Cleaning device

Abstract

Automatic pool cleaning device (1000), in particular pool cleaning robots, comprising: a main body (110) with two sets of wandering mechanisms (190), wherein one set of wandering mechanisms (190) is arranged on one side of the main body (110) of the basin cleaning device (1000), while the other set of wandering mechanisms (190) is arranged on the opposite side relative to one side of the main body (110) of the basin cleaning device (1000); and at least a first impact protection element (200), which is formed on one side of the basin cleaning device (1000) or on a cover plate (195) of the walking mechanism (190), protrudes at least partially beyond a main contour of the skin body (110) and the first impact protection element (200), when it comes into contact with an object, can generate rolling friction.

Description

[0001] The present application claims priority over the Chinese patent application filed with the Chinese Patent Office on December 1, 2023, under application number 202311639354.6 and entitled “Benticular Robot”, and its entire contents are incorporated by reference into the present disclosure.

[0002] The present application claims priority over the Chinese patent application filed with the Chinese Patent Office on March 27, 2024, under application number 202410362217.0 and entitled “Pool Cleaning Robot”, and its entire content is incorporated by reference into the present disclosure.

[0003] The present application claims priority over the Chinese patent application filed with the Chinese Patent Office on January 17, 2024, under application number 202410070430.4 and entitled “Benticular robot and its control method and storage medium”, and its entire content is incorporated by reference into the present disclosure.

[0004] The present application claims priority from the international patent application filed with the International Patent Office on May 17, 2024, under application number PCT / CN2024 / 094025 and entitled ‘Cleaning Device’, and its entire contents are incorporated by reference into the present disclosure.

[0005] The present application claims priority from the international patent application filed with the International Patent Office on June 21, 2024, under application number PCT / CN2024 / 100765 and entitled ‘Cleaning Device’, and its entire contents are incorporated by reference into the present disclosure. AREA OF TECHNOLOGY

[0006] The present disclosure relates to the technical field of aquatic work equipment, in particular a cleaning device. STATE OF THE ART

[0007] With improving living standards, more and more people are choosing swimming as a leisure activity, which increases both enjoyment and physical fitness. At the same time, concerns about water quality in swimming pools have risen considerably.

[0008] In related technologies, specialized cleaning devices for aquatic environments are typically used to clean swimming pools and improve water quality. However, the complex and varied topography of swimming pool areas often means that existing cleaning devices, due to their inherent design, cannot detect certain topographical features, thus restricting their movement. CONTENT OF THE INVENTION

[0009] The present disclosure provides a cleaning device comprising: a main body of the cleaning device having a first side at the front and a second side at the rear, as well as a third side on the left side and a fourth side on the right side; a walking mechanism arranged substantially symmetrically on both sides of the cleaning device, the walking mechanism comprising at least a first guide wheel and a second guide wheel of substantially the same size, as well as a track attached to the outside of the first and second guide wheels; a cover plate covering the outer surfaces of the first and second guide wheels, whereby the first and second guide wheels are not visible from the outer surfaces of the cleaning device;wherein the area of ​​an annular region created after the caterpillar is attached to the first and second guide wheels is substantially equal to the area of ​​the cover plate; and wherein the projection of the outer contour of the cover plate onto the running surface lies within the projection of the outer contour of the caterpillar onto the running surface; and wherein the projection of the third or fourth side onto the running surface lies within the projection of the outer contour of the caterpillar onto the running surface; and wherein the running surface is a plane in contact with the walking mechanism in the surface to be cleaned. DESCRIPTION OF THE DRAWINGS

[0010] Several other advantages and benefits will become apparent to the person skilled in the art upon reading the following detailed description of the optional embodiments. The accompanying drawings serve only to illustrate the optional embodiments and are not considered to limit the present disclosure. Furthermore, the same components are designated by the same reference numerals in all drawings. Fig. Figure 1 shows a schematic diagram of the structure of an embodiment of a cleaning device provided by the present disclosure; Fig. Figure 2 shows a schematic diagram of a cleaning device provided by the present disclosure, which is located on the target bottom wall of the target area; Fig. Figure 3 shows a schematic diagram of a cleaning device provided by the present disclosure, which is located on the target side wall of the target area; Fig. 4a shows a side view of another embodiment of a cleaning device provided by the present disclosure; Fig. Figure 4b shows a schematic diagram of the structure according to Fig. 4a after hiding a substructure; Fig. 5 shows a main view of another embodiment of a cleaning device provided by the present disclosure; Fig. Figure 6 shows a schematic diagram of the interacting structure of a camera main body, an auxiliary lighting element and a mounting plate in the visual sensor assembly of a cleaning device provided by the present disclosure; Fig. Figure 7 shows a schematic diagram of the interacting structure of a control system and a substructure in the electrical control box of a cleaning device provided by the present disclosure; Fig. Figure 8 shows a schematic diagram of the interacting structure of a liquid inlet detection assembly and an electrical control box of a cleaning device provided by the present disclosure; Fig. Figure 9 shows an enlarged view of section A according to Fig. 8; Fig. Figure 10 shows a schematic diagram of a disassembled structure of an embodiment of the visual sensor assembly of a cleaning device provided by the present disclosure; Fig. 11 shows a sectional view of an embodiment of a translucent element of the visual sensor assembly of a cleaning device provided by the present disclosure; Fig. Figure 12 shows a schematic diagram of a disassembled structure of another embodiment of the visual sensor assembly of a cleaning device provided by the present disclosure; Fig. Figure 13 shows a schematic diagram of a disassembled structure of a third embodiment of the visual sensor assembly of a cleaning device provided by the present disclosure; Fig. Figure 14 shows a schematic diagram and a sectional view of the interacting structure of a cable harness and cable gland of the visual sensor assembly of a cleaning device provided by the present disclosure; Fig. Figure 15 shows a schematic diagram of the structure of an embodiment of a heat sink of the visual sensor assembly of a cleaning device provided by the present disclosure; Fig. Figure 16 shows a main view of another embodiment of a cleaning device provided by the present disclosure; Fig. Figure 17 shows a partial schematic diagram of an embodiment of a cleaning device provided by the present disclosure; Fig. Figure 18 shows another partial schematic diagram of an embodiment of a cleaning device provided by the present disclosure; Fig. Figure 19 shows a bottom view of another embodiment of a cleaning device provided by the present disclosure; Fig. 20a shows a side view of an embodiment of a cleaning device provided by the present disclosure; Fig. Figure 20b shows a third partial schematic diagram of an embodiment of a cleaning device provided by the present disclosure; Fig. Figure 20c shows a side view of a third embodiment of a cleaning device provided by the present disclosure; Fig. Figure 20d shows a side view of a fourth embodiment of a cleaning device provided by the present disclosure; Fig. Figure 20e shows a side view of a fifth embodiment of a cleaning device provided by the present disclosure; Fig. Figure 20f shows a side view of a sixth embodiment of a cleaning device provided by the present disclosure; Fig. Figure 21 shows a sectional view of another embodiment of a cleaning device provided by the present disclosure; Fig. 22 an enlarged view of section B according to Fig. 21; Fig. Figure 23 shows a schematic diagram of the structure of an embodiment of a dust box of a cleaning device provided by the present disclosure; Fig. 24 shows another side view of an embodiment of a cleaning device provided by the present disclosure; Fig. Figure 25 shows a schematic diagram of the structure of another embodiment of a cleaning device provided by the present disclosure; Fig. Figure 26 shows a sectional view of another embodiment of a cleaning device provided by the present disclosure; Fig. Figure 27 shows a schematic diagram of the structure of a motion state of a cleaning device provided by the present disclosure; Fig. Figure 28 shows a schematic diagram of the structure of another state of motion of a cleaning device provided by the present disclosure; Fig. Figure 29 shows a schematic diagram of the structure of a third state of motion of a cleaning device provided by the present disclosure; Fig. 30 shows a sectional view of a dust box cooperating with a second handle of a cleaning device provided by the present disclosure; Fig. Figure 31 shows a schematic diagram of the structure of a second handle of a cleaning device provided by the present disclosure; Fig. Figure 32 shows a schematic diagram of the structure of an embodiment of an electrical control box of a cleaning device provided by the present disclosure; Fig. Figure 33 shows a schematic diagram of the interacting structure of an electrical control box and a signaling assembly of a cleaning device provided by the present disclosure; Fig. Figure 34 shows a schematic diagram of a partial structure of an embodiment of a cleaning device provided by the present disclosure; Fig. Figure 35 shows a schematic diagram of the structure of a data transmission assembly of a cleaning device provided by the present disclosure; Fig. Figure 36 shows a schematic diagram of the interacting structure of a Hall magnet and a carrier plate of a presence detection assembly of a cleaning device provided by the present disclosure; Fig. Figure 37 shows a schematic diagram of the interacting structure of a Hall element and a Hall magnet in an embodiment of the presence detection assembly of a cleaning device provided by the present disclosure; Fig. Figure 38a shows a schematic diagram of the structure of an embodiment of a dust box provided by the present disclosure; Fig. Figure 38b shows a schematic diagram of the structure of a dust box separate from the second handle according to Fig. 38a; Fig. Figure 38c shows a schematic longitudinal section diagram of a dust box according to Fig. 38a; Fig. Figure 38d shows a schematic diagram of the structure of an embodiment of a cleaning device provided by the present disclosure; Fig. Figure 38e shows a schematic diagram of the structure of a cleaning device according to Fig. 38d after removing a dust box cover; Fig. Figure 38f shows a schematic diagram of the structure of an embodiment of a dust box provided by the present disclosure after it has been placed in a dust chamber; Fig. Figure 38g shows a schematic diagram of the structure of an embodiment of a dust box provided by the present disclosure after insertion into a dust chamber; Fig. Figure 38h shows a schematic diagram of the structure of an embodiment of a dust chamber provided by the present disclosure; Fig. Figure 38i shows a schematic diagram of the structure of an embodiment of a dust chamber provided by the present disclosure; Fig. Figure 38j shows a schematic longitudinal section diagram of a dust box provided by the present disclosure after placement in a dust chamber; Fig. Figure 38k shows a partial schematic diagram of a longitudinal section of a dust chamber and dust box provided by the present disclosure; Fig. Figure 39a shows a schematic diagram of the structure of another embodiment of a dust box provided by the present disclosure; Fig. Figure 39b shows a schematic diagram of the structure of another embodiment of a dust box provided by the present disclosure; Fig. Figure 39c shows a schematic diagram of the structure of another embodiment of a dust box provided by the present disclosure after insertion into a dust chamber; Fig. Figure 39d shows a schematic diagram of the structure of another embodiment of a dust chamber provided by the present disclosure; Fig. Figure 39e shows a schematic diagram of the structure of an embodiment of an inner dust box provided by the present disclosure; Fig. Figure 39f shows a schematic diagram of the structure of an embodiment of an inner dust box provided by the present disclosure; Fig. Figure 39g shows a schematic diagram of the structure of an embodiment of an outer dust box provided by the present disclosure; Fig. Figure 39h shows a schematic diagram of the structure of an embodiment of an outer dust box provided by the present disclosure; Fig. Figure 39i shows a schematic longitudinal section diagram of an embodiment of a double dust box provided by the present disclosure after insertion into a dust chamber; Fig. Figure 39j shows a schematic longitudinal section diagram of an embodiment of a double dust box provided by the present disclosure; Fig. Figure 39k shows a schematic diagram of the structure of another embodiment of a cleaning device provided by the present disclosure; Fig. Figure 39l shows a schematic diagram of the structure of another embodiment of a cleaning device provided by the present disclosure; Fig. Figure 40a shows a schematic diagram of the structure of another embodiment of a double dust box provided by the present disclosure (after removal of the filter mesh); Fig. Figure 40b shows a schematic diagram of the structure of another embodiment of an outer dust box provided by the present disclosure; Fig. Figure 40c shows a schematic diagram of the structure of another embodiment of an inner dust box provided by the present disclosure; Fig. Figure 40d shows a schematic diagram of the structure of another embodiment of an inner dust box provided by the present disclosure; Fig. 41 shows a schematic longitudinal section diagram of an embodiment of a cleaning device provided by the present disclosure; Fig. Figure 42 shows a schematic sectional view of an embodiment of a dust box provided by the present disclosure. Reference symbol list 1000 cleaning device 100 Target area 101 Running surface 1011 Target sidewall 1012 Target wall 1010 Dust chamber 10131 Second water inlet opening 1012 Water barrier plate 1013 Second extension part 1014 Second cavity 1015 Second rib 1016 First water outlet opening 1017 Third outer edge 110 Main body of the cleaning device 1101 Third Admission Chamber 11011 Third cavity 11012 Fourth cavity 11013 First separating plate 11014 Flow guide opening 11015 Locking element 11016 Counterweight block 11017 Third separating plate 111 First Admission Chamber 1111 Dirt suction opening 1111a First dirt suction opening 1111a1 First edge 1111a2 Second edge 1111b Second dirt suction opening 1112 First liquid drain opening 112 Second Admission Chamber 1113 Second water drain opening 112a First opening 113 First page 114 Second page 115 Third page 116 Fourth page 117 Fifth page 118 Sixth page 118a Second opening 119 Sealing door 120 dust box 1201 Inner dust box 12011 First inner filter surface 12012 Second inner filter surface 12013 Third inner filter surface 12015 First inner entrance 12016 First inner box opening 12014 Fourth inner filter surface 12018 Rastnase 12019 Second recess area 120120 Sealing cover 120121 Fifth inner filter surface 120122 First outer edge 1202 Outer dust box 12021 First outer filter surface 12022 Second outer filter surface 120229 Fifth outer filter surface 12023 Third outer filter surface 120230 humps 12024 Fourth outer filter surface 12025 First outer entrance 12026 First outer box opening 12027 Passloch 12028 Third recess area 121 notch 1210 First extension part 12101 First outer edge 12131 Limit cap 1212a Second inner entrance 1212b Second outer entrance 1213 First shielding element 12102 First outer wall body 12103 Guide part 1214 First cavity 1215 Sensor element 1216 Installation cavity 122 Box opening 123 filter area 123a Inner filter mesh 123b Outer filter mesh 123c Through hole 1231 First filter area 1232 Second filter area 1233 Third filter area 1234 Fourth filter area 1235 Fifth filter area 12382 Connecting axle 12381 First stepped area 12383 Second stepped area 124 Dust box lids 130 Recognition assembly 131 First recognition element 132 Second recognition element 140 Visual sensor assembly 140a Camera main body 140b Additional lighting element 141 Recording booth 141a Cabin opening 141b First installation hole 141c First groove 142 Installation plate 1421 Light shielding element 1422 First inclined surface 1423 Second inclined surface 1424 Third inclined surface 143 Translucent element 1431 Anti-reflective coating 1432 Protective film 1441 First sealing ring 1442 Second sealing ring 145 Press ring 145a Second installation hole 1461 First fastening element 1462 Second fastening element 1463 Wiring harness 147 Backplate 147a Borehole 147b Fourth installation hole 148 Cable gland 1481 Inner cable gland 1482 Outer cable gland 1491 Heat dissipation element 1492 Thermally conductive material 1493 Drying chamber 150 First Auxiliary Cleaning Assembly 151 Side brush 1511 Side brush body 1512 Rotary shaft 1513 Side brush cover 152 Auxiliary drive assembly 153 Connecting section 1531 Fastening part 1532 Telescopic part 154 Guide element 160 Second auxiliary cleaning assembly 161 Water spray element 1611 Nozzle 162 Second drive element 1621 First running wheel 1622 First drive motor 170 First auxiliary cleaning assembly 171 Roller brush assembly 180 Feed assembly 181 First liquid outlet opening 182 Third drive element 1821 Second wheel 1822 Second drive motor 183 Second liquid outlet opening 184 Connecting assembly 185 Reduction element 190 Wandering mechanism 1901 Basis 1902 Flow channel barrier plate 191 First guide wheel 1911 Fourth gear set 19111 Third lower gear 19112 Fourth lower gear 1912 Fifth gear 1913 Second internal gear 1914 Second gear cover 192 Second guide wheel 1921 First gear 1922 Second gear set 19221 First lower gear 19222 Second lower gear 1923 Third gear 1924 First internal gear 1925 First gear cover 193 Caterpillar 194 Fourth drive element 195 Cover plate 1951 Additional plate 19511 Second impact protection element 19512 Impact protection strip 196 Terrain detection assembly 200 First impact protection element 201 roll 202 bracket 210 Main drive pump 211 Liquid inlet opening 212 Second liquid drain opening 213 Grid element 214 Deflection plate 215 First submerged drainage line 2151 First submerged drain opening 216 Second submerged drainage line 2161 Second submerged drain opening 217 Liquid drain barrier plate 220 Electrical control box 221 Main body of the electrical control box 222 Terminal of the electrical control box 222a Slot section 2221 Cable outlet section 2222 End cover of the electrical control box 231 Tax system 232 Liquid inlet detection assembly 233 Liquid level detection assembly 234 Mapping module 235 Adjustment assembly 236 Decision-making group 237 Note assembly 240 Data transmission module 241 Main device 242 Protective cover 251 First Grip 251a Recess 252 Second Handle 2521 First connecting section 2522 Second connecting section 2523 Lifting section 261 First buoyancy chamber 2611 First buoyancy control element 262 Second buoyancy chamber 2621 Second buoyancy control element 270 Water treatment assembly 271 reagent containers 280 Presence detection module 281 Hall element 282 Carrier plate 283 Hall magnet 290 key EXECUTION FORMS

[0011] In conjunction with the accompanying drawings in the embodiments of this disclosure, the technical solutions in the embodiments of this disclosure are explained clearly and completely below. Obviously, the embodiments explained do not represent all embodiments, but only a subset of the embodiments of this disclosure. All other embodiments that a person skilled in the art in this field could obtain from the embodiments in this disclosure without any creative work should be considered to be covered by the scope of protection of this disclosure.

[0012] Referring to Fig. 1, Fig. 2 to Fig. 3 shows Fig. 1 a schematic diagram of the structure of an embodiment of a cleaning device provided by the present disclosure, Fig. 2 a schematic diagram of a cleaning device provided by the present disclosure, which is located on a target bottom wall of the target area and Fig. Figure 3 shows a schematic diagram of a cleaning device provided by the present disclosure, which is located on a target sidewall of the target area. The present disclosure provides a cleaning device 1000. The cleaning device 1000 can be a pool cleaning robot capable of cleaning a target area 100. The target area 100 can be an area in which the cleaning device 1000 performs cleaning operations. The target area 100 can be, for example, a swimming pool, a pipeline, a ship's hull, an oil well, or other facilities, but is not limited to such. The target area 100 comprises a walking surface 101. The walking surface 101 is a plane of the surface to be cleaned that is in contact with the walking mechanism 190. The walking surface 101 comprises a target sidewall 1011 and a target bottom wall 1012.The embodiment of the present disclosure illustrates the cleaning device 1000, which is used to clean a swimming pool, as an example; the target side wall 1011 can be the side wall of the swimming pool, and the target bottom wall 1012 can be the bottom wall of the swimming pool.

[0013] The cleaning device 1000 comprises an opposing first side 113 and second side 114, an opposing third side 115 and fourth side 116, and an opposing fifth side 117 and sixth side 118. The first side 113 is located at the front of the cleaning device 1000, the second side 114 at the rear of the cleaning device 1000, the third side 115 on the left side of the cleaning device 1000, the fourth side 116 on the right side of the cleaning device 1000, the fifth side 117 at the bottom of the cleaning device 1000, and the sixth side 118 at the top of the cleaning device 1000.

[0014] See also Fig. 4a to 5, shows Fig. 4a a side view of another embodiment of a cleaning device provided by the present disclosure, Fig. 4b a schematic diagram of the structure according to Fig. 4a after hiding a substructure and Fig. Figure 5 shows a main view of another embodiment of a cleaning device provided in the present disclosure. The cleaning device 1000 comprises a main body 110 of the cleaning device. The main body 110 of the cleaning device serves as a support within the cleaning device 1000 for supporting other components and can function as a frame of the cleaning device 1000. The cleaning device 1000 further comprises at least one dirt suction opening 1111, at least one dust box 120, at least one detection assembly 130, and a control system 231.

[0015] The at least one dirt suction opening 1111 is arranged on the main body 110 of the cleaning device so that a dust-laden water stream can enter the main body 110 of the cleaning device through the dirt suction opening 1111. The at least one dust box 120 is detachably attached to the main body 110 of the cleaning device. The dust box 120 has a water inlet. The water inlet is in fluid communication with the at least one dirt suction opening 1111. The dust-laden water stream within the target area 100 can flow sequentially through the dirt suction opening 1111 and the water inlet to enter the dust box 120.

[0016] With reference to Fig. 21 The main body 110 of the cleaning device comprises a first receiving chamber 111. The first receiving chamber 111 is connected to the outside environment via the dirt suction opening 1111, so that when the cleaning device 1000 enters the target area 100, the target area 100 is connected to the first receiving chamber 111 via the dirt suction opening 1111. The dust box 120 is removable and mounted in the first receiving chamber 111. The dirt suction opening 1111 forms an opening through which the dust-laden water stream can pass from the outside of the main body 110 of the cleaning device into the dust box 120. After filtration by the dust box 120, the dust-laden water stream is discharged to the outside of the main body 110 of the cleaning device, thereby cleaning the target area 100.The dirt suction opening 1111 has a working area, defined as the area covered by the dirt suction opening 1111 during the movement of the cleaning device 1000, or as the extended area in which the suction force generated by the suction assembly within the cleaning device 1000 enables the dirt suction opening 1111 to perform a cleaning action. The dust-laden water stream contains waste, including but not limited to plant material, plastic, metal, insects, hair, skin flakes, algae, sludge, and dirt. The dust box 120 is at least partially removable and housed in the first receiving chamber 111, allowing the dust box 120 to be removed for disposal of the waste contained therein.

[0017] At least one detection assembly 130 is arranged on a side surface of the main body 110 of the cleaning device, for example, on one or more sides of the first side 113 to the sixth side 118. The detection assembly 130 serves to detect the presence of obstacles within the target area 100. The control system 231 is electrically connected to at least one detection assembly 130 in order to adjust the operation of the cleaning device 1000 based on information from the detection assembly 130. With reference to Fig. 22 The control system 231 can be arranged in the electrical control box 220 of the cleaning device 1000, the electrical control box 220 forming an enclosed space inside. By arranging the control system 231 in this enclosed electrical control box 220, the ingress of water into the control system 231 is prevented, thus avoiding problems such as electrical short circuits and damage to the electronic components of the control system 231.

[0018] The target area 100 has a diverse regional topography, which includes at least the wall surface topography of the target area 100. This wall surface topography can include the boundary of the target side wall 1011 being straight, curved, right-angled, obtuse-angled, or acute-angled, and the connecting angle between adjacent target side walls 1011 being a right angle, a curved angle, etc. During operation of the cleaning device 1000, the detection assembly 130 can detect the wall surface topography of the target area 100 in real time according to the direction of the detection assembly 130. The control system 231 is able to adjust the operation of the cleaning device 1000 based on the wall surface topography detected by the detection assembly 130. In one embodiment, the detection assembly 130 is arranged on the third side 115 or the fourth side 116 of the cleaning device 1000.When the cleaning device 1000 moves along the target sidewall 1011 and the detection assembly 130 detects movement of the cleaning device 1000 along a curved target sidewall 1011, the control system 231 can adapt the path of movement of the cleaning device 1000 to the curved sidewall. Based on this path, the operating position of the cleaning device 1000 is adjusted to prevent it from slipping on the edge of the target sidewall 1011, climbing along the vertical direction of the target sidewall 1011, or colliding directly with the target sidewall 1011. This prevents the cleaning device 1000 from tipping over or being damaged due to slipping, climbing, or impact with the target sidewall 1011. The arrangement of the detection assembly 130 allows the cleaning device 1000 to move and clean safely along edges.The detection assembly 130 can also detect / determine the distance between itself and the opposite target side wall 1011, thus ensuring that the cleaning device 1000 maintains a specific distance from the target side wall 1011 during edge tracking and cleaning. This prevents the cleaning device 1000 from scraping along the target side wall 1011.

[0019] The topography of the target area 100 can also include the topography of objects within the target area 100. Such objects within the target area 100 can be fixtures within the target area 100, such as escalators, or obstacles within the target area 100, such as stones. The control system 231 can adjust the operating position of the cleaning device 1000 based on the distances to the fixtures or obstacles within the target area 100 detected by the detection assembly 130. For example, if the detection assembly 130 detects an obstacle within a preset area in front of the moving cleaning device 1000, the control system 231 adjusts the operating position of the cleaning device 1000 to perform obstacle avoidance.

[0020] The detection assembly 130 comprises at least one first detection element 131 and one second detection element 132. The first detection element 131 and the second detection element 132 are arranged differently and close to each other. The first detection element 131 and the second detection element 132 can be arranged horizontally, vertically, or offset on one side. The arrangement of the first detection element 131 and the second detection element 132 extends the detection range and facilitates the detection of specific regional topographies. The control system 231 can adjust the operation of the cleaning device 1000 based on the regional topography detected by the detection assembly 130. This ensures that the movement of the cleaning device 1000 is not restricted by the different regional topographies within the target area 100.

[0021] Prior art cleaning devices 1000 cannot detect curved target sidewalls 1011. Therefore, when the cleaning device 1000 encounters a curved target sidewall 1011, it may slip along the edge of the target sidewall 1011, climb along the vertical direction of the target sidewall 1011, or collide directly with the target sidewall 1011. This results in restricted movement of the cleaning device 1000.

[0022] In some embodiments, the cleaning device 1000 comprises two detection assemblies 130. One detection assembly 130 is arranged on the first side 113 of the main body 110 of the cleaning device. Another detection assembly 130 is arranged on the fourth side 116 adjacent to the first side 113.A detection assembly 130, located on the first side 113 of the main body 110 of the cleaning device, is used to detect the regional topography of the target area 100 in front of the main body 110 of the cleaning device, for example, detecting the wall surface topography of the target side wall 1011 opposite the first side 113 and / or the distance of the first side 113 to the corresponding target side wall 1011; Another detection assembly 130, located on the fourth side 116 of the main body 110 of the cleaning device, is used to detect the regional topography of the target area 100 to the side of the main body 110 of the cleaning device, for example, detecting the wall surface topography of the target side wall 1011 opposite the fourth side 116 and / or the distance of the fourth side 116 to the corresponding target side wall 1011.The arrangement of two detection assemblies 130 not only increases detection sensitivity and reduces the probability of misjudgments, but also improves detection efficiency. This prevents the cleaning device 1000 from slipping along the edge of the target sidewall 1011, climbing along the vertical direction of the target sidewall 1011, or colliding directly with the target sidewall 1011 due to an inability to adjust its operating position.

[0023] In some embodiments, the cleaning device 1000 comprises two detection assemblies 130. One detection assembly 130 is arranged on the first side 113 of the main body 110 of the cleaning device. Another detection assembly 130 is arranged on the third side 115 adjacent to the first side 113. In other embodiments, the cleaning device 1000 comprises three detection assemblies 130, arranged on the first side 113, the third side 115, and the fourth side 116 of the main body 110 of the cleaning device, respectively.

[0024] In some embodiments, the first detection element 131 is an infrared sensor, while the second detection element 132 is an ultrasonic sensor. The ultrasonic sensor has a greater range and can detect obstacles at a considerable distance from the cleaning device 1000. The infrared sensor has a relatively shorter range and can only detect obstacles in the immediate vicinity of the cleaning device 1000. In practical operation, the ultrasonic sensor serves as the primary detection method, while the infrared sensor serves as a secondary detection method. However, if the cleaning device 1000 is in close proximity to an obstacle and the obstacle has a certain configuration, the infrared sensor exhibits a superior detection effect compared to the ultrasonic sensor.For example, if the boundary of the target sidewall 1011 is curved and the wall surface has a significant incline, the ultrasonic sensor may not receive a return signal after transmitting a detection signal towards the wall surface. Therefore, no distance data can be determined, which can lead to this boundary being incorrectly identified as a traversable area. This can cause the cleaning device 1000 to climb along the vertical direction of the target sidewall 1011 or to collide directly with it. The infrared sensor enables more precise detection of the target sidewall 1011, which is located closer to the cleaning device 1000. In this way, both infrared and ultrasonic sensors can jointly detect the regional topography 100 of the target area.For example, if the cleaning device 1000 needs to detect the boundary of the target sidewall 1011, and both the ultrasonic and infrared sensors can acquire distance data, the regional topography 100 of the target area is a straight boundary of the target sidewall 1011. If the ultrasonic sensor cannot acquire distance data, but the infrared sensor can, the regional topography 100 of the target area is an arc-shaped boundary of the target sidewall 1011. By using both infrared and ultrasonic sensors, this approach overcomes the limitation of relying solely on ultrasonic sensors to detect regional topography, which can lead to problems with certain specific topographies. This not only improves detection sensitivity and reduces the likelihood of misinterpretations but also increases detection efficiency.

[0025] In one embodiment, the first detection element 131 and the second detection element 132 can be two ultrasonic sensors or two infrared sensors.

[0026] The first detection element 131 and the second detection element 132 have essentially identical light emission angles. In some embodiments, the detection angles of the first detection element 131 and the second detection element 132 can be aligned parallel to the plane in which the cleaning device 1000 is located. For example, if the cleaning device 1000 is located at the target bottom wall 1012, the detection angles of the first detection element 131 and the second detection element 132 are aligned parallel to the target bottom wall 1012. If the cleaning device 1000 is located at the target side wall 1011, the detection angles of the first detection element 131 and the second detection element 132 are aligned parallel to the target side wall 1011.In further embodiments, the detection angle of the first detection element 131 is inclined downwards, and the detection angle of the second detection element 132 is aligned parallel to the plane in which the cleaning device 1000 is located. For example, if the cleaning device 1000 is located at the target bottom wall 1012, the detection angle of the first detection element 131 is inclined towards the target bottom wall 1012, and the detection angle of the second detection element 132 is aligned parallel to the target bottom wall 1012; if the cleaning device 1000 is located at the target side wall 1011, the detection angle of the first detection element 131 is inclined towards the target side wall 1011, and the detection angle of the second detection element 132 is aligned parallel to the target side wall 1011.By tilting the detection angle of the first detection element 131 downwards and aligning the detection angle of the second detection element 130 parallel to the plane in which the cleaning device 1000 is located, the first detection element 131 is directed towards the boundary of the target sidewall 1011, thereby improving the ability of the detection assembly 130 to detect the boundary topography of the target sidewall 1011 and the detection efficiency. In further embodiments, the detection angles of the first detection element 131 and the second detection element 132 are each tilted downwards. In further embodiments, the detection assembly 130 can also include a third detection element (not shown), which is an ultrasonic sensor.Its detection angle is aligned parallel to the plane in which the direction of movement of the cleaning device 1000 is located, and the third detection element serves for conventional obstacle distance detection, while the first detection element 131 and the second detection element 132 are intended for the detection of specific obstacles.

[0027] In some embodiments, the inclination amplitude of the detection angle of the first detection element 131 within the detection assembly 130, which is arranged on the first side 113 of the main body 110 of the cleaning device, is less than or equal to the inclination amplitude of the detection angle of the first detection element 131 within the detection assembly 130, which is arranged on the third side 115 or fourth side 116 of the main body 110 of the cleaning device. For example, the detection angle of the first detection element 131 within the detection assembly 130, which is arranged on the first side 113 of the main body 110 of the cleaning device, is reduced by a first angle, e.g.The detection angle of the first detection element 131 within the detection assembly 130, which is located on the third side 115 or fourth side 116 of the main body 110 of the cleaning device, is inclined downwards by a second angle, e.g., 10 degrees, where the first angle is less than or equal to the second angle. This prevents the detection assembly 130, located on the first side 113 of the main body 110 of the cleaning device, from erroneously identifying part of the traversable areas—such as the upward slope at the transition zone between shallow and deep sections of a basin—as the boundary of the target sidewall 1011, thereby improving the detection accuracy of the detection assembly 130.

[0028] In some embodiments, the cleaning device 1000 can move along the target sidewall 1011 by means of the detection assembly 130, which recognizes the boundary of the target sidewall 1011. As the cleaning device 1000 moves along the edge, the detection assembly 130 can record the path of movement, the distance traveled, and the changes in the wall surface topography of the target sidewall 1011 during a complete rotation of the cleaning device 1000 around the target sidewall 1011. Based on this path of movement, the distance traveled, and the changes in the wall surface topography of the target sidewall 1011 during a complete rotation of the cleaning device 1000 around the target sidewall 1011, a map of the target area 1000 is created. The arrangement of the detection assembly 130 allows the cleaning device 1000 to complete the mapping by performing a complete rotation around the target sidewall 1011.This approach enables fast and efficient mapping and significantly improves mapping efficiency.

[0029] In some embodiments, after the detection assembly 130 has detected the regional topography, the operating position of the cleaning device 1000 can be adjusted based on an inertial measurement unit (IMU). The inertial measurement unit can be used to acquire real-time position information of the cleaning device 1000. For example, the detection assembly 130 can detect the pitch angle of the cleaning device 1000 in the direction from the first side 113 to the second side 114, the tilt angle of the cleaning device 1000 from the third side 115 to the fourth side 116 and the steering angle when steering the cleaning device 1000, and based on the pitch angle of the cleaning device 1000 in the direction from the first side 113 to the second side 114, the tilt angle of the cleaning device 1000 from the third side 115 to the fourth side 116 and the steering angle when steering the cleaning device 1000, the tilt angle is calculated.When the cleaning device 1000 moves along the target sidewall 1011 and the inertial measurement unit calculates that the angle of inclination is less than a preset value, the cleaning device 1000 moves in its initial operating position. If the angle of inclination calculated by the inertial measurement unit exceeds the preset value, the cleaning device 1000 readjusts its operating position and moves in the adjusted position to prevent the cleaning device 1000 from slipping along the edge of the target sidewall 1011 or climbing up the vertical direction of the target sidewall 1011. The inertial measurement unit may include, for example, an accelerometer, a gyroscope, and the like.

[0030] In one embodiment, the cleaning device 1000 further comprises a visual sensor assembly 140. The visual sensor assembly 140 captures images of the target area 100 and processes the captured images via the control assembly to control the operating behavior of the cleaning device 1000. For example, the visual sensor assembly 140 captures the environment of the target area 100, identifies image features, and performs functions such as positioning, target detection, mapping, and obstacle avoidance based on these image features. By comparing successive captured images, for example, positioning errors caused by slippage or tipping of the cleaning device 1000, or accumulated errors in the inertial measurement unit of the cleaning device 1000, are corrected.Furthermore, by continuously capturing images during operation, the cleaning device 1000 can reposition itself if positional data is lost, provided the cleaning device 1000 determines that mapping is complete and finds identical images in its historical database. It can also detect specific objects and assess whether they are debris that needs to be vacuumed up or obstacles that need to be avoided. The visual sensor assembly 140 and / or the detection assembly 130 can be used to plan the cleaning device 1000's movement path, enabling it to regularly clean and map the target area 100, thereby improving the cleaning efficiency and effectiveness of the cleaning device 1000.

[0031] By using the detection assembly 130 and / or the visual sensor assembly 140 to plan the cleaning path of the cleaning device 1000 and to avoid climbing, slipping, tipping over or collisions with obstacles, the cleaning device 1000 can clean the target area 100 regularly and safely, thereby effectively increasing the cleaning speed of the cleaning device 1000.

[0032] See also Fig. 6, shows Fig. Figure 6 shows a schematic diagram of the interacting structure of a camera main body, an auxiliary lighting element, and a mounting plate in the visual sensor assembly of a cleaning device provided by the present disclosure. The visual sensor assembly 140 comprises a camera main body 140a and several auxiliary lighting elements 140b. The camera main body 140a is used to capture images of the target area 100. The auxiliary lighting element 140b is used to adjust the brightness of the area captured by the camera main body 140a.

[0033] The main camera body 140a and the auxiliary lighting element 140b can be arranged on any side surface of the main body 110 of the cleaning device. For example, the visual sensor assembly 140 can face the forward direction of the cleaning device 1000, specifically, it can be located on the first side 113. The main camera body 140a and the auxiliary lighting element 140b can also be located on a side of the main body 110 of the cleaning device that is provided with the dirt suction opening 1111. If the main camera body 140a detects debris in its field of view through target recognition, the cleaning device 1000 can move directly to the debris area and perform targeted cleaning of this area, thereby improving the cleaning effect of the cleaning device 1000.In some embodiments, when the main camera body 140a detects debris in its field of view, the visual sensor assembly 140 can position the debris and plan a movement path based on its position. The cleaning device 1000 then moves along this planned path, bringing the first debris suction opening 1111a closer to the debris. When the first debris suction opening 1111a is close to the debris, the sealing door 119 at the first debris suction opening 1111a opens to draw the debris into the dust box 120. At this point, the cleaning assembly can be activated, thus conserving electrical energy to the greatest extent possible. Simultaneously, by guiding the cleaning device 1000 along the planned path, the risk of debris entering the blind spots of the main camera body 140a's field of view can be avoided.

[0034] With further reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4 to Fig. 5 The cleaning device 1000 further comprises a first auxiliary cleaning assembly 150 and a second auxiliary cleaning assembly 160. The first auxiliary cleaning assembly 150 is arranged at the edge of the dirt suction opening 1111 to direct at least some of the waste within the target area 100 towards the working area of ​​the dirt suction opening 1111 or to scrub and clean the target side wall 1011 of the target area 100; the second auxiliary cleaning assembly 160 is used to spray water onto the area to be cleaned within the target area 100, thereby directing at least some of the waste towards the working area of ​​the dirt suction opening 1111, or to rinse and clean the target side wall 1011 or the target bottom wall 1012 of the target area 100.The projection of the first auxiliary cleaning assembly 150 on the running surface 101 extends at least partially beyond the projection of the outer contour of the caterpillar 193 on the running surface 101.

[0035] The cleaning device 1000 further comprises a feed assembly 180 and a walking mechanism 190. The feed assembly 180 is used to drive the cleaning device 1000 to move on the liquid surface or in the liquid of the target area 100; the walking mechanism 190 is used to drive the cleaning device 1000 to move on the running surface 101 of the target area 100.

[0036] In some embodiments, reference is made to Fig. 7, Fig. 8 to Fig. 9 taken, Fig. Figure 7 shows a schematic diagram of the interacting structure of a control system and a substructure in the electrical control box of a cleaning device provided by the present disclosure; Fig. Figure 8 shows a schematic diagram of the interacting structure of a liquid inlet detection assembly and an electrical control box of a cleaning device provided by the present disclosure; and Fig. Figure 9 shows an enlarged view of section A according to Fig. 8. The cleaning device 1000 further comprises at least one liquid inlet detection assembly 232, one liquid level detection assembly 233, and one mapping module 234. The mapping module 234 can be located in the electrical control box 220, or alternatively, the mapping module 234 can be located in the visual sensor assembly 140, with the control system 231 located in the electrical control box 220. The control system 231 can be a control system such as a microcontroller, an embedded control system, or an application-specific integrated circuit (ASIC). The control system 231 can acquire various data information from the cleaning device 1000 and analyze and process the acquired data information to control the various components within the cleaning device 1000.The camera main body 140a, the mapping module 234, and the liquid level sensing assembly 233 can all be connected to the control system 231. The liquid inlet sensing assembly 232 can be located inside the electrical control box 220 or on the main body 110 of the cleaning device. The liquid inlet sensing assembly 232 detects whether the cleaning device 1000 is entering the liquids of the target area 100. The liquid level sensing assembly 233 detects the liquid level at the current position of the cleaning device 1000.The control system 231 determines the current position of the cleaning device 1000 based on the liquid level detected by the liquid level detection assembly 233 and is furthermore able to determine the position of the cleaning device 1000 in combination with the image of the environment currently captured by the camera main body 140a, and in accordance with the current position of the cleaning device 1000 select and activate one of the travel mechanism 190 and the feed assembly 180 for driving the cleaning device 1000 to move, and / or select and activate at least one of the first auxiliary cleaning assembly 150 and the second auxiliary cleaning assembly 160 for cleaning the target area 100.The liquid level sensing module 233 can be activated when the cleaning device 1000 is in an operating state or after the liquid ingress sensing module 232 has detected that the cleaning device 1000 has already entered the liquids of the target area 100. Furthermore, the liquid level sensing module can be activated at any other time when liquid level sensing is required, which is not limited here. The mapping module 234 creates a map of the target area 100. If the target area 100 is, for example, a swimming pool, the map can depict the liquid surface of the pool, its bottom area, or the entire pool. The map can be three-dimensional or, alternatively, two-dimensional. The created map can be displayed and used if the processing operations include the functions associated with maps.

[0037] In some embodiments, the liquid ingress detection assembly 232 can be a capacitive liquid ingress detector. This capacitive liquid ingress detector can be arranged either inside or outside the electrical control box 220. In particular, the capacitive liquid ingress detector can be arranged on the inner or outer bottom wall of the electrical control box 220. Methods for attaching the capacitive liquid ingress detector to the electrical control box 220 may include, but are not limited to, riveting, welding, gluing, screwing, pin and wedge fastening, snap fastening, magnetic adhesion, or other fastening methods. The capacitive liquid ingress detector is a non-contact liquid level detector.It detects whether the cleaning device 1000 has entered the liquids without requiring contact with the liquids within the target area 100. This capacitive liquid entry detector remains unaffected by factors such as air pressure or hydraulic pressure, thus ensuring high accuracy.

[0038] In some embodiments, the liquid level sensing assembly 233 can be a pressure-based liquid level detector or a pressure sensor. The control system 231 determines the liquid level at the current position of the cleaning device 1000 based on the hydraulic pressure received by the pressure-based liquid level sensing assembly 233. The pressure-based liquid level detector can be located in a zone without negative pressure within the main body 110 of the cleaning device, for example, away from the waste suction channel within the cleaning device 1000. The waste suction channel can be formed between the dirt suction opening 1111, the dust box 120, the main drive pump 210, and the liquid discharge opening of the main drive pump 210, which are sequentially connected.It is understood that the hydraulic pressure can be both static and dynamic, while the depth of the cleaning device 1000 is typically calculated from the static pressure; the dynamic pressure can affect the accuracy of the depth detection. Therefore, placing the pressure-based fluid level detector in a zone without negative pressure ensures that only the static hydraulic pressure can be detected by the pressure-based fluid level detector. This minimizes the influence of the dynamic pressure on the accuracy of the depth calculation and allows the fluid level detection assembly 233 to accurately determine its depth in the water, thus helping the control system 231 to accurately determine the position of the cleaning device 1000 and thereby improving detection accuracy.

[0039] In some embodiments, reference is made to Fig. 41 taken, Fig. Figure 41 shows a schematic longitudinal section diagram of an embodiment of a cleaning device provided by the present disclosure; the liquid level sensing assembly 233 is partially arranged inside the electrical control box 220 and extends partially through the side wall of the electrical control box 220 to the outside of the electrical control box 220. A section of the liquid level sensing assembly 233 in contact with the side wall of the electrical control box 220 can be sealed by any method to prevent the liquids from entering the electrical control box 220.A part located on the outside of the electrical control box 220 comprises at least one sensing end 2331, which is used to detect the fluid pressure in the external environment of the electrical control box 220; a part located inside the electrical control box 220 comprises at least one transmission end, which is connected to the control system 231 in the electrical control box 220 in order to transmit the detected hydraulic information to the control system 231.

[0040] In certain embodiments, the space containing the sensing end 2331 is located far from the waste suction channel within the cleaning device 1000, namely the first water channel (mentioned below). For example, a separating structure is located between the space containing the sensing end 2331 and the first water channel, thereby reducing the effects of the dynamic pressure of the waste suction channel on the sensing function of the sensing end 2331. In some embodiments, the sensing end 2331 is located within the fourth cavity (mentioned below) of the third receiving chamber.

[0041] In certain embodiments, when the cleaning device 1000 is placed in the liquid environment of the target area 100, the liquids within the target area 100 enter the interior of the main body 110 of the cleaning device through the second water drain opening 1113 (described in detail below), the second water drain opening 1113 remaining in contact with the outside environment at all times.The sensing end 2331 is located in a space that is in fluid communication with the second water drain opening 1113 in order to sense the pressure of the liquids in the space, and the liquids in this space are in real time communication with the liquids in the target area 100 via the second water drain opening 1113, therefore the hydraulic pressure sensed by the sensing end 2331 corresponds approximately or exactly to the actual pressure of the liquids at the current location of the cleaning device 1000, thus improving the accuracy of the hydraulic pressure sensing.

[0042] In certain embodiments, if a water barrier plate 1012 (mentioned below) is provided on the outer outer wall of the first water outlet opening 1016, the position of the sensing end 2331 can be offset from the operating area of ​​the water barrier plate 1012, thereby reducing the influence of the movement of the water barrier plate 1012 on the sensing end 2331.

[0043] In some embodiments, the liquid level detection assembly 233 can also be an ultrasonic detector, an optical detector, a distance measuring detector, an infrared detector, a distance encoder, etc., but is not limited to these.

[0044] In some embodiments, it is possible for the cleaning device 1000 to comprise only one of the liquid inlet detection assembly 232 and the liquid level detection assembly 233.

[0045] In some embodiments, the cleaning device 1000 further comprises an adjustment assembly 235. The adjustment assembly 235 is connected to the control system 231. The control system 231 is able to determine the brightness and darkness levels of the environment in which the camera main body 140a is currently located, based on the brightness and darkness levels of the image captured by the camera main body 140a, and, in accordance with the brightness levels of the environment in which the cleaning device 1000 is currently located, to control the adjustment assembly 235 to adjust the brightness of the auxiliary lighting element 140b. The adjustment of the auxiliary lighting element 140b by the adjustment assembly 235 can include switching on the auxiliary lighting element 140b, switching off the auxiliary lighting element 140b, dimming the auxiliary lighting element 140b and increasing the brightness of the auxiliary lighting element 140b.For example, if the main camera body 140a is in a dimly lit or backlit environment, the adjustment assembly 235 increases the brightness of the auxiliary lighting element 140b in accordance with the ambient light level or the level of backlighting to improve the clarity of the image captured by the main camera body 140a. If the main camera body 140a is in a brighter environment, the adjustment assembly 235 deactivates the auxiliary lighting element 140b or reduces its brightness to decrease the power consumption of the cleaning device 1000 without affecting the clarity of the image captured by the main camera body 140a.In some embodiments, the control system 231 can, based on the exposure level of the image captured by the camera main body 140a, control the adjustment assembly 235 to adjust the exposure parameters of the camera main body 140a in order to improve the image quality of the camera main body 140a.

[0046] In some embodiments, the control system 231 can, based on the current state of the cleaning device 1000 and / or the acquisition data, control the setting assembly 235 to continuously deactivate the auxiliary lighting element 140b or to reduce the brightness of the auxiliary lighting element 140b, wherein the current state of the cleaning device 1000 can include the position of the cleaning device 1000; the acquisition data of the cleaning device 1000 can include, but are not limited to, the brightness and darkness levels of the environment in which the camera main body 140a is currently located, as detected by the cleaning device 1000.

[0047] If the current state and / or the acquisition data of the cleaning device 1000 meet the preset condition, the auxiliary lighting element 140b is continuously deactivated or the brightness of the auxiliary lighting element 140b is kept within a defined range until the condition for activating the auxiliary lighting element 140b or increasing the brightness of the auxiliary lighting element 140b is met.For example, if the brightness and darkness levels meet the preset threshold within a preset period, and the cleaning device 1000 is currently possibly about to touch the target side wall 1011, the auxiliary lighting element 140b will be continuously deactivated or its brightness reduced; if the cleaning device 1000 is oriented approximately perpendicular to the horizontal plane and the first side 113 is facing upwards, and the cleaning device 1000 is currently possibly about to climb from the target bottom wall 1012 to the target side wall 1011 or to a platform, the auxiliary lighting element 140b will be continuously deactivated or its brightness reduced.This prevents the incorrect assessment that the brightness and darkness levels of an environment in which the camera main body 140a is currently located frequently change, thus preventing the auxiliary lighting element 140b from frequently adjusting its brightness. This would increase the power consumption of the auxiliary lighting element 140b and could negatively impact the user experience. In this way, the operational efficiency of the auxiliary lighting element 140b is improved.

[0048] In some embodiments, the cleaning device 1000 further includes a decision assembly 236. The decision assembly 236 has identification and evaluation functions. The decision assembly 236 is connected to the camera main body 140a, and the decision assembly 236 can use machine learning or similar techniques to identify specific targets within the target area 100 based on captured images, thereby enabling obstacle avoidance or the execution of cleaning. For example, obstacle avoidance is performed when fixed objects such as escalators or obstacles such as stones are identified; cleaning is performed when debris such as leaves or areas to be cleaned, such as platforms, are identified.The decision assembly 236 can also recognize the structure of targets based on the captured images, allowing the cleaning device 1000 to complete cleaning one area before moving on to other areas. This prevents the device from moving to another area before it has completely cleaned the current one.

[0049] In some embodiments, the decision assembly 236 can also track waste. By tracking waste via the decision assembly 236, a situation can be avoided in which waste enters the blind spots of the camera main body 140a's field of view and is not cleaned.

[0050] In some embodiments, the visual sensor assembly 140 and / or the decision assembly 236 are activated in a specific cleaning mode. Once activated, a specific cleaning mode can operate independently or follow the completion of a standard cleaning mode, without limitation here. The standard cleaning mode refers to operation without activating the visual sensor assembly 140 and / or the decision assembly 236. Specifically, the specific cleaning mode refers to the cleaning device 1000 operating on a preset cleaning path—for example, a -shaped or The cleaning device 1000 follows a -shaped path within the target area 100 and cleans. If, during this patrol, the presence of specific targets within the target area 100 is detected, such as leaves or other debris, it moves to the specific target to perform the cleaning. After cleaning is complete, the cleaning device 1000 can return to its original cleaning path by maneuvers such as reversing and continue the patrol according to the preset cleaning path. Determining whether a specific target has been cleaned can be done by several methods. For example, the decision assembly 236 can directly detect whether the target has been cleaned; alternatively, a predetermined condition can be set, the fulfillment of which signifies the completion of the cleaning.If the condition is time-based, and if the cleaning device 1000 remains stationary at a specific target object for a preset period, the cleaning is considered complete. The specific content of such conditions is not limited here.

[0051] In some embodiments, the distance between adjacent subpaths within a preset cleaning path can be dynamically adjusted for a specific cleaning mode. For example, if the decision assembly 236 detects no waste across a preset number of consecutive adjacent subpaths, the cleaning device 1000 is controlled to increase the path distance between adjacent subpaths designated for patrol, e.g.A first path distance is set to a second path distance, where the second path distance is greater than the first; if the decision assembly 236 detects waste on a preset number of consecutive adjacent subpaths or multiple wastes on a single subpath, the cleaning device 1000 is controlled to set the adjacent subpaths designated for patrol from the second path distance to the first path distance, or to any distance smaller than the second path distance. This approach improves both cleaning effectiveness and cleaning efficiency.

[0052] In some embodiments, a specific cleaning mode includes a termination condition. This termination condition may be the completion of the patrol of the target area 100 or the end of the cleaning time, which is estimated based on an area of ​​the target area 100. The area of ​​the target area 100 can be estimated after mapping the target area 100 by the mapping module 234.

[0053] In some embodiments, the specific cleaning mode further includes a platform cleaning function, wherein the platform can be an area within the target area 100 that is higher than the target floor wall 1012 and has a step. The platform can be identified by the decision assembly 236. For example, the platform cleaning process includes the following: during the patrol and cleaning operation, the cleaning device 1000 identifies the platform via the decision assembly 236 and / or the liquid level sensing assembly 233.After identifying the platform, the cleaning device 1000 can be controlled to travel directly to that platform for cleaning; alternatively, the platform's position information can be recorded. Once the patrol and cleaning process is complete, the cleaning device 1000 can then be controlled, based on this final position information, to travel to the recorded platform for cleaning. The recorded platform position information can be coordinate data within the map of the target area 100 where the platform is located, or other positional information.The method by which the cleaning device 1000 approaches the platform may consist of guiding the cleaning device 1000 to a 5-shaped movement in accordance with the direction of the recorded platform position relative to the end position until it approaches the platform, or of the cleaning device 1000 directly planning and following a path in accordance with the position information of the recorded position and the end position, which is not limited here.

[0054] In some embodiments, the cleaning device 1000 can climb up the platform steps after reaching the platform and then perform cleaning operations there. If the current platform area is smaller than a preset traversable area of ​​the cleaning device 1000, for example, smaller than the area of ​​the base of the cleaning device 1000, and the platform has other steps, the cleaning device 1000 can be controlled to climb further until cleaning is completed on a specific platform level. After cleaning is complete, the cleaning device 1000 can leave the platform by reversing or turning around to perform subsequent operations, such as moving to the next recorded platform, continuing other cleaning tasks, or returning to a specific location.

[0055] In some embodiments, the user can select whether the visual sensor assembly 140 and / or the decision assembly 236 should be activated. This can be done via a function key located on the communication device connected to the cleaning device 1000 or on the main body 110 of the cleaning device, which activates or deactivates the corresponding functions of the visual sensor assembly 140 and / or the decision assembly 236. Furthermore, the cleaning device 1000 can determine whether the visual sensor assembly 140 and / or the decision assembly 236 should be activated based on its assessment of the environment of the target area 100 and / or its own parameters.For example, if preset conditions are met—such as if the target area 100 has a complex environment or the remaining power of the cleaning device 1000 is insufficient to maintain the operation of the visual sensor assembly 140 and / or the decision assembly 236 within the target area 100—the visual sensor assembly 140 and / or the decision assembly 236 can be deactivated. This approach improves the flexibility and efficiency of the cleaning process.

[0056] In some embodiments, the cleaning device 1000 further comprises a temperature sensing assembly (not shown) that detects the temperature of liquids within the target area 100. For example, if the target area 100 is a swimming pool, this temperature sensing assembly can measure the water temperature within the swimming pool. In one embodiment, at least part of the temperature sensing assembly is arranged on the inside of the main body 110 of the cleaning device. In particular, the temperature sensing assembly can be arranged inside or outside the electrical control box 220.If the temperature sensing assembly is located outside the electrical control box 220, it can be positioned at any point within the main body 110 of the cleaning device that allows contact with the liquids flowing from the target area 100 into the main body 110. In particular, if the cleaning device 1000 is located within the target area 100, the liquids from the target area 100 can enter the main body 110 of the cleaning device. The temperature sensing assembly then comes into contact with the liquids entering the main body 110 of the cleaning device and thereby measures the temperature of the liquids within the target area 100.By arranging the temperature sensing assembly within the main body 110 of the cleaning device, the probability of damage to the temperature sensing assembly from impacts, sunlight, and other causes is reduced. At the same time, the direct contact of the temperature sensing assembly with the liquids within the target area 100 ensures the accuracy of the measured temperature.

[0057] The Cleaning Device 1000 can also transmit temperature readings from the temperature sensing assembly to a communication device connected to the Cleaning Device 1000 and display temperature data on the communication device, such as the real-time water temperature recorded by the Cleaning Device 1000 or the water temperature recorded immediately before the Cleaning Device 1000 last left the water surface. The communication device can be, but is not limited to, a mobile phone, tablet, laptop, desktop computer, or the Cleaning Device 1000's base station.

[0058] See further Fig. 1 and Fig. 10, shows Fig. Figure 10 shows a schematic diagram of a disassembled structure of an embodiment of the visual sensor assembly of a cleaning device provided by the present disclosure. The main body 110 of the cleaning device comprises a second receiving chamber 112 in which the visual sensor assembly 140 is arranged. The second receiving chamber 112 has a first opening 112a, which may be arranged on either side of the main body 110 of the cleaning device. For example, the first opening 112a may be arranged on the first side 113 of the main body 110 of the cleaning device. The visual sensor assembly 140 further comprises a receiving compartment 141, a mounting plate 142, and a translucent element 143, which are arranged in the receiving compartment 141. The receiving compartment 141 serves as the basic support for the visual sensor assembly 140.It not only provides a receiving space and mounting positions for the mounting plate 142, the translucent element 143, the camera main body 140a, the auxiliary lighting element 140b, and other components of the visual sensor assembly 140, but also ensures water resistance and shock protection for the mounting plate 142, the translucent element 143, the camera main body 140a, the auxiliary lighting element 140b, and other components of the visual sensor assembly 140. The receiving chamber 141 can assume various shapes and dimensions, for example, cubic, cuboid, cylindrical, or prismatic shapes. The specific shape and dimensions of the receiving chamber 141 are not limited; its shape can be determined according to the number and size of the components within the visual sensor assembly 140.Since the recording booth 141 accommodates the camera main body 140a and the auxiliary lighting element 140b, it should be made of materials that exhibit water resistance, corrosion resistance, heat resistance, impact resistance, and sufficient mechanical strength. Examples include copper, iron, stainless steel, aluminum alloys, plastic, and rubber. The embodiment of the present disclosure does not impose any particular restrictions in this regard.

[0059] The recording booth 141 is mounted in the second recording chamber 112. The fastening methods include, but are not limited to, screw fastening, rivet fastening, bolt fastening, pin and wedge fastening, welding fastening, adhesive fastening, snap fastening, and magnetic fastening.

[0060] The mounting plate 142 is located at one end of the recording cabin 141, which is provided with a cabin opening 141a, and is situated within the recording cabin 141. The main camera body 140a and the auxiliary lighting element 140b are mounted on the mounting plate 142. The mounting plate 142 can be formed as a single unit with the recording cabin 141, thus ensuring the structural strength of the mounting plate 142 and the seal between the mounting plate 142 and the recording cabin 141. Alternatively, the mounting plate 142 can be permanently connected to the recording cabin 141. Methods for permanently connecting the mounting plate 142 to the recording cabin 141 include, but are not limited to, riveting, welding, gluing, screwing, pin and wedge connections, snap connections, and magnetic adsorption.

[0061] The visual sensor assembly 140 can comprise several auxiliary lighting elements 140b arranged around the camera main body 140a. The embodiment of the present disclosure illustrates the visual sensor assembly 140 comprising two auxiliary lighting elements 140b. Of these two auxiliary lighting elements 140b, one is arranged on one side of the camera main body 140a, while the other is arranged on the other side. In some embodiments, the optical axis of the camera main body 140a is lower than the center of the auxiliary lighting element 140b; for example, the camera main body 140a is located relative to the auxiliary lighting element 140b closer to the fifth side 117 of the cleaning device 1000.This arrangement prevents light from the auxiliary lighting element 140b from diverging onto the main camera body 140a and thereby causing overexposure of the images taken by the main camera body 140a.

[0062] In some embodiments, the line connecting the centers of the two auxiliary lighting elements 140b and the center of the main camera body 140a can run parallel to the arrangement direction of the third side 115 and the fourth side 116 of the cleaning device 1000.

[0063] In some embodiments, a side of the mounting plate 142 facing the cabin opening 141a has a sequentially connected first inclined surface 1422, second inclined surface 1423, and third inclined surface 1424. A side of the first inclined surface 1422 and the second inclined surface 1423 facing away from the cabin opening 141a forms an obtuse angle; a side of the second inclined surface 1423 and the third inclined surface 1424 facing away from the cabin opening 141a also forms an obtuse angle. The main camera body 140a is located on the second inclined surface 1423, with one auxiliary lighting element 140b located on the first inclined surface 1422 and the other auxiliary lighting element 140b located on the third inclined surface 1424.The illumination areas of the additional illumination elements 140b on both sides of the main camera body 140a are directed away from the field of view of the main camera body 140a, and the field of view of the main camera body 140a is inclined downwards to avoid excessive illumination within the field of view of the main camera body 140a causing overexposure of the images taken by the main camera body 140a.

[0064] In some embodiments, the visual sensor assembly 140 further comprises a light-shielding element 1421. The light-shielding element 1421 is mounted on the mounting plate 142 and is arranged either around the circumference of the camera body 140a or along the edge of a side of the camera body 140a facing the auxiliary illumination element 140b. The arrangement of the light-shielding element 1421 not only prevents light from the auxiliary illumination element 140b from diverging directly onto the camera body 140a and thereby damaging light-sensitive elements of the camera body 140a, but also reduces the probability of overexposure of the images captured by the camera body 140a, which is caused by direct scattering of light from the auxiliary illumination element 140b onto the camera body 140a.This ensures the service life of the camera main body 140a and improves the image quality of the images captured by the camera main body 140a. The light shielding element 1421 is attached to the mounting plate 142 or formed integrally with it.

[0065] The translucent element 143 covers the cabin opening 141a of the recording cabin 141. The translucent element 143 is arranged on the side of the mounting plate 142 facing the cabin opening 141a of the recording cabin 141. The main camera body 140a can capture images of the target area 100 through the translucent element 143, and light from the auxiliary lighting element 140b can pass through the translucent element 143. The material of the translucent element 143 can be selected from, but is not limited to, glass, styrene-acrylonitrile copolymer (SAN), polymethyl methacrylate (PMMA), and asbestos-free gasket material (NAS).

[0066] In some embodiments, reference is made to Fig. 11 taken, Fig. Figure 11 shows a sectional view of an embodiment of a translucent element of the visual sensor assembly of a cleaning device provided by the present disclosure. The visual sensor assembly 140 further comprises an antireflective coating 1431 and / or a protective film 1432. The antireflective coating 1431 is arranged on a side of the translucent element 143 facing the mounting plate 142, while the protective film 1432 is arranged on a side of the translucent element 143 facing away from the mounting plate 142.

[0067] The anti-reflective coating 1431 and the protective film 1432 can be applied to the surface of the translucent element 143 by vacuum evaporation or magnetron sputtering. The anti-reflective coating 1431 can reduce or eliminate the light reflected from the surface of the translucent element 143 to increase its light transmittance. The protective film 1432 can be an anti-fingerprint (AF) coating. By applying the protective film 1432 to a side of the translucent element 143 facing away from the mounting plate 142, strong hydrophobic, oil-repellent, fingerprint-resistant, and abrasion-resistant properties are imparted to that surface.

[0068] To ensure the image quality of the images captured by the main camera body 140a and the service life of the imaging body and the auxiliary lighting element 140b, a certain degree of sealing must be maintained between the translucent element 143 and the recording cabin 141. This prevents liquids from penetrating between the translucent lens and the mounting plate 142 or moisture from adhering to any side of the translucent element 143 facing the mounting plate 142.

[0069] In some embodiments, the receiving chamber 141 and the translucent element 143 are sealed with a sealant. Sealing the receiving chamber 141 and the translucent element 143 with a sealant prevents liquids from penetrating through a gap between the receiving chamber 141 and the translucent element 143 into the space between the translucent element 143 and the mounting plate 142 within the target area 100.

[0070] In some embodiments, reference is made to Fig. 12 taken, Fig. Figure 12 shows a schematic diagram of a disassembled structure of another embodiment of the visual sensor assembly of a cleaning device provided by the present disclosure. A first sealing ring 1441 is arranged between the receiving chamber 141 and the translucent element 143. A compression ring 145 is provided on a side of the translucent element 143 facing away from the receiving chamber 141. A first fastening element 1461 is guided through the compression ring 145 and attached to the receiving chamber 141 to compress the translucent element 143 and the first sealing ring 1441 between the compression ring 145 and the receiving chamber 141. An end face of the receiving chamber 141, provided with the chamber opening 141a, forms a first groove 141c facing the translucent element 143, wherein the first sealing ring 1441 is arranged at least partially within the first groove 141c.and wherein the translucent element 143 covers the first sealing ring 1441, and wherein a first installation hole 141b is provided on the circumference of an end face of the receiving cabin 141 provided with the cabin opening 141a, and wherein the compression ring 145 has a second installation hole 145a adapted to the first installation hole 141b, and wherein the compression ring 145 is arranged on a side of the translucent element 143 facing away from the receiving cabin 141, and wherein the second installation hole 145a corresponds to the first installation hole 141b, and wherein the first fastening element 1461 is successively guided through the second installation hole 145a and the first installation hole 141b,to attach the compression ring 145 to the receiving chamber 141 and to compress the translucent element 143 and the first sealing ring 1441 between the compression ring 145 and the receiving chamber 141. By positioning the first sealing ring 1441 between the receiving chamber 141 and the translucent element 143, the first sealing ring 1441 can seal the receiving chamber 141 and the translucent element 143 to prevent liquids from penetrating through a gap between the receiving chamber 141 and the translucent element 143 into the space between the translucent element 143 and the mounting plate 142. The first fastening element 1461 can include, but is not limited to, screws, bolts, rivets, etc. In some embodiments, the compression ring 145 can also be attached to the receiving chamber 141 by adhesive bonding, snap-fit ​​connection, magnetic adsorption, or similar methods. This arrangement also makes it possible toto press together the translucent element 143 and the first sealing ring 1441 between the press ring 145 and the receiving chamber 141.

[0071] To ensure the service life of other components within the receiving chamber 141, the other end of the receiving chamber 141, which faces away from the mounting plate 142, must have sufficient sealing to prevent liquids from entering the receiving chamber 141 and corroding other components within the receiving chamber 141.

[0072] In some embodiments, reference is made to Fig. 13 taken, Fig. Figure 13 shows a schematic diagram of a disassembled structure of a third embodiment of the visual sensor assembly of a cleaning device provided by the present disclosure. The receiving chamber 141 further comprises a backplate 147. The backplate 147 is arranged at one end of the receiving chamber 141 facing away from the mounting plate 142. The backplate 147 can be sealed to the receiving chamber 141 with a sealant, or alternatively, a second sealing ring 1442 can be arranged between the backplate 147 and the receiving chamber 141. A second fastening element 1462 can be passed through the backplate 147 and attached to the receiving chamber 141 to compress the second sealing ring 1442 between the receiving chamber 141 and the backplate 147.

[0073] In some embodiments, an end of the receiving chamber 141 facing away from the mounting plate 142 forms a second groove (not shown). The second groove is located on a side facing away from the mounting plate 142. At least part of the second sealing ring 1442 is located within the second groove, with the back plate 147 covering the second sealing ring 1442. A third installation hole is provided on the circumference of an end face of the receiving chamber 141 facing away from the mounting plate 142, with the back plate 147 having a fourth installation hole 147b adapted to the third installation hole. When the back plate 147 covers the second sealing ring 1442, the fourth installation hole 147b corresponds to the third installation hole.The second fastening element 1462 is successively guided through the fourth installation hole 147b and the third installation hole to fasten the backplate 147 to the receiving chamber 141 and to compress the second sealing ring 1442 between the receiving chamber 141 and the backplate 147. By positioning the second sealing ring 1442 between the backplate 147 and the receiving chamber 141, the second sealing ring 1442 can seal the backplate 147 and the receiving chamber 141 to prevent liquids from entering the receiving chamber 141 through the gap between the backplate 147 and the receiving chamber 141.

[0074] The second fastening element 1462 can include, but is not limited to, screws, bolts, rivets, etc. In some embodiments, the backplate 147 can also be attached to the receiving chamber 141 by adhesive bonding, snap-fit ​​connection, magnetic adsorption, or similar methods. This arrangement also makes it possible to compress the second sealing ring 1442 between the backplate 147 and the receiving chamber 141.

[0075] The materials for the first sealing ring 1441 and the second sealing ring 1442 can be selected from rubber, silicone, sponge, or felt, but are not limited to these. Rubber, silicone, sponge, and felt all possess good elasticity and a long service life. The elasticity of the first and second sealing rings 1442 enables a better seal between the backplate 147 and the receiving chamber 141, as well as between the receiving chamber 141 and the translucent element 143, thereby improving the sealing effect of the receiving chamber 141.

[0076] The backplate 147 forms a bore 147a that connects to the interior of the recording cabin 141. This bore 147a serves to insert the cable harness 1463. A cable gland 148 is arranged at the edge of the bore 147a to seal the bore 147a and the cable harness 1463. The cable harness 1463 extends through the bore 147a into the interior of the recording cabin 141 to supply power and communicate with components such as the camera main body 140a and the auxiliary lighting element 140b. The arrangement of the cable gland 148 at the edge of the bore 147a to seal the bore 147a and the cable harness 1463 prevents liquids from entering the recording cabin 141 along the cable harness 1463.

[0077] In some embodiments, reference is made to Fig. 14 taken, Fig. Figure 14 shows a schematic diagram and a sectional view of the interacting structure of a cable harness and cable gland of the visual sensor assembly of a cleaning device provided by the present disclosure. The cable gland 148 comprises an inner cable gland 1481 and an outer cable gland 1482. The inner cable gland 1481 is located on an edge of the bore 147a facing away from the interior of the receiving chamber 141 and surrounds the bore 147a. The inner cable gland 1481 can be formed integrally with the back plate 147, and the inner cable gland 1481 is formed integrally at the edge of the bore 147a, thus leaving no gap between the inner cable gland 1481 and the edge of the bore 147a.Of course, the inner cable gland 1481 and the backplate 147 can be two separate structures, with the inner cable gland 1481 being in a sealed connection with the backplate 147. The outer cable gland 1482 is attached to the inner cable gland 1481 and the cable harness 1463 to seal the bore 147a and the cable harness 1463. In some embodiments, the outer surface of the inner cable gland 1481 is provided with external threads, while the inner surface of the outer cable gland 1482 is provided with internal threads that mesh with the external threads of the inner cable gland 1481. The inner cable gland 1481 and the outer cable gland 1482 achieve a threaded connection through the interlocking of the internal and external threads.In some embodiments, the outer surface of the inner cable gland 1481 and the inner surface of the outer cable gland 1482 are unthreaded. The outer cable gland 1482 and the inner cable gland 1481 can be connected by an interference fit. After connecting the outer cable gland 1482 to the inner cable gland 1481 and the cable harness 1463, the sealant can be injected between the inner cable gland 1481 and the cable harness 1463 through a side of the outer cable gland 1482 facing away from the back plate 147, thereby sealing the bore 147a. Both the inner cable gland 1481 and the outer cable gland 1482 can be made of rubber, silicone, plastic, or metal, but are not limited to these materials.

[0078] In some embodiments, reference is made to Fig. 15 taken, Fig. Figure 15 shows a schematic diagram of the structure of an embodiment of a heat sink for the visual sensor assembly of a cleaning device provided by the present disclosure. The visual sensor assembly 140 further comprises a heat dissipation element 1491. The visual sensor assembly 140 further comprises a heat dissipation element 1491, which is arranged on the inner wall of the receiving chamber 141, on a side of the backplate 147 facing the mounting plate 142, and / or on a side of the mounting plate 142 facing the backplate 147. The heat dissipation element 1491 is thermally connected to the inner wall of the receiving chamber 141, the backplate 147, and / or the mounting plate 142.The heat dissipation element 1491 is able to absorb the heat generated by heat dissipation assemblies within the recording booth 141 and transfer this heat to the inner wall of the recording booth 141 in order to dissipate it to the outside environment via the inner wall of the recording booth 141.

[0079] In some embodiments, the visual sensor assembly 140 further comprises a thermally conductive material 1492 arranged between the inner wall of the receiving chamber 141 and the heat dissipation element 1491, between the backplate 147 and the heat dissipation element 1491, and / or between the mounting plate 142 and the heat dissipation element 1491. The thermally conductive material 1492 may comprise products with high thermal conductivity coefficients, such as thermally conductive silicone gel, thermally conductive silicone grease, or flexible thermally conductive silicone washers.

[0080] In some embodiments, the visual sensor assembly 140 comprises, with further reference to Fig. 13 further a drying chamber 1493. The drying chamber 1493 is located inside the receiving booth 141. In particular, the drying chamber 1493 can be arranged on the inner wall of the receiving booth 141, on a side of the mounting plate 142 facing away from the translucent element 143, on a side of the back plate 147 facing the interior of the receiving booth 141, and / or on other components of the receiving booth 141. The drying chamber 1493 serves to hold desiccant for absorbing moisture inside the receiving booth 141 in order to prevent the components located inside the receiving booth 141 from becoming damp and aging.

[0081] In some embodiments, the dirt suction openings 1111 can be further described with reference to Fig. 1. These may be provided in a number of 1 or more. They may be arranged on the bottom of the cleaning device 1000 or on the front, top, or other locations of the cleaning device 1000. For example, the dirt suction opening 1111 comprises a first dirt suction opening 1111a provided on the first side 113 of the cleaning device 1000 and / or a second dirt suction opening 1111b provided on the fifth side 117 of the cleaning device 1000. The first dirt suction opening 1111a may, in particular, be arranged at a location on the first side 113 of the main body 110 of the cleaning device facing the sixth side 118, while the second dirt suction opening 1111b may, in particular, be arranged at a location on the fifth side 117 of the main body 110 of the cleaning device facing the first side 113, but is not limited to this.

[0082] In some embodiments, the first auxiliary cleaning assembly 150 is arranged near the first dirt suction opening 1111a and / or the second dirt suction opening 1111b, for example at the edge of the first dirt suction opening 1111a. The first auxiliary cleaning assembly 150 is located at least partially in front of the dirt suction opening 1111 in order to direct at least some of the waste from outside the working area of ​​the dirt suction opening 1111 into the working area of ​​the dirt suction opening 1111. The cleaning device 1000 can comprise two first auxiliary cleaning assemblies 150, wherein the first auxiliary cleaning assemblies 150 are arranged opposite each other on both sides of the dirt suction opening 1111, for example on both sides of the first dirt suction opening 1111a or on both sides of the second dirt suction opening 1111b.The first auxiliary cleaning assembly 150 can rotate towards the dirt suction opening 1111 to direct waste into the working area of ​​the dirt suction opening 1111. Of course, the first auxiliary cleaning assembly 150 can also be located elsewhere, as long as it can direct waste into the working area of ​​the dirt suction opening 1111.

[0083] In some embodiments, the first auxiliary cleaning assembly 150 directs waste into the working area of ​​the first dirt suction opening 1111a, while the feed assembly 180 drives the cleaning device 1000 to move on the liquid surface of the target area 100 or within the liquid suspended in the target area 100. Of course, the first auxiliary cleaning assembly 150 can also be used to direct waste into the working area of ​​the first dirt suction opening 1111a and / or the second dirt suction opening 1111b when the cleaning device 1000 is moving along the target bottom wall 1012 or the target side wall 1011 of the target area 100. The arrangement of the first auxiliary cleaning assembly 150 makes it possible to direct waste that is initially outside the working area of ​​the dirt suction opening 1111 into the working area of ​​the dirt suction opening 1111.This expands the suction area of ​​the dirt suction opening 1111, thereby improving the cleaning efficiency of the cleaning device 1000. The embodiment of the present disclosure illustrates this configuration, wherein the first auxiliary cleaning assembly 150 is arranged near the first dirt suction opening 1111a.

[0084] In some embodiments, the first auxiliary cleaning assembly 150 is located at least partially in front of the first dirt suction opening 1111a along the direction of movement of the cleaning device 1000, in order to direct the water flow from outside the working area of ​​the first dirt suction opening 1111a into the working area of ​​the first dirt suction opening 1111a.

[0085] See also Fig. 16, shows Fig. Figure 16 shows a main view of another embodiment of a cleaning device provided by the present disclosure. The cleaning device 1000 further comprises a sealing door 119. The sealing door 119 serves to cover the first dirt suction opening 1111a. The sealing door 119 serves to open the first dirt suction opening 1111a when the first auxiliary cleaning assembly 150 cleans the target area 100, thereby enabling the first dirt suction opening 1111a to draw debris from the target area 100 into the first receiving chamber 111. The sealing door 119 further serves to close the first dirt suction opening 1111a when the cleaning device 1000 is not using the first dirt suction opening 1111a, for example, when the second dirt suction opening 1111b is being used or when the cleaning mode changes.This prevents waste from flowing back from the first receiving chamber 111 through the first dirt suction opening 1111a into the target area 100. The embodiment of the present disclosure illustrates the operation in which, when the cleaning device 1000 moves on the liquid surface of the target area 100, the first auxiliary cleaning assembly 150 directs the waste floating on the liquid surface of the target area 100 into the working area of ​​the first dirt suction opening 1111a.When the cleaning device 1000 moves on the liquid surface of the target area 100, at least part of the first auxiliary cleaning assembly 150 is exposed above the liquid surface, that is, the entire first auxiliary cleaning assembly 150 is exposed above the liquid surface and is held at a predetermined distance from the horizontal plane; or the entire first auxiliary cleaning assembly 150 is exposed above the liquid surface, with a surface of the first auxiliary cleaning assembly 150 facing the liquid surface being in contact with the liquid surface; or part of the first auxiliary cleaning assembly 150 is immersed in the liquid, while another part of the first auxiliary cleaning assembly 150 is exposed above the liquid surface.When the cleaning device 1000 cleans the liquid surface of the target area 100 via the first auxiliary cleaning assembly 150, the sealing door 119 opens to expose the first dirt suction opening 1111a, and the first auxiliary cleaning assembly 150 rotates to push the waste floating on the liquid surface of the target area 100 towards the working area of ​​the first dirt suction opening 1111a, thereby facilitating the suction of the waste through the first dirt suction opening 1111a.

[0086] With further reference to Fig. 1, Fig. 5 and Fig. 16 The first auxiliary cleaning assembly 150 can be arranged on one of the sixth side 118 facing the first dirt suction opening 1111a, one of the fifth side 117 facing the first dirt suction opening 1111a, one of the third side 115 facing the first dirt suction opening 1111a, one of the fourth side 116 facing the first dirt suction opening 1111a, the connection point between the first side 113 and the third side 115 and / or the connection point between the first side 113 and the fourth side 116, wherein the cleaning device 1000 can comprise one or more first auxiliary cleaning assemblies 150. In some embodiments, the cleaning device 1000 can comprise two first auxiliary cleaning assemblies 150, one of the first auxiliary cleaning assemblies being arranged at the junction between the first side 113 and the third side 115,while the other is arranged at the junction between the first side 113 and the fourth side 116, so that the first auxiliary cleaning assemblies 150 can push the waste on the first side 113, the third side 115 and the fourth side 116 of the cleaning device 1000 towards the working area of ​​the dirt suction opening 1111, thereby extending the cleaning area of ​​the first auxiliary cleaning assemblies 150; on the other hand, the first auxiliary cleaning assemblies 150 can also be used for auxiliary cleaning, for example for cleaning the target side wall 1011 when the cleaning device 1000 moves near the target side wall 1011, thereby improving the cleaning efficiency and effect of the cleaning device 1000.

[0087] By positioning the first auxiliary cleaning assembly 150 at the edge of the first dirt suction opening 1111a, the first auxiliary cleaning assembly 150 is located at least partially in front of the first dirt suction opening 1111a along the direction of movement of the cleaning device 1000. As the main body 110 of the cleaning device moves forward along the direction of movement, with the first dirt suction opening 1111a at its front, the first dirt suction opening 1111a can draw in the waste as the cleaning device 1000 moves forward. Under the action of the first auxiliary cleaning assembly 150, waste that was initially outside the coverage area of ​​the first dirt suction opening 1111a can be directed into the working area of ​​the first dirt suction opening 1111a. This expands the cleaning area of ​​the first dirt suction opening 1111a, thereby improving the efficiency of waste removal.

[0088] The first auxiliary cleaning assembly 150 can extend the cleaning area of ​​the first dirt suction opening 1111a by stirring the water flow towards the first dirt suction opening 1111a or by increasing the suction force of the first dirt suction opening 1111a, which is not limited here. In a specific embodiment, the first auxiliary cleaning assembly 150 is rotatably mounted on the main body 110 of the cleaning device in order to stir the water flow near the first dirt suction opening 1111a and thereby direct the water flow outside the working area of ​​the first dirt suction opening 1111a towards the working area of ​​the first dirt suction opening 1111a, causing the debris located outside the working area to also flow into the working area of ​​the first dirt suction opening 1111a with the water flow and then into the main body 110 of the cleaning device.

[0089] The direction of rotation of the first auxiliary cleaning assembly 150 can be configured according to the actual situation, as long as it stirs the water flow in the direction of the first dirt suction opening 1111a. For example, when viewed from above towards the bottom of the cleaning device 1000 along the direction of movement of the cleaning device 1000, the first auxiliary cleaning assembly 150 rotates clockwise when it is located closer to the left side of the main body 110 of the cleaning device relative to the first dirt suction opening 1111a; and it rotates counterclockwise when it is located closer to the right side of the main body 110 of the cleaning device relative to the first dirt suction opening 1111a.By virtue of the arrangement described above, the first auxiliary cleaning assembly 150, during operation, directs the water flow that is remote from the first dirt suction opening 1111a – in particular the water flow that is located at the front left or front right of the cleaning device 1000 – to the first dirt suction opening 1111a, and the direction of the water flow is generally opposite to the direction of movement of the cleaning device 1000, which means that, as the cleaning device 1000 moves forward, the first dirt suction opening 1111a subsequently draws the water flow directed by the first auxiliary cleaning assembly 150 into the main body 110 of the cleaning device.

[0090] In some embodiments, the first auxiliary cleaning assembly comprises 150, with further reference to Fig. 16 at least one side brush 151. The side brush 151 is rotatably arranged on the main body 110 of the cleaning device, for example at the connection point of two adjacent sides of the main body 110 of the cleaning device, in order to direct at least a part of the waste within the target area 100 into the working area of ​​the dirt suction opening 1111.

[0091] The side brush 151 projects at least partially beyond the contour of the cleaning device 1000. It is understood that when the cleaning device 1000 is located on the running surface 101, the orthogonal projection of the side brush 151 onto the running surface 101 lies at least partially outside the boundary contour of the orthogonal projection of the cleaning device 1000 onto the running surface 101. This extends the cleaning area of ​​the side brush 151, enabling it to direct debris from positions outside the coverage area of ​​the first dirt suction opening 1111a into the working area of ​​the first dirt suction opening 1111a, thereby improving the efficiency of debris removal.

[0092] The side brush 151 is arranged at the junction between the first side 113 and the third side 115, as well as at the junction between the first side 113 and the fourth side 116. The side brush 151 comprises a side brush body 1511, a rotating shaft 1512, and a side brush cover 1513. The side brush cover 1513 is arranged on the main body 110 of the cleaning device, with the rotating shaft 1512 rotatably mounted on the side brush cover 1513, and the side brush body 1511 being arranged to surround the rotating shaft 1512. The side brush body 1511 serves to agitate the water flow or to contact and clean the wall surface, such as the target side wall 1011 and the target bottom wall 1012. In particular, when the rotating shaft 1512 is turned, it drives the side brush body 1511 to rotate.During rotation, the side brush body 1511 can agitate the water flow or clean the wall surface, such as the target side wall 1011 and the target bottom wall 1012. The method for attaching the side brush cover 1513 to the main body 110 of the cleaning device includes, but is not limited to, screw fastening, rivet fastening, welding fastening, adhesive fastening, bolt fastening, pin-wedge fastening, snap fastening, and magnetic adsorption, etc. The rotating shaft 1512 is arranged within the side brush cover 1513, with at least a portion of the side brush body 1511 extending outside the side brush cover 1513. Optionally, the side brush cover 1513 can be fastened to the main body 110 of the cleaning device with screws.

[0093] The side brush body 1511 is at least partially made of a flexible material and / or the side brush body 1511 is at least partially made of a rigid material. In one embodiment, the side brush body 5111 is made entirely of a flexible material. In another embodiment, the entire side brush body 5111 consists of a rigid material. In yet another embodiment, part of the side brush body 5111 consists of a flexible material, while another part consists of a rigid material. A flexible material is a material that can deform elastically. A rigid material is a material that cannot be readily deformed elastically. If the side brush body 5111 consists of a flexible material, it can be bristles, rubber strips, etc. If the side brush body 5111 consists of a rigid material, it can be plastic sheets, metal sheets, etc.The side brush body 5111 can comprise one or more cleaning parts, the number of which can be one, two, three, or more, without limitation. For example, if the side brush body 5111 is a rubber strip, the cleaning part can be a rubber brush plate. If the side brush body 5111 is a plastic plate, the cleaning part is a plastic brush plate.

[0094] In some embodiments, different cleaning elements on the same side brush body 5111 can have different shapes. For example, the trailing end of a cleaning element facing away from the rotating shaft 1512 can be straight, and the trailing end of a cleaning element facing away from the rotating shaft 1512 can be serrated. The serrated design of the trailing end of the cleaning element allows some of the debris, such as long hair, to be collected on the cleaning element, making it easier for the user to remove. The straight design of the trailing end of the cleaning element improves the ability of the side brush body 5111 to stir liquids. By designing different cleaning elements of the side brush body 5111, such as adjacent cleaning elements, with different shapes, the side brush 5111 achieves its purpose of collecting debris while maintaining its ability to stir liquids.

[0095] See further Fig. 17, shows Fig. 17 a partial schematic diagram of an embodiment of a cleaning device provided by the present disclosure, and see also Fig. 2 to Fig. 3. The cleaning device 1000 has a central plane α. The projection height of the side brush 151 on the central plane α of the cleaning device 1000 overlaps at least partially with the projection height of the first dirt suction opening 1111a on the central plane α of the cleaning device 1000.

[0096] With further reference to Fig. 2 The walking mechanism 190 comprises at least a first guide wheel 191 and a second guide wheel 192. The first guide wheel 191 and the second guide wheel 192 are configured to drive the cleaning device 1000 to move along the target base wall 1012 and the target side wall 1011, respectively. The first guide wheel 191 and the second guide wheel 192 can be substantially the same size. The main body 110 of the cleaning device comprises a housing located on the third side 115, the fourth side 116, and the sixth side 118, the lateral contours of the housing not exceeding the lateral contours of the first guide wheel 191 and the second guide wheel 192.It is understood that when the cleaning device 1000 is located on the running surface 101, the orthogonal projections of the first guide wheel 191 and the second guide wheel 192 on the running surface 101 lie at least partially outside the boundaries of the orthogonal projection of the housing contour of the main body 110 of the cleaning device on the running surface 101. It is understood that the orthogonal projection of the side brush 151 on the running surface 101 lies at least partially outside the boundaries of the orthogonal projection of the housing of the main body 110 of the cleaning device and the orthogonal projections of the first guide wheel 191 and the second guide wheel 192 on the running surface 101. For the sake of simplicity, the present disclosure defines the running surface 101 of the cleaning device as the plane in which the traveling mechanism 190 of the cleaning device 1000 comes into contact with the surface to be cleaned.This running surface 101 runs parallel to the direction of movement of the cleaning device 1000 and substantially parallel to the surface to be cleaned. The longitudinal plane of the cleaning device 1000 is defined as the plane in which the rotating shaft of the first guide wheel 191 and the rotating shaft of the second guide wheel 192 are located within the traveling mechanism 190 of the cleaning device 1000, the longitudinal plane being parallel to the running surface 101. The plane that is perpendicular to the longitudinal plane and parallel to the extension directions of the rotating shaft of the first guide wheel 191 and the rotating shaft of the second guide wheel 192, and equidistant from the rotating shaft of the first guide wheel 191 and the rotating shaft of the second guide wheel 192, is called the median plane of the cleaning device 1000. The median plane α is located opposite the first side 113 and the second side 114 of the cleaning device 1000.

[0097] When the cleaning device 1000 is in a horizontal state, the projection of the side brush 151 on the midplane α of the cleaning device 1000 overlaps at least partially with the projection of the first dirt suction opening 1111a on the midplane α of the cleaning device 1000 along the vertical direction, i.e., in the vertical direction of the cleaning device 1000. The first dirt suction opening 1111a comprises at least one first edge 1111a1 facing the sixth side 118 of the cleaning device 1000 and one second edge 1111a2 facing the fifth side 117 of the cleaning device 1000.The aforementioned projection relationship can be further expressed as follows: along the vertical direction of the cleaning device 1000, the projection of the side brush 151 on the midplane α of the cleaning device 1000 is located at least partially between the projections of the first edge 1111a1 and the second edge 1111a2 on the midplane α of the cleaning device 1000; or in the vertical direction of the cleaning device 1000, the side brush 151 is located at least partially between the first edge 1111a1 and the second edge 1111a2.

[0098] The projection height of the side brush 151 on the central plane α of the cleaning device 1000 is h1. The projection height of the first dirt suction opening 1111a on the central plane α of the cleaning device 1000 can be h2 or h3. h1 overlaps at least partially with h2 or h3. The projection height denotes the height of the projection plane.

[0099] When the cleaning device performs 1000 cleaning tasks on the liquid surface, the first dirt suction opening 1111a is located at least partially below the liquid surface, i.e., the second edge 1111a2 is located below the liquid surface, while the first edge 1111a1 can be located either above or below the liquid surface. The side brush 151 can also be configured to be located at least partially below the liquid surface. In the example where the first edge 1111a1 of the first dirt suction opening 1111a is located above the liquid surface and the side brush 151 is located partly above and partly below the liquid surface, the first dirt suction opening 1111a is located partly above and partly below the liquid surface.When the side brush 151 is in operation, debris near the cleaning device 1000 can be directed between the first edge 1111a1 and the second edge 1111a2 and sucked directly into the first dirt suction opening 1111a.

[0100] Along the direction of movement of the cleaning device 1000, the side brush 151 is located at least partially in front of the first dirt suction opening 1111a. As the main body 110 of the cleaning device moves forward, the waste cleaned and transported by the side brush 151 can naturally reach the working area of ​​the first dirt suction opening 1111a.

[0101] In some embodiments, the cleaning device comprises 1000 with further reference to Fig. Figure 16 comprises an auxiliary drive assembly 152 and a real-time speed sensing assembly. The auxiliary drive assembly 152 includes a stepper motor. This stepper motor drives the side brush 151 for movement, while the real-time speed sensing assembly is located inside the main body 110 of the cleaning device to sense the speed of the stepper motor in real time. Specifically, the stepper motor is connected to a rotating shaft 1512 to drive the side brush body 1511 for rotation via the rotating shaft 1512. The real-time speed sensing assembly can be attached to the stepper motor. The real-time speed sensing assembly can sense the speed of the stepper motor in real time to determine, based on this speed, whether the stepper motor is experiencing a step loss.If the real-time speed sensor detects a step loss in the stepper motor, it sends a signal back to the control system (not shown). The control system then gradually increases the stepper motor's current, thereby increasing its output torque. This ensures that the stepper motor functions normally under high load for the Cleaning Device 1000.

[0102] In another embodiment, the side brush body 1511 cleans the basin wall when the cleaning device 1000 moves through water and cleans near the basin wall, under relatively high load. The real-time speed sensing assembly detects the status of the stepper motor in real time and sends this information back to the control system, which adjusts the input current of the stepper motor to ensure normal operation under the current load.

[0103] The cleaning device 1000 comprises a motion drive assembly (not shown). The motion drive assembly (not shown) is attached to the main body 110 of the cleaning device. The motion drive assembly is connected to the first auxiliary cleaning assembly 150 to drive the first auxiliary cleaning assembly 150 into a telescopic movement relative to the main body 110 of the cleaning device, thus enabling the first auxiliary cleaning assembly 150 to move between a starting position and a compressed position under the action of the motion drive assembly.For the sake of simplicity, the compressed position can be defined as the end position reached when the first auxiliary cleaning assembly 150 retracts towards the main body 110 of the cleaning device, while the initial position can be defined as the end position reached when the first auxiliary cleaning assembly 150 extends away from the main body 110 of the cleaning device. It is understood that the movement of the first auxiliary cleaning assembly 150 may also include intermediate positions between the initial position and the compressed position.

[0104] In one embodiment, the movement of the first auxiliary cleaning assembly 150 between the initial position and the compressed position can be passive; for example, the first auxiliary cleaning assembly 150 is in its initial state at the initial position. If the cleaning device 1000 comes into contact with an obstacle such as a wall during its movement, the obstacle can compress the first auxiliary cleaning assembly 150, causing it to move from the initial position toward the compressed position. After the cleaning device 1000 separates from the obstacle, the first auxiliary cleaning assembly 150 returns to its initial position under the action of a first return assembly. The first return assembly can, for example, be an elastic mechanism or a stepless rebound mechanism.During normal operation of the cleaning device 1000, the first auxiliary cleaning assembly 150 is in its initial position under the influence of the first return assembly. Upon contact between the cleaning device 1000 and an obstacle, particularly if the first auxiliary cleaning assembly 150 comes into contact with the obstacle, the force exerted by the obstacle on the first auxiliary cleaning assembly 150 overcomes the force of the first return assembly. This causes the first auxiliary cleaning assembly 150 to retract towards the main body 110 of the cleaning device, moving from its initial position to the intermediate or compressed position.Conversely, when the cleaning device 1000 moves away from the obstacle, the force exerted by the first reset assembly causes the first auxiliary cleaning assembly 150 to return to its initial position, namely to move from the compressed position or the intermediate position towards the initial position.

[0105] In some embodiments, the movement of the first auxiliary cleaning assembly 150 between the initial position and the compressed position can result from the combined action of the motion drive assembly and the first reset assembly, without limiting certain scenarios and methods herein.

[0106] In the present disclosure, the first auxiliary cleaning assembly 150 is movably connected to the main body 110 of the cleaning device. The motion drive assembly within the cleaning device 1000 can drive the first auxiliary cleaning assembly 150 into a telescopic movement, thereby improving the flexibility of the first auxiliary cleaning assembly 150. The path of movement of the first auxiliary cleaning assembly 150, driven by the motion drive assembly, between the initial position and the compressed position, can be linear, a continuous arc, a discontinuous fold line, etc., which is not limited here.

[0107] In some embodiments, reference is made to Fig. 18 taken, Fig. Figure 18 shows another partial schematic diagram of an embodiment of a cleaning device provided by the present disclosure. The motion drive assembly may comprise a connecting section 153 and a first drive element (not shown). The first auxiliary cleaning assembly 150 is connected to the main body 110 of the cleaning device via the connecting section 153. The first drive element is connected to the connecting section 153 and serves to drive the first auxiliary cleaning assembly 150 into a telescopic movement relative to the main body 110 of the cleaning device.

[0108] In some embodiments, the connecting section 153 comprises a fixed section 1531 and a telescopic section 1532. The fixed section 1531 is rigidly connected to the main body 110 of the cleaning device. One end of the telescopic section 1532 is connected to the fixed section 1531, while the other end is connected to the first auxiliary cleaning assembly 150. The telescopic section 1532 is capable of telescoping relative to the fixed section 1531.

[0109] In further embodiments, the first auxiliary cleaning assembly 150 is movably connected to the motion drive assembly. The first drive element comprises a first transmission mechanism (not shown) and a first power source. The input end of the first transmission mechanism is connected to the first power source. The output end of the first transmission mechanism is connected to the first auxiliary cleaning assembly 150. The first power source supplies the first transmission mechanism with energy, enabling the first transmission mechanism to drive the first auxiliary cleaning assembly 150 into a telescopic movement relative to the main body 110 of the cleaning device and the connecting section 153.

[0110] In one embodiment, the cleaning device comprises 1000, with further reference to Fig. 17 further a guide element 154. The guide element 154 is rotatably attached to a notch 121 of the main body 110 of the cleaning device or dust box 120. As the guide element 154 rotates, it directs the external water flow so that it flows through the notch 121 of the dust box 120 and enters the interior of the dust box 120. When the cleaning device 1000 is operating in water surface cleaning mode, the guide element 154 is located at least partially below the water surface. This allows for effective disruption of the water flow at the notch 121 of the dust box 120, thereby improving the efficiency of the penetration of external debris into the dust box 120. In a specific embodiment, the guide element 154 is located partially above and partially below the water surface during water surface cleaning.This corresponds to the above-mentioned content that the first dirt suction opening 1111a is located partly above the water surface and partly below the water surface, thereby achieving better water surface cleaning efficiency.

[0111] Thus, in one embodiment, during water surface cleaning by the cleaning device 1000, the first dirt suction opening 1111a is located partially above and partially below the water surface. This facilitates the natural penetration of debris floating on the water surface—such as leaves or garbage bags—into the dust box 120 with the surface water currents. The guide element 154 is located partially below and partially above the water surface and is capable of directing at least the water flow above the water surface into the first dirt suction opening 1111a within its working area. During operation, the first auxiliary cleaning assembly 150 can remove debris from the water surface outside the working area of ​​the first dirt suction opening 1111a from the side panel, the front panel, etc.the main body 110 of the cleaning device is directed into the working area of ​​the first dirt suction opening 1111a. Subsequently, as the cleaning device 1000 moves forward, these waste materials are guided through the first dirt suction opening 1111a and finally into the dust box 120 by the action of the guide element 154.

[0112] In some embodiments, both ends of the second auxiliary cleaning assembly 160 can be further referred to Fig. 1 to 4b are each connected to the target area 100. The second auxiliary cleaning assembly 160 is used to spray water onto the area to be cleaned within the target area 100, thereby exerting at least a rinsing effect on the area to be cleaned or at least directing some of the waste from the area to be cleaned into the working area of ​​the dirt suction opening 1111. The area to be cleaned can be any area within the basin. In particular, the area to be cleaned can include at least one part of the water body area between the cleaning device 1000 and the running surface 101. Alternatively, the area to be cleaned can also include the working area of ​​the dirt suction opening 1111.It is understood that if the area to be cleaned by the cleaning device 1000 is located at the target bottom wall 1012, the second auxiliary cleaning assembly 160 is used to spray water onto the target bottom wall 1012; if the area to be cleaned by the cleaning device 1000 is located at the target side wall 1011, the second auxiliary cleaning assembly 160 is used to spray water onto the target side wall 1011; if the area to be cleaned by the cleaning device 1000 is located within the water body of the target area 100, the second auxiliary cleaning assembly 160 is used to spray water onto the water body.The water stream sprayed by the second auxiliary cleaning assembly 160 can direct waste to the working area of ​​the dirt suction opening 1111 by at least one of the following effects: stirring, reflection at the basin wall or guiding the water stream, making it easier for the dirt suction opening 1111 to draw in the waste.

[0113] In some embodiments, the second auxiliary cleaning assembly comprises 160, with further reference to Fig. 2 to Fig. 3 at least one water spray element 161 and a second drive element 162. The nozzle 1611 of the water spray element 161 faces a side of the main body 110 of the cleaning device that is provided with the dirt suction opening 1111, the second drive element 162 being used to drive the water flow for spraying from the nozzle 1611 of the water spray element 161. The water spray element 161 can be a spray line, but is not limited to this. The nozzle 1611 of the water spray element 161 is inclined in the direction of the area to be cleaned.It is understood that if the area to be cleaned by the cleaning device 1000 is located at the target bottom wall 1012, the nozzle 1611 is inclined towards the target bottom wall 1012 to spray water onto the target bottom wall 1012; if the area to be cleaned by the cleaning device 1000 is located at the target side wall 1011, the nozzle 1611 is inclined towards the target side wall 1011 to spray water onto the target side wall 1011; and if the area to be cleaned by the cleaning device 1000 is located at the water body within the target area 100, the nozzle 1611 is inclined towards the water body to spray water onto the water body.

[0114] In some embodiments, the second drive element 162 is arranged on the water spray element 161. The second drive element 162 serves to propel liquids within the target area 100 so that they flow in from another end of the water spray element 161 and are sprayed from the nozzle 1611. The second drive element 162 can be arranged within the water spray element 161, but is not limited to this. The nozzle 1611 is arranged in the direction of the area of ​​the cleaning device 1000 to be cleaned, for example, at an angle, so that the nozzle 1611 can spray water onto the area to be cleaned. This facilitates the rinsing of debris from the area to be cleaned and improves the precision of the water spraying.Furthermore, during the process in which the nozzle 1611 sprays water onto the area to be cleaned, due to the relatively high velocity of the water stream sprayed from the nozzle 1611, a portion of the area to be cleaned exerts a counterforce on the water stream sprayed from the nozzle 1611 in the direction of the dirt suction opening 1111. This counterforce can drive the water stream to move in the direction of the dirt suction opening 1111 and thus transports debris on the running surface 101 towards the dirt suction opening 1111 in order to direct the debris into the negative pressure area near the dirt suction opening 1111, thereby making it easier for the dirt suction opening 1111 to draw the debris into the dust box 120.In addition, the turbulence generated by the liquid sprayed from the nozzle 1611 also exerts a certain collecting effect on the waste, which further facilitates the suction of the waste through the dirt suction opening 1111 and improves the cleaning effect of the cleaning device 1000.

[0115] In some embodiments, such as in Fig. As shown in Figure 2, the second drive element 162 can comprise 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 serves to drive the first impeller 1621 to rotate and to propel liquids within the target area 100 so that they flow in from another end of the water spray element 161 and are sprayed from the nozzle 1611. The power output of the first drive motor 1622 is positively correlated with the pressure of the water stream sprayed from the nozzle 1611.

[0116] The water spray elements 161 can be provided in a quantity of 1 or more. Each water spray element 161 is equipped with one or more nozzles 1611. Different water spray elements 161 can be operated simultaneously or individually, and different nozzles 1611 on the same water spray element 161 can also be operated simultaneously or individually.

[0117] In one example, the nozzle 1611 on the water spray element 161 can be rotatable. The cleaning device 1000 further comprises a rotating component (not shown). By rotating the nozzle 1611 of the water spray element 161, the rotating component can bring the nozzle 1611 into a target orientation.

[0118] In one embodiment, several water spray elements 161 are provided, each arranged on the left and right sides of the main body 110 of the cleaning device, with at least one water spray element 161 on each side. The nozzles 1611 of the water spray elements 161 on both sides are oriented in different directions. Alternatively, the several water spray elements 161 can all be arranged on the same side of the main body 110 of the cleaning device, for example, on the front or the right side, with the nozzles 1611 on the several water spray elements 161 all oriented in different directions. Therefore, the water spray element 161 whose nozzle orientation 1611 corresponds to the orientation of the cleaning device 1000 can be selected for spraying operations.

[0119] In a specific application scenario, two water spray elements 161 are provided on each side of the cleaning device 1000. The two water spray elements 161 on each side comprise an upper water spray element and a lower water spray element. Accordingly, the nozzle 1611 of the upper water spray element is referred to as the upper nozzle, while the nozzle 1611 of the lower water spray element is referred to as the lower nozzle. The orientation of the upper and lower nozzles is either directly forward or at a specific outward angle relative to the forward direction. For example, when the cleaning device 1000 performs water surface cleaning, an upper nozzle on at least one side of the cleaning device 1000 is selected for operation, thereby cleaning the pool wall at the waterline.When the cleaning device 1000 cleans the running surface 101 of the target area 100, a lower nozzle on at least one side of the cleaning device 1000 is selected for operation to clean the target bottom wall 1012 or the target side wall 1011.

[0120] In a specific embodiment, it is necessary that, when the cleaning device 1000 performs water surface cleaning, at least the currently operating nozzle 1611 is positioned at a location on the main body 110 of the cleaning device near the water surface. The water stream sprayed from the nozzle 1611 can then clean both the water surface and the basin wall at the waterline. Simultaneously, the cleaning device 1000 can also move forward on the water surface under the action of the second drive element 162, thus enabling the cleaning device 1000 to perform mobile cleaning of the water surface.

[0121] When the cleaning device 1000 cleans the running surface 101 of the target area 100, at least one nozzle 1611 currently in operation must be arranged on the main body 110 of the cleaning device and inclined towards the target bottom wall 1012 or target side wall 1011. For example, when the cleaning device 1000 cleans the target bottom wall 1012, at least one nozzle 1611 is inclined towards the target bottom wall 1012. At this time, the water stream sprayed from this nozzle 1611 can clean minute contaminants at specific height positions within the water, as well as specific height positions on the target side wall 1011, the target bottom wall 1012, and the corners of the target bottom wall 1012 and the target side wall 1011.

[0122] In some embodiments, the cleaning device 1000 further comprises a third auxiliary cleaning assembly 170, as shown in Fig. Figure 1 shows the third auxiliary cleaning assembly 170, which can be a roller brush assembly 171. The cleaning device 1000 can include one or more roller brush assemblies 171. The roller brush assembly 171 can be located at the bottom of the main body 110 of the cleaning device. The roller brush assembly 171 is used to clean the target bottom wall 1012 and the target side wall 1011. As the cleaning device 1000 moves along the target bottom wall 1012 and the target side wall 1011, the roller brush assembly 171 can scrape the target bottom wall 1012 and the target side wall 1011 to remove adhering debris. This facilitates suction through the second dirt suction opening 1111b, which is located on the fifth side 117 of the cleaning device 1000, thereby improving the cleaning effect.

[0123] In some embodiments, such as in Fig. As shown in Figure 2, the cleaning device 1000 further comprises at least two sets of running mechanisms 190 for driving the cleaning device 1000 so that it moves along the target bottom wall 1012 and the target side wall 1011. One set of running mechanisms 190 is arranged on one side of the main body 110 of the cleaning device, for example, on the third side 115 of the main body 110 of the cleaning device, while the other set of running mechanisms 190 is arranged on the opposite side relative to one side of the main body 110 of the cleaning device, for example, on the fourth side 116 of the main body 110 of the cleaning device. The running mechanism 190 is used to drive the cleaning device 1000 into motion.The second auxiliary cleaning assembly 160 can be arranged on a side of the traveling mechanism 190 facing away from the main body 110 of the cleaning device to ensure that the flow path of the liquid sprayed from the nozzle 1611 is not obstructed by the main body 110 of the cleaning device.

[0124] In some embodiments, the walking mechanism 190 comprises a first guide wheel 191, a second guide wheel 192, and a track 193. The first guide wheel 191 and the second guide wheel 192 are spaced apart from each other. The track 193 is attached to the first guide wheel 191 and the second guide wheel 192. In some embodiments, the walking mechanism 190 further comprises a fourth drive element 194. The fourth drive element 194 can be, but is not limited to, an electric motor, an electric pump, etc. The fourth drive element 194 can be connected to the first guide wheel 191 and / or the second guide wheel 192. It is understood that the fourth drive element 194 can be connected to the first guide wheel 191, in which case the first guide wheel 191 functions as the drive wheel and the second guide wheel 192 as the driven wheel, and the fourth drive element 194 is used toto drive the first guide wheel 191 to rotate in order to set the second guide wheel 192 and the track 193 in motion; or that the fourth drive element 194 can be connected to the second guide wheel 192, in which case the second guide wheel 192 functions as the drive wheel and the first guide wheel 191 as the driven wheel, and wherein the fourth drive element 194 is used to drive the second guide wheel 192 to rotate in order to set the first guide wheel 191 and the track 193 in motion; or that the fourth drive element 194 can be connected to the first guide wheel 191 and the second guide wheel 192, wherein the fourth drive element 194 is used to drive the first guide wheel 191 and the second guide wheel 192 to rotate in order to set the track 193 in motion.

[0125] In some embodiments, the track 193 can be connected to the first guide wheel 191 and the second guide wheel 192 via an engagement connection. For example, alternating teeth and tooth grooves can be formed on a surface of the track 193 facing the first guide wheel 191 and the second guide wheel 192, while alternating teeth and tooth grooves can be formed on the surfaces of the first guide wheel 191 and the second guide wheel 192 facing the track 193. In further embodiments, the track 193 can be a rack, while the first guide wheel 191 and the second guide wheel 192 can be gears. The track 193, the first guide wheel 191, and the second guide wheel 192 together form a rack-and-pinion mechanism. In further embodiments, the caterpillar 193 can be connected to the first guide wheel 191 and the second guide wheel 192 via a friction connection.A surface of the track 193 facing the first guide wheel 191 and the second guide wheel 192 is in close contact with the first guide wheel 191 and the second guide wheel 192. When the fourth drive element 194 drives at least one of the first guide wheel 191 and the second guide wheel 192 to rotate, the frictional force between the first guide wheel 191 and the track 193, as well as the frictional force between the second guide wheel 192 and the track 193, can be used to drive the track 193 into motion.

[0126] In some embodiments, the cleaning device 1000 can comprise two roller brush assemblies 171, wherein one end of one roller brush assembly 171 is rotatably connected to the first guide wheel 191 of a set of running mechanisms 190, and the other end is rotatably connected to the first guide wheel 191 of another set of running mechanisms 190; and wherein one end of the other roller brush assembly 171 is rotatably connected to the second guide wheel 192 of a set of running mechanisms 190, and the other end is rotatably connected to the second guide wheel 192 of another set of running mechanisms 190. During the movement of the traveling mechanism 190, both roller brush assemblies 171 can rotate together with the traveling mechanism 190.This means that when the running mechanisms 190 are moved, the first guide wheel 191 of one set of running mechanisms 190 and the first guide wheel 191 of the other set of running mechanisms 190 can drive a roller brush assembly 171 to rotate, while the second guide wheel 192 of one set of running mechanisms 190 and the second guide wheel 192 of the other set of running mechanisms 190 can drive the other roller brush assembly 171 to rotate. Of course, the two roller brush assemblies 171 can also each be controlled by two separate electric motors or share a single electric motor instead of being controlled by the transmission of the running mechanisms 190. This allows independent control of the speed and direction of rotation of the two roller brush assemblies 171.

[0127] In some embodiments, the cleaning device 1000 comprises a transmission assembly, wherein the traveling mechanism 190 rotates the roller brush assembly 171 via the transmission assembly. With simultaneous reference to Fig. 20b and Fig. 20c shows Fig. 20b a third partial schematic diagram of an embodiment of a cleaning device provided by the present disclosure, and Fig. Figure 20c shows a side view of a third embodiment of a cleaning device provided by the present disclosure. Using the second guide wheel 192 as the drive wheel and the first guide wheel 191 as the driven wheel as an example, the transmission assembly comprises a second transmission assembly, which is used at least to drive the second guide wheel 192 to rotate. The second transmission assembly comprises a first gear 1921, the output end of the fourth drive element 194 being connected to the first gear 1921. The first gear 1921 engages with the first internal gear 1924 of the second guide wheel 192. When the second guide wheel 192 rotates, the first internal gear 1924 rotates simultaneously, so that the rotation of the first gear 1921 can drive the second guide wheel 192 to rotate, in turn driving the first guide wheel 191 to rotate via the track 193.

[0128] In some embodiments, the second transmission assembly further comprises a second gear set 1922, wherein the second gear set 1922 includes a first lower gear 19221 and a second lower gear 19222. The first lower gear 19221 and the second lower gear 19222 are arranged coaxially as equal-pitch gears, which may be of the same or different sizes. When one of the first lower gear 19221 and the second lower gear 19222 rotates, the other rotates simultaneously. The second transmission assembly further comprises a third gear 1923. The third gear 1923 engages with the second lower gear 19222 and is connected to the roller brush assembly 171. When the third gear 1923 rotates, the roller brush assembly 171 connected to the third gear 1923 rotates accordingly. The first internal gear 1924 also engages with the first lower gear 19221.When the first internal gear 1924 rotates, it drives the first lower gear 19221 to rotate, which in turn drives the second lower gear 19222 to rotate. This rotation is transferred to the third gear 1923 to drive the roller brush assembly 171 to rotate, which in turn drives the second guide gear 192 to drive the roller brush assembly 171 to rotate.

[0129] In some embodiments, the second transmission assembly comprises more than one second gear set 1922. These different second gear sets 1922 are distributed separately, with the second lower gears 19222 of different second gear sets 1922 meshing simultaneously with the third gear 1923, while the first lower gears 19221 of different second gear sets 1922 meshing simultaneously with the first internal gear 1924. By arranging several second gear sets 1922, the load is distributed across each individual second gear set 1922, thereby reducing the likelihood of damage to the second gear sets 1922. In some embodiments, the second transmission assembly further comprises a first gear cover 1925, which is connected to the ends of the gear shafts of different second gear sets 1922.This arrangement connects the different second gear sets 1922 in series, thereby optimizing the force exerted on the different second gear sets 1922. This prevents prolonged loading of a single second gear set 1922 in the same direction from causing axial deviation of the gear shaft, thus improving the stability of all second gear sets 1922.

[0130] In some embodiments, the transmission assembly further comprises a first transmission component that at least enables the first guide gear 191 to drive the roller brush assembly 171 to rotation. The first transmission component comprises a fourth gear set 1911, wherein the fourth gear set 1911 comprises a third lower gear 19111 and a fourth lower gear 19112. The third lower gear 19111 and the fourth lower gear 19112 are arranged coaxially as equal-pitched gears that may be of the same or different sizes. When one of the third lower gear 19111 and the fourth lower gear 19112 rotates, the other rotates simultaneously. The first transmission component further comprises a fifth gear 1912. The fifth gear 1912 engages with the fourth lower gear 19112 and 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 accordingly. The first guide gear 191 includes a second internal gear 1913. When the first guide gear 191 rotates, the second internal gear 1913 rotates simultaneously. When the second guide gear 192 drives the first guide gear 191 to rotate, the second internal gear 1913 rotates. The second internal gear 1913 also engages with the third lower gear 19111. When the second internal gear 1913 rotates, it drives the third lower gear 19111 to rotate, which in turn drives the fourth lower gear 19112 to rotate. This rotation is transferred to the fifth gear 1912 to drive the roller brush assembly 171 to rotate, which in turn allows the first guide wheel 191 to drive the roller brush assembly 171 to rotate.Due to the aforementioned arrangement, a single fourth drive element 194 is sufficient to drive the first guide wheel 191, the second guide wheel 192, and two sets of roller brush assemblies 171. This results in a simplified drive structure with low manufacturing costs.

[0131] In some embodiments, the first transmission component comprises more than one fourth gear set 1911. These different fourth gear sets 1911 are distributed separately, with the fourth lower gears 19112 of different fourth gear sets 1911 meshing simultaneously with the fifth gear 1912, while the third lower gears 19111 of different fourth gear sets 1911 meshing simultaneously with the second internal gear 1913. By arranging multiple fourth gear sets 1911, the load is distributed across each individual fourth gear set 1911, thereby reducing the likelihood of damage to the fourth gear sets 1911. In some embodiments, the fourth transmission assembly further comprises a second gear cover 1914, which is connected to the ends of the gear shafts of different fourth gear sets 1911.This arrangement connects the different fourth gear sets 1911 in series, thereby optimizing the force exerted on each set. This prevents prolonged loading of a single fourth gear set 1911 in the same direction from causing axial deviation of the gear shaft, thus improving the stability of all fourth gear sets 1911.

[0132] In some embodiments, the cleaning device 1000 comprises at least one of a first motion state, a second motion state, and a third motion state. The first motion state is that the cleaning device 1000 runs along the target bottom wall 1012, or that the cleaning device 1000 is oriented at an angle of less than 90° relative to the target bottom wall 1012 and positioned away from the water surface; the plane of the traveling mechanism 190 that comes into contact with the surface to be cleaned, such as the track 193 or the guide wheels contained in the traveling mechanism 190, can define the overall direction of the traveling device 1000. That is, this plane is the common plane in which the track 193 and / or the base of the guide wheels are located.Alternatively, if the walking mechanism comprises a first guide wheel 191, a second guide wheel 192, and a track 193, the overall direction of the cleaning device 1000 can also be the direction of extension of the line connecting the centers of rotation of the first guide wheel 191 and the second guide wheel 192. The second state of movement involves the cleaning device 1000 running along the target side wall 1011 or being oriented substantially parallel to the target side wall 1011; the third state of movement involves the cleaning device 1000 running on the water surface or being at least partially exposed above the water surface while in motion, or being located as a whole below and near the water surface.

[0133] After at least part of the first side 113 of the cleaning device 1000 emerges from the water surface, the second side 114 of the cleaning device 1000 rotates towards the liquid surface, the wandering mechanism 190 rotates from the target side wall 1011 towards the water surface, and the wandering mechanism 190 is in a substantially horizontal state, i.e., the cleaning device 1000 is in a substantially horizontal state, thus achieving the transition of the cleaning device 1000 from the second to the third state of motion. The rotation of the second side 114 towards the liquid surface can be achieved by exposing a first injection port (not shown) provided on the first side 113 from the water surface when at least part of the first side 113 protrudes from the water.This allows a first buoyancy control element 2611 to inject air into a first buoyancy chamber 261.

[0134] In some embodiments, reference is made to Fig. 19 taken, Fig. Figure 19 shows a bottom view of another embodiment of a cleaning device provided in the present disclosure. The cleaning device 1000 further comprises at least one terrain detection assembly 196. The at least one terrain detection assembly 196 is arranged on the front base of the cleaning device 1000 and near the walking mechanism 190 of the cleaning device 1000. The terrain detection assembly 196 detects the terrain of the surface to be cleaned on the base of the cleaning device 1000 in order to adjust the operating position of the cleaning device 1000. For example, the terrain detection assembly 196 can detect whether the terrain in the direction of movement of the cleaning device 1000 has a depression below the current walking surface 101, for example, a cavity.If the terrain sensing assembly 196 detects an impending entry into the cavity, the cleaning device 1000 can change direction or reverse to prevent entering the cavity, thus avoiding tipping over or damage and protecting the cleaning device 1000. Alternatively, if the terrain sensing assembly 196 detects an impending entry into the cavity, the cleaning device 1000 can turn around to reach the other running surface 101, enabling walking in certain scenarios and improving the mobility flexibility of the cleaning device 1000.

[0135] The cleaning device 1000 can comprise one or more terrain sensing assemblies 196. The terrain sensing assembly 196 can be arranged on the base of the main body 110 of the cleaning device. For example, the terrain sensing assembly 196 can be arranged in a region of the base of the main body 110 of the cleaning device facing the second side 114, and it can also be arranged in a region of the base of the main body 110 of the cleaning device facing the first side 113. The terrain sensing assembly 196 can also be arranged on the first side 113.Optionally, the cleaning device 1000 comprises two terrain sensing assemblies 196, each arranged in one of the areas of the bottom of the main body 110 of the cleaning device facing the first side 113, wherein one terrain sensing assembly 196 is located near one set of running mechanisms 190 and the other terrain sensing assembly 196 is located near another set of running mechanisms 190.

[0136] In some embodiments, the terrain detection assemblies 196 are only activated when the cleaning device 1000 is identified as being within a specific area type and / or performing a specific task. For example, the terrain detection assemblies 196 are only activated when the cleaning device 1000 is on a platform with steps and / or performing a cleaning task on such a platform. This avoids prolonged activation of the terrain detection assemblies 196, which could lead to erroneous terrain detection during the movement of the cleaning device 1000 in conventional areas, such as when performing turning or reversing maneuvers, and thus impair the cleaning performance of the cleaning device 1000.The specific area type can be identified using the visual sensor assembly 140 and the liquid level detection assembly 233, but is not limited to this.

[0137] See further Fig. 2 and Fig. 4a and at the same time Fig. 20a and Fig. 20d, shows Fig. 20a a side view of an embodiment of a cleaning device provided by the present disclosure and Fig. Figure 20d shows a side view of a fourth embodiment of a cleaning device provided by the present disclosure; the cleaning device 1000 further comprises a cover plate 195. The cover plate 195 covers a side of the walking mechanism 190 facing away from the main body 110 of the cleaning device and conceals at least the first guide wheel 191 and the second guide wheel 192, so that the first guide wheel 191 and the second guide wheel 192 are not visible from the outside of the cleaning device 1000. If the walking mechanism 190 comprises a track 193, the annular area formed by the track 193 corresponds substantially to the area of ​​the cover plate.The cover plate 195 can detachably cover one side of the traveling mechanism 190 facing away from the main body 110 of the cleaning device, so that the cover plate 195 can be removed to facilitate cleaning and maintenance of the first guide wheel 191 and the second guide wheel 192. At the same time, the cover plate 195 prevents erosion of the first guide wheel 191 and the second guide wheel 192 from the impact of the water flow, thus ensuring the service life of the first guide wheel 191 and the second guide wheel 192.On the other hand, the ingress of solid foreign bodies between the first guide wheel 191 and the track 193, as well as between the second guide wheel 192 and the track 193, and the resulting impairment of the movement of the walking mechanism 190, can be avoided to a certain extent, thereby reducing problems such as movement restrictions of the walking mechanism 190, imbalance in the movement of the walking mechanism 190, and increased operating noise during the movement of the walking mechanism 190. A side surface of the cover plate 195 facing away from the main body 110 of the cleaning device can be a completely flat surface or a partially flat surface, such as a grid pattern, which is not limited here.

[0138] In another embodiment, the cover plate 195 can be either one-piece or divided. If the cover plate 195 is one-piece, it covers the space enclosed by the caterpillar 193; if the cover plate 195 is divided, it can comprise at least a first lower cover plate and a second lower cover plate, wherein the first lower cover plate covers at least the outer side part of the first guide wheel 191 and the second lower cover plate covers at least the outer side part of the second guide wheel 192.

[0139] In another embodiment, the projection of the contour of the cover plate 195 on the running surface 101 lies within the projection of the outer contour of the track 193 on the running surface 101 when the cleaning device 1000 moves forward on the running surface 101. That is, the width of the projection of the outer contour of each of the two tracks 193 on both sides of the cleaning device 1000 on the running surface 101 is greater than the width of the projection of the contour of each of the cover plates 195 on both sides of the cleaning device 1000 on the running surface 101. With this arrangement, the tracks possess a certain degree of flexibility, so that the tracks 195 act as a buffer when the side part of the cleaning device 1000 comes into contact with the basin wall or an obstacle, to prevent the cover plates 195 or other components from coming into direct contact with the side wall or an obstacle and being damaged.Naturally, the projection of the outer contour of the track 193 onto the running surface 101 can also lie within or be aligned with the projection of the contour of the cover plate 195 on the running surface 101. In such cases, collision damage to the machine can be reduced by arranging a first impact protection element 200 on the cover plate 195 or on another component.

[0140] If a second auxiliary cleaning assembly 160 is included, the second auxiliary cleaning assembly 160 can be arranged on the side of the cover plate 195 facing away from the wandering mechanism 190. Arranging the second auxiliary cleaning assembly 160 on the cover plate 195 ensures that the movement of the wandering mechanism 190 does not affect the flow path or flow pattern of the liquid sprayed by the second auxiliary cleaning assembly 160.

[0141] In some embodiments, the cleaning device 1000 further comprises a first impact protection element 200. There can be one or more impact protection elements 200. The first impact protection element 200 projects at least partially or completely beyond the main contour of the main body 110 of the cleaning device. For example, the first impact protection element 200 can be arranged on the first side 113 of the cleaning device 1000 and project beyond the front main contour of the main body 110 of the cleaning device; for example, the first impact protection element can be arranged on a side of the cover plate 195 facing away from the traveling mechanism 190 and / or on a side of the second auxiliary cleaning assembly 160 facing away from the cover plate 195, projecting beyond the lateral main contour of the main body 110 of the cleaning device.One or more first impact protection elements can be provided on each side, for example, a first impact protection element can be arranged on the front and back of the cover plate 195 and / or the second auxiliary cleaning assembly 160; this prevents scratching of the main body 110 of the cleaning device and, when the cleaning device 1000 moves along the edge within the target area 100, also serves to correct the running attitude of the cleaning device 1000, for example to avoid climbing behavior when the walking mechanism 190 comes into direct contact with the target side wall 1011.

[0142] In some embodiments, when the first impact protection element 200 is arranged on the second auxiliary cleaning assembly 160, or when the first impact protection element 200 is arranged on the cover plate 195 and the first impact protection element 200 and the second auxiliary cleaning assembly 160 are arranged on the same side, the first impact protection element 200 is located in front of the second auxiliary cleaning assembly 160 along the forward direction of the cleaning device 1000. This arrangement reduces the probability of the second auxiliary cleaning assembly 160 being scratched, thereby reducing wear on the second auxiliary cleaning assembly 160 and ensuring its service life.

[0143] In some embodiments, the first impact protection element 200 comprises a roller 201 and a bracket 202. For example, two brackets 202 can be arranged on the cover plate 195 and / or the second auxiliary cleaning assembly 160. The two brackets 202 can be spaced apart from each other along the orientation of the first side 113 and the second side 114 of the main body 110 of the cleaning device or along the orientation of the fifth side 117 and the sixth side 118 of the main body 110 of the cleaning device. The roller 201 is rotatably mounted between the two brackets 202 so that, when the first impact protection element 200 comes into contact with an object, the roller 201 can generate rolling friction with the contact surface.

[0144] In some embodiments, the cleaning device 1000 further comprises a feed assembly 180. When the cleaning device 1000 moves within the target area 100, the force exerted on the cleaning device 1000 may include the driving force exerted on the cleaning device 1000. The feed assembly 180 of the cleaning device 1000 may be located on one of the sides of the traveling mechanism 190 facing the sixth side 118 or, alternatively, on the edge side of the traveling mechanism 190. The feed assembly 180 may be spaced apart from the traveling mechanism 190 or arranged in an overlapping configuration with the traveling mechanism 190. The feed assembly 180 serves to drive the cleaning device 1000 to move within the target area 100.When the cleaning device 1000 is located at the liquid surface within the target area 100 or suspended at a certain depth in the liquid, the third drive element 182 can drive a stream of water into the feed assembly 180 and spray it out of the first liquid outlet opening 181 to propel the cleaning device 1000 into motion. The feed assembly 180 can be used to regulate the magnitude and direction of the driving force exerted on the cleaning device 1000. The feed assembly 180 can comprise various structures that can provide a driving force. For example, the feed assembly 180 can be a propeller. By rotating the propeller, the cleaning device 1000 can receive a driving force.Under the influence of the driving force, the cleaning device 1000 can move on the liquid surface of the target area 100 or move suspended at a certain depth in the liquid.

[0145] In some embodiments, the cleaning device 1000 can comprise two feed assemblies 180, one feed assembly 180 being arranged on one side of the main body 110 of the cleaning device and the other feed assembly 180 being arranged on the other side of the main body 110 of the cleaning device. If a bend or reversal is required, this can be achieved by adjusting the power or direction of the two feed assemblies 180.When the cleaning device 1000 moves in a liquid, the cleaning device 1000 can independently regulate the performance of the feed assemblies 180 on the two sides of the main body 110 of the cleaning device in order to adjust the speed at which the liquid pushed by the feed assemblies 180 on the two sides of the main body 110 of the cleaning device moves in a predetermined direction, thereby enabling the cleaning device 1000 to bend.

[0146] In some embodiments, such as in Fig. As shown in Figure 20a, the feed assembly 180 comprises a first liquid outlet opening 181 and a third drive element 182. The feed assembly 180 is located on the side of the main body 110 of the cleaning device. The first liquid outlet opening 181 is oriented towards the rear of the main body 110 of the cleaning device. The third drive element 182 propels the water flow to be sprayed out of the first liquid outlet opening 181, thereby driving the cleaning device 1000 into motion.

[0147] Similar to the second auxiliary cleaning assembly 160, the third drive element 182 can also include a second impeller 1821 and a second drive motor 1822. Further details regarding the second impeller 1821 and the second drive motor 1822 can be found in the preceding description of the first impeller 1621 and the first drive motor 1622.

[0148] In some embodiments, the feed assembly 180 can be connected to the water spray element 161. The cleaning device 1000 further comprises a connecting assembly 184. The feed assembly 180 also includes a second liquid outlet opening 183. The second liquid outlet opening 183 is connected via the connecting assembly 184 to the water spray element 161 of the second auxiliary cleaning assembly 160, thereby establishing a connection between the feed assembly 180 and the water spray element 161. The first liquid outlet opening 181 is located at one end of the feed assembly 180 opposite the nozzle 1611. The third drive element 182 propels the water flow to flow into the first liquid outlet opening 181, to flow successively through the feed assembly 180, the connecting assembly 184 and the water spray element 161, and to be sprayed out of the nozzle 1611.

[0149] The connecting assembly 184 connects the second liquid outlet opening 183 of the feed assembly 180 and the water spray element 161, thus establishing a sequential connection between the feed assembly 180, the connecting assembly 184, and the second auxiliary cleaning assembly 160. In some embodiments, the second drive element 162 of the second auxiliary cleaning assembly 160 and the third drive element 182 of the feed assembly 180 can be the same drive element. Of course, the second drive element 162 of the second auxiliary cleaning assembly 160 and the third drive element 182 of the feed assembly 180 can also be two separate drive elements.If the second drive element 162 and the third drive element 182 are the same drive element, the drive element can be located inside the feed assembly 180, inside the connecting assembly 184, inside the second auxiliary cleaning assembly 160, at the connection point between the feed assembly 180 and the connecting assembly 184, at the connection point between the connecting assembly 184 and the second auxiliary cleaning assembly 160, at an end of the second auxiliary cleaning assembly 160 facing away from the connecting assembly 184, or at an end of the feed assembly 180 facing away from the connecting assembly 184.The drive element rotates in a first direction to drive the water flow to flow into the first liquid outlet opening 181, to flow successively through the feed assembly 180, the connecting assembly 184 and the water spray element 161 and to be sprayed out of the nozzle 1611 to wash away waste on the target bottom wall 1012 and the target side wall 1011 and thereby drive the waste to move in the direction of the dirt suction opening 1111.The drive element can continue to rotate in a second direction to drive the water flow to flow into the nozzle 1611, successively through the water spray element 161, the connecting assembly 184 and the feed assembly 180, and then be sprayed out of the first liquid outlet opening 181 to drive the cleaning device 1000 to move on the liquid surface within the target area 100 or to move while suspended at a certain depth in the liquid, with the first and second directions being opposite to each other.If the second drive element 162 and the third drive element 182 are different drive elements, the third drive element 182 can drive the water flow from the first liquid outlet opening 181 into the feed assembly 180 and along the connecting assembly 184, while the second drive element 162 can drive the water flowing into the feed assembly 180 to flow to the water spray element 161 and be sprayed from the nozzle 1611. By arranging two different drive elements, not only is the flow rate of the water flow entering the first liquid outlet opening 181 increased, but the velocity and pressure of the water flow sprayed from the nozzle 1611 can also be improved.This improves the nozzle's flushing action on the area to be cleaned and its ability to convey debris towards the dirt suction opening 1111, thereby improving the cleaning effect of the cleaning device 1000; the second drive element 162 can further drive the water flow to flow from the nozzle 1611 into the water spray element 161 and along the water spray element 161 towards the connecting assembly 184, while the third drive element 182 can further drive the water flowing into the water spray element 161 to flow to the feed assembly 180 and be sprayed out of the first liquid outlet opening 181.It should be noted that when the cleaning device 1000 is located at the liquid surface of the target area 100, the nozzle 1611 of the water spray element 161 is below the liquid surface, allowing the water flow to pass through the nozzle 1611 into the water spray element 161 and be sprayed out of the first liquid outlet opening 181, thereby driving the cleaning device 1000 into motion.

[0150] In some embodiments, the second auxiliary cleaning assembly 160 extends with further reference to Fig. 4a to 4b are located along the front-to-back direction of the main body 110 of the cleaning device and are arranged on the same side of the cleaning device 1000 as the feed assembly 180. The feed assembly 180 and the second auxiliary cleaning assembly 160 share a common flow channel, thus eliminating the need for the connecting assembly 184 between the second auxiliary cleaning assembly 160 and the feed assembly 180. This reduces the structural complexity of the cleaning device 1000 while simultaneously improving the cleaning effect.

[0151] In some embodiments, the feed assembly 180 is further referred to Fig. 20d is arranged within the interior of the walking mechanism 190. In particular, it can be arranged between the first guide wheel 191 and the second guide wheel 192 on the same side, thereby reducing the structural complexity of the cleaning device 1000. The cover plate 195 of the walking mechanism 190 can have a partially perforated structure, allowing the feed assembly 180 to be observed from certain angles from the outside of the cover plate 195. The water flow from outside the cleaning device 1000 can enter the interior of the walking mechanism 190 through one side of at least one part of the perforated structure, and then flow through the feed assembly 180 provided in the interior of the walking mechanism 190 and flow out of the interior of the walking mechanism 190 through another side of at least one other part of the perforated structure, thus forming the entire fluid path of the feed assembly 180.In the exemplary embodiment, the third drive element 182 of the feed assembly 180 (consisting of the second impeller 1821 and the second drive motor 1822) can also be reversed, thereby forming two fluid paths in opposite directions.

[0152] In some embodiments, reference is made to Fig. 20e taken, Fig. Figure 20e shows a side view of a fifth embodiment of a cleaning device provided by the present disclosure. The feed assembly 180 comprises a third drive element 182, the interior of the traveling mechanism 190 further being provided with a base 1901. The base 1901 is located on a side of the feed assembly 180 facing the main body 110 of the cleaning device. The feed assembly 180 may be partially or completely enclosed in the space formed by the base 1901. The base 1901 may be attached to a side plate (not shown) on a side of the traveling mechanism 190 facing the main body 110 of the cleaning device, but is not limited to this. In some embodiments, reference is made to Fig. 20f taken, Fig. Figure 20f shows a side view of a sixth embodiment of a cleaning device provided by the present disclosure. The cleaning device 1000 further comprises a flow channel blocking plate 1902, which is arranged on a side of the feed assembly 180 facing away from the main body 110 of the cleaning device. The flow channel blocking plate 1902 can be fixedly or detachably connected to the base 1901 and, together with the base 1901, form at least part of the fluid channel of the feed assembly 180. The flow channel blocking plate 1902 can be arranged on a side of the cover plate 195 facing the main body 110 of the cleaning device. When the cover plate 195 covers the traveling mechanism 190, the base 1901 and the flow channel blocking plate 1902 together form at least part of the fluid channel of the feed assembly 180.After removing the cover plate 195, the base 1901 and the feed assembly 180 are accessible, allowing the user to clean the feed assembly 180. Defining the flow channel of the feed assembly 180 restricts the direction of water flow through the feed assembly, thereby improving the operating efficiency of the feed assembly 180.

[0153] In some embodiments, an additional plate 1951 can be provided on a side surface of the cover plate 195 facing away from the main body 110 of the cleaning device. Both ends of the additional plate 1951 are connected to the cover plate 195; for example, one end of the additional plate 1951 is attached to the upper edge of the cover plate 195 and the other end to the lower edge of the cover plate 195. The additional plate 1951 can be formed integrally with the cover plate 195 or detachably connected to it. Along the longitudinal direction of the cover plate 195, the additional plate 1951 can either completely cover the surface of the cover plate 195 or be embedded in the cover plate 195. Furthermore, the additional plate 1951 can be arranged opposite the feed assembly 180 to shield and protect the feed assembly 180.The additional plate 1951 can take any shape, including but not limited to circular, triangular or polygonal shapes; the structure of the additional plate 1951 can be solid or partially perforated, which is not limited here.

[0154] In some embodiments, the additional plate 1951 may be further provided with one or more protective strips 19512. The protective strip 19512 projects from the additional plate 1951 and may be positioned at any easily accessible point on the additional plate 1951 to prevent scratching of its surface. The length of the protective strip 19512 may extend along the length of the additional plate 1951 across its entire width. The protective strip 19512 may be made of any abrasion-resistant material, without limitation.

[0155] In some embodiments, the additional plate 1951 further comprises one or more second impact protection elements 19511, which project partially or completely beyond the additional plate 1951, i.e., project partially or completely beyond the lateral main contour of the main body 110 of the cleaning device, in order to prevent the additional plate 1951 from being scratched. If a first impact protection element 200 is provided on the side of the cover plate 195 facing away from the traveling mechanism 190, the horizontal distance by which the second impact protection element 19511 projects beyond the main contour of the main body 110 of the cleaning device is less than or equal to the horizontal distance by which the first impact protection element 200 projects beyond the main contour of the main body 110 of the cleaning device.This prevents the second impact protection element 19511 from protruding excessively, thereby reducing the likelihood of concentrated impacts and minimizing the potential for damage to the second impact protection element 19511. The structure of the second impact protection element 19511 may resemble that of the first impact protection element 200, while its dimensions may differ from those of the first impact protection element 200, which is not limited here. In a vertical direction, the second impact protection element 19511 may be positioned in the additional plate 1951 near the fifth side 117. This reduces the likelihood of the additional plate 1951 being scratched if the target area 100 has inclined boundaries, such as curved boundaries.

[0156] In some embodiments, the cleaning device comprises 1000 with further reference to Fig. 20a further includes a reduction element 185. The reduction element 185 is arranged on the feed assembly 180 to reduce the movement speed of the cleaning device 1000. In some embodiments, the reduction element 185 can be connected to the second drive motor 1822 of the third drive element 182 of the feed assembly 180. The reduction element 185 serves to reduce the power of the third drive element 182 when the cleaning device 1000 cleans the liquid surface of the target area 100. This reduces the driving force of the third drive unit 182, thereby reducing the flow rate of the water stream entering the feed assembly 180 and decreasing the speed and thrust of the water stream sprayed from the first liquid outlet opening 181, thus reducing the movement speed of the cleaning device 1000.This prevents, on the one hand, water from splashing onto the shore area of ​​the target area 100 due to excessive splashing on the liquid surface, and on the other hand, it also prevents the waste from being pushed away from the working area of ​​the dirt suction opening 1111 due to an excessively high movement speed of the cleaning device 1000 on the liquid surface, thereby improving the cleaning effect of the cleaning device 1000.

[0157] In some embodiments, the reduction element 185 can be configured as a reduction stop plate. The reduction stop plate can be arranged at the first liquid outlet opening 181. The reduction stop plate regulates the flow range of the first liquid outlet opening 181 in order to adjust the velocity and thrust of the water stream sprayed from the first liquid outlet opening 181 and thereby adjust the movement speed of the cleaning device 1000.

[0158] In some embodiments, the reduction element 185 comprises a reduction gear, a worm gear, a cycloidal reduction gear or a harmonic drive reduction gear, but is not limited to these.

[0159] In some embodiments, reference is made to Fig. 21, Fig. 22 to Fig. 23 taken, Fig. Figure 21 shows a sectional view of another embodiment of a cleaning device provided by the present disclosure; Fig. 22 an enlarged view of section B according to Fig. 21; and Fig. Figure 23 shows a schematic diagram of the structure of an embodiment of a dust box of a cleaning device provided by the present disclosure. The cleaning device 1000 further comprises a main drive pump 210. The dust box 120 is provided with a notch 121. The notch 121 can be connected to the dirt intake opening 1111, for example, to the first dirt intake opening 1111a. The dust box 120 has a filter area 123. The first receiving chamber 111 is provided with a first liquid drain opening 1112, wherein the dirt intake opening 1111, the dust box 120, and the first liquid drain opening 1112 are in fluid communication. The main drive pump 210 drives the water flow to enter the dust box 120 from the dirt intake opening 1111, to flow through the filter surface 123 of the dust box 120 and then to flow out of the first receiving chamber 111 through the first liquid drain opening 1112.The water flow entering the dust box 120 from the dirt intake opening 1111 includes waste that is retained in the dust box 120 by the filtering action of the dust box 120, while the liquid reaches the first liquid drain opening 1112 through the filter surface 123 of the dust box 120 to be discharged from the first receiving chamber 111.

[0160] The main drive pump 210 generates a suction force, creating a vacuum zone near the first dirt intake opening 1111a and the notch 121. This draws liquids and waste from the working area of ​​the first dirt intake opening 1111a into the dust box 120. Since the dust box 120 has a filter surface 123, liquids can flow through the filter surface 123 towards the first liquid drain opening 1112 to be discharged from the first receiving chamber 111, while waste remains in the dust box 120, thus separating waste and liquids. The first auxiliary cleaning assembly 150 directs the waste on the liquid surface and / or the waste suspended in the liquid of the target area 100 to the working area of ​​the dirt intake opening 1111.The operating principle according to which the main drive pump 210 drives the water flow into the dust box 120 and discharges liquids can be seen from the aforementioned embodiments and is not explained again here.

[0161] The filter area 123 comprises a first filter area 1231, a second filter area 1232, a third filter area 1233, and a fourth filter area 1234; optionally, it includes a fifth filter area 1235. The first filter area 1231, the second filter area 1232, the fourth filter area 1234, and the third filter area 1233 are connected end to end in succession to form the side filter section of the dust box 120. The fifth filter area 1235 forms the lower filter section of the dust box 120.Specifically, the first filter surface 1231 is located on the side of the filter surface 123 facing the first side 113 of the main body 110 of the cleaning device; the second filter surface 1232 is located on the side of the filter surface 123 facing the third side 115 of the main body 110 of the cleaning device; the third filter surface 1233 is located on the side of the filter surface 123 facing the fourth side 116 of the main body 110 of the cleaning device; and the fourth filter surface 1234 is located on the side of the filter surface 123 facing the second side 114 of the main body 110 of the cleaning device. The notch 121 is formed in the first filter surface 1231. The fourth filter surface 1234 faces the main drive pump 210.

[0162] The dust box 120 further comprises a box opening 122 located on the top of the dust box 120. The box opening 122 can be in contact with the notch 121, but alternatively, it can also be spaced apart from the notch 121. On the sixth side 118 of the main body 110 of the cleaning device, a second opening 118a is provided, corresponding to the box opening 122. The cleaning device 1000 further comprises a dust box cover 124. The dust box cover 124 is arranged on the main body 110 of the cleaning device to open and close the second opening 118a and the box opening 122. After completion of the cleaning operations of the cleaning device 1000, the dust box cover 124 can be opened to remove and clean the dust box 120.By arranging a fifth filter surface 1235 at the bottom of the dust box 120, a rinsing tool dispensing liquids, such as a water gun, when used to clean the dust box 120, can more smoothly flush out the waste at the bottom of the dust box 120, thereby improving the cleaning efficiency and effect of the dust box 120.

[0163] The notch 121 of the dust box 120 is located on the side of the first filter surface 1231 facing the first dirt intake opening 1111a. Optionally, the first filter surface 1231 has two notches 121, one for connection to the first dirt intake opening 1111a and the other for connection to the second dirt intake opening 1111b via a further connecting part. Optionally, the first filter surface 1231 has a notch 121 for connection to the first dirt intake opening 1111a; the fifth filter surface 1235 also has a notch 121, located on the side of the fifth filter surface 1235 facing the first filter surface 1231, to establish a connection to the second dirt intake opening 1111b. The fourth filter surface 1234 faces the main drive pump 210, with the liquid inlet opening 211 of the main drive pump 210 being in fluid communication with the first liquid outlet opening 1112.By orienting the fourth filter surface 1234, located opposite the first filter surface 1231, towards the main drive pump 210, the notch 121 faces the main drive pump 210. The negative pressure increases progressively from the notch 121 towards the fourth filter surface 1234. Therefore, the liquid entering the dust box 120 flows more easily to the fourth filter surface 1234 under the influence of the negative pressure, which allows for faster outflow from the first liquid drain opening 1112 and improves the filter efficiency of the dust box 120.

[0164] A gap exists between the dust box 120 and the inner wall of the first receiving chamber 111. When the main drive pump 210 is in operation, a negative pressure is created throughout the dust box 120. However, since the fourth filter surface 1234 faces the main drive pump 210, most of the liquid entering the dust box 120 flows directly through the fourth filter surface 1234 to the first liquid drain opening 1112 and is discharged. The residual liquid flows through the first filter surface 1231, the second filter surface 1232 and the third filter surface 1233 into the gap between the filter surface 123 traversed and the inner wall of the first receiving chamber 111, and then flows through the gap between the filter surface 123 traversed and the inner wall of the first receiving chamber 111 into the gap between the fourth filter surface 1234 and the inner wall of the first receiving chamber 111, and is then discharged via the first liquid outlet opening 1112.

[0165] Since the fourth filter surface 1234 faces the main drive pump 210, most of the liquid entering the dust box 120 passes through the fourth filter surface 1234. This makes the fourth filter surface 1234 more susceptible to clogging by debris. If the fourth filter surface 1234 becomes clogged, the liquid entering the dust box 120 can still flow through the first filter surface 1231, second filter surface 1232, and third filter surface 1233 toward the first liquid drain opening 1112. Due to the arrangement of the first filter surface 1231, the second filter surface 1232, and the third filter surface 1233, the liquid flowing into the dust box 120 can still flow smoothly through the first filter surface 1231, the second filter surface 1232, and the third filter surface even if the fourth filter surface 1234 becomes clogged. This prevents liquid from accumulating in the dust box 120 due to a blockage.

[0166] To improve the filtration efficiency of the dust box 120 and ensure that, even if the fourth filter surface 1234 becomes clogged, the liquid flowing into the dust box 120 can still drain smoothly through the first filter surface 1231, the second filter surface 1232, and the third filter surface, the mesh count of the filter mesh on the first filter surface 1231, the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 can be optimized. The mesh count refers to the number of holes per inch (25.4 mm) on the filter mesh. The larger the mesh count, the higher the filtration efficiency, allowing smaller dirt particles to be captured and thus achieving superior filtration performance.

[0167] In some embodiments, the mesh count of the filter mesh of the first filter area 1231 can range from 25 to 35 meshes, while the mesh counts of the filter meshes of the second filter area 1232, the third filter area 1233, and the fourth filter area 1234 can range from 50 to 120 meshes. For example, the mesh count of the filter mesh of the first filter area 1231 can be 30 meshes, but is not limited to this; the mesh counts of the filter meshes of the second filter area 1232, the third filter area 1233, and the fourth filter area 1234 can be 60 meshes, 100 meshes, etc., but are not limited to this. By adjusting the mesh size of the filter mesh of the first filter area 1231 in the range of 25 to 35 meshes and the mesh sizes of the filter mesh of the second filter area 1232, the third filter area 1233 and the fourth filter area 1234 in the range of 50 to 120 meshes, i.e.Since the mesh size of the first filter surface 1231 is smaller than that of the other filter surfaces 123, not only can the filtering effect and efficiency be ensured, but it can also be guaranteed that the liquid flowing into the dust box 120 can still flow smoothly through the first filter surface 1231 even if the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 are clogged. As described above, the majority of the dust-laden liquid naturally flows through the fourth filter surface 1234 towards the first liquid drain opening 1112. Alternatively, the mesh sizes of the filter mesh of the first filter surface 1231, the second filter surface 1232, and the third filter surface 1233 can all be set so that they are smaller than that of the fourth filter surface 1234.This ensures that the entire flow of working water remains unimpeded even if the fourth filter surface 1234 is clogged.

[0168] In one embodiment, each filter surface 123 comprises an inner filter mesh 123a and an outer filter mesh 123b. The first filter surface 1231, the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 each comprise an inner filter mesh 123a and an outer filter mesh 123b. It is possible for only one dust box 120 to be arranged, wherein the inner filter mesh 123a and the outer filter mesh 123b are stacked within the same dust box 120. Alternatively, two dust boxes 120 can be provided, namely, the dust box 120 comprises an inner dust box 120 and an outer dust box 120, wherein the inner dust box 120 is inserted into the outer dust box 120. The inner filter mesh 123a is arranged on the inner dust box 120, while the outer filter mesh 123b is arranged on the outer dust box 120.In some embodiments, it is possible for each filter area 123 to comprise only a single layer of a filter mesh. Of course, each filter area 123 can also comprise two or more layers of a filter mesh. For example, each filter area 123 can comprise three layers of a filter mesh, four layers of a filter mesh, five layers of a filter mesh, six layers of a filter mesh, eight layers of a filter mesh, etc., but is not limited to this.

[0169] The embodiment of the present disclosure takes an example in which each filter surface 123 comprises an inner filter mesh 123a and an outer filter mesh 123b. By arranging the inner filter mesh 123a and the outer filter mesh 123b, the dust box 120 enables double filtration of waste. In particular, after the first filtration by the inner filter mesh 123a, a second filtration by the outer filter mesh 123b is carried out, thereby improving the filtration efficiency.

[0170] The filter area 123 can be a conventional filter mesh, such as woven or textile materials, but is not limited to this.

[0171] The filter surface 123 has through-holes 123c that facilitate the drainage of liquids within the dust box 120. These through-holes 123c can be formed as spaces between fibers on the filter surface 123. Alternatively, they can be produced by processes such as punching, cutting, hot melting, or laser engraving on flexible or rigid sheet materials such as plastic or metal.

[0172] To improve the filtering efficiency of the dust box 120 and to ensure that the filter surfaces 123 do not become completely clogged, this disclosure optimizes the filtration efficiency of the first filter surface 1231, the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234. It should be noted that a higher filtration efficiency of the filter surface 123 allows for the filtering of finer dirt particles and thus improves the filtering efficiency. For example, a smaller flow area of ​​the through-hole 123c on the filter surface 123 corresponds to a higher filtration efficiency of the filter surface 123, allowing finer dirt particles to be filtered and improving the filtering efficiency. Conversely, the filtration efficiency of the filter surface 123 is lower if the flow area of ​​the through-hole 123c on the filter surface 123 is larger, allowing larger dirt particles to be filtered, which results in a poorer filtering efficiency.Of course, the method for measuring the filtration efficiency of the filter area 123 is not limited to this approach; other methods can also be used, provided that they ensure that with a higher filtration efficiency of the filter area 123 finer dirt particles can be filtered and the filtering effect is improved.

[0173] In some embodiments, the filtration grades of the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 are all greater than that of the first filter surface 1231. Furthermore, the filtration grades of the first filter surface 1231, the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 are all different from one another. The filtration grades of the inner filter mesh 123a of the first filter surface 1231, the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 can each correspond to the filtration grades of the outer filter mesh 123b of the first filter surface 1231, the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234.Alternatively, the filtration grades of the outer filter mesh 123b of the first filter surface 1231, the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 can each be greater than the filtration grades of the inner filter mesh 123a of the first filter surface 1231, the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234, so that if the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 are clogged, the liquid flowing into the dust box 120 can still flow smoothly through the first filter surface 1231. In some embodiments, the filtration grades of the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 are all greater than the filtration grade of the first filter surface 1231.Furthermore, the filtration efficiency of the inner filter mesh 123a of the first filter surface 1231 is equal to that of the corresponding outer filter mesh 123b, with the filtration efficiencies of the inner filter mesh 123a of the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 each being lower than the filtration efficiency of the corresponding outer filter mesh 123b. That is, the filtration efficiencies of the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 are all greater than the filtration efficiency of the first filter surface 1231.Furthermore, the filtration efficiency of the inner filter mesh 123a of the first filter surface 1231 is equal to that of the outer filter mesh 123b of the first filter surface 1231, wherein the filtration efficiency of the inner filter mesh 123a of the second filter surface 1232, the third filter surface 1233 and the fourth filter surface 1234 is each lower than the filtration efficiency of the outer filter mesh 123b of the second filter surface 1232, the third filter surface 1233 and the fourth filter surface 1234.

[0174] In some embodiments, the filtration efficiency of the outer filter mesh 123b of the first filter surface 1231 is greater than the filtration efficiency of the inner filter mesh 123a of the first filter surface 1231, while the filtration efficiency of the outer filter mesh 123b of the remaining filter surfaces is greater than or equal to the filtration efficiency of the corresponding inner filter mesh 123a.

[0175] In some embodiments, the filtration grades of the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 are all greater than the filtration grade of the first filter surface 1231. Furthermore, the filtration grades of the outer filter mesh 123b of the first filter surface 1231, the second filter surface 1232, and the third filter surface 1233 are each equal to the filtration grades of the inner filter mesh 123a of the first filter surface 1231, the second filter surface 1232, and the third filter surface 1233, wherein the filtration grade of the outer filter mesh 123b of the fourth filter surface 1234 is greater than that of the inner filter mesh 123a of the fourth filter surface 1234.

[0176] With regard to the dust box 120, in one embodiment, as in Fig. 38a and Fig. As shown in Figure 38b, the dust box is arranged within the first receiving chamber 111, which has a first liquid drain opening 1112. The side walls of the dust box 120 comprise at least a first side wall, a second side wall, and a third side wall, which are successively connected end to end, or a greater number of end-to-end connected side walls, the specific number of side walls being determined by the shape and dimensions of the first receiving chamber 111 in the actual product. For the sake of simplicity, the structure of the dust box 120 is described by means of an example comprising a first side wall, a second side wall, a third side wall, and a fourth side wall, which are connected end to end. Each side wall is provided with a filter mesh.The first side wall has at least one first filter mesh forming a first filter surface 1231; the second side wall includes at least one second filter mesh forming a second filter surface 1232; the third side wall includes at least one third filter mesh forming a third filter surface 1233; the fourth side wall includes at least one fourth filter mesh forming a fourth filter surface 1234. The side walls of the dust box, all filter surfaces, and the bottom of the dust box together enclose a first cavity 1214. The dust box has a water inlet for connecting the dirt suction opening 1111 of the main body of the cleaning device to the inner cavity of the dust box.The liquid is filtered within the dust box, with the filtered liquid being drawn into the suction assembly via the first liquid drain opening 1112 before being expelled from the cleaning device through the second liquid drain opening 212 on the main body of the cleaning device, thus achieving the cleaning function for waste in or on water surfaces. The number of filter meshes on each filter area can be one, two, three, or more, or a greater number, with no specific limit, and the selection depends on the actual requirements.

[0177] As in Fig. As shown in Figure 38c, the water inlet part of the dust box comprises at least one second inlet 1212, which connects the first cavity 1214 of the dust box to the dirt suction opening 1111. In one embodiment, the third filter surface 1233 and the first liquid drain opening 1112 are arranged close to, opposite, or adjacent to each other, so that the liquid within the dust box flows quickly through the third filter surface 1233, is drawn into the suction assembly via the first liquid drain opening 1112, and can then be discharged from the cleaning device via the second liquid drain opening 212.

[0178] In one embodiment, the filtration grades of the first, second, third, and fourth filter surfaces are identical, meaning that the filter openings on the filter meshes have the same dimensions on all filter surfaces. In another embodiment, the filtration grade of the third filter surface is lower than that of the first, second, and fourth filter surfaces, whereby the third filter surface is used for coarse filtration to filter larger particles or waste; the remaining three filter surfaces perform fine filtration to filter smaller particles or waste. Since the second liquid drain opening 212 is located at the top of the main body 100 of the cleaning device, liquid flows continuously out of the second liquid drain opening 212.This portion of the liquid generates a backpressure against the cleaning device, allowing the base of the cleaning device to maintain close contact with the walls or side walls of the basin during movement. The third filter surface serves for coarse filtration. If other filter surfaces are clogged, the liquid in the dust box 120 can still flow smoothly through the third filter surface under the action of the component. It then enters the gap between the dust box 120 and the first receiving chamber 111 before being suctioned out by the suction assembly via the first liquid drain opening 1112. This ensures that the suction assembly receives the necessary water supply, allowing the cleaning device to continue moving along or climbing the side walls or slopes even if other filter surfaces are clogged, thus preventing the cleaning device from falling off side walls or walls.Alternatively, in another embodiment, part of the third filter mesh on the third filter surface 1233 serves as a coarse filter, while another part of the third filter mesh serves as a fine filter. Similarly, if the third filter mesh for fine filtration becomes clogged, the liquid in the dust box 120, under the action of the suction assembly, also passes through the portion of the third filter mesh for coarse filtration into the gap between the dust box 120 and the first receiving chamber 111, where it is extracted by the suction assembly. In other embodiments, the filtration grades of the various filter meshes can be identical or different; no specific restriction is imposed here, and the filtration grade of each filter mesh can be selected according to the actual requirements.

[0179] For example, the first and third filter surfaces are for coarse filtration and have an identical filtration level, and the second and fourth filter surfaces are for fine filtration and have an identical filtration level. Alternatively, part or all of the first filter mesh on the first filter surface 1231 is configured for coarse filtration; part or all of the third filter mesh on the third filter surface 1233 is configured for coarse filtration; and the filter mesh on the second filter surface 1232 and the fourth filter surface 1234 is configured for fine filtration; or the filter mesh on the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 is configured for fine filtration.

[0180] In one embodiment as in Fig. As shown in Figure 38c, the water inlet section of the dust box is located at the bottom of the dust box and comprises a first extension section 1210, which projects inwards towards the first cavity 1214 of the dust box 120. The first extension section 1210 has a hollow channel with open ends at both ends, the opening of the outer end of the hollow channel serving as a second inlet 1212, which is connected to the second dirt suction opening 1111b for cleaning the bottom or side wall of the basin. The opening of the inner end of the hollow channel is connected to the first cavity 1214 of the dust box 120. The hollow channel directs the liquid entering via the second dirt suction opening 1111b directly into the dust box, thus ensuring a smooth flow of the basin liquid into the dust box.

[0181] When the cleaning device cleans the bottom wall or side wall of the basin underwater, the hollow channel of the first extension part 1210 or the second inlet 1212 must be open to allow the liquid to flow from the basin into the dust box. However, under certain circumstances, it may not be necessary for the hollow channel to be open or for the second inlet 1212 to be connected to the first cavity 1214 of the dust box 120. As shown in Fig. As shown in Figure 38c, a movable first shielding element 1213 is provided on the first extension section 1210 or the inner wall of the dust box. The first shielding element 1213 moves within the first cavity 1214 of the dust box 120 to either shield the opening of the inner end of the hollow channel or to open the opening of the inner end of the hollow channel. This establishes or breaks the connection between the second inlet 1212 and the first cavity 1214 of the dust box 120. Depending on the operational requirements, the first shielding element 1213 can shield either the opening of the inner end of the first extension section 1210 or the opening of the outer end of the first extension section 1210.

[0182] To enable the first shielding element 1213 to close or open the second inlet 1212, a drive assembly can be configured to drive the first shielding element 1213 into motion. For example, if a connection between the second inlet 1212 and the first cavity 1214 of the dust box is required for cleaning the bottom or side walls of a basin, the control unit directs the drive assembly to move the first shielding element 1213, thereby opening the second inlet 1212 or the cavity. Conversely, if no connection between the second inlet 1212 and the first cavity 1214 of the dust box is required, the control unit directs the drive assembly to move the first shielding element, thereby closing the second inlet 1212 or the cavity.Alternatively, the first shielding element can be made of a soft rubber material to form a soft rubber sealing element. When the suction assembly is activated, a vacuum is created within the first cavity 1214 of the dust box 120. This vacuum causes the soft rubber sealing element to open, allowing the liquid from the basin to enter the dust box via the second inlet 1212. As shown in . Fig. As shown in Figure 38k, one end of the soft rubber sealing element is attached to the wall of the dust box or arranged on the first extension part 1210.

[0183] In an example where the soft rubber sealing element is arranged on the first extension part 1210, as in Fig. As shown in Figure 38k, the opening of the inner end of the first extension section 1210 has a first outer edge 12101. The side wall of the first extension section 1210, which is connected to the first outer edge 12101, serves as the first outer wall body 12102. The first outer edge 12101 can be formed on or attached to the side wall of the dust box. Several connecting columns are provided at one end of the soft rubber sealing element. One end of the soft rubber sealing element overlaps the first outer edge 12101, with the several connecting columns extending downwards through the first outer edge 12101. A limiting cap 12131 is arranged at the end section of each connecting column to limit one end of the soft rubber sealing element at the first extension section 1210. Under the action of the suction assembly, the other end of the soft rubber sealing element rotates to open the hollow channel or the second inlet 1212.When the vacuum in the suction assembly ceases or under the force of gravity of the solution in the dust box (as mentioned below), the other end of the soft rubber sealing element rotates again to close the hollow channel or the second inlet 1212.

[0184] As in Fig. 38 years old or Fig. As shown in Figure 39e, the first extension section 1210 is arranged near or adjacent to the first side wall. To facilitate the installation of the limiting cap 12131 on the connecting column, an inwardly recessed first recess area is formed on the outer wall of the first side wall of the dust box 120. This exposes both the first outer edge 12101 and the first outer wall body 12102 of the first extension section 1210. This arrangement allows the connecting column to project beyond the dust box after passing over the first outer edge 12101, thus facilitating the installation of the limiting cap on the connecting column from the outside of the dust box. The first outer wall body 12102 of the first extension section 1210 can be formed as part of the side wall of the dust box; or the first outer wall body 12102 of the first extension section 1210 can be detachably attached to the side wall of the dust box.Alternatively, the entire first extension part 1210 can be designed as a substructure of the dust box on the dust box.

[0185] As in Fig. As shown in Figure 38h, the main body of the cleaning device comprises a dust chamber 1010. The dust chamber 1010 has a second cavity 1014, which can be the first receiving chamber 111 or part of the first receiving chamber. The dust box 120 is housed in the second cavity 1014 of the dust chamber 1010. The dust chamber 1010 includes a dust chamber water inlet section, which has a second water inlet opening 10131. The second water inlet opening 10131 penetrates the housing of the main body of the cleaning device to connect to the external environment and serves as a second dirt suction opening 1111b. It should be noted that the dust chamber 1010 can be an independent structure installed within the main body. Alternatively, the dust chamber 1010 can be formed on the main body and directly serve as a substructure of the main body.

[0186] As in Fig. As shown in Figure 38j, if the water inlet part of the dust box comprises a first extension part 1210, a second extension part 1013 is provided at a corresponding location on the bottom of the dust chamber 1010 so that the liquid from the basin can enter the dust box 120 smoothly. The second extension part 1013 comprises a hollow channel with open ends. The opening at the outer end of the second extension part 1013 serves as a second dirt suction opening 1111b.The second extension section 1013 projects into the first extension section 1210, with the opening of the inner end of the second extension section 1013 being higher than or flush with the opening of the inner end of the first extension section 1210. This allows the liquid from the basin to enter the dust box directly via the second extension section 1013 and align with the water flow of the filtered liquid, thus ensuring the entry of liquid into the dust box 120. Alternatively, the opening of the inner end of the second extension section 1013 can be lower than the opening of the inner end of the first extension section 1210.However, along the path where the liquid successively enters the dust box through the openings of the inner end of the second extension part 1013 and the first extension part 1210, a gap is formed between the two because the opening of the inner end of the second extension part 1013 is lower than the opening of the inner end of the first extension part 1210. Therefore, some of the liquid inevitably flows into this gap without being filtered through the first cavity 1214 of the dust box and enters the dust chamber directly, thus impairing the filtering effect during cleaning. Alternatively, a sealing structure is provided at the first gap to prevent any liquid from flowing into it, thereby ensuring that all the liquid entering the second extension part 1013 enters the dust box.

[0187] As in Fig. 38i, Fig. 38g and Fig. As shown in Figure 41, the aforementioned first liquid drain opening 1112 is located on the side wall of the dust chamber 1010. The first liquid drain opening 1112 is connected to the main drive pump 210 of the suction assembly. Filtered water from the dust box enters the dust chamber 1010, then flows through the first liquid drain opening 1112 on the dust chamber 1010 into the suction assembly, and is finally discharged from the cleaning device via the second liquid drain opening 212. The suction assembly is housed in the main body but is located outside the dust chamber 1010 and is positioned in the main body near or next to the first liquid drain opening 1112.

[0188] As in Fig. As shown in Figure 38a, the dust box has a box opening 122 on its upper side. Similarly, the dust chamber 1010 has an opening on its upper side to facilitate inserting the dust box into or removing the dust box from the dust chamber 1010. As shown in Fig. 38e and Fig. As shown in Figure 38d, the housing of the main body of the cleaning device has an access opening. A dust box cover 124 is attached to the housing and is pivotably or slidably arranged at the access opening on the housing to cover or open the access opening so that the dust box can be removed from the dust chamber 1010 or the main body.

[0189] In one embodiment, the dust box 120 is designed to facilitate insertion of the dust box 120 into and removal from the dust chamber 1010 of the main body, as shown in Fig. 38a and Fig. Figure 38b shows a movable second handle 252. The second handle 252 has an operating state and a stowed state; when inserting or removing the dust box 120 is not required, the second handle 252 remains in the stowed state. As shown in Fig. As shown in Figure 38a, the second handle 252 is stowed in the dust box 120 and does not protrude beyond the upper opening of the dust box or the access opening. When it is necessary to insert or remove the dust box, the second handle 252 is rotated so that it protrudes from the upper opening or access opening of the dust box in order to lift the dust box, thereby enabling its insertion or removal. In an embodiment as shown in Fig. As shown in Figure 38b, both ends of the second handle 252 are each attached to the inner side walls of the dust box via a connecting shaft 12382. Preferably, the two connecting shafts 12382 are each arranged on two opposite inner walls of the dust box. For example, the two connecting shafts 12382 are attached to the second and fourth side walls, with the third side wall facing the first liquid drain opening 1112. Alternatively, the second handle 252 can be attached to the side walls of the dust box via other rotatable or pivotable connection methods, which are not limited here.

[0190] To ensure that during the cleaning process of the cleaning device, when the handle is in its stowed position, the second handle 252 does not obstruct the flow of liquid through the third filter surface 1233 on the third side wall, the second handle 252, when stowed, is located above the second filter surface 1232, the third filter surface 1233, the fourth filter surface 1234, and the first filter surface 1231. Therefore, the water flow of the liquid filtered in the dust box does not pass through the second handle 252, and the second handle 252 does not obstruct the flow of liquid to the various filter surfaces.

[0191] To ensure that, when the second handle 252 is stowed, the dust box provides more stable support for the second handle 252 and that, during the cleaning process of the cleaning device, the second handle 252 does not wobble or only wobbles slightly, as described in Fig. As shown in Figure 38b, a first stepped surface 12381 is provided on each of the two opposing inner walls of the dust box. The second handle 252 comprises a first connecting section 2521, a second connecting section 2522, and a lifting section 2523 that connects the first connecting section 2521 and the second connecting section 2522. The first connecting section 2521 and the second connecting section 2522 are each connected to the inner wall of the dust box 120 via a connecting shaft 12382 and each abut a first stepped surface to securely attach and support the second handle 252. The lifting section 2523 remains suspended in the inner cavity of the dust box, allowing the user to easily grasp the lifting section 2523 to lift the handle and remove or insert the dust box.

[0192] When the second handle 252 is in its stowed position and the dust box lid 124 covers the access opening, the inner wall of the dust box lid 124 can approach, abut, or touch the top of the second handle 252, thus limiting its position. This ensures that the second handle 252 remains stationary and does not wobble when stowed, due to the upper and lower limiting action of the dust box lid 124 and the first stage.

[0193] When the second handle 252 is in the operating state, the user rotates the second handle 252 when opening the dust box lid 124. At least part of the lifting section 2523 of the second handle 252 extends beyond the box opening 122 of the dust box 120 or even beyond the access opening of the housing of the main body of the cleaning device, which makes it easier for the user to lift the dust box and thus enables the function of removing and inserting the dust box.

[0194] As in Fig. As shown in Figure 38b, in one embodiment two first stepped surfaces 12381 are arranged on the inner walls of the second and fourth side walls, respectively. The lifting section 2523 of the second handle 252 is located near or next to the third side wall. To facilitate the user's grasp of the lifting section 2523, a second stepped surface 12383 is arranged on the inner wall of the third side wall of the dust box 120. Both ends of the second stepped surface 12383 are connected to one end of the adjacent first stepped surface 12381. A first gap exists between the lifting section 2523 and the second stepped surface 12383 in the direction from the first side wall to the third side wall. This gap makes it easier for the user to guide their hand through it to grasp the lifting section 2523 and remove the dust box.Optionally, the second stepped surface 12383 can be deeper than the lifting section 2523 to create a recess that allows the user's hand to be positioned below the underside of the lifting section 2523 in order to grasp it. Preferably, the second stepped surface 12383 and the first stepped surface are each located above the filter mesh on the respective side walls of the dust box, so that the arrangement of the second handle 252 does not impair the filtering function of the dust box.

[0195] In one embodiment, to facilitate identification of whether the dust box is correctly installed in the dust chamber 1010, a detection assembly is provided comprising a detection element and a sensor element, one of which is located on the dust box and the other on the dust chamber 1010 or the main body. When the dust box is installed in the dust chamber 1010 or the first receiving chamber 111, the detection element receives a signal from the sensor element indicating that the dust box is correctly installed in the dust chamber 1010. For example, the sensor element 1215 can be made of iron, while the detection element can be a Hall sensor. The Hall sensor detects the iron and thereby confirms that the dust box is correctly installed. As in Fig. As shown in Figure 38c, a mounting cavity 1216 is provided on the outer wall of the dust box, wherein either the detection element or the sensor element is arranged within the mounting cavity 1216. For example, the sensor element 1215 is arranged within the mounting cavity. In one embodiment, the outer wall of the third side wall of the dust box 120 is recessed inwards to form a mounting cavity in which either the sensor element or the detection element is installed. The mounting cavity 1216 is sealed by a sealing cover 120120. Of course, the mounting cavity can also be arranged on other side walls of the dust box.

[0196] In one embodiment, when the dust box 120 is installed inside the dust chamber 1010, a second gap exists between the bottom of the dust box and the bottom of the dust chamber 1010 to facilitate removal of the dust box from the dust chamber 1010. This prevents the formation of a water film between the bottom of the dust box and the bottom of the dust chamber 1010 due to the liquid in the second cavity 1014 of the dust chamber. This water film would otherwise generate adhesive forces that would make it difficult to separate the bottom of the dust box from the bottom of the dust chamber 1010 and would hinder removal of the dust box. By arranging this second gap, the bottom of the dust box remains without contact with the bottom of the dust chamber 1010.Even if the liquid is located in the second gap within the dust chamber 1010, no water film forms that would generate adhesive forces, thus facilitating the removal of the dust box from the dust chamber 1010. In one embodiment, for example, the bottom of the dust box has at least one downwardly extending projecting outer edge (not shown). The projecting outer edge contacts the bottom of the dust chamber 1010 to support the dust box, thereby creating the second gap between the bottom of the dust box and the bottom of the dust chamber 1010. The projecting outer edges can be provided in more than one number and are evenly distributed over the bottom of the dust box; alternatively, the projecting outer edge can be annular and surround the circumference of the bottom of the dust box. Alternatively, the projecting outer edge can be formed on the underside of the dust chamber 1010 and project upwards.

[0197] In one embodiment as in Fig. 38g and Fig. As shown in Figure 38i, a first liquid drain opening 1112 is provided on the side wall of the dust chamber 1010, facing the third side wall of the dust box. During the cleaning process of the cleaning device, the liquid in the basin flows successively through the second dirt suction opening 1111b, the second inlet 1212, the first cavity 1214 of the dust box, the second cavity of the dust chamber 1010, the first liquid drain opening 1112 and the suction assembly, and finally flows out through the second liquid drain opening 212 of the cleaning device to form the first water channel of the water flow.

[0198] To allow the liquid to drain quickly from the dust box when the cleaning device is lifted or pulled from the water surface, at least one first water outlet opening 1016 is provided on the side wall of the dust chamber 1010, as shown in Fig. Figure 39l shows that at least one second water drain opening 1113 is located at the bottom of the main body housing. The first water outlet opening 1016 and the second water drain opening 1113 are connected, with the first water outlet opening 1016 being located inside the cleaning device. As shown in Fig. As shown in Figure 38g, a water barrier plate 1012 is attached to the outer wall of the first water outlet opening 1016. When the cleaning device is in a cleaning or operating state in the water or on the water surface and the main drive pump of the suction assembly is activated, the main drive pump creates a vacuum in the first cavity 1214 of the dust box and the second cavity of the dust chamber 1010. The liquid from the water or the water surface enters the cleaning device through the second water outlet opening 1113 and exerts a first pressure towards the interior of the dust chamber 1010 on the water barrier plate 1012 on the outer wall of the dust chamber 1010, which exceeds a second pressure towards the outside exerted by the liquid in the dust chamber 1010 on the water barrier plate 1012.Under the influence of the pressure difference, the water barrier plate can tightly cover, close, shield or seal the first water outlet opening 1016, so that the liquid inside the dust chamber 1010 cannot flow out through the first water outlet opening 1016 and thus cannot be discharged from the cleaning device via the second water outlet opening 1113.

[0199] As the cleaning device prepares to emerge from the water, the main drive pump switches off, thereby releasing the vacuum created in the dust box and dust chamber 1010. During or after the cleaning device emerges from the water, as it is lifted out, the liquid outside the dust chamber 1010 is discharged from the cleaning device via the second water outlet 1113, thus releasing the initial pressure exerted on the dust chamber 1010. Under the influence of gravity, the liquid in the second cavity of the dust chamber 1010 (particularly if the cleaning device is tilted during lifting) causes the water barrier plate to move away from the first water outlet 1016, thereby opening the first water outlet 1016.As a result, the water in the dustbin and dust chamber 1010 is rapidly drained from the cleaning device sequentially through the first water outlet 1016 and the second water drain 1113, thus increasing the drainage rate during the cleaning device's submersion process. This quickly reduces the weight of the pool robot, improving the user experience. Specifically, the first water outlet 1016 connects to the second water drain 1113 to form a second water channel for the flow of liquid. Conversely, during the cleaning device's submersion process, liquid from the water or water surface quickly enters the cleaning device through the second water drain 1113. This allows for a rapid increase in the pool robot's weight and therefore a quick submersion.Since the main drive pump remains active during immersion, the water seal plate 1012 maintains the cover or closure of the first water outlet opening 1016 throughout this entire process. That is, the water seal plate 1012 operates in a non-drainage state, in which it seals the first water outlet opening 1016, and in a drainage state, in which it opens the first water outlet opening 1016.

[0200] Regarding the water barrier plate 1012, as in Fig. Figure 38g shows that in one embodiment a flexible waterproof material is used. One end of this flexible waterproof material is arranged on the outer wall of the dust chamber 1010, while the other end hangs freely. Under the pressure differential between the first and second pressures, it maintains the cover, seal, shield, or closure of the first water outlet opening 1016. During the exit process of the cleaning device, the water barrier plate rotates under the influence of the gravity of the liquid in the dust chamber 1010 in the direction away from the first water outlet opening 1016 in order to open the first water outlet opening 1016. In another embodiment, the water barrier plate 1012 is movably attached to the outer wall of the dust chamber 1010 by means of an elastic element.When the cleaning device is immersed in water or is on the water's surface, the elastic element causes the water barrier plate 1012 to cover, shield, or seal the first water outlet opening 1016. When the cleaning device leaves the water, the water barrier plate, under the influence of the liquid's gravity within the dust chamber 1010, overcomes the force exerted by the elastic element, causing the water barrier plate 1012 to move away from the first water outlet opening 1016, thus opening the first water outlet opening 1016. That is, the water barrier plate 1012 opens the first water outlet opening 1016 only when the cleaning device leaves the water. In all other states of the cleaning device, the water barrier plate 1012 remains in a state where it covers, shields, or seals the water outlet opening 1016.This means that the first water channel mentioned above and the second water channel are isolated from each other.

[0201] In one embodiment, the first water outlet opening 1016 and the first liquid drain opening 1112 are located on the same side wall of the dust chamber 1010, as in Fig. Figure 38i shows the first liquid drain opening 1112 located above the first water outlet opening 1016, whereby filtered liquid is drawn into the suction assembly through the first liquid drain opening 1112. The first water outlet opening 1016 is located below the first liquid drain opening 1112. When the cleaning device is lifted out of the water, the lower first water outlet opening 1016, under the influence of gravity and in an inclined state of the cleaning device, facilitates the rapid drainage of liquid from the dust box and dust chamber 1010 through the first water outlet opening 1016 to the outside of the cleaning device.Naturally, the first water outlet opening 1016 and the first liquid drain opening 1112 need not be located on the same side wall of the dust box 120; they can be distributed on different side walls of the dust box, as long as the base of the first water outlet opening 1016 facing the cleaning device is located on the side wall of the dust box. Of course, the first water outlet opening 1016 can also be located on the bottom of the dust chamber 1010. If the water barrier plate is driven by a drive assembly to open or close the first water outlet opening 1016, the first water outlet opening can be located either on the side wall or on the bottom of the dust box.

[0202] As in the Fig. 38c and Fig. As shown in Figure 38f, the upper edge of the dust box has a second outer edge 1236 extending outwards, which is provided with a first installation groove, wherein a first sealing strip 12361 is arranged in the first installation groove. A first projection is provided on the inner surface of the dust box lid 124, which corresponds to the first sealing strip (not shown).When the dust box is installed in the dust chamber 1010 and the dust box lid 124 is placed over the access opening, the first projection presses against the first sealing strip 12361, thereby sealing the dust box lid 124 against the box opening 122 of the dust box. This prevents small debris remaining in the dust box from flowing from the inside of the dust box to the outside of the dust box through the gap between the dust box lid 124 and the box opening 122 of the dust box 120 during the cleaning process or operation of the cleaning device. The fit between the first sealing strip and the first projection creates a tight connection between the dust box lid 124 and the box opening of the dust box, thus retaining small debris in the dust box.

[0203] As in Fig. As shown in Figures 38a to 38k, the water inlet part of the dust box includes a second inlet 1212, without a first inlet being provided, the cleaning device being primarily designed for cleaning pool floor walls or pool side walls. In a further embodiment, as shown in Fig. As shown in Figure 21, the water inlet part of the dust box further comprises at least one first inlet 1211; the dirt suction opening 1111 further comprises a first dirt suction opening 1111a, which is arranged on the front side wall at the front part of the cleaning device. The first dirt suction opening 1111a is connected to the first inlet 1211, enabling the cleaning device to perform water surface cleaning, as shown in Figure 21. Fig. Figure 41 shows that the first inlet 1211 can be arranged on the first side wall of the dust box 120, with the first inlet 1211 and the first dirt suction opening 1111a being aligned and connected so that the liquid on the water surface can enter the dust box via the first dirt suction opening 1111a and the first inlet 1211. That is, the water inlet part of the dust box includes the second inlet 1212 mentioned above and the first inlet 1211. The dirt suction openings include the first dirt suction opening 1111a and the second dirt suction opening 1111b, with the first dirt suction opening 1111a being connected to the first inlet for cleaning the water surface, while the second dirt suction opening 1111b being connected to the second inlet 1212 for cleaning the pool floor walls or pool side walls. As shown in Fig. As shown in Figure 41, the second dirt suction opening 1111b can be located at the bottom of the cleaning device.

[0204] Similar to the first shielding element 1213, as in Fig. 41 or Fig. As shown in Figure 39l, a second shielding element 12104 is provided on the dust chamber 1010 or the main body to shield the first dirt intake opening 1111a and thereby open or close the first dirt intake opening 1111a (or the first inlet 1211). A drive assembly is provided on the main body or on the dust chamber 1010. The drive assembly drives the second shielding element to move, so that the second shielding element closes or opens the first dirt intake opening 1111a. When water surface cleaning is required, the control unit controls the drive assembly to move the second shielding element and thereby open the first dirt intake opening 1111a. When water surface cleaning is not required, the control unit controls the drive assembly to move the second shielding element and thereby close the first dirt intake opening 1111a.

[0205] Since the first dirt suction opening 1111a is located on the front side wall of the front part of the main body of the cleaning device, the following applies during water surface cleaning: when the first dirt suction opening 1111a is open, the liquids on the water surface enter the dust box under the action of the main drive pump, the liquid in the dust box pressing on the first shielding element 1213 under the action of gravity and holding the first shielding element 1213 in a state to close the opening of the inner end of the first extension part 1210, and the second dirt suction opening 1111b is not in contact with the interior of the dust box;After completion of the water surface cleaning and at the beginning of the cleaning of the pool floor walls or the pool side walls, the second shielding element protects and closes the first dirt suction opening 1111a; under the action of the main drive pump, the first shielding element opens the second dirt suction opening 1111b, so that the liquid in the pool enters the dust box via the second dirt suction opening 1111b.

[0206] The aforementioned dust box is a single dust box. In a further embodiment, as described in Fig. Figures 39a to 39l show a dust box attached around the outer circumference of the single dust box to form a double dust box structure. For the sake of simplicity, the inner dust box is referred to as inner dust box 1201, while the outer dust box is referred to as outer dust box 1202; that is, the double dust box structure comprises an inner dust box and an outer dust box.

[0207] The outer dust box 1202 is attached or wrapped around the outer circumference of the inner dust box 1201. The inner dust box 1201 provides primary filtration, while the outer dust box 1202 provides secondary filtration. The liquid filtered by the outer dust box 1202 enters the suction assembly through the first liquid drain opening 1112 and is finally discharged from the cleaning device through the second liquid drain opening 212. The outer dust box 1202 and the inner dust box 1201 have a similar structure. Both the inner dust box 1201 and the outer dust box 1202 have filter surfaces on their side walls, each comprising a first filter surface 1231, a second filter surface 1232, a third filter surface 1233, and a fourth filter surface 1234.For the sake of simplicity, the filter surfaces of the inner dust box 1201 are referred to as inner filter surfaces, while the filter surfaces of the outer dust box 1202 are referred to as outer filter surfaces.

[0208] As in Fig. As shown in Figure 39e, in one embodiment the first side wall of the inner dust box 1201 is provided with a first inner filter mesh to form the first inner filter surface 12011. The second side wall is provided with at least one second inner filter mesh, forming the second inner filter surface 12012. The third side wall is provided with at least one third inner filter mesh, forming the third inner filter surface 12013. The fourth side wall is provided with at least one fourth inner filter mesh, forming the fourth inner filter surface 12014. The first inner filter surface 12011, the second inner filter surface 12012, the third inner filter surface 12013, and the fourth inner filter surface 12014 of the inner dust box 1201 have the same filtration efficiency and are capable of filtering dirt particles of the same size, thus enabling coarse filtration within the inner dust box 1201.

[0209] As in Fig. As shown in Figure 39g, the outer dust box 1202 comprises a first side wall, a second side wall, a third side wall, and a fourth side wall, which are successively connected end to end. The first side wall is provided with at least one first outer filter mesh, which forms the first outer filter surface 12021. The second side wall is provided with at least one second outer filter mesh, which forms the second outer filter surface 12022. The third side wall is provided with at least one third outer filter mesh, which forms the third outer filter surface 12023. The fourth side wall is provided with at least one fourth outer filter mesh, which forms the fourth outer filter surface 12024.The first outer filter surface 12021 corresponds to the first inner filter surface 12011; the second outer filter surface 12022 corresponds to the second inner filter surface 12012; the third outer filter surface 12023 corresponds to the third inner filter surface 12013; and the fourth outer filter surface 12024 corresponds to the fourth inner filter surface 12014. The filter surfaces of the inner dust box 1201 provide coarse filtration, while at least a portion of the filter surfaces of the outer dust box 1202 provide fine filtration.

[0210] For example, all four filter surfaces of the outer dust box 1202 have the same filtration grade and can filter debris of identical size. Compared to the filter surfaces of the inner dust box 1201, the filter surfaces of the outer dust box 1202 can filter finer debris. This arrangement allows the filter surfaces of the outer dust box 1202 to perform fine filtration, while the filter surfaces of the inner dust box 1201 handle coarse filtration. The liquid in the basin is first coarsely filtered by the inner dust box, then finely filtered by the outer dust box. It then flows through the first liquid drain opening of the first receiving chamber 111 into the suction assembly and is finally discharged from the cleaning device through the second liquid drain opening.

[0211] In another embodiment, the four filter surfaces of the inner dust box 1201 have the same filtration grade. Of the four filter surfaces of the outer dust box 1202, the second outer filter surface 12022, the third outer filter surface 12023, and the fourth outer filter surface 12024 have the same filtration grade. This differs from the grade of the first outer filter surface 12021, and the filtration grade of the first outer filter surface 12021 corresponds to the grade of the inner filter surfaces of the inner dust box 1201 to form a coarse filter; the second outer filter surface 12022, the third outer filter surface 12023, and the fourth outer filter surface 12024 of the outer dust box 1202 form a fine filter to filter smaller debris. When the cleaning device moves on the basin sidewalls, slopes, or walls, the main drive pump of the suction assembly remains active.The liquid in the water basin enters the dust box via the second dirt suction opening 1111b and the second inlet 1212. After filtration through the inner dust box 1201 and the outer dust box 1202, it enters the dust chamber 1010. It then enters the suction assembly through the first liquid drain opening 1112 on the dust chamber 1010 and is finally discharged through the second liquid drain opening 212 of the cleaning device.Since the second liquid drain opening 212 is located on top of the main body of the cleaning device, the liquid is continuously drained from the second liquid drain opening 212, and the drained liquid exerts a thrust on the cleaning device; under the effect of the thrust force, the bottom of the cleaning device can maintain close contact with basin side walls, walls or slopes during movement to prevent the cleaning device from falling off basin side walls, walls or slopes.

[0212] If at least part of the second outer filter surface 12022, the third outer filter surface 12023, and the fourth outer filter surface 12024 of the outer dust box 1202 is clogged, the first filter surface 1231 is designed for coarse filtration to ensure the suction assembly's water intake. At this point, the liquid filtered by the inner dust box 1201 can pass through the first filter surface 1231 into the dust chamber 1010 and then into the suction assembly. This ensures the suction assembly's water intake, so that the liquid discharged from the second liquid drain opening 212 generates a backflow. This guarantees the normal operation of the cleaning device on pool sidewalls, walls, or slopes. Therefore, the first outer filter surface 12021 and the inner filter surface of the inner dust box 1201 are designed to the same degree of filtration to ensure the suction assembly's water intake.

[0213] Since both the third outer filter surface 12023 and the third inner filter surface 12013 are located near or next to the first liquid drain opening 1112 of the dust chamber 1010, the filtration efficiency of the first outer filter surface 12021, which faces away from the third outer filter surface 12023, is selected to correspond to that of the inner filter surface. Under the suction force of the suction assembly, the liquid filtered by the inner dust box 1201 flows in the direction of suction. The liquid filtered by the inner dust box 1201 first passes through the third outer filter surface 12023 into the dust chamber 1010 and then through the first liquid drain opening 1112 into the suction assembly. The first outer filter surface 12021 and the third outer filter surface 12023 are arranged opposite each other, with the greatest distance between them.Under normal conditions, most of the liquid filtered by the inner dust box 1201 passes through the third outer filter surface 12023, the second outer filter surface 12022, and the fourth outer filter surface 12024 into the second cavity of the dust chamber 1010. Only a small amount of the liquid filtered by the inner dust box 1201 passes through the fourth outer filter surface 12024 into the dust chamber 1010. However, if at least one of the third outer filter surface 12023, the second filter surface 1232, or the fourth filter surface 1234 is blocked, the liquid filtered by the inner dust box 1201, under the action of the suction assembly, passes directly through the first outer filter surface 12021 into the dust chamber 1010 to meet the water absorption requirements of the suction assembly.

[0214] Of course, other outer filter surfaces of the outer dust box 1202 can be configured to match the filtration grade of the inner filter surfaces of the inner dust box 1201. For example, at least one of the second outer filter surface 12022 and the fourth outer filter surface 12024 of the outer dust box 1202 can be set to the same filtration grade as the inner filter surfaces; or a portion of one of the first outer filter surface 12021, the second outer filter surface 1202, the third outer filter surface 12023, and the fourth outer filter surface 12024 can be configured to the same filtration grade as the inner filter surfaces for coarse filtration to ensure sufficient water absorption for the suction assembly; and a portion can be set to the same filtration grade as the other outer filter surfaces for fine filtration.The filter grade of the third outer filter surface preferably differs from that of the inner filter surface in order to achieve fine filtration and to ensure the secondary filtering effect of the outer dust box 1202.

[0215] Furthermore, the filtration efficiency of each inner filter surface in the inner dust box 1201 can be identical or different, depending on practical requirements. Similarly, the filtration efficiency of each outer filter surface in the outer dust box 1202 can be identical or different. Under suction, and provided the water absorption requirements of the suction assembly are met, coarse filtration is achieved by the inner dust box 1201 and fine filtration by the outer dust box 1202. The specific filtration efficiency is selected according to practical requirements. That is, the outer dust box 1202 is configured to at least partially enclose the inner dust box 1201; at least one filter surface of the outer dust box 1202 has a higher filtration efficiency than at least one filter surface of the inner dust box 1201.This arrangement enables coarse filtration within the inner dust box 1201 and fine filtration within at least one filter surface of the outer dust box 1202, thereby achieving a secondary filtration function. To meet the water absorption requirements of the suction assembly, the outer dust box 1202 comprises at least two filter surfaces. At least one of these filter surfaces of the outer dust box has a filtration efficiency that is equal to or identical with that of at least one filter surface of the inner dust box, thus fulfilling the water absorption requirements of the suction assembly. At least one filter surface has a higher filtration efficiency than at least one filter surface of the inner dust box, thereby achieving secondary filtration of liquids.

[0216] Regarding the second inlet 1212 of the double dust box, as described in Fig. 39i and Fig. As shown in Figure 39h, the opening of the outer end of the first extension part 1210 of the inner dust box 1201 serves as a second inner inlet 1212a. The bottom of the outer dust box 1202 includes a second outer inlet 1212b, which is connected to the second inner inlet 1212a. Optionally, as shown in Fig. As shown in Figure 39i, the water inlet part of the dust box further comprises a guide part 12103, which is arranged on the end face of the outer end of the first extension part 1210. The first end of the guide part 12103 is connected to the outer end of the first extension part 1210, while the second end of the guide part 12103 adjoins or is located near the second outer inlet 1212b of the outer dust box 1202. The guide part 12103 is shaped like a trumpet, with its diameter gradually increasing from the first end to the second end.

[0217] As in Fig. As shown in Figure 39j, the second extension part 1013 of the dust chamber 1010 does not protrude into the hollow channel of the first extension part 1210. The end face of the inner end of the second extension section 1013 abuts the end face of the outer end of the first extension section 1210. The guide element 12103 is located on the outside of the second extension section 1013. The second outer inlet 1212b of the outer dust box 1202 is blocked outside the second extension section 1013, thereby connecting the second dirt suction opening 1111b of the dust chamber 1010 to the first extension section 1210, with the liquid within the basin flowing through the second dirt suction opening, second inner inlet 1212a and the hollow channel of the first extension section 1210 into the inner cavity of the inner dust box 1201.Since the second outer inlet 1212b of the outer dust box 1202 is blocked outside the second extension section 1013, the liquid from the second dirt suction opening cannot directly enter the outer dust box 1202 via the second outer inlet 1212b. The arrangement of the guide section 12103 facilitates the process of guiding the second extension section 1013 into the guide section 12103 when the double dust box structure is installed inside the dust chamber 1010. This ensures that the end face of the inner end of the second extension section 1013 rests precisely against the end face of the outer end of the first extension section 1210, thus guaranteeing the proper installation of the dust box.In a further embodiment, the second extension part 1013 can extend into the first extension part 1210, allowing the liquid to enter the cavity of the inner dust box 1201 via the second dirt suction opening, the second extension part 1013 and the first extension part 1210.

[0218] To prevent direct contact between the bottoms of the inner dust box 1201 and the outer dust box 1202, where the liquid would form a film of water between them, creating an adhesive force that hinders separation between the inner dust box 1201 and the outer dust box 1202, at least one first rib (not shown) is provided on at least one of the bottoms of the inner dust box 1201 and the outer dust box 1202. This creates a gap between the bottoms of the inner dust box 1201 and the outer dust box 1202, thus preventing the formation of a water film and facilitating separation between the inner dust box 1201 and the outer dust box 1202.

[0219] The inner dust box 1201 and the outer dust box 1202 are detachably connected to each other, as shown in Fig. Figure 39e shows that the inner dust box 1201 is provided with the aforementioned second handle 252, which allows the simultaneous removal of the inner dust box 1201 and the outer dust box 1202 from or insertion into the dust chamber 1010. The detachable connection between the inner dust box 1201 and the outer dust box 1202 can be implemented in various ways. This can be achieved, for example, by snap connections, fastening connections, or magnetic connections. As shown in Fig. As shown in Figure 39h, the side wall of the outer dust box 1202 has at least one pass hole 12027. As in Fig. As shown in Figure 39f, the side wall of the inner dust box 1201 is provided with a locking lug 12018. The detachable connection between the inner dust box 1201 and the outer dust box 1202 is established by the locking lug 12018 engaging in the locating hole 12027. When the user grasps the outer dust box 1202 and pulls the second handle 252 upwards, the locking lug 12018 disengages from the locating hole, allowing the inner dust box 1201 and the outer dust box 1202 to be separated. Conversely, if the user inserts the outer dust box 1202 into the inner dust box 1201 and presses the outer dust box 1202 downwards, the locking lug 12018 can engage in the locating hole 12027 to reconnect the inner dust box 1201 and the outer dust box 1202.

[0220] To further facilitate the user's gripping of the second handle 252, as described in Fig. 39 years old and Fig. As shown in Figure 39f, a downwardly recessed second recess area 12019 is provided on the second stepped surface 12383 of the inner dust box 1201. The user's hand can reach through the second recess area 12019 to get under the lifting section 2523 of the second handle 252, which facilitates gripping the second handle 252 for removing or inserting the dust box 120. As shown in Fig. 38c and Fig. As shown in Figure 39i, because a detection assembly is arranged on the inner dust box 1201 to determine whether the dust box is correctly installed in the dust chamber 1010, the detection assembly protrudes from the outer wall of the inner dust box 1201. To prevent the outer dust box 1202 from being in the position of the detection assembly, as shown in Fig. 39g shows a third recess area 12028 on the inner wall of the outer dust box 1202.

[0221] As in Fig. As shown in Figure 39g, to facilitate the separation of the outer dust box 1202 and the inner dust box 1201, several protrusions 120230 can be provided on the lower outer wall surface of the outer dust box 1202. This allows the user to press against the protrusions with a finger to grasp the inner dust box 1201. The inner dust box 1201 can then be pulled out using the second handle 252, thus separating it from the outer dust box 1202.

[0222] As in Fig. 39a and Fig. As shown in Figure 39b, the second outer edge 1236 of the inner dust box 1201 is located above the top of the outer dust box 1202. That is, the outer dust box 1202 does not completely enclose the inner dust box 1201 from the outside, but rather the outer dust box 1202 partially surrounds the inner dust box 1201 from the outside, with the top of the inner dust box being higher than the top of the outer dust box. When the double dust box is installed in the dust chamber 1010, the second outer edge 1236 can overlap the upper opening of the dust chamber 1010, which facilitates the installation of the dust box within the dust chamber 1010. Simultaneously, the second handle 252 is located on the inner wall of the inner dust box 1201, ensuring that the second handle 252 does not protrude outside the dust box itself, thus achieving a compact, space-saving structure for the double dust box.Since a detection assembly is arranged on the inner dust box 1201 to determine whether the dust box is correctly installed in the dust chamber 1010, the detection element or sensor element is located within the detection assembly on the outer wall of the inner dust box 1201 and must be sealed within the installation cavity 1216. Because the top of the inner dust box is below the bottom of the installation cavity 1216 on the outer dust box, the liquid level during the cleaning process does not exceed the height of the outer filter surface of the outer dust box 1202. This ensures that no liquid enters the installation cavity 1216, thus preventing any impairment of the detection assembly's performance and ensuring its continued detection capability.

[0223] Naturally, the second outer edge 1236 can be positioned on top of the outer dust box 1202, with the sensor or detection elements of the detection assembly attached to the side walls of the outer dust box. In this configuration, the outer dust box 1202 can completely enclose the entire perimeter of the inner dust box 1201, with the installation cavity 1216 located above the top of the inner dust box. The second handle 252 is attached to the inner wall of the inner dust box 1201, thus preventing the second handle 252 from protruding outside the dust box and resulting in a compact double dust box structure.Alternatively, the second outer edge 1236, the sensor element, or the detection element of the detection assembly can be positioned on the side wall of the outer dust box 1202, and the second handle 252 can be positioned on the second outer edge 1236 of the outer dust box 1202 to facilitate the removal and insertion of the dust box. However, compared to positioning the second handle 252 on the inner wall of the inner dust box 1201, the second handle 252 requires space outside the dust box, resulting in a less compact structure for the double dust box.

[0224] As in Fig. As shown in Figure 39e, a first inner inlet 12015 is provided on the first side wall of the inner dust box 1201. As in Fig. As shown in Figure 39g, a first outer inlet 12025 is provided on the first side wall of the outer dust box 1202, located outside the first inner inlet 12015, the first inner inlet 12015 being connected to the first dirt suction opening 1111a. This arrangement allows the liquid on the water surface to enter the inner cavity of the dust box directly via the first dirt suction opening 1111a and the first inner inlet 12015 for filtration. The filtered liquid then enters the dust chamber 1010, is drawn into the suction assembly via the first liquid drain opening 1112, and finally discharged from the cleaning device via the second liquid drain opening 212.

[0225] In one embodiment as in Fig. As shown in Figure 39e, the first inner inlet 12015 is provided with a first outer rim 120122 extending outwards, the first outer rim 120122 overlapping the top of the first outer inlet 12025. This arrangement blocks the first outer inlet 12025 below the first inner inlet 12015 and ensures that the liquid entering through the first dirt suction opening 1111a flows directly through the first inner inlet 12015 into the cavity of the inner dust box 1201.

[0226] In one embodiment, both the first inner inlet 12015 and the first outer inlet 12025 are designed as notches, which facilitates an unimpeded flow of liquid along the path through the first dirt suction opening 1111a and the first inner inlet 12015 into the dust box. In another embodiment, the first inner inlet 12015 and the first outer inlet 12025 are designed as holes, so that the liquid can enter the inner cavity of the inner dust box 1201 via the first dirt suction opening 1111a and the first inner inlet 12015.

[0227] As in Fig. As shown in Figure 39e, the upper side of the inner dust box 1201 has a first inner box opening 12016. As in Fig. As shown in Figure 39g, the top of the outer dust box 1202 has a first outer box opening 12026. The second outer edge 1236 is provided with a first sealing strip 12361. The inner wall of the dust box lid 124 has a first projection corresponding to the first sealing strip 12361. When the dust box lid 124 covers the access opening, the first projection presses against the first sealing strip 12361, sealing the first inner box opening 12016 and retaining small debris within the inner dust box 1201. Since the double dust box has a first inlet on its side wall and a second inlet 1212 on its bottom, the upper opening of the dust chamber 1010 is provided with an outwardly projecting third outer edge 1017 to maintain the negative pressure within the dust box and dust chamber 1010, as shown in Figure 39g. Fig. Figure 39d shows the second outer edge 1236 of the inner dust box 1201 overlapping the third outer edge 1017. The third outer edge 1017 is provided with a second installation groove 1014 in which a second sealing strip is arranged, the second sealing strip being located on the outside of the third outer edge. The inner wall surface of the dust box cover 124 is provided with a second projection. When the dust box cover 124 covers the access opening, this second projection presses against the second sealing strip to seal the upper opening of the dust chamber 1010. This ensures that the required negative pressure is built up inside the dust chamber 1010 when the suction assembly is activated. In the vertical direction of the cleaning device, the second outer edge overlaps the third outer edge 1017, thus positioning the first sealing strip higher than the second sealing strip.This creates a primary seal at the upper opening of the dust chamber 1010 and a secondary seal at the first inner box opening of the inner dust box 1201. Of course, the first and second sealing strips can also be aligned flush or arranged so that the first sealing strip lies beneath the second sealing strip.

[0228] As in Fig. As shown in Figure 39d, to avoid direct contact between the bottom of the outer dust box 1202 and the bottom of the dust chamber 1010, which could form a film of water creating an adhesive force, in addition to the aforementioned projecting outer edge on the bottom of the outer dust box 1202, a second upwardly projecting rib 1015 can also be provided on the bottom of the dust chamber 1010 to support the outer dust box 1202, thereby creating a gap between the bottom of the outer dust box 1202 and the bottom of the dust chamber 1010. This prevents the formation of a film of water and thus facilitates the removal of the double dust box from the dust chamber 1010.

[0229] Regarding the dust box lid 124, it is possible that the dust box lid 124 only covers the access opening, as shown in Fig. 39k shown. Alternatively, the dust box cover 124 can cover the access opening and other areas on the top of the main body of the cleaning device, as shown in Fig. 38d shown, however the second liquid drain opening 21221 must be exposed.

[0230] There is another embodiment of the double dust box structure, as shown in Fig. 40a, Fig. 40b and Fig. As shown in Figure 40d, the bottoms of the outer dust box 1202 and the inner dust box 1201 each have at least one fifth outer filter mesh and at least one fifth inner filter mesh in addition to the second outer inlet 1212b and the second inner inlet 1212a, respectively. The fifth outer filter mesh forms the fifth outer filter surface 120229, while the fifth inner filter mesh forms the fifth inner filter surface 120121, the fifth inner filter surface corresponding to the fifth outer filter surface. In one embodiment, the fifth inner filter surface 120121 provides coarse filtration, while the fifth outer filter surface 120229 provides fine filtration. The five inner filter surfaces of the inner dust box 1201 have the same filtration efficiency.Of the five outer filter surfaces of the outer dust box 1202, only the first outer filter surface 12021 has the same filtration efficiency as the inner dust box 1201, while the remaining four outer filter surfaces have the same filtration efficiency and provide fine filtration. When the double dust box structure is removed from the dust chamber 1010, the arrangement of the fifth outer filter surface 120229 and the fifth inner filter surface 120121 allows the liquid inside the dust box to drain quickly through the fifth inner filter surface 120121 and the fifth outer filter surface 120229 when the dust box is lifted, thus achieving rapid drainage during lifting of the dust box.

[0231] In one embodiment, the second inner inlet 1212a and the fifth inner filter surface 120121 are arranged offset at the bottom of the inner dust box 1201. The second inner inlet 1212a is located near the first inner filter surface 12011, while the fifth inner filter surface 120121 is located away from the first inner filter surface 12011 and near the third inner filter surface 12013. Similarly, the second outer inlet 1212b is located near the first outer filter surface 12021, while the fifth outer filter surface 120229 is located away from the first outer filter surface 12021 and near the third outer filter surface 12023.

[0232] In one embodiment as in Fig. 38a or Fig. As shown in Figure 39e, the lifting section 2523 of the second handle 252 is located near or next to the third side wall of the dust box when stowed. This configuration ensures that, after being filtered in the dust box, the liquid is preferentially directed to the third filter surface 1233 by the action of the suction assembly. During the flow of the waste in the liquid, a small amount of waste may adhere to the lifting section 2523 of the second handle 252. To prevent waste from the dust box from adhering to the second handle 252, as shown in Figure 39e, the lifting section 2523 of the second handle 252 is located near or next to the third side wall of the dust box. Fig. 40c shows the lifting section 2523 of the second handle 252, when the second handle 252 is in the stowed state, located away from the third side wall and near the first inlet on the first side wall of the dust box to prevent debris from adhering to the second handle 252 when the liquid flows to the third filter surface 1233.

[0233] As in Fig. As shown in Figure 41, the cleaning device comprises a first receiving chamber 111 in which the dust box is housed, wherein a first liquid drain opening 1112 and a first outlet 1016 are provided on the side wall of the first receiving chamber.The main body of the cleaning device further comprises a third receiving chamber, which includes a third cavity 11011 and a fourth cavity 11012, wherein the third cavity 11011 and the fourth cavity 11012 are separated from each other, and wherein the first liquid drain opening 1112 is connected to the third cavity 11011; the cleaning device 1000 further comprises a second liquid drain opening 212, which is in fluid communication with the first liquid drain opening 1112; wherein the second liquid drain opening 212 is located on the sixth side 118 and is connected to the first cavity; and wherein the sixth side 118 is located on the upper part of the main body 110 of the cleaning device.The impeller of the main drive pump 210 is located in the third cavity 11011, wherein, when the impeller 2101 of the main drive pump 210 is activated, liquids enter the dust box 120 through the dirt intake opening 1111, are filtered inside the dust box 120, then enter the third cavity 11011 through the first liquid drain opening 1112 and are finally discharged through the second liquid drain opening 212, creating a first water channel of the cleaning device 1000.A first water outlet opening 1016 is further provided on a side wall of the first receiving chamber 111 facing the main drive pump 210, and this opening is connected to the second cavity; the cleaning device 1000 is further provided with a second water outlet opening 1113, and the first water outlet opening 1016 and the second water outlet opening are connected to each other through the second cavity; and when the cleaning device 1000 leaves the water surface, the first water outlet opening, the fourth cavity and the second water outlet opening 1113 successively form a second water channel of the cleaning device 1000; and the second water channel is separate from the first water channel.

[0234] In one embodiment, a horizontally arranged first partition plate 11013 is provided inside the third receiving chamber, dividing the third receiving chamber into a third cavity 11011 and a fourth cavity 11012, distributed in the top-bottom direction. The suction assembly 210 comprises an impeller 2101 and a main motor that drives the impeller to rotate. The cleaning device further comprises an electrical control box 220, which has a closed installation cavity. The main motor of the main drive pump is housed in the electrical control box 220, with the output shaft of the main motor extending into the third cavity 11011 to connect with the impeller 2101 and drive the impeller to rotate.When the main drive pump is activated, the liquid flows through the first dirt intake opening 1111a or the second dirt intake opening 1111b and enters the dust box through the first inlet (corresponding to the first dirt intake opening 1111a) or the second inlet 1212 (corresponding to the second dirt intake opening 1111b). After filtration in the dust box, the liquid enters the gap between the first receiving chamber and the dust box, then flows through the first liquid outlet opening 1112 into the third cavity 11011 and is finally discharged through the second liquid outlet opening 212, thus forming the first water channel for cleaning the cleaning device. As in . Fig. As shown in Figure 39l, a second water outlet opening 1113 is provided at the bottom of the housing of the main body of the cleaning device. The first water outlet opening 1016 and the second water outlet opening 1113 are connected to each other via the fourth cavity 11012, so that when the cleaning device is raised above the water surface, the first water outlet opening 1016, the lower cavity and the second water outlet opening 1113 form a second water channel that is separate from the first water channel.

[0235] In one embodiment, the sensing end 2331 of the liquid level sensing assembly 233 is attached to the electrical control box and arranged within the fourth cavity 11012 to detect the liquid level at the current position of the cleaning device. Furthermore, both the fourth drive element 194 and the first buoyancy control element 2611 are housed in the electrical control box. Additionally, the battery pack, the control system 231, or the control unit are also located in the electrical control box, thus isolating them from external liquids to ensure their functionality.

[0236] In one embodiment, the electrical control box comprises a box body and a sealed upper cover positioned close to the upper opening of the box body. An opening is provided in the first partition plate 11013, with a portion of the sealed upper cover positioned close to the opening of the first partition plate 11013 to position the electrical control box within the main body. The output shaft of the main drive pump extends through the sealed upper cover into the upper cavity and is connected to the impeller. The electrical control box 220 is positioned close to the first partition plate, thereby separating the third cavity 11011 from the fourth cavity 11012.

[0237] If the cleaning device includes a dust box 1010, the second cavity within the dust chamber serves as the first receiving chamber. The dust box is arranged within the dust chamber, with the first liquid drain opening 1112 and the first water outlet opening 1016 located on the side walls of the dust chamber. In one embodiment, the side walls of the dust chamber correspond to the side walls of the dust box. If the dust box has four side walls, the dust chamber accordingly has four side walls, with the internal shape of the dust chamber corresponding to the external shape of the dust box. In one embodiment, the aforementioned first liquid drain opening and the first water outlet opening are arranged on the third side wall of the dust chamber.

[0238] In one embodiment, if the cleaning device is not provided with a dust chamber, a vertically extending second partition plate can be provided within the main body. The second partition plate divides the main body into a first receiving chamber and a third receiving chamber, arranged on the left and right sides, respectively. The dust box is located in the first receiving chamber. The first liquid drain opening 1112 and the first water outlet opening 1016 mentioned above are located on the second partition plate. The first partition plate is arranged on the second partition plate to divide the third receiving chamber into a third cavity and a fourth cavity, which are arranged vertically.

[0239] As in Fig. As shown in Figure 42, in another embodiment of the dust box, a flow-guiding opening 11014 is provided on the first side wall of the dust box 120. An adjustment assembly is attached to the flow-guiding opening 11014, which serves to close or open the flow-guiding opening. The adjustment assembly includes, for example, a closing element 11015. When the cleaning device is running on walls, slopes, or basin side walls, and the detection mechanism determines that at least one filter surface—from the second outer filter surface 12022, the third outer filter surface 12023, and the fourth outer filter surface—is clogged and has reached a predetermined degree of clogging, the control unit activates the drive assembly to move the closing element 11015 in order to open the flow-guiding opening.so that the filtered liquid from the inner dust box 1201 flows quickly through the flow guide opening into the dust chamber 1010 and then enters the suction assembly through the first liquid drain opening 1112, thereby ensuring sufficient water absorption for the suction assembly. This creates a counterforce from the liquid discharged through the second liquid drain opening 212, ensuring that the base of the cleaning device maintains close contact with the walls, side walls, or slopes during operation. The adjustment assembly can also open the flow guide opening without being driven by the drive assembly. A counterweight block is provided on the adjustment assembly; for example, the adjustment assembly comprises a closure element 11015 and a counterweight block 11016 located on the inner wall of the closure element 11015. If the filter surface of the dust box is clogged,Since the first side wall is located above the third side wall, the adjusting assembly automatically opens the flow guide opening under the influence of gravity when the cleaning device runs against a wall, in order to meet the water intake requirements of the suction assembly. In one embodiment, a third separating plate 11017 is arranged at the flow guide opening and is provided with several perforated grids. The filtration efficiency of these perforated grids is lower than that of the filter surfaces on the other side walls of the dust box. If the filter surfaces on the other side walls become clogged, the closing element 11015 opens, allowing the liquid in the dust box to drain through the perforated grids. These perforated grids serve as coarse filtration with a filtration efficiency that is lower than that of the filter surfaces on the other side walls of the dust box.

[0240] In another embodiment, a sixth filter screen can be provided on the third side wall of the dust chamber 1010 or at the first liquid drain opening 1112 of the second partition plate. The dust box can be either a single or a double dust box. The sixth filter screen serves partly for fine filtration and partly for coarse filtration. That is, the sixth filter screen comprises a coarse filter zone and a fine filter zone. The adjustment assembly can be arranged on the coarse filter zone. If the fine filter zone is not clogged, the adjustment assembly keeps the coarse filter zone closed. If the detection mechanism detects that the fine filter zone of the sixth filter screen is clogged, the control unit directs the drive assembly to move the adjustment assembly, thereby opening the coarse filter zone.Therefore, the liquid within the dust chamber 1010 or the first intake chamber passes through the coarse filter zone into the suction assembly to meet the water intake requirements of the suction assembly, enabling the cleaning device to operate on the walls. Alternatively, a sixth filter screen can be arranged over a portion of the first liquid drain openings 1112 for coarse filtration, while a seventh filter screen can be arranged over another portion of the first liquid drain openings 1112 for fine filtration. The adjustment assembly is located on the sixth filter screen. If the seventh filter screen is not clogged, the adjustment assembly keeps the sixth filter screen closed. If the detection mechanism detects a clog of the sixth filter screen, the control unit directs the drive assembly to move the adjustment assembly to open the sixth filter screen.

[0241] In some embodiments, reference is made to Fig. 24 taken, Fig. Figure 24 shows another side view of an embodiment of a cleaning device provided by the present disclosure. The cleaning device 1000 comprises a second liquid drain opening 212, which is in fluid communication with the first liquid drain opening 1112. The second liquid drain opening 212 is located on the top of the cleaning device 1000, in particular on the sixth side 118 of the main body 110 of the cleaning device. The main drive pump 210 is further capable of driving the liquid flowing into the main drive pump via the first liquid drain opening 1112 and the liquid inlet opening 211 to flow through the main drive pump 210 and out via the second liquid drain opening 212. The second liquid drain opening 212 of the main drive pump 210 is provided with a grid element 213, which can guide the liquid flowing through it.In one embodiment, the grid of the grid element 213 is rotatably mounted, which allows the outlet direction of the second liquid drain opening 212 to be adjusted.

[0242] The main drive pump 210 can be attached to the outer wall of the electrical control box 220 and / or inside the main body 110 of the cleaning device. The grid element 213 is arranged and attached to the second liquid drain opening 212 of the main drive pump 210.

[0243] In some embodiments, the second liquid drain opening 212 directs the liquid away from the central plane α of the cleaning device 1000. The cleaning device 1000 further comprises a deflector plate 214 located downstream of the second liquid drain opening 212. The outlet direction of the second liquid drain opening 212 is inclined backward relative to the normal forward direction of movement of the cleaning device 1000. This generates both downward and forward reaction forces on the cleaning device 1000. By arranging the deflector plate 214 downstream of the second liquid drain opening 212, the backward-directed liquid component is impeded, thereby reducing the forward reaction force on the cleaning device 1000 and decreasing its forward movement speed.

[0244] With further reference to Fig. 24 The deflector plate 214 can be arranged on the sixth side 118 of the main body 110 of the cleaning device and is located on the side of the second liquid drain opening 212 facing the second side 114 of the main body 110 of the cleaning device. The center point of the deflector plate 214 can lie on the same straight line as the center point of the second liquid drain opening 212. The deflector plate 214 extends from the center point of the second liquid drain opening 212 to two sides and is curved in the direction of the second liquid drain opening 212. The deflector plate 214 serves to deflect the liquid flowing from the second liquid drain opening 212, i.e., to divide the liquid flowing from the second liquid drain opening 212 into two streams.This reduces the flow velocity of the liquid flowing out of the second liquid drain opening 212, thereby lowering the movement speed of the cleaning device 1000 to prevent the cleaning device 1000 from moving too quickly and pushing waste away from the working area of ​​the dirt suction opening 1111, thus improving the cleaning effect of the cleaning device 1000.

[0245] In some embodiments, reference is made to Fig. 25 to Fig. 26 taken, Fig. Figure 25 shows a schematic diagram of the structure of another embodiment of a cleaning device provided by the present disclosure; and Fig. Figure 26 shows a sectional view of another embodiment of a cleaning device provided by the present disclosure. The second liquid drain opening 212 further comprises a first submerged liquid drain opening 2151 and a second submerged liquid drain opening 2161. The outlet direction of the first submerged liquid drain opening 2151 is directed substantially upwards, for example perpendicular to the longitudinal plane of the cleaning device 1000, or inclined at a certain angle relative to the central plane of the cleaning device 1000, for example within 10°; the outlet direction of the second submerged liquid drain opening 2161 is inclined in a direction opposite to the normal direction of movement of the cleaning device 1000, for example inclined rearward relative to the central plane α of the cleaning device 1000 at an angle between 25° and 50°.The definitions of the longitudinal plane and the median plane α of the cleaning device 1000 can be found in the above-mentioned embodiment with reference to the side brush 151.

[0246] In some embodiments, the position of the first submerged drain opening 2151 is closer to the first side 113 of the cleaning device 1000 relative to the second submerged drain opening 2161, while the position of the second submerged drain opening 2161 is closer to the second side 114 of the cleaning device 1000 relative to the first submerged drain opening 2151, although this is not limited to these embodiments.

[0247] In some embodiments, the first submerged drain opening 2151 may be arranged next to the second submerged drain opening 2161, or the position of the second submerged drain opening 2161 may be closer to the first side 113 of the cleaning device 1000 relative to the first submerged drain opening 2151 and may be adapted according to the specific structure of the cleaning device 1000.

[0248] In one embodiment, the first submerged drain opening 2151 is located between the median plane α and the first side 113, which means that the first submerged drain opening 2151 is generally located at the front part of the center of the cleaning device 1000; the second submerged drain opening 2161 is located between the median plane α and the second side 114, which means that the second submerged drain opening 2161 is generally located at the rear part of the center of the cleaning device 1000.

[0249] Depending on the different operating conditions of the cleaning device 1000, the first submerged drain opening 2151 and / or the second submerged drain opening 2161 are activated based on the angle of the cleaning device 1000 and / or its current state. The angle of the cleaning device 1000 can be its tilt angle relative to the horizontal plane, which can be determined by one or more angle detection devices installed in the cleaning device 1000. The current state of the cleaning device 1000 can be a water surface state or a submerged state. The current state of the cleaning device 1000 can be determined by the liquid inlet detection assembly 232, the liquid level detection assembly 233, the terrain detection assembly 196, etc.to determine the environment in which the cleaning device 1000 is currently located.

[0250] When the cleaning device 1000 is operating in the water surface condition, the second submerged drain opening 2161 opens to form a cleaning water flow channel and provide a partially forward thrust. Simultaneously, the first submerged drain opening 2151 closes to prevent it from generating downward pressure that would submerge the front section of the cleaning device 1000 and thereby impair the normal operation of the first dirt suction opening 1111a.

[0251] When the cleaning device 1000 is operating underwater, the current operating behavior of the cleaning device 1000 can open the first submerged drain opening 2151 and close the second secondary drain opening 2161. This occurs, for example, when the cleaning device 1000 is operating on a pool floor made of materials such as cement, tiles, or PVC, and the pool floor may have inclined slopes, transitions from horizontal to inclined surfaces and vice versa, or protruding / recessed obstacles. -shaped or -shaped patrol cleaning on the pool floor or walking on a sloping pool floor, as in Fig. As shown in Figure 26, the first submersible drain opening 2151, located at the front of the cleaning device 1000, can provide sufficient downward pressure for all operating modes of the cleaning device 1000. This prevents the cleaning device 1000 from tipping upwards and thus ensures unimpeded movement and the cleaning effect of the cleaning device 1000.

[0252] As in Fig. As shown in Figure 27, when the cleaning device 1000 encounters steps while running on the basin floor and cleaning of the step surfaces is required, the cleaning device 1000 can also open the first submerged drain opening 2151 while climbing on the vertical plane of the steps to improve its climbing ability, particularly during the transition from the vertical to the horizontal plane of the steps. Opening the first submerged drain opening 2151 at the front of the cleaning device 1000 allows for a faster change of the cleaning device 1000 from the vertical to the horizontal state, thereby improving operational efficiency. As shown in Fig. As shown in Figure 28, opening the first submerged drain opening 2151 during the transition of the cleaning device 1000 from operation on a horizontal plane to operation on a downhill surface can prevent the cleaning device 1000 from detaching from the downhill surface due to inertia and then tipping upwards and overturning. Similarly, when the cleaning device 1000 transitions from operation on a horizontal plane to operation on an uphill surface and is operating on an uphill surface, opening the first submerged drain opening 2151 can prevent the cleaning device 1000 from tipping upwards and overturning on the uphill surface. As shown in Figure 28. Fig. 29 shows that when the cleaning device 1000 transitions from operation on an uphill-oriented surface to operation on the horizontal plane, opening the first lower drainage opening 2151 can prevent the cleaning device 1000 from maintaining an uphill-inclined position due to inertia and subsequently detaching from the horizontal plane.

[0253] In one embodiment, the first submerged drain opening 2151 can also be controlled such that it opens when the angle of inclination of the longitudinal plane of the cleaning device 1000 relative to the horizontal plane is less than or equal to a predetermined angle threshold. This predetermined angle threshold can be, for example, 60 degrees, but is not limited to this.For example, if the cleaning device 1000 is located on the target floor wall 1012, the horizontal plane corresponds to the target floor wall 1012, and at this time the angle of inclination of the longitudinal plane of the cleaning device 1000 relative to the horizontal plane is less than or equal to the predetermined angle threshold value, therefore, opening the first submerged drain opening 2151 can increase the force between the cleaning device 1000 and the target floor wall 1012, this prevents slippage when the cleaning device 1000 moves or rotates on a low-friction target floor wall 1012, thereby increasing the coverage rate of the cleaning device's movement to improve the cleaning effect and cleaning efficiency.If the position of the first submerged drain opening 2151 is near the first side 113 of the cleaning device 1000, opening the first submerged drain opening 2151 prevents the first side 113 of the cleaning device 1000 from tipping upwards when the cleaning device 1000 moves on the target floor wall 1012 with an incline, for example uphill or downhill. This prevents the cleaning device 1000 from tipping over and thus improves the cleaning efficiency of the cleaning device 1000.

[0254] If the inclination angle of the longitudinal plane of the cleaning device 1000 relative to the horizontal plane is greater than or equal to a predetermined angle threshold, the second submerged drain opening 2161 can be opened. For example, if the cleaning device 1000 is located on the target side wall 1011, the horizontal plane corresponds to the target side wall 1011, and at this time the inclination angle of the longitudinal plane of the cleaning device 1000 relative to the horizontal plane is greater than or equal to the predetermined angle threshold, opening the second submerged drain opening 2161 can increase the force between the cleaning device 1000 and the target side wall 1011 and simultaneously provide a horizontal thrust in the same direction as the movement of the cleaning device 1000.Even if the dust box 120 of the cleaning device 1000 is clogged and the outflow volume of the second submerged drain opening 2161 is reduced, the thrust component provided by the second submerged drain opening 2161, which is aligned with the direction of movement of the cleaning device 1000, still allows the cleaning device 1000 to ascend along the target side wall 1011 and climb to near the waterline. This increases the success rate of the normal operation of the cleaning device 1000 at the target side wall 1011.

[0255] In some embodiments, if the inclination angle of the longitudinal plane of the cleaning device 1000 relative to the horizontal plane is greater than or equal to a predetermined angle threshold and a tendency of the cleaning device 1000 to tip over is detected, the first submerged drain opening 2151 can be opened. This can be achieved, for example, by switching from opening the second submerged drain opening 2161 to opening the first submerged drain opening 2151, or by simultaneously controlling the drainage from both the first submerged drain opening 2151 and the second submerged drain opening 2161. The presence of a tendency of the cleaning device 1000 to tip over can be detected by the terrain sensing assembly 196 or by sensors such as an accelerometer or a gyroscope attached to the cleaning device 1000.

[0256] In some embodiments, the cleaning device 1000 includes a liquid drain barrier plate 217. The liquid drain barrier plate 217 is configured to move between a first position and a second position. In the first position, the liquid drain barrier plate 217 closes the first submerged drain opening 2151 while opening the second submerged drain opening 2161, allowing the liquid to drain from the cleaning device 1000 via the second submerged drain opening 2161. In the second position, the liquid drain barrier plate 217 closes the second submerged drain opening 2161 while opening the first submerged drain opening 2151, allowing the liquid to drain from the cleaning device 1000 via the first submerged drain opening 2151. In one embodiment, a third position is provided between the first and second positions.When the liquid drain stop plate 217 is in the third position, the liquid flowing from the outlet of the main drive pump 210 is discharged from the cleaning device 1000 partly via the first submerged drain opening 2151 and partly via the second submerged drain opening 2161. In this case, both the first submerged drain opening 2151, located at the front of the cleaning device 1000, and the second submerged drain opening 2161, located at the rear, generate a downward pressure that presses the cleaning device 1000 against the surface to be cleaned. Simultaneously, the second submerged drain opening 2161 generates a thrust force along the direction of movement of the cleaning device 1000, which promotes smooth operation of the cleaning device 1000 on the surface to be cleaned.

[0257] In one embodiment, the liquid drainage barrier plate 217 is further described with reference to Fig. 26 a rotating locking plate. The cleaning device 1000 further comprises a first submerged drain line 215 and a second submerged drain line 216, which are connected to the outlet of the main drive pump 210. The first submerged drain line 215 and the second submerged drain line 216 are connected to the first receiving chamber 111 via the liquid inlet opening 211 of the main drive pump 210. The first submerged drain opening 2151 is formed at the end of the first submerged drain line 215, while the second submerged drain opening 2161 is formed at the end of the second submerged drain line 216. The axis of rotation of the rotating locking plate can be arranged at the junction of the first submerged drain line 215 and the second submerged drain line 216.The rotating locking plate is driven by a locking plate motor (not shown) to move between a first position, a third position, and a first position. In other embodiments, the liquid drain locking plate 217 can also take the form of a sliding locking plate, etc. The locking plate motor is electrically connected to the control system of the cleaning device 1000 to regulate the motor according to the operating conditions of the cleaning device 1000.

[0258] In one embodiment, the liquid drain barrier plate 217 can selectively close / open either the first submerged drain line 215 or the second submerged drain line 216, thereby closing / opening the first submerged drain opening 2151 or the second submerged drain opening 2161 accordingly.

[0259] With further reference to Fig. The cleaning device 1000 further includes a first handle 251. The first handle 251 is attached to the main body 110 of the cleaning device. When the cleaning device 1000 is lifted by the first handle 251, one side of the cleaning device 1000, on which the second liquid drain opening 212 is located, tilts downwards. The liquid in the dust box 120 then flows out under the influence of gravity through the second liquid drain opening 212 and other drainage channels. Since the liquid enters the dust box 120 during the cleaning of the target area 100 by the cleaning device 1000, it is possible that some of the liquid will not drain out of the dust box 120 immediately. Draining the liquid prevents residual liquid from remaining in the dust box 120, which could impair the subsequent cleaning of the dust box 120.This also reduces the weight of the cleaning device 1000 and makes it easier to lift.

[0260] In some embodiments, the main body 110 of the cleaning device is provided with a recess 251a, which allows the user to insert their hand into the recess 251a and grasp the first handle 251 to lift the cleaning device 1000. When the user lifts the cleaning device 1000 using the first handle 251, the fourth filter surface 1234 of the dust box 120 is inclined and located in the lower part of the entire dust box 120, while one side of the main drive pump 210, in which the second liquid drain opening 212 is located, is inclined downwards. This arrangement allows the liquid in the dust box 120 to flow under the influence of gravity from the fourth filter surface 1234 to the main drive pump 210 and to drain quickly through the second liquid drain opening 212.This ensures both efficient drainage of the liquid and an increased rate of liquid drainage, thereby reducing the residual liquid in the dust box 120.

[0261] In some embodiments, the first handle 251 is attached to both first auxiliary cleaning assemblies 150, meaning that one end of the first handle 251 is attached to one first auxiliary cleaning assembly 150, while the other end of the first handle 251 is attached to the other first auxiliary cleaning assembly 150. For example, the first handle 251 may be attached to one of the sides 118 of the main body 110 of the cleaning device facing the side brush cover 1513 of the two first auxiliary cleaning assemblies 150. The first handle 251 may also be arranged on the main body 110 of the cleaning device or be formed integrally with the housing of the main body 110 of the cleaning device.

[0262] See also Fig. 30 to Fig. 31, shows Fig. 30 a sectional view of a dust box cooperating with a second handle of a cleaning device provided by the present disclosure; and Fig. Figure 31 shows a schematic diagram of the structure of a second handle of a cleaning device provided by the present disclosure. The dust box 120 of the present disclosure serves to collect waste that is drawn in through the dirt suction opening 1111. The cleaning device 1000 further comprises a second handle 252, which is arranged above the box opening 122 of the dust box 120. The arrangement of the second handle 252 at the box opening 122 makes it easier for the user to remove the dust box 120 from the first receiving chamber 111 using the second handle 252. In one embodiment, the second handle 252 is movable relative to the dust box 120 between a closed position and an open position. In the closed position, the dust box lid 124 is in a closed state and lies tightly against the box opening 122 of the dust box 120.In the open position, the dust box lid 124 is in an open state, allowing the user to remove the dust box 120 from the main body 110 of the cleaning device using the second handle 252. The second handle 252 interacts with the dust box 120 via a second return component. When the dust box lid 124 closes, it presses on the second return component, moving the second handle 252 into the closed position. When the dust box lid 124 opens, the second return component moves the second handle 252 from the closed position to the open position. The second return component can be a structure such as a compression spring or a leaf spring.

[0263] In some embodiments, the outer surface of the second handle 252 is smooth. This not only reduces friction between the second handle 252 and the user's palm, thus improving the tactile experience when in contact with the second handle 252, but also reduces the likelihood of waste adhering to the outer surface of the second handle 252. The second handle 252 can also be arranged to bypass the waste intake channel, ensuring that its arrangement does not obstruct the entry of waste into the dust box 120 and further reducing the likelihood of waste adhering to the outer surface of the second handle 252.For example, if the waste intake channel consists of the liquid entering through the first filter surface 1231 facing the dirt intake opening 1111, the liquid flowing into the dust box 120 flowing towards the fourth filter surface 1234 and flowing out of the first liquid drain opening 1112, the second handle 252 can be arranged on one side of the box opening 122 facing the first filter surface 1231, with one end of the second handle 252 being arranged on one side of the dust box 120 for arranging the second filter surface 1232, while the other end is arranged on one side of the dust box 120 for arranging the third filter surface 1233.The gap between the side edge of the second handle 252 and the dust box 120 is reduced when the second handle 252 is attached to the dust box 120 in order to prevent debris from becoming lodged between the side edge of the second handle 252 and the dust box 120, which would hinder the cleaning of the dust box 120, e.g. the gap between one end of the second handle 252 and the second filter surface 1232 is reduced, or the gap between the other end of the second handle 252 and the third filter surface 1233 is reduced.

[0264] In some embodiments, the distance between the second handle 252 and the filter surface 123, through which the intake channel flows, is increased to prevent debris from becoming trapped between the second handle 252 and the filter surface 123, thereby facilitating the cleaning of the dust box 120. For example, the distance D1 between the second handle 252 and the fourth filter surface 1234 is increased by angling a portion of the fourth filter surface 1234 corresponding to the second handle 252 away from the second handle 252. This prevents debris from becoming trapped between the second handle 252 and the fourth filter surface 1234 and thus hindering the cleaning of the dust box 120. In some embodiments, the distance between the second handle 252 and the filter surface 123 is 5 to 20 mm. For example, the distance D1 between the second handle 252 and the fourth filter surface 1234 can be 7 mm, 14 mm, etc.The distance between the second handle 252 and the filter surface 123 is within the range of 5 to 20 mm, but this is not limited to this. By controlling the distance between the second handle 252 and the filter surface 123, through which the intake channel flows, within the range of 5 to 20 mm, the arrangement of the second handle 252 does not prevent debris from entering the dust box 120 through the dirt intake opening 1111 and the liquid from flowing through the filter surface 123. Furthermore, it prevents debris from becoming lodged between the second handle 252 and the filter surface 123, which would make cleaning the dust box 120 more difficult.

[0265] In some embodiments, reference is made to Fig. 32 taken, Fig. Figure 32 shows a schematic diagram of the structure of an embodiment of an electrical control box of a cleaning device provided by the present disclosure. The electrical control box 220 houses power supply and control components such as batteries, the control system 231, and various electric motors. The electrical control box 220 must be watertight and is designed as a sealed structure to prevent the ingress of liquid into the electrical control box 220. The electrical control box 220 comprises a main body of the electrical control box 221, a terminal of the electrical control box 222, and an end cover of the electrical control box 222.The terminal of the electrical control box 222 forms a slotted section 222a and several cable outlet sections 2221 that are connected to the slotted section 222a, the cable outlet sections 2221 and the slotted section 222a being successively connected to the interior of the electrical control box 220. The end cover of the electrical control box 2222 is arranged over the slotted section 222a and attached to the terminal of the electrical control box 222 to seal both the slotted section 222a and the electrical control box 220. The terminal of the electrical control box 222 is arranged on the main body 221 of the electrical control box. In particular, the terminal of the electrical control box 222 can be attached to the lower cover of the electrical control box 220 or inserted directly into the interior of the electrical control box 220.Modules such as the second auxiliary cleaning assembly 160, the walking mechanism 190, the feed assembly 180, the visual sensor assembly 140, the roller brush assembly 171, and the main drive pump 210 of the cleaning device 1000 can be electrically connected to the battery in the electrical control box 220 via the terminal of the electrical control box 222 or establish a communication link with the control system 231 of the electrical control box 220. The embodiment of the present disclosure illustrates that the visual sensor assembly 140 is electrically connected to the control system 231 and / or the battery inside the electrical control box 220 via the wiring harness 1463.

[0266] In some embodiments, such as in Fig. 14 and Fig. As shown in Figure 32, one end of the cable harness 1463, facing away from the visual sensor assembly 140, extends through the cable outlet section 2221 into the slot section 222a and further through the slot section 222a into the interior of the electrical control box 220 to establish an electrical connection with the control system 231 and / or the battery. During the installation and sealing of the terminal of the electrical control box 222, the end cover of the electrical control box 2222, and the cable harness 1463 within the main body of the electrical control box 221, the sealant is first injected between the cable outlet section 2221 and the cable harness 1463.A third sealing ring (not shown) is then positioned between the terminal of the electrical control box 222 and the main body of the electrical control box 221, and the terminal of the electrical control box 222 is attached to the main body of the electrical control box 221 to compress the third sealing ring between the terminal of the electrical control box 222 and the main body of the electrical control box 221. The sealant is then injected into the slot section 222a. Finally, the end cover of the electrical control box 222 is positioned over the slot section 222a and attached to the terminal of the electrical control box 222.By arranging the third sealing ring between the terminal of the electrical control box 222 and the main body of the electrical control box 221, injecting the sealant between the cable outlet section 2221 and the wiring harness 1463, and injecting the sealant into the slot section 222a, the ingress of liquid into the electrical control box 220 through the gap between the terminal of the electrical control box 222 and the main body of the electrical control box 221 can be prevented, while at the same time avoiding the possibility that direct injection of the sealant into the terminal of the electrical control box 222 could cause poor contact of a part of the terminal of the electrical control box 222 and impair the operation of the electrical control box 220.The method for attaching the terminal of the electrical control box 222 to the main body of the electrical control box 221 and the method for attaching the end cover of the electrical control box 2222 to the terminal of the electrical control box 222 may include, but are not limited to, screw fastening, rivet fastening, bolt fastening, pin and wedge fastening, welding fastening, adhesive fastening, snap fastening, magnetic adsorption or other similar methods.

[0267] In some embodiments, reference is made to Fig. 33 taken, Fig. Figure 33 shows a schematic diagram of the interacting structure of an electrical control box and a notification assembly of a cleaning device provided by the present disclosure. The cleaning device 1000 further comprises a notification assembly 237. The notification assembly 237 can be arranged inside the electrical control box 220. The notification assembly 237 is configured to output notification information.This information includes instructions regarding the operating steps for operating the cleaning device 1000; instructions indicating that the cleaning device 1000 has left the target area 100; instructions indicating that the cleaning device 1000 is moving along the edge of the target area 100; instructions indicating that the dust box 120 is full; instructions indicating a blockage of the dust box 120; and instructions regarding malfunctions in modules such as the second auxiliary cleaning assembly 160, the walking mechanism 190, the feed assembly 180, the visual sensor assembly 140, the roller brush assembly 171, and the main drive pump 210 of the cleaning device 1000. In some embodiments, the instruction assembly 237 can...

Claims

[1] Automatic pool cleaning device (1000), in particular pool cleaning robot, comprising: a main body (110) with two sets of wandering mechanisms (190), wherein one set of wandering mechanisms (190) is arranged on one side of the main body (110) of the basin cleaning device (1000), while the other set of wandering mechanisms (190) is arranged on the opposite side relative to one side of the main body (110) of the basin cleaning device (1000); and at least a first impact protection element (200), which is formed on one side of the basin cleaning device (1000) or on a cover plate (195) of the walking mechanism (190), protrudes at least partially beyond a main contour of the skin body (110) and the first impact protection element (200), when it comes into contact with an object, can generate rolling friction. [2] Automatic pool cleaning device (1000), in particular pool cleaning robot, according to claim 1, wherein the walking mechanism (190) comprises a caterpillar (193) and the cover plate (195) covers a side of the walking mechanism (190) facing away from the main body (110) and is formed with an additional locking plate (1951), wherein the impact protection element (200) projects partially or completely beyond the additional locking plate (1951), wherein the additional locking plate (1951) is formed at least partially between a first guide wheel (191) and a second guide wheel (192). [3] Automatic pool cleaning device (1000), in particular pool cleaning robot, according to claim 2, wherein the walking mechanism (190) includes a drive element (194) in the form of an electric motor, a first guide wheel (191) and a second guide wheel (192), wherein the first guide wheel (191) is a driven wheel and the second guide wheel (192) is a drive wheel and the drive element (194) is connected to the second guide wheel (191), wherein a transmission assembly with at least one gear (1921) is used to drive the second guide wheel (191). [4] Automatic pool cleaning device (1000), in particular pool cleaning robot, according to claim 2, wherein a rotation of the first gear (1921) drives the second guide wheel (192) to rotate in order to drive the first guide wheel (191) to rotate via the caterpillar (193). [5] Automatic pool cleaning device (1000), in particular pool cleaning robot, according to one of claims 1 to 4, wherein the first impact protection element (200) includes a roller. [6] Automatic pool cleaning device (1000), in particular pool cleaning robot, according to claim 1, further comprising: a detection assembly (130) which detects a wall surface topography of a target side wall (1011) and the movement of the basin cleaning device (1000) along the target side wall (1011). [7] Automatic pool cleaning device (1000), in particular pool cleaning robot, according to claim 6, wherein the detection assembly (130) can be an infrared sensor or an ultrasonic sensor or an inertial measurement unit. [8] Automatic pool cleaning device (1000), in particular pool cleaning robot, according to claim 7, further comprising a control system (231), wherein the control system (231) adapts the movement path of the pool cleaning device (1000) to the target side wall (1011). [9] Automatic pool cleaning device (1000), in particular pool cleaning robot, according to claim 8, wherein the control system (231) adapts by adjusting the walking mechanisms (190) on two sides of the pool cleaning device (1000) or feed assemblies (180) on two sides of the pool cleaning device (1000). [10] Automatic pool cleaning device (1000), in particular pool cleaning robot, according to claim 5, wherein more than one first impact protection element (200) is formed and the multiple impact protection elements (200) are arranged horizontally spaced apart. [11] Automatic pool cleaning device (1000), in particular pool cleaning robot according to claim 10, wherein a distance by which a second of the impact protection elements (19511) projects beyond the main contour of the main body (110) of the pool cleaning device (1000) is less than or equal to that of the first impact protection element (200) or dimensions of the first impact protection element (200) are different from the dimensions of the second impact protection element (19511). [12] Automatic pool cleaning device (1000), in particular pool cleaning robot, according to claim 1, wherein the direction of rotation of the at least first impact protection element (200) is opposite to the direction of movement of the pool cleaning device (1000). [13] Automatic pool cleaning device (1000), in particular pool cleaning robot, comprising: a main body (110) with two sets of wandering mechanisms (190), wherein one set of wandering mechanisms (190) is arranged on one side of the main body (110) of the basin cleaning device (1000), while the other set of wandering mechanisms (190) is arranged on the opposite side relative to one side of the main body (110) of the basin cleaning device (1000); and a shock protection element (200) which is formed on one side of the basin cleaning device (1000) or on a cover plate (195) of the walking mechanism (190) protrudes at least partially beyond a main contour of the skin body (110) and generates rolling friction when the first shock protection element (200) comes into contact with an object, wherein the walking mechanism (190) comprises a caterpillar (193) and the cover plate (195) covers a side of the walking mechanism (190) facing away from the main body (110) and is formed with an additional locking plate (1951), wherein the impact protection element (200) projects partially or completely beyond the additional locking plate (1951), wherein the additional locking plate (1951) is formed at least partially between a first guide wheel (191) and a second guide wheel (192), wherein the traveling mechanism (190) includes a drive element (194) in the form of an electric motor, a first guide wheel (191) and a second guide wheel (192), wherein the first guide wheel (191) is a driven wheel and the second guide wheel (192) is a drive wheel and the drive element (194) is connected to the second guide wheel (191), wherein a transmission assembly with at least one gear (1921) is used to drive the second guide wheel (191), wherein a rotation of the first gear (1921) drives the second guide wheel (192) to rotate in order to drive the first guide wheel (191) to rotate via the track (193), wherein the shock protection element (200) includes a roller, wherein more than one impact protection element (200) is formed and the multiple impact protection elements (200) are arranged horizontally spaced apart, wherein the distance by which a second of the impact protection elements (19511) projects beyond the main contour of the main body (110) of the basin cleaning device (1000) is less than or equal to that of the first impact protection element (200) or the dimensions of the first impact protection element (200) differ from the dimensions of the second impact protection element (19511), wherein the direction of rotation of the first and / or second impact protection element (200) is opposite to the direction of movement of the basin cleaning device (1000). [14] Automatic pool cleaning device (1000), preferably in the form of a pool cleaning robot, comprising: a main body (110); a moving mechanism (190) located on one side of the main body (110) which can move the automatic basin cleaning device (1000); and a guide structure (200), preferably in the form of a shock protection element, which is arranged on the traveling mechanism (190) or on the main body (110) and which projects from the traveling mechanism (190) or the main body (110); wherein During a movement of the automatic basin cleaning device (1000), when the guide structure (200) is in contact with a basin wall, a frictional force caused by the contact can cause the guide structure (200) to rotate. [15] Automatic pool cleaning device (1000) according to claim 14, wherein the walking mechanism (190) comprises a caterpillar (193) and a caterpillar side plate (195), the guide structure (200) being arranged on the caterpillar side plate and projecting from the caterpillar side plate (195). [16] Automatic pool cleaning device (1000) according to claim 15, wherein the walking mechanism (190) further comprises a drive motor (1822), a driving wheel (1821) and a driven wheel (1621), the drive motor (1822) being in gear connection with the driving wheel (1821), and at least a part of the track side plate (195) covering an area between the driving wheel (1821) and the driven wheel (1621). [17] Automatic pool cleaning device (1000) according to claim 15, wherein the walking mechanism (190) further comprises a gear wheel (1921), and the driving wheel (1821) transmits a driving force to the driven wheel (1621) via the caterpillar (193) or the gear wheel (1921). [18] Automatic pool cleaning device (1000) according to any one of claims 14 to 17, wherein the guide structure (200) comprises a roller, a ball or a deformable structure. [19] Automatic basin cleaning device (1000) according to claim 14, further comprising: a detection component (130) which serves to detect whether the guide structure (20β) is in contact with the pelvic wall. [20] Automatic pool cleaning device (1000) according to claim 19, wherein the detection component (130) comprises a contact sensor, a distance sensor, a lidar, a camera or an inertial measurement unit. [21] Automatic basin cleaning device (1000) according to claim 19, further comprising: a control system, whereby, If the detection component (130) detects that the guide structure (200) is not in contact with the pool wall, the control adjusts a course angle of the automatic pool cleaning device (1000) such that the guide structure (200) is in contact with the pool wall. [22] Automatic pool cleaning device (1000) according to claim 19, wherein the automatic pool cleaning device (1000) is held in an inclined state relative to the pool wall when the guide structure (200) is in contact with the pool wall. [23] Automatic pool cleaning device (1000) according to claim 21 or 22, wherein the control adjusts the course angle by adjusting the walking mechanisms (190) on two sides of the automatic pool cleaning device (1000) or water spray mechanisms (180) on two sides of the automatic pool cleaning device (10). [24] Automatic basin cleaning device (1000) according to claim 18, wherein there is a plurality of guide structures (200), and the plurality of guide structures (20) are arranged at intervals from each other in a horizontal direction. [25] Automatic basin cleaning device (1000) according to claim 24, wherein the degree of protrusion or the size of the plurality of guide structures (200) is different. [26] Automatic basin cleaning device (1000) according to claim 14, wherein the direction of rotation of the guide structure (200) is opposite to the direction of movement of the automatic basin cleaning device (1000). [27] Automatic pool cleaning device (1000), preferably in the form of a pool cleaning robot, comprising: a main body (110); a moving mechanism (190) located on one side of the main body (110) which can move the automatic basin cleaning device (1000); and a guide structure (200), preferably in the form of a shock protection element, which is arranged on the traveling mechanism (190) or on the main body (110) and which projects from the traveling mechanism (190) or the main body (110); wherein During a movement of the automatic basin cleaning device (1000), when the guide structure (200) rests against a basin wall, a frictional force caused by the contact sets the guide structure (200) into rotation, wherein the walking mechanism (190) comprises a caterpillar (193) and a caterpillar side plate (195), the guide structure (200) is arranged on the caterpillar side plate and projects from the caterpillar side plate (195), wherein the walking mechanism (190) further comprises a drive motor (1822), a driving wheel (1821) and a driven wheel (1621), the drive motor (1822) being in gear connection with the driving wheel (1821), and at least a part of the track side plate (195) covering an area between the driving wheel (1821) and the driven wheel (1621), wherein the walking mechanism (190) further comprises a gear wheel (1921), and the driving wheel (1821) transmits a driving force to the driven wheel (1621) via the caterpillar (193) or the gear wheel (1921), wherein the guide structure (200) comprises a roller, a ball or a deformable structure, wherein there are a multitude of management structures (200), and the multitude of management structures (20) are arranged horizontally at intervals from each other, where the degree of prominence or the size of the multitude of management structures (200) varies, wherein the direction of rotation of the guide structure (200) is opposite to the direction of movement of the automatic basin cleaning device (1000).

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