Cleaning apparatus and buoyancy adjustment mechanism

Abstract

The present disclosure relates to the technical field of swimming pool cleaning, and provides a cleaning apparatus and a buoyancy adjustment mechanism. The buoyancy adjustment mechanism comprises one or more flexible gas storage containers, at least one gas pumping device, an enclosed gas space and a control module, wherein the one or more flexible gas storage containers are arranged approximately symmetrically along the central line of the cleaning apparatus in the traveling direction of a traveling mechanism or around the geometric center of the cleaning apparatus; each gas pumping device is connected to the one or more flexible gas storage containers and the enclosed gas space; and the control module is connected to the gas pumping device to control the gas pumping device to convey gas between the flexible gas storage containers and the enclosed gas space. The present disclosure effectively improves the flexibility of the cleaning apparatus in floating and diving in a swimming pool.

Description

Cleaning equipment and buoyancy regulating mechanism Technical Field

[0001] The present disclosure relates to the technical field of swimming pool cleaning, and more particularly to a cleaning device and a buoyancy adjustment mechanism. Background Art

[0002] Swimming pools require regular cleaning, but the workload is often substantial. Therefore, users often utilize cleaning equipment for automated or assisted cleaning. For example, robotic pool cleaners are designed to automatically clean the pool's bottom, walls, and waterline. These robotic cleaning devices are designed to reduce the workload of manual pool cleaning, improve cleaning efficiency, and ensure clear pool water.

[0003] In actual use, the pool cleaning robot is equipped with a sealed water storage space. When the pool cleaning robot is controlled to rise from the bottom of the pool to the surface, it will first be controlled to crawl up along the pool wall. When it climbs to a certain height, the water in the sealed water storage space is controlled to be discharged, thereby increasing the buoyancy of the device and allowing the pool cleaning robot to float normally on the water surface. Conversely, when the pool cleaning robot is controlled to descend from the pool surface to the bottom, water is controlled to be injected into the sealed water storage space to increase the weight of the device and allow the pool cleaning robot to return to the bottom of the pool.

[0004] It can be seen that the existing swimming pool cleaning robot must rely on climbing walls when rising from the pool bottom to the water surface, and cannot directly control its rise elsewhere outside the pool wall, making the movement of the equipment in the swimming pool not fast enough and lacking flexibility.

[0005] Summary of the Invention

[0006] The purpose of the present disclosure is to provide a cleaning device and a buoyancy adjustment mechanism to solve the problem in the prior art that the swimming pool cleaning device is not fast enough and lacks flexibility in moving in the swimming pool.

[0007] To achieve the above objectives, the technical solutions adopted in this disclosure are:

[0008] In a first aspect, the present disclosure provides a cleaning device, comprising: a body, a walking mechanism, a filtering mechanism, and a water spraying mechanism. The body is provided with at least one water suction port and at least one water outlet. The filtering mechanism is connected to the at least one water suction port and can draw water from the water suction port to the water outlet and flow out of the body through the water spraying mechanism. The cleaning device also includes: a buoyancy adjustment mechanism, including a flexible gas storage container, a gas pumping device, a gas closed space and a control module. The number of the flexible gas storage container is at least one, and the at least one flexible gas storage container is roughly symmetrically arranged along the center line of the cleaning device in the walking direction of the walking mechanism or the geometric center of the cleaning device. The number of the gas pumping device is at least one, and each gas pumping device is respectively connected to at least one flexible gas storage container and the gas closed space. The control module is connected to the at least one gas pumping device and can transfer gas between the at least one flexible gas storage container and the gas closed space by controlling the at least one gas pumping device. When the at least one flexible gas storage container is filled with gas, the center of gravity of the at least one flexible gas storage container coincides with the center of gravity of the cleaning device.

[0009] In the second aspect, the present disclosure also provides a cleaning device, comprising: a body, a walking mechanism, a filtering mechanism, a water spraying mechanism, and a control module are arranged on or inside the body, at least one water suction port and at least one water outlet are provided on the body, the filtering mechanism is connected to the at least one water suction port, and can suck water from the water suction port to the water outlet and flow out of the body through the water spraying mechanism; a buoyancy adjustment mechanism, which is electrically connected to the control module; the cleaning device includes at least a first state, a second state, and a third state in the swimming pool: in the first state, the cleaning device walks on the bottom of the swimming pool; in the second state, at least part of the walking mechanism of the cleaning device is in contact with the pool wall; in the third state, the cleaning device at least partially floats on the water surface; under the action of the buoyancy adjustment mechanism, the cleaning device can be adjusted between the first state and the third state without passing through the second state.

[0010] In the second aspect, the present disclosure also provides a buoyancy adjustment mechanism, which is applied to cleaning equipment, including: a flexible gas storage container, a gas pumping device, a gas-enclosed space and a control module. The number of the flexible gas storage container is at least one, and the at least one flexible gas storage container is roughly symmetrically arranged along the center line of the cleaning equipment in the walking direction or the geometric center of the cleaning equipment. The number of the gas pumping device is at least one, and each gas pumping device is respectively connected to at least one flexible gas storage container and the gas-enclosed space. The control module is connected to the at least one gas pumping device and can transfer gas between the at least one flexible gas storage container and the gas-enclosed space by controlling the at least one gas pumping device. When the at least one flexible gas storage container is filled with gas, the center of gravity of the at least one flexible gas storage container roughly coincides with the center of gravity of the cleaning equipment.

[0011] In some preferred embodiments, the buoyancy regulating mechanism further comprises: an electrolysis module, wherein the electrolysis module is electrically connected to the gas pumping device and the control module respectively, and the electrolysis module can supply gas to the flexible gas storage container through the gas pumping device.

[0012] The beneficial effects of the cleaning device provided by the present disclosure are at least that: the cleaning device can achieve rapid adjustment of the buoyancy of the cleaning device at any position in the swimming pool by symmetrically arranging the flexible gas storage container in the buoyancy adjustment mechanism on the cleaning device, and by using a gas pumping device to transfer gas between the gas enclosed space and the flexible gas storage container. For example, the cleaning device can directly float from the bottom of the pool to the surface of the water or dive from the surface of the water to the bottom of the pool without climbing a wall. The posture of the cleaning device is stable, so that the cleaning device can quickly change its depth position in the swimming pool, effectively improving the flexibility of the cleaning device in moving in the swimming pool. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0014] FIG1 is a schematic diagram of the architecture of a cleaning device provided by an embodiment of the present disclosure;

[0015] FIG2 is a schematic diagram of a planar structure of a cleaning device provided by an embodiment of the present disclosure;

[0016] FIG3 is a schematic structural diagram of an electronic control unit provided by an embodiment of the present disclosure;

[0017] FIG4 is a schematic diagram of two structures of a walking mechanism provided in an embodiment of the present disclosure;

[0018] FIG5 is a schematic diagram of the first planar position of the flexible gas storage container on the cleaning equipment provided by an embodiment of the present disclosure;

[0019] FIG6 is a second schematic diagram of the planar position of the flexible gas storage container on the cleaning equipment provided by an embodiment of the present disclosure;

[0020] FIG7 is a third schematic diagram of the planar position of the flexible gas storage container on the cleaning equipment provided by an embodiment of the present disclosure;

[0021] FIG8 is a fourth schematic diagram of the planar position of the flexible gas storage container on the cleaning equipment provided by an embodiment of the present disclosure;

[0022] FIG9 is a fifth schematic diagram of the planar position of the flexible gas storage container on the cleaning equipment provided by an embodiment of the present disclosure;

[0023] FIG10 is a sixth schematic diagram of the planar position of the flexible gas storage container on the cleaning equipment provided by an embodiment of the present disclosure;

[0024] FIG11 is a seventh schematic diagram of the planar position of the flexible gas storage container on the cleaning equipment provided by an embodiment of the present disclosure;

[0025] FIG12 is a schematic diagram eight of the planar position of the flexible gas storage container on the cleaning equipment provided by an embodiment of the present disclosure;

[0026] FIG13 is a schematic structural diagram of a gas pumping device, a flexible gas storage container, and a gas enclosure provided in an embodiment of the present disclosure;

[0027] FIG14 is a schematic diagram of the architecture of another cleaning device provided by an embodiment of the present disclosure;

[0028] FIG15 is a schematic structural diagram of a counterweight adjustable mechanism provided in an embodiment of the present disclosure;

[0029] FIG16 is a schematic diagram of the architecture of another cleaning device provided in an embodiment of the present disclosure.

[0030] Among them, the reference numerals in the figures are:

[0031] 100. Cleaning equipment; 110. Machine body; 111. Electronic control unit; 120. Travel mechanism; 130. Filter mechanism; 140. Water spray mechanism; 150. Buoyancy adjustment mechanism; 151. Flexible gas storage container; 152. Gas pumping device; 153. Gas enclosed space; 154. Control module; 155. Adjustable counterweight mechanism; 156. Electrolysis module. DETAILED DESCRIPTION

[0032] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present disclosure more clearly understood, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not intended to limit the present disclosure.

[0033] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be located directly or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on this technical solution. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0034] The present invention provides a schematic diagram of the architecture of a cleaning device 100, as shown in Figure 1. The cleaning device 100 can be used to perform swimming pool cleaning tasks. The cleaning device 100 can be a swimming pool cleaning robot. The cleaning device 100 at least includes: a body 110, a walking mechanism 120, a filtering mechanism 130, a water spraying mechanism 140 and a buoyancy adjustment mechanism 150. The body 110 is provided with at least one water suction port and at least one water outlet. The filtering mechanism 130 is connected to the at least one water suction port and can draw water from the water suction port to the water outlet and flow out of the body 110 through the water spraying mechanism 140. The buoyancy adjustment mechanism 150 includes: a flexible gas storage container 151, a gas pumping device 152, a gas enclosed space 153 and a control module 154. The number of the flexible gas storage container 151 is at least one, and the At least one flexible gas storage container 151 is roughly symmetrically arranged along the center line of the walking direction of the cleaning equipment 100 in the walking mechanism 120 or roughly symmetrically arranged along the geometric center of the cleaning equipment. The number of the gas pumping device 152 is at least one, and each gas pumping device 152 is respectively connected to at least one flexible gas storage container 151 and the gas enclosed space 153. The control module 154 is connected to the at least one gas pumping device 152 and can transfer gas between the at least one flexible gas storage container 151 and the gas enclosed space 153 by controlling the at least one gas pumping device 152. When the at least one flexible gas storage container 151 is full of gas, the center of gravity of the at least one flexible gas storage container 151 roughly coincides with the center of gravity of the cleaning equipment 100, so as to ensure that the cleaning equipment 100 can move smoothly in the water.

[0035] The body 110 is the overall framework of the cleaning device 100 , including but not limited to a body shell, an electronic control unit 111 and various sensors. As the core of the cleaning device 100 , the body 110 is responsible for controlling the movement and cleaning operation of the cleaning device 100 .

[0036] The fuselage shell can be used to fix and install components such as the walking mechanism 120, the filtering mechanism 130, the water spraying mechanism 140, the buoyancy regulating mechanism 150, the electronic control unit 111 and various sensors, thereby forming a complete cleaning device 100. In addition, Figure 2 is a schematic diagram of the planar structure of a cleaning device 100 provided in an embodiment of the present disclosure. A sealed compartment is provided in the fuselage shell, which can be used to install various electronic devices to prevent the electronic devices from coming into contact with water and ensure the safety of the electronic devices. For example, the sealed compartment in Figure 2 is a motor compartment, which is provided between the walking mechanisms 120 on both sides of the cleaning device 100, close to one end of the travel direction, and is used to accommodate and install components such as motors, pumps, and other important electronic components.

[0037] In one embodiment, as shown in FIG3 , a schematic diagram of the structure of an electronic control unit 111 provided in an embodiment of the present disclosure is provided. The electronic control unit 111 may specifically include a processor, a memory, a communication interface, a control algorithm and software, etc. The control algorithm and software are implemented as computer programs and stored in the memory. When the computer program corresponding to the control algorithm and software is run on the processor, the movement, cleaning operation and navigation functions of the cleaning robot can be realized. In addition, the communication interface is connected to the processor, which can realize internal data communication between the processor and the walking mechanism 120, the filtering mechanism 130, the water spraying mechanism 140, the buoyancy regulating mechanism 150 and the sensor, and can also realize data communication between the cleaning device 100 and external devices. For example, the communication interface allows the electronic control unit 111 to communicate with a remote control or a smartphone application.

[0038] Sensors are used to sense information about the cleaning device 100 and its surroundings, including but not limited to distance sensors, tilt sensors, touch sensors, depth sensors, etc. These sensors provide data about the shape of the pool, the location of obstacles, and the current state of the cleaning device 100. Of course, in practice, sensors can be added or reduced based on the functional needs of the cleaning device 100 itself. The embodiments of the present disclosure have no restrictions on the type, quantity, and size of the sensors.

[0039] The walking mechanism 120 can enable the cleaning device 100 to move on the bottom or wall of the pool. The specific embodiment of the walking mechanism 120 is not unique. For example, referring to Figure 4, two structural schematic diagrams of the walking mechanism 120 are provided for the embodiment of the present disclosure. The walking mechanism 120 can realize the movement of the cleaning device 100 on the bottom or wall of the pool by the wheels in Figure 4a or the crawler in Figure 4b. That is, the walking mechanism 120 includes two sets of wheels or crawlers, a drive mechanism and a transmission mechanism. The two sets of wheels or crawlers are arranged on both sides of the body 110, and the number of each set of wheels is at least two, and the number of each set of crawlers can be one. The drive mechanism is coupled to each set of wheels or crawlers through the transmission mechanism. The drive mechanism can be a drive source such as an electric motor, and the transmission mechanism can be a gear set composed of multiple gears, racks or screws, etc., for transmitting the driving force of the drive mechanism to the wheels or crawlers, so that the wheels or crawlers rotate to realize the movement of the cleaning device 100 on the bottom or wall of the pool. Of course, the walking mechanism 120 can also be implemented as other structures, and the embodiment of the present disclosure is not limited to this.

[0040] The water spraying mechanism 140 provides an outlet for the water flow channel inside the cleaning equipment. At the same time, the water spraying can also provide thrust for the cleaning equipment 100. When the cleaning equipment 100 is moving on the bottom or wall of the pool, the water spraying mechanism 140 can provide downward pressure in a direction perpendicular to the walking direction, so that the cleaning equipment 100 can move close to the bottom or wall of the pool. When the cleaning equipment 100 is moving horizontally, the water spraying mechanism 140 can provide propulsion in the opposite direction of the walking direction, so that the cleaning equipment 100 can move on the water surface.

[0041] For example, in some embodiments, the water spraying mechanism 140 is rotatable and includes a fluid nozzle, a driving mechanism and a water pumping mechanism. The fluid nozzle is rotatable and connected to the water pumping mechanism. The driving mechanism drives the fluid nozzle to switch between at least a first position and a second position. In the first position, for example, the cleaning device is at the bottom or wall of the pool, and the water outlet direction of the fluid nozzle is roughly perpendicular to the movement direction of the cleaning device 100. In the second position, for example, the cleaning device is on the water surface, and the water outlet direction of the fluid nozzle is roughly parallel to the movement direction of the cleaning device 100.

[0042] The filtering mechanism 130 is used to suck in the surrounding water when the cleaning device 100 moves on the bottom or wall of the pool to filter out the dirt therein, and to suck in the water near the waterline when the cleaning device 100 moves on the water surface to filter out suspended matter such as leaves, insects, and pollen, thereby achieving the effect of cleaning the water quality. Among them, at least one water flow suction port on the body 110 can be set at the bottom of the cleaning device 100, or it can be set at the top or side of the cleaning device 100. The filtering mechanism 130 sucks in the surrounding water from the water flow suction port, filters the dirt, leaves, insects, pollen, etc. in the sucked water, and then discharges it through the water outlet. It is understandable that the specific implementation method of the filtering mechanism 130 is not unique, and the embodiments of the present disclosure are not limited to this.

[0043] The buoyancy regulating mechanism 150 can adjust the buoyancy of the cleaning device 100 so that the cleaning device 100 can reach different depths between the pool bottom and the water surface. In the embodiment of the present disclosure, the working principle of the buoyancy regulating mechanism 150 to achieve buoyancy control of the cleaning device 100 is that the gas pumping device 152 can realize the gas transmission between the flexible gas storage container 151 and the gas closed space 153. A valve switch is provided between the gas pumping device 152 and the flexible gas storage container 151. Initially, the gas closed space 153 is a cavity with a fixed volume, and the gas pressure therein can be atmospheric pressure, while the flexible gas storage container 151 is in a compressed state. When it is necessary to increase the buoyancy of the cleaning device 100, the valve switch is controlled to open, and the gas is released. The pumping device 152 transfers the gas in the gas-enclosed space 153 to the flexible gas storage container 151, and then controls the valve switch to close. At this time, the flexible gas storage container 151 expands due to inflation, thereby increasing the buoyancy. When it is necessary to reduce the buoyancy of the cleaning equipment 100, the valve switch is controlled to open, and the flexible gas storage container 151 will automatically release gas into the gas-enclosed space 153 due to the pressure difference, so that the gas returns to the gas-enclosed space 153. Then the valve switch is controlled to close. At this time, the flexible gas storage container 151 becomes smaller in volume due to deflation, thereby reducing the buoyancy. Of course, it can be understood that the valve described above is not necessary, and the gas isolation and two-way extraction and discharge can also be achieved separately through the gas pumping device 152. Among them, at least one flexible gas storage container 151 in the buoyancy adjustment mechanism 150 is symmetrically arranged along the center line of the walking direction of the cleaning equipment 100 in the walking mechanism 120, or is roughly symmetrically arranged along the geometric center of the cleaning equipment, so that the flexible gas storage container 151 can roughly coincide with the center of gravity of the cleaning equipment 100 after inflation, or the center of gravity of the two are collinear along the walking direction of the cleaning equipment, thereby not changing the balance of the cleaning equipment 100. For example, when all the flexible gas storage containers 151 in the buoyancy adjustment mechanism 150 are filled with gas, the buoyancy of the cleaning equipment 100 reaches its maximum, and the center of gravity of the flexible gas storage container 151 roughly coincides with the center of gravity of the cleaning equipment 100, so that the cleaning equipment 100 can float on the water and maintain a stable state.

[0044] It can be seen that according to the technical solution provided in the embodiment of the present disclosure, by arranging the flexible gas storage container 151 in the buoyancy adjustment mechanism 150 symmetrically on the cleaning device 100, and by using the gas pumping device 152 to transfer gas between the gas enclosed space 153 and the flexible gas storage container 151, the buoyancy of the cleaning device 100 at any position in the swimming pool can be quickly adjusted. For example, it can directly float from the bottom of the pool to the surface of the water or dive from the surface of the water to the bottom of the pool without going through the process of climbing the wall, and the posture of the cleaning device 100 is stable, so that the cleaning device 100 can quickly change its depth position in the swimming pool, effectively improving the flexibility of the cleaning device 100 in moving in the swimming pool.

[0045] In some embodiments, in conjunction with FIG1 , a cleaning device 100 is further provided, comprising: a body 110, the body 110 being provided with a walking mechanism 120, a filtering mechanism 130, a water spraying mechanism 140, and a control module 154, the body 110 being provided with at least one water flow inlet and at least one water flow outlet, the filtering mechanism 130 being connected to the at least one water flow inlet, and being capable of drawing water from the water flow inlet to the water flow outlet and flowing the water out of the body through the water spraying mechanism 140, the cleaning device 100 further comprising: a buoyancy regulating mechanism 150 , which is electrically connected to the control module 154; the cleaning device 100 includes at least a first state, a second state, and a third state in the swimming pool: in the first state, the cleaning device 100 moves on the bottom of the swimming pool; in the second state, at least part of the moving mechanism of the cleaning device 100 is in contact with the pool wall; in the third state, the cleaning device 100 at least partially floats on the water surface; under the action of the buoyancy adjustment mechanism 150, the cleaning device 100 can adjust between the first state and the third state without passing through the second state. This embodiment controls the buoyancy adjustment mechanism 150 to change the buoyancy of the cleaning device 100, allowing the cleaning device 100 to quickly switch between different states, thereby improving the flexibility of the cleaning device in underwater movement.

[0046] The first, second, and third states of the cleaning device can be selected or set by the user, or the cleaning device can automatically switch between different states. In one embodiment, if the user sets or selects the state of the cleaning device, then the first, second, and third states can correspond to different cleaning modes of the cleaning device. For example, the first state corresponds to the pool bottom cleaning mode, the second state corresponds to the pool wall cleaning mode, and the third state corresponds to the water surface cleaning mode. These three cleaning modes have corresponding selection options on the cleaning device, user terminal, or remote control terminal. When the user triggers the selection option, an instruction for the cleaning mode corresponding to the selection option is sent to the cleaning device. After receiving the instruction, the cleaning device controls the buoyancy adjustment mechanism to inflate or deflate the airbag or float chamber to adjust the buoyancy of the device to the corresponding state. In another embodiment, the cleaning device can also automatically detect whether the current cleaning task has been completed during the execution of the current cleaning mode. If the cleaning device detects that the current cleaning task has been completed, it automatically switches to the next cleaning mode according to a preset program to continue the cleaning task. For example, the cleaning device is currently in the first state, performing a cleaning task at the bottom of the pool. When it detects that the device has completed the cleaning task at the bottom of the pool, it automatically switches to the second or third state to continue the cleaning task, which is very intelligent.

[0047] Among them, the specific implementation of the buoyancy adjustment mechanism is not unique. For example, in combination with the above embodiment, in one embodiment, the buoyancy adjustment mechanism includes controlling at least one flexible gas storage container 151. Since the flexible gas storage container 151 can be optionally arranged roughly symmetrically along the center line of the walking direction of the cleaning device 100 on the walking mechanism 120, or roughly symmetrically along the geometric center of the cleaning device 100, and the number of flexible gas storage containers 151 is at least one, then when the number of flexible gas storage containers 151 on the cleaning device 100 is different, the way in which the flexible gas storage container 151 is symmetrically arranged along the center line of the walking direction on the cleaning device 100 or roughly symmetrically arranged along the geometric center of the cleaning device 100 may also be different. In actual applications, the flexible gas storage container 151 can be optionally a float chamber or an air bag.

[0048] In some embodiments, a schematic diagram of the planar position of the flexible gas storage container 151 on the cleaning device 100 is shown in Figure 5. When the number of flexible gas storage containers 151 is one, the flexible gas storage container 151 can be set at the bottom center position or near the center position of the cleaning device 100; the flexible gas storage container 151 can also be set around the filtering mechanism 130, and the filtering mechanism 130 is set at the bottom center position or near the cleaning device 100; the flexible gas storage container 151 can also be embedded around or below the filtering mechanism 130.

[0049] In this embodiment, the shape of the flexible gas storage container 151 is not unique, including but not limited to circular, oval, square, concave or irregular shapes, etc. Here, the shape of the flexible gas storage container 151 refers to the horizontal cross-sectional shape of the flexible gas storage container 151, which is equivalent to the open shape of the flexible gas storage container 151 in a compressed state. Of course, no matter what shape the flexible gas storage container 151 is, it must be ensured that the flexible gas storage container 151 is roughly symmetrical relative to the center line of the cleaning equipment 100 in the walking direction.

[0050] In some embodiments II, schematic diagram II of the planar position of the flexible gas storage container 151 on the cleaning device 100 is shown in FIG6. When the number of the flexible gas storage containers 151 is two, the walking mechanism 120 includes two tracks, and the two tracks are parallel and spaced apart on both sides of the cleaning device 100. The two flexible gas storage containers 151 (such as the airbag 1 and the airbag 2 in FIG6) are arranged one by one in the space between the two ends of each of the two tracks, and the projection of the flexible gas storage container 151 and the track on the horizontal plane at least partially overlap.

[0051] Specifically, at least partial overlap includes complete overlap of the flexible gas container 151 and the track, that is, the maximum volume of the flexible gas container 151 will not exceed the width of the track, and will not occupy other space of the cleaning equipment 100; and if the flexible gas container 151 partially overlaps with the track, the flexible gas container 151 can protrude toward the opposite track, thereby ensuring that the flexible gas container 151 does not protrude from the outside of the track, avoiding the two sides of the cleaning equipment 100 being too wide, causing the cleaning equipment 100 to rub or scratch with the outside world during movement; of course, the flexible gas container 151 can also protrude from the direction of the track on this side toward the outside of the body during the inflation process to save internal space of the body.

[0052] In addition to the tracks, the walking mechanism 120 may also include components such as a driving mechanism and / or a transmission mechanism for driving the tracks to rotate. However, since these components other than the tracks do not affect the positional relationship between the flexible gas storage container 151 and the tracks in this embodiment, they are not described in detail.

[0053] The embodiment of the present disclosure arranges the flexible air storage container 151 in the free space between the two ends of the crawler track of the walking mechanism 120. Compared with the existing method of using a water tank to adjust the buoyancy, this not only saves the space occupied by the water tank, but also provides space for optimizing the size of other components of the cleaning equipment 100.

[0054] In some third embodiments, see FIG7 , which is a schematic diagram of the planar position of the flexible gas storage container 151 on the cleaning device 100. In combination with FIG4 and FIG7 , when there are two flexible gas storage containers 151, the walking mechanism 120 includes wheels or tracks arranged on both sides of the cleaning device 100, and the filtering mechanism 130 is arranged between the wheels or tracks on both sides. A flexible gas storage container 151 is provided between the filtering mechanism 130 and the wheels or tracks on both sides where the walking mechanism 120 is located (such as airbags 1 and airbags 2 in FIG7 ).

[0055] Optionally, the filtration mechanism 130 includes a filter cartridge, and a flexible air container 151 is positioned between the filter cartridge and the wheels or tracks on either side. When viewed from above, the flexible air container 151 and the filter cartridge's horizontal projection may not overlap or partially overlap. Similarly, the flexible air container 151 and the wheels or tracks' horizontal projections may at least partially overlap or not overlap. As shown in FIG7 , the flexible air container 151 and the filter cartridge's and / or the wheels or tracks of the traveling mechanism 120's horizontal projections may not overlap. In this case, the flexible air container 151 may be configured as an elongated strip or a special shape extending in the direction of travel, ensuring that the flexible air container 151 has sufficient air volume to ensure buoyancy adjustment. Furthermore, if the flexible air container 151 partially overlaps with the filter cartridge's and / or the wheels or tracks of the traveling mechanism 120's horizontal projections, meaning that the flexible air container 151 extends toward the filter cartridge or the wheels or tracks of the traveling mechanism 120 to provide sufficient air volume, the flexible air container 151 may be configured as a square, circular, or special shape, etc. It is understandable that the position and shape of the flexible gas storage container 151 are not unique and can be adjusted according to the specific structures of the walking mechanism 120 and the filtering mechanism 130, and the embodiment of the present disclosure does not limit this.

[0056] In some fourth embodiments, as shown in FIG8 , which is a fourth schematic diagram of the planar position of the flexible gas storage container 151 on the cleaning device 100, when the number of flexible gas storage containers 151 is two, the two flexible gas storage containers 151 (such as the airbag 1 and the airbag 2 in FIG8 ) are correspondingly arranged at the front and rear ends of the cleaning device 100 in the direction of travel. Compared with other arrangements of the two flexible gas storage containers 151, the arrangement position of the flexible gas storage container 151 in the embodiment of the present disclosure is simpler, and it is also easier to install and disassemble. In addition, the shape of the flexible gas storage container 151 can be realized as a bar, square, oval, and special shape, etc., and the embodiment of the present disclosure is not limited to this.

[0057] When the number of the flexible gas storage containers 151 is three, the positions of the three flexible gas storage containers 151 may be a combination of the embodiments of one flexible gas storage container 151 and two flexible gas storage containers 151 .

[0058] In some embodiments five, see Figure 9, which is a schematic diagram of the planar position of the flexible air storage container 151 provided in the embodiment of the present disclosure on the cleaning device 100. In combination with Figure 4 and Figure 9, the number of flexible air storage containers 151 is three, and the walking mechanism 120 includes wheels or tracks, which are arranged on both sides of the cleaning device 100, and the number is at least one, including but not limited to one wheel on each front and rear side, and a flexible air storage container 151 is arranged between the front and rear wheels on both sides, or a track on each side of the cleaning device 100, and a flexible air storage container 151 is arranged between the two ends of each track (such as airbag 1 and airbag 2 in Figure 9); the remaining flexible air storage container 151 (such as airbag 3 in Figure 9) is arranged below or around the filtering mechanism 130. Preferably, the filtering mechanism 130 includes a filter box, and the remaining flexible air storage container 151 is arranged around the filter box.

[0059] The installation solution for the flexible gas storage container 151 provided in the embodiment of the present disclosure can effectively increase the effective inflation volume of the flexible gas storage container 151 while occupying as little space as possible, so that the cleaning device 100 has a larger buoyancy adjustment range.

[0060] In some sixth embodiments, see FIG10, which is a sixth schematic diagram of the planar position of the flexible gas storage container 151 on the cleaning device 100 provided in the embodiment of the present disclosure. In combination with FIG4 and FIG10, the number of the flexible gas storage containers 151 is three, the walking mechanism 120 includes wheels or tracks, and the wheels or tracks are provided on both sides of the cleaning device 100. The filtering mechanism 130 is provided between the wheels or tracks on both sides, and a flexible gas storage container 151 is provided between the filtering mechanism 130 and each side of the wheel or track (such as airbag 1 and airbag 2 in FIG10), and the remaining flexible gas storage container 151 (such as airbag 13 in FIG10) is provided below the filtering mechanism 130 or around the filtering mechanism 130. Preferably, the filtering mechanism 130 includes a filter box, and the remaining flexible gas storage container 151 can be provided below or above the filter box.

[0061] The flexible gas storage container 151 position installation scheme provided in the embodiment of the present disclosure not only effectively increases the effective inflation volume of the flexible gas storage container 151 by increasing the number of flexible gas storage containers 151, but also improves the maneuverability and stability of the cleaning equipment 100 because the installation positions of the various flexible gas storage containers 151 are concentrated near the center position of the cleaning equipment 100.

[0062] In some embodiments seven, see Figure 11, which is a schematic diagram of the planar position of the flexible gas storage container 151 provided in the embodiment of the present disclosure on the cleaning device 100. As shown in Figure 11, there are three flexible gas storage containers 151, one of which (airbag 3 in Figure 11) is arranged below the cleaning device 100 or around the filtering mechanism 130, and the other two flexible gas storage containers 151 (airbag 1 and airbag 2 in Figure 11) are correspondingly arranged at the front and rear ends of the cleaning device 100 in the direction of travel.

[0063] The flexible gas storage container 151 position installation scheme provided in the embodiment of the present disclosure not only effectively increases the effective inflation volume of the flexible gas storage container 151 by increasing the number of flexible gas storage containers 151, but also, at the same time, the three flexible gas storage containers 151 are all in the direction of travel, which makes the cleaning equipment 100 more stable during the floating or diving process.

[0064] In some embodiments eight, as shown in FIG12, which is a schematic diagram eight of the planar position of the flexible gas storage container 151 on the cleaning device 100, the number of the flexible gas storage container 151 may preferably be four, and the four flexible gas storage containers 151 (such as airbag 1, airbag 2, airbag 3 and airbag 4 in FIG12) are circumferentially arranged at the four corners of the cleaning device 100. For example, the filter mechanism 130 of the cleaning device 100 includes a filter box, the filter box is square in shape, and the four flexible gas storage containers 151 are circumferentially arranged at the four corners of the filter box. Alternatively, in conjunction with FIG4 and FIG12, the walking mechanism 120 of the cleaning device 100 includes wheels or tracks, and the wheels or tracks are arranged on both sides of the cleaning device 100. The number of wheels or tracks on each side is at least one, including but not limited to one wheel at the front and rear of each side. In this case, the four flexible gas storage containers 151 can be arranged at the inner side of the four wheels on both sides, or there is one track on each side, and a flexible gas storage container 151 is arranged near the front and rear ends of the tracks on both sides.

[0065] According to the solution provided in the embodiment of the present disclosure, by further increasing the number of flexible gas storage containers 151, not only can the effective inflation volume of the flexible gas storage containers 151 be effectively improved, but at the same time, flexible gas storage containers 151 are provided at the four corners of the cleaning device 100. When the cleaning device 100 is tilted in the water, since there are flexible gas storage containers 151 at the four corners, the inflation volume of the flexible gas storage containers 151 on the tilted side can be quickly adjusted to restore the balance of the cleaning device 100, making the balance adjustment of the cleaning device 100 in the water faster and simpler.

[0066] It is worth mentioning that in practice, the material, size, quantity and type of the flexible gas storage container 151 can be selected and adjusted according to the specific implementation situation, and the arrangement position of the flexible gas storage container 151 on the cleaning equipment 100 is not limited to the above-mentioned embodiment, and the number can also be more than four, which is not limited in this embodiment of the present disclosure.

[0067] In some embodiments, as shown in FIG12 , airbags may be arranged at diagonal corners of the cleaning device, for example, airbag 1 and airbag 4, or airbag 2 and airbag 3; that is, airbags are arranged at positions symmetrical to the geometric center of the cleaning device, and buoyancy weights are arranged at other positions.

[0068] The gas pumping device 152 is connected to the flexible gas storage container 151 and the gas closed space 153 to achieve gas transfer between the flexible gas storage container 151 and the gas closed space 153. Like the flexible gas storage container 151, the number of the gas pumping device 152 can also be at least one.

[0069] Specifically, the gas pumping device 152 is preferably an air pump, which includes an air inlet and an air outlet. The air inlet is connected to the gas enclosed space 153, and the air outlet is connected to the flexible gas storage container 151. When the number of flexible gas storage containers 151 is different, the number of flexible gas storage containers 151 connected to the air outlet of the air pump, or the number of air pumps, will vary.

[0070] In some embodiments, in combination with several embodiments of the flexible gas storage container 151 described above:

[0071] When there is only one flexible gas storage container 151, the number of the gas pumping device 152 is preferably one. In this case, the connection method is simple, that is, the gas inlet of the gas pumping device 152 is connected to the gas closed space 153, and the gas outlet is connected to the flexible gas storage container 151;

[0072] When there are two flexible gas storage containers 151, the number of the gas pumping devices 152 includes one or two. If there is one gas pumping device 152, the gas pumping device 152 is connected to both flexible gas storage containers 151; if there are two gas pumping devices 152, the two gas pumping devices 152 are connected to the two flexible gas storage containers 151 in a one-to-one correspondence.

[0073] When there are three flexible gas storage containers 151, the number of the gas pumping devices 152 includes one, two, or three. If there is one gas pumping device 152, the gas pumping device 152 is connected to all three flexible gas storage containers 151; if there are two gas pumping devices 152, one gas pumping device 152 is connected to one flexible gas storage container 151, and the other gas pumping device 152 is connected to the remaining two flexible gas storage containers 151; if there are three gas pumping devices 152, the three gas pumping devices 152 are connected to the three flexible gas storage containers 151 in a one-to-one correspondence.

[0074] When the number of flexible gas storage containers 151 is four, the number of the gas pumping devices 152 includes one, two, three or four. If the number of the gas pumping devices 152 is one, the gas pumping device 152 is connected to all four flexible gas storage containers 151; if the number of the gas pumping devices 152 is two, one of the gas pumping devices 152 is connected to both flexible gas storage containers 151, and the other gas pumping device 152 is connected to the remaining two flexible gas storage containers 151; if the number of the gas pumping devices 152 is three, one of the gas pumping devices 152 is connected to two of the flexible gas storage containers 151, and the other two gas pumping devices 152 are connected to the remaining two flexible gas storage containers 151 in a one-to-one correspondence; if the number of the gas pumping devices 152 is four, the four gas pumping devices 152 are connected to the four flexible gas storage containers 151 in a one-to-one correspondence.

[0075] It can be seen that there are many configurations of the gas pumping device 152 and the flexible gas storage container 151, which can be reasonably selected and combined according to the specific implementation situation, and the embodiments of the present disclosure do not limit this.

[0076] As shown in Figure 13, it is a schematic diagram of the structure of the gas pumping device 152, the flexible gas storage container 151 and the gas closed space 153 provided in the embodiment of the present disclosure. The gas closed space 153, the gas pumping device 152 and the flexible gas storage container 151 are similar to a series structure. The gas pumping device 152 can be optionally embedded in the gas closed space 153, and the gas outlet of the gas pumping device 152 serves as the air hole of the gas closed space 153, which is equivalent to sealing the gas pumping device 152 in the gas closed space 153. By embedding the gas pumping device 152 in the gas closed space 153, this embodiment can improve the integration between the gas closed space 153, the gas pumping device 152 and the flexible gas storage container 151, and can also reduce the pipelines for gas transmission, thereby optimizing the structural layout and circuit of the cleaning equipment 100.

[0077] The gas enclosure 153 can be implemented as a gas storage tank, and the material, size, and shape of the gas enclosure 153 can be adaptively selected or adjusted according to the amount of gas required by the flexible gas storage container 151. In addition, the gas enclosure 153 can be installed at any position on the cleaning device 100 according to actual circumstances, and the embodiments of the present disclosure are not limited in this regard.

[0078] The gas in the gas-enclosed space 153 does not need to be pressurized. When the gas in the gas-enclosed space 153 needs to be transferred to the flexible gas storage container 151, the gas can be transferred through the gas pumping device 152. When the gas in the flexible gas storage container 151 needs to be released back into the gas-enclosed space 153, the atmospheric pressure difference on both sides can be utilized.

[0079] The control module 154 is used to control the gas pumping device 152 to achieve buoyancy adjustment. In conjunction with the above-mentioned body 110, the control module 154 can be a part of the electronic control unit 111, that is, the control module 154 and the electronic control unit 111 are integrated into a single control board; or the control module 154 is an independent control board separate from the electronic control unit 111. Preferably, the control module 154 is connected to the electronic control unit 111 for data communication, and the control module 154 can receive commands from the electronic control unit 111 to perform buoyancy adjustment control.

[0080] Please refer to FIG14, which is a schematic diagram of the structure of another cleaning device 100 provided by an embodiment of the present disclosure. As shown in FIG14, compared with the cleaning device 100 shown in FIG1, the buoyancy adjustment mechanism 150 further includes:

[0081] The adjustable counterweight mechanism 155 is connected to the control module 154. When the cleaning equipment 100 floats up, the control module 154 first controls the flexible gas storage container to inflate to make the cleaning equipment reach the target height, and then controls the counterweight of the adjustable counterweight mechanism 155 to reduce to make the cleaning equipment 100 emerge from the water surface, and then controls the flexible gas storage container 151 to inflate to make the cleaning equipment 100 reach the target height; when the cleaning equipment 100 dives, the control module 154 can first control the counterweight of the adjustable counterweight mechanism 155 to reduce to make the cleaning equipment 100 sink into the water surface, and then control the flexible gas storage container 151 to deflate to make the cleaning equipment 100 reach the target depth.

[0082] Specifically, please refer to Figure 15, which is a structural diagram of a counterweight adjustable mechanism 155 provided in an embodiment of the present disclosure. As shown in Figure 15, the counterweight adjustable mechanism 155 includes a water tank and a liquid delivery device. An air hole is provided above the water tank and the bottom of the water tank is connected to the liquid delivery device. The liquid delivery device is connected to the control module 154 and can suck water into or out of the water tank. When the cleaning device 100 floats up, the control module 154 first controls the gas pumping device 152 to transfer the gas in the gas enclosed space 153 to the flexible gas storage container 151. At this time, the cleaning device 100 is just exposed to the water surface, so that the air hole in the water tank is opened. It is connected to the air, and then controls the liquid conveying device to discharge water from the water tank to reduce the counterweight of the cleaning equipment 100 so that the cleaning equipment 100 floats to the target height; when the cleaning equipment 100 dives, the control module 154 first controls the liquid conveying device to suck water into the water tank, thereby increasing the counterweight of the cleaning equipment 100 and submerging the cleaning equipment 100 in water, and then controls the gas pumping device 152 to transfer the gas in the flexible gas storage container 151 to the gas enclosed space 153, thereby reducing the volume of the flexible gas storage container 151, thereby reducing the buoyancy of the cleaning equipment 100, and allowing the cleaning equipment 100 to continue to dive to the target depth.

[0083] According to the technical solution provided in the embodiment of the present disclosure, the combination of the flexible gas storage container 151 and the counterweight adjustable mechanism 155 not only ensures the buoyancy adjustment requirement of the cleaning equipment 100, but also allows the volume of the flexible gas storage container 151 to be designed to be smaller than the simple adjustment method of the flexible gas storage container 151, thereby making it easier to select the layout position of the flexible gas storage container 151 on the cleaning equipment 100, and the floating or diving tasks can also be performed at any position in the swimming pool.

[0084] To prevent the water tank from being clogged by debris when the liquid delivery device draws water into the water tank, the liquid delivery device is preferably a peristaltic pump, diaphragm pump, electromagnetic pump, or plunger pump. For example, while traditional pumps can be easily clogged by particles or solids in the seal during operation, peristaltic pumps push liquid through a flexible bellows, eliminating the need for mechanical seals or valves, thus reducing the possibility of clogging.

[0085] Similarly, in this embodiment, the gas pumping device 152 and the gas enclosure 153 for controlling the inflation and deflation of the flexible gas storage container 151 can optionally be embedded within the gas enclosure 153, integrating the gas pumping device 152 with the gas enclosure 153 and eliminating the need for piping between the gas pumping device 152 and the gas enclosure 153. Alternatively, the liquid delivery device can be embedded within the water tank, integrating the water tank with the liquid delivery device and eliminating the need for water pipes between the water tank and the liquid delivery device, saving materials.

[0086] Please refer to Figure 16, which is a schematic diagram of the architecture of another cleaning device 100 provided in an embodiment of the present disclosure. As shown in Figure 16, the cleaning device 100 includes: a body 110, a walking mechanism 120, a filtering mechanism 130, a water spraying mechanism 140 and a buoyancy regulating mechanism 150. The body 110 is provided with at least one water flow suction port and at least one water flow outlet. The filtering mechanism 130 is connected to the at least one water flow suction port and can draw water from the water flow suction port to the water flow outlet and flow out of the body 110 through the water spraying mechanism 140. The buoyancy regulating mechanism 150 includes: a flexible gas storage container 151, a gas pumping device 152, an electrolysis module 156 and a control module 154. The number of the flexible gas storage container 151 is at least one, and the at least one flexible gas storage container 151 is along the cleaning The cleaning equipment 100 is roughly symmetrically arranged along the center line of the walking direction of the walking mechanism 120, or roughly symmetrically arranged along the geometric center of the cleaning equipment. The number of the gas pumping device 152 is at least one, and each gas pumping device 152 is respectively connected to at least one flexible gas storage container 151 and the electrolysis module 156. The control module 154 is connected to the at least one gas pumping device 152 and the electrolysis module 156. When the cleaning equipment 100 floats up, the control module 154 controls the electrolysis module 156 to electrolyze water to produce hydrogen and oxygen, and controls the at least one gas pumping device 152 to transfer the generated hydrogen and / or oxygen to the at least one flexible gas storage container 151; when the cleaning equipment 100 dives, the control module 154 and the gas pumping device 152 deflate the at least one flexible gas storage container 151.

[0087] Compared with the above-mentioned implementation method using a gas-enclosed space 153, the embodiment of the present disclosure uses an electrolysis module 156 to generate gas for inflating the flexible gas storage container 151, including but not limited to hydrogen and oxygen, thereby providing more gas without any limit on the amount of gas, thereby allowing the flexible gas storage container 151 to have a larger inflation volume.

[0088] In some embodiments, in combination with Figures 14, 15 and 16, the buoyancy adjustment mechanism 150 also includes: an adjustable counterweight mechanism 155, which is connected to the control module 154. When the cleaning device 100 floats up, the control module 154 first controls the flexible gas storage container to inflate to make the cleaning device reach the target height, and then controls the counterweight of the adjustable counterweight mechanism 155 to decrease to make the cleaning device 100 exposed to the water surface, and then controls the electrolysis module 156 to produce hydrogen and oxygen to inflate the flexible gas storage container 151 to make the cleaning device 100 reach the target height; when the cleaning device 100 dives, the control module 154 first controls the counterweight of the adjustable counterweight mechanism 155 to decrease to make the cleaning device 100 sink into the water surface, and then controls the flexible gas storage container 151 to deflate to make the cleaning device 100 reach the target depth.

[0089] In one embodiment, the present disclosure further provides a buoyancy adjustment mechanism 150, which is applied to the cleaning device 100. In conjunction with Figures 1 and 13, the buoyancy adjustment mechanism 150 includes: a flexible gas storage container 151, a gas pumping device 152, a gas closed space 153 and a control module 154. The number of the flexible gas storage container 151 is at least one, and the at least one flexible gas storage container 151 is roughly symmetrically arranged along the center line of the cleaning device 100 in the walking direction, or roughly symmetrically arranged along the geometric center of the cleaning device. The gas pumping device 152 The number is at least one, each gas pumping device 152 is connected to at least one flexible gas storage container 151 and the gas closed space 153 respectively, the control module 154 is connected to the at least one gas pumping device 152, and can transfer gas between the at least one flexible gas storage container 151 and the gas closed space 153 by controlling the at least one gas pumping device 152. When the at least one flexible gas storage container 151 is filled with gas, the center of gravity of the at least one flexible gas storage container 151 coincides with the center of gravity of the cleaning equipment 100.

[0090] The buoyancy adjustment mechanism 150 provided according to the embodiment of the present disclosure can adjust the buoyancy of the cleaning device 100 by inflating and deflating the flexible air storage container 151, so that the cleaning device 100 can be adjusted to float up or dive down more quickly and flexibly, that is, the cleaning device 100 can start the floating program at any position at the bottom of the swimming pool without the need for steps such as climbing a wall.

[0091] In another embodiment, the embodiment of the present disclosure also provides another buoyancy regulating mechanism 150, which is applied to the cleaning device 100. The buoyancy regulating mechanism 150 includes: a flexible gas storage container 151, a gas pumping device 152, an electrolysis module 156 and a control module 154. The number of the flexible gas storage container 151 is at least one, and the at least one flexible gas storage container 151 is roughly symmetrically arranged along the center line of the walking direction of the cleaning device 100 in the walking mechanism 120, or roughly symmetrically arranged along the geometric center of the cleaning device. The number of the gas pumping device 152 is at least one, and each gas pumping device The device 152 is respectively connected to at least one flexible gas storage container 151 and the electrolysis module 156, and the control module 154 is connected to the at least one gas pumping device 152 and the electrolysis module 156. When the cleaning equipment 100 floats up, the control module 154 controls the electrolysis module 156 to electrolyze water to produce hydrogen and oxygen, and controls the at least one gas pumping device 152 to transfer the generated hydrogen and / or oxygen to the at least one flexible gas storage container 151; when the cleaning equipment 100 dives, the control module 154 and the gas pumping device 152 deflate the at least one flexible gas storage container 151.

[0092] According to the embodiment of the present disclosure, the buoyancy adjustment mechanism 150 provided can directly generate gas through the electrolysis module 156, so there is no limit on the amount of gas, allowing the configuration of a flexible gas storage container 151 with a larger volume. The buoyancy of the cleaning equipment 100 can be adjusted by inflating and deflating the flexible gas storage container 151, so that the cleaning equipment 100 can be adjusted to float up or dive down more quickly and flexibly.

[0093] In one embodiment, at least one depth sensor is provided on the cleaning device 100, which is electrically connected to the control module 154. The control module 154 can control the action of the gas pumping device 152 during the ascent or descent of the cleaning device 100 based on the sensing data of the depth sensor; when a plurality of flexible gas storage containers 151 are provided on the cleaning device 100, at least one tilt sensor or gyroscope can also be provided on the body, which is electrically connected to the control module 154. The posture of the cleaning device 100 is sensed through the tilt sensor or gyroscope, and the control module 154 controls the inflation amount of the plurality of flexible gas storage containers 151 based on the sensor data to ensure that the cleaning device is in a preset posture.

[0094] The above are only preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A cleaning device, comprising: A body, a traveling mechanism, a filtering mechanism, and a water spraying mechanism. At least one water flow suction port and at least one water flow outlet are provided on the body. The filtering mechanism is communicated with the at least one water flow suction port and can suck water flow from the water flow suction port to the water flow outlet and flow out of the body through the water spraying mechanism. It is characterized in that the cleaning device further includes: A buoyancy adjustment mechanism, including a flexible gas storage container, a gas pumping device, a gas closed space, and a control module. The number of the flexible gas storage containers is at least one. The at least one flexible gas storage container is arranged substantially symmetrically along the center line of the cleaning device in the traveling direction of the traveling mechanism or substantially symmetrically along the geometric center of the cleaning device. The number of the gas pumping devices is at least one. Each gas pumping device is respectively connected to at least one flexible gas storage container and the gas closed space. The control module is connected to the at least one gas pumping device and can make gas transfer between the at least one flexible gas storage container and the gas closed space by controlling the at least one gas pumping device.

2. The cleaning device according to claim 1, wherein The number of the flexible gas storage containers is one, and the flexible gas storage container is arranged at or near the center position of the bottom of the cleaning device.

3. The cleaning device according to claim 1, characterized in that, The number of the flexible gas storage containers is two. The traveling mechanism includes at least two crawlers. At least the two crawlers are arranged in parallel and at intervals on both sides of the cleaning device. The two flexible gas storage containers are respectively arranged in the spaces between the two ends of the two crawlers one by one, and at least part of the projection of the flexible gas storage container on the horizontal plane coincides with the crawler.

4. The cleaning device according to claim 1, characterized in that, The number of the flexible gas storage containers is two. The traveling mechanism includes wheels or crawlers. The wheels or crawlers are arranged on both sides of the cleaning device. The filtering mechanism is arranged between the wheels or crawlers on both sides. One flexible gas storage container is respectively arranged between the filtering mechanism and the wheels or crawlers on both sides where the traveling mechanism is located.

5. The cleaning device according to claim 1, characterized in that, The number of the flexible gas storage containers is two. The two flexible gas storage containers are correspondingly arranged at the front end and the rear end of the cleaning device in the traveling direction.

6. The cleaning device according to claim 1, wherein The number of the flexible gas storage containers is three. The traveling mechanism includes wheels or crawlers. The wheels or crawlers are arranged on both sides of the cleaning device and the number is at least one. There is one wheel at the front and one at the rear on each side. One flexible gas storage container is respectively arranged between the front and rear wheels on both sides, or there is one crawler on each side. One flexible gas storage container is respectively arranged between the two ends of each crawler; the remaining one flexible gas storage container is arranged below or around the filtering mechanism.

7. The cleaning device according to claim 1, characterized in that, The number of the flexible gas storage containers is three. The traveling mechanism includes wheels or crawlers. The wheels or crawlers are arranged on both sides of the cleaning device. The filtering mechanism is arranged between the wheels or crawlers on both sides. One flexible gas storage container is respectively arranged between the filtering mechanism and the wheels or crawlers on each side. The remaining one flexible gas storage container is arranged below or around the filtering mechanism.

8. The cleaning device according to claim 1, wherein The number of the flexible gas storage containers is three. One flexible gas storage container is arranged below or around the center position of the cleaning device, and the other two flexible gas storage containers are correspondingly arranged at the front end and the rear end of the cleaning device in the traveling direction.

9. The cleaning device according to claim 1, characterized in that The number of the flexible gas storage containers is four, and the four flexible gas storage containers are circumferentially arranged at the four corners of the cleaning device.

10. The cleaning device according to claim 1, characterized in that, The gas pumping device includes an air inlet and an air outlet. The air inlet is connected to the gas closed space, and the air outlet is connected to the at least one flexible gas storage container.

11. The cleaning device according to claim 10, characterized in that, The gas pumping device is embedded in the gas closed space, and the air outlet of the gas pumping device serves as the air hole of the gas closed space.

12. The cleaning device according to claim 1, characterized in that, The buoyancy adjustment mechanism further includes: A counterweight adjustable mechanism, which is electrically connected to the control module. When the cleaning device floats upward, the control module first controls the flexible gas storage container to be inflated so that the cleaning device reaches the target height, and then controls the counterweight of the counterweight adjustable mechanism to be reduced so that the cleaning device emerges from the water surface; when the cleaning device dives, the control module can first control the counterweight of the counterweight adjustable mechanism to be reduced so that the cleaning device sinks into the water surface, and then control the flexible gas storage container to deflate so that the cleaning device reaches the target depth.

13. The cleaning device according to claim 12, characterized in that, The counterweight adjustable mechanism includes a water tank and a liquid conveying device. An air hole is provided above the water tank, and the bottom of the water tank is communicated with the liquid conveying device. The liquid conveying device is electrically connected to the control module and can suck water into the water tank to increase the counterweight or discharge water from the water tank to reduce the counterweight.

14. The cleaning device according to claim 12, characterized in that, The buoyancy adjustment mechanism further includes an electrolysis module. The electrolysis module is electrically connected to the gas pumping device and the control module respectively, and the electrolysis module can supply gas to the flexible gas storage container through the gas pumping device.

15. A cleaning device, comprising: A body, the body is provided with a traveling mechanism, a filtering mechanism, a water spraying mechanism, and a control module. At least one water flow suction port and at least one water flow outlet are provided on the body. The filtering mechanism is communicated with the at least one water flow suction port and can suck the water flow from the water flow suction port to the water flow outlet and flow out of the body through the water spraying mechanism. It is characterized in that the cleaning device further includes: A buoyancy adjustment mechanism, which is electrically connected to the control module; The cleaning device in the swimming pool at least includes a first state, a second state, and a third state: in the first state, the cleaning device travels on the bottom of the swimming pool; in the second state, at least part of the traveling mechanism of the cleaning device contacts the pool wall; in the third state, at least part of the cleaning device floats out of the water surface; Under the action of the buoyancy adjustment mechanism, the cleaning device can be adjusted between the first state and the third state without passing through the second state.

16. The cleaning device according to claim 15, wherein: The buoyancy adjustment mechanism includes a floating cavity or an air bag that is arranged approximately symmetrically along the traveling direction of the cleaning device or the geometric center of the cleaning device.

17. A buoyancy adjustment mechanism is applied to a cleaning device, characterized in that, including: Flexible gas storage containers, gas pumping devices, gas enclosed spaces, and control modules. The number of the flexible gas storage containers is at least one, and the at least one flexible gas storage container is arranged substantially symmetrically along the center line of the cleaning device in the traveling direction or the geometric center of the cleaning device. The number of the gas pumping devices is at least one, and each gas pumping device is respectively connected to at least one flexible gas storage container and the gas enclosed space. The control module is connected to the at least one gas pumping device and can control the at least one gas pumping device to enable gas transfer between the at least one flexible gas storage container and the gas enclosed space. When the at least one flexible gas storage container is filled with gas, the center of gravity of the at least one flexible gas storage container substantially coincides with the center of gravity of the cleaning device.

18. A buoyancy adjustment mechanism according to claim 17, wherein, Further comprising: An electrolysis module, which is electrically connected to the gas pumping device and the control module respectively, and the electrolysis module can supply gas to the flexible gas storage container through the gas pumping device.

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