in which the cleaning device 1000 rotates from the second motion state to the third motion state, the point or the position at which the front portion of the cleaning device 1000 abuts against the side wall is changing. In this case, the cleaning device 1000 may only rotate, and the movement assembly of the cleaning device 1000 does not operate, or the cleaning device may move slightly upward while rotating, that is, the movement assembly of the cleaning device 1000 operates. In this case, the movement assembly assists the main water pump in further maintaining abutment between the front portion of the cleaning device 1000 and the side wall. In a process in which the cleaning device 1000 rotates from the third motion state to the second motion state, the point or the position at which the front portion of the cleaning device 1000 abuts against the side wall is changing. In this case, the cleaning device 1000 may only rotate, and the movement assembly of the cleaning device 1000 does not operate, or the cleaning device may move slightly downward while rotating. In this case, the movement assembly assists the main water pump in further maintaining abutment between the front portion of the cleaning device 1000 and the side wall. A main driving force for abutment between the front portion of the cleaning device 1000 and the side wall is the third thrust generated by the main water pump. In one embodiment, if the movement assembly includes a track, when the cleaning device 1000 is switched between the first motion state, the second motion state, and the third motion state, the front portion of the cleaning device 1000 abuts against the side wall, which may be that a front portion of the track abuts agai...

Claims

1. A cleaning system, comprising at least a cleaning device and a base station, wherein the cleaning device is configured to clean at least liquid in a pool and / or an inner wall of the pool, and the cleaning device comprises:a body;a mode adjustment assembly provided on the body and configured to at least adjust switching of the cleaning device between a first motion state and a third motion state;a movement assembly configured to: when the cleaning device is in the first motion state or a second motion state, at least drive the cleaning device to move on a to-be-cleaned surface; anda propulsion assembly configured to: when the cleaning device is in the third motion state, at least drive the cleaning device to move; andthe base station comprises at least a base station body and a carrying component, wherein:the base station body is at least partially provided on a side wall of the pool, the carrying component is provided at a lower portion of the base station body, and when the cleaning device returns to the base station, the carrying component protrudes from the base station body, wherein:the first motion state comprises at least a state in which the cleaning device operates on a bottom of the pool, the second motion state comprises at least a state in which the cleaning device operates on the side wall of the pool or operates along a direction parallel to the side wall of the pool, and the third motion state comprises at least a state in which the cleaning device operates on a water surface, wherein:a process in which the cleaning device returns to the base station comprises at least a process of switching the cleaning device from the third motion state to the second motion state.

2. The cleaning system according to claim 1, wherein the process in which the cleaning device returns to the base station further comprises a process of switching the cleaning device from the first motion state to the third motion state.

3. The cleaning system according to claim 1 or 2, wherein the process in which the cleaning device returns to the base station further comprises a process of switching the cleaning device from the second motion state to the third motion state, wherein a process in which the cleaning device moves in the third motion state comprises a process of switching the cleaning device to a state in which a side surface of the cleaning device moves along an edge of the pool.

4. The cleaning system according to any one of claims 1 to 3, wherein the process in which the cleaning device moves in the third motion state further comprises a process of cleaning the water surface of the pool, wherein the process of cleaning the water surface of the pool comprisesat least a process of switching the cleaning device to a state in which another side surface of the cleaning device moves along the edge of the pool.

5. The cleaning system according to any one of claims 1 to 4, wherein the cleaning device comprises a first end portion and a second water inlet and a first docking assembly that are located on the first end portion, wherein the second water inlet is configured as an inlet for the cleaning device to clean the water surface in the third motion state, and the first docking assembly is configured to be docked with the carrying component in the process in which the cleaning device returns to the base station.

6. The cleaning system according to any one of claims 1 to 5, wherein the base station is provided with a self-cleaning debris inlet corresponding to the second water inlet, wherein when the cleaning device docks at the base station, the second water inlet is docked with the self-cleaning debris inlet in a sealing manner.

7. The cleaning system according to any one of claims 1 to 6, wherein the self-cleaning debris inlet is provided on the carrying component.

8. The cleaning system according to any one of claims 1 to 7, wherein the base station is provided with a second filter assembly, and the cleaning device is provided with a first filter assembly (1050), wherein when the cleaning device docks at the base station, the first filter assembly is in fluid communication with the second filter assembly.

9. The cleaning system according to any one of claims 1 to 8, further comprising a power assembly provided on the cleaning device or the base station, wherein the power assembly is configured to: when the cleaning device docks at the base station, generate a suction force for liquid to flow from the first filter assembly to the second filter assembly.

10. The cleaning system according to any one of claims 1 to 9, wherein the cleaning device further comprises a lateral propulsion assembly configured to: when the cleaning device moves along an edge of the water surface in the third motion state, at least provide a lateral thrust.

11. The cleaning system according to any one of claims 1 to 10, wherein the lateral propulsion assembly runs through two side surfaces of the cleaning device, wherein one side surface is provided with a first opening, and the other side surface is provided with a second opening, wherein in a height direction of the cleaning device, the first opening and / or the second opening are / is located within a range of the movement assembly.

12. A cleaning device, comprising:a cleaning device body;a mode adjustment assembly provided on the cleaning device body and configured to at least adjust switching of the cleaning device between a first motion state and a third motion state;a movement assembly configured to: when the cleaning device is in the first motion state or a second motion state, at least drive the cleaning device to move on a to-be-cleaned surface; anda propulsion assembly configured to: when the cleaning device is in the third motion state, at least drive the cleaning device to move;a first filter assembly at least partially accommodated in the cleaning device body and configured to filter liquid entering the first filter assembly; anda second water inlet provided on a first end portion of the cleaning device, wherein the second water inlet is in fluid communication with the first filter assembly and is configured as a water inlet for the cleaning device to clean a water surface in the third motion state, wherein:the first motion state comprises at least a state in which the cleaning device operates on a bottom of a pool, the second motion state comprises at least a state in which the cleaning device operates on a side wall of the pool or operates along a direction parallel to the side wall of the pool, and the third motion state comprises at least a state in which the cleaning device operates on the water surface, wherein:a process in which the cleaning device moves in the third motion state comprises at least a process in which the cleaning device moves along a waterline of the pool in a first motion mode and a process in which the cleaning device moves along the waterline of the pool in a second motion mode, wherein:when the cleaning device is in the first motion mode, a first side surface of the cleaning device is close to the waterline, the cleaning device moves in a first direction, and the second water inlet is opened, so that a motion region is cleaned; andwhen the cleaning device is in the second motion mode, the first side surface of the cleaning device is close to the waterline, the cleaning device moves in a second direction, and the second water inlet is closed.

13. The cleaning device according to claim 12, further comprising a lateral propulsion assembly configured to: when the cleaning device moves along an edge, at least provide a thrust directed to the side wall of the pool.

14. The cleaning device according to claim 12 or 13, further comprising a first docking assembly provided on the first end portion of the cleaning device and configured to be docked with a base station.

15. The cleaning device according to any one of claims 12 to 14, further comprising a first auxiliary cleaning assembly configured to: when the cleaning device is in the first motion mode or the second motion mode, clean the waterline of the pool.

16. The cleaning device according to any one of claims 12 to 15, further comprising a first input opening provided near a second end portion opposite to the first end portion of the cleaning device, wherein the first input opening is configured to: when the cleaning device is switched between the second motion state and the third motion state, allow gas to enter or be discharged.

17. A base station, comprising a base station body;a fixing base configured to be fixedly connected to a poolside;a second filter assembly at least partially accommodated in the base station body;a carrying component connected to the base station body and configured to be docked with a cleaning device operating in the pool;a self-cleaning debris inlet provided on the carrying component or the base station body and in fluid communication with the second filter assembly through a pipe; anda power assembly configured to: when the cleaning device is docked with the base station, provide a suction force for liquid to sequentially flow through at least the cleaning device, the selfcleaning debris inlet, and the second filter assembly, wherein:the base station body is movably connected to the fixing base to adjust the carrying component to be at least partially located below a water surface of the pool.

18. The base station according to claim 17, wherein a distance between a lowest point of the carrying component and the water surface of the pool is greater than an overall length of the cleaning device.

19. The base station according to claim 17 or 18, wherein the base station is provided with a first wireless charging unit configured to charge a second wireless charging unit of the cleaning device when the cleaning device is docked with the base station.

20. The base station according to any one of claims 17 to 19, wherein the power assembly is provided downstream of the second filter assembly.

21. A cleaning system, comprising:a cleaning device configured to operate in water of a pool, wherein the cleaning device comprises:a first docking assembly provided on a side portion or a bottom of the cleaning device; anda movement propulsion assembly comprising at least one of a movement assembly or a propulsion assembly, wherein the movement propulsion assembly is configured to drive the cleaning device to move on a to-be-cleaned surface or a water surface; andthe cleaning system further comprises a carrying assembly at least partially provided on a side wall of the pool, wherein the carrying assembly comprises:a carrying component configured to carry the cleaning device; anda second docking assembly configured to be releasably connected to the first docking assembly, so that the cleaning device is fixed to the carrying component or released from the carrying component, wherein:the carrying component has at least a first pose, wherein when the carrying component is in the first pose, the cleaning device moves onto the carrying component, and the carrying component is at least partially located below a preset water level of the pool.

22. The cleaning system according to claim 21, wherein the cleaning device comprises a control unit, wherein the control unit is configured to at least control, based on a received return signal, the cleaning device to move to the carrying assembly along an edge and then be fixed to the carrying assembly to perform a target operation.

23. The cleaning system according to claim 22, wherein the return signal comprises at least one of the following: a signal indicating that a cleaning task is completed, a signal indicating that a battery level of the cleaning device is lower than a preset value, a signal indicating that an amount of debris collected by the cleaning device is greater than a preset value, a signal indicating that the cleaning device needs to be self-cleaned, or a signal indicating that a quantity of reagents in the cleaning device is less than a preset value.

24. The cleaning system according to claim 22, wherein moving along the edge comprises at least one of the following: the cleaning device moves along an edge of a bottom of the pool, or the cleaning device moves along an edge of the water surface of the pool.

25. The cleaning system according to claim 21, wherein the second docking assembly is configured to be releasably connected to the first docking assembly, wherein a releasable connection between the second docking assembly and the first docking assembly comprises at least one of the following: a magnetic connection, a mechanical locking connection, or a snap-fit connection.

26. The cleaning system according to claim 21, wherein:the cleaning device comprises a device communication component, wherein the device communication component comprises at least one of a first sub-component or a second subcomponent; andthe carrying assembly comprises an assembly communication component, wherein the assembly communication component comprises at least one of a third sub-component or a fourth sub-component, wherein:the first sub-component and the third sub-component are configured to perform underwater communication, the second sub-component and the fourth sub-component are configured to perform water surface communication, and at least one of the following is met: the first subcomponent communicates with the second sub-component and the third sub-component, or the third sub-component communicates with the first sub-component and the fourth sub-component.

27. The cleaning system according to claim 26, further comprising a first terminal device, wherein the first terminal device communicates with the second sub-component or the fourth subcomponent.

28. The cleaning system according to claim 21, wherein the carrying assembly further comprises a water level adaptation assembly, wherein the water level adaptation assembly is configured to adjust, based on a water level of the pool, the second docking assembly to be located close to a waterline of the pool or adjust a position of the carrying component, enabling the cleaning device to dock at the carrying assembly or enabling the carrying component to float freely based on a change in the water level of the pool.

29. The cleaning system according to claim 28, wherein the water level adaptation assembly comprises a float component and a guide assembly, wherein the guide assembly is configured to define a motion direction of the second docking assembly or the carrying component, and the float component is configured to drive the second docking assembly or the carrying component to move based on the change in the water level of the pool.

30. The cleaning system according to claim 21, wherein the carrying component further has a second pose, wherein the carrying component rotates or rises and falls to switch from the first pose to the second pose, wherein when the carrying component is in the second pose, the cleaning device is capable of moving outside the pool.

31. The cleaning system according to claim 21, wherein the cleaning device comprises a first filter assembly, wherein the first filter assembly is configured to filter debris-loaded water; andthe carrying assembly comprises at least a self-cleaning debris inlet, and the cleaning device comprises at least a self-cleaning debris discharge opening in fluid communication with the first filter assembly and a self-cleaning water inlet in fluid communication with the first filter assembly, wherein when the cleaning device is fixed to the carrying assembly, the self-cleaning debris inlet is docked with the self-cleaning debris discharge opening, and the self-cleaning water inlet is located below the water surface of the pool or in fluid communication with an external water source.

32. The cleaning system according to claim 31, wherein the cleaning device comprises a suction assembly, wherein the suction assembly has a first operating mode and a second operating mode, wherein when the suction assembly is in the first operating mode, the suction assembly is configured to provided water flow power for the cleaning device to perform cleaning, and when the suction assembly is in the second operating mode, the suction assembly is configured to provide water flow power for the cleaning device to self-cleaned.

33. The cleaning system according to claim 31, wherein the carrying assembly comprises a power assembly configured to at least generate water sequentially flowing through the selfcleaning water inlet, the self-cleaning debris discharge opening, and the self-cleaning debris inlet.

34. The cleaning system according to claim 31, wherein the self-cleaning debris discharge opening is a first water inlet for the cleaning device to perform cleaning, and the self-cleaning water inlet is a first water outlet for the cleaning device to perform cleaning.

35. The cleaning system according to claim 31, wherein the carrying assembly comprises a second filter assembly, wherein the second filter assembly is in fluid communication with the selfcleaning debris inlet to receive debris-loaded water from the first filter assembly.

36. The cleaning system according to claim 31, wherein the cleaning device comprises at least a first reagent spread assembly, the first reagent spread assembly comprises at least a first reagent storage assembly, and the carrying assembly comprises at least a second reagent storage assembly, wherein when the cleaning device is fixed to the carrying assembly, the second reagent storage assembly is configured to replenish a regent for the first reagent storage assembly.

37. The cleaning system according to claim 31, further comprising a solar energy system, wherein the solar energy system comprises at least a photovoltaic module, wherein the photovoltaic module is provided on the carrying assembly or electrically connected to the carrying assembly to supply power to a load assembly or a rechargeable battery of the cleaning device when the cleaning device is fixed to the carrying assembly.

38. A cleaning device operating in a pool, wherein the cleaning device comprises:at least one first water inlet provided at a bottom of the cleaning device and at least one second water inlet provided on a side portion of the cleaning device;at least one first water outlet;at least one first filter assembly;a suction assembly configured to at least generate clean water sequentially flowing through the first water inlet or the second water inlet, the first filter assembly, and the first water outlet;an adjustment assembly, wherein the adjustment assembly is configured to cause the cleaning device to be switched between a first motion state and a second motion state, wherein the first motion state comprises at least a state in which the cleaning device cleans a bottom of the pool, and the second motion state comprises at least a state in which the cleaning device cleans a water surface of the pool; anda lateral propulsion assembly configured to at least generate a thrust component in a lateral direction of the cleaning device, so that the cleaning device is attached to a side wall of the pool when the cleaning device is in the second motion state and moves along the side wall.

39. The cleaning device according to claim 38, wherein the cleaning device comprises a cleaning device body and an auxiliary cleaning assembly, wherein the auxiliary cleaning assembly is rotatably provided on the cleaning device body, so that when the cleaning device is in the second motion state, the auxiliary cleaning assembly performs at least one of the following actions: guiding debris outside a cleaning range of the second water inlet to the cleaning range of the second water inlet or cleaning a waterline of the pool.

40. A method for controlling a cleaning system, wherein the cleaning system comprises at least a cleaning device and a carrying assembly, wherein the cleaning device operates in a pool, and the carrying assembly is provided on a side wall or a poolside and allows the cleaning device to dock at, wherein the method at least comprises:performing, by the cleaning device, a return action in response to a return signal, wherein the return signal is at least one of the following: a signal indicating that a cleaning task is completed, a signal indicating that a battery level of the cleaning device is lower than a preset value, a signal indicating that an amount of debris collected by a filter box of the cleaning device is greater than a preset value, a signal indicating that the cleaning device needs to be self-cleaned, or a signal indicating that a quantity of reagents in the cleaning device is less than a preset value;moving, by the cleaning device, toward the carrying assembly, wherein the moving toward the carrying assembly comprises at least one of the following: moving along an edge of a bottom of the pool or moving along an edge of a water surface of the pool; anddocking, by the cleaning device, wherein:before the cleaning device moves toward the carrying assembly, the method further comprises determining a relative position relationship between the cleaning device and the carrying assembly, wherein the determining a relative position relationship comprises at least one of the following: the cleaning device detects the carrying assembly, the carrying assembly detects the cleaning device, or the cleaning device detects a positioning marker associated with the carrying assembly.

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