Cleaning device

Abstract

The present disclosure provides a cleaning device, including: a cleaning device body; at least two traveling mechanisms, where the traveling mechanisms are configured to drive the cleaning device to move on a travel surface, the two traveling mechanisms are disposed on two sides of the cleaning device, and each traveling mechanism includes at least a first guiding wheel, a second guiding wheel, and a track sleeved outside the first guiding wheel and the second guiding wheel, where the travel surface is a part of a to-be-cleaned surface, and the part is in contact with the traveling mechanisms; a cover plate covering an outer side surface of each of the first guiding wheel and the second guiding wheel; at least one first anti-collision part disposed at the cover plate and at least partially or completely protruding from a contour of the cleaning device body; an additional baffle plate disposed on the cover plate; and at least one second anti-collision part disposed at the additional baffle plate and at least partially or completely protruding from the contour of the cleaning device body, where a horizontal distance over which the second anti-collision part protrudes from the contour of the cleaning device body is less than or equal to a horizontal distance over which the first anti-collision part protrudes from the contour of the cleaning device body. 20 25 20 85 20 25 J ul 2 02 5 A B S T R A C T T h e p r e s e n t d i s c l o s u r e p r o v i d e s a c l e a n i n g d e v i c e , i n c l u d i n g : a c l e a n i n g d e v i c e b o d y ; a t l e a s t t w o t r a v e l i n g m e c h a n i s m s , w h e r e t h e t r a v e l i n g m e c h a n i s m s a r e c o n f i g u r e d t o d r i v e t h e c l e a n i n g d e v i c e t o m o v e o n a t r a v e l s u r f a c e , t h e t w o t r a v e l i n g m e c h a n i s m s a r e d i s p o s e d o n t w o s i d e s o f t h e c l e a n i n g d e v i c e , 2 0 2 5 2 0 8 5 2 0 2 5 J u l 2 0 2 5 a n d e a c h t r a v e l i n g m e c h a n i s m i n c l u d e s a t l e a s t a f i r s t g u i d i n g w h e e l , a s e c o n d g u i d i n g w h e e l , a n d a t r a c k s l e e v e d o u t s i d e t h e f i r s t g u i d i n g w h e e l a n d t h e s e c o n d g u i d i n g w h e e l , w h e r e t h e t r a v e l s u r f a c e i s a p a r t o f a t o - b e - c l e a n e d s u r f a c e , a n d t h e p a r t i s i n c o n t a c t w i t h t h e t r a v e l i n g m e c h a n i s m s ; a c o v e r p l a t e c o v e r i n g a n o u t e r s i d e s u r f a c e o f e a c h o f t h e f i r s t g u i d i n g w h e e l a n d t h e s e c o n d g u i d i n g w h e e l ; a t l e a s t o n e f i r s t a n t i - c o l l i s i o n p a r t d i s p o s e d a t t h e c o v e r p l a t e a n d a t l e a s t p a r t i a l l y o r c o m p l e t e l y p r o t r u d i n g f r o m a c o n t o u r o f t h e c l e a n i n g d e v i c e b o d y ; a n a d d i t i o n a l b a f f l e p l a t e d i s p o s e d o n t h e c o v e r p l a t e ; a n d a t l e a s t o n e s e c o n d a n t i - c o l l i s i o n p a r t d i s p o s e d a t t h e a d d i t i o n a l b a f f l e p l a t e a n d a t l e a s t p a r t i a l l y o r c o m p l e t e l y p r o t r u d i n g f r o m t h e c o n t o u r o f t h e c l e a n i n g d e v i c e b o d y , w h e r e a h o r i z o n t a l d i s t a n c e o v e r w h i c h t h e s e c o n d a n t i - c o l l i s i o n p a r t p r o t r u d e s f r o m t h e c o n t o u r o f t h e c l e a n i n g d e v i c e b o d y i s l e s s t h a n o r e q u a l t o a h o r i z o n t a l d i s t a n c e o v e r w h i c h t h e f i r s t a n t i - c o l l i s i o n p a r t p r o t r u d e s f r o m t h e c o n t o u r o f t h e c l e a n i n g d e v i c e b o d y . A B S T R A C T 2 0 2 5 2 0 8 5 2 0 2 5 J u l 2 0 2 5 1 / 5 FIG. 1 FIG. 2 FIG. 3 DIG 1000 1012IOI 192 081 1621 TO162 1622 E61 161 1501101 0001 FIG. 2 1171621 IOI162193 10121941622 IIOI 001 ®0®061 P 192161 081 150 0001 D I DIG ILI 202113 200OZI130 2011 I191 11a 191 112 091061 195 SII IIII 1512 061IISIISI EIST 081 152 III150 811120 114124 212011911 10002132990 214 S / I 20 25 20 85 20 25 J ul 2 02 5 E I G . 1 0 0 0 1 0 1 2 I O I1 9 2 1 8 0 1 6 2 1 0 1 6 2 1 6 2 2 1 9 3 1 6 1 1 5 0 1 1 0 1 0 0 0 1 F I G . 2 1 1 7 1 6 2 1 I O I 1 6 2 1 9 3 1 0 1 2 1 9 4 1 6 2 2 I I O I 0 0 1 © ® P 0 6 1 1 9 2 1 6 1 1 8 0 1 5 0 0 0 0 1 0 I F I G 1 2 1 2 0 2 1 1 3 2 0 0 0 O Z I 1 3 0 2 0 1 1 1 9 1 1 1 2 a 1 9 1 1 1 2 0 9 1 0 6 1 S 6 IS I I ( E I I I I ) I I I I 1 5 1 2 0 6 1 I I S I I S I E I S I 0 8 1 1 5 2 I I I 1 5 0 8 1 1 1 2 0 1 1 4 1 2 4 2 0 2 5 2 0 8 5 2 0 2 5 J u l 2 0 2 5 2 1 2 0 1 1 9 1 1 0 0 0 1 2 1 3 2 9 9 2 1 4 S / I 2 5 J u l 2 0 2 5 1 8 0 1 9 0 1 1 5 2 0 2 5 2 0 8 5 2 0 2 0 0 F I G . 1 1 0 0 0 1 5 0 1 9 1 1 9 2 1 9 0 1 0 0 1 6 2 2 1 9 4 1 0 1 2 1 6 2 1 0 1 F I G . 2 1 0 0 0 1 0 1 1 1 5 0 1 9 3 1 6 2 2 1 6 2 1 1 8 0 1 9 2 1 0 1 1 0 1 2

Description

CROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to International Patent Application No. PCT / CN2024 / 135845, filed with the World Intellectual Property Organization on November 29, 2024 and entitled “CLEANING DEVICE”, which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of operating devices used in liquid, and in particular to, a cleaning device. BACKGROUND

[0003] With improvement of living standards of people, an increasing number of people choose swimming as a form of exercise that not only increases fun of life but also strengthens their physique. In addition, water quality of a swimming pool also attracts much attention.

[0004] In a related technology, a cleaning device specifically operating in water is usually used to clean the swimming pool to improve the water quality of the swimming pool. However, region topographies of the swimming pool are complex and diverse, and the existing cleaning device easily collides with the swimming pool due to construction of the cleaning device, leading to damage to the cleaning device. SUMMARY OF THE DISCLOSURE

[0005] The present disclosure provides a cleaning device, including: a cleaning device body; at least two traveling mechanisms, where the traveling mechanisms are configured to drive the cleaning device to move on a travel surface, the two traveling mechanisms are disposed on two sides of the cleaning device, and each traveling mechanism includes at least a first guiding wheel, a second guiding wheel, and a track sleeved outside the first guiding wheel and the second guiding wheel, where the travel surface is a part of a to-be-cleaned surface, and the part is in contact with the traveling mechanisms; a cover plate covering an outer side surface of each of the first guiding wheel and the second guiding wheel; at least one first anti-collision part disposed at the cover plate and at least partially or completely protruding from a contour of the cleaning device body; an additional baffle plate disposed on the cover plate, where two ends of the additional baffle plate are both connected to the cover plate; and at least one second anticollision part disposed at the additional baffle plate and at least partially or completely protruding from the contour of the cleaning device body, where a horizontal distance over which the second anti-collision part protrudes from the contour of the cleaning device body is less than or equal to a horizontal distance over which the first anti-collision part protrudes from the contour of the cleaning device body. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] A person of ordinary skill in the art understands various other advantages and benefits by reading detailed descriptions of optional embodiments in the following. The accompanying drawings are only intended to illustrate optional embodiments and are not considered as any limitation on the present disclosure. In addition, identical reference numerals indicate identical elements in the accompanying drawings.

[0007] FIG. 1 is a schematic structural view of a cleaning device according to an embodiment of the present disclosure;

[0008] FIG. 2 is a schematic view of a cleaning device located on a target bottom wall of a target region 2025208520   25 Jul 2025 according to the present disclosure;

[0009] FIG. 3 is a schematic view of a cleaning device located on a target side wall of a target region according to the present disclosure;

[0010] FIG. 4a is a side view of a cleaning device according to another embodiment of the present disclosure;

[0011] FIG. 4b is a schematic structural view of the cleaning device in FIG. 4a after a part of a structure is hidden;

[0012] FIG. 5 is a main view of a cleaning device according to another embodiment of the present disclosure;

[0013] FIG. 6 is a main view of a cleaning device according to an embodiment of the present disclosure;

[0014] FIG. 7a is a side view of a cleaning device according to an embodiment of the present disclosure;

[0015] FIG. 7b is a third partial schematic view of a cleaning device according to an embodiment of the present disclosure;

[0016] FIG. 7c is a side view of a cleaning device according to a third embodiment of the present disclosure;

[0017] FIG. 7d is a side view of a cleaning device according to a fourth embodiment of the present disclosure;

[0018] FIG. 7e is a side view of a cleaning device according to a fifth embodiment of the present disclosure;

[0019] FIG. 7f is a side view of a cleaning device according to a sixth embodiment of the present disclosure;

[0020] FIG. 8 is a schematic structural view of a filtering box of a cleaning device according to an embodiment of the present disclosure; and

[0021] FIG. 9 is another side view of a cleaning device according to an embodiment of the present disclosure.

[0022] Reference numerals:

[0023] 1000: cleaning device; 100: target region; 101: travel surface; 1011: target side wall; 1012: target bottom wall; 110: cleaning device body; 1101: third accommodating cavity; 11011: third cavity; 11012: fourth cavity; 11013: first partition plate; 1111: debris inlet; 1111a: first debris inlet; 1111a1: first edge; 1111a2: second edge; 1111b: second debris inlet; 1113: second water discharge opening; 112a: first opening; 113: first side; 114: second side; 115: third side; 116: fourth side; 117: fifth side; 118: sixth side; 119: blocking door; 120: filtering box; 121: opening; 122: filtering box opening; 123: filtering surface; 123a: inner filtering mesh; 123b: outer filtering mesh; 1231: first filtering surface; 1232: second filtering surface; 1233: third filtering surface; 1234: fourth filtering surface; 1235: fifth filtering surface; 124: filtering box cover; 130: identification assembly; 131: first identification sub-part; 132: second identification sub-part; 140: vision sensing assembly; 150: first auxiliary cleaning assembly; 151: side brush; 1511: side brush body; 1512: rotation shaft; 1513: side brush cover; 152: auxiliary drive assembly; 160: second auxiliary cleaning assembly; 161: water spray part; 1611: spout; 162: second drive part; 1621: first impeller; 1622: first drive motor; 170: third auxiliary cleaning assembly; 171: roller brush assembly; 180: propulsion assembly; 181: first liquid outlet; 182: third drive part; 1821: second impeller; 1822: second drive motor; 183: second liquid outlet; 184: joining assembly; 185: speed reduction part; 190: traveling mechanism; 1901: base; 1902: flow channel baffle plate; 191: first guiding wheel; 1911: fourth gear set; 19111: third sub-gear; 19112: fourth sub-gear; 1912: fifth gear; 1913: second inner gear; 1914: second gear cover plate; 192: second guiding wheel; 1921: first gear; 1922: second gear set; 19221: first sub-gear; 19222: second sub-gear; 1923: third gear; 1924: first inner gear; 1925: first gear cover 2025208520   25 Jul 2025 plate; 193: track; 194: fourth drive part; 195: cover plate: 1951: additional baffle plate; 19511: second anti-collision part; 19512: anti-collision strip; 200: first anti-collision part; 201: roller wheel; 202: bracket; 212: second liquid discharge opening; 213: grid part; 214: flow division plate; 290: button. DETAILED DESCRIPTION

[0024] 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. Apparently, 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.

[0025] Refer to FIG. 1 to FIG. 3. FIG. 1 is a schematic structural view of a cleaning device according to an embodiment of the present disclosure. FIG. 2 is a schematic view of a cleaning device located on a target bottom wall of a target region according to the present disclosure. FIG. 3 is a schematic view of a cleaning device located on a target side wall of a target region according to the present disclosure. The present disclosure provides a cleaning device 1000. The cleaning device 1000 may be a pool cleaning robot capable of cleaning a target region 100. The target region 100 may be a region at which the cleaning device 1000 performs cleaning. For example, the target region 100 may be a swimming pool, a pipe, a hull, an oil well, or the like, but is not limited thereto. The target region 100 includes a travel surface 101. The travel surface 101 is a part of a to-be-cleaned surface, and the part is in contact with a traveling mechanism 190. The travel surface 101 includes a target side wall 1011 and a target bottom wall 1012. In embodiments of the present disclosure, an example in which the cleaning device 1000 is used to clean a swimming pool is used for description. The target side wall 1011 may be a side wall of the swimming pool, and the target bottom wall 1012 may be a bottom wall of the swimming pool.

[0026] The cleaning device 1000 has a first side 113 and a second side 114 opposite to each other, a third side 115 and a fourth side 116 opposite to each other, and a fifth side 117 and a sixth side 118 opposite to each other. The first side 113 is located at a front portion of the cleaning device 1000. The second side 114 is located at a rear portion of the cleaning device 1000. The third side 115 is located on a left side of the cleaning device 1000. The fourth side 116 is located on a right side of the cleaning device 1000. The fifth side 117 is located at a bottom of the cleaning device 1000. The sixth side 118 is located at a top of the cleaning device 1000.

[0027] Refer to FIG. 4a to FIG. 5 together. FIG. 4a is a side view of a cleaning device according to another embodiment of the present disclosure. FIG. 4b is a schematic structural view of the cleaning device in FIG. 4a after a part of a structure is hidden. FIG. 5 is a main view of a cleaning device according to another embodiment of the present disclosure. The cleaning device 1000 includes a cleaning device body 110. The cleaning device body 110 serves as a carrier for carrying other components of the cleaning device 1000, and the cleaning device body 110 may be a frame of the cleaning device 1000. The cleaning device 1000 further includes at least one debris inlet 1111, at least one filtering box 120, at least one group of identification assemblies 130, and a control system. The control system may be, for example, a microcontroller, an embedded control system, or an application-specific integrated circuit (ASIC). The control system may obtain various pieces of data information of the cleaning device 1000 and analyze and process the obtained data information to control various components of the cleaning device 1000.

[0028] The at least one debris inlet 1111 is disposed on the cleaning device body 110, so that a dust-loaded water flow can enter the cleaning device body 110 through the debris inlet 1111. The at least one filtering box 120 may be detachably disposed in the cleaning device body 110. The filtering box 120 has 2025208520   25 Jul 2025 a water flow inlet. The water flow inlet is in fluid communication with the at least one debris inlet 1111. The dust-loaded water flow in the target region 100 can enter the filtering box 120 through the debris inlet 1111 and the water flow inlet sequentially.

[0029] The cleaning device body 110 has a first accommodating cavity. The first accommodating cavity communicates with an external environment through the debris inlet 1111, so that when the cleaning device 1000 enters the target region 100, the target region 100 communicates with the first accommodating cavity through the debris inlet 1111. The filtering box 120 may be detachably disposed in the first accommodating cavity. The debris inlet 1111 is configured as an opening for the dust-loaded water flow outside the cleaning device body 110 to enter the filtering box 120, and the dust-loaded water flow is filtered by the filtering box 120 and then discharged from the cleaning device body 110, to clean the target region 100. The debris inlet 1111 has a working region. The working region of the debris inlet 1111 is a coverage region of the debris inlet 1111 in a moving process of the cleaning device 1000 or a radiation region in which the debris inlet 1111 can generate a cleaning effect due to a suction force generated by a suction assembly in the cleaning device 1000. There is trash in the dust-loaded water flow. The trash in the dust-loaded water flow includes plant branches and leaves, plastic, metal, an insect, hair, dandruff, algae, silt, dirt, and the like. However, this is not limited thereto. The filtering box 120 is at least partially detachably accommodated in the first accommodating cavity, so that the filtering box 120 can be removed. This facilitates cleaning of trash in the filtering box 120.

[0030] The at least one group of identification assemblies 130 is disposed on a side surface of the cleaning device body 110, for example, one or more of the first side 113 to the sixth side 118. The identification assembly 130 is configured to identify an obstacle in the target region 100. The control system is electrically connected to the at least one group of identification assemblies 130 to adjust an operation posture of the cleaning device 1000 based on information of the identification assemblies 130. The control system may be disposed in an electronic control box of the cleaning device 1000. The electronic control box is sealed. The control system is disposed in the electronic control box to prevent water from entering the electronic control box and then entering the control system, so that problems, such as a short circuit and damage to an electronic component of the control system, can be avoided.

[0031] The target region 100 has diverse region topographies, including at least a wall topography of the target region 100. The wall topography may include a shape of a boundary of the target side wall. The boundary of the target side wall may be in a shape of a straight line, an arc, a right angle, an acute angle, or an obtuse angle. A joint angle between the target side wall 1011 and an adjacent target side wall 1011 is a right angle, an arc angle, or the like. During operation of the cleaning device 1000, the identification assembly 130 may detect, in real time, the wall topography of the target region 100 facing the identification assembly 130, and the control system may adjust the operation posture of the cleaning device 1000 based on the wall topography identified by the identification assembly 130. In an embodiment, the identification assembly 130 is disposed on the third side 115 or the fourth side 116 of the cleaning device 1000. When the cleaning device 1000 moves along the target side wall 1011, and the identification assembly 130 identifies that the cleaning device 1000 moves at the curved target side wall 1011, the control system may adjust a motion trajectory of the cleaning device 1000 to a trajectory corresponding to the curved side wall, and adjust the operation posture of the cleaning device 1000 based on the motion trajectory. In this way, the following case can be avoided: The cleaning device 1000 slips at the edge of the target side wall 1011, climbs in the height direction of the target side wall 1011, or directly hits the target side wall 1011, causing the cleaning device 1000 to overturn or be damaged. The identification assembly 130 is disposed, so that the cleaning device 1000 can safely move and perform cleaning along the edge. The identification assembly 130 may further identify a distance 2025208520   25 Jul 2025 between the identification assembly 130 and a target side wall 1011 facing the identification assembly 130, so that the cleaning device 1000 can move and perform cleaning along the edge at a specific distance from the target side wall 1011. This prevents the cleaning device 1000 from scraping against the target side wall 1011.

[0032] The region topographies of the target region 100 may further include a topography of an object within the target region 100. The object within the target region 100 may be a facility disposed within the target region 100, for example, a ladder, or an obstacle existing within the target region 100, for example, a rock. The control system can adjust the operation posture of the cleaning device 1000 based on a distance, between the cleaning device 1000 and the facility or the obstacle within the target region 100, identified by the identification assembly 130. For example, if the identification assembly 130 identifies that there is an obstacle within a preset range in front of the cleaning device 1000 when the cleaning device 1000 moves, the control system adjusts the operation posture of the cleaning device 1000 for obstacle avoidance.

[0033] The identification assembly 130 includes at least a first identification sub-part 131 and a second identification sub-part 132. The first identification sub-part 131 is different from and close to the second identification sub-part 132. The first identification sub-part 131 and the second identification sub-part 132 may be arranged left and right, arranged vertically, or arranged on one side surface in a staggered manner. The first identification sub-part 131 and the second identification sub-part 132 are disposed to expand an identification range, so that a special region topography can be identified more easily, and the control system can adjust the operation posture of the cleaning device 1000 based on the region topography identified by the identification assembly 130, so that movement of the cleaning device 1000 is not limited by the diverse region topographies of the target region 100.

[0034] The cleaning device 1000 in a related technology cannot identify the curved target side wall 1011, causing the cleaning device 1000 to slip at the edge of the target side wall 1011, climb in the height direction of the target side wall 1011, or directly hit the target side wall 1011 when the cleaning device 1000 moves to the curved target side wall 1011. Consequently, the movement of the cleaning device 1000 is limited.

[0035] In some embodiments, the cleaning device 1000 includes two groups of identification assemblies 130. One group of identification assemblies 130 is disposed on the first side 113 of the cleaning device body 110. The other group of identification assemblies 130 is disposed on the fourth side 116 adjacent to the first side 113. The group of identification assemblies 130 disposed on the first side 113 of the cleaning device body 110 is configured to identify a region topography of the target region 100 located in front of the cleaning device body 110, for example, a wall topography of a target side wall 1011 opposite to the first side 113 and / or a distance between the first side 113 and the corresponding target side wall 1011. The other group of identification assemblies 130 disposed on the fourth side 116 of the cleaning device body 110 is configured to identify a region topography of the target region 100 on a side of the cleaning device body 110, for example, a wall topography of a target side wall 1011 opposite to the fourth side 116 and / or a distance between the fourth side 116 and the corresponding target side wall 1011. The two groups of identification assemblies 130 are disposed, so that identification sensitivity is improved, and a misjudgment probability is reduced. In addition, identification efficiency is improved. In this way, the following case can be avoided: The operation posture of the cleaning device 1000 cannot be adjusted, causing the cleaning device 1000 to slip at the edge of the target side wall 1011, climb in the height direction of the target side wall 1011, or directly hit the target side wall 1011.

[0036] In some embodiments, the cleaning device 1000 includes two groups of identification assemblies 130. One group of identification assemblies 130 is disposed on the first side 113 of the cleaning device 2025208520   25 Jul 2025 body 110. The other group of identification assemblies 130 is disposed on the third side 115 adjacent to the first side 113. In other embodiments, the cleaning device 1000 includes three groups of identification assemblies 130. The three groups of identification assemblies 130 are respectively disposed on the first side 113, the third side 115, and the fourth side 116 of the cleaning device body 110.

[0037] In some embodiments, the first identification sub-part 131 is an infrared sensor, and the second identification sub-part 132 is an ultrasonic sensor.

[0038] In an embodiment, the first identification sub-part 131 and the second identification sub-part 132 may be both ultrasonic sensors or infrared sensors.

[0039] In some embodiments, the boundary of the target side wall 1011 is identified by the identification assembly 130, so that the cleaning device 1000 can move along the target side wall 1011, and when the cleaning device 1000 moves along the edge, a motion trajectory, a moving distance, and a change in the wall topography of the target side wall 1011 existing when the cleaning device 1000 moves around the target side wall 1011 by one circle can be recorded based on data obtained by the identification assembly 130, and a map of the target region 100 can be generated based on the motion trajectory, the moving distance, and the change in the wall topography of the target side wall 1011 existing when the cleaning device 1000 moves around the target side wall 1011 by one circle. The identification assembly 130 is disposed, so that construction of the map can be completed after the cleaning device 1000 moves around the target side wall 1011 by one circle, which is time-consuming and efficient. This effectively improves map construction efficiency.

[0040] In some embodiments, the control system may further adjust the operation posture of the cleaning device 1000 based on detection data of an inertial measurement unit (Inertial Measurement Unit, IMU). The inertial measurement unit can be configured to sense real-time posture information of the cleaning device 1000. For example, a pitch angle of the cleaning device 1000 in a direction from the first side 113 to the second side 114, a roll angle of the cleaning device 1000 in a direction from the third side 115 to the fourth side 116, and a steering angle of the cleaning device 1000 during steering can be obtained based on the detection data of the inertial measurement unit, and the control system may calculate a tilt angle based on the pitch angle of the cleaning device 1000 in the direction from the first side 113 to the second side 114, the roll angle of the cleaning device 1000 in the direction from the third side 115 to the fourth side 116, and the steering angle of the cleaning device 1000 during steering. In a case where the cleaning device 1000 moves along the target side wall 1011, if the inertial measurement unit calculates, based on the detection data of the inertial measurement unit, that the tilt angle is less than a preset value, the cleaning device 1000 moves in an original operation posture, and if the inertial measurement unit calculates, based on the detection data of the inertial measurement unit, that the tilt angle is greater than the preset value, the cleaning device 1000 readjusts the operation posture and moves in the adjusted operation posture, to prevent the cleaning device 1000 from slipping at the edge of the target side wall 1011 or climbing in the height direction of the target side wall 1011. The inertial measurement unit may include, for example, an accelerometer and a gyroscope.

[0041] In an embodiment, the cleaning device 1000 further includes a vision sensing assembly 140. The vision sensing assembly 140 is configured to collect an image of the target region 100, and the collected image is processed by a control assembly, to control an action or a behavior of the cleaning device 1000. For example, the vision sensing assembly 140 is configured to shoot an environment of the target region 100 and identify an image feature, so that functions such as localization, target identification, map construction, obstacle avoidance, and the like are implemented based on the image feature. For example, a previous frame of shot image is compared with a next frame of shot image to correct a positioning error due to slipping or overturning of the cleaning device 1000, an accumulated error of the inertial 2025208520   25 Jul 2025 measurement unit of the cleaning device 1000, or the like. In addition, pictures are continuously shot during operation of the cleaning device 1000. If the cleaning device 1000 determines that construction of the map is completed, and a same picture matches a history picture, the cleaning device 1000 may perform repositioning in a case where the cleaning device 1000 is lost. Furthermore, a specific target may be identified, and whether the specific target is trash that needs to be sucked or an obstacle that needs to be avoided is determined. The vision sensing assembly 140 and / or the identification assembly 130 may be configured to plan a motion path of the cleaning device 1000, so that the cleaning device 1000 can regularly clean the target region 100 and construct a map. This can improve cleaning efficiency and a cleaning effect of the cleaning device 1000.

[0042] The identification assembly 130 and / or the vision sensing assembly 140 are / is disposed to plan a cleaning path of the cleaning device 1000 and prevent the cleaning device 1000 from climbing, slipping, overturning, or hitting an obstacle, so that the cleaning device 1000 can clean the target region 100 regularly and safely. This effectively improves a cleaning speed of the cleaning device 1000.

[0043] The vision sensing assembly 140 includes a shooting unit and several light supplement parts. The shooting unit is configured to shoot an image of the target region 100. The light supplement part is configured to adjust brightness of a shot region of the shooting unit.

[0044] Still refer to FIG. 1 to FIG. 5. The cleaning mechanism of the cleaning device 1000 further includes a first auxiliary cleaning assembly 150 and a second auxiliary cleaning assembly 160. The first auxiliary cleaning assembly 150 is disposed at an edge of the debris inlet 1111 and configured to guide at least a part of trash in the target region 100 to a working region of the debris inlet 1111 or scrub the target side wall 1011 of the target region 100. The second auxiliary cleaning assembly 160 is configured to spray water to a to-be-cleaned region of the target region 100 to guide at least a part of trash to the working region of the debris inlet 1111 or flush the target side wall 1011 or the target bottom wall 1012 of the target region 100. A projection of the first auxiliary cleaning assembly 150 on the travel surface 101 is at least partially beyond a projection of an outer contour of a track 193 on the travel surface 101.

[0045] The cleaning device 1000 further includes a propulsion assembly 180 and a traveling mechanism 190. The propulsion assembly 180 is configured to drive the cleaning device 1000 to move on the water surface or in water of the target region 100. The traveling mechanism 190 is configured to drive the cleaning device 1000 to move on the travel surface 101 of the target region 100.

[0046] In some embodiments, the cleaning device 1000 further includes a determining assembly. The determining assembly has an identification function and a determining function. The determining assembly is connected to the shooting unit. The determining assembly can determine a specific target in the target region 100 based on a shot image in a manner such as machine learning, so that the cleaning device 1000 can perform obstacle avoidance or move to the specific target to perform cleaning. For example, in a case where the determining assembly determines a fixed facility such as a ladder or identifies an obstacle such as a rock, the cleaning device 1000 performs obstacle avoidance, and in a case where the determining assembly determines trash such as a leaf or a cleanable region such as a platform, the cleaning device 1000 moves to the trash or the cleanable region to perform cleaning. The determining assembly can further identify a structure of the target based on the shot image, so that the cleaning device 1000 can complete cleaning of one region before cleaning another region. This avoids a case where the cleaning device 1000 moves to another region before completing cleaning of the region in which the cleaning device 1000 is located.

[0047] In some embodiments, the determining assembly can further track trash. This avoids a case where the trash enters the dead zone of the shooting unit, causing the trash to fail to be cleaned.

[0048] In some embodiments, as shown in FIG. 1, there may be one or more debris inlets 1111, which 2025208520   25 Jul 2025 may be disposed at the bottom of the cleaning device 1000 or may be disposed at a front side, a top, or the like of the cleaning device 1000. For example, the debris inlets 1111 include the first debris inlet 1111a disposed at the first side 113 of the cleaning device 1000 and / or the second debris inlet 1111b disposed at the fifth side 117 of the cleaning device 1000. Specifically, the first debris inlet 1111a may be disposed at a position on the first side 113 of the cleaning device body 110, and the position is close to the sixth side 118. The second debris inlet 1111b may be disposed at a position on the fifth side 117 of the cleaning device body 110, and the position is close to the first side 113. However, this is not limited thereto.

[0049] In some embodiments, the first auxiliary cleaning assembly 150 is disposed close to the first debris inlet 1111a and / or the second debris inlet 1111b, for example, at an edge of the first debris inlet 1111a. At least a part of the first auxiliary cleaning assembly 150 is located in front of the debris inlet 1111 to guide at least a part of trash outside the working region of the debris inlet 1111 to the working region of the debris inlet 1111. The cleaning device 1000 may include two first auxiliary cleaning assemblies 150. The two first auxiliary cleaning assemblies 150 are disposed opposite to each other on two sides of the debris inlet 1111, for example, on two sides of the first debris inlet 1111a or two sides of the second debris inlet 1111b. The first auxiliary cleaning assemblies 150 can rotate toward the debris inlet 1111 to guide the trash to the working region of the debris inlet 1111. Certainly, the first auxiliary cleaning assembly 150 may alternatively be disposed at other positions, provided that it can be ensured that the first auxiliary cleaning assembly 150 can guide the trash to the working region of the debris inlet 1111.

[0050] In some embodiments, the first auxiliary cleaning assembly 150 is configured to guide the trash to a working region of the first debris inlet 1111a when the propulsion assembly 180 drives the cleaning device 1000 to move on the water surface of the target region 100 or be suspended in liquid in the target region 100. Certainly, the first auxiliary cleaning assembly 150 may alternatively be configured to guide the trash to the working region of the first debris inlet 1111a and / or a working region of the second debris inlet 1111b when the cleaning device 1000 moves on the target bottom wall 1012 or the target side wall 1011 of the target region 100. The first auxiliary cleaning assembly 150 is disposed, so that the trash originally located outside the working region of the debris inlet 1111 can be guided to the working region of the debris inlet 1111, which is equivalent to expanding a debris suction range of the debris inlet 1111. This improves the cleaning efficiency of the cleaning device 1000. In embodiments of the present disclosure, an example in which the first auxiliary cleaning assembly 150 is disposed close to the first debris inlet 1111a is used for description.

[0051] In some embodiments, in the moving direction of the cleaning device 1000, at least a part of the first auxiliary cleaning assembly 150 is located in front of the first debris inlet 1111a to guide a water flow outside the working region of the first debris inlet 1111a to the working region of the first debris inlet 1111a.

[0052] Refer to FIG. 6. FIG. 6 is a main view of a cleaning device according to an embodiment of the present disclosure. The cleaning device 1000 further includes the blocking door 119. The blocking door 119 is configured to block the first debris inlet 1111a. The blocking door 119 is configured to: when the first auxiliary cleaning assembly 150 cleans the target region 100, be opened to expose the first debris inlet 1111a, so that the trash in the target region 100 can be sucked into the first accommodating cavity through the first debris inlet 1111a. The blocking door 119 is further configured to block the first debris inlet 1111a when the cleaning device 1000 does not use the first debris inlet 1111a, for example, when the second debris inlet 1111b is used or when the cleaning mode is changed, to prevent the trash in the first accommodating cavity from flowing back to the target region 100 through the first debris inlet 2025208520   25 Jul 2025 1111a. In embodiments of the present disclosure, an example in which the first auxiliary cleaning assembly 150 guides trash floating on the water surface of the target region 100 to the working region of the first debris inlet 1111a when the cleaning device 1000 moves on the water surface of the target region 100 is used for description. When the cleaning device 1000 moves on the water surface of the target region 100, at least a part of the first auxiliary cleaning assembly 150 is exposed at the water surface, that is, the first auxiliary cleaning assembly 150 is fully exposed above the water surface and there is a preset distance between the first auxiliary cleaning assembly 150 and the water surface; or the first auxiliary cleaning assembly 150 is fully exposed at the water surface and the first auxiliary cleaning assembly 150 faces and is in contact with the water surface, or one part of the first auxiliary cleaning assembly 150 submerges in liquid and the other part of the first auxiliary cleaning assembly 150 is exposed at the water surface, and when the cleaning device 1000 cleans the water surface of the target region 100 by using the first auxiliary cleaning assembly 150, the blocking door 119 is opened to expose the first debris inlet 1111a, and the first auxiliary cleaning assembly 150 rotates to push the trash floating on the water surface of the target region 100 toward the working region of the first debris inlet 1111a, so that the trash is sucked in through the first debris inlet 1111a.

[0053] Still refer to FIG. 1, FIG. 5, and FIG. 6. The first auxiliary cleaning assembly 150 may be disposed at an edge of the first debris inlet 1111a, where the edge is close to the sixth side 118, an edge of the first debris inlet 1111a, where the edge is close to the fifth side 117, an edge of the first debris inlet 1111a, where the edge is close to the third side 115, an edge of the first debris inlet 1111a, where the edge is close to the fourth side 116, a joint between the first side 113 and the third side 115, and / or a joint between the first side 113 and the fourth side 116. The cleaning device 1000 may include one or more first auxiliary cleaning assemblies 150. In some embodiments, the cleaning device 1000 may include two first auxiliary cleaning assemblies 150, one of which is disposed at the joint between the first side 113 and the third side 115, and the other one of which is disposed at the joint between the first side 113 and the fourth side 116, so that the first auxiliary cleaning assemblies 150 can push trash on the first side 113, the third side 115, and the fourth side 116 of the cleaning device 1000 toward the working region of the debris inlet 1111. This expands the cleaning range of the first auxiliary cleaning assembly 150. In addition, the first auxiliary cleaning assembly 150 may be further configured to perform auxiliary cleaning, for example, cleaning the target side wall 1011 when the cleaning device 1000 moves close to the target side wall 1011. This improves the cleaning efficiency and the cleaning effect of the cleaning device 1000.

[0054] The first auxiliary cleaning assembly 150 is disposed at the edge of the first debris inlet 1111a, and at least a part of the first auxiliary cleaning assembly 150 is located in front of the first debris inlet 1111a in the moving direction of the cleaning device 1000. In this way, when the cleaning device body 110 moves forward in the moving direction, because the first debris inlet 1111a is disposed at the front portion, the trash is sucked in through the first debris inlet 1111a as the cleaning device 1000 moves forward. Under the action of the first auxiliary cleaning assembly 150, the trash originally located outside a coverage region of the first debris inlet 1111a can be guided to the working region of the first debris inlet 1111a, which is equivalent to expanding a cleaning range of the first debris inlet 1111a. This improves trash cleaning efficiency.

[0055] The first auxiliary cleaning assembly 150 agitates the water flow toward the first debris inlet 1111a, or a suction force of the first debris inlet 1111a is improved, to expand the cleaning range of the first debris inlet 1111a by using the first auxiliary cleaning assembly 150. This is not limited herein. In a specific embodiment, the first auxiliary cleaning assembly 150 may be rotatably disposed at the cleaning device body 110 to agitate a water flow near the first debris inlet 1111a, so that the water flow 2025208520   25 Jul 2025 outside the working region of the first debris inlet 1111a flows to the working region of the first debris inlet 1111a. In this way, trash located outside the working region can be driven to flow to the working region of the first debris inlet 1111a with the water flow, and flow into the cleaning device body 110.

[0056] In some embodiments, as shown in FIG. 6, the first auxiliary cleaning assembly 150 includes at least a side brush 151. The side brush 151 may be rotatably disposed on the cleaning device body 110, for example, rotatably disposed at a joint between two adjacent sides of the cleaning device body 110, and configured to guide at least a part of trash in the target region 100 to the working region of the debris inlet 1111.

[0057] At least a part of the side brush 151 is beyond a contour of the cleaning device 1000. It may be understood that when the cleaning device 1000 is located on the travel surface 101, an orthographic projection of the side brush 151 on the travel surface 101 is at least partially located outside a contour of a boundary of an orthographic projection of the cleaning device 1000 on the travel surface 101, to expand a cleaning range of the side brush 151, so that the side brush 151 can guide trash farther away from the coverage region of the first debris inlet 1111a to the working region of the first debris inlet 1111a. This improves the trash cleaning efficiency.

[0058] The side brushes 151 are disposed at a joint between the first side 113 and the third side 115 and a joint between the first side 113 and the fourth side 116. The side brush 151 includes a side brush body 1511, a rotation shaft 1512, and a side brush cover 1513. The side brush cover 1513 is disposed on the cleaning device body 110. The rotation shaft 1512 is rotatably disposed in the side brush cover 1513. The side brush body 1511 is disposed around the rotation shaft 1512.

[0059] The cleaning device 1000 includes an auxiliary drive assembly 152 and a real-time rotation speed detection assembly. The auxiliary drive assembly 152 includes a stepper motor.

[0060] Still refer to FIG. 2. The traveling mechanism 190 includes at least a first guiding wheel 191 and a second guiding wheel 192. The first guiding wheel 191 and the second guiding wheel 192 are configured to drive the cleaning device 1000 to move on the target bottom wall 1012 and the target side wall 1011. Sizes of the first guiding wheel 191 and the second guiding wheel 192 may be substantially the same. The cleaning device body 110 includes a housing located on the third side 115, the fourth side 116, and the sixth side 118. A side contour of the housing is not beyond side contours of the first guiding wheel 191 and the second guiding wheel 192. It may be understood that when the cleaning device 1000 is located on the travel surface 101, orthographic projections of the first guiding wheel 191 and the second guiding wheel 192 on the travel surface 101 are at least partially located outside a boundary of an orthographic projection of the contour of the housing of the cleaning device body 110 on the travel surface 101. It may be understood that the orthographic projection of the side brush 151 on the travel surface 101 is at least partially located outside the orthographic projections of the housing of the cleaning device body 110, the first guiding wheel 191, and the second guiding wheel 192 on the travel surface 101. A plane on which a rotation shaft of the first guiding wheel 191 and a rotation shaft of the second guiding wheel 192 of the traveling mechanism 190 of the cleaning device 1000 are located is defined as a longitudinal plane of the cleaning device 1000. The longitudinal plane is parallel to the travel surface 101. A plane perpendicular to the longitudinal plane and parallel to extension directions of rotation shafts of the first guiding wheel 191 and the second guiding wheel 192 is defined as the central plane of the cleaning device 1000, and a distance between the plane and the rotation shaft of the first guiding wheel 191 is equal to a distance between the plane and the rotation shaft of the second guiding wheel 192. The central plane a is opposite to the first side 113 and the second side 114 of the cleaning device 1000. When the cleaning device 1000 is in a horizontal state, the projection of the side brush 151 on the central plane a of the cleaning device 1000 at least partially overlaps with the projection of the first debris inlet 2025208520   25 Jul 2025 1111a on the central plane a of the cleaning device 1000 in a height direction, namely, a height direction of the cleaning device 1000. The first debris inlet 1111a includes at least a first edge 1111a1 close to the sixth side 118 of the cleaning device 1000 and a second edge 1111a2 close to the fifth side 117 of the cleaning device 1000. The above projection relationship may be further described as follows: In the height direction of the cleaning device 1000, the projection of the side brush 151 on the central plane a of the cleaning device 1000 is at least partially located between projections of the first edge 1111a1 and the second edge 1111a2 on the central plane a of the cleaning device 1000, or in the height direction of the cleaning device 1000, the side brush 151 is at least partially located between the first edge 1111a1 and the second edge 1111a2.

[0061] In some embodiments, as shown in FIG. 1 to FIG. 4b, two ends of the second auxiliary cleaning assembly 160 may communicate with the target region 100. The second auxiliary cleaning assembly 160 is configured to spray water to a to-be-cleaned region in the target region 100, to flush at least the to-be-cleaned region or guide at least a part of trash at the to-be-cleaned region to the working region of the debris inlet 1111. The to-be-cleaned region may be any region in the pool. Specifically, the to-be-cleaned region may include at least one of a water region between the cleaning device 1000 and the travel surface 101 or the travel surface 101, or the to-be-cleaned region may further include the working region of the debris inlet 1111. It may be understood that when the to-be-cleaned region of the cleaning device 1000 is the target bottom wall 1012, the second auxiliary cleaning assembly 160 is configured to spray water to the target bottom wall 1012; when the to-be-cleaned region of the cleaning device 1000 is the target side wall 1011, the second auxiliary cleaning assembly 160 is configured to spray water to the target side wall 1011; and when the to-be-cleaned region of the cleaning device 1000 is water in the target region 100, the second auxiliary cleaning assembly 160 is configured to spray water to the water. The water flow sprayed by the second auxiliary cleaning assembly 160 may draw the trash to the working region of the debris inlet 1111 in at least one of the following manners: agitation, reflection performed by the pool wall, water flow guidance, and the like. In this way, the trash can be sucked in through the debris inlet 1111.

[0062] In some embodiments, as shown in FIG. 2 and FIG. 3, the second auxiliary cleaning assembly 160 includes at least a water spray part 161 and a second drive part 162. A spout 1611 of the water spray part 161 faces a side of the cleaning device body 110, and the side of the cleaning device body 110 is provided with the debris inlet 1111. The second drive part 162 is configured to drive water to be sprayed out through the spout 1611 of the water spray part 161.

[0063] In some embodiments, as shown in FIG. 2, the second drive part 162 may include a first impeller 1621 and a first drive motor 1622. The first drive motor 1622 is connected to the first impeller 1621. The first drive motor 1622 is configured to drive the first impeller 1621 to rotate, to drive the liquid in the target region 100 to flow from another end of the water spray part 161 and to be sprayed out through the spout 1611. Power of the first drive motor 1622 is positively correlated with pressure of the water flow sprayed out through the spout 1611.

[0064] In some embodiments, as shown in FIG. 1, the cleaning device 1000 further includes a third auxiliary cleaning assembly 170. The third auxiliary cleaning assembly 170 may be a roller brush assembly 171. The cleaning device 1000 may include one or more roller brush assemblies 171. The roller brush assembly 171 may be disposed at the bottom of the cleaning device body 110. The roller brush assembly 171 is configured to clean the target bottom wall 1012 and the target side wall 1011. When the cleaning device 1000 moves on the target bottom wall 1012 and the target side wall 1011, the roller brush assembly 171 can scrub the target bottom wall 1012 and the target side wall 1011 to scrub off trash adhering to the target bottom wall 1012 and the target side wall 1011, so that the trash can be 2025208520   25 Jul 2025 sucked in through the second debris inlet 1111b disposed at the fifth side 117 of the cleaning device 1000. This improves the cleaning effect.

[0065] In some embodiments, as shown in FIG. 2, the cleaning device 1000 further includes at least two traveling mechanisms 190 to drive the cleaning device 1000 to move on the target bottom wall 1012 and the target side wall 1011. One traveling mechanism 190 is disposed on one side of the cleaning device body 110, for example, the third side 115 of the cleaning device body 110. The other traveling mechanism 190 is disposed on another side opposite to the side of the cleaning device body 110, for example, the fourth side 116 of the cleaning device body 110. The traveling mechanism 190 is configured to drive the cleaning device 1000 to move.

[0066] In some embodiments, each traveling mechanism 190 includes the first guiding wheel 191, the second guiding wheel 192, and the track 193. The first guiding wheel 191 is spaced from the second guiding wheel 192. The track 193 is sleeved on the first guiding wheel 191 and the second guiding wheel 192. In some embodiments, the traveling mechanism 190 further includes a fourth drive part 194. The fourth drive part 194 may be a motor, an electric pump, or the like. However, this is not limited thereto. The fourth drive part 194 may be connected to the first guiding wheel 191 and / or the second guiding wheel 192. It may be understood that the fourth drive part 194 may be connected to the first guiding wheel 191. In this case, the first guiding wheel 191 is a driving wheel, the second guiding wheel 192 is a driven wheel, and the fourth drive part 194 is configured to drive the first guiding wheel 191 to rotate, to drive the second guiding wheel 192 and the track 193 to move. Alternatively, the fourth drive part 194 may be connected to the second guiding wheel 192. In this case, the second guiding wheel 192 is a driving wheel, the first guiding wheel 191 is a driven wheel, and the fourth drive part 194 is configured to drive the second guiding wheel 192 to rotate, to drive the first guiding wheel 191 and the track 193 to move. Alternatively, the fourth drive part 194 may be connected to the first guiding wheel 191 and the second guiding wheel 192, and the fourth drive part 194 is configured to drive the first guiding wheel 191 and the second guiding wheel 192 to rotate, to drive the track 193 to move.

[0067] In some embodiments, the track 193 may be engaged with the first guiding wheel 191 and the second guiding wheel 192. For example, a surface of the track 193 faces the first guiding wheel 191 and the second guiding wheel 192, and the surface is provided with a convex tooth and a tooth groove that are alternately disposed. A surface of each of the first guiding wheel 191 and the second guiding wheel 192 faces the track 193, and the surface is provided with a convex tooth and a tooth groove that are alternately disposed. In some other embodiments, the track 193 may be a rack, and the first guiding wheel 191 and the second guiding wheel 192 may be gears. The track 193, the first guiding wheel 191, and the second guiding wheel 192 form a gear-rack mechanism. In other embodiments, the track 193 may be frictionally connected to the first guiding wheel 191 and the second guiding wheel 192. The surface of the track 193 faces the first guiding wheel 191 and the second guiding wheel 192, and the surface is closely attached to the first guiding wheel 191 and the second guiding wheel 192. When the fourth drive part 194 drives at least one of the first guiding wheel 191 or the second guiding wheel 192 to rotate, the track 193 can be driven under friction between the first guiding wheel 191 and the track 193 and friction between the second guiding wheel 192 and the track 193 to move.

[0068] In some embodiments, the cleaning device 1000 may include two roller brush assemblies 171. One end of one roller brush assembly 171 is rotatably connected to a first guiding wheel 191 of one traveling mechanism 190, and the other end is rotatably connected to a first guiding wheel 191 of the other traveling mechanism 190. One end of the other roller brush assembly 171 is rotatably connected to a second guiding wheel 192 of one traveling mechanism 190, and the other end is rotatably connected to a second guiding wheel 192 of the other traveling mechanism 190. In a moving process of the traveling 2025208520   25 Jul 2025 mechanisms 190, the two roller brush assemblies 171 can rotate with movement of the traveling mechanisms 190. In other words, in the moving process of the traveling mechanisms 190, the first guiding wheel 191 of one traveling mechanism 190 and the first guiding wheel 191 of the other traveling mechanism 190 can drive one roller brush assembly 171 to rotate, and the second guiding wheel 192 of one traveling mechanism 190 and the second guiding wheel 192 of the other traveling mechanism 190 can drive the other roller brush assembly 171 to rotate. Certainly, the two roller brush assemblies 171 may alternatively be respectively controlled by two separate motors or share a separate motor instead of being controlled by the traveling mechanism 190 in a transmission manner. In this way, rotation speeds and rotation directions of the two roller brush assemblies 171 can be controlled independently.

[0069] In some embodiments, the cleaning device 1000 includes a transmission assembly, and the traveling mechanism 190 drives, by using the transmission assembly, the roller brush assembly 171 to rotate. Refer to FIG. 7b and FIG. 7c. FIG. 7b is a third partial schematic view of a cleaning device according to an embodiment of the present disclosure. FIG. 7c is a side view of a cleaning device according to a third embodiment of the present disclosure. An example in which the second guiding wheel 192 is the driving wheel, and the first guiding wheel 191 is the driven wheel is used. The transmission assembly includes a second transmission assembly configured to at least drive the second guiding wheel 192 to rotate. The second transmission assembly further includes a first gear 1921, and an output end of the fourth drive part 194 is connected to the first gear 1921. The first gear 1921 is engaged with a first inner gear 1924 of the second guiding wheel 192. When the second guiding wheel 192 rotates, the first inner gear 1924 simultaneously rotates, so that the first gear 1921 can rotate to drive the second guiding wheel 192 to rotate. In this way, the first guiding wheel 191 is driven by the track 193 to rotate.

[0070] In some embodiments, the transmission assembly further includes a first transmission assembly configured to at least enable the first guiding wheel 191 to drive the roller brush assembly 171 to rotate. The first transmission assembly includes the fourth gear set 1911. The fourth gear set 1911 includes a third sub-gear 19111 and a fourth sub-gear 19112. The third sub-gear 19111 and the fourth sub-gear 19112 are coaxially disposed as same-level gears and may be of the same size or different sizes. When one of the third sub-gear 19111 and the fourth sub-gear 19112 rotates, the other one of the third sub-gear 19111 and the fourth sub-gear 19112 simultaneously rotates. The first transmission assembly further includes a fifth gear 1912. The fifth gear 1912 is engaged with the fourth sub-gear 19112. The fifth gear 1912 is connected to the roller brush assembly 171. When the fifth gear 1912 rotates, the roller brush assembly 171 connected to the fifth gear 1912 rotates with the fifth gear 1912. The first guiding wheel 191 includes a second inner gear 1913. When the first guiding wheel 191 rotates, the second inner gear 1913 simultaneously rotates. When the second guiding wheel 192 drives the first guiding wheel 191 to rotate, the second inner gear 1913 rotates. The second inner gear 1913 is further engaged with the third sub-gear 19111. The second inner gear 1913 rotates to drive the third sub-gear 19111 to rotate, to drive the fourth sub-gear 19112 to rotate together with the fifth gear 1912, so that the roller brush assembly 171 is driven to rotate. In this way, the first guiding wheel 191 drives the roller brush assembly 171 to rotate. Based on the above manner, only one fourth drive part 194 is needed to drive the first guiding wheel 191, the second guiding wheel 192, and the two roller brush assemblies 171, leading to a simple driving structure and low manufacturing costs.

[0071] In some embodiments, the first transmission assembly includes more than one fourth gear set 1911. Different fourth gear sets 1911 are dispersedly disposed. Fourth sub-gears 19112 of the different fourth gear sets 1911 are all engaged with the fifth gear 1912. Third sub-gears 19111 of the different fourth gear sets 1911 are all engaged with the second inner gear 1913. A plurality of fourth gear sets 2025208520   25 Jul 2025 1911 are disposed, so that a force applied to a single fourth gear set 1911 is distributed. This reduces a possibility of damage to the fourth gear set 1911. In some embodiments, the first transmission assembly further includes a second gear cover plate 1914. The second gear cover plate 1914 is connected to ends of gear shafts of the different fourth gear sets 1911 to connect the different fourth gear sets 1911 in series to optimize forces applied to the different fourth gear sets 1911, so that the following case is avoided: A force is applied to the single fourth gear set 1911 in a same direction for a long time, leading to deviation of a direction of the gear shaft. This increases stability of each fourth gear set 1911.

[0072] In some embodiments, the cleaning device 1000 operates in at least one of a first motion state, a second motion state, or a third motion state. The first motion state is defined as a state in which the cleaning device 1000 moves on the target bottom wall 1012 or an angle between an overall direction of the cleaning device 1000 and the target bottom wall 1012 is less than 90°, and the cleaning device 1000 is away from the water surface. The second motion state is defined as a state in which the cleaning device 1000 moves on the target side wall 1011 or the overall direction of the cleaning device 1000 is substantially parallel to the target side wall 1011. The third motion state is defined as a state in which the cleaning device 1000 moves on the water surface, the traveling mechanism is at least partially exposed at the water surface, or the cleaning device 1000 is completely located below the water surface and close to the water surface.

[0073] After the first side 113 of the cleaning device 1000 is at least partially exposed at the water surface, the second side 114 of the cleaning device 1000 rotates and moves toward the water surface. After the traveling mechanism 190 rotates from the target side wall 1011 to the water surface, the traveling mechanism 190 is in a substantially horizontal state, that is, the cleaning device 1000 is in a substantially horizontal state. In this way, the cleaning device 1000 is switched from the second motion state to the third motion state. When the first side 113 is at least partially exposed at the water surface, a first injection opening (not shown in the figure) disposed on the first side 113 is exposed at the water surface, enabling gas to be input into the first buoyancy cavity by using a first buoyancy force adjustment and control part, so that the second side 114 rotates and moves toward the water surface.

[0074] Still refer to FIG. 2 and FIG. 4a and refer to FIG. 7a and FIG. 7d together. FIG. 7a is a side view of a cleaning device according to an embodiment of the present disclosure. FIG. 7d is a side view of a cleaning device according to a fourth embodiment of the present disclosure. The cleaning device 1000 further includes a cover plate 195. The cover plate 195 covers a side of the traveling mechanism 190, where the side is away from the cleaning device body 110, and covers at least the first guiding wheel 191 and the second guiding wheel 192, so that the first guiding wheel 191 and the second guiding wheel 192 are invisible from an outer side portion of the cleaning device 1000. If the traveling mechanism 190 includes the track 193, an area of a ring formed by the track 193 is substantially the same as an area of the cover plate. The cover plate 195 may detachably cover the side of the traveling mechanism 190, where the side is away from the cleaning device body 110, so that the cover plate 195 can be detached. This facilitates cleaning and maintenance of the first guiding wheel 191 and the second guiding wheel 192. The cover plate 195 is disposed to prevent the first guiding wheel 191 and the second guiding wheel 192 from being eroded under an impact of the water flow. This ensures a service life of the first guiding wheel 191 and a service life of the second guiding wheel 192. In addition, fixed debris can be prevented from entering a region between the first guiding wheel 191 and the track 193 and a region between the second guiding wheel 192 and the track 193 to some extent, so that movement of the traveling mechanism 190 cannot be affected. This avoids problems, for example, obstruction of movement of the traveling mechanism 190, imbalanced movement of the traveling mechanism 190, and increasing noise during movement of the traveling mechanism 190. A side surface of the cover plate 195 is away from 2025208520   25 Jul 2025 the cleaning device body 110, and the side surface may be a complete plane or a non-complete plane, for example, a grid. This is not limited herein.

[0075] In another embodiment, the cover plate 195 may be of an integrated structure or a split structure. When the cover plate 195 is of an integrated structure, the cover plate 195 covers annular space formed by the track 193. When the cover plate 195 is of a split structure, the cover plate 195 may include at least a first sub-cover plate and a second sub-cover plate. The first sub-cover plate covers at least an outer side portion of the first guiding wheel 191, and the second sub-cover plate covers at least an outer side portion of the second guiding wheel 192.

[0076] In still another embodiment, when the cleaning device 1000 moves on the travel surface 101, a projection of a contour of the cover plate 195 on the travel surface 101 is within a projection of an outer contour of the track 193 on the travel surface 101. In other words, a width of the projection of the outer contour of the track 193 on each side of the cleaning device 1000 on the travel surface 101 is greater than a width of the projection of the contour of the cover plate 195 on each side of the cleaning device 1000 on the travel surface 101. Based on the above disposition, because the track is flexible, when the side portion of the cleaning device 1000 is in contact with the side wall of the pool or an obstacle, the track 193 serves as a buffer to prevent the cover plate 195 or other components from being damaged because of being in direct contact with the side wall or the obstacle. Certainly, the projection of the outer contour of the track 193 on the travel surface 101 may alternatively be within or flush with the projection of the contour of the cover plate 195 on the travel surface 101. In this case, a first anti-collision part 200 may be disposed at the cover plate 195 or other components to reduce damage to the machine caused by collision.

[0077] If the second auxiliary cleaning assembly 160 is included, the second auxiliary cleaning assembly 160 may be disposed on a side of the cover plate 195, and the side is away from the traveling mechanism 190. The second auxiliary cleaning assembly 160 is disposed on the cover plate 195, so that when the traveling mechanism 190 moves, the traveling mechanism 190 does not affect a flow path and a flow form of liquid sprayed by the second auxiliary cleaning assembly 160.

[0078] In some embodiments, the cleaning device 1000 further includes the first anti-collision part 200. There may be one or more first anti-collision parts 200. The first anti-collision part 200 at least partially or completely protrudes from the contour of the cleaning device body 110. For example, the first anticollision part 200 may be disposed at the first side 113 of the cleaning device 1000 and protrudes from a contour of a front side of the cleaning device body 110 or may be disposed at the side of the cover plate 195, where the side is away from the traveling mechanism 190, and / or on a side of the second auxiliary cleaning assembly 160, where the side is away from the cover plate 195, to protrude from a contour of the side portion of the cleaning device body 110. One or more first anti-collision parts 200 may be disposed at a single side. For example, one first anti-collision part 200 is disposed at each of a front portion and a rear portion of the cover plate 195 and / or the second auxiliary cleaning assembly 160, to prevent the cleaning device body 110 from being scratched and correct a moving posture of the cleaning device 1000 when the cleaning device 1000 moves along an edge in the target region 100. For example, the following case can be avoided: The traveling mechanism 190 may climb the target side wall because of being in direct contact with the target side wall 1011.

[0079] In some embodiments, when the first anti-collision part 200 is disposed at the second auxiliary cleaning assembly 160, the first anti-collision part 200 is located at a front portion of the second auxiliary cleaning assembly 160 in the forward direction of the cleaning device 1000, or when the first anticollision part 200 is disposed at the cover plate 195 and on a same side as the second auxiliary cleaning assembly 160, the first anti-collision part 200 is located in front of the second auxiliary cleaning 2025208520   25 Jul 2025 assembly 160 in the forward direction of the cleaning device 1000, so that a possibility that the second auxiliary cleaning assembly 160 is scratched can be reduced. This alleviates abrasion of the second auxiliary cleaning assembly 160 and ensures a service life of the second auxiliary cleaning assembly 160.

[0080] In some embodiments, the first anti-collision part 200 includes a roller wheel 201 and a bracket 202. For example, there are two brackets 202 disposed on the cover plate 195 and / or the second auxiliary cleaning assembly 160. The two brackets 202 may be spaced from each other in an arrangement direction of the first side 113 and the second side 114 of the cleaning device body 110 or in an arrangement direction of the fifth side 117 and the sixth side 118 of the cleaning device body 110. The roller wheel 201 is rotatably disposed between the two brackets 202, so that when the first anti-collision part 200 is in contact with an object, rolling friction can be generated between the roller wheel 201 and a contact surface.

[0081] In some embodiments, the cleaning device 1000 further includes the propulsion assembly 180. When the cleaning device 1000 moves in the target region 100, an action force applied to the cleaning device 1000 may include a driving force applied to the cleaning device 1000. The propulsion assembly 180 may be spaced from the traveling mechanism 190 or may overlap with the traveling mechanism 190. The propulsion assembly 180 is configured to drive the cleaning device 1000 to move in the target region 100. When the cleaning device 1000 is located on the water surface of the target region 100 or suspended in the liquid at a specific depth, a third drive part 182 can drive water to enter the propulsion assembly 180 and be sprayed out through the first liquid outlet 181 to push the cleaning device 1000 to move. The propulsion assembly 180 may be configured to adjust a magnitude and a direction of the driving force applied to the cleaning device 1000. The propulsion assembly 180 may be any structure that can provide the driving force. For example, the propulsion assembly 180 may be a propeller. The propeller rotates to apply a driving force to the cleaning device 1000. Under the action of the driving force, the cleaning device 1000 may move on the water surface of the target region 100 or may be suspended and move in the liquid at a specific depth.

[0082] In some embodiments, the cleaning device 1000 may include two propulsion assemblies 180. One propulsion assembly 180 is disposed on one side of the cleaning device body 110, and the other propulsion assembly 180 is disposed on another side of the cleaning device body 110. When the cleaning device needs to make a turn or turn around, power or a direction of each propulsion assembly 180 is adjusted, so that the cleaning device can make a turn or turn around. When the cleaning device 1000 moves in the liquid, the cleaning device 1000 may separately adjust the power of the propulsion assemblies 180 on two sides of the cleaning device body 110 to adjust a speed at which the liquid is driven by the propulsion assemblies 180 on two sides of the cleaning device body 110 to move in a preset direction, so that the cleaning device 1000 makes a turn.

[0083] In some embodiments, as shown in FIG. 7a, the propulsion assembly 180 includes a first liquid outlet 181 and a third drive part 182. The propulsion assembly 180 is located at a side portion of the cleaning device body 110. The first liquid outlet 181 faces the rear portion of the cleaning device body 110.

[0084] Similar to the second auxiliary cleaning assembly 160, the third drive part 182 may also include a second impeller 1821 and a second drive motor 1822. For more content about the second impeller 1821 and the second drive motor 1822, refer to the first impeller 1621 and the first drive motor 1622.

[0085] In some embodiments, the propulsion assembly 180 may communicate with the water spray part 161. The cleaning device 1000 further includes a joining assembly 184. The propulsion assembly 180 further includes a second liquid outlet 183. The second liquid outlet 183 communicates with the water 2025208520   25 Jul 2025 spray part 161 of the second auxiliary cleaning assembly 160 through the joining assembly 184, so that the propulsion assembly 180 communicates with the water spray part 161. The first liquid outlet 181 is located at an end of the propulsion assembly 180, and the end is away from the spout 1611. The third drive part 182 is further configured to drive the water flow to enter through the first liquid outlet 181, flow sequentially through the propulsion assembly 180, the joining assembly 184, and the water spray part 161, and be sprayed out through the spout 1611.

[0086] In some embodiments, as shown in FIG. 7d, the propulsion assembly 180 is disposed in internal space of the traveling mechanism 190. Specifically, the propulsion assembly 180 may be located between the first guiding wheel 191 and the second guiding wheel 192 that are on the same side. This reduces the structural complexity of the cleaning device 1000. The cover plate 195 of the traveling mechanism 190 may be partially of a hollow structure. The propulsion assembly 180 can be viewed from the outside of the cover plate 195 at a particular viewing angle. A water flow outside the cleaning device 1000 may enter the internal space of the traveling mechanism 190 from at least a part of the hollow structure, flow through the propulsion assembly 180 disposed in the internal space of the traveling mechanism 190, and then flow out of the internal space of the traveling mechanism 190 from at least another part of the hollow structure, to form a complete fluid path of the propulsion assembly 180. In this embodiment, the third drive part 182 of the propulsion assembly 180 may alternatively rotate reversely to form two fluid paths in opposite directions.

[0087] In some embodiments, refer to FIG. 7e. FIG. 7e is a side view of a cleaning device according to a fifth embodiment of the present disclosure. The propulsion assembly 180 includes the third drive part 182. A base 1901 is further disposed in the internal space of the traveling mechanism 190. The base 1901 is located on a side of the propulsion assembly 180, and the side faces the cleaning device body 110. The propulsion assembly 180 may be partially or completely accommodated in space formed by the base 1901. The base 1901 may be disposed on a side plate (not shown) on a side of the traveling mechanism 190, and the side is close to the cleaning device body 110. However, this is not limited thereto. In some embodiments, refer to FIG. 7f. FIG. 7f is a side view of a cleaning device according to a sixth embodiment of the present disclosure. The cleaning device 1000 is further provided with a flow channel baffle plate 1902. The flow channel baffle plate 1902 is disposed on a side of the propulsion assembly 180, and the side is away from the cleaning device body 110. The flow channel baffle plate 1902 may be fixedly or detachably connected to the base 1901 and form at least a part of a fluid flow channel of the propulsion assembly 180 together with the base 1901. The flow channel baffle plate 1902 may be disposed on a side surface of the cover plate 195, and the side surface faces the cleaning device body 110. When the cover plate 195 covers the traveling mechanism 190, the base 1901 and the flow channel baffle plate 1902 together form at least a part of the fluid flow channel of the propulsion assembly 180. When the cover plate 195 is detached, the base 1901 and the propulsion assembly 180 are accessible, and the user can clean the propulsion assembly 180. The flow channel of the propulsion assembly 180 is limited to limit a direction in which water flows through the propulsion assembly 180. This increases operation effectiveness of the propulsion assembly 180.

[0088] In some embodiments, the side surface of the cover plate 195 is away from the cleaning device body 110, and the side surface is further provided with an additional baffle plate 1951. Two ends of the additional baffle plate 1951 are both connected to the cover plate 195. For example, one end of the additional baffle plate 1951 is fixed to an upper edge of the cover plate 195, and the other end is fixed to a lower edge of the cover plate 195. The additional baffle plate 1951 and the cover plate 195 may be integrally molded or may be detachably connected. In a longitudinal direction of the cover plate 195, the additional baffle plate 1951 may cover a surface of the cover plate 195 as a whole or may be 2025208520   25 Jul 2025 embedded in the cover plate 195. In addition, the additional baffle plate 1951 may be disposed at a position corresponding to the propulsion assembly 180 to shield and protect the propulsion assembly 180. The additional baffle plate 1951 may be of any shape, including, but not limited to, a circle, a triangle, a polygon, and the like. A structure of the additional baffle plate 1951 may be solid or partially hollow. This is not limited herein.

[0089] In some embodiments, one or more anti-collision strips 19512 are further disposed at the additional baffle plate 1951. The anti-collision strip 19512 protrudes from the additional baffle plate 1951 and may be disposed at any easily accessible position on the additional baffle plate 1951, to prevent a surface of the additional baffle plate 1951 from being scratched. In a length direction of the additional baffle plate 1951, a length of the anti-collision strip 19512 may extend across the additional baffle plate 1951, and the anti-collision strip 19512 may be made of any friction-resistant material. This is not limited herein.

[0090] In some embodiments, the additional baffle plate 1951 is further provided with one or more second anti-collision parts 19511 partially or completely protruding from the additional baffle plate 1951, that is, partially or completely protruding from the contour of the side portion of the cleaning device body 110, to prevent the additional baffle plate 1951 from being scratched. If the first anti-collision part 200 is disposed at the side of the cover plate 195, where the side is away from the traveling mechanism 190, a horizontal distance over which the second anti-collision part 19511 protrudes from the contour of the side portion of the cleaning device body 110 is less than or equal to a horizontal distance over which the first anti-collision part 200 protrudes from the contour of the side portion of the cleaning device body 110, to prevent the second anti-collision part 19511 from greatly protruding, so that the second anti-collision part 19511 is less likely to be centrally hit. This reduces a possibility of damage to the second anti-collision part 19511. A structure of the second anti-collision part 19511 may be similar to that of the first anti-collision part 200, and a size of the second anti-collision part 19511 may be different from that of the first anti-collision part 200. This is not limited herein. In a vertical direction, the second anti-collision part 19511 may be disposed at a position on the additional baffle plate 1951, where the position is close to the fifth side 117. In this way, when there is a boundary with a slope in the target region 100, for example, a circular-arc-shaped boundary, a possibility that the additional baffle plate 1951 is scratched is reduced.

[0091] In some embodiments, as shown in FIG. 7a, the cleaning device 1000 further includes a speed reduction part 185. The speed reduction part 185 is disposed on the propulsion assembly 180 and configured to reduce a moving speed of the cleaning device 1000. In some embodiments, the speed reduction part 185 may be a speed reduction baffle plate. The speed reduction baffle plate may be disposed at the first liquid outlet 181. The speed reduction baffle plate is configured to adjust a flow area of the first liquid outlet 181 to adjust the flow speed and the thrust of the water sprayed out through the first liquid outlet 181, to adjust the moving speed of the cleaning device 1000.

[0092] In some embodiments, refer to FIG. 8. FIG. 8 is a schematic structural view of a filtering box of a cleaning device according to an embodiment of the present disclosure. The cleaning device 1000 further includes a main drive pump. An opening 121 is formed on the filtering box 120. The opening 121 may communicate with the debris inlet 1111, for example, the first debris inlet 1111a. The filtering box 120 has a filtering surface 123. The first accommodating cavity is provided with a first liquid discharge opening. The debris inlet 1111, the filtering box 120, and the first liquid discharge opening are in fluid communication. The main drive pump is configured to drive water to flow into the filtering box 120 through the debris inlet 1111, flow through the filtering surface 123 of the filtering box 120, and then flow out of the first accommodating cavity through the first liquid discharge opening. The water 2025208520   25 Jul 2025 flowing into the filtering box 120 through the debris inlet 1111 contains trash. The trash remains in the filtering box 120 after being filtered out by the filtering box 120, and the liquid flows through the filtering surface 123 of the filtering box 120 to the first liquid discharge opening to be discharged from the first accommodating cavity.

[0093] The main drive pump can provide a specific suction force, so that a negative pressure zone is formed close to the first debris inlet 1111a and the opening 121. In this way, liquid and trash in the working region of the first debris inlet 1111a are sucked into the filtering box 120. Because the filtering box 120 has the filtering surface 123, the liquid can flow to the first liquid discharge opening through the filtering surface 123 to be discharged from the first accommodating cavity, and the trash remains in the filtering box 120, so that the trash is separated from the liquid. The first auxiliary cleaning assembly 150 guides the trash on the water surface of the target region 100 and / or the trash suspended in the liquid of the target region 100 to the working region of the debris inlet 1111. For details about an operation principle that the main drive pump drives the water to flow into the filtering box 120 and be discharged, refer to the above embodiment. Details are not described herein again.

[0094] The filtering surface 123 includes a first filtering surface 1231, a second filtering surface 1232, a third filtering surface 1233, and a fourth filtering surface 1234. Optionally, the filtering surface 123 further includes a fifth filtering surface 1235. The first filtering surface 1231, the second filtering surface 1232, the fourth filtering surface 1234, and the third filtering surface 1233 are sequentially connected end to end to form filtering portions on sides of the filtering box 120.

[0095] The filtering box 120 further has a filtering box opening 122. The filtering box opening 122 is located at the top of the filtering box 120. The filtering box opening 122 may communicate with the opening 121. Certainly, the filtering box opening 122 may be spaced from the opening 121. The sixth side 118 of the cleaning device body 110 is provided with a second opening 118a. The second opening 118a corresponds to the filtering box opening 122. The cleaning device 1000 further includes a filtering box cover 124. The filtering box cover 124 is disposed on the cleaning device body 110 and configured to allow the second opening 118a and the filtering box opening 122 to be opened and closed. When the cleaning device 1000 finishes cleaning, the filtering box cover 124 may be opened to remove the filtering box 120 to clean the filtering box 120.

[0096] In an embodiment, each filtering surface 123 includes an inner filtering mesh 123a and an outer filtering mesh 123b. Each of the first filtering surface 1231, the second filtering surface 1232, the third filtering surface 1233, and the fourth filtering surface 1234 includes an inner filtering mesh 123a and an outer filtering mesh 123b. The filtering box 120 may include only one filtering box 120, and the inner filtering mesh 123a and the outer filtering mesh 123b are stacked on the same filtering box 120. Certainly, the filtering box 120 may alternatively include two filtering boxes 120, that is, the filtering box 120 includes an inner filtering box and an outer filtering box. The inner filtering box 120 is sleeved inside the outer filtering box 120. The inner filtering mesh 123a is disposed on the inner filtering box 120, and the outer filtering mesh 123b is disposed on the outer filtering box 120. In some embodiments, each filtering surface 123 may include only one layer of filtering mesh. Certainly, each filtering surface 123 may alternatively include more than two layers of filtering meshes. For example, each filtering surface 123 may include three layers of filtering meshes, four layers of filtering meshes, five layers of filtering meshes, six layers of filtering meshes, or eight layers of filtering meshes. However, this is not limited thereto.

[0097] In some embodiments, refer to FIG. 9. FIG. 9 is another side view of a cleaning device according to an embodiment of the present disclosure. The cleaning device 1000 includes a second liquid discharge opening 212 in fluid communication with the first liquid discharge opening. The second liquid discharge 2025208520   21 Apr 2026 opening 212 is located at the top of the cleaning device 1000, namely, on the sixth side 118 of the cleaning device body 110. The main drive pump can further drive the liquid flowing into the main drive pump through the first liquid discharge opening and the liquid inlet 211 to flow along the main drive pump and be discharged through the second liquid discharge opening 212. The second liquid discharge opening 212 of the main drive pump is provided with a grid part 213. The grid part 213 may guide liquid flowing through the grid part 213. In an embodiment, a grid of the grid part 213 may be rotatably disposed and can be configured to adjust a liquid discharge direction of the second liquid discharge opening 212.

[0098] In some embodiments, the cleaning device 1000 further includes a flow division plate 214. The flow division plate 214 is disposed at the rear of the second liquid discharge opening 212. The liquid discharge direction of the second liquid discharge opening 212 tilts backward relative to a normal moving 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 214 is disposed at the rear of the second liquid discharge opening 212, to block a backward fluid component. This reduces the forward reaction force applied to the cleaning device 1000 and therefore reduces the moving speed.

[0099] In some embodiments, the cleaning device 1000 further includes a button 290. The button 290 is configured to control the cleaning device 1000. For example, the button 290 may be configured to control opening and closing of a main power supply of the cleaning device 1000, to control the cleaning device 1000 to enter or exit a cleaning mode, and to control operating power of each of the second auxiliary cleaning assembly 160, the propulsion assembly 180, the traveling mechanism 190, the main drive pump, and other modules. However, this is not limited thereto. The button 290 may be disposed on the first side 113, the second side 114, the third side 115, the fourth side 116, or the sixth side 118 of the cleaning device body 110. Optionally, the button 290 may be disposed on the sixth side 118 of the cleaning device body 110, that is, on the top of the cleaning device body 110, so that when the cleaning device 1000 cleans the water surface of the target region 100, the button 290 can be exposed above the water surface. In this way, the user can conveniently control the cleaning device 1000. The button 290 may be disposed between the second liquid discharge opening 212 of the main drive pump and the filtering box 120.

[00100] The above description describes only implementations of the present disclosure and is not intended to limit the scope of the present disclosure. Any equivalent structure or equivalent process transformation performed based on the contents of this specification and the accompanying drawings of the present disclosure or applied directly or indirectly in other related technical fields shall fall within the protection scope of the present disclosure.

[00101] The reference to any prior art in this specification is not, and should not be taken as, an acknowledgement or any form of suggestion that such prior art forms part of the common general knowledge.

[00102] It will be understood that the terms “comprise” and “include” and any of their derivatives (e.g. comprises, comprising, includes, including) as used in this specification, and the claims that follow, is to be taken to be inclusive of features to which the term refers, and is not meant to exclude the presence of any additional features unless otherwise stated or implied.

Claims

1. A cleaning device, wherein the cleaning device is configured to clean a swimming pool and comprises:a cleaning device body;a traveling mechanism disposed at a side portion of the cleaning device body, wherein the traveling mechanism is configured to drive the cleaning device to move and comprises at least a track, a first guiding wheel, and a second guiding wheel, wherein the track is wrapped around the first guiding wheel and the second guiding wheel;a cover plate covering an outer side surface of each of the first guiding wheel and the second guiding wheel;a drive part configured to drive the second guiding wheel to rotate, wherein the second guiding wheel drives the track to move, so that the track drives the first guiding wheel to move;two roller brush assemblies, wherein the first guiding wheel drives one roller brush assembly to rotate, and the second guiding wheel drives the other roller brush assembly to rotate;a first anti-collision part disposed at the cover plate, wherein the first anti-collision part protrudes from the cover plate, and when the first anti-collision part is in contact with an object, rolling friction is generated between the first anti-collision part and a contact surface;a flow channel; anda propulsion assembly, wherein the flow channel is located between the first guiding wheel and the second guiding wheel, and the propulsion assembly is disposed in the flow channel and configured to at least drive the cleaning device to move on a water surface.

2. The cleaning device according to claim 1, the cleaning device body has a first side and a second side opposite to each other, a third side and a fourth side opposite to each other, and a fifth side and a sixth side opposite to each other, a direction from the first side to the second side is a length direction of the cleaning device, a direction from the third side to the fourth side is a width direction of the cleaning device, and a direction from the fifth side to the sixth side is a height direction of the cleaning device; andthe cleaning device comprises at least two first anti-collision parts, wherein one of the at least two first anti-collision parts is closer to the first side than to the second side; and another of the at least two first anti-collision parts is closer to the second side than to the first side.

3. The cleaning device according to claim 1, the cleaning device body has a first side and a second side opposite to each other, a third side and a fourth side opposite to each other, and a fifth side and a sixth side opposite to each other, a direction from the first side to the second side is a length direction of the cleaning device, a direction from the third side to the fourth side is a width direction of the cleaning device, and a direction from the fifth side to the sixth side is a height direction of the cleaning device; andthe cleaning device comprises at least two first anti-collision parts, wherein in the height direction, heights of at least two of the first anti-collision parts are the same.2025208520   18 Aug 20264. The cleaning device according to claim 1, wherein the first anti-collision part comprises a roller wheel rotatably disposed on the cover plate.

5. The cleaning device according to claim 4, further comprising at least one bracket disposed on the cover plate, wherein the roller wheel is rotatably disposed on the at least one bracket.

6. The cleaning device according to claim 5, wherein there are two brackets spaced from each other on the cover plate, wherein the roller wheel is rotatably disposed between the two brackets.

7. The cleaning device according to claim 6, the cleaning device body has a first side and a second side opposite to each other, a third side and a fourth side opposite to each other, and a fifth side and a sixth side opposite to each other, a direction from the first side to the second side is a length direction of the cleaning device, a direction from the third side to the fourth side is a width direction of the cleaning device, and a direction from the fifth side to the sixth side is a height direction of the cleaning device; andthe two brackets are spaced from each other in the length direction, or spaced from each other in the height direction.

8. The cleaning device according to claim 1, further comprising an additional baffle plate disposed on the cover plate, wherein the additional baffle plate covers at least a part of the propulsion assembly.

9. The cleaning device according to claim 8, further comprising a second anti-collision part, wherein the second anti-collision part protrudes from the additional baffle plate.

10. The cleaning device according to claim 9, the cleaning device body has a first side and a second side opposite to each other, a third side and a fourth side opposite to each other, and a fifth side and a sixth side opposite to each other, a direction from the first side to the second side is a length direction of the cleaning device, a direction from the third side to the fourth side is a width direction of the cleaning device, and a direction from the fifth side to the sixth side is a height direction of the cleaning device; andwherein the second anti-collision part is closer to the fifth side than the sixth side in the height direction.

11. The cleaning device according to claim 9 or 10, wherein a horizontal distance over which the second anti-collision part protrudes from the cover plate is less than or equal to a horizontal distance over which the first anti-collision part protrudes from the cover plate, and / or sizes of the second anticollision part and the first anti-collision part are different.

12. The cleaning device according to claim 9, the cleaning device body has a first side and a second side opposite to each other, a third side and a fourth side opposite to each other, and a fifth side and a sixth side opposite to each other, a direction from the first side to the second side is a length direction of the cleaning device, a direction from the third side to the fourth side is a width direction of the cleaning device, and a direction from the fifth side to the sixth side is a height direction of the cleaning device; andthe cleaning device comprises two first anti-collision parts, wherein in the length direction, one first anti-collision part, the second anti-collision part, and the other first anti-collision part are sequentially arranged.2025208520   18 Aug 202613. The cleaning device according to claim 9, the cleaning device body has a first side and a second side opposite to each other, a third side and a fourth side opposite to each other, and a fifth side and a sixth side opposite to each other, a direction from the first side to the second side is a length direction of the cleaning device, a direction from the third side to the fourth side is a width direction of the cleaning device, and a direction from the fifth side to the sixth side is a height direction of the cleaning device; andin the height direction, the first anti-collision part is closer to the fifth side than the second anticollision part, or the second anti-collision part is closer to the fifth side than the first anti-collision part.

14. The cleaning device according to claim 8, wherein the additional baffle plate is further provided with at least one anti-collision strip, wherein the at least one anti-collision strip protrudes from the additional baffle plate.

15. The cleaning device according to any one of claims 1 and 8 to 14, further comprising a base and a flow channel baffle plate, wherein the flow channel is defined by at least the base and the flow channel baffle plate, wherein the base and the flow channel baffle plate are located between the first guiding wheel and the second guiding wheel, and at least one of the base or the flow channel baffle plate is disposed at the side portion of the cleaning device body.

16. The cleaning device according to claim 15, wherein the cover plate is provided with the flow channel baffle plate.

17. The cleaning device according to any one of claims 1 to 16, wherein an area of annular space defined by the track is substantially equal to an area of the cover plate, or the cover plate covers the annular space defined by the track.

18. The cleaning device according to claim 4, wherein in a moving process of the cleaning device, when the roller wheel is in contact with a side wall of the swimming pool, the roller wheel rotates under rolling friction generated between the roller wheel and the side wall of the swimming pool.

19. The cleaning device according to claim 4, wherein in a process in which the cleaning device moves along a side wall of the swimming pool, at least one first anti-collision part is in contact with the side wall of the swimming pool, and rolling friction is generated between the roller wheel and the side wall of the swimming pool.

20. The cleaning device according to claim 1, wherein:the cleaning device body has a first side and a second side opposite to each other, a third side and a fourth side opposite to each other, and a fifth side and a sixth side opposite to each other, a direction from the first side to the second side is a length direction of the cleaning device, a direction from the third side to the fourth side is a width direction of the cleaning device, and a direction from the fifth side to the sixth side is a height direction of the cleaning device; andin the width direction, at least one first anti-collision part protrudes from an outermost side of the cover plate.

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